648results about "Image feed-back" patented technology

Methods and apparatus for enhancing surgical planning provide enhanced planning of entry port placement and / or robot position for laparoscopic, robotic, and other minimally invasive surgery. Various embodiments may be used in robotic surgery systems to identify advantageous entry ports for multiple robotic surgical tools into a patient to access a surgical site. Generally, data such as imaging data is processed and used to create a model of a surgical site, which can then be used to select advantageous entry port sites for two or more surgical tools based on multiple criteria. Advantageous robot positioning may also be determined, based on the entry port locations and other factors. Validation and simulation may then be provided to ensure feasibility of the selected port placements and / or robot positions. Such methods, apparatus, and systems may also be used in non-surgical contexts, such as for robotic port placement in munitions diffusion or hazardous waste handling.

In a telemanipulation system for manipulating objects located in a workspace at a remote worksite by an operator from an operator's station, such as in a remote surgical system, the remote worksite having a manipulator with an end effector for manipulating an object at the workspace, such as a body cavity, a controller including a hand control at the control operator's station for remote control of the manipulator, an image capture device, such as a camera, and image output device for reproducing a viewable real-time image, the improvement wherein a position sensor associated with the image capture device senses position relative to the end effector and a processor transforms the viewable real-time image into a perspective image with correlated manipulation of the end effector by the hand controller such that the operator can manipulate the end effector and the manipulator as if viewing the workspace in true presence. Image transformation according to the invention includes translation, rotation and perspective correction.

A robot visuoauditory system that makes it possible to process data in real time to track vision and audition for an object, that can integrate visual and auditory information on an object to permit the object to be kept tracked without fail and that makes it possible to process the information in real time to keep tracking the object both visually and auditorily and visualize the real-time processing is disclosed. In the system, the audition module (20) in response to sound signals from microphones extracts pitches therefrom, separate their sound sources from each other and locate sound sources such as to identify a sound source as at least one speaker, thereby extracting an auditory event (28) for each object speaker. The vision module (30) on the basis of an image taken by a camera identifies by face, and locate, each such speaker, thereby extracting a visual event (39) therefor. The motor control module (40) for turning the robot horizontally. extracts a motor event (49) from a rotary position of the motor. The association module (60) for controlling these modules forms from the auditory, visual and motor control events an auditory stream (65) and a visual stream (66) and then associates these streams with each other to form an association stream (67). The attention control module (6) effects attention control designed to make a plan of the course in which to control the drive motor, e.g., upon locating the sound source for the auditory event and locating the face for the visual event, thereby determining the direction in which each speaker lies. The system also includes a display (27, 37, 48, 68) for displaying at least a portion of auditory, visual and motor information. The attention control module (64) servo-controls the robot on the basis of the association stream or streams.

An object picking device, which is inexpensive and capable of speedily and accurately picking one object at a time from a random pile state. A target detecting part of an image processing part processes an image captured by a camera and detects objects. A target selecting part selects an object among the detected objects based on a certain rule. A view line direction calculating part calculates the direction of a view line extending to the selected object. A target position estimating part estimates the position including the height of the selected object based on size information of the object in the image. Then, a grip correction calculating part calculates an amount of correction of the movement of a robot so as to grip the object by using the robot.

The presence range for workpieces (the internal edge of a container's opening) is defined with a visual sensor attached to a robot and the range is divided into a specified number of sectional regions. A robot position suitable for sensing each of the sectional regions is determined, and sensing is performed at the position so that workpieces in the container are picked up.

An electronic bidet system that uses one or more internal cameras to capture one or more images or video of a user as he or she sits on the bidet prior to use. The images or video are analyzed using object recognition technology to identify and segment / bound the types, sizes, shapes, and positions of the lower body orifices, and conditions (e.g. hemorrhoids), in the user's genital and rectal areas. Based on these analyzed images or video, the system automatically adjusts the bidet settings for the specific conditions (e.g. hemorrhoids) and types of orifices, locations of orifices, sizes of orifices, shapes of orifices, gender, body type, and weight of the user.

