公开(公告)号：US20240272593A1

公开(公告)日：2024-08-15

申请号：US18607183

申请日：2024-03-15

申请人： Shandong University

发明人： Xuewen RONG ,  Shuai ZAN ,  Guoteng ZHANG ,  Teng CHEN ,  Xin MA ,  Yibin LI ,  Yong FAN

IPC分类号： G05B13/04 ,  B25J3/04 ,  B25J9/16

CPC分类号： G05B13/042 ,  B25J3/04 ,  B25J9/1664

摘要： A servo control method for a multi-joint hydraulic manipulator based on adaptive sliding mode is provided. A motion trajectory of an end of the multi-joint hydraulic manipulator in a workspace is generated, and expected angular displacement, angular velocity and angular acceleration of individual joints are calculated. An actual angular displacement and an actual angular velocity of the individual joints under a current position-pose are calculated. Combined with a dynamic model of the manipulator, a driving force of individual joints is calculated. Based on the expected angular displacement, the actual angular displacement and the driving force, a sliding-mode surface is constructed. The adaptive law is updated to perform adaptive sliding-mode control for the manipulator. A system for implementing the servo control method is also provided.

公开(公告)号：US20240122664A1

公开(公告)日：2024-04-18

申请号：US18264767

申请日：2021-12-17

申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA ,  MEDICAROID CORPORATION

发明人： Tsuyoshi TOJO

IPC分类号： A61B34/37 ,  A61B34/00 ,  B25J3/04 ,  B25J9/16

CPC分类号： A61B34/37 ,  A61B34/74 ,  B25J3/04 ,  B25J9/1676 ,  B25J9/1682 ,  A61B2090/0818

摘要： A robotic surgical system includes a controller configured or programmed to perform an arm interference avoidance control to move a second manipulator arm relative to a first manipulator arm such that a reference line moves along an outer edge of an approach prohibited range of a first manipulator arm when a second manipulator arm approaches within the approach prohibited range.

公开(公告)号：US11794345B2

公开(公告)日：2023-10-24

申请号：US17139868

申请日：2020-12-31

申请人： Sarcos Corp.

发明人： Fraser M. Smith ,  Marc X. Olivier

IPC分类号： G06F19/00 ,  B25J9/16 ,  B25J3/00 ,  B25J5/00 ,  B25J9/00 ,  B25J13/02 ,  B25J13/04 ,  B25J13/08 ,  B25J3/04

CPC分类号： B25J9/1682 ,  B25J3/00 ,  B25J5/005 ,  B25J9/0006 ,  B25J9/0084 ,  B25J9/0087 ,  B25J9/162 ,  B25J9/1689 ,  B25J13/02 ,  B25J13/04 ,  B25J13/082 ,  B25J13/088 ,  B25J3/04 ,  G05B2219/40048

摘要： A robotic system comprising a master robotic system, and a first robotic system comprising a first mobile platform operable to move about a surface, and comprising a first manipulator. The robotic system can comprise a second robotic system comprising a second mobile platform operable to move about the surface, and comprising a second manipulator. A control module can be associated with the master robotic system and the first and second robotic systems, and can be operable in a paired control mode to facilitate paired control of the first and second robotic systems to move about the ground surface, and operable in an unpaired control mode to facilitate non-paired control of a selected one of the first or second robotic systems.

公开(公告)号：US11744658B2

公开(公告)日：2023-09-05

申请号：US17458989

申请日：2021-08-27

申请人： Titan Medical Inc.

发明人： Joseph Kralicky ,  Peter Cameron ,  Rene Robert

IPC分类号： A61B34/30 ,  A61B34/35 ,  B25J9/16 ,  A61B34/00 ,  A61B34/37 ,  A61B90/00 ,  B25J3/04 ,  B25J13/02 ,  B25J19/06 ,  B25J13/06

CPC分类号： A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/74 ,  A61B34/76 ,  A61B34/77 ,  A61B90/03 ,  B25J3/04 ,  B25J9/1674 ,  B25J9/1689 ,  B25J13/025 ,  B25J13/065 ,  B25J19/06 ,  A61B2034/302 ,  A61B2034/742 ,  G05B2219/35419 ,  G05B2219/36422 ,  G05B2219/39439 ,  G05B2219/40144 ,  G05B2219/45117 ,  G05B2219/45118

摘要： A method of operating a robotic control system comprising a master apparatus in communication with an input device having a handle and a slave system having a tool having an end effector whose position and orientation is determined in response to a position and orientation of the handle. The method involves producing a desired end effector position and a desired end effector orientation of the end effector, in response to a current position and a current orientation of the handle. The method further involves causing the input device to provide haptic feedback that impedes translational movement of the handle, while permitting rotational movement of the handle and preventing movement of the end effector, when a rotational alignment difference between the handle and the end effector meets a first criterion. The method further involves re-enabling translational movement of the handle when the rotational alignment difference meets a second criterion.

公开(公告)号：US20230264342A1

公开(公告)日：2023-08-24

申请号：US18014116

申请日：2021-06-25

申请人： KEIO UNIVERSITY

发明人： Takahiro NOZAKI

IPC分类号： B25J3/04 ,  B25J13/02

CPC分类号： B25J3/04 ,  B25J13/02

摘要： A control system includes a master device, a slave device, and a control device that controls the master device and the slave device. In the control device, a response value acquisition unit acquires data of physical quantities representing action of the movable portion of the master device, and data of physical quantities representing action of the movable portion of the slave device. A command value calculation unit hypothesizes a virtual object that includes the master device and the slave device, and calculates a command value for causing the master device and the slave device to follow behavior expressed in the virtual object by input to the master device and the slave device, on the basis of the data of physical quantities acquired by the response value acquisition unit.

