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    ROBOT AND ELECTRONIC DEVICE FOR PERFORMING HAND-EYE CALIBRATION
    1.
    发明申请
    ROBOT AND ELECTRONIC DEVICE FOR PERFORMING HAND-EYE CALIBRATION 审中-公开

    公开(公告)号：US20180186004A1

    公开(公告)日：2018-07-05

    申请号：US15860071

    申请日：2018-01-02

    申请人： Samsung Electronics Co., Ltd.

    发明人： Soon Yong PARK ,  Kyung Shik ROH ,  Sung Hwan AHN ,  Suk June YOON ,  So Hee LEE ,  Young Pil JEON

    IPC分类号： B25J9/16 ,  G06T7/70 ,  B25J9/02

    摘要： A robot for performing hand-eye calibration is provided. The robot includes a robot arm including a plurality of joints, a plurality of arm sections, and an end effector, a communication interface, and a control circuit. The control circuit controls the robot arm to place the external object on a worktable after the external object is grasped by the end effector, acquires coordinates of a central point of the external object in a coordinate system of the camera from an image of the external object, and calculates a calibration parameter for defining a relation between a coordinate system of the end effector and the coordinate system of the camera, based on coordinates of the end effector in a base coordinate system of the robot and coordinates of the central point of the external object in the coordinate system of the camera when the external object is placed on the worktable.

    SURGICAL ROBOTS AND CONTROL METHODS THEREOF
    3.
    发明申请
    SURGICAL ROBOTS AND CONTROL METHODS THEREOF 审中-公开
    外科手术及其控制方法

    公开(公告)号：US20150320514A1

    公开(公告)日：2015-11-12

    申请号：US14706497

    申请日：2015-05-07

    申请人： Samsung Electronics Co., Ltd.

    发明人： Sung Hwan AHN ,  Kyung Shik ROH ,  Suk June YOON ,  Hyo Seok HWANG

    IPC分类号： A61B19/00

    CPC分类号： A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B90/37 ,  A61B2034/102 ,  A61B2034/2048 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2090/363 ,  A61B2090/364

    摘要： A surgical robot may include: an image information acquisition unit configured to acquire image information of an intra-abdominal environment while the surgical robot performs a surgical operation; and/or a controller configured to recognize positions of an endoscope and a tool, mounted on the surgical robot, based on the acquired image information and kinematic information of links included in the endoscope and the tool. A surgical robot may include: an image information acquisition unit configured to acquire image information of an intra-abdominal environment while the surgical robot performs a surgical operation; an inertia measurement unit configured to acquire inertia measurement information of the surgical robot; and/or a controller configured to recognize positions of an endoscope and a tool, mounted on the surgical robot, based on the acquired image information and the inertia measurement information.

    摘要翻译： 手术机器人可以包括：图像信息获取单元，被配置为在手术机器人执行外科手术时获取腹部环境的图像信息; 和/或控制器，其被配置为基于所获取的图像信息和包括在内窥镜和工具中的链接的运动信息来识别安装在外科手术机器人上的内窥镜和工具的位置。 手术机器人可以包括：图像信息获取单元，被配置为在手术机器人执行外科手术时获取腹部环境的图像信息; 惯性测量单元，被配置为获取所述外科手术机器人的惯性测量信息; 和/或被配置为基于所获取的图像信息和惯性测量信息来识别安装在外科手术机器人上的内窥镜和工具的位置的控制器。

    MARKER AND METHOD OF ESTIMATING SURGICAL INSTRUMENT POSE USING THE SAME
    4.
    发明申请
    MARKER AND METHOD OF ESTIMATING SURGICAL INSTRUMENT POSE USING THE SAME 审中-公开
    使用该方法评估手术仪器的标记和方法

    公开(公告)号：US20140316252A1

    公开(公告)日：2014-10-23

    申请号：US14151268

    申请日：2014-01-09

    申请人： SAMSUNG ELECTRONICS CO., LTD.

    发明人： No San KWAK ,  Seung Yong HYUNG ,  Woong KWON ,  Suk June YOON

    IPC分类号： A61B5/06

    CPC分类号： A61B5/064 ,  A61B5/7203 ,  A61B2576/00

    摘要： A marker includes a basal surface, and a plurality of reference lines provided at the basal surface in a longitudinal direction of the basal surface. The reference lines may have different gradients. The marker may be attached to an instrument and a camera may capture an image of the marker. Pose information of the instrument may be estimated based on the captured image.

    摘要翻译： 标记物包括基底表面和设置在基底表面的纵向方向上的基底表面处的多个参考线。 参考线可能具有不同的梯度。 标记可以附接到仪器，并且相机可以捕获标记的图像。 可以基于捕获的图像来估计器械的姿势信息。

    MOBILE APPARATUS AND WALKING ROBOT
    9.
    发明申请
    MOBILE APPARATUS AND WALKING ROBOT 审中-公开
    手机和运动机器人

    公开(公告)号：US20130116823A1

    公开(公告)日：2013-05-09

    申请号：US13668579

    申请日：2012-11-05

    申请人： Samsung Electronics Co., Ltd.

    发明人： Sung Hwan AHN ,  Kyung Shik ROH ,  Suk June YOON ,  Seung Yong HYUNG

    IPC分类号： G05B15/00

    CPC分类号： G05D1/0272 ,  G05D1/0246 ,  G05D1/027 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0217

    摘要： A mobile apparatus and a position recognition method thereof capable of enhancing performance in position recognition, such as accuracy and convergence in position recognition of the mobile apparatus performs the position recognition by use of a distributed filter system, which is composed of a plurality of local filters independently operating and a single fusion filter that integrates the position recognition result performed by each of the plurality of local filters. The mobile apparatus includes a plurality of sensors, a plurality of local filters configured to receive detection information from at least one of the plurality of sensors to perform a position recognition of the mobile apparatus, and a fusion filter configured to integrate the position recognition result of the plurality of local filters and to perform a position recognition of the mobile apparatus by using the integrated position recognition result.

    摘要翻译： 能够提高位置识别的性能的移动装置和位置识别方法，例如移动装置的位置识别中的精度和收敛，通过使用由多个局部滤波器构成的分布式滤波器系统进行位置识别 独立操作的单个融合滤波器和集成了由多个局部滤波器中的每一个执行的位置识别结果的单个融合滤波器。 移动装置包括多个传感器，多个局部滤波器被配置为从多个传感器中的至少一个传感器接收检测信息，以执行移动装置的位置识别;以及融合滤波器，其被配置为将位置识别结果 所述多个局部滤波器，并且通过使用所述集成位置识别结果来执行所述移动装置的位置识别。