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51. 发明申请

US20100079486A1 METHOD AND SYSTEM FOR CONVERSION OF GRAPHICAL REPRESENTATIONS OF AUTOMATION ENVIRONMENTS 有权
标题翻译：自动化环境图形转换方法与系统
公开(公告)号：US20100079486A1
公开(公告)日：2010-04-01
申请号：US12242701
申请日：2008-09-30
申请人： John Joseph Baier , Kevin George Gordon , Mark David Hobbs , Monte Leroy Fevang
发明人： John Joseph Baier , Kevin George Gordon , Mark David Hobbs , Monte Leroy Fevang
IPC分类号： G09G5/00
CPC分类号： G06T1/00 , G05B19/409 , G05B2219/36163 , G05B2219/40161
摘要： A method for the conversion of graphical representations of automation environments is provided. The method includes receiving first graphics data in a first format comprising a first graphical representation of a first portion of an automation environment, processing the first graphics data to convert the first graphics data to second graphics data in a second format, where the second graphics data comprises a second graphical representation of the first portion of the automation environment, and transferring the second graphics data for delivery to and display on a client device.
摘要翻译：提供了一种用于转换自动化环境的图形表示的方法。该方法包括以包括自动化环境的第一部分的第一图形表示的第一格式接收第一图形数据，处理第一图形数据以将第一图形数据以第二格式转换为第二图形数据，其中第二图形数据包括自动化环境的第一部分的第二图形表示，以及传送第二图形数据以便传送到客户端设备上并在客户端设备上显示。

52. 发明申请

US20030216834A1 Method and system for remote control of mobile robot 有权
标题翻译：移动机器人遥控方法与系统
公开(公告)号：US20030216834A1
公开(公告)日：2003-11-20
申请号：US10339168
申请日：2003-01-09
发明人： James R. Allard
IPC分类号： G06F019/00
CPC分类号： G05D1/0038 , B25J9/1689 , G05B2219/35506 , G05B2219/40161 , G05B2219/40169 , G05D1/0044 , G05D1/0246 , G05D1/0282 , G05D2201/0207 , G06F19/00
摘要： A system for tele-operating a robot in an environment includes a user interface for controlling the tele-operation of the robot, an imaging device associated with the robot for providing image information representative of the environment around the robot, means for transmitting the image information to the user interface, means for converting the image information to a user-perceptible image at the user interface, means for designating one or more waypoints located anywhere in the user-perceptible image towards which the robot will move, the waypoint in the user-perceptible image towards which the robot will first move being designated as the active waypoint using an icon, means for automatically converting the location of the active waypoint in the user-perceptible image into a target location having x, y, and z coordinates in the environment of the robot, means for providing real-time instructions to the robot from the user interface to move the robot from the robot's current location in the environment to the x, y, and z coordinates of the target location in the environment, and means for moving the icon representing the active waypoint in the user-perceptible image to a new location in the user-perceptible image while the robot is executing the real-time instruction, wherein the location-converting means automatically converts the new location of the icon representing the active waypoint into a new target location having x, y, and z coordinates in the environment of the robot towards which the robot will move.
摘要翻译：用于在环境中远程操作机器人的系统包括用于控制机器人的远程操作的用户界面，与机器人相关联的成像设备，用于提供表示机器人周围的环境的图像信息，用于发送图像信息的装置在用户界面处的用于将图像信息转换成用户可感知图像的装置，用于指定位于用户可感知图像中机器人将移动的任何地方的一个或多个航路点的装置，使用图标将机器人首先移动的可感知图像指定为主动航路点，用于将用户可感知图像中的活动航路点的位置自动转换为环境中具有x，y和z坐标的目标位置的装置的机器人，用于从用户界面向机器人提供实时指令以将机器人从机器人当前位置移动的装置环境中的环境中的目标位置的x，y和z坐标，以及用于将用户可感知图像中的表示活动航路点的图标移动到用户可感知图像中的新位置的装置，同时机器人正在执行实时指令，其中位置转换装置将表示活动航点的图标的新位置自动转换成机器人环境中具有x，y和z坐标的新目标位置，机器人将朝向该位置移动。

