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    APPARATUS AND METHOD FOR CONTROLLING FORCE TO BE USED FOR MOTION OF SURGICAL ROBOT
    2.
    发明申请
    APPARATUS AND METHOD FOR CONTROLLING FORCE TO BE USED FOR MOTION OF SURGICAL ROBOT 有权
    用于控制外力手术运动的力量的装置和方法

    公开(公告)号：US20130289767A1

    公开(公告)日：2013-10-31

    申请号：US13731344

    申请日：2012-12-31

    申请人： SAMSUNG ELECTRONICS CO., LTD.

    发明人： Soo Chul Lim ,  Joon Ah Park ,  Hyung Joo Kim

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1633 ,  A61B34/30 ,  A61B34/37 ,  A61B34/76 ,  A61B34/77 ,  G05B2219/39505 ,  G05B2219/39523 ,  G05B2219/40138 ,  G05B2219/40619 ,  G05B2219/45117

    摘要： An apparatus and method for controlling a robot may scale a motion of a surgical robot based on a type of object gripped by the surgical robot. In the robot controlling method, by scaling the motion of the surgical robot based on the type of object gripped by the surgical robot, the surgical robot may automatically perform the motion on objects using an optimized force although a user does not control a force minutely based on the type of object gripped by the surgical robot.

    摘要翻译： 用于控制机器人的装置和方法可以基于由外科手术机器人夹持的物体的类型来缩放外科手术机器人的运动。 在机器人控制方法中，通过基于由外科手术机器人夹持的物体的类型来缩放外科手术机器人的运动，手术机器人可以使用优化的力量自动地对物体进行运动，尽管用户不能以精确的方式控制力 关于由外科手术机器人夹持的物体的类型。

    METHOD OF CONTROLLING DEVICES WITH SENSATION OF APPLIED FORCE
    4.
    发明申请
    METHOD OF CONTROLLING DEVICES WITH SENSATION OF APPLIED FORCE 审中-公开

    公开(公告)号：US20170182660A1

    公开(公告)日：2017-06-29

    申请号：US15348709

    申请日：2016-11-10

    申请人： Robomotive Laboratories LLC

    发明人： Brett J. Pipitone

    IPC分类号： B25J9/16 ,  B25J13/08

    CPC分类号： B25J13/088 ,  B25J9/1689 ,  B25J13/02 ,  B25J13/085 ,  G05B19/427 ,  G05B2219/40138

    摘要： The inventive technology eliminates the need for force sensors on a robotic manipulator while also improving feel by incorporating force sensors on the corresponding robotic input device. Position of the manipulator is used to determine positioning of the input device; therefore, rather than manipulator position lagging the input device position (as in conventional robotic systems), the opposite is true, so that input device position lags manipulator position. Through a combination of input device force control and manipulator position feedback, a sense of feel is achieved through use of an “effort sensor” mounted at a “control point” on the input device and use of a “position feedback force control” scheme.

    Control apparatus and method for master-slave robot, master-slave robot, and control program
    6.
    发明授权
    Control apparatus and method for master-slave robot, master-slave robot, and control program 有权
    主从机器人控制装置及方法，主从机器人及控制程序

    公开(公告)号：US09233467B2

    公开(公告)日：2016-01-12

    申请号：US14071994

    申请日：2013-11-05

    申请人： Panasonic Intellectual Property Management Co., Ltd.

    发明人： Yuko Tsusaka ,  Yudai Fudaba ,  Jun Ozawa

    IPC分类号： G05B19/04 ,  G05B19/18 ,  B25J9/16 ,  A61B19/00 ,  B25J3/04

    CPC分类号： B25J9/1633 ,  A61B34/30 ,  A61B34/37 ,  A61B34/76 ,  A61B34/77 ,  A61B2090/064 ,  B25J3/04 ,  B25J9/1689 ,  G05B2219/40138

    摘要： A master-slave device grips an object and performs a task while being in contact with a to-be-treated object. A force detection unit measures force information given to a slave mechanism. A force correction determination unit determines a force correction part serving as information from correction start to end times of force information transmitted to a master mechanism and, as a correcting method to perform correction, a first method determining a gain such that a reduction in absolute value of force information at the force correction part is maintained for a predetermined period of time or a second method determining a gain such that a reduction and an increase in the absolute value are repeated within a range that is not more than a value by reducing the absolute value. A force correction unit corrects information of a type of a force based on the force correction part and the gain.

    摘要翻译： 主从设备在与待处理对象接触的同时抓握对象并执行任务。 力检测单元测量给予从机构的力信息。 力校正确定单元确定作为从发送到主机构的力信息的校正开始到结束时间的信息的力校正部，并且作为执行校正的校正方法，确定增益的第一方法使得绝对值的减小 在力校正部分处的力信息被维持预定的时间段，或第二种方法确定增益，使得通过减少绝对值在绝对值的减小和增加在不大于值的范围内重复 值。 力校正单元基于力校正部和增益校正力的种类的信息。

    CONTROL APPARATUS AND METHOD FOR MASTER-SLAVE ROBOT, MASTER-SLAVE ROBOT, AND CONTROL PROGRAM
    7.
    发明申请
    CONTROL APPARATUS AND METHOD FOR MASTER-SLAVE ROBOT, MASTER-SLAVE ROBOT, AND CONTROL PROGRAM 有权
    主从机器人，主机机器人和控制程序的控制装置和方法

    公开(公告)号：US20140195052A1

    公开(公告)日：2014-07-10

    申请号：US14071994

    申请日：2013-11-05

    申请人： Panasonic Corporation

    发明人： Yuko TSUSAKA ,  Yudai FUDABA ,  Jun OZAWA

    IPC分类号： B25J3/00 ,  B25J9/16

    CPC分类号： B25J9/1633 ,  A61B34/30 ,  A61B34/37 ,  A61B34/76 ,  A61B34/77 ,  A61B2090/064 ,  B25J3/04 ,  B25J9/1689 ,  G05B2219/40138

    摘要： A master-slave device grips an object and performs a task while being in contact with a to-be-treated object. A force detection unit measures force information given to a slave mechanism. A force correction determination unit determines a force correction part serving as information from correction start to end times of force information transmitted to a master mechanism and, as a correcting method to perform correction, a first method determining a gain such that a reduction in absolute value of force information at the force correction part is maintained for a predetermined period of time or a second method determining a gain such that a reduction and an increase in the absolute value are repeated within a range that is not more than a value by reducing the absolute value. A force correction unit corrects information of a type of a force based on the force correction part and the gain.

    摘要翻译： 主从设备在与待处理对象接触的同时抓握对象并执行任务。 力检测单元测量给予从机构的力信息。 力校正确定单元确定作为从发送到主机构的力信息的校正开始到结束时间的信息的力校正部，并且作为执行校正的校正方法，确定增益的第一方法使得绝对值的减小 在力校正部分处的力信息被维持预定的时间段，或第二种方法确定增益，使得通过减少绝对值在绝对值的减小和增加在不大于值的范围内重复 值。 力校正单元基于力校正部和增益校正力的种类的信息。