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132 results about "Master manipulator" patented technology
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Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator
ActiveUS7819859B2Friction is generatedReduce resistanceProgramme controlProgramme-controlled manipulatorSurgical siteAngular velocity
Owner:INTUITIVE SURGICAL OPERATIONS INC
Robotic surgical system with joint motion controller adapted to reduce instrument tip vibrations
ActiveUS7689320B2Reduce vibrationWithout jeopardizing control system stabilityProgramme-controlled manipulatorMechanical/radiation/invasive therapiesControl systemJoints movement
A robotic surgical system has a robot arm holding an instrument for performing a surgical procedure, and a control system for controlling movement of the arm and its instrument according to user manipulation of a master manipulator. The control system includes a filter in its forward path to attenuate master input commands that may cause instrument tip vibrations, and an inverse filter in a feedback path to the master manipulator configured so as to compensate for delay introduced by the forward path filter. To enhance control, master command and slave joint observers are also inserted in the control system to estimate slave joint position, velocity and acceleration commands using received slave joint position commands and torque feedbacks, and estimate actual slave joint positions, velocities and accelerations using sensed slave joint positions and commanded slave joint motor torques.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Medical robotic system with programmably controlled constraints on error dynamics
ActiveUS20070151389A1Good tracking effectLimiting unsafe forceProgramme-controlled manipulatorMechanical apparatusControl systemMedical robotics
A medical robotic system has a robot arm holding an instrument for performing a medical procedure, and a control system for controlling movement of the arm and its instrument according to user manipulation of a master manipulator. The control system includes at least one joint controller that includes a controller having programmable parameters for setting a steady-state velocity error and a maximum acceleration error for the joint's movement relative to a set point in response to an externally applied and released force.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Robotic surgical system for laparoscopic surgery
ActiveUS8231610B2Surgical instrument detailsDiagnostic recording/measuringMini invasive surgeryControl system
A robotic surgical system includes a master manipulator, slave robotic units having a surgical instrument for performing a Minimal Invasive Surgery (MIS), and a control system for electrically associating the master manipulator with the slave robotic units. The slave robotic unit includes the driving mechanisms which are more compact than those of the conventional MIS system. In use, the existing surgical instruments used in the conventional MIS procedure can be applied to the slave robotic unit. Moreover, by using the pivotal mechanism of the driving mechanisms, a pivot point of the surgical instrument is allowed to be shifted with respect to an incision of a patient. So, the patient's tissues surrounding the surgical instrument are not excessively affected by the surgical instrument during the procedure.
Owner:NAT CANCER CENT
Medical robotic system with sliding mode control
ActiveUS7453227B2Reduces stick-slip behaviorProgramme-controlled manipulatorComputer controlRobotic armControl system
A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and / or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Non-force reflecting method for providing tool force information to a user of a telesurgical system
ActiveUS20050200324A1Stability is not affectedMaintain stabilityUltrasonic/sonic/infrasonic diagnosticsProgramme-controlled manipulatorRemote surgeryControl system
Tool force information is provided to a user of a telesurgical system using an alternative modality other than force reflection on a master manipulator, such as providing the information on user-visible, user-audible, or haptic “buzz” or “viscosity” indicators, so as to allow expanded processing, including amplification, of the information, while not significantly affecting the stability of the telesurgical system or any closed-loop control systems in the telesurgical system.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Medical robotic system with sliding mode control
ActiveUS20070138992A1Reduces stick-slip behaviorProgramme-controlled manipulatorComputer controlRobotic systemsRobotic arm
A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and / or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator
ActiveUS20070142823A1Friction is generatedReduce resistanceProgramme controlProgramme-controlled manipulatorSurgical siteAngular velocity
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.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Maneuvering system having inner force sense presenting function
ActiveUS20100139436A1Easy to operateHighly accurate and broadband positional controlMechanical apparatusJointsElectricityRange of motion
A compact, lightweight manipulation system that excels in operability and has a force feedback capability is provided.When automatic operation of a slave manipulator105 that follows manual operation of a master manipulator 101 is bilaterally controlled by means of communication, the force acting on the slave manipulator is fed back to the master manipulator by operating the master manipulator primarily under electrically-driven speed control and the slave manipulator primarily under pneumatically-driven force control. Therefore, in the master manipulator, it is not necessary to compensate for the dynamics and the self-weight of the master manipulator in the motion range of a user, allowing highly accurate, broadband positional control, which is specific to an electrically-driven system, and in the slave manipulator, nonlinearity characteristics specific to a pneumatically-driven system presents passive softness, provides a high mass-to-output ratio, and produces a large force.
