公开(公告)号：WO2021231663A2

公开(公告)日：2021-11-18

申请号：PCT/US2021/032111

申请日：2021-05-12

Applicant: AESCAPE, INC.

Inventor： LITMAN, Eric A. ,  WALSH, David N. ,  PACE, Charles Paul ,  DICICCO, Matthew

IPC: B25J9/00 ,  G06F19/00 ,  G10H3/06 ,  B25J9/1633

Abstract: A system, method, and apparatus for a robot system that manipulates the surface of an object effect programmed manipulation goals such as reaching specific locations on the surface of the object, displacing the surface of the object, applying a predetermined force and torque to the surface of the object, dynamically changing the contact point between the robot and the object, and applying force to structures below the surface of the object. The system and method determine the state of the object through a sensing method that includes, without limitation: torque and force measurement, visible light sensors, range and depth sensors, ultrasound sensors, thermographic sensors, and worktable force measurement.

公开(公告)号：WO2023275699A1

公开(公告)日：2023-01-05

申请号：PCT/IB2022/055928

申请日：2022-06-27

Applicant: CILAG GMBH INTERNATIONAL

Inventor： OVERMYER, Mark D. ,  DEFINIS, Raffaele J. ,  SMITH, David B. ,  GONZALEZ, Hamilton E.

IPC: A61B34/30 ,  A61B17/29 ,  A61B34/35 ,  A61B2017/2926 ,  A61B2034/2059 ,  A61B2090/031 ,  A61B2090/061 ,  A61B2090/064 ,  A61B2090/066 ,  A61B2090/067 ,  A61B2090/0807 ,  A61B2562/0252 ,  A61B34/76 ,  B25J9/1633 ,  B25J9/1664

Abstract: A surgical system is disclosed. The surgical system comprises an end effector configured to move through a grasping motion, a motor configured to drive the grasping motion, an encoder configured to detect rotary positions, a load sensor configured to detect loads delivered, a position sensor configured to detect three-dimensional positions of the end effector, and a control circuit configured to receive a position parameter, a rotary parameter, and a load parameter, store the position parameter at the outset of the grasping motion, calculate an amount of work performed during the grasping motion while the position sensor detects the position of the end effector within a three-dimensional zone around the stored position parameter, transmit a work signal indicative of the amount of work performed, and reset the calculation of the amount of work performed when the position sensor detects a displacement of the end effector out of the three-dimensional zone.

公开(公告)号：WO2022246057A2

公开(公告)日：2022-11-24

申请号：PCT/US2022/030018

申请日：2022-05-19

Applicant: CARNEGIE MELLON UNIVERSITY

Inventor： BHATIA, Ankit ,  JOHNSON, Aaron ,  MASON, Matthew, T.

IPC: B25J15/02 ,  B25J15/08 ,  B25J13/088 ,  B25J15/0009 ,  B25J15/0028 ,  B25J15/022 ,  B25J15/0266 ,  B25J9/12 ,  B25J9/1612 ,  B25J9/1633 ,  H02P29/64 ,  H02P5/46

Abstract: A gripper includes at least one movable finger. Each movable finger includes a first motor, a second motor, a first motor link having a first end coupled to a rotor of the first motor, a second motor link having a first end coupled to a rotor of the second motor, a finger link having a first end in pivotal connection with a second end of the second motor link and a gripper pad, and a connecting link having a first end in pivotal connection with a second end of the first motor link and a second end in pivotal connection with the finger link. The gripper further includes at least one controller programmed or configured to actuate the first motor and the second motor of each of the at least one movable finger.

公开(公告)号：WO2021243945A1

公开(公告)日：2021-12-09

申请号：PCT/CN2020/125842

申请日：2020-11-02

Applicant: 杭州键嘉机器人有限公司

Inventor： 甘博涵 ,  许靖 ,  乔天 ,  文理为 ,  杜思傲 ,  董旭亮 ,  荣健

IPC: B25J9/16 ,  B25J9/1607 ,  B25J9/1633

Abstract: 本公开公开了一种对于静止或低速工况下机械臂高精度力反馈的方法、一种机械臂辅助的外科手术方法和具有处理器可执行的非易失的程序代码的计算机可读介质，该方法包括以下步骤：S100，构建机械臂的各个关节坐标系，并计算关节的雅可比矩阵；S200，根据上述的关节坐标系，构建原点位于机械臂的每一段质心位置的坐标系，并计算质心位置的雅可比矩阵；S300，构建动力学方程中重力项的矩阵；S400，在机械臂运动过程中采集得到关节位置和力矩数据；S500，将S400的数据代入到S300中，计算出结果；S600，得到施加外力导致的额外关节扭矩；S700，结合S100中得到的关节雅可比矩阵和S600中得到的额外关节扭矩，计算得到机械臂末端外力的大小和方向。本公开提供的一种对于静止或低速工况下机械臂高精度力反馈的方法，简化计算步骤，提高力反馈精确性。

