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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. 发明授权

US5548193A Arm position control device for use in an industrial robot 失效
标题翻译：用于工业机器人的臂位置控制装置
公开(公告)号：US5548193A
公开(公告)日：1996-08-20
申请号：US355775
申请日：1994-12-14
申请人： Kee S. Lee , Won G. Kim , Yeong J. Park
发明人： Kee S. Lee , Won G. Kim , Yeong J. Park
IPC分类号： B25J9/16 , B25J9/18 , G05B19/40
CPC分类号： B25J9/1692 , G05B2219/37103 , G05B2219/40552 , G05B2219/50025 , G05B2219/50042
摘要： An arm position control device for use in an industrial robot which comprises: a support body; a rotary arm rotatably mounted on the support body for rotation towed one of clockwise and counterclockwise deviation zones from a home position within a permissible angular extent; a home position sensor fixedly attached to the support body to identify home position of the rotary arm; a limit sensor fixedly secured to the support body with a predetermined angular spacing from the home position sensor to detect movement of the rotary arm beyond the permissible angular extent; a sensor actuator rotatable with the rotary arm as a unit for keeping the home position sensor interrupted when the rotary arm lies in the clockwise deviation zone, for making the home position sensor released when the rotary arm lies in the counterclockwise deviation zone and for bringing the limit sensor into a released condition as the rotary arm is out of the permissible angular extent; and an arm actuator operatively coupled to the rotary arm for causing it to rotate counterclockwise when the home position sensor remains interrupted for causing the rotary arm to rotate clockwise when the home position sensor is kept released and for having the rotary arm move into the permissible angular extent when the limit sensor is in a disabled condition.
摘要翻译：一种用于工业机器人的臂位置控制装置，包括：支撑体; 可旋转地安装在所述支撑体上的旋转臂，用于在允许的角度范围内从原始位置拖动顺时针和逆时针偏离区域中的一个; 固定地附接到支撑体的原位传感器，以识别旋转臂的原位; 限位传感器以与原位传感器预定的角度间隔固定地固定到支撑体，以检测旋转臂的移动超过允许的角度范围; 当旋转臂位于顺时针偏离区域时，用旋转臂作为单元可转动的传感器致动器，用于保持原位传感器中断，以便当旋转臂位于逆时针偏离区域时使原位传感器释放，并使当旋转臂超出允许的角度范围时，将传感器限制在释放状态; 以及可操作地联接到旋转臂的臂致动器，用于当原位传感器保持中断时使其逆时针旋转，以便当原位传感器保持释放并使旋转臂移动到允许角度时使旋转臂顺时针旋转当限位传感器处于禁用状态时的程度。

3. 发明申请

US20140052294A1 ADAPTING THE DYNAMICS OF AT LEAST ONE ROBOT 有权
标题翻译：适应一个机器人的动态
公开(公告)号：US20140052294A1
公开(公告)日：2014-02-20
申请号：US13982493
申请日：2012-02-06
申请人： Frank Herre
发明人： Frank Herre
IPC分类号： G05B19/418
CPC分类号： G05B19/418 , B05B13/0292 , B05B13/0431 , B25J9/1651 , G05B19/404 , G05B19/416 , G05B19/41815 , G05B2219/37252 , G05B2219/39144 , G05B2219/39364 , G05B2219/40318 , G05B2219/40453 , G05B2219/40454 , G05B2219/40552 , G05B2219/43062 , G05B2219/43203 , G05B2219/45013 , G05B2219/45238 , Y02P90/08 , Y02P90/083 , Y02P90/265 , Y10S901/43
摘要： The invention concerns a method for controlling a robot or a first robot (LR1) and at least one further second robot (LR2), wherein the robot or the first robot (LR1) and the at least one further second robot (LR2) is provided to run through a plurality of positioning ranges (SB11, SB22) during operation. Preferably, a dynamic behavior and/or a load characteristic value of the robot in at least one first positioning range is adapted to a dynamic behavior and/or a load characteristic value in at least one second positioning range of the robot and/or a dynamic behavior and/or a load characteristic value of the first robot (LR1) in at least one first positioning range (SB11) is adapted to a dynamic behavior and/or a load characteristic value of the second robot (LR2) in at least one second positioning range (SB22). The invention further concerns a corresponding control system, a corresponding computer program resp. computer-readable medium and a corresponding robot.
摘要翻译：本发明涉及一种用于控制机器人或第一机器人（LR1）和至少一个另外的第二机器人（LR2）的方法，其中提供所述机器人或所述第一机器人（LR1）和所述至少一个另外的第二机器人（LR2）在操作期间穿过多个定位范围（SB11，SB22）。优选地，所述机器人在至少一个第一定位范围内的动态特性值和/或载荷特性值适应于所述机器人的至少一个第二定位范围内的动态特性值和/或载荷特性值，和/或动态在至少一个第一定位范围（SB11）中的第一机器人（LR1）的行为和/或负载特性值适应于至少一秒钟内的第二机器人（LR2）的动态特性值和/或负载特性值定位范围（SB22）。本发明还涉及相应的控制系统，相应的计算机程序计算机可读介质和相应的机器人。

4. 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。

5. 发明申请

US20170197312A1 OPERATION CONTROL SYSTEM AND OPERATION CONTROL METHOD 审中-公开
公开(公告)号：US20170197312A1
公开(公告)日：2017-07-13
申请号：US15353421
申请日：2016-11-16
申请人： HONDA MOTOR CO., LTD.
发明人： Masahiko Osada , Yoshiki Kanemoto
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , B25J9/1633 , B25J9/1676 , G05B2219/40552
摘要： Provided are an operation control system and an operation control method for a movable member, which allow the movable range of the movable member to be utilized to the maximum while deformation of a mechanical element is prevented or reduced. An operation control system 1 includes: a movable member 26 having first mechanical elements 261, 262; an actuator 25 which moves the movable member 26 at a variable velocity; and a second mechanical element 27 which is fixed at a position so as to be capable of making contact with the first mechanical elements 261, 262. When the position and the velocity of the first mechanical element 261 or 262 depart from a predetermined allowable range in a two-dimensional coordinate system expressed by a position and a velocity, a stop instruction is outputted to the actuator 25.

6. 发明授权

US09703283B2 Adapting the dynamics of at least one robot 有权
公开(公告)号：US09703283B2
公开(公告)日：2017-07-11
申请号：US13982493
申请日：2012-02-06
申请人： Frank Herre
发明人： Frank Herre
IPC分类号： G05B19/418 , B05B13/04 , B25J9/16 , G05B19/404 , G05B19/416 , B05B13/02
CPC分类号： G05B19/418 , B05B13/0292 , B05B13/0431 , B25J9/1651 , G05B19/404 , G05B19/416 , G05B19/41815 , G05B2219/37252 , G05B2219/39144 , G05B2219/39364 , G05B2219/40318 , G05B2219/40453 , G05B2219/40454 , G05B2219/40552 , G05B2219/43062 , G05B2219/43203 , G05B2219/45013 , G05B2219/45238 , Y02P90/08 , Y02P90/083 , Y02P90/265 , Y10S901/43
摘要： A first robot and at least one further second robot are provided to run through a plurality of positioning ranges during operation. A dynamic behavior and/or a load characteristic value of the robot in at least one first positioning range can be adapted to a dynamic behavior and/or a load characteristic value in at least one second positioning range of the robot and/or a dynamic behavior and/or a load characteristic value of the first robot in at least one first positioning range is adapted to a dynamic behavior and/or a load characteristic value of the second robot in at least one second positioning range.

7. 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。

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