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81. 发明授权

US09033880B2 Robotic insertion systems and methods 有权
标题翻译：机器人插入系统和方法
公开(公告)号：US09033880B2
公开(公告)日：2015-05-19
申请号：US13080370
申请日：2011-04-05
申请人： Jeffery J. Sheldon , Kenneth R. Smith , Bruce W. Dannecker , Joseph M. Lacey , Katherine E. Goodwin
发明人： Jeffery J. Sheldon , Kenneth R. Smith , Bruce W. Dannecker , Joseph M. Lacey , Katherine E. Goodwin
IPC分类号： A61B8/00 , A61M5/42 , A61M5/46 , A61M25/01 , A61B8/08 , A61B5/15 , A61B5/153
CPC分类号： A61B17/3403 , A61B5/15003 , A61B5/150748 , A61B5/153 , A61B8/0841 , A61B8/085 , A61B8/0891 , A61B8/14 , A61B8/4209 , A61B8/4455 , A61B8/462 , A61B2017/3413 , A61M5/427 , A61M5/46 , A61M25/0105 , Y10S901/09 , Y10S901/41 , Y10S901/46
摘要： An apparatus for accessing the lumen of a vessel includes a handle providing a controller for operating the apparatus, an image capturing instrument secured to the handle, a display secured to the handle, wherein images captured by the image capturing instrument are displayed on the display, and a robotic platform coupled to the handle. The robotic platform includes a body, a first motor coupled to the body, wherein the first motor adjust the robotic platform to achieve a target insertion depth, and a cartridge carrier pivotally coupled to the body, wherein the robotic platform is adjustable to achieve the target insertion depth. The apparatus also includes a disposable cartridge attached to the cartridge carrier. The disposable cartridge includes a needle slideably coupled to the disposable cartridge, wherein the needle slides to extend to the target insertion depth, and a sheath slideably coupled to the disposable cartridge, wherein the sheath slides to extend to the target insertion depth.
摘要翻译：用于访问容器的内腔的装置包括提供用于操作装置的控制器的手柄，固定到手柄的图像捕获装置，固定到手柄的显示器，其中由图像捕获装置拍摄的图像显示在显示器上，以及耦合到手柄的机器人平台。所述机器人平台包括主体，联接到所述主体的第一马达，其中所述第一马达调节所述机器人平台以实现目标插入深度，以及枢转地联接到所述主体的卡盘托架，其中所述机器人平台是可调节的以实现所述目标插入深度。该装置还包括附接到盒式载体的一次性盒。一次性盒包括可滑动地联接到一次性盒的针，其中针滑动以延伸到目标插入深度，以及可滑动地联接到一次性盒的护套，其中护套滑动以延伸到目标插入深度。

82. 发明申请

US20150127158A1 ROBOT, ROBOT SYSTEM, AND ROBOT CONTROL DEVICE 有权
标题翻译：机器人，机器人系统和机器人控制装置
公开(公告)号：US20150127158A1
公开(公告)日：2015-05-07
申请号：US14529364
申请日：2014-10-31
申请人： Seiko Epson Corporation
发明人： Yasuhiro SHIMODAIRA
IPC分类号： B25J9/16
CPC分类号： G05B19/401 , B25J9/1692 , B25J9/1694 , B25J13/085 , G05B2219/39058 , G05B2219/39529 , G05B2219/40599 , G05B2219/45058 , G05B2219/45064 , Y10S901/02 , Y10S901/31 , Y10S901/41 , Y10S901/46
摘要： A robot includes a robot arm, a force sensor, and a control unit configured to control the operation of the robot art. The control unit initializes the force sensor while the robot arm is moving at uniform speed. It is preferable that the control unit initializes the force sensor while the robot arm is moving at the uniform speed and the amplitude of a detection value of the force sensor is smaller than a threshold.
摘要翻译：机器人包括机器人手臂，力传感器和被配置为控制机器人技术的操作的控制单元。控制单元在机械臂以均匀的速度移动的情况下初始化力传感器。优选地，当机器人臂以均匀的速度移动并且力传感器的检测值的幅度小于阈值时，控制单元初始化力传感器。

