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公开(公告)号：US09259844B2
公开(公告)日：2016-02-16
申请号：US14178902
申请日：2014-02-12
Applicant: GENERAL ELECTRIC COMPANY
Inventor： Yi Xu , Lynn Ann DeRose , Weston Blaine Griffin , Ying Mao , Xianqiao Tong , Balajee Kannan
CPC classification number: B25J15/0608 , B25J9/1692 , B25J9/1697 , G05B2219/36371 , G05B2219/39393 , G05B2219/39567 , G05B2219/40053 , G05B2219/40564 , Y10S901/02 , Y10S901/40 , Y10S901/47 , Y10S902/02
Abstract: Embodiments of the disclosure comprise a vision-based robotic manipulation system that identifies, singulates, and removes an individual surgical instrument from a cluttered environment. A computer-vision algorithm incorporated with the system is robust against optical challenges such as changing light conditions, specularities, and inter-reflections among various surgical instruments. The system estimates 2D pose (as opposed to a more challenging 3D pose) using a camera with normal room lighting to identify each object, including its specified data matrix barcode; and incorporates the use of a robotic arm with a compliant electromagnetic gripper to handle objects having large shape variance. The system can then relocate the objects as desired. The robot manipulator is utilized in hospital and research settings, manufacturing, and sterile environments.
Abstract translation: 本公开的实施例包括基于视觉的机器人操纵系统，其从杂乱的环境识别，单独和移除单个外科器械。 与系统结合的计算机视觉算法对于诸如改变各种手术器械中的光条件，镜面反射和相互反射之类的光学挑战是鲁棒的。 该系统使用具有正常房间照明的相机来估计2D姿态（与更具挑战性的3D姿势相反）来识别每个对象，包括其指定的数据矩阵条形码; 并且结合使用具有柔性电磁夹具的机器臂来处理具有大形状差异的物体。 然后，系统可以根据需要重新定位对象。 机器人操纵器用于医院和研究设施，制造和无菌环境。
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公开(公告)号：US20190321977A1
公开(公告)日：2019-10-24
申请号：US15960272
申请日：2018-04-23
Applicant: General Electric Company
Inventor： Huan Tan , Weston Blaine Griffin , Lynn Ann DeRose , Yi Xu , Ying Mao , Balajee Kannan
Abstract: The present approach relates to integrated planning of robot navigation and manipulator motion in performing tasks. In particular, as discussed herein sensor information, such as visual information, may be used for the robot to locate a target object when it arrives at a working location. Adjustments may be made based on this information that may include moving the robot and planning a manipulator arm motion.
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公开(公告)号：US20190321969A1
公开(公告)日：2019-10-24
申请号：US15960242
申请日：2018-04-23
Applicant: General Electric Company
Inventor： Huan Tan , Weston Blaine Griffin , Lynn Ann DeRose , Yi Xu , Ying Mao , Balajee Kannan
Abstract: The disclosed approach relates to manipulation of tools or instruments in the performance of a task by a robot. In accordance with this approach, sensor data is acquired and processed to identify a subset of instruments initially susceptible to manipulation. The instruments are then manipulated in the performance of the task based on the processed sensor data.
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公开(公告)号：US20170193167A1
公开(公告)日：2017-07-06
申请号：US14984574
申请日：2015-12-30
Applicant: General Electric Company
Inventor： Nichole Lea Wood , Lynn Ann DeRose , Brandon Stephen Good , Adam Joseph McCann , Hasan Imamus Saleheen
Abstract: The present disclosure relates to cell processing techniques. By way of example, a cell processing system may include a plurality of tracking devices coupled to a respective plurality of sample processing containers and storing sample identification information for a patient sample for use with sample processing devices configured to process the patient sample according to workflow steps of a processing protocol. A plurality of readers are configured to receive signals from the plurality of tracking devices. A controller may be coupled to the plurality of readers and configured to determine if the patient sample is processed according to the processing protocol based at least in part on the signals from the plurality of tracking devices.
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公开(公告)号：US20170193168A1
公开(公告)日：2017-07-06
申请号：US14984766
申请日：2015-12-30
Applicant: General Electric Company
Inventor： Nichole Lea Wood , Lynn Ann DeRose , Kunter Seref Akbay , Christopher Donald Johnson , Reginald Donovan Smith , Dolores Baksh
Abstract: The present disclosure relates to cell processing techniques. By way of example, a cell processing system may include a plurality of sample processing devices configured to process patient samples and a plurality of readers respectively associated with the plurality of sample processing devices, wherein each reader is configured to read information from tracking devices associated with respective patient samples. The system may also include a controller that uses information from the readers to provide an estimated completion time for a patient sample based on availability of the sample processing devices.