Owner:RIVERFIELD
Control apparatus and method for master-slave robot, master-slave robot, control program, and integrated electronic circuit
ActiveUS20120191245A1Simple taskEasy to implementProgramme-controlled manipulatorComputer controlControl equipmentMaster manipulator
A control apparatus for a master-slave robot includes a force correction section detecting unit that detects a section at which force information from at least one of force information and speed information is corrected, and a force correcting unit that corrects the force information at a section detected as a force correction section by the force correction section detecting unit. A small external force applied to a slave manipulator is magnified and transmitted to a master manipulator, or an excessive manipulation force applied to the master manipulator is reduced and transmitted to the slave manipulator.
Owner:PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO LTD
Medical robotic system with programmably controlled constraints on error dynamics
ActiveUS7741802B2Limiting unsafe forceGood tracking effectProgramme-controlled manipulatorMechanical apparatusControl systemMedical robotics
Owner:INTUITIVE SURGICAL OPERATIONS INC
Master-slaver teleoperation industrial robot system and control method thereof
ActiveCN104440864AIn line with the habitEfficient and accurate generationProgramme-controlled manipulatorSystems designSurgical robot
The invention discloses a master-slave teleoperation industrial robot system and a control method thereof. The system comprises a master robot, a master-slave control system connected with the master robot, and a slave robot connected with the control system, wherein the master robot comprises force feedback equipment; an operator transmits a master robot motion command to the slave robot through the master-slave control system, the slave robot moves with the master robot, further accomplishes the operation to a task object, and simultaneously feeds back task state to the operator. The system designs a main-slave motion mapping strategy by analyzing geometrical structures of a master manipulator and a slave manipulator, adopts a master-slave control algorithm based on an inverse jacobian matrix, eliminates a master-slave position following error through a proportional-derivative control link, and designs a low-pass digital filter to filter the vibration of hands, so as to eliminate the influence on the precision of a surgical robot by the vibration of the hands of the operator.
Owner:SHENZHEN INST OF ADVANCED TECH
Master-slave manipulator apparatus and method therefor, further training apparatus for manipulator operation input and method therefor
A master-slave manipulator apparatus and a control method therefor, in which a movement which an operator does not intend is prevented, thereby reflecting the operator's intention accurately and correctly, includes a master manipulator for conducting an operation input therewith, a controller for processing the operation input, and a slave manipulator for operating upon drive instruction from the controller, wherein the master manipulator includes a plurality of force detectors, and the controller decides a driver shaft, by comparing an output from a pattern producing means for producing a generation pattern of the outputs of the plurality of force detectors to a pattern stored in a memory means in advance, thereby removing the operation input which is caused unconsciously in the operation input of the master manipulator.
Owner:HITACHI LTD
Manipulator system
A manipulator system includes a master manipulator configured to send an input command, a slave manipulator configured to operate according to the input command, an image capturing unit configured to acquire an image of an object, a display device placed in front of the operator and configured to display the image acquired by the image capturing unit, a detection device configured to detect the direction of an operator's face of the operator with respect to the display device, and a control unit configured to determine whether the direction of the operator's face is within a predetermined angle with respect to the display device based on the detection result in the detection device, and to shift an operation mode of the slave manipulator between a first control mode and a second control mode in which an operation is limited more than in the first control mode based on a determination result.
Owner:OLYMPUS CORP
Minimally invasive surgery robot 7-degree freedom operation master manipulator
ActiveCN106667583AReduce operating intensityAvoid misuseSurgical robotsLess invasive surgeryIndex finger
The invention discloses a minimally invasive surgery robot 7-degree freedom operation master manipulator, and relates to a minimally invasive surgery robot; the operation master manipulator is used for solving the problems of complex structure and bad flexibility and university of the manipulator of the minimally invasive surgery robot. The master manipulator comprises a substrate, a turntable arranged on the substrate and rotated around a z axis, a link rod connected with the turntable and rotated around the x axis, a 1# self-rotating link rod connected with the link rod an rotated around the x axis, a 2# self-rotating link rod connected with the 1# self-rotating link rod and rotated around the x axis, and a clamping mechanism connected with the 2# self-rotating link rod; the clamping mechanism comprises a thumb part and an index finger part which are rotated face to face.
