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1. 发明授权

US10052757B2 Robot control device and robot control method 有权
公开(公告)号：US10052757B2
公开(公告)日：2018-08-21
申请号：US15304198
申请日：2014-04-24
申请人： Mitsubishi Electric Corporation
发明人： Takashi Nagano
IPC分类号： G06F19/00 , B25J9/10 , B25J9/16
CPC分类号： B25J9/10 , B25J9/1643 , G05B2219/40333
摘要： A robot control device drives a J1 shaft, which is a turning shaft for turning a structure at an installation bed, to an angle at a target position of the J1 shaft and drives a J4 shaft for turning a structure such that the central axes of a J2 shaft, a J3 shaft, and a J5 shaft, which are bending/stretching shafts for bending or stretching the structure, are parallel to one another; then, drives the J2 shaft, the J3 shaft, and the J5 shaft to angles J2e, J3e, and J5e at target positions of the respective shafts without driving the J4 shaft; and drives the J4 shaft not reaching an angle at a target position to an angle J4e at the target position.

2. 发明授权

US09675422B2 Systems and methods for avoiding collisions between manipulator arms using a null-space 有权
公开(公告)号：US09675422B2
公开(公告)日：2017-06-13
申请号：US15147608
申请日：2016-05-05
申请人： Intuitive Surgical Operations, Inc.
发明人： Arjang M. Hourtash , Pushkar Hingwe , Bruce Michael Schena , Roman L. Devengenzo
IPC分类号： A61B34/30 , B25J9/16 , A61B34/37
CPC分类号： A61B34/30 , A61B34/37 , B25J9/1607 , B25J9/1643 , B25J9/1676 , G05B2219/39091 , G05B2219/39135 , G05B2219/40202 , G05B2219/40362 , G05B2219/40371 , G05B2219/40476 , G05B2219/40492 , G05B2219/45117
摘要： Devices, systems, and methods for avoiding collisions between manipulator arms using a null-space are provided. In one aspect, the system calculates an avoidance movement using a relationship between reference geometries of the multiple manipulators to maintain separation between reference geometries. In certain embodiments, the system determines a relative state between adjacent reference geometries, determines an avoidance vector between reference geometries, and calculates an avoidance movement of one or more manipulators within a null-space of the Jacobian based on the relative state and avoidance vector. The joints may be driven according to the calculated avoidance movement while maintaining a desired state of the end effector or a remote center location about which an instrument shaft pivots and may be concurrently driven according to an end effector displacing movement within a null-perpendicular-space of the Jacobian so as to effect a desired movement of the end effector or remote center.

3. 发明授权

US09630323B2 Operation support system and control method of operation support system 有权
公开(公告)号：US09630323B2
公开(公告)日：2017-04-25
申请号：US14718404
申请日：2015-05-21
申请人： OLYMPUS CORPORATION
发明人： Kosuke Kishi
IPC分类号： G06F19/00 , B25J9/16 , A61B34/30 , A61B34/37 , A61B90/30 , A61B90/00
CPC分类号： B25J9/1697 , A61B34/30 , A61B34/37 , A61B90/30 , A61B90/361 , A61B2034/306 , B25J9/1643 , G05B2219/39425 , Y10S901/02
摘要： An operation support system performing treatment on a target tissue while observing using an image capturing unit, using a treatment unit installed at a distal end side of a manipulator, a distal end seen from a fixing end of the manipulator, includes: the manipulator having joints corresponding to degrees of freedom and including at least two redundant joints having a redundant relationship among the joints; an operating unit configured to provide operating information corresponding to the degrees of freedom; a positional relationship calculation unit calculating a switching positional relationship between the target tissue or the treatment unit and the image capturing unit; and a control unit controlling an operation of the joint according to the operating information. The control unit controls the manipulator using one redundant joint as a driving joint and the other redundant joints as a fixing joint based on the switching positional relationship.