53. 发明授权

US06535793B2 Method and system for remote control of mobile robot 有权
标题翻译：移动机器人遥控方法与系统
公开(公告)号：US06535793B2
公开(公告)日：2003-03-18
申请号：US09846756
申请日：2001-05-01
申请人： James R. Allard
发明人： James R. Allard
IPC分类号： G05B1500
CPC分类号： G05D1/0272 , B25J9/1689 , G05B2219/35506 , G05B2219/40161 , G05B2219/40169 , G05D1/0038 , G05D1/0044 , G05D1/0246 , G05D1/027 , G05D1/0282 , G05D2201/0207
摘要： Methods of remote control of a mobile robot and an intuitive user interface for remotely controlling a mobile robot are provided. Using a point-and-click device (405), the user is able to choose a target location (430) within a heads-up display (400) toward which to move a mobile robot. Additional graphical overlays (410 & 412) are provided to aid the user in navigating even in systems with asynchronous communication.
摘要翻译：提供了远程控制移动机器人的方法和用于远程控制移动机器人的直观的用户界面。使用点击式设备（405），用户能够选择朝向其移动移动机器人的平视显示器（400）内的目标位置（430）。提供附加的图形叠加层（410和412）以帮助用户甚至在具有异步通信的系统中导航。

54. 发明授权

US06259806B1 Method and apparatus for transforming coordinate systems in a telemanipulation system 有权
公开(公告)号：US06259806B1
公开(公告)日：2001-07-10
申请号：US09174051
申请日：1998-10-15
申请人： Philip S. Green
发明人： Philip S. Green
IPC分类号： G06K900
CPC分类号： A61B34/76 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/361 , B25J3/04 , B25J9/1689 , B25J19/023 , G03C1/0053 , G05B2219/35506 , G05B2219/39389 , G05B2219/40158 , G05B2219/40161 , G05B2219/40169 , G05B2219/45123 , G06T1/0014 , G06T3/00 , H04N13/189 , H04N13/194 , H04N13/239 , H04N13/246 , H04N13/296 , H04N13/337 , H04N13/341 , H04N13/398
摘要： In a telemanipulation system for manipulating objects located in a workspace at a remote worksite by an operator from an operator's station, such as in a remote surgical system, the remote worksite having a manipulator with an end effector for manipulating an object at the workspace, such as a body cavity, a controller including a hand control at the control operator's station for remote control of the manipulator, an image capture device, such as a camera, and image output device for reproducing a viewable real-time image, the improvement wherein a position sensor associated with the image capture device senses position relative to the end effector and a processor transforms the viewable real-time image into a perspective image with correlated manipulation of the end effector by the hand controller such that the operator can manipulate the end effector and the manipulator as if viewing the workspace in true presence. Image transformation according to the invention includes translation, rotation and perspective correction.

55. 发明公开

US20240024051A1 CONFIGURING SURGICAL SYSTEM WITH SURGICAL PROCEDURES ATLAS 审中-公开
公开(公告)号：US20240024051A1
公开(公告)日：2024-01-25
申请号：US18351424
申请日：2023-07-12
申请人： Intuitive Surgical Operations, Inc.
发明人： Brent Tokarchuk , Mahdi Azizian , Joey Chau , Simon P. DiMaio , Brian D. Hoffman , Anthony M. Jarc , Henry C. Lin , Ian E. McDowall , William C. Nowlin , John D. Seaman, II , Jonathan M. Sorger
IPC分类号： A61B34/35 , A61B34/10 , A61B34/00 , A61B90/00 , A61B34/37 , G16H50/50 , B25J9/16 , G16H20/40 , G16H40/67
CPC分类号： A61B34/35 , A61B34/10 , A61B34/76 , A61B90/00 , A61B34/00 , A61B34/37 , G16H50/50 , B25J9/1689 , G16H20/40 , G16H40/67 , A61B34/77 , A61B2090/3612 , G05B2219/40137 , G05B2219/45118 , G05B2219/40161 , G05B2219/40167 , G05B2219/40143 , G05B2219/40169 , G05B2219/40144 , G05B2219/40191 , G05B2219/40168 , G05B2219/40134 , A61B34/20
摘要： A surgical method is provided for use with a teleoperated surgical system (surgical system), the method comprising: recording surgical instrument kinematic information indicative of surgical instrument motion produced within the surgical system during the occurrence of the surgical procedure; determining respective kinematic signatures associated with respective surgical instrument motions; producing an information structure in a computer readable storage device that associates respective kinematic signatures with respective control signals; comparing, during a performance of the surgical procedure surgical instrument kinematic information during the performance with at least one respective kinematic signature; launching, during a performance of the surgical procedure an associated respective control signal in response to a match between surgical instrument kinematics during the performance and a respective kinematic signature.

