34 results about "Virtual fixture" patented technology

Disclosed herein is a method of horizontally structured CAD / CAM modeling and manufacturing process for fixtures and tooling comprising: selecting a contact area geometry; generating a tooling model corresponding to the contact area geometry; virtual machining the tooling model to generate the fixtures and tooling; and generating machining instructions to create the fixtures and tooling; where the tooling model exhibits an associative relationship with the contact area geometry. Also disclosed herein is a horizontally structured CAD / CAM model for fixtures and tooling, comprising: a selected contact area geometry; a tooling model that corresponds to the contact area geometry, generated from the selected contact area geometry; where the tooling model includes virtual machining operations to generate the fixtures and tooling; and the tooling model exhibits an associative relationship with the contact area geometry. Further disclosed is a storage medium encoded with a machine-readable computer program code for horizontally structured CAD / CAM modeling. The storage medium including instructions for causing a computer to implement the method of horizontally structured CAD / CAM modeling and manufacturing for fixtures and tooling. Additionally disclosed is a computer data signal for horizontally structured CAD / CAM modeling. The computer data signal comprising code configured to cause a processor to implement a method of horizontally structured CAD / CAM modeling and manufacturing for fixtures and tooling.

A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.

A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.

A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.

Apparatus and methods for generating virtual environment displays based on a group of sensors are provided. A computing device can receive first data about an environment from a first group of one or more sensors. The computing device can model the environment as a virtual environment based on the first data. The computing device can determine whether to obtain additional data to model the environment. After determining to obtain additional data to model the environment, the computing device can: receive second data about the environment, and model the environment as the virtual environment based on at least the second data. The computing device can generate a display of the virtual environment.

Apparatus and methods for generating virtual environment displays based on a group of sensors are provided. A computing device can receive first data about an environment from a first group of one or more sensors. The computing device can model the environment as a virtual environment based on the first data. The computing device can determine whether to obtain additional data to model the environment. After determining to obtain additional data to model the environment, the computing device can: receive second data about the environment, and model the environment as the virtual environment based on at least the second data. The computing device can generate a display of the virtual environment.

Apparatus and methods for defining and utilizing virtual fixtures for haptic navigation within real-world environments, including underwater environments, are provided. A computing device can determine a real-world object within a real-world environment. The computing device can receive an indication of the real-world object. The computing device can determine a virtual fixture that corresponds to the real-world object based on the indication, where aspects of the virtual fixture are configured to align with aspects of the real-world object. The computing device can provide a virtual environment for manipulating the robotic tool to operate on the real-world object utilizing the virtual fixture. The virtual fixture is configured to provide haptic feedback based on a position of a virtual robotic tool in the virtual environment that corresponds to the robotic tool in the real-world environment.

Methods, articles of manufacture, and devices related to generating haptic feedback for point clouds are provided. A computing device receives depth data about an In-Contact environment. The computing device generates a point cloud from the depth data. The computing device determines a haptic interface point (HIP). The computing device determines a haptic interface point (HIP). The computing device determines a force vector between the HIP and point cloud. The computing device sends an indication of haptic feedback based on the force vector.

The invention relates to a two-person remote operation training method based on a virtual fixture. The guiding force of the virtual fixture is added to the training between the coach and the novice to guide the novice to operate. There is a positive correlation between the deviation degree of the guiding operation, and an inverse relationship between the direction and the deviation, and the evaluation index of the virtual fixture can be adjusted with the training level of the novice. According to the level of novice training, adjust the evaluation indicators of novice training, and update the training process and training intensity in real time.

The invention belongs to the technical field related to human-computer interaction, and specifically discloses a virtual fixture control method and system with high auxiliary precision for robot operation. The method includes: pre-processing the manual operation force in the process of pulling the robot to obtain the interaction force with the environment; obtaining the actual pose of the robot end and the closest reference point pose of the virtual fixture guide path, and generating the contour error compensation of the robot end position to obtain the error compensation correction force; perform limit processing on the curve parameters of the virtual fixture guiding path; constrain the interaction force with the environment, generate the constrained operating force, and adjust the correction force according to the error compensation correction force. The path deviation of the robot end is compensated online. The system includes a kinesthetic teaching module under the virtual fixture and a contour error estimation and component compensation module. The invention enables the robot to reciprocate on the guiding path of the virtual fixture, and has the characteristics of high assisted teaching precision, strong adaptability and the like.

The invention relates to a virtual fixture optimization generation method in an operation interaction process. The method utilizes an optimization method to optimize and generate a virtual fixture, firstly selects a path point, performs state variable construction, obtains a state equation which the virtual fixture satisfies, provides required functional functions and constraint conditions, solvesrequired path trajectories and virtual fixture parameters, and generates the virtual fixture based on the generated trajectories and the virtual fixture parameters. The method can obtain different virtual fixture configuration parameters according to the environment in which the virtual fixture is located and its own characteristics, and adapt to more complex task requirements.

The invention discloses an OSG-based construction method of a self-adaptive virtual fixture. The virtual fixture can assist to realize rapid positioning and safety control in the robot remote operation virtual training field. The construction strategy of the self-adaptive virtual fixture is characterized in that the suitable virtual fixture is constructed based on different environmental conditions, and the whole virtual operation efficiency can be improved based on the virtual fixture construction efficiency; whether other articles is between two points can be tested through a radiographic inspection method in an OSG collision testing database when a target article is to move from a starting point to a target point; if no, the virtual fixture with simple shape like cylinder shape can be constructed, and otherwise, the virtual clamp of a safe and short-route virtual pipeline can be self-adaptively constructed. Compared with the virtual fixture with simple shape and invariance in a traditional method, the self-adaptive virtual clamp is high in robustness and generality; in addition, the complexity of modeling of the virtual clamp can be reduced to the maximum, so that the system efficiency can be greatly improved.

The invention discloses a control method and system for a robot based on a virtual fixture. The robot includes a mechanical arm, and a manipulator is arranged at the end of the mechanical arm. The control method includes the following steps: obtaining the pose of the manipulator; processing according to the pose and planning The area calculates the shortest distance d; takes the guiding force f acting on the tip and decomposes it into a component force f along the normal of the shortest distance d N and the force component f in the tangential direction T ; The shortest distance d is less than or equal to a preset threshold D 1 And when it is greater than or equal to 0 and the guiding force f points to the boundary of the planned processing area, calculate the target speed v of the end according to the following formula t :v t =G(f)(f T +c τ f N ), c τ =d / D 1 , G(f) is the admittance coefficient; obtain the current speed v of the end a , and according to the current velocity v a and the guiding force f to calculate the target acceleration a at the end t ; according to the target velocity v t and the target acceleration a t Control the robotic arm. According to the invention, an acceleration control loop is added to the complex curved surface environment, which ensures the processing efficiency during the operation and improves the operation safety.