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61. 发明公开

US20230249354A1 SYNTHETIC REPRESENTATION OF A SURGICAL ROBOT 审中-公开
公开(公告)号：US20230249354A1
公开(公告)日：2023-08-10
申请号：US18187612
申请日：2023-03-21
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： Brandon D. Itkowitz , Simon P. DiMaio , Daniel J. Halabe , Christopher J. Hasser , Brian D. Hoffman , David Q. Larkin , Catherine J. Mohr , Paul W. Mohr , Tao Zhao , Wenyi Zhao
IPC分类号： B25J9/16 , G05B19/42 , A61B90/00 , A61B34/00 , A61B34/30 , A61B34/37
CPC分类号： B25J9/1697 , B25J9/1671 , B25J9/1692 , G05B19/4202 , A61B90/36 , A61B34/25 , A61B90/361 , A61B34/30 , A61B34/37 , B25J9/1666 , A61B90/37 , B25J9/1689 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , A61B34/20
摘要： A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera configured to capture an image of a camera field of view. The system further comprises an input device, a display, and a processor. The processor is configured to display a first synthetic image including a first synthetic image of the tool. The first synthetic image of the tool includes a portion of the tool outside of the camera field of view. The processor is also configured to receive a user input at the input device and responsive to the user input, change the display of the first synthetic image to a display of a second synthetic image including a second synthetic image of the tool that is different from the first synthetic image of the tool.

62. 发明授权

US09866008B2 Apparatus for controlling power source 有权
公开(公告)号：US09866008B2
公开(公告)日：2018-01-09
申请号：US13777336
申请日：2013-02-26
申请人： OMRON Corporation
发明人： Akihiko Morikawa , Takao Ushiyama , Junichi Ueno , Toshinori Sato
IPC分类号： G05B19/4061 , H02H1/00
CPC分类号： H02H1/0007 , G05B19/4061 , G05B2219/39083 , G05B2219/49138
摘要： A safety unit is provided for this purpose, and includes a position determining unit, a speed determining unit, a logical product unit, and a stopping unit. When a rotation amount (positional data) of an encoder rotating in connection with a rotation shaft of a servo motor falls within a predetermined limiting range, the position determining unit outputs a command for stopping a motor to a logical product unit. When rotation speed of the encoder rotating in connection with the rotation shaft of the servo motor falls within a predetermined limiting range, the speed determining unit outputs the command for stopping the motor to the logical product unit. This control by the logical product unit requires a stop command from both the position and speed determining units. The logical product unit informs the stopping unit to stop the servo motor to a controller.

63. 发明申请

US20170239814A1 PROCESSING TIME PREDICTION METHOD 审中-公开
公开(公告)号：US20170239814A1
公开(公告)日：2017-08-24
申请号：US15437974
申请日：2017-02-21
申请人： HONDA MOTOR CO., LTD.
发明人： Wataru TOYAMA , Masahiro YAMANAKA , Shunya SUGURO
IPC分类号： B25J9/16 , B25J13/08 , G04F10/00
CPC分类号： B25J9/1664 , B25J9/1666 , B25J13/088 , G04F10/00 , G05B2219/39083 , G07C3/00
摘要： A processing time prediction method includes the following steps. A plurality of sampling points are set, defined by segmenting an operation time period into respective sampling time intervals. A posture assumed by a first robot and a posture assumed by a second robot for each of the sampling points are calculated, and a posture calculation time is measured. The posture assumed by the first robot and the posture assumed by the second robot for each of the sampling points are calculated, the presence or absence of interference is detected, and a posture calculation and interference detection time is measured. An interference detection time at the plurality of sampling points is computed, from a difference between the posture calculation and interference detection time and the posture calculation time. A unit processing time is computed by dividing the interference detection time by a number of the set sampling points.

64. 发明申请

US20160339586A1 MANIPULATOR-DEVICE CONTROLLING METHOD 有权
标题翻译：操纵装置控制方法
公开(公告)号：US20160339586A1
公开(公告)日：2016-11-24
申请号：US15229340
申请日：2016-08-05
申请人： OLYMPUS CORPORATION
发明人： Takahiro KOMURO , Masatoshi IIDA
IPC分类号： B25J9/16 , A61B34/37 , A61B1/00
CPC分类号： B25J9/1682 , A61B1/00006 , A61B1/00149 , A61B1/0016 , A61B34/30 , A61B34/35 , A61B34/37 , A61B2034/301 , B25J9/1676 , G05B2219/39083 , G05B2219/45118
摘要： A manipulator-device controlling method including: a step of receiving manipulation signals for manipulators; a step of calculating a target position of a joint on the basis of the manipulation signals; steps of calculating a maximum distance between the manipulators when the joint is assumed to be placed at the target position; a step of comparing the maximum distance with a predetermined threshold; a step of moving the joint to the target position in the case in which the maximum distance is equal to or less than the predetermined threshold; and a step of stopping the movement of the joint in the case in which the maximum distance is greater than the predetermined threshold.
摘要翻译：一种操纵器装置控制方法，包括：接收操纵器的操作信号的步骤; 基于操作信号计算关节的目标位置的步骤; 当将假设放置在目标位置时计算操纵器之间的最大距离的步骤; 将最大距离与预定阈值进行比较的步骤; 在最大距离等于或小于预定阈值的情况下将关节移动到目标位置的步骤; 以及在最大距离大于预定阈值的情况下停止关节的移动的步骤。