Owner:吉林省金博弘智能科技有限责任公司
Force feedback type master manipulator with deadweight balance property
The invention discloses a force feedback type master manipulator with deadweight balance property, comprising a big arm mechanism, a small arm mechanism, an elbow joint mechanism, a wrist joint mechanism and a controller. The big arm mechanism, the small arm mechanism and the elbow joint mechanism respectively comprise connecting rods and rotating input mechanisms provided with rotating shafts; one end of the connecting rod of the big arm mechanism, one end of the connecting rod of the small arm mechanism and the rotating shafts of the connecting rods are respectively provided with wire wheels connected through transmission wires; the rotating shafts of the connecting rods of the big arm mechanism, the small arm mechanism and the elbow joint mechanism are respectively connected with potentiometers; the rotating shaft of the small arm mechanism is rotatably connected with a first flange; the first flange is connected with a side end surface of the connecting rod of the elbow mechanism; the rotating shaft of the elbow mechanism is rotatably connected with a second flange; the second flange is fixedly connected with a wire wheel shaft at the rod end of the connecting rod of big arm mechanism; and the wrist joint mechanism is connected with the wire wheel shaft of the wire wheel arranged at the rod end of the connecting rod of the small arm mechanism. The force feedback type master manipulator has the advantages of compact structure, high rigidity, large feedback force, small volume and low manufacture cost.
Owner:SHANDONG WEIGAO SURGICAL ROBOT CO LTD
Method and system of see-through console overlay
In a minimally invasive surgical system, a plurality of video images is acquired. Each video image includes images of the surgeon's hand(s), and of a master manipulator. The images of the surgeon's hand(s) and the master manipulator are segmented from the video image. The segmented images are combined with an acquired surgical site image. The combined image is displayed to the person at the surgeon's console so that the console functions as a see-through console.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Series-parallel-connection force-feedback remote-control manipulator
The invention provides a series-parallel-connection force-feedback remote-control manipulator, and relates to an operation manipulator to resolve the problems that a master manipulator of a master-slave remote-control operation robot only adopts a series-connection or parallel-connection structure, a series-connection master manipulator structure has no clamping freedom degree, an operator can not adapt, and the hands of the operator are tired after long-time operation, and a parallel-connection master manipulator structure is not flexible to move, small in work space, difficult to meet the requirements of flexible motion and large rotation angle of an enterocoelia operation instrument. The series-parallel-connection force-feedback remote-control manipulator comprises a series-connection mechanism, a parallel-connection mechanism and a clamping mechanism, wherein the series-connection mechanism comprises a first rotation arm, a second rotation arm, a first balancing weight, a second balancing weight, a first encoder, a second encoder, a third encoder and a force sensor, and the clamping mechanism comprises a clamping seat, a fourth encoder, a first servo motor, a speed reducer, a third balancing weight and a clamping device. The series-parallel-connection force-feedback remote-control manipulator is applied to the mini-invasive enterocoelia surgery.
Owner:HARBIN INST OF TECH
Self-adaptive filtering device of master-slave minimally-invasive surgery robot system
InactiveCN101785704AIngenious designTo overcome the weak ability of time-frequency analysisDiagnosticsSurgical robotsLess invasive surgeryComputer control system
The invention discloses a self-adaptive filtering device of a master-slave minimally-invasive surgery robot system, comprising a trembling action self-adaptive filtering device, a master manipulator, a position collecting module, a motion control module, a slave manipulator driving module, a detection module, a slave manipulator, a feedback module and a computer control system. The trembling action filtering device is used for filtering hand trembling actions of a surgery operator and restoring a surgery operation desired signal to the maximum degree; the master manipulator driving module in the filtering device is used for driving the master manipulator; the position collecting module is used for collecting a position signal of the master manipulator; the motion control module is used for processing the collected position signal and controlling a motor to drive the slave manipulator to complete the surgery operation; finally, the feedback module is used for supplying real-time image feedback information; therefore, a closed-loop minimally-invasive surgery robot control system is formed. The invention can effectively filter the hand trembling actions, which ensure high precision and reliability of the minimally-invasive surgery.
