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1. 发明授权

US06364888B1 Alignment of master and slave in a minimally invasive surgical apparatus 有权
公开(公告)号：US06364888B1
公开(公告)日：2002-04-02
申请号：US09287858
申请日：1999-04-07
申请人： Gunter D. Niemeyer , William C. Nowlin , Gary S. Guthart
发明人： Gunter D. Niemeyer , William C. Nowlin , Gary S. Guthart
IPC分类号： A61B1900
CPC分类号： A61B1/00149 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/36 , A61B2018/00982 , A61B2034/102 , A61B2034/305 , A61B2090/506 , B25J3/04 , B25J9/1689 , B25J9/1692 , B25J19/023 , G05B19/401 , G05B2219/39014 , G05B2219/39057 , G05B2219/39062 , G05B2219/39253 , G05B2219/39387 , G05B2219/39389 , G05B2219/39391 , G05B2219/39394 , G05B2219/39437 , G05B2219/39439 , G05B2219/39483 , G05B2219/40144 , G05B2219/40354 , G05B2219/40552 , G05B2219/41441 , G05B2219/45118 , H04N13/239 , H04N13/246 , H04N13/327 , H04N2005/2255
摘要： This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer is provided. The method includes causing the end effector to remain stationary, determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer and determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer, at which orientation the desired orientational relationship between the hand-held part of the master control and the end effector would be established. The method further includes causing the hand-held part of the master control to be moved into the desired corresponding orientation. The invention extends to a control system arranged to cause the desired orientational relationship between the hand-held part of the master control and the end effector of the associated slave, as viewed in the displayed imaged on the viewer, to be established when operative control between the master control and the slave has been interrupted.

2. 发明公开

US20240198527A1 PROGRAMMING DEVICE AND PROGRAM 审中-公开
公开(公告)号：US20240198527A1
公开(公告)日：2024-06-20
申请号：US18555691
申请日：2021-05-26
申请人： FANUC CORPORATION
发明人： Tatsuya OUMI
IPC分类号： B25J9/16 , G05B19/4155
CPC分类号： B25J9/1671 , G05B19/4155 , G05B2219/40354
摘要： The present disclosure addresses the problem of providing a programming device and a program that can reduce an amount of correction required for a robot program created by off-line programming. The programming device of the present disclosure comprises a processing unit. The processing unit determines the entry of a virtual drive unit, which is obtained by simulating or emulating the drive unit of a robot by a computer, into a second singularity range wider than a first singularity range that is an actual singularity range of the drive unit.

3. 发明授权

US09242373B2 Control device, control method, and control program for articulated robot 有权
标题翻译：铰接机器人的控制装置，控制方法和控制程序
公开(公告)号：US09242373B2
公开(公告)日：2016-01-26
申请号：US14003429
申请日：2012-03-02
申请人： Tsutomu One , Toshihiko Nishimura , Masayuki Shigeyoshi , Takeshi Koike
发明人： Tsutomu One , Toshihiko Nishimura , Masayuki Shigeyoshi , Takeshi Koike
IPC分类号： B25J9/16 , B23K9/095 , B23K9/12 , G05B19/4103
CPC分类号： B25J9/1628 , B23K9/095 , B23K9/12 , B25J9/1664 , G05B19/4103 , G05B2219/39527 , G05B2219/40333 , G05B2219/40354 , G05B2219/42207
摘要： The purpose of the present invention is to have the angles of each of the drive shafts of the first articulated drive system infallibly reach the angle of the work completed position, while maintaining the rate of movement and position of the working parts of an articulated robot. If exception conditions are not satisfied, the drive shafts of first and second articulation drive systems are driven individually (S64) on the basis of interpolated points calculated in step 5 (S5). After exception conditions are satisfied (Yes side of S61), until the working parts reach the work completed position (No side of S12), the angle of each of the drive shafts of the first articulated drive system required to vary each of the drive shafts of the first articulated drive system in a linear manner with the angle at the work completed position as a target is calculated (S8), and the angle of each of the drive shafts of the second articulated drive system is calculated on the basis of the position of the working part at the interpolated point calculated in step 5 (S5) and the angle of each of the drive shafts of the first articulated drive system as calculated (S9), and the drive shafts of the first and second articulated drive systems are driven according to said calculation results (S11).
摘要翻译：本发明的目的是使第一关节式驱动系统的每个驱动轴的角度可靠地达到工件完成位置的角度，同时保持铰接式机器人的工作部件的运动速度和位置。如果异常条件不满足，则基于步骤5（S5）中计算出的内插点，分别驱动第一关节传动系统和第二关节驱动系统的驱动轴（S64）。在满足例外条件（S61的是侧）之后，直到工作部件到达工件完成位置（S12的否侧），第一铰接驱动系统的每个驱动轴的角度需要改变每个驱动轴计算出第一铰接驱动系统以作为目标的作业完成位置处的角度的线性方式（S8），并且基于位置来计算第二铰接驱动系统的每个驱动轴的角度（S5）中计算的插补点处的工作部分和第一铰接驱动系统的每个驱动轴的角度（S9），并且驱动第一和第二铰接驱动系统的驱动轴根据所述计算结果（S11）。