83. 发明授权

US09026302B2 Methods and systems for complete coverage of a surface by an autonomous robot 有权
公开(公告)号：US09026302B2
公开(公告)日：2015-05-05
申请号：US12940871
申请日：2010-11-05
申请人： Michael S. Stout , Gabriel Francis Brisson , Enrico Di Bernardo , Paolo Pirjanian , Dhiraj Goel , James Philip Case , Michael Dooley
发明人： Michael S. Stout , Gabriel Francis Brisson , Enrico Di Bernardo , Paolo Pirjanian , Dhiraj Goel , James Philip Case , Michael Dooley
IPC分类号： B08B7/00 , G05D1/02 , G05D1/00 , G05D3/12
CPC分类号： B25J9/1684 , B25J5/00 , B25J5/005 , B25J5/007 , B25J9/163 , G05D1/0219 , G05D1/0234 , G05D1/0238 , G05D1/0255 , G05D1/0257 , G05D1/0263 , G05D1/0272 , G05D1/0274 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215 , Y10S901/01 , Y10S901/46
摘要： A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge-following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.

84. 发明申请

US20150114165A1 FORCE LIMITING DEVICE AND METHOD 有权
标题翻译：强制限制装置和方法
公开(公告)号：US20150114165A1
公开(公告)日：2015-04-30
申请号：US14063602
申请日：2013-10-25
申请人： Universite Laval , GM Global Technology Operations LLC
发明人： Nicolas Lauzier , Clement Gosselin , Dalong Gao , Martin Grenier , Robin Stevenson
IPC分类号： B25J17/00 , B25J19/06 , B25J19/00
CPC分类号： B25J17/00 , B25J9/0048 , B25J17/0208 , B25J17/0266 , B25J19/0091 , B25J19/063 , Y10S901/28 , Y10S901/46 , Y10T74/20305 , Y10T74/20329
摘要： The present invention relates to a method and apparatus for limiting the contact force between a moving device and another object, using a parallel mechanism and torque limiters where the threshold force to activate the force limiting mechanism is not related to the configuration of the moving device or the location of the contact force relative to the activation point of the force limiting mechanism, and where the mechanism may be configured for one, two or three degrees of freedom. A counterbalance mechanism is also provided to counteract gravity load when the force limiting mechanism is configured for three degrees of freedom and responsive to contact forces including a vertical element. In particular, the invention relates to a method and apparatus for limiting the contact force between a moving robotic device and a contactable object.
摘要翻译：本发明涉及一种使用并联机构和扭矩限制器来限制移动装置与另一物体之间的接触力的方法和装置，其中启动力限制机构的阈值力与移动装置的构造无关，或者接触力相对于力限制机构的激活点的位置，以及其中机构可被配置为一个，两个或三个自由度的位置。还提供平衡机构以当力限制机构构造成三自由度并响应于包括垂直元件的接触力时抵抗重力负载。特别地，本发明涉及一种用于限制移动机器人装置和可接触物体之间的接触力的方法和装置。

85. 发明申请

US20150100067A1 METHODS AND SYSTEMS FOR COMPUTER-GUIDED PLACEMENT OF BONE IMPLANTS 审中-公开
标题翻译：用于计算机引导的植入物的方法和系统
公开(公告)号：US20150100067A1
公开(公告)日：2015-04-09
申请号：US14509873
申请日：2014-10-08
申请人： University of Washington through its Center for Commercialization
发明人： Peter R. Cavanagh , Ian Donaldson
IPC分类号： A61B19/00 , A61B5/06
CPC分类号： A61B5/064 , A61B34/20 , A61B34/30 , A61B90/39 , A61B2034/107 , A61B2034/2055 , A61B2090/374 , A61B2090/3762 , A61B2090/378 , Y10S901/09 , Y10S901/46
摘要： The present technology relates generally to systems and methods for computer-guided placement of bone implants. In some embodiments, for example, a method of computer-guided surgical insertion of an implant into a target bone includes imaging the target bone to obtain three-dimensional (3D) image data, and, based on the 3D image data, determining an entry point and trajectory for insertion of the implant. The method also includes mapping the 3D image data, the entry point, and the trajectory into a surgical field, followed by instructing a clinician to insert the implant into the target bone based on the determined entry point and trajectory.
摘要翻译：本技术一般涉及用于计算机引导放置骨植入物的系统和方法。在一些实施例中，例如，计算机引导的将植入物外科手术插入目标骨骼的方法包括成像目标骨骼以获得三维（3D）图像数据，并且基于3D图像数据，确定条目用于插入植入物的点和轨迹。该方法还包括将3D图像数据，入口点和轨迹映射到外科视野中，随后指示临床医生基于确定的入口点和轨迹将植入物插入目标骨骼。

