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1. 发明申请

US20130085389A1 METHOD AND APPARATUS FOR ANORECTAL EXAMINATION 审中-公开
标题翻译：用于前瞻性检查的方法和装置
公开(公告)号：US20130085389A1
公开(公告)日：2013-04-04
申请号：US12530636
申请日：2008-03-17
申请人： Charles Bih Shiou Tsang , Feng Liu , Di Xiao , Shiow Yunn Lim
发明人： Charles Bih Shiou Tsang , Wan Sing Ng , Feng Liu , Di Xiao
IPC分类号： A61B8/08
CPC分类号： A61B8/48 , A61B1/31 , A61B8/12 , A61B8/4218 , A61B8/4488 , A61B34/25 , A61B34/30 , A61B34/70 , A61B90/50 , A61B2090/378
摘要： An anorectal probe system comprising; an anorectal probe assembly having an insertion end for insertion into a patient's rectum, said probe assembly including a transducer at or adjacent to the insertion end for collecting ultrasound data; a mounting in rotational engagement with said probe assembly at a point distal from the insertion end; said mounting pivotally coupled to the probe assembly at a point intermediate the insertion end and rotational engagement point; wherein on application of a moment about said pivotal coupling, said mounting and probe assembly are arranged to permit selective pivotal movement of the probe assembly about the coupling.
摘要翻译：肛门直肠探针系统，包括：一种具有用于插入患者直肠的插入端的肛门直肠探针组件，所述探针组件包括在所述插入端处或邻近所述插入端的换能器，用于收集超声数据; 在远离插入端的点处与所述探针组件旋转接合的安装; 所述安装件在插入端和旋转接合点的中间点枢转地联接到探针组件; 其中，当围绕所述枢转联接器施加力矩时，所述安装和探针组件布置成允许所述探针组件围绕所述联接器选择性地枢转运动。

2. 发明授权

US09144904B2 Method and system for automatically preventing deadlock in multi-robot systems 有权
标题翻译：自动防止多机器人系统中的死锁的方法和系统
公开(公告)号：US09144904B2
公开(公告)日：2015-09-29
申请号：US13462234
申请日：2012-05-02
申请人： H. Dean McGee , Tien L. Chang , Peter Swanson , Jianming Tao , Di Xiao , Ho Cheung Wong , Sai-Kai Cheng , Jason Tsai
发明人： H. Dean McGee , Tien L. Chang , Peter Swanson , Jianming Tao , Di Xiao , Ho Cheung Wong , Sai-Kai Cheng , Jason Tsai
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , B25J9/1676 , G05B2219/39135 , G05B2219/40442 , G05B2219/40477 , G05B2219/40492
摘要： A system and method for controlling avoiding collisions and deadlocks in a workcell containing multiple robots automatically determines the potential deadlock conditions and identifies a way to avoid these conditions. Deadlock conditions are eliminated by determining the deadlock-free motion statements prior to execution of the motions that have potential deadlock conditions. This determination of deadlock-free motion statements can be done offline, outside normal execution, or it can be done during normal production execution. If there is sufficient CPU processing time available, the determination during normal production execution provides the most flexibility to respond to dynamic conditions such as changes in I/O timing or the timing of external events or sequences. For minimal CPU impact the determination is done offline where many permutations of programming sequences can be analyzed and an optimized sequence of execution may be found.
摘要翻译：用于控制避免包含多个机器人的工作单元中的碰撞和死锁的系统和方法自动确定潜在的死锁状况并且识别避免这些条件的方式。通过在执行具有潜在的死锁条件的运动之前确定无死锁动作语句来消除死锁条件。这种无死锁运动语句的确定可以在正常执行之外脱机完成，也可以在正常的生产执行期间完成。如果有足够的CPU处理时间可用，则在正常生产执行期间的确定提供了响应动态条件（例如I / O定时改变或外部事件或序列的定时）的最大灵活性。为了最小的CPU影响，离线执行确定，可以分析编程序列的多个排列，并且可以找到优化的执行顺序。

