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公开(公告)号：US20130172908A1
公开(公告)日：2013-07-04
申请号：US13728223
申请日：2012-12-27
发明人： Tae Jun SANG , Kwang Kyu Lee , Woong Kwon , Kyung Shik Roh
CPC分类号： G01B11/14 , A61B17/3403 , A61B17/3494 , A61B34/20 , A61B34/30 , A61B34/77 , A61B90/03 , A61B90/13 , A61B2017/3445 , A61B2017/348 , A61B2034/2055 , A61B2034/2057 , A61B2034/2072 , A61B2034/301 , A61B2090/0811 , A61B2090/373
摘要： A medical robot system and a method to control the medical robot system are used to detect position information of a surgical instrument in an incised region, thereby improving the safety of robotic surgery. A surgical instrument may be inserted in a through-hole of a trocar inserted into an incised region of a patient. The medical robotic system includes a surgical instrument position detection apparatus to detect position information of the surgical instrument in the through-hole of the trocar, when the surgical instrument is inserted into the through-hole. The medical robotic system further includes a console to control an operation of a surgical robot having the surgical instrument, based on the detected position information of the surgical instrument.
摘要翻译： 使用医疗机器人系统和控制医疗机器人系统的方法来检测切割区域中的外科器械的位置信息，从而提高机器人手术的安全性。 手术器械可以插入插入患者切口区域的套管针的通孔中。 医疗机器人系统包括手术器械位置检测装置，用于当手术器械插入到通孔中时，检测套管针的通孔中的外科器械的位置信息。 医疗机器人系统还包括控制台，用于基于检测到的外科器械的位置信息来控制具有手术器械的手术机器人的操作。
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公开(公告)号：US09545717B2
公开(公告)日：2017-01-17
申请号：US13734062
申请日：2013-01-04
发明人： Ji Young Kim , Kwang Kyu Lee , Young Do Kwon , Kyung Shik Roh
CPC分类号： B25J9/1612 , B25J3/04 , B25J13/025 , B25J15/0009 , G05B2219/39466 , G05B2219/39497 , G05B2219/39546 , G05B2219/40407
摘要： Disclosed herein is a control method of a robot hand including recognizing a pre-posture of user's fingers using a master device, changing the shape of the robot hand according to the recognized pre-posture, recognizing a gripping motion of the user's fingers using the master device, and executing a gripping motion of the robot hand according to a gripping posture corresponding to the recognized pre-posture.
摘要翻译： 这里公开了一种机器人手的控制方法，其包括使用主装置识别用户手指的前姿势，根据识别的前姿态改变机器人手的形状，使用主人识别用户手指的夹持运动 装置，并且根据对应于所识别的前姿势的夹持姿势执行机器人手的抓握运动。
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3.发明授权Method of tracking moving object, method of determining display state of moving object, and control apparatus for tracking moving object 有权跟踪运动物体的方法，确定运动物体的显示状态的方法以及跟踪运动物体的控制装置公开(公告)号：US09349048B2
公开(公告)日：2016-05-24
申请号：US14162879
申请日：2014-01-24
发明人： No San Kwak , Seung Yong Hyung , Woong Kwon , Ji Young Kim , Kwang Kyu Lee
CPC分类号： G06K9/00624 , G06K2209/057 , G06T7/277 , G06T7/73 , G06T2207/10068 , G06T2207/30021
摘要： A method of tracking a moving object includes measuring displacement of an object to be tracked, obtaining a particle of the object to be tracked using the measured displacement, and tracking the object using pose information of the object in an image thereof and the obtained particle. A control apparatus includes an imaging module to perform imaging of an object and generates an image, and a tracking unit to acquire displacement and pose information of the object using the generated image of the object, to set a particle of the object using the acquired displacement of the object, and to track the object using the pose information of the object and the particle.
