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

IPC: G06K9/00 ,  B25J15/06 ,  B25J9/16

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。

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

IPC: B25J13/08 ,  B25J19/04 ,  B25J15/06 ,  B25J9/16 ,  G06K7/10 ,  G06K7/14

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。