86. 发明授权

US08996167B2 User interfaces for robot training 有权
标题翻译：用于机器人训练的用户界面
公开(公告)号：US08996167B2
公开(公告)日：2015-03-31
申请号：US13621517
申请日：2012-09-17
申请人： Rethink Robotics, Inc.
发明人： Natan Linder , Rodney Brooks , Michael Sussman , Bruce Blumberg , Noelle Dye , Michael Caine , Elaine Y. Chen
IPC分类号： B25J13/02 , B25J9/00 , B25J13/08 , G05B19/42 , G06F17/00 , G06K9/20 , G06K9/62 , G06K9/66 , G06N99/00
CPC分类号： B25J9/163 , B25J9/0087 , B25J9/1671 , B25J9/1676 , B25J9/1682 , B25J9/1697 , B25J11/0005 , B25J13/084 , G05B19/42 , G05B19/423 , G05B2219/39451 , G05B2219/39466 , G05B2219/40116 , G06F17/00 , G06K9/2081 , G06K9/6255 , G06K9/66 , G06N5/025 , G06N7/005 , G06N99/005 , Y02P90/86 , Y10S901/01 , Y10S901/03 , Y10S901/09 , Y10S901/31 , Y10S901/46 , Y10S901/47
摘要： In accordance with various embodiments, a user interface embedded into a robot facilitates robot training via direct and intuitive physical interactions. In some embodiments, the user interface includes a wrist cuff that, when grasped by the user, switches the robot into zero-force gravity-compensated mode.
摘要翻译：根据各种实施例，嵌入到机器人中的用户界面通过直接和直观的物理交互来促进机器人训练。在一些实施例中，用户接口包括手腕箍，当手掌握住时，将机器人切换成零力重力补偿模式。

87. 发明授权

US08958911B2 Mobile robot 有权
标题翻译：移动机器人
公开(公告)号：US08958911B2
公开(公告)日：2015-02-17
申请号：US13555529
申请日：2012-07-23
申请人： Cheuk Wah Wong , Eben Rauhut , Brian C. Benson , Peter J. Lydon , Michael T. Rosenstein , Michael Halloran , Steven V. Shamlian , Chikyung Won , Mark Chiappetta , Justin H. Kearns , Orjeta Taka , Robert Todd Pack , Timothy S. Farlow , Jasper Fourways Vicenti
发明人： Cheuk Wah Wong , Eben Rauhut , Brian C. Benson , Peter J. Lydon , Michael T. Rosenstein , Michael Halloran , Steven V. Shamlian , Chikyung Won , Mark Chiappetta , Justin H. Kearns , Orjeta Taka , Robert Todd Pack , Timothy S. Farlow , Jasper Fourways Vicenti
IPC分类号： B25J9/16 , G05D1/02
CPC分类号： B25J9/1697 , B25J9/1694 , G05D1/0214 , G05D1/024 , G05D1/0242 , G05D2201/0206 , G05D2201/0211 , Y10S901/01 , Y10S901/09 , Y10S901/46 , Y10S901/47
摘要： A mobile robot including a robot body, a drive system supporting the robot body, and a controller in communication with the drive system. The robot also includes an actuator moving a portion of the robot body through a volume of space adjacent the mobile robot and a sensor pod in communication with the controller. The sensor pod includes a collar rotatably supported and having a curved wall formed at least partially as a surface of revolution about a vertical axis. The sensor pod also includes a volumetric point cloud sensor housed by the collar and observing the volume of space adjacent the robot from within the collar along an observation axis extending through the curved wall. A collar actuator rotates the collar and the volumetric point cloud sensor together about the collar axis.
摘要翻译：一种包括机器人主体，支撑机器人主体的驱动系统和与驱动系统通信的控制器的移动机器人。机器人还包括致动器，其将机器人主体的一部分移动通过与移动机器人相邻的空间的容积以及与控制器通信的传感器盒。传感器盒包括可旋转地支撑并具有至少部分地作为围绕垂直轴线的旋转表面形成的弯曲壁的轴环。传感器盒还包括容纳点云传感器，其由轴环容纳并且沿着延伸穿过弯曲壁的观察轴线从轴环内观察邻近机器人的空间的体积。套环执行器将套环和体积点云传感器围绕套环轴线旋转。

