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1. 发明授权

US11980434B2 Systems and methods for control of end effectors 有权
公开(公告)号：US11980434B2
公开(公告)日：2024-05-14
申请号：US16971277
申请日：2019-02-19
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： Dinesh Rabindran , Ryan C. Abbott , Daniel H. Gomez , John Ryan Steger
IPC分类号： A61B18/12 , A61B17/29 , A61B17/3201 , A61B18/14 , A61B34/00 , A61B34/35 , A61B34/37 , A61B90/00 , B25J9/10 , B25J9/16 , B25J13/08 , A61B17/34 , A61B18/00 , A61B34/30
CPC分类号： A61B34/35 , A61B17/2909 , A61B17/3201 , A61B18/1445 , A61B34/37 , A61B34/71 , A61B90/06 , B25J9/104 , B25J9/1633 , B25J9/1641 , B25J13/085 , A61B17/3421 , A61B2018/00595 , A61B2034/301 , A61B2090/064 , A61B2090/066
摘要： A system and method of controlling an end effector includes a drive unit having a first actuator and a second actuator, a moveable platform drivably coupled to the first actuator, first and second engagement members drivably coupled to the second actuator; and a control unit. The control unit is configured to actuate the first actuator to drive the platform, detect engagement of the first engagement member with a third engagement member of an instrument, detect engagement of the second engagement member with a fourth engagement member of the instrument, and actuate the second actuator to drive the first and second engagement members. Movement of the third and engagement member causes movement of a degree of freedom of an end effector of the instrument in a first direction. Movement of the fourth engagement member causes movement of the degree of freedom in a second direction opposite the first direction.

2. 发明公开

US20240009837A1 DISTURBANCE COMPENSATION IN COMPUTER-ASSISTED DEVICES 审中-公开
公开(公告)号：US20240009837A1
公开(公告)日：2024-01-11
申请号：US18474388
申请日：2023-09-26
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： Nitish SWARUP , Paul G. GRIFFITHS , Goran A. LYNCH , Daniel N. MILLER
IPC分类号： B25J9/16 , A61B34/30 , B25J9/06 , B25J19/00 , B25J19/02
CPC分类号： B25J9/1641 , A61B34/30 , B25J9/06 , B25J9/1607 , B25J9/1653 , B25J9/1682 , B25J19/0004 , B25J19/021 , A61B2090/373
摘要： Disturbance compensation in computer-assisted devices include an articulated arm comprising one or more first joints and one or more second joints and one or more processors coupled to the articulated arm. The articulated arm is configured to support an end effector. The one or more processors when executing instructions are configured to: detect a disturbance to the one or more first joints, the disturbance causing a point of interest associated with the end effector to move; determine a predicted motion of the point of interest based on the detected disturbance; and drive the one or more second joints to move the point of interest based on an error in a position of the point of interest indicated by the predicted motion.

3. 发明授权

US11806875B2 Disturbance compensation in computer-assisted devices 有权
公开(公告)号：US11806875B2
公开(公告)日：2023-11-07
申请号：US17459175
申请日：2021-08-27
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： Nitish Swamp , Paul G. Griffiths , Goran A. Lynch , Daniel N. Miller
IPC分类号： G06F17/00 , B25J9/16 , A61B34/30 , B25J9/06 , B25J19/00 , B25J19/02 , A61B90/00 , A61B34/20 , A61B90/50 , A61B34/35
CPC分类号： B25J9/1641 , A61B34/30 , B25J9/06 , B25J9/1607 , B25J9/1653 , B25J9/1682 , B25J19/0004 , B25J19/021 , A61B34/35 , A61B90/361 , A61B2034/2059 , A61B2034/305 , A61B2090/373 , A61B2090/508 , Y10S901/02
摘要： Disturbance compensation in computer-assisted devices include a first articulated arm configured to support an imaging device a second articulated arm configured to support an end effector, and a control unit coupled to the first articulated arm and the second articulated arm. The control unit is configured to set a first reference frame, where the first reference frame is based on a first position of the imaging device at a first time. The control unit is further configured to detect a first disturbance to the first articulated arm moving the imaging device away from the first position, receive a command to move the end effector, and transform the command to move the end effector from a command in the first reference frame to a command in a reference frame for the end effector.

