753 results about "Robotic control" patented technology

A manipulator has an operating unit including a trigger lever, a distal end working unit including an end effector and a yaw axis and a roll axis for changing the direction of the end effector, and a connector shaft interconnecting the operating unit and the distal end working unit. The operating unit includes an actuator block housing therein motors for actuating the yaw axis and the roll axis and a gripper operational quantity corrector for mechanically transmitting an operational action of the trigger lever to actuate the end effector. A controller calculates an interference amount caused on the end effector by the attitude angles of the yaw axis and the roll axis. The gripper operational quantity corrector is controlled by the controller to extend or retract a push rod, for correcting the operational quantity of the operational action of the trigger lever to compensate for the interference amount.

A drive assembly for use in a robotic control and guidance system comprises a cartridge having an outer housing and a rotatable medical device assembly disposed therein. The rotatable assembly includes a medical device having proximal and distal ends, and a housing having first and second ends, and a longitudinal axis extending therethrough. The proximal end of the medical device is disposed within the housing, and the housing further comprises an opening through which the medical device extends outwardly from said housing. The rotatable assembly further comprises a drive interface coupled with the housing. The drive assembly further comprises a manipulation base comprising a mounting plate onto which the cartridge is removably attached, and a drive system mounted to the mounting plate. The drive system is configured to operatively engage the cartridge drive interface and to impart rotational movement onto the rotatable assembly through the drive interface.

The invention is a computerized mobile robot with an onboard internet web server, and a capability of establishing a first connection to a remote web browser on the internet for robotic control purposes, and a capability of establishing a second short range bi-directional digital radio connection to one or more nearby computerized digital radio equipped devices external to the robot. The short-range bi-directional digital radio connection will typically have a maximum range of about 300 feet. In a preferred embodiment, this short-range wireless digital connection will use the 2.4 gHz band and digital protocols following the IEEE 802.11, 802.15, or other digital communications protocol. By employing the proper set of external short-range digital radio devices capable of interfacing with the robot (such as sensors, mechanical actuators, appliances, and the like), a remote user on the internet may direct the robot to move within range of the external devices, discover their functionality, and send and receive commands and data to the external devices through the CGI interface on the robot's onboard web server.

The present disclosure relates to a control system for user-guided robotic control of a medical device and includes an electronic control unit, a computer-readable memory coupled to the ECU, and a visualization system configured to provide a view of an anatomical model. The memory contains user interface logic configured to be executed by the ECU, and configured to obtain input from a touch screen display with respect to the view of an anatomical model. Control logic stored in the memory is also configured to be executed by said ECU and is configured to produce an actuation control signal responsive to the input to control actuation of a manipulator assembly so as to move the medical device.

A robotically-controlled drive unit includes a torque sensing mechanism to measure the torque applied to a rotatable body that is configured to tension an actuation tendon to operate robotic surgical tools and catheters. The drive unit includes a motor unit that generates an output torque in response to a robotic control signal. A beam element generates a reactive torque in response to the output torque generated by the rotor, and a force sensor detects the reactive torque and communicates the magnitude of the reactive torque to a robotic controller. The drive unit may further include a mechanism to perform bi-directional torque sensing, examples of which include additional force sensors and compression springs.

Embodiments of the invention provide systems and methods for obstacle avoidance. In some embodiments, a robotically controlled vehicle capable of operating in one or more modes may be provided. Examples of such modes include teleoperation, waypoint navigation, follow, and manual mode. The vehicle may include an obstacle detection and avoidance system capable of being implemented with one or more of the vehicle modes. A control system may be provided to operate and control the vehicle in the one or more modes. The control system may include a robotic control unit and a vehicle control unit.

A water jet instrument may be used for manually performing eye surgery such as, cataract, or perform micro-surgery (remove cartilage), or any emulsification technique. The water jet instrument may be manually controlled or controlled by a system with a robotic control. The water jet apparatus defines a jet cutting area that is based at least in part on a flow rate meter and a feedback loop.

A manipulator, for use with a robotic control system, to maneuver an existing instrument (e.g., medical instrument) to a desired location within a target zone includes at least one controller, a rotation mechanism in communication with the at least one controller and being rotated about a first axis, a horizontal movement mechanism in communication with the at least one controller and being displaced along a first path, and a deflection mechanism capable of receiving a portion of the existing instrument. Such a deflection mechanism is in communication with the at least one controller and displaced along a second path in such a manner that causes deflection of a distal end (e.g., portion of an insertion tube) of the existing medical instrument.

A robotic control system is placed in clutch mode so that a slave manipulator holding a surgical instrument is temporarily disengaged from control by a master manipulator in order to allow manual positioning of the surgical instrument at a surgical site within a patient. Control systems implemented in a processor compensate for internally generated frictional and inertial resistance experienced during the positioning, thereby making movement more comfortable to the mover, and stabler from a control standpoint. Each control system drives a joint motor in the slave manipulator with a saturated torque command signal which has been generated to compensate for non-linear viscous forces, coulomb friction, cogging effects, and inertia forces subjected to the joint, using estimated joint angular velocities, accelerations and externally applied torques generated by an observer in the control system from sampled displacement measurements received from a sensor associated with the joint.