Owner:GUANGDONG UNIV OF TECH
Self-adaptive teleoperation control method for neural network based on radial basis function
ActiveCN105904461AGuaranteed stabilityEasy to operateProgramme-controlled manipulatorKinematicsDynamic models
The invention discloses a self-adaptive teleoperation control method for a neural network based on a radial basis function. The self-adaptive teleoperation control method comprises three steps of respectively establishing dynamics models for a master manipulator end and a slave manipulator end in a teleoperation system, designing a slave manipulator end controller, and finally designing a master manipulator end controller. According to the self-adaptive teleoperation control method, the stability and relatively good operating performance in the teleoperation process can be guaranteed. When the slave manipulator end for teleoperation, namely a slave end manipulator grabs a target object, uncertainty of kinematics and dynamics parameters of the system occurs. The controller is designed for the slave manipulator end by use of a self-adaptive controller for an RBF neural network, so that the advantages of a self-adaptive control method can be played, the self-learning ability for and the adaptivity to the uncertainty in the teleoperation system are realized, and further the parameter uncertainty and the influence of unknown interference on the teleoperation system are overcome.
Owner:NORTHWESTERN POLYTECHNICAL UNIV
Master-slaver heterogeneous teleoperation control system and method of robot arm with telepresence
InactiveCN107662195AEasy to operateIncrease exerciseProgramme-controlled manipulatorProgramme controlControl systemNuclear power
The invention discloses a positioning method of a master-slaver heterogeneous teleoperation control system of a robot arm with the telepresence. The master-slaver heterogeneous teleoperation control system comprises a global environment monitoring camera, an end monitoring camera, a central controller with a display screen and the robot arm with a master manipulator at the front end. By defining the tree-dimensional coordinate systems of the cameras, the master manipulator and the robot arm, the pose data in the coordinate systems is converted through a rotation transformation matrix to obtainthe data of the real-time pose which the robot arm in the robot arm coordinate system needs to reach in equal proportion according to the movement pose of the master manipulator, the data serves as acontrol signal to control the robot arm to move in place, and the teleoperation control over a multi-degree-of-freedom anti-radiation robot in nuclear decommission, nuclear waste treatment, nuclear power station maintenance and other nuclear industry fields.
Owner:中国东方电气集团有限公司
Master-slave heterogeneous robot universal control method and system based on master-slave space mapping
ActiveCN107717994AEasy to controlImprove general performanceProgramme controlProgramme-controlled manipulatorControl systemMatrix method
Owner:XI AN JIAOTONG UNIV
Docking system for mechanical telemanipulator
ActiveUS20180000544A1Prevent movementSurgical manipulatorsSurgical robotsEmbedded systemMaster manipulator
A docking system for a mechanical telemaniplator is provided, optionally to be used with a mechanical telemanipulator with a master-slave configuration. The docking system is configured to allow for safe and secure immobilization of a handle or master manipulator of a mechanical telemanipulator with a master-slave configuration so as to prevent movement of a slave manipulator or instrument. While the docking element can be deployed on any mechanical telemanipulator, it can advantageously be used on a surgical platform comprising a mechanical telemanipulator with a master-slave configuration. In this context, the docking system can be used to secure the handle portion or master manipulator of the surgical platform to safely prevent undesirable movement of a slave manipulator or surgical instrument.
Owner:DISTALMOTION
Maneuvering system having inner force sense presenting function
ActiveUS20130312563A1Reduce weightSmall sizeProgramme-controlled manipulatorMechanical apparatusElectricityOperational system
A compact, lightweight manipulation system that excels in operability and has a force feedback capability is provided. When automatic operation of a slave manipulator 105 that follows manual operation of a master manipulator 101 is bilaterally controlled by means of communication, the force acting on the slave manipulator is fed back to the master manipulator by operating the master manipulator primarily under electrically-driven speed control and the slave manipulator primarily under pneumatically-driven force control. Therefore, in the master manipulator, it is not necessary to compensate for the dynamics and the self-weight of the master manipulator in the motion range of a user, allowing highly accurate, broadband positional control, which is specific to an electrically-driven system, and in the slave manipulator, nonlinearity characteristics specific to a pneumatically-driven system presents passive softness, provides a high mass-to-output ratio, and produces a large force.
Owner:RIVERFIELD
Method and system of see-through console overlay
In a minimally invasive surgical system, a plurality of video images is acquired. Each video image includes images of the surgeon's hand(s), and of a master manipulator. The images of the surgeon's hand(s) and the master manipulator are segmented from the video image. The segmented images are combined with an acquired surgical site image. The combined image is displayed to the person at the surgeon's console so that the console functions as a see-through console.
