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1. 发明授权

US12082887B2 System and method for inter-arm registration 有权
公开(公告)号：US12082887B2
公开(公告)日：2024-09-10
申请号：US17790892
申请日：2021-01-05
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： Dinesh Rabindran , Simon P. Dimaio , Ambarish G. Goswami , James Zachary Woodruff
IPC分类号： A61B34/20 , A61B34/35 , B25J9/16
CPC分类号： A61B34/20 , A61B34/35 , B25J9/1697 , A61B2034/2055 , G05B2219/39008 , G05B2219/39022 , G05B2219/40598 , G05B2219/40611
摘要： Systems and methods for inter-arm registration include a computer-assisted system having a control unit coupled to a repositionable arm of a computer-assisted device. The control unit is configured to: receive, from an imaging device, successive images of an instrument mounted to the repositionable arm; determine an observed velocity of a feature of the instrument; determine an expected velocity of the feature of the instrument based on kinematics of the repositionable arm; transform the observed velocity and/or the expected velocity to a common coordinate system using a registration transform; determine an error between directions of the observed and expected velocities in the common coordinate system; and update the registration transform based on the determined error. In some embodiments, the instrument is a medical instrument and the imaging device is an endoscope. In some embodiments, the control unit is further configured to control the instrument using the registration transform.

2. 发明申请

US20170308042A1 NUMERICAL CONTROL DEVICE AND CAUSE ANALYZING METHOD 审中-公开
公开(公告)号：US20170308042A1
公开(公告)日：2017-10-26
申请号：US15493339
申请日：2017-04-21
申请人： FANUC CORPORATION
发明人： Yasutaka KURASAWA
IPC分类号： G05B13/02 , G05B19/404
CPC分类号： G05B13/02 , G05B19/404 , G05B19/416 , G05B2219/40598 , G05B2219/50179
摘要： A numerical control device includes: a data storage unit that cyclically associates and stores command speeds and actual speeds of a motor in chronological order; a difference pattern table that associates and stores causes of a difference between the command speed and the actual speed, and difference patterns of the causes; a cause analyzing unit that analyzes the cause of the difference between the command speed and the actual speed by comparing the command speeds and the actual speeds stored in chronological order in the data storage unit, with the difference patterns stored in the difference pattern table; and a display unit that displays the analyzed cause.

3. 发明授权

US08352076B2 Robot with camera 有权
标题翻译：机器人与相机
公开(公告)号：US08352076B2
公开(公告)日：2013-01-08
申请号：US12786554
申请日：2010-05-25
申请人： Yuichi Someya
发明人： Yuichi Someya
IPC分类号： G05B15/00
CPC分类号： B25J9/1697 , G05B2219/37302 , G05B2219/40033 , G05B2219/40598 , G05B2219/40609 , G05B2219/40613
摘要： A robot with a camera includes a hand with a finger, a camera disposed on the hand, a robot arm including the hand, and a control portion which searches for a work based on an image obtained by the camera and controls the robot arm. In addition, a unit detects a velocity of the camera, and a unit detects a position of the camera relative to a predicted stopping position of the camera. The control portion permits the camera to take the image used for searching for the work, when the velocity of the camera takes a preset velocity threshold value or lower and the position of the camera relative to the predicted stopping position takes a preset position threshold value or lower.
摘要翻译：具有照相机的机器人包括手指，手中放置的照相机，包括手的机器人手臂，以及基于由照相机获得的图像来搜索作品并控制机器人手臂的控制部。此外，单元检测相机的速度，并且单元相对于相机的预测停止位置检测相机的位置。控制部分允许相机拍摄用于搜索作品的图像，当相机的速度达到预设速度阈值或更低时，相机相对于预测的停止位置的位置取预设的位置阈值或降低。

4. 发明申请

US20100312393A1 ROBOT WITH CAMERA 有权
标题翻译：机器人相机
公开(公告)号：US20100312393A1
公开(公告)日：2010-12-09
申请号：US12786554
申请日：2010-05-25
申请人： Yuichi Someya
发明人： Yuichi Someya
IPC分类号： G05B15/00
CPC分类号： B25J9/1697 , G05B2219/37302 , G05B2219/40033 , G05B2219/40598 , G05B2219/40609 , G05B2219/40613
摘要： A shutter chance of a camera mounted on a robot arm is optimized for improving assembling efficiency. An image of a point on a finger and a position of an alignment mark is taken, and a position of the camera is measured by image processing. When the position of the camera is a preset position threshold value or lower, and when a velocity of the camera measured by a velocity sensor is a preset velocity threshold value or lower, a shutter is released. Furthermore, logical AND with another condition that a acceleration of the camera measured as a differential value of the velocity sensor is a preset acceleration threshold value or lower is taken for releasing the shutter. Thus, blur of an image for searching for a work is prevented, a position error is reduced, and working efficiency is improved by releasing the shutter earlier.
摘要翻译：安装在机器人手臂上的相机的快门机会被优化以提高组装效率。拍摄手指上的点的图像和对准标记的位置，并且通过图像处理来测量照相机的位置。当相机的位置为预设位置阈值或更低时，并且当由速度传感器测量的照相机的速度是预设速度阈值或更低时，释放快门。此外，逻辑“与”，其另一个条件是，作为速度传感器的微分值而测量的照相机的加速度是预设的加速度阈值或更低，用于释放快门。因此，防止了用于搜索工件的图像的模糊，降低了位置误差，并且通过更早地释放快门来提高工作效率。

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