56. 发明授权

US11737841B2 Configuring surgical system with surgical procedures atlas 有权
公开(公告)号：US11737841B2
公开(公告)日：2023-08-29
申请号：US17354567
申请日：2021-06-22
申请人： Intuitive Surgical Operations, Inc.
发明人： Brent Tokarchuk , Mahdi Azizian , Joey Chau , Simon P. DiMaio , Brian D. Hoffman , Anthony M. Jarc , Henry C. Lin , Ian E. McDowall , William C. Nowlin , John D. Seaman, II , Jonathan M. Sorger
IPC分类号： A61B34/35 , A61B34/10 , A61B34/00 , A61B90/00 , A61B34/37 , G16H50/50 , B25J9/16 , G16H20/40 , G16H40/67 , A61B34/20
CPC分类号： A61B34/35 , A61B34/00 , A61B34/10 , A61B34/37 , A61B34/76 , A61B34/77 , A61B90/00 , B25J9/1689 , G16H20/40 , G16H40/67 , G16H50/50 , A61B34/20 , A61B90/361 , A61B90/37 , A61B2090/3612 , G05B2219/40134 , G05B2219/40137 , G05B2219/40143 , G05B2219/40144 , G05B2219/40161 , G05B2219/40167 , G05B2219/40168 , G05B2219/40169 , G05B2219/40191 , G05B2219/45118
摘要： A surgical method is provided for use with a teleoperated surgical system (surgical system), the method comprising: recording surgical instrument kinematic information indicative of surgical instrument motion produced within the surgical system during the occurrence of the surgical procedure; determining respective kinematic signatures associated with respective surgical instrument motions; producing an information structure in a computer readable storage device that associates respective kinematic signatures with respective control signals; comparing, during a performance of the surgical procedure surgical instrument kinematic information during the performance with at least one respective kinematic signature; launching, during a performance of the surgical procedure an associated respective control signal in response to a match between surgical instrument kinematics during the performance and a respective kinematic signature.

57. 发明授权

US10835333B2 Remote control robot system 有权
公开(公告)号：US10835333B2
公开(公告)日：2020-11-17
申请号：US15755102
申请日：2016-05-27
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： Yasuhiko Hashimoto , Masayuki Kamon
IPC分类号： A61B34/30 , A61B34/37 , G05B19/418 , B25J9/00 , B23P19/04 , B25J13/00 , B25J19/04 , B25J9/16 , B25J13/08 , B25J3/00 , B25J13/06 , B25J18/00 , B25J19/02 , B25J3/04 , B23Q15/12 , B25J13/02 , B25J11/00 , G06F3/01 , H04N5/232 , H04N7/18 , A61B34/32 , G06T7/62 , G06T7/70 , B23P21/00
CPC分类号： A61B34/37 , A61B34/32 , B23P19/04 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/161 , B25J9/1602 , B25J9/163 , B25J9/1612 , B25J9/1628 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G05B19/4182 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , B23P21/00 , B23P21/002 , G05B2219/33007 , G05B2219/35464 , G05B2219/37297 , G05B2219/39004 , G05B2219/39102 , G05B2219/39439 , G05B2219/39531 , G05B2219/39533 , G05B2219/40022 , G05B2219/40134 , G05B2219/40136 , G05B2219/40139 , G05B2219/40142 , G05B2219/40143 , G05B2219/40145 , G05B2219/40146 , G05B2219/40161 , G05B2219/40162 , G05B2219/40163 , G05B2219/40169 , G05B2219/40182 , G05B2219/40183 , G05B2219/40195 , G05B2219/40387 , G05B2219/40627 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
摘要： Robot main body having robotic arm, remote control device including robotic arm operational instruction input part for operator to control by touching, to input operational instruction for robotic arm, and contactless action detecting part configured to detect contactless action including at least one given operation instructing action of operator, and control device communicably connected to remote control device and configured to control operation of robot main body, are provided. Control device includes memory part configured to store operational instruction content data defining an operation mode of robot main body corresponding to at least one operation instructing action, operational instruction content identifying module to identify operation mode of robot main body of the operation instructing action detected by contactless action detecting part based on operational instruction content data, and motion controlling module configured to control operation of robot main body based on operation mode identified by operational instruction content identifying module.