88. 发明申请

US20150019468A1 THERMODYNAMIC COMPUTING 审中-公开
标题翻译：热力计算机
公开(公告)号：US20150019468A1
公开(公告)日：2015-01-15
申请号：US14323451
申请日：2014-07-03
申请人： KnowmTech, LLC
发明人： Alex Nugent , Timothy Molter
IPC分类号： G06N3/08 , G06N99/00
CPC分类号： G06N3/063 , G06N3/0418 , Y10S901/46
摘要： Methods and systems for thermodynamic computing based on the attractor dynamics of volatile dissipative electronics attempting to maximize circuit power consumption. A general model of memristive devices based on collections of metastable switches, adaptive synaptic weights can be formed from a differential pair of memristors and modified according to anti-hebbian and hebbian plasticity. The arrays of synaptic weights can be employed to build a neural node circuit with attractor states that are shown to be logic functions forming a computationally complete set. By configuring the attractor states of the computational building block in different ways, high-level machine learning functions can be demonstrated for real-world applications.
摘要翻译：基于挥发性耗散电子的吸引子动力学的热力学计算方法和系统试图最大化电路功耗。基于亚稳开关集合的回忆装置的一般模型，可以由差分对的忆阻器形成自适应突触重量，并根据反比较和hebbian可塑性进行修改。可以使用突触权重的阵列来构建具有吸引子状态的神经节点电路，所述神经节点电路被显示为形成计算完整集合的逻辑功能。通过以不同的方式配置计算构建块的吸引子状态，可以为实际应用演示高级机器学习功能。

89. 发明授权

US08924021B2 Control of robots from human motion descriptors 有权
标题翻译：人体运动描述符控制机器人
公开(公告)号：US08924021B2
公开(公告)日：2014-12-30
申请号：US11734758
申请日：2007-04-12
申请人： Behzad Dariush , Bing Jian
发明人： Behzad Dariush , Bing Jian
IPC分类号： B25J13/08 , B25J9/22 , G06N3/00 , G05B15/00 , G06F19/00
CPC分类号： G06N3/008 , G05B2219/40391 , G05B2219/40495 , Y10S901/03 , Y10S901/46
摘要： A control system and method generate torque comments for motion of a target system in response to observations of a source system. Constraints and balance control may be provided for more accurate representation of the motion as replicated by the target system.
摘要翻译：控制系统和方法响应于源系统的观测而产生针对目标系统的运动的扭矩注释。可以提供约束和平衡控制以用于由目标系统复制的运动的更准确的表示。

90. 发明授权

US08924020B2 Apparatus for controlling robot and control method thereof 有权
标题翻译：用于控制机器人的装置及其控制方法
公开(公告)号：US08924020B2
公开(公告)日：2014-12-30
申请号：US13756703
申请日：2013-02-01
申请人： Samsung Electronics Co., Ltd.
发明人： Kyung Rock Kim
IPC分类号： G06F19/00 , G06F17/00 , B25J9/00 , B25J9/16 , B25J13/08
CPC分类号： G06F17/00 , B25J9/00 , B25J9/006 , B25J9/16 , B25J13/08 , Y10S901/46
摘要： An apparatus for controlling a robot capable of controlling the motion of the arm of the robot, and a control method thereof, the apparatus including an image obtaining unit configured to obtain a three-dimensional image of a user, a driving unit configured to drive an arm of the robot that is composed of a plurality of segments, and a control unit configured to generate a user model that corresponds to a motion of the joint of the user based on the three-dimensional image, to generate a target model having a length of the segment that varies based on the user model, and to allow the arm of the robot to be driven based on the target model.
摘要翻译：一种用于控制能够控制机器人的臂的运动的机器人的装置及其控制方法，该装置包括被配置为获得用户的三维图像的图像获取单元，驱动单元，其被配置为驱动由多个段组成的机器人臂，以及控制单元，被配置为基于三维图像生成与用户的关节的运动相对应的用户模型，以生成具有长度的目标模型基于用户模型而变化的段，并且允许基于目标模型来驱动机器人的臂。

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