4. 发明授权

US09296104B2 Systems and methods for tracking a path using the null-space 有权
标题翻译：使用零空间跟踪路径的系统和方法
公开(公告)号：US09296104B2
公开(公告)日：2016-03-29
申请号：US14218862
申请日：2014-03-18
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： Nitish Swarup , Arjang Hourtash , Paul Mohr
IPC分类号： G05B15/00 , G05B19/00 , B25J9/16 , B25J18/00 , A61B19/00
CPC分类号： B25J9/1643 , A61B1/00193 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/74 , A61B34/76 , A61B50/13 , A61B2034/107 , A61B2034/2059 , A61B2034/301 , A61B2034/742 , A61B2090/065 , B25J18/007 , G05B2219/40339 , G05B2219/40359 , G05B2219/40474
摘要： Devices, systems, and methods for providing a desired movement of one or more joints of a manipulator arm having a plurality of joints with redundant degrees of freedom while effecting commanded movement of a distal end effector of the manipulator. Methods include defining a constraint, such as a network of paths, within a joint space defined by the one or more joints and determining a movement of the plurality of joints within a null-space to track the constraints with the one or more joints. Methods may further include calculating a reconfiguration movement of the joints and modifying the constraints to coincide with a reconfigured position of the one or more joints. Various configurations for devices and systems utilizing such methods are provided herein.
摘要翻译：用于提供具有冗余自由度的多个关节的操纵臂的一个或多个关节的期望运动的装置，系统和方法，同时执行操纵器的远端执行器的命令运动。方法包括在由一个或多个关节限定的关节空间内限定诸如路径网络的约束，并且确定多个关节在零空间内的运动以跟踪所述一个或多个关节的约束。方法还可以包括计算关节的重新配置运动并修改约束以与一个或多个关节的重新配置的位置一致。本文提供了利用这种方法的装置和系统的各种配置。

5. 发明授权

US09221172B2 Constraining robotic manipulators with redundant degrees of freedom 有权
标题翻译：限制具有冗余自由度的机器人操纵器
公开(公告)号：US09221172B2
公开(公告)日：2015-12-29
申请号：US14029343
申请日：2013-09-17
申请人： Matthew Murray Williamson , Matthew DiCicco , Joseph M. Romano
发明人： Matthew Murray Williamson , Matthew DiCicco , Joseph M. Romano
IPC分类号： G05B19/04 , G05B19/18 , B25J9/16 , G05B19/423
CPC分类号： B25J9/1633 , B25J9/1643 , G05B19/423 , G05B2219/36432 , G05B2219/40365
摘要： Redundant robotic manipulators may be constrained in their motions during operation in a gravity-compensated mode by applying, in addition to gravity-compensating torques, constraining torques to one or more of the joints. The constraining torques may urge the manipulator to a specified canonical posture, and may be modeled by virtual springs attached to the constrained joints.
摘要翻译：冗余的机器人操纵器可以在重力补偿模式的操作期间被限制在它们的运动中，除了重力补偿转矩之外，将约束扭矩应用于一个或多个关节。约束扭矩可以将操纵器推动到指定的规范姿势，并且可以通过附接到约束关节的虚拟弹簧来建模。

6. 发明授权

US09120223B2 Method of controlling seven-axis articulated robot, control program, and robot control device 有权
标题翻译：控制七轴关节机器人，控制程序和机器人控制装置的方法
公开(公告)号：US09120223B2
公开(公告)日：2015-09-01
申请号：US13977272
申请日：2011-12-21
申请人： Hideki Tanaka , Takamasa Ogata , Tetsuya Kubota
发明人： Hideki Tanaka , Takamasa Ogata , Tetsuya Kubota
IPC分类号： G06F19/00 , B25J9/06 , B25J9/04 , B25J9/16
CPC分类号： B25J9/06 , B25J9/046 , B25J9/1607 , B25J9/1643 , G05B2219/39018 , G05B2219/39414 , G05B2219/40344
摘要： Provided is a method of controlling a seven-axis articulated robot including seven joints sequentially arranged from a proximal end of the robot to a distal end of the robot, the seven joints including rotational axes each causing a next joint to turn and rotational axes each causing a next joint to pivot, such that the rotational axes causing turning and the rotational axes causing pivoting are arranged alternately, the seven-axis articulated robot being configured such that rotational axes of three proximal end side joints of the robot do not intersect with each other at one point. The method includes performing inverse transformation using, as a constraint condition, such a joint angle of a middle joint among the three joints as to cause an assumed elbow angle to be constant in a case where a rotational axis of the middle joint is assumed as a shoulder.
摘要翻译：提供了一种控制七轴铰接机器人的方法，其包括从机器人的近端顺序地排列到机器人的远端的七个接头，所述七个接头包括各自引起下一个接头转动的旋转轴和各自引起的旋转轴下一个枢转枢转，使得旋转的旋转轴和引起枢转的旋转轴交替布置，所述七轴铰接机器人构造成使得机器人的三个近端侧接头的旋转轴线彼此不相交在一个点上。该方法包括使用三个关节之间的中间关节的这种关节角度作为约束条件来执行逆变换，以便在将中间关节的旋转轴假设为假定的情况下使假设的肘角恒定肩。