Owner:INTUITIVE SURGICAL OPERATIONS INC
Master-slave mode parallel robot system and method for femoral shaft fracture reduction
PendingCN106361441AAvoid or reduce X-ray damageSave human effortOperating tablesDiagnosticsRobotic systemsFracture reduction
The invention provides a master-slave mode parallel robot system and method for femoral shaft fracture reduction. The system comprises a master manipulator control robot, a central control unit, a slave manipulator reduction robot, a mapping switch, an orthopedic operating bed, a traction frame, a G-arm dual-display X-ray machine and an operating trolley, wherein the central control unit conditionally maps and transmits a fracture reduction operation of the master manipulator control robot to the slave manipulator reduction robot; a conditional mapping operation of the central control unit is started or closed by the mapping switch; a proximal femur of a patient is fixed on the orthopedic operating bed; the traction frame and the orthopedic operating bed are connected with each other to form a rigid body; the slave manipulator reduction robot copies the fracture reduction operation of the master manipulator control robot for the patient under mapping control of the central control unit; the G-arm dual-display X-ray machine simultaneously collects an entopic X-ray image and a lateral X-ray image of a femoral shaft fracture position of the patient. The method comprises the steps of preoperative preparation and intro-operative operation. According to the system and the method provided by the invention, the injury of an X-ray to the patient is reduced, and a reduction state is stably maintained before fixation.
Owner:APEIRON SURGICAL CO LTD
Master-slave robot control system and control method
ActiveCN106003034AImprove real-time performanceAvoid ambiguityProgramme-controlled manipulatorKinematicsControl system
The invention relates to the technical field of robot control, in particular to a master-slave robot control system and control method. The master-slave robot control system comprises a master manipulator robot, a control system, an angle database and a slave manipulator robot, wherein the control system is connected with the master manipulator robot and the angle database respectively; the angle database is connected with the slave manipulator robot; the control system is used for detecting the position change value of the master manipulator robot, performing fuzzy control treatment of the position change value of the master manipulator robot, outputting the angle change level of the slave manipulator robot, and calling a movement instruction from the angle database according to the angle change level and sending the movement instruction to the slave manipulator robot; and the slave manipulator robot moves according to the movement instruction. According to the invention, the real-time performance is good, a kinematical inverse solution to the slave manipulator robot is not needed, multiplicity of solutions is avoided, the number of degrees of freedom of the slave manipulator robot is not limited, and the space following error can be reduced.
Owner:SHENZHEN INST OF ADVANCED TECH
Force feedback master manipulator of minimally invasive surgical robot having redundant freedom degree
InactiveCN108378922AAccurate operationLower performance requirementsSurgical manipulatorsSurgical robotsLess invasive surgerySurgical robot
Owner:HARBIN INST OF TECH
Docking system for mechanical telemanipulator
ActiveUS10864049B2Prevent movementSurgical manipulatorsSurgical robotsPhysical medicine and rehabilitationRobot hand
Owner:DISTALMOTION
Master-slave robot system for thoracoabdominal cavity minimally invasive surgery and configuration method of system
PendingCN111374777ACompact structureFlexible placementSurgical manipulatorsSurgical robotsOperating theatresDisplay device
The invention discloses a thoracoabdominal cavity minimally invasive surgical robot system. The system includes a double-arm operating trolley, a main operation table and an instrument trolley; two brand-new slave arms are installed on the operating trolley through a stand column, and operating arms can move up and down along the stand column; two master manipulators and an endoscope display device are arranged on the doctor operation table; the operating trolley can be moved by key control or remote control, the operating trolley can realize forward and backward movement, turning and zero radius turning in place, or can be manually pushed and pulled to move, and after the position is determined, the operating trolley automatically completes parking lock; each surgical arm includes a pre-adjusting part, a compensation adjustment part, a centering motion part and a surgical instrument (or an endoscope); the pre-adjusting mechanism is compact and flexible, can conveniently and quickly pre-position a centering point of the surgical instrument; and the redundant compensation adjustment mechanism corrects and adjusts the distribution position of a controlled operation space during operation, so as to facilitate the operation of a chief surgeon to reduce fatigue and achieve the best operation effect. The system can have multiple combination configurations in the operating room.
Owner:DAKEWE SHENZHEN MEDICAL EQUIP CO LTD
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