65. 发明授权

US08473085B2 Mutex-mediated control of spatial access by appliances moveable over a common physical space 有权
标题翻译： Mutex介绍的控制空间访问的设备可以在一个共同的物理空间移动
公开(公告)号：US08473085B2
公开(公告)日：2013-06-25
申请号：US12112466
申请日：2008-04-30
申请人： James Sim , Todd Stephan , Bruce Tyley
发明人： James Sim , Todd Stephan , Bruce Tyley
IPC分类号： G06F19/00 , G05B19/418
CPC分类号： B25J9/1666 , G01N35/00623 , G01N2035/00643 , G05B2219/32287 , G05B2219/39083
摘要： A configurable mutual exclusion function oversees movement of appliances mobile over a common physical space in an automated laboratory workstation. A configurable mutex is allotted for each moveable appliance and is configurable to protect a task site when obtained for the respective appliance.
摘要翻译：可配置的互斥功能监督在自动实验室工作站中通过物理空间的移动设备的移动。为每个可移动设备分配了可配置的互斥体，并且可配置为在为相应设备获取时保护任务站点。

66. 发明申请

US20130110288A1 Method for Controlling at Least Two Robots Having Respective Working Spaces Including at Least One Region in Common 有权
标题翻译：控制最少两台机器人的方法，其中包括最小一个共同区域的工作空间
公开(公告)号：US20130110288A1
公开(公告)日：2013-05-02
申请号：US13473124
申请日：2012-05-16
申请人： Rosario Cassano , Bruno Cicciarello , Elena Grassi , Luca Lachello , Enrico Mauletti , Fabrizio Romanelli
发明人： Rosario Cassano , Bruno Cicciarello , Elena Grassi , Luca Lachello , Enrico Mauletti , Fabrizio Romanelli
IPC分类号： G05B19/418
CPC分类号： B25J9/1666 , B25J9/1676 , B25J9/1682 , G05B2219/39083 , G05B2219/40219 , G05B2219/40306
摘要： Methods for controlling at least two robots having respective working spaces, including at least one region in common are disclosed. The working space of each robot is modelled by defining one or more interference regions each constituted by an elementary geometrical figure. The interference regions are classified as: prohibited interference regions, defined as regions of space where the presence of the robot must without fail always be inhibited; monitored interference regions, defined as regions of space where the presence of the robot is accepted, but controlled, the robot being pre-arranged for sending a signal to the central control unit whenever it enters a monitored region and whenever it exits from a monitored region; and hybrid interference regions that are able to change between a status of monitored region and a status of prohibited region as a function of an input signal to the robot sent by said central control unit.
摘要翻译：公开了用于控制至少两个具有相应工作空间的机器人的方法，包括至少一个共同的区域。每个机器人的工作空间通过定义由基本几何图形构成的一个或多个干涉区域来建模。干扰区域分为：禁止的干扰区域，被定义为空间的区域，其中机器人的存在不能总是被抑制; 受监控的干扰区域，被定义为机器人的存在被接受但被控制的空间区域，机器人被预先布置成用于当其进入监视区域时以及每当其从监视区域退出时向中央控制单元发送信号 ; 以及能够根据由所述中央控制单元发送给机器人的输入信号的函数，在监视区域的状态和禁止区域的状态之间变化的混合干扰区域。

