37 results about "Virtual fixture" patented technology

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.

Methods, articles of manufacture, and devices related to generating haptic feedback for point clouds are provided. A computing device receives depth data about an 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.

Apparatus and method for defining and utilizing virtual fixtures in haptic rendering sessions interacting with various environments, including underwater environments, are provided. A computing device can receive first depth data about an environment. The computing device can generate a first plurality of points from the first depth data. The computing device can determine a haptic interface point (HIP) and can define a virtual fixture for the environment. The computing device can determine a first force vector between the HIP and the first plurality of points using the computing device, where the first force vector is based on the virtual fixture. The computing device can send a first indication of haptic feedback based on the first force vector.

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.

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.

The invention discloses a control method and system of a robot based on a virtual fixture. The robot comprises a robot arm, and an operator is arranged at the end of the robot arm. The control methodincludes the steps: calculating the shortest distance d according to the posture and the planned processing area; acquiring a guiding force f acting on the end and decomposing it into a component force fN in the normal direction of the shortest distance d and a component force fT in the tangential direction; when the shortest distance d is less than or equal to a preset threshold value D1 and greater than or equal to 0 and the guiding force f points to the boundary of the planned machining area, calculating the target speed vt of the end according to the following formula: vt=G (f) (fT + c. Tau. FN), c. Tau. = d / D1, G (f) is the admittance coefficient; acquiring a current velocity va of the terminal, and calculating a target acceleration at of the terminal according to the current velocityva and the guiding force f; and controlling the manipulator according to the target speed vt and the target acceleration at. The invention adds an acceleration control loop according to the complex curved surface environment, which ensures the machining efficiency in the operation process and improves the safety of the operation.

The invention belongs to the related technical field of human-computer interaction, and particularly discloses a virtual fixture control method and system with high auxiliary precision for robot operation. The virtual fixture control method comprises the steps that manual operation force in the process of pulling a robot is preprocessed to obtain environment interaction force; the actual positionand posture of the robot end and the nearest reference point position and pose of a virtual fixture guiding path are obtained, and the position contour error compensation quantity and the direction contour error compensation quantity of the robot end are generated to obtain error compensation correction force; curve parameters of the virtual fixture guiding path are limited; and the environment interaction force is restrained to generate restrained operation force, and the path deviation of the robot end is compensated online according to the error compensation correction force. The virtual fixture control system comprises a kinesthetic teaching module under a virtual fixture and a contour error estimation and component compensation module. The virtual fixture control method and system enable the robot to be capable of moving back and forth on the virtual fixture guiding path, and have the characteristics of high auxiliary teaching precision, high adaptability and the like.

The invention belongs to related technical field of intelligent robots, and discloses a generation method for robot processing virtual fixtures. The generation method comprises the following steps: the robot kinesthesis demonstration is performed on parts to be machined, and robot kinesthesis demonstration data sets are acquired; curved surface manifolds of the surfaces of the parts to be machinedare generated according to the acquired demonstration data sets; and virtual fixtures needed by tasks are generated according to the obtained curved surface manifolds. The invention further disclosesa corresponding process of machining complicated curved surfaces by a robot. Compared with the prior art, the generation method not only can generate needed complicated curved surface machining virtual fixtures with higher efficiency and higher precision, but also can fully use generalized characteristics of curved surface manifolds to build the virtual fixtures on similar parts, meanwhile, has the advantages of convenience to control, high stability and high adaptability, and prominently improves the machining quality of finally obtained robot workpieces.

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 belongs to the technical field of robot intelligent machining, and particularly discloses a complex curved surface robot efficient high-precision teaching method. The method comprises the following steps that S1, a to-be-taught robot is subjected to free traction so that kinesthetic teaching of a curved surface track can be completed, and kinesthetic teaching data are collected; S2,a virtual fixture is built according to the collected teaching data, assistance is provided for teaching of the next curved surface track through the built virtual fixture so that teaching of multiplecurved surface tracks can be completed, and the kinesthetic teaching data are obtained; S3, an incomplete curved surface manifold is built according to the existing kinesthetic teaching data, a virtual fixture is obtained, and teaching of the multiple curved surface tracks is completed with assistance of the virtual fixture; and S4, the error of the curved surface manifold is calculated, whetherthe error of the curved surface manifold is within the range of the threshold value is judged, if yes, the process is finished, and if no, the process goes back to the step S3. The method has the advantages of being good in practicality, easy to apply, high teaching efficiency and precision, and the like.

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 relates to a double-person remote control operation training method based on a virtual fixture. Virtual fixture guiding force is introduced into training between a coach and a newcomer to guide the newcomer to operate the virtual fixture, the magnitude of the guiding force felt by the newcomer is in positive relationship with the deviation degree of guiding operation of the coach, the direction of the guiding force felt by the newcomer is in negative relationship with the deviation degree, and virtual fixture evaluation indexes can be adjusted along with the training degree of the newcomer. According to the double-person remote control operation training method based on the virtual fixture, the evaluation indexes of newcomer training are adjusted according to the newcomer training degree, and the training process and the training intensity can be updated in real time.