A robot based on Wi-Fi includes a robot body which is a crawling car formed by a carriage (14) and a crawling running mechanism (13); wherein, a mechanical hand (6) is arranged on the carriage (14); the mechanical hand (6) is connected and fixed in the middle at the front part on the top surface of the carriage (14); the robot also includes a robot control system; the system takes an ARM9 series embedded microprocessor as a core and the periphery of the system is respectively provided with an electric compass, a GPS module, a CCD vidicon, a sensor group, a Wi-Fi module, a robot body controller and a mechanical hand controller. One surface of the Wi-Fi module receives external control command and the other surface encrypts the video image captured by the CCD vidicon in the sensor group and transmits to the outside; the microprocessor can automatically control a robot body controller and a mechanical hand controller to finish the tasks of patrolling, fault removing, rescuing and alarming; the microprocessor can also remotely control the robot body controller and the mechanical hand controller to finish the tasks of patrolling, fault removing, rescuing and alarming.

A servo controlled system is disclosed for providing simulated feel equivalent to that of traditional mechanical hand controllers using servomotors. Position and force sensor signals are processed and used in a feedback loop that controls the motor mechanically connected to the stick. The overall feedback loop is comprised of a low-level motor feedback loop, and high-level force feel loop. The two loops have associated performance parameters that can be specified independently. The high-level feel force loop is comprised of a static and dynamic performance components. Static and dynamic performance components can be specified independently. The system allows variable and/or additional force cues to be specified externally to the system and felt by the operator. The system also allows external signal to backdrive die stick to follow a specified motion. The control framework permits the electronic coupling of the motion and applied forces of pilot and co-pilots in a dual arrangement while retaining the above-mentioned features. It also allows asymmetric force feel gradients to be implemented for each stick, or for a stick relative to a second one. A zero breakout or detent can be provided at the stick null displacement. For cross-coupled sticks, the detent can be shared as in a mechanically cross-coupled system, implemented independently on each slick, or any combination of these two. The control framework also provides the simulation of mechanical compliance in the cross-coupling of the two sticks in case of a jam or of force fight between the pilots, and automatic de-coupling of the sticks.

Apparatus and methods are described allow the techniques of endoscopic and laparoscopic surgery to be combined into a minimally invasive hybrid surgical technique called NOTES-assisted laparoscopic surgery. Manual and robotic-controlled versions of a modular laparoscopic tool are described having a small diameter shaft that is delivered laparoscopically to a surgical site. Larger diameter working tips are delivered through a NOTES delivery tube inserted to the surgical site through a natural orifice and joined to the shaft of the modular laparoscopic tool. Larger diameter working tips improve the effectiveness of the modular laparoscopic tools and the number and size of laparoscopic ports used can also be reduced.

An apparatus and a method for robotic control that allows an unbalanced pendulum robot to raise its Center of Mass and balance on two motorized wheels. The robot includes a pair of arms that are connected to the upper body of the robot through motorized joints. The method consists of a series of movements employing the arms of the robot to raise the robot to the upright position. The method comprises a control loop in which the motorized drives are included for dynamic balance of the robot and the control of the arm apparatus. The robot is first configured as a low Center of Mass four-wheeled vehicle, then its Center of Mass is raised using a combination of its wheels and the joint located at the attachment point of the arm apparatus and the robot body, between the rear and front wheels; the method then applies accelerations to the rear wheels to dynamically pivot and further raise the Center of Mass up and over the main drive wheels bringing the robot into a balancing pendulum configuration.

The invention discloses a man-machine interactive manipulator control system and method based on binocular vision. The man-machine interactive manipulator control system is composed of a real-time image collecting device, a laser guiding device, a programmable controller and a driving device. The programmable controller is composed of a binocular three-dimensional vision module, a three-dimensional coordinate system transformation module, an inverse manipulator joint angle module and a control module. Color characteristics in a binocular image are extracted through the real-time image collecting device to be used as a signal source for controlling a manipulator, and three-dimensional information of red characteristic laser points in a view real-time image is obtained through transformation and calculation of the binocular three-dimensional vision system and a three-dimensional coordinate system and used for controlling the manipulator to conduct man-machine interactive object tracking operation. The control system and method can effectively conduct real-time tracking and extracting of a moving target object and is wide in application fields such as intelligent artificial limb installing, explosive-handling robots, manipulators helping the old and the disabled and the like.

An automated sample processing system and methods are disclosed where sample(s) are arranged on a carrier element and a process operation control system automatically processes the sample(s) perhaps robotically according to protocol and according to a scheduling system. The processing may include and be enhanced by a vibration of the sample via a vibrator disposed in or upon a sample carrier or a sample cover. Alteration of an initial aggregated event topology may be accepted while the system is processing an initial aggregation and varied-parameter robotic control simulation functionalities may be accomplished to determine an enhanced sequence for processing.

The invention relates to a microminiature operation underwater robot of a nuclear power plant, and the robot comprises an underwater robot body and an onshore control system, wherein two propellers are respectively arranged in the horizontal and vertical directions of the robot body, a depth gauge is arranged on the right side of the front part of the robot body, a manipulator is arranged at the bottom in front of the robot body, and a sonar is arranged on the top of the robot body; a control cabin is arranged in the middle rear part of the robot body; an outer cabin is sealed by a transparent glass cover, and is provided with a rearview camera and an auxiliary lighting light-emitting diode (LED) lamp; a front-view camera system is arranged at the front part of the robot body, and comprises a zooming radiation resistant camera tube, a tripod head and a lighting lamp; a video image and control signal is transmitted to the onshore control system through a shield cable; and the control system comprises a movement control rod, a manipulator control button, a keyboard, a main display screen and a speed governing knob. The microminiature operation underwater robot of the nuclear power plant is used for the monitoring and the simple foreign body fishing of a core pool, a spent fuel pool and a component pool of the nuclear power plant.