4. 发明申请

US20130345868A1 CONTROL DEVICE, CONTROL METHOD, AND CONTROL PROGRAM FOR ARTICULATED ROBOT 有权
标题翻译：控制装置，控制方法和控制程序的ARTICULATED ROBOT
公开(公告)号：US20130345868A1
公开(公告)日：2013-12-26
申请号：US14003429
申请日：2012-03-02
申请人： Tsutomu One , Toshihiko Nishimura , Masayuki Shigeyoshi , Takeshi Koike
发明人： Tsutomu One , Toshihiko Nishimura , Masayuki Shigeyoshi , Takeshi Koike
IPC分类号： B25J9/16
CPC分类号： B25J9/1628 , B23K9/095 , B23K9/12 , B25J9/1664 , G05B19/4103 , G05B2219/39527 , G05B2219/40333 , G05B2219/40354 , G05B2219/42207
摘要： The purpose of the present invention is to have the angles of each of the drive shafts of the first articulated drive system infallibly reach the angle of the work completed position, while maintaining the rate of movement and position of the working parts of an articulated robot. If exception conditions are not satisfied, the drive shafts of first and second articulation drive systems are driven individually (S64) on the basis of interpolated points calculated in step 5 (S5). After exception conditions are satisfied (Yes side of S61), until the working parts reach the work completed position (No side of S12), the angle of each of the drive shafts of the first articulated drive system required to vary each of the drive shafts of the first articulated drive system in a linear manner with the angle at the work completed position as a target is calculated (S8), and the angle of each of the drive shafts of the second articulated drive system is calculated on the basis of the position of the working part at the interpolated point calculated in step 5 (S5) and the angle of each of the drive shafts of the first articulated drive system as calculated (S9), and the drive shafts of the first and second articulated drive systems are driven according to said calculation results (S11).
摘要翻译：本发明的目的是使第一关节式驱动系统的每个驱动轴的角度可靠地达到工作完成位置的角度，同时保持铰接式机器人的工作部件的运动速度和位置。如果异常条件不满足，则基于步骤5（S5）中计算出的内插点，分别驱动第一关节传动系统和第二关节驱动系统的驱动轴（S64）。在满足例外条件（S61的是侧）之后，直到工作部件到达工件完成位置（S12的否侧），第一铰接驱动系统的每个驱动轴的角度需要改变每个驱动轴计算出第一铰接驱动系统以作为目标的作业完成位置处的角度的线性方式（S8），并且基于位置来计算第二铰接驱动系统的每个驱动轴的角度（S5）中计算的插补点处的工作部分和第一铰接驱动系统的每个驱动轴的角度（S9），并且驱动第一和第二铰接驱动系统的驱动轴根据所述计算结果（S11）。

5. 发明申请

US20020055795A1 Alignment of master and slave in a minimally invasive surgical apparatus 有权
标题翻译：在微创外科手术器械中主和从属对齐
公开(公告)号：US20020055795A1
公开(公告)日：2002-05-09
申请号：US10033212
申请日：2001-12-28
申请人： Intuitive Surgical, Inc.
发明人： Gunter D. Niemeyer , William C. Nowlin , Gary S. Guthart
IPC分类号： G06F017/00
CPC分类号： A61B1/00149 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/36 , A61B2018/00982 , A61B2034/102 , A61B2034/305 , A61B2090/506 , B25J3/04 , B25J9/1689 , B25J9/1692 , B25J19/023 , G05B19/401 , G05B2219/39014 , G05B2219/39057 , G05B2219/39062 , G05B2219/39253 , G05B2219/39387 , G05B2219/39389 , G05B2219/39391 , G05B2219/39394 , G05B2219/39437 , G05B2219/39439 , G05B2219/39483 , G05B2219/40144 , G05B2219/40354 , G05B2219/40552 , G05B2219/41441 , G05B2219/45118 , H04N13/239 , H04N13/246 , H04N13/327 , H04N2005/2255
摘要： This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer is provided. The method includes causing the end effector to remain stationary, determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer and determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer, at which orientation the desired orientational relationship between the hand-held part of the master control and the end effector would be established. The method further includes causing the hand-held part of the master control to be moved into the desired corresponding orientation. The invention extends to a control system arranged to cause the desired orientational relationship between the hand-held part of the master control and the end effector of the associated slave, as viewed in the displayed imaged on the viewer, to be established when operative control between the master control and the slave has been interrupted.
摘要翻译：本发明涉及建立远程操作系统的主机和从机之间的对准或期望的取向关系。本发明可有利地用于手术设备中。提供了一种在观察者显示的图像中观察时，在主控制器的手持部分和相关联的从动件的末端执行器之间建立期望的取向关系的方法。该方法包括使末端执行器保持静止，确定末端执行器相对于与观察者可操作地相关联的图像捕获装置的观察端的当前方向，并且确定主控制器的手持部分的期望的相应取向相对于观察者，在哪个取向上，将建立主控制器的手持部分和末端执行器之间的期望取向关系。该方法还包括使主控制器的手持部分移动到期望的相应取向。本发明延伸到一个控制系统，该控制系统被布置成在主控制器的手持部分和相关联的从动件的末端执行器之间产生期望的取向关系，如在观察者上显示的成像中所观察到的那样，主控制和从机已经中断。