公开(公告)号：WO2021198664A1

公开(公告)日：2021-10-07

申请号：PCT/GB2021/050768

申请日：2021-03-29

Applicant: CMR SURGICAL LIMITED

Inventor： MOTTRAM, Edward John ,  TUCKER, Edward James Wildin

IPC: A61B34/30 ,  A61B90/00 ,  B25J13/08 ,  B25J9/16 ,  A61B2034/302 ,  A61B2090/064 ,  A61B90/03 ,  A61B90/06 ,  B25J9/1607 ,  B25J9/1633 ,  B25J9/1689 ,  G05B2219/40174 ,  G05B2219/40184

Abstract: A control system of a surgical robot arm, the surgical robot arm comprising a series of joints by which the configuration of that surgical robot arm can be altered, an attachment for a surgical instrument at a distal end of the robot arm and one or more force or torque sensors, each force or torque sensor configured to sense a force or torque at a joint of the series of joints; the control system being configured to control the configuration of the surgical robot arm to be altered in response to an externally applied force or torque by: receiving sensory data from the one or more force or torque sensors indicative of a sensed force or torque at a point of the surgical robot arm resulting from the externally applied force or torque; resolving the sensed force or torque so as to determine the components of the sensed force or torque acting at the point in a direction parallel with the longitudinal axis of a surgical instrument attached to the attachment; and sending a command signal to the surgical robot arm to drive the robot arm such that the configuration of the robot arm is altered so as to comply with the resolved force or torque components.

公开(公告)号：WO2021254414A1

公开(公告)日：2021-12-23

申请号：PCT/CN2021/100482

申请日：2021-06-17

Applicant: 北京卫星制造厂有限公司

Inventor： 张加波 ,  徐建萍 ,  赵长喜 ,  刘净瑜 ,  乐毅

IPC: B25J9/16 ,  G05B19/423 ,  B25J9/1633 ,  B25J9/1664

Abstract: 一种基于力反馈的机器人实时运动规划方法，针对在较大周期姿态修正量下，机械臂不能平滑加/减速运动的问题，修正了现有的分段线性力位控制方法。采用六维力传感器感知外部作用力，获取坐标系各轴每周期姿态目标修正量；并通过各坐标轴稳定运行时的最大周期姿态修正量增量确定各轴每周期姿态修正量插补步幅基数，最后通过力位转换、插补逼近各轴的周期姿态目标修正量，避免了机械臂启动或停止时，运动状态的改变导致的震荡，实现机械臂力控过程中的平滑运动。

公开(公告)号：WO2021250201A1

公开(公告)日：2021-12-16

申请号：PCT/EP2021/065699

申请日：2021-06-10

Applicant: DEUTSCHES ZENTRUM FÜR LUFT- UND RAUMFAHRT E.V.

Inventor： ENGLSBERGER, Johannes ,  GAROFALO, Gianluca ,  MESESAN, George, Adrian

IPC: B25J9/16 ,  B25J9/1633 ,  B25J9/1643 ,  G05B2219/39187 ,  G05B2219/39197 ,  G05B2219/39338 ,  G05B2219/40336 ,  G05B2219/40338 ,  G05B2219/40358 ,  G05B2219/40367 ,  G05B2219/40372

Abstract: Verfahren zum Regeln eines kinematisch redundanten Roboters (100), um mehrere Tasks zu erfüllen, wobei wenigstens ein passivitäts-basiertes erstes Reglermodul (102) verwendet wird, für das wenigstens eine erste Reglermodul (102) wenigstens eine Task-Zielbeschreibung und wenigstens ein zugehöriges Task-Mapping berechnet werden, für die Tasks wenigstens ein Gewichtung berechnet wird und das wenigstens eine erste Reglermodul (102) unter Verwendung der wenigstens einen Gewichtung in einem Gesamtregler (104) integriert wird, und Computerprogrammprodukt, umfassend Befehle, die bei der Ausführung des Programms mithilfe wenigstens eines Prozessors diesen veranlassen, ein derartiges Verfahren auszuführen.