3. 发明申请

US20120215351A1 METHOD AND SYSTEM FOR AUTOMATICALLY PREVENTING DEADLOCK IN MULTI-ROBOT SYSTEMS 有权
标题翻译：用于自动防止多机器人系统中死机的方法和系统
公开(公告)号：US20120215351A1
公开(公告)日：2012-08-23
申请号：US13462234
申请日：2012-05-02
申请人： H. Dean McGee , Tien L. Chang , Peter Swanson , Jianming Tao , Di Xiao , Ho Cheung Wong , Sai-Kai Cheng , Jason Tsai
发明人： H. Dean McGee , Tien L. Chang , Peter Swanson , Jianming Tao , Di Xiao , Ho Cheung Wong , Sai-Kai Cheng , Jason Tsai
IPC分类号： G05B19/418
CPC分类号： B25J9/1666 , B25J9/1676 , G05B2219/39135 , G05B2219/40442 , G05B2219/40477 , G05B2219/40492
摘要： A system and method for controlling avoiding collisions and deadlocks in a workcell containing multiple robots automatically determines the potential deadlock conditions and identifies a way to avoid these conditions. Deadlock conditions are eliminated by determining the deadlock-free motion statements prior to execution of the motions that have potential deadlock conditions. This determination of deadlock-free motion statements can be done offline, outside normal execution, or it can be done during normal production execution. If there is sufficient CPU processing time available, the determination during normal production execution provides the most flexibility to respond to dynamic conditions such as changes in I/O timing or the timing of external events or sequences. For minimal CPU impact the determination is done offline where many permutations of programming sequences can be analyzed and an optimized sequence of execution may be found.
摘要翻译：用于控制避免包含多个机器人的工作单元中的碰撞和死锁的系统和方法自动确定潜在的死锁状况并且识别避免这些条件的方式。通过在执行具有潜在的死锁条件的运动之前确定无死锁动作语句来消除死锁条件。这种无死锁运动语句的确定可以在正常执行之外脱机完成，也可以在正常的生产执行期间完成。如果有足够的CPU处理时间可用，则在正常生产执行期间的确定提供了响应动态条件（例如I / O定时改变或外部事件或序列的定时）的最大灵活性。为了最小的CPU影响，离线执行确定，可以分析编程序列的多个排列，并且可以找到优化的执行顺序。

4. 发明授权

US06845295B2 Method of controlling a robot through a singularity 有权
标题翻译：通过奇点控制机器人的方法
公开(公告)号：US06845295B2
公开(公告)日：2005-01-18
申请号：US10382387
申请日：2003-03-06
申请人： Sai-Kai Cheng , Di Xiao , Chi-Keng Tsai , H. Dean McGee , Min-Ren Jean
发明人： Sai-Kai Cheng , Di Xiao , Chi-Keng Tsai , H. Dean McGee , Min-Ren Jean
IPC分类号： B25J9/18 , G05B19/4103 , G06F19/00
CPC分类号： G05B19/4103 , G05B2219/34169 , G05B2219/40333
摘要： A method of controlling a robot (32) includes the steps of selecting an initial configuration from at least one of a first, second, and third sets to position a TCP at a starting point (44) along a path (33) and selecting a final configuration different than the initial configuration to position the TCP at an ending point (46). Next, the TCP moves from the starting point (44) while maintaining the initial configuration, approaches the singularity between a first point (48) and a second point (50), and selects one of the axes in response to reaching the first point (48). The angle for the selected axis is interpolated from the first point (48) to the second point (50). After the interpolation, the angles about the remaining axes are determined and positions the arms in the final configuration when the TCP reaches the second point (50) and moves to the ending point (46) while maintaining the final configuration.
摘要翻译：一种控制机器人（32）的方法包括以下步骤：从第一，第二和第三组中的至少一个中选择初始配置，以沿着路径（33）在起点（44）定位TCP，并选择一个最终配置与初始配置不同，以将TCP定位在终点（46）。接下来，TCP在保持初始配置的同时从起始点（44）移动，接近第一点（48）和第二点（50）之间的奇异点，并且响应于到达第一点而选择一个轴 48）。所选择的轴的角度从第一点（48）插入第二点（50）。在插补之后，当TCP到达第二点（50）并移动到终点（46）同时保持最终配置时，确定关于剩余轴的角度并将臂定位在最终配置中。

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