4. 发明授权

US11717966B2 Method and computing system for determining a value of an error parameter indicative of quality of robot calibration 有权
公开(公告)号：US11717966B2
公开(公告)日：2023-08-08
申请号：US17244224
申请日：2021-04-29
申请人： MUJIN, INC.
发明人： Atilla Saadat Dehghan , Kei Usui
IPC分类号： B25J9/16 , B25J9/06 , B25J13/08 , B25J9/12
CPC分类号： B25J9/1664 , B25J9/06 , B25J9/12 , B25J9/1633 , B25J9/1692 , B25J13/085 , B25J9/1641 , G05B2219/37373 , G05B2219/39181
摘要： A computing system and method are presented. The computing system may store sensor data which includes: (i) a set of movement data, and (ii) a set of actuation data. The computing system may divide the sensor data into training data and test data by: (i) selecting, as the training data, movement training data and corresponding actuation training data, and (ii) selecting, as the test data, movement test data and corresponding actuation test data. The computing system may determine, based on the movement training data and the actuation training data, at least one of: (i) a friction parameter estimate or (ii) a center of mass (CoM) estimate, and may determine actuation prediction data based on the movement test data and based on the at least one of the friction parameter estimate or the CoM estimate. The computing system may further determine residual data, and determine a value for an error parameter.

5. 发明授权

US11712798B2 Systems and methods for controlling a robotic manipulator or associated tool 有权
公开(公告)号：US11712798B2
公开(公告)日：2023-08-01
申请号：US17512832
申请日：2021-10-28
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： Dinesh Rabindran , Simon P. DiMaio , Kollin M. Tierling
IPC分类号： B25J9/16 , B25J9/06 , A61B34/20 , A61B34/35 , A61B34/37 , G05B19/00 , B25J3/04 , A61B90/00
CPC分类号： B25J9/1607 , A61B34/35 , A61B34/37 , B25J3/04 , B25J9/06 , B25J9/163 , B25J9/1641 , B25J9/1689 , G05B19/00 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2061 , A61B2090/371 , B25J9/1694 , G05B2219/37388
摘要： A system includes a robotic manipulator including a serial chain comprising a first joint, a first link, and a second link. The second link is between the first joint and the first link in the serial chain. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data and a kinematic model of the robotic manipulator, and control the first joint based on the first joint state estimate.

6. 发明授权

US11691281B2 Robot control at singular configurations 有权
公开(公告)号：US11691281B2
公开(公告)日：2023-07-04
申请号：US17088397
申请日：2020-11-03
申请人： Massachusetts Institute of Technology
发明人： David Verdi , Neville Hogan
IPC分类号： B25J9/16 , G05B19/404
CPC分类号： B25J9/1641 , B25J9/1633 , G05B19/404 , G05B2219/39201
摘要： According to some embodiments, a method includes: receiving an endpoint impedance matrix representing a desired stiffness or damping at the robot endpoint; reflecting the endpoint impedance matrix to an equivalent joint-space matrix associated with one or more of the robot joints, the equivalent joint-space matrix having a nullspace corresponding to near-zero-valued eigenvalues; generating a nullspace-filled impedance matrix from the equivalent joint-space matrix based in part on replacing the near-zero-valued eigenvalues with selected finite positive real values; generating a robot control law using the nullspace-filled impedance matrix; and using the robot control law to control the robot.

7. 发明申请

US20180065250A1 LASER WELDING SYSTEM 审中-公开
公开(公告)号：US20180065250A1
公开(公告)日：2018-03-08
申请号：US15696258
申请日：2017-09-06
申请人： FANUC CORPORATION
发明人： Yoshinori MURAKAMI
IPC分类号： B25J9/16 , B23K26/08 , B23K26/042 , B23K26/70 , B23K37/00 , B25J13/08
CPC分类号： B25J9/1651 , B23K26/042 , B23K26/082 , B23K26/0884 , B23K26/702 , B23K26/707 , B23K37/00 , B25J9/1641 , B25J9/1697 , B25J13/088 , G05B2219/37432 , G05B2219/39195 , G05B2219/40549 , G05B2219/45104
摘要： To provide a laser welding system that can correct divergence of a laser beam irradiation position with higher precision, and is capable of higher precision laser welding. A remote laser welding system (1) includes: a multi-axis robot (3); a laser head (5) provided to a leading end of an arm (31) of the multi-axis robot (3); a control unit (7) that controls operations of the multi-axis (3) and the laser head (5); and a laser light source (53), in which the laser head (5) includes: two galvano mirrors (51, 52) configured to be rotatable about rotational axes (X1, X2), respectively, and reflect a laser beam; and galvano motors (54) that rotationally drive the galvano mirrors (51, 52), and in which the control unit (7) includes an acceleration sensor (73) that acquires the acceleration of the vibration; and a command correction section (74) that corrects a control command to the galvano motors (54) which rotationally drive the galvano mirrors (51, 52), based on the acceleration of the vibration acquired by the acceleration sensor (73), so as to suppress divergence of the laser beam irradiation position due to vibration.