摘要翻译： 跟踪运动物体的方法包括测量待跟踪对象的位移，使用所测量的位移获得待跟踪对象的粒子，并使用其图像中的对象的姿态信息和所获得的粒子来跟踪对象。 控制装置包括：成像模块，用于对物体进行成像并生成图像;跟踪单元，使用所生成的对象的图像获取位移并构图物体的信息;使用获取的位移来设定物体的粒子; 并且使用对象和粒子的姿势信息来跟踪对象。
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公开(公告)号：US09254568B2
公开(公告)日：2016-02-09
申请号：US14153302
申请日：2014-01-13
发明人： Ji Young Kim , Kwang Kyu Lee , Woong Kwon , Kyung Shik Roh , Ju Suk Lee , Seung Yong Hyung
CPC分类号： B25J9/1625 , G05B2219/40299 , Y10S901/16
摘要： A robot control method of controlling a robot that has a flexible module including ‘n’ first nodes participating in pan motion and ‘n’ second nodes participating in tilt motion may include: measuring a translational motion distance, a pan motion angle, and a tilt motion angle of the flexible module; calculating state vectors of the ‘n’ first nodes and the ‘n’ second nodes using the measured translational motion distance; calculating operating angle distribution rates of the ‘n’ first nodes and operating angle distribution rates of the ‘n’ second nodes using the calculated state vectors of the ‘n’ first nodes and the calculated state vectors of the ‘n’ second nodes; and/or calculating operating angles of the ‘n’ first nodes and operating angles of the ‘n’ second nodes using the calculated operating angle distribution rates and the measured pan motion angle and tilt motion angle.
摘要翻译： 控制机器人的机器人控制方法包括：测量平移运动距离，平移运动角度和俯仰角度的柔性模块，该柔性模块包括参与平移运动的第一节点和第n节点参与倾斜运动 柔性模块的运动角度; 使用测量的平移运动距离计算'n'个第一节点和'n'个第二节点的状态向量; 使用“n”个第一节点的计算状态矢量和“n”个第二节点的计算状态向量来计算'n'个第一节点的运行角分布率和'n'个第二节点的操作角分布率; 和/或使用所计算的操作角分布速率和测量的平移运动角度和倾斜运动角度来计算'n'个第一节点的运动角度和'n'个第二节点的操作角度。
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公开(公告)号：US09658605B2
公开(公告)日：2017-05-23
申请号：US13723688
申请日：2012-12-21
发明人： Kwang Kyu Lee , Woong Kwon , Kyung Shik Roh
摘要： A method for controlling a surgical robot includes calculating an external force acting on a robot arm mounted with a surgical instrument, filtering the external force acting on the robot arm when a central point of an incision is set, calculating a virtual force to enable the surgical instrument which is positioned away from the central point of the incision to return to the central point of the incision, and applying the calculated virtual force to the filtered external force, to control movement of the robot arm. As a result, it is possible to compactly design the surgical robot and thereby reduce the volume of the surgical robot.
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6.发明授权Medical robotic system including surgical instrument position detection apparatus and control method thereof 有权医疗机器人系统，包括手术器械位置检测装置及其控制方法公开(公告)号：US09261353B2
公开(公告)日：2016-02-16
申请号：US13728223
申请日：2012-12-27
发明人： Tae Jun Sang , Kwang Kyu Lee , Woong Kwon , Kyung Shik Roh
CPC分类号： G01B11/14 , A61B17/3403 , A61B17/3494 , A61B34/20 , A61B34/30 , A61B34/77 , A61B90/03 , A61B90/13 , A61B2017/3445 , A61B2017/348 , A61B2034/2055 , A61B2034/2057 , A61B2034/2072 , A61B2034/301 , A61B2090/0811 , A61B2090/373
摘要： A medical robot system and a method to control the medical robot system are used to detect position information of a surgical instrument in an incised region, thereby improving the safety of robotic surgery. A surgical instrument may be inserted in a through-hole of a trocar inserted into an incised region of a patient. The medical robotic system includes a surgical instrument position detection apparatus to detect position information of the surgical instrument in the through-hole of the trocar, when the surgical instrument is inserted into the through-hole. The medical robotic system further includes a console to control an operation of a surgical robot having the surgical instrument, based on the detected position information of the surgical instrument.
