公开(公告)号：WO2021151066A1

公开(公告)日：2021-07-29

申请号：PCT/US2021/014890

申请日：2021-01-25

Applicant: THE CLEVELAND CLINIC FOUNDATION

Inventor： GILLESPIE, Callan ,  COLBRUNN, Robb ,  NAGLE, Tara

IPC: B25J9/16 ,  B25J13/085 ,  B25J13/088 ,  B25J13/089 ,  B25J9/1633 ,  B25J9/1638 ,  B25J9/1653 ,  B25J9/1664 ,  B25J9/1692 ,  G05B2219/39183 ,  G05B2219/39322

Abstract: Movement of an object can occur while a control system corrects for compliance within a robotic system. The control system can include the object to be moved, the robotic system that moves the object, a primary sensor positioned on the object, at least one ancillary sensor positioned on the object, and a controller. The sensors can record position and orientation data at different points on the object. The controller can use a sensor data and a delta value to correct for compliance in the robotic system. The delta value can be based on the differences between the primary sensor and the at least one ancillary sensor. The compliance correction can be applied to poses of the object to modify the trajectory of the object for more accurate movements.

公开(公告)号：WO2022226086A2

公开(公告)日：2022-10-27

申请号：PCT/US2022/025583

申请日：2022-04-20

Applicant: THE CLEVELAND CLINIC FOUNDATION

Inventor： KAOUK, Jihad ,  COLBRUNN, Robb ,  NAGLE, Tara ,  GILLESPIE, Callan ,  CANTILINA, Keiran ,  HAAS, Nicholas

IPC: A61B34/10 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2055 ,  A61B2034/2063 ,  A61B2034/2065 ,  A61B2090/3991 ,  A61B2562/16 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B90/39 ,  G05B19/4155 ,  G05B2219/50391 ,  G06T2207/10012 ,  G06T2207/10132 ,  G06T7/0014 ,  G06T7/248 ,  G06T7/70

Abstract: Teleoperative, partially automated, and fully automated robotic surgery systems and methods are described herein. These systems and methods relate to at least improvement of robotic movements, three dimensional tracking and pose correction for robots interacting with deformable objections, controlling and optimizing the redundant axis of a seven degree of freedom robotic arm, virtual robotic surgery and simulation, and task coordination and optimization for multi-robot surgery.

公开(公告)号：WO2021151082A1

公开(公告)日：2021-07-29

申请号：PCT/US2021/014928

申请日：2021-01-25

Applicant: THE CLEVELAND CLINIC FOUNDATION

Inventor： COLBRUNN, Robb ,  NAGLE, Tara ,  GILLESPIE, Callan

IPC: B25J9/16 ,  B25J13/085 ,  B25J13/088 ,  B25J13/089 ,  B25J9/1633 ,  B25J9/1638 ,  B25J9/1653 ,  B25J9/1664 ,  B25J9/1692 ,  G05B2219/39183 ,  G05B2219/39322

Abstract: An object can be moved via a robotic system with a combination of force and position control. The control system can include the object to be moved, the robotic system that moves the object, at least one force sensor, at least one position sensor, and a controller. A position control output, a force control output, and a hybrid weighting value can each be determined by the controller based on sensor data and then combined to determine an amount of position control and/or force control to be applied to move the object and/or modify an object in motion's trajectory.