67. 发明授权

US08137047B2 Double-arm working machine 有权
标题翻译：双臂工作机
公开(公告)号：US08137047B2
公开(公告)日：2012-03-20
申请号：US11909782
申请日：2007-01-11
申请人： Akinori Ishii , Kazuo Fujishima , Kunitsugu Tomita
发明人： Akinori Ishii , Kazuo Fujishima , Kunitsugu Tomita
IPC分类号： E02F3/43
CPC分类号： E02F3/384 , B25J9/0087 , E02F9/2004 , E02F9/2033 , E02F9/24 , G05B2219/39083 , G05B2219/43202 , G05B2219/45012
摘要： A double-arm working machine has an upper swing structure, an operator cabin, left swing post and right swing post provided in front of the upper swing structure, and a left work front A and right work front B provided on the left swing post and the right swing post, respectively, such that the work fronts A, B each sway vertically. An interference prevention controller generates an output signal to swing the swing posts 7a, 7b pursuant to a differential angle between the left and right work fronts A, B and to a command signal from an operating device. A differential angle range in which the left and right work fronts A, B are likely to come into contact with each other is defined as an interference danger area (N), and an assigned differential-angle range contiguous to the interference danger area is defined as a semi-interference danger area.
摘要翻译：双臂工作机具有设置在上摆动结构前方的上摆动结构，操作员舱，左摆杆和右摆动杆以及设置在左摆动柱上的左作业前A和右工作前B;以及右摆杆分别使工作面A，B各自垂直摆动。干扰防止控制器根据左右工作面A，B之间的差角产生输出信号以使摆动臂7a，7b摆动，并与来自操作装置的指令信号相对应。将左右工作面A，B彼此接触的差角范围定义为干扰危险区域（N），并且定义与干扰危险区域相邻的分配的差角范围作为半干扰危险区域。

68. 发明申请

US20090276071A1 MUTEX-MEDIATED CONTROL OF SPATIAL ACCESS BY APPLIANCES MOVEABLE OVER A COMMON PHYSICAL SPACE 有权
标题翻译：通过普通物理空间移动的电器空间访问的MUTEX-媒体控制
公开(公告)号：US20090276071A1
公开(公告)日：2009-11-05
申请号：US12112466
申请日：2008-04-30
申请人： James Sim , Todd Stephan , Bruce Tyley
发明人： James Sim , Todd Stephan , Bruce Tyley
IPC分类号： G06F19/00
CPC分类号： B25J9/1666 , G01N35/00623 , G01N2035/00643 , G05B2219/32287 , G05B2219/39083
摘要： A configurable mutual exclusion function oversees movement of appliances mobile over a common physical space in an automated laboratory workstation. A configurable mutex is allotted for each moveable appliance and is configurable to protect a task site when obtained for the respective appliance.
摘要翻译：可配置的互斥功能监督在自动实验室工作站中通过物理空间的移动设备的移动。为每个可移动设备分配了可配置的互斥体，并且可配置为在为相应设备获取时保护任务站点。

69. 发明申请

US20090204258A1 DYNAMIC SPACE CHECK FOR MULTI-ARM SYSTEM MOVING ON A RAIL 有权
标题翻译：用于多臂系统移动的动态空间检查
公开(公告)号：US20090204258A1
公开(公告)日：2009-08-13
申请号：US12296992
申请日：2007-04-13
申请人： Jianming Tao , H. Dean McGee , Chi-Keng Tsai , Hadi Abu Akeel
发明人： Jianming Tao , H. Dean McGee , Chi-Keng Tsai , Hadi Abu Akeel
IPC分类号： G05B19/418
CPC分类号： B25J9/1674 , G05B2219/39083 , Y10S901/02
摘要： A system and method for controlling motion interference avoidance for a plurality of robots are disclosed, the system and method including a dynamic space check system wherein an efficiency of operation is maximized and a potential for interference or collision is minimized.
摘要翻译：公开了一种用于控制多个机器人的运动干扰避免的系统和方法，所述系统和方法包括动态空间检查系统，其中操作效率最大化并且干扰或碰撞的可能性最小化。

70. 发明授权

US07321808B2 Robot and multiple robot control method 有权
标题翻译：机器人和多机器人控制方法
公开(公告)号：US07321808B2
公开(公告)日：2008-01-22
申请号：US11602979
申请日：2006-11-22
申请人： Kenji Nagamatsu
发明人： Kenji Nagamatsu
IPC分类号： G05B19/418
CPC分类号： B25J9/1666 , G05B2219/39083 , G05B2219/39135 , G05B2219/40387
摘要： When braking of a motion of a part of a first robot is assumed to be started at points in time, a first stop position of the first robot part is estimated at each point in time. When braking of a motion of a part of a second robot is assumed to be started at the points in time, an estimated second stop position of the second robot part is obtained at each point in time. When it is determined that the first stop position of the first robot part at one of the points in time and either the actual position or the second stop position of the second robot part for each interval at the one of the points in time are contained in the shared workspace, the first robot part is braked.
摘要翻译：假设第一机器人的一部分的运动的制动在时间点开始，则在每个时间点估计第一机器人部件的第一停止位置。假设第二机器人的一部分的运动的制动在时间点开始，则在每个时间点获得第二机器人部件的估计的第二停止位置。当确定在一个时间点上的每个时间间隔的一个时间点上的第一机器人部件的第一停止位置和第二机器人部件的实际位置或第二停止位置被包含在共享工作区，第一个机器人部分被制动。

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