58. 发明授权

US10631941B2 Robot system 有权
公开(公告)号：US10631941B2
公开(公告)日：2020-04-28
申请号：US15755384
申请日：2016-05-27
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： Yasuhiko Hashimoto , Nobuyasu Shimomura , Tsuyoshi Maehara , Masayuki Kamon , Yasushi Kurosawa , Shigetsugu Tanaka
IPC分类号： G05B19/04 , G05B19/18 , A61B34/37 , G05B19/418 , B23P19/04 , B25J13/00 , B25J19/04 , B25J9/00 , B25J9/16 , B25J13/08 , B25J3/00 , B25J13/06 , B25J18/00 , B25J19/02 , B25J3/04 , B23Q15/12 , B25J13/02 , B25J11/00 , G06F3/01 , H04N5/232 , H04N7/18 , A61B34/32 , G06T7/62 , G06T7/70 , B23P21/00
CPC分类号： A61B34/37 , A61B34/32 , B23P19/04 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/161 , B25J9/1602 , B25J9/163 , B25J9/1612 , B25J9/1628 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G05B19/4182 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , B23P21/00 , B23P21/002 , G05B2219/33007 , G05B2219/35464 , G05B2219/37297 , G05B2219/39004 , G05B2219/39102 , G05B2219/39439 , G05B2219/39531 , G05B2219/39533 , G05B2219/40022 , G05B2219/40134 , G05B2219/40136 , G05B2219/40139 , G05B2219/40142 , G05B2219/40143 , G05B2219/40145 , G05B2219/40146 , G05B2219/40161 , G05B2219/40162 , G05B2219/40163 , G05B2219/40169 , G05B2219/40182 , G05B2219/40183 , G05B2219/40195 , G05B2219/40387 , G05B2219/40627 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
摘要： Robot system which includes a master device configured to receive an operating instruction from an operator, slave arm, storage device configured to store operating sequence information that defines processing carried out by slave arm, and control device configured to control operation of slave arm. Control device includes a receiver configured to receive an input signal, motion controller configured to determine whether operating mode of slave arm is to be automatic, manual or correctable automatic mode and control operation of slave arm in determined operating mode, and continuation determinator configured to determine whether continuation of automatic mode is permitted. In a process at which slave arm is scheduled to operate in automatic mode, after motion controller suspends operation of slave arm in automatic mode at a given step of process, continuation determinator determines whether continuation of automatic mode is permitted based on input signal received by receiver when operation is suspended.

59. 发明申请

US20180250829A1 REMOTE CONTROL ROBOT SYSTEM 审中-公开
公开(公告)号：US20180250829A1
公开(公告)日：2018-09-06
申请号：US15755449
申请日：2016-05-27
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： Yasuhiko HASHIMOTO , Masayuki KAMON
IPC分类号： B25J13/06 , B25J19/04 , B25J13/00 , B25J9/16
CPC分类号： A61B34/37 , A61B34/32 , B23P19/04 , B23P21/00 , B23P21/002 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/0093 , B25J9/1602 , B25J9/161 , B25J9/1612 , B25J9/1628 , B25J9/163 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G05B19/4182 , G05B2219/39004 , G05B2219/39102 , G05B2219/39439 , G05B2219/40022 , G05B2219/40136 , G05B2219/40142 , G05B2219/40146 , G05B2219/40161 , G05B2219/40162 , G05B2219/40163 , G05B2219/40169 , G05B2219/40183 , G05B2219/40195 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
摘要： A robot main body having a robotic arm, a remote control device which includes a robotic arm operational instruction input part installed outside of a working area and by which an operational instruction for the robotic arm is inputted, and a contactless action detecting part configured to detect a contactless action including at least one given operating condition parameter change instructing action by an operator, a control device communicably connected to the remote control device and configured to control operation of the robot main body.

60. 发明申请

US20180250825A1 ROBOT SYSTEM 审中-公开
公开(公告)号：US20180250825A1
公开(公告)日：2018-09-06
申请号：US15755246
申请日：2016-05-27
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： Yasuhiko HASHIMOTO , Masayuki KAMON , Shigetsugu TANAKA
IPC分类号： B25J9/16 , B25J3/00
CPC分类号： A61B34/37 , A61B34/32 , B23P19/04 , B23P21/00 , B23P21/002 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/0093 , B25J9/1602 , B25J9/161 , B25J9/1612 , B25J9/1628 , B25J9/163 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G05B19/4182 , G05B2219/39004 , G05B2219/39102 , G05B2219/39439 , G05B2219/40022 , G05B2219/40136 , G05B2219/40142 , G05B2219/40146 , G05B2219/40161 , G05B2219/40162 , G05B2219/40163 , G05B2219/40169 , G05B2219/40183 , G05B2219/40195 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
摘要： A robot system including a master device configured to receive a manipulating instruction from an operator and transmit the received manipulating instruction as a manipulating input signal, a plurality of slave robots configured to operate according to the manipulating input signal transmitted from the master device, a management control device configured to manage operations of the plurality of slave robots, respectively, and an output device configured to output information transmitted from the management control device. The management control device determines a priority of transmitting the manipulating input signal from the master device to the slave robot among the plurality of slave robots that are in a standby state of the manipulating input signal, and transmits information related to the determined priority to the output device. Thus, the operator is able to efficiently transmit the manipulating input signal to the plurality of slave robots through the master device.

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