8. 发明授权

US09874865B2 Control method and control device 有权
公开(公告)号：US09874865B2
公开(公告)日：2018-01-23
申请号：US14342337
申请日：2012-08-02
申请人： Takashi Wada , Yoshiharu Nishida , Shuichi Inada , Yoshihide Inoue
发明人： Takashi Wada , Yoshiharu Nishida , Shuichi Inada , Yoshihide Inoue
IPC分类号： G05B19/402 , B25J9/16 , G05B19/404
CPC分类号： G05B19/402 , B25J9/1641 , G05B19/404 , G05B2219/2609 , G05B2219/41041 , Y10S901/08
摘要： Provided are a control method and a control device that can make the range of periodic activity (amplitude of reciprocal movement) of an object of control, such as an industrial robot, the same as a case in which the reduction device has no backlash or the same as the amplitude of a position instruction signal. A control device (3) that carries out position control for an arm (5), which carries out periodic movement, while compensating for backlash in the arm (5) is provided with a control unit (15) that adds to a position instruction signal, which gives instructions for the position of the arm (5), a backlash quantity signal after the backlash quantity signal has been shifted so as to be delayed by a delay time, generates a final position instruction signal, and carries out position control of the arm (5) on the basis of the final position instruction signal that has been generated, said backlash quantity signal compensating for backlash.

9. 发明申请

US20170008170A1 HORIZONTAL ARTICULATED ROBOT 审中-公开
标题翻译：水平机器人
公开(公告)号：US20170008170A1
公开(公告)日：2017-01-12
申请号：US15273947
申请日：2016-09-23
申请人： Seiko Epson Corporation
发明人： Katsuji IGARASHI , Masatoshi ONO
IPC分类号： B25J9/16 , B25J9/04 , B25J19/02
CPC分类号： B25J9/1628 , B25J9/042 , B25J9/1641 , B25J9/1651 , B25J9/1694 , B25J13/088 , B25J19/0029 , B25J19/02 , Y10S901/28
摘要： A robot includes an angular velocity sensor installed to a second horizontal arm and for obtaining the angular velocity of the first horizontal arm with respect to a base, and suppresses the vibration of the first horizontal arm by driving a first electric motor based on the angular velocity of the first horizontal arm. In the robot, an electric wire to be connected to a second electric motor incorporated in the second horizontal arm and electric wire to be connected to the angular velocity sensor are laid around through a wiring duct having end portions coupled respectively to the base and the second horizontal arm, disposed outside the first horizontal arm and outside the second horizontal arm, and having a passage leading to the inside of the base and the inside of the second horizontal arm.
摘要翻译：机器人包括安装在第二水平臂上的角速度传感器，用于获得第一水平臂相对于基座的角速度，并通过基于角速度驱动第一电动马达来抑制第一水平臂的振动的第一个水平臂。在机器人中，连接到并入第二水平臂的第二电动机的电线和要连接到角速度传感器的电线被布置在具有分别连接到基座和第二电极的端部的布线管道上水平臂，设置在第一水平臂的外侧并且位于第二水平臂的外部，并且具有通向基部的内部和第二水平臂的内部的通道。

10. 发明授权

US09402689B2 Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator 有权
公开(公告)号：US09402689B2
公开(公告)日：2016-08-02
申请号：US14932117
申请日：2015-11-04
申请人： Intuitive Surgical Operations, Inc.
发明人： Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin
IPC分类号： A61B19/00 , B25J9/16
CPC分类号： A61B34/30 , A61B34/32 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/75 , A61B90/361 , B25J9/1638 , B25J9/1641 , B25J9/1689 , G05B2219/41213 , G05B2219/41426 , Y10S901/02 , Y10S901/15 , Y10S901/28 , Y10S901/30
摘要： A robotic control system is placed in clutch mode so that a slave manipulator holding a surgical instrument is temporarily disengaged from control by a master manipulator in order to allow manual positioning of the surgical instrument at a surgical site within a patient. Control systems implemented in a processor compensate for internally generated frictional and inertial resistance experienced during the positioning, thereby making movement more comfortable to the mover, and stabler from a control standpoint. Each control system drives a joint motor in the slave manipulator with a saturated torque command signal which has been generated to compensate for non-linear viscous forces, coulomb friction, cogging effects, and inertia forces subjected to the joint, using estimated joint angular velocities, accelerations and externally applied torques generated by an observer in the control system from sampled displacement measurements received from a sensor associated with the joint.

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