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Patent Agency Ranking
公开(公告)号：US20150224650A1
公开(公告)日：2015-08-13
申请号：US14178902
申请日：2014-02-12
Applicant: GENERAL ELECTRIC COMPANY
Inventor： Yi Xu , Lynn Ann DeRose , Weston Blaine Griffin , Ying Mao , Xianqiao Tong , Balajee Kannan
CPC classification number: B25J15/0608 , B25J9/1692 , B25J9/1697 , G05B2219/36371 , G05B2219/39393 , G05B2219/39567 , G05B2219/40053 , G05B2219/40564 , Y10S901/02 , Y10S901/40 , Y10S901/47 , Y10S902/02
Abstract: Embodiments of the disclosure comprise a vision-based robotic manipulation system that identifies, singulates, and removes an individual surgical instrument from a cluttered environment. A computer-vision algorithm incorporated with the system is robust against optical challenges such as changing light conditions, specularities, and inter-reflections among various surgical instruments. The system estimates 2D pose (as opposed to a more challenging 3D pose) using a camera with normal room lighting to identify each object, including its specified data matrix barcode; and incorporates the use of a robotic arm with a compliant electromagnetic gripper to handle objects having large shape variance. The system can then relocate the objects as desired. The robot manipulator is utilized in hospital and research settings, manufacturing, and sterile environments.
Abstract translation: 本公开的实施例包括基于视觉的机器人操纵系统，其从杂乱的环境识别，单独和移除单个外科器械。 与系统结合的计算机视觉算法对于诸如改变各种手术器械中的光条件，镜面反射和相互反射之类的光学挑战是鲁棒的。 该系统使用具有正常房间照明的相机来估计2D姿态（与更具挑战性的3D姿势相反）来识别每个对象，包括其指定的数据矩阵条形码; 并且结合使用具有柔性电磁夹具的机器臂来处理具有大形状差异的物体。 然后，系统可以根据需要重新定位对象。 机器人操纵器用于医院和研究设施，制造和无菌环境。
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公开(公告)号：US10933526B2
公开(公告)日：2021-03-02
申请号：US15960242
申请日：2018-04-23
Applicant: General Electric Company
Inventor： Huan Tan , Weston Blaine Griffin , Lynn Ann DeRose , Yi Xu , Ying Mao , Balajee Kannan
Abstract: An approach relates to manipulation of tools or instruments in the performance of a task by a robot. In accordance with this approach, sensor data is acquired and processed to identify a subset of instruments initially susceptible to manipulation. The instruments are then manipulated in the performance of the task based on the processed sensor data.
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公开(公告)号：US10482998B2
公开(公告)日：2019-11-19
申请号：US14984574
申请日：2015-12-30
Applicant: General Electric Company
Inventor： Nichole Lea Wood , Lynn Ann DeRose , Brandon Stephen Good , Adam Joseph McCann , Hasan Imamus Saleheen
Abstract: The present disclosure relates to cell processing techniques. By way of example, a cell processing system may include a plurality of tracking devices coupled to a respective plurality of sample processing containers and storing sample identification information for a patient sample for use with sample processing devices configured to process the patient sample according to workflow steps of a processing protocol. A plurality of readers are configured to receive signals from the plurality of tracking devices. A controller may be coupled to the plurality of readers and configured to determine if the patient sample is processed according to the processing protocol based at least in part on the signals from the plurality of tracking devices.
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公开(公告)号：US10759051B2
公开(公告)日：2020-09-01
申请号：US15960272
申请日：2018-04-23
Applicant: General Electric Company
Inventor： Huan Tan , Weston Blaine Griffin , Lynn Ann DeRose , Yi Xu , Ying Mao , Balajee Kannan
Abstract: The present approach relates to integrated planning of robot navigation and manipulator motion in performing tasks. In particular, as discussed herein sensor information, such as visual information, may be used for the robot to locate a target object when it arrives at a working location. Adjustments may be made based on this information that may include moving the robot and planning a manipulator arm motion.
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公开(公告)号：US10691773B2
公开(公告)日：2020-06-23
申请号：US14984766
申请日：2015-12-30
Applicant: General Electric Company
Inventor： Nichole Lea Wood , Lynn Ann DeRose , Kunter Seref Akbay , Christopher Donald Johnson , Reginald Donovan Smith , Dolores Baksh
Abstract: The present disclosure relates to cell processing techniques. By way of example, a cell processing system may include a plurality of sample processing devices configured to process patient samples and a plurality of readers respectively associated with the plurality of sample processing devices, wherein each reader is configured to read information from tracking devices associated with respective patient samples. The system may also include a controller that uses information from the readers to provide an estimated completion time for a patient sample based on availability of the sample processing devices.
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