Abstract:
A robot device for establishing a connection with a robot controller in cloud is provided. The robot device being configured, so that upon a trigger, to send a connection request to the robot controller, and to receive from the robot controller a response so as to establish the connection.
Abstract:
A mechanical translation apparatus includes a translation stage and a translation assembly operatively connected to the translation stage so as to impart linear motions to the translation stage substantially free of rotational motions. The translation assembly includes a plurality of at least three arms pivotably connected to the translation stage at a first end of each arm of the plurality of at least three arms. The mechanical translation apparatus also includes a base assembly in which each arm of the plurality of at least three arms is also rotationally connected to the base assembly at a second end of each arm. Each arm of the plurality of at least three arms includes three rigid elongate structures arranged substantially parallel and non-coplanar with respect to each other so as to act in cooperation to cancel torques so that substantially purely linear motion is imparted to the translation stage by the plurality of at least three arms, and the translation assembly constrains motion of the translation stage to be substantially purely translational motion free of rotational motion. A robot includes the mechanical translation apparatus.
Abstract:
A method of operating a robotic control system comprising a master apparatus in communication with a plurality of input devices having respective handles capable of translational and rotational movement and a slave system having a tool positioning device corresponding to each respective handle, each tool positioning device holding a respective tool having an end effector whose position and orientation is determined in response to a position and orientation of a corresponding handle. The method involves causing at least one processor circuit associated with the master apparatus to produce desired new end effector positions and desired new end effector orientations of respective the end effectors, in response to current positions and current orientations of corresponding respective handles. The method further involves causing the at least one processor circuit to use the desired new end effector positions and orientations determine distances from each point of a first plurality of points along a first tool positioning device to each point of a plurality of points along at least one other tool positioning device and causing the at least one processor circuit to determine whether any of the distances meets a proximity criterion. The method still further involves causing the at least one processor circuit to notify an operator of the handles associated with tool positioning devices associated with the any distance that meets the proximity criterion to indicate that the proximity criterion has been met.
Abstract:
A system and method of providing feedback during manual joint positioning includes a computer-assisted medical device. The computer-assisted medical device includes an articulated arm comprising a joint and a control unit coupled to the articulated arm. The control unit is configured to provide feedback during manual positioning of the joint by determining a target position for the join, determining kinematics of the joint relative to the target position, and providing feedback based on the kinematics of the joint.
Abstract:
Die Erfindung betrifft ein System und ein Verfahren zur Durchführung eines teleoperativen Prozesses, wobei ein Bildaufnahmegerät (20) und ein Werkzeug (30) zum Einsatz kommen. Das Werkzeug (30) wird dabei von einem ersten Manipulator (31) geführt und der aktuell erfasste Bereich (24) des Bildaufnahmegeräts (20) wird bestimmt. Eine Überwachung der Lage des Werkzeugs (30) relativ zum aktuell erfassten Bereich (24) des Bildaufnahmegeräts (20) ermöglicht es, ein unbeabsichtigtes Verlassen des Werkzeugs (30) aus dem erfassten Bereich (24) zu verhindern. Die Achsen des Manipulators (31) sind mit Sensoren zur Erfassung der an den Achsen wirkenden Kräfte und/oder Drehmomente versehen.
Abstract:
A robotic medical system with a flexible guide tube such as a lung catheter can record the shape of the guide tube in a target configuration. If the shape includes a bend that is sharper than a sharpest permitted bend for insertion or removal of a tool such as a biopsy needle, a control system can find any locations of sharp bends and automatically retract the guide tube to a location associated with a sharp bend. With the tip backed up to that location, the needle can be inserted into or removed from the catheter. The control system can automatically move the catheter between the target configuration and the retracted configuration of the guide tube.
Abstract:
The present disclosure is directed to a robotic surgical system that includes a robotic surgical device having a robotic arm and an end effector with a pair of jaw members. A handpiece includes a pinch interface to control the arm or end effector, optical marker(s), an accelerometer, and a transmitter to transmit data from the pinch interface or accelerometer to the robotic surgical device. The system further includes a tracking system, to track the marker and provide a position or orientation of the handpiece. A processor receives: (i) the position or orientation of the handpiece from the tracking system; and (ii) the measured acceleration of the handpiece from the accelerometer. The processor integrates the measured acceleration to establish a second position beyond that of the tracking system. The processor controls movement of the robotic arm and end effector based on the received data from the camera or the accelerometer.
Abstract:
It provides a portable apparatus for controlling a robot and a method therefor. The portable apparatus includes: an orientation sensor, being adapted for measuring orientation of said portable apparatus; an HMI device, being adapted for detecting two-dimensional manual motion relative to said HMI device; and a processing unit, being adapted for receiving a first signal representing said measured orientation of said portable apparatus and a second signal representing said detected two-dimensional manual motion relative to said HMI device and controlling a part of said robot to move in a direction in consideration of said measured orientation of said portable apparatus and said detected two-dimensional manual motion relative to said HMI device. By having the portable apparatus and the method therefor as explained herein, the two-dimensional manual movement on touch panel is integrated with orientation of the portable apparatus and an integration of these is mapped by the robot, which makes it possible to define a path in three dimensional space for jogging/teaching robot's movements in three dimension. This renders more intuitive than realization of linear robot movement by the portable orientation.