公开(公告)号：US20230241761A1

公开(公告)日：2023-08-03

申请号：US18007207

申请日：2021-07-13

申请人： Imperial College Innovations Limited

发明人： Shen Treratanakulchai ,  Guang-Zhong Yang

IPC分类号： B25J3/04 ,  A61B34/35 ,  B25J13/02

CPC分类号： B25J3/04 ,  A61B34/35 ,  B25J13/02 ,  A61B2034/301

摘要： A joint locking mechanism comprising: a locking gear rotatable about a rotation axis; a locking latch removably engageable with the locking gear and movable relative to the rotation axis between first and second latch positions; and a bias couplable to the locking latch such that the locking latch is biased towards the first latch position, wherein in the first latch position the locking latch is engaged with the locking gear such that the locking gear is locked in position relative to the rotation axis and in the second latch position the locking latch is spaced apart from the locking gear such that the locking gear is rotatable about the rotation axis.

公开(公告)号：US11712798B2

公开(公告)日：2023-08-01

申请号：US17512832

申请日：2021-10-28

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Dinesh Rabindran ,  Simon P. DiMaio ,  Kollin M. Tierling

IPC分类号： B25J9/16 ,  B25J9/06 ,  A61B34/20 ,  A61B34/35 ,  A61B34/37 ,  G05B19/00 ,  B25J3/04 ,  A61B90/00

CPC分类号： B25J9/1607 ,  A61B34/35 ,  A61B34/37 ,  B25J3/04 ,  B25J9/06 ,  B25J9/163 ,  B25J9/1641 ,  B25J9/1689 ,  G05B19/00 ,  A61B2034/2048 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2061 ,  A61B2090/371 ,  B25J9/1694 ,  G05B2219/37388

摘要： A system includes a robotic manipulator including a serial chain comprising a first joint, a first link, and a second link. The second link is between the first joint and the first link in the serial chain. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data and a kinematic model of the robotic manipulator, and control the first joint based on the first joint state estimate.

公开(公告)号：US20230083258A1

公开(公告)日：2023-03-16

申请号：US17992762

申请日：2022-11-22

申请人： Tencent Technology (Shenzhen) Company Limited

发明人： Kun XIONG ,  Longfei Zhao ,  Dongsheng Zhang ,  Lei Wei ,  Cheng Zhou ,  Haitao Wang ,  Wangwei Lee ,  Ke Chen ,  Bidan Huang ,  Yi Ren

IPC分类号： B25J9/16 ,  B25J13/08 ,  B25J3/04 ,  B25J19/02

摘要： A bilateral teleoperation system includes: a primary-end operation platform and a secondary-end operation platform. The primary-end operation platform includes: a primary-end support, primary-end mechanical arms, a mechanical hand control assembly, and a first controller, a root end of the primary-end mechanical arm being arranged on the primary-end support, and a tail end of the primary-end mechanical arm being connected to the mechanical hand control assembly. The secondary-end operation platform includes: a secondary-end support, secondary-end mechanical arms, secondary-end mechanical hands, and a second controller, a root end of the secondary-end mechanical arm being arranged on the secondary-end support, and a tail end of the secondary-end mechanical arm being connected to the secondary-end mechanical hand; the primary-end mechanical arm and the secondary-end mechanical arm are homogeneous mechanical arms, and the first controller in the primary-end operation platform is communicatively connected to the second controller in the secondary-end operation platform.

公开(公告)号：US11478919B2

公开(公告)日：2022-10-25

申请号：US16615030

申请日：2018-05-17

申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA

发明人： Nobuyasu Shimomura ,  Masayuki Kamon ,  Jun Fujimori ,  Hiroki Kinoshita ,  Takuya Shitaka ,  Hiroki Takahashi

IPC分类号： B25J3/04 ,  B25J9/16

摘要： A robot system includes a slave unit including a slave-side force detector configured to detect a direction and a magnitude of a reaction force acting on a workpiece held by a work end of a slave arm, a master unit including a master-side force detector configured to detect a direction and a magnitude of an operating force applied by an operator to an operation end of a master arm, and a system controller configured to generate a slave operational command and a master operational command based on the operating force and the reaction force. The system controller includes a regulator configured to correct a moving direction of the work end so that the movement of the work end in a pressing direction of an object is regulated when the reaction force exceeds an acceptable value set beforehand.

公开(公告)号：US20220287784A1

公开(公告)日：2022-09-15

申请号：US17634999

申请日：2020-07-28

申请人： Sony Group Corporation

发明人： Kazuhito WAKANA

IPC分类号： A61B34/37 ,  A61B34/00 ,  A61B90/50 ,  B25J9/04 ,  B25J3/04

摘要： A medical arm system includes an operation apparatus operated by an operator and an arm apparatus remotely operated in response to an operation of the operator with respect to the operation apparatus, the arm apparatus has a base, a first unit connected to the base, a second unit connected to the first unit, a gimbal connected to the base and supporting the second unit, and an end effector unit connected to the second unit and provided with an operation tool to contact a patient. The first unit moves the second unit in a direction of at least one axis with respect to the base, and the second unit is interlocked with the first unit in a state supported by the gimbal and moves the end effector unit in the direction of the at least one axis.