7. 发明授权

US08509951B2 Controlling the trajectory of an effector 有权
标题翻译：控制效应器的轨迹
公开(公告)号：US08509951B2
公开(公告)日：2013-08-13
申请号：US11439356
申请日：2006-05-22
申请人： Michael Gienger
发明人： Michael Gienger
IPC分类号： B25J9/10 , B25J9/16 , B25J9/04 , B25J9/06
CPC分类号： B25J9/1643
摘要： The invention refers to a method for controlling the effector trajectory from a current state to a target state. First invariant control parameters of the trajectory are determined. The effector trajectory is then represented in a task description being void of the invariant control parameters. The effector trajectory is controlled on the basis of this task description. The invention further refers to a method for controlling the effector trajectory wherein the effector trajectory is calculated by mapping increments from a control parameter space on a configuration space. The dimensional difference between the configuration space and the control parameter space leaves redundant degrees of freedom of a Null space. The degrees of freedom of the Null space are increased using a task description being void of invariant control parameters. The invention further refers to a respective computer software program product, a manipulator, an actuated camera system, a robot comprising one or more manipulators and an automobile equipped with a driver support system.
摘要翻译：本发明涉及一种用于控制从当前状态到目标状态的效应器轨迹的方法。确定轨迹的第一个不变控制参数。然后在任务描述中表示效应轨迹，而不影响不变控制参数。在此任务描述的基础上控制效应轨迹。本发明还涉及一种用于控制效应轨迹的方法，其中通过从配置空间上的控制参数空间映射增量来计算效应轨迹。配置空间与控制参数空间之间的尺寸差异留下了零空间的冗余自由度。使用没有不变控制参数的任务描述来增加空空间的自由度。本发明还涉及相应的计算机软件程序产品，操纵器，致动的相机系统，包括一个或多个操纵器的机器人和配备有驾驶员支撑系统的汽车。

8. 发明申请

US20090112316A1 MANIPULATOR APPARATUS AND MEDICAL DEVICE SYSTEM 有权
标题翻译：操纵器装置和医疗装置系统
公开(公告)号：US20090112316A1
公开(公告)日：2009-04-30
申请号：US12260437
申请日：2008-10-29
申请人： Yoshitaka UMEMOTO , Kazuhiko TAKAHASHI , Tetsuo NONAMI
发明人： Yoshitaka UMEMOTO , Kazuhiko TAKAHASHI , Tetsuo NONAMI
IPC分类号： A61F2/02 , B25J13/08 , B25J9/06 , B25J19/02 , B25J17/02 , G06F19/00
CPC分类号： A61B34/37 , A61B34/30 , A61B34/71 , A61B90/361 , A61B2017/00314 , A61B2034/306 , A61B2090/064 , B25J9/1633 , B25J9/1643
摘要： A medical device system includes a manipulator including a plurality of joints, a parameter storing portion for storing joint parameters, including a largest available force, of each joint of the plurality of joints, a trajectory inputting portion for inputting, as a trajectory plan, trajectories for moving a distal end of the manipulator from a current position and attitude to a target position and attitude, a trajectory setting portion for setting a joint angle trajectory for each joint providing a largest available force from among joint angle trajectories which allow movement to the target position and attitude with a minimum number of driven joints based on a largest available force parameter for the each joint stored in the parameter storing portion and the trajectory plan.
摘要翻译：一种医疗装置系统，包括具有多个关节的操纵器，用于存储包括所述多个关节各关节的最大可用力的关节参数的参数存储部，轨迹输入部，作为轨迹计划输入轨迹用于将操纵器的远端从当前位置和姿态移动到目标位置和姿态;轨迹设置部分，用于为每个关节设置关节角度轨迹，从关节角度轨迹中提供最大可用力，所述关节角度轨迹允许移动到目标基于存储在参数存储部分和轨迹计划中的每个关节的最大可用力参数，具有最小数量的从动关节的位置和姿态。