6. 发明授权

US06766204B2 Alignment of master and slave in a minimally invasive surgical apparatus 有权
标题翻译：在微创外科手术器械中主和从属对齐
公开(公告)号：US06766204B2
公开(公告)日：2004-07-20
申请号：US10033212
申请日：2001-12-28
申请人： Gunter D. Niemeyer , William C. Nowlin , Gary S. Guthart
发明人： Gunter D. Niemeyer , William C. Nowlin , Gary S. Guthart
IPC分类号： A61B1900
CPC分类号： A61B1/00149 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/36 , A61B2018/00982 , A61B2034/102 , A61B2034/305 , A61B2090/506 , B25J3/04 , B25J9/1689 , B25J9/1692 , B25J19/023 , G05B19/401 , G05B2219/39014 , G05B2219/39057 , G05B2219/39062 , G05B2219/39253 , G05B2219/39387 , G05B2219/39389 , G05B2219/39391 , G05B2219/39394 , G05B2219/39437 , G05B2219/39439 , G05B2219/39483 , G05B2219/40144 , G05B2219/40354 , G05B2219/40552 , G05B2219/41441 , G05B2219/45118 , H04N13/239 , H04N13/246 , H04N13/327 , H04N2005/2255
摘要： This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer is provided. The method includes causing the end effector to remain stationary, determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer and determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer, at which orientation the desired orientational relationship between the hand-held part of the master control and the end effector would be established. The method further includes causing the hand-held part of the master control to be moved into the desired corresponding orientation. The invention extends to a control system arranged to cause the desired orientational relationship between the hand-held part of the master control and the end effector of the associated slave, as viewed in the displayed imaged on the viewer, to be established when operative control between the master control and the slave has been interrupted.
摘要翻译：本发明涉及建立远程操作系统的主机和从机之间的对准或期望的取向关系。本发明可有利地用于手术设备中。提供了一种在观察者显示的图像中观察时，在主控制器的手持部分和相关联的从动件的末端执行器之间建立期望的取向关系的方法。该方法包括使末端执行器保持静止，确定末端执行器相对于与观察者可操作地相关联的图像捕获装置的观察端的当前方向，并且确定主控制器的手持部分的期望的相应取向相对于观察者，在哪个取向上，将建立主控制器的手持部分和末端执行器之间的期望取向关系。该方法还包括使主控制器的手持部分移动到期望的相应取向。本发明延伸到一个控制系统，该控制系统被布置成在主控制器的手持部分和相关联的从动件的末端执行器之间产生期望的取向关系，如在观察者上显示的成像中所观察到的那样，主控制和从机已经中断。

7. 发明授权

US4716350A Method to avoid singularity in a robot mechanism 失效
标题翻译：避免机器人机构中奇异性的方法
公开(公告)号：US4716350A
公开(公告)日：1987-12-29
申请号：US939377
申请日：1986-12-08
申请人： Bernard Huang , Veljko Milenkovic
发明人： Bernard Huang , Veljko Milenkovic
IPC分类号： B25J9/18 , G05B19/23 , G05B19/416 , G05B19/10
CPC分类号： G05B19/416 , G05B19/232 , G05B2219/40333 , G05B2219/40354 , G05B2219/43203
摘要： A method to avoid excessive rotational speeds, of the axes of a robot wrist, that result in the vicinity of a singularity in the path defined by consecutive points along which a tool held by a three-axis wrist mechanism of the robot moves. The speeds of the first and third axes are reduced within the allowable range of rotational speed for these axes, generally defined by the robot manufacturer, while maintaining constant the rotation about the intermediate or second joint. The rotational speed about each of these axes is determined as the tool moves between successive points on the path. Then, if necessary, the rotation of the second joint is decreased while maintaining constant the speeds about the first and third axes. Finally, the tool is maintained on the path by rotating the position of the tool without altering the reduced speeds of rotation about the axes.
摘要翻译：一种避免机器人手腕的轴的过度旋转的方法，其导致由由机器人的三轴腕部机构保持的工具沿着该连续点限定的路径中的奇点附近。第一轴和第三轴的速度在通常由机器人制造商定义的这些轴的允许旋转速度范围内减小，同时保持围绕中间或第二接头的旋转恒定。当工具在路径上的连续点之间移动时，确定关于每个这些轴的旋转速度。然后，如果需要，第二关节的旋转减小，同时保持围绕第一和第三轴的速度恒定。最后，通过旋转工具的位置，在不改变围绕轴的转动速度的情况下，将工具保持在路径上。

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