The invention discloses a method for realizing head rotation of a robot by face detection. The method comprises: a control system is started, target face information is set, and a camera is turned on; the camera rotates to obtain an image and feeds back image information to a control system, and the control system reads image information; the control system identifies whether a target face exists in the image; if so, the control system obtains a target face position and the head of a robot rotates with movement of the face; and if not, the camera obtains an image again. The method and apparatus have the following beneficial effects: a robot with following head rotation is realized by face detection; and when a user moves towards a certain direction at a certain angle, the head of the robot rotates with the user. During the using process, the robot can face the face of the user directly; and a defect that some existing robots with stiff movements lack of flexibility and interaction can be overcome, so that the fun of the robot and the user can be increased substantially.

A set of images is acquired of a scene by a camera. The scene includes a moving object, and a relative difference of a motion of the camera and a motion of the object is substantially zero. Statistical properties of pixels in the images are determined, and a statistical method is applied to the statistical properties to identify pixels corresponding to the object.

An object taking out apparatus capable of taking out randomly stacked objects with high reliability and low cost. An image of one of workpieces as objects of taking out at a reference position is captured by a video camera. Whole feature information and partial feature information are extracted from the captured image by a model creating section and a partial model creating section, respectively, and stored in a memory with information on partial feature detecting regions. An image of randomly stacked workpieces is captured and analyzed to determine positions / orientations of images of the respective workpieces using the whole feature information. Partial feature detecting regions are set to the images of the respective workpieces using the determined positions / orientations of the respective workpieces and information on partial feature detecting regions stored in the memory. Partial features of the respective workpieces are detected in the partial feature detecting regions using the partial feature information, and priority of taking out the workpiece is determined based on results of detection of the partial features. A robot is controlled to successively take out the object of the first priority using data of the position / orientation of the object of the first priority.

The invention relates to a method for controlling a robot (14), which is designed to be operated in a working mode, in which a part (16) of the robot (14) is moved at a speed at which there is a risk of injury to a person (12), the working mode being deactivated if a safety device (18) detects that the person (12) has entered an action region (60) of the displaceable part (16). The aim is to make close cooperation possible between the person (12) and the robot (14). A sensor unit (20) determines a position and a posture of the person (12) while the person (12) is outside the action region (60) of the part (16). A prediction unit (26) determines an action region (58) of the person (12). A collision monitoring unit (28) monitors whether the two action regions (58, 60) overlap (62). The robot (14) can optionally be switched from the working mode into a safety mode.

Embodiments of the invention disclose a navigation method, a device, an apparatus, and a storage medium based on a ground texture image, wherein the method comprises the following steps: performing animage registration based on a transform domain on an acquired current frame image and a previous frame image to determine the first position of the current frame; determining whether the current frame satisfies a preset condition for creating a key frame, if yes, performing the following steps: inserting the current frame as the key frame into a map, and performing a closed loop detection to determine a loopback key frame; performing the image registration based on the transform domain on the current frame image and the loopback key frame to determine the second position of the current frame;determining a cumulative error according to the first position and the second position of the current frame, and modifying the map according to the cumulative error to navigate according to the modified map. According to the embodiments of the invention, the position can be calculated by the image registration based on the transform domain, the cumulative error is determined and modified, and theaccuracy of the SLAM navigation is improved.

The invention relates to a method and system for the fine routing inspection of a power transmission line through an unmanned plane, and the method comprises the following steps: obtaining the type ofa pole to be inspected; obtaining the information of all to-be-inspected parts according to the type of the pole to be inspected; obtaining the image data of all parts according to the information ofall to-be-inspected parts, and enabling the information of all parts and the corresponding obtained image data to be correlated and stored; carrying out the analysis of the defects of all corresponding parts according to the image data of all parts, and obtaining a defect analysis report. compared with the prior art, the method achieves the automatic obtaining of the image data of all to-be-inspected parts of the pole according to the type of the pole, effectively solves a problem of the disordered collection of image data or there is the shortage of data, achieves the automatic classification of the collected image data through the correlation of the collected image data with the information of all parts, greatly reduces the workload, improves the work efficiency, and improves the data classification accuracy.