公开(公告)号：WO2021250141A1

公开(公告)日：2021-12-16

申请号：PCT/EP2021/065550

申请日：2021-06-10

Applicant: KONINKLIJKE PHILIPS N.V.

Inventor： BALICKI, Marcin, Arkadiusz

IPC: A61B34/30 ,  B25J9/16 ,  G05B19/40 ,  A61B90/11 ,  A61B90/00 ,  A61B2090/064 ,  A61B34/32 ,  B25J9/161 ,  B25J9/1633 ,  G05B2219/40408

Abstract: A system includes: a robotic arm which has an instrument interface; a force/torque sensor for sensing forces at the instrument interface; a robot controller for controlling the robotic arm and to control a robot control parameter; and a system controller. The system controller: receives temporal force/torque data, wherein the temporal force/torque data represents the forces at the instrument interface over time during a collaborative procedure with a user; analyzes the temporal force/torque data to determine a current intention of the user and/or a state of the collaborative procedure; and causes the robot controller to control the robotic arm in a control mode which is predefined for the determined current intention of the user or state of the collaborative procedure, wherein the control mode determines the robot control parameter.

公开(公告)号：WO2021191691A1

公开(公告)日：2021-09-30

申请号：PCT/IB2021/050468

申请日：2021-01-21

Applicant: AURIS HEALTH, INC.

Inventor： BAJO, Andrea

IPC: A61B34/30 ,  A61B34/00 ,  A61B90/50 ,  A61B34/76 ,  B25J9/1607 ,  B25J9/1633 ,  B25J9/1664

Abstract: Systems and methods for constrained motion control of medical instruments are provided. In one aspect, a robotic system includes an instrument having an end effector, a robotic arm configured to control movement of the instrument and the end effector, and an input device configured to receive an input for controlling movement of the instrument and end effector. The instrument is capable of moving in a different number of degrees-of- freedom (DOFs) than the input device. The system is configured to determine a Jacobian matrix relating the input to the input device to robotic arm commands for achieving a motion of the end effector indicated by the input, modify the Jacobian matrix via discarding at least one row of the Jacobian matrix, and determine a robotic arm command for achieving the motion of the instrument indicated by the input based on the modified Jacobian matrix.

公开(公告)号：WO2021139956A1

公开(公告)日：2021-07-15

申请号：PCT/EP2020/085413

申请日：2020-12-10

Applicant: SIEMENS AKTIENGESELLSCHAFT

Inventor： BORGMANN, Christian ,  CLOSSEN-VON LANKEN SCHULZ, Michael ,  DREISCHER, Paul ,  OBERMAYR, Stefan

IPC: B23P6/00 ,  B23C3/18 ,  B23C3/34 ,  B23P15/00 ,  F01D5/00 ,  F01D5/30 ,  B23C3/30 ,  B25J11/00 ,  B25J19/02 ,  B23C2220/366 ,  B23P15/006 ,  B23P6/002 ,  B25J11/005 ,  B25J19/027 ,  B25J9/0084 ,  B25J9/1633 ,  F01D21/003 ,  F01D5/005 ,  F01D5/022 ,  F05D2230/10 ,  F05D2230/80 ,  F05D2240/20 ,  G01M15/14 ,  G01M5/0033 ,  G01M5/0083 ,  G01N27/902

Abstract: Die Erfindung betrifft ein Verfahren zur Reparatur von beschädigten Schaufelfußaufnahmenuten (1) eines Rotors (2), umfassend die Schritte: a) datenmäßige Erfassung von innerhalb einer oder mehrerer Schaufelfußaufnahmenuten (1) vorhandenen Beschädigungen, insbesondere Risse, und deren Positionen unter Verwendung eines Detektionswerkzeugs (8), und spanende Beseitigung der erfassten Beschädigungen auf Grundlage der in Schritt a) generierten Daten unter Verwendung eines Bearbeitungswerkzeugs (9), wobei das Detektionswerkzeug (8) und das Bearbeitungswerkzeug (9) während der Durchführung der Schritte a) und b) von einem Cobot (3, 4) gehalten und von diesem entlang einer vorab definierten Trajektorie durch die Schaufelfußaufnahmenuten (1) bewegt werden.