9. 发明申请

US20070120512A1 Method for controlling a robot arm, and robot for implementing the method 有权
标题翻译：用于控制机器人手臂的方法和用于实现该方法的机器人
公开(公告)号：US20070120512A1
公开(公告)日：2007-05-31
申请号：US11600959
申请日：2006-11-15
申请人： Alin Albu-Schaffer , Christian Ott , Ulrich Hagn , Tobias Ortmaier
发明人： Alin Albu-Schaffer , Christian Ott , Ulrich Hagn , Tobias Ortmaier
IPC分类号： G05B19/04
CPC分类号： B25J9/1643 , A61B34/70 , A61B34/76 , A61B2090/064 , B25J9/1633 , B25J13/085 , G05B2219/40599
摘要： In a method for controlling a robot arm, which is particularly suitable for use in medical applications, a robot arm (10) with a redundant number of joints is used. A torque acing in at least one joint (12a, 12b) is sensed. By means of a control device, the torque acting in this joint (12a, 12b) is controlled to become substantially 0.
摘要翻译：在特别适用于医疗应用的机器人臂的控制方法中，使用具有多个关节的机器人手臂（10）。在至少一个接头（12 a，12 b）中检测到转矩。通过控制装置，作用在该接头（12a，12b）中的扭矩被控制成基本上为0。

10. 发明申请

US20030023346A1 Master having redundant degrees of freedom 有权
标题翻译：硕士拥有冗余的自由度
公开(公告)号：US20030023346A1
公开(公告)日：2003-01-30
申请号：US10121283
申请日：2002-04-11
申请人： INTUITIVE SURGICAL, INC.
发明人： J. Kenneth Salisbury JR. , Akhil J. Madhani , Gary S. Guthart , Gunter D. Niemeyer , Eugene F. Duval
IPC分类号： G06F019/00
CPC分类号： B25J3/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/76 , B25J9/1615 , B25J9/1643 , Y10S128/923
摘要： An input device for robotic surgical techniques and other applications has a handle supported by a linkage with a redundant degree of freedom, the joints being movable with at least one more degree of freedom than the handle. At least one joint of the linkage is actively driven to prevent the linkage from approaching singularities of the joint system, motion limits of the joints, or the like, and also to drive the linkage toward a freely articulatable configuration. A robotic master controller can include an arm assembly supporting a gimbal having a redundant linkage, with the arm primarily positioning the gimbal in a three dimensional controller workspace and the gimbal coupling the arm to the handle with four rotational degrees of freedom. One or more additional degrees of freedom may also be provided for actuation of the handle, for example, to close the jaws of a surgical grasper.
摘要翻译：用于机器人手术技术和其他应用的输入装置具有由具有冗余自由度的连杆支撑的手柄，所述关节可以比手柄至少一个以上自由度移动。主动地驱动联动装置的至少一个关节，以防止连接件接近联合系统的奇异点，关节的运动限制等，并且还可以将联动装置驱动到可自由铰接的构造。机器人主控制器可以包括支撑具有冗余连杆的万向架的臂组件，其中臂主要将万向架定位在三维控制器工作空间中，并且万向架以四个旋转自由度将手臂连接到手柄。还可以提供一个或多个附加的自由度以用于致动手柄，例如以闭合外科手术夹持器的钳口。

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