摘要翻译： 使用医疗机器人系统和控制医疗机器人系统的方法来检测切割区域中的外科器械的位置信息，从而提高机器人手术的安全性。 手术器械可以插入插入患者切口区域的套管针的通孔中。 医疗机器人系统包括手术器械位置检测装置，用于当手术器械插入到通孔中时，检测套管针的通孔中的外科器械的位置信息。 医疗机器人系统还包括控制台，用于基于检测到的外科器械的位置信息来控制具有手术器械的手术机器人的操作。
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公开(公告)号：US09122275B2
公开(公告)日：2015-09-01
申请号：US13738409
申请日：2013-01-10
发明人： Ji Young Kim , Kwang Kyu Lee , Young Do Kwon , Kyung Shik Roh
CPC分类号： G05D3/00 , B25J9/00 , B25J9/16 , B25J9/1612 , G05B2219/39486 , G05B2219/40407 , Y10S901/14 , Y10S901/27
摘要： A robot and method of controlling the same are provided. The robot includes a hand and an arm, a grip sensor unit configured to enable the hand to sense an object, a grip control unit configured to determine whether the hand grips the object from gripping information obtained from the grip sensor unit, select an object-based coordinate to control the hand and the arm based on a motion of the object or an independent coordinate to independently control the hand and the arm according to a result of the determination, and control the hand and the arm based on the selected coordinate, and a coordinate transformation unit configured to calculate a position and a direction of a virtual object based on the object-based coordinate, and deliver information about the position and the direction of the virtual object calculated to the grip control unit.
摘要翻译： 提供了一种机器人及其控制方法。 所述机器人包括手和手臂，配置成能够使手感测物体的抓握传感器单元，配置成确定手抓住物体是否夹持从握持传感器单元获得的信息的抓握控制单元， 基于所述对象的运动或独立坐标来控制所述手和所述手臂，以根据所述确定的结果独立地控制所述手和所述手臂，并且基于所选择的坐标来控制所述手和所述手臂，以及 坐标变换单元，被配置为基于所述基于对象的坐标来计算虚拟对象的位置和方向，并且将关于所计算的所述虚拟对象的位置和方向的信息传递给所述握持控制单元。
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公开(公告)号：US20130178978A1
公开(公告)日：2013-07-11
申请号：US13738409
申请日：2013-01-10
发明人： Ji Young KIM , Kwang Kyu Lee , Young Do Kwon , Kyung Shik Roh
IPC分类号： G05D3/00
CPC分类号： G05D3/00 , B25J9/00 , B25J9/16 , B25J9/1612 , G05B2219/39486 , G05B2219/40407 , Y10S901/14 , Y10S901/27
摘要： A robot and method of controlling the same are provided. The robot includes a hand and an arm, a grip sensor unit configured to enable the hand to sense an object, a grip control unit configured to determine whether the hand grips the object from gripping information obtained from the grip sensor unit, select an object-based coordinate to control the hand and the arm based on a motion of the object or an independent coordinate to independently control the hand and the arm according to a result of the determination, and control the hand and the arm based on the selected coordinate, and a coordinate transformation unit configured to calculate a position and a direction of a virtual object based on the object-based coordinate, and deliver information about the position and the direction of the virtual object calculated to the grip control unit.
摘要翻译： 提供了一种机器人及其控制方法。 所述机器人包括手和手臂，配置成能够使手感测物体的抓握传感器单元，配置成确定手抓住物体是否夹持从握持传感器单元获得的信息的抓握控制单元， 基于所述对象的运动或独立坐标来控制所述手和所述手臂，以根据所述确定的结果独立地控制所述手和所述手臂，并且基于所选择的坐标来控制所述手和所述手臂，以及 坐标变换单元，被配置为基于所述基于对象的坐标来计算虚拟对象的位置和方向，并且将关于所计算的所述虚拟对象的位置和方向的信息传递给所述握持控制单元。
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