The invention belongs to the related technical field of human-computer interaction, and particularly discloses a 6D virtual clamp construction method for a complex curved surface. The method comprisesthe steps: S1, performing teaching learning on a complex curved surface, collecting a corresponding teaching data set, and then adopting a smooth manifold learning algorithm to construct a geometricmanifold of the complex curved surface according to the teaching data set; S2, performing projection and geodesic line path planning on the initial point of the geometric manifold by adopting a projection method to obtain a virtual fixture guide path discrete point; S3, parameterizing the discrete points of the virtual fixture guide path, and constructing a curve parameter set according to the pose distance; S4, respectively carrying out pose part interpolation and direction part interpolation on the curve parameter set to generate a 6D virtual clamp. According to the method, accurate planningof the pose and the direction in the 6D virtual clamp structure is achieved, the structure is simple, the generalization characteristic is achieved, and the construction efficiency of the complex curved surface virtual clamp is greatly improved.

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 discloses a remote operation method for grasping operations of a flying manipulator based on operator intention recognition. The system consists of a master end, a slave end and a communication link. The master end includes the operator, hand controller, eye tracker, display and control computer, and the slave end is the flying manipulator composed of the six-rotor UAV and the five-degree-of-freedom manipulator. The invention recognizes the grasping target intention by recording the operator's eye movement characteristics, thereby controlling the aircraft to approach the target to be grasped. The assisted gripping program utilizes the virtual gripper method to guide the operator through the gripping action by manipulating the hand controller. The operator of complex grasping tasks never leaves the control loop, and for simple grasping tasks, the auxiliary grasping program can also completely take over the grasping tasks and complete autonomous grasping. The invention introduces the eye movement signal and force feedback technology into the remote operation method of the grasping operation of the flying manipulator, which can reduce the difficulty of operation, reduce the cognitive load of the operator in the process of remote grasping control, and improve the grasping efficiency.

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 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 contact type racemization stabilization method for a space teleoperation robot capable of eliminating operation deviation based on a safety channel. Aiming at a failed spacecraft with a certain spin angular velocity, a control loop in a space teleoperation mode is adopted, a space mechanical arm with a brush at the tail end is utilized to make contact with a contact point on a solar wing of the target failed spacecraft for multiple times to reduce the angular velocity of each axis to be within a certain range, and a virtual fixture-based safety channel is used to assist ground operators in controlling the space mechanical arm to contact the contact point on the solar wing. According to the method, racemization stabilization of the target failed spacecraft can be rapidly, safely and stably achieved, the failed spacecraft is taken over for a subsequent on-orbit service platform, preparation is made for subsequent on-orbit services such as capturing and cutting of fault parts, and actual operation conditions such as position and contact force deviation possibly occurring during manual operation are fully considered. By adopting the brush type contact racemization stabilization strategy, the influence can be well eliminated.

System and method for creating / executing an occupant safety test in a structure of an organization having a plurality of courses. The plurality of courses includes germ safe test, occupant exit test, and safety check test. The system adds contextual maps / diagrams corresponding to the physical zone and the fixtures in each zone of the structure. The system adds virtual fixtures / objects over the contextual maps / diagrams of the zone. The system attaches a game marker beside the virtual fixtures / objects. The game marker stores information corresponding to the virtual fixtures / objects for each of the germ safe test, occupant exit test, and safety check test. The system transmits the occupant safety test created to the occupant. The occupant executes the occupant safety test by identifying the game marker to get familiarized with corresponding physical location of the fixtures or safety equipment or incidents in the structure.

The invention discloses a control method, device, computing device and storage medium based on the operator's intention. The control method based on the operator's intention includes the steps of: constructing an ideal movement direction matrix and a forbidden movement direction matrix based on a virtual fixture guide path; The actual operating force acting on the end of the robot to obtain the error compensation force; obtain the error compensation correction force according to the actual path of the robot end and the virtual fixture guide path; obtain the operator's intention parameter value; based on the ideal motion direction matrix, the prohibited motion The direction matrix, the error compensating force, the error compensating correction force and the operator's intention parameter value obtain the current operating force of the robot end. The invention can constrain the end of the robot to move in an expected direction that is more in line with the actual working conditions, ensures the humanization, intelligence and intelligence of the virtual fixture, improves the integration of man and machine, and ensures the accuracy of the execution process of the end of the robot.

Embodiments may provide a method for measuring a site of bone graft and an amount of bone graft around a virtual fixture. To this end, according to embodiments, a type of bone defect may be determined based on bone density information of an alveolar bone around a virtual fixture, and the site of bone graft and the amount of bone graft may be determined according to the determined type of bone defect. According to embodiments, there is an advantageous effect that accurate information can be provided to a user to enable precise grafting during implant surgery.

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.

Method for interactive force-controlled robot (100) using a probabilistic velocity-based virtual fixture, wherein the method comprises the following steps: learning at least one specific probabilistic dynamics model based on demonstration data; calculating at least one probabilistic velocity field based on the at least one specific probabilistic dynamics model; using a stabilization strategy with a probabilistic basis velocity field; calculating probabilistic velocity-based dynamics in their respective coordinate systems based on the at least one probabilistic velocity field and the probabilistic basis velocity field; transforming the probabilistic velocity-based dynamics into a common representation;In the joint representation, fusion of the transformed probabilistic velocity-based dynams into a resultant dynam, application of the resultant dynam to the robot (100), interactively force-controlled robot (100) designed and / or arranged to perform such a procedure, and computer program for interactive force-controlled control of a robot (100) using a probabilistic velocity-based virtual fixture, the computer program comprising program code sections with which such a procedure can be performed when the computer program is executed on a control device of the robot (100).

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.