Source: https://patents.justia.com/patent/6470236
Timestamp: 2019-09-19 05:27:25
Document Index: 271234633

Matched Legal Cases: ['art 4', 'art 4', 'art 4', 'art 4', 'art 4', 'art 4', 'art 4', 'art 4', 'art 4', 'art 9', 'art 9', 'art 9', 'art 9', 'art 9', 'art 9', 'art 9', 'art 9', 'art 9', 'art 9', 'art 4', 'art 9', 'art 4', 'art 9', 'art 4', 'art 9', 'art 4', 'art 9', 'art 4', 'art 103', 'art 4', 'art 103', 'art 4', 'art 103', 'art 4', 'art 103', 'art 4', 'art 100', 'art 4', 'art 103']

US Patent for System and method for controlling master and slave manipulator Patent (Patent # 6,470,236 issued October 22, 2002) - Justia Patents Search
Justia Patents Plural Controlled Devices Or Plural Nonvision Controlling DevicesUS Patent for System and method for controlling master and slave manipulator Patent (Patent # 6,470,236)
Dec 18, 2001 - Sony Corporation
Herein, the yawing refers to a rotation of the X axis and Y axis about the X axis as shown in FIG. 5 in which the rotation angle due to the yawing is denoted by &thgr;y. The pitching refers to a rotation of the Z axis and the X axis rotated by &thgr;y due to the yawing (the rotated X axis is denoted as X′ axis in FIG. 5) about the Y axis rotated due to the yawing (the rotated Y axis is denoted as Y′ axis in FIG. 5). The rotation angle due to the pitching is denoted by &thgr;p in FIG. 5. The rolling refers to a rotation of the Y axis rotated by &thgr;y due to the yawing (the rotated Y axis is denoted as Y′ axis in FIG. 5) and the Z axis rotated by &thgr;p due to the pitching (the rotated Z axis is denoted as Z′ axis in FIG. 5) about the X axis rotated by &thgr;y due to the yawing and further by &thgr;p due to the pitching (the rotated X axis is denoted by x axis in FIG. 5). The rotation angle due to the rolling is denoted by &thgr;r in FIG. 5.
The attitude parameters of the tip part 4 of the slave manipulator 3 include three values of coordinates indicating the position of the tip part 4 (operating point), that is, a X coordinate, a Y coordinate, and a Z coordinate, and further include three values &thgr;y, &thgr;p, and &thgr;r indicating the state of the tip part 4. That is, the attitude parameters of the tip part 4 include a total of six parameters. The position of the tip part 4 is represented with respect to a reference position (for example, the center of a facing surface between the base 21 and the operating table 1) in a space within which the tip part 4 is allowed to move. The state of the tip part 4 is represented with respect to a reference state in which, for example, X, Y, and Z axes of an orthogonal coordinate system fixed to the tip part 4 become coincident with x, Y, and X axes of an orthogonal coordinate system fixed to the space in which the tip part 4 moves.
The attitude parameters of the handling part 9 of the master manipulator 8 include three values of coordinates indicating the position of the handling part 9 (operating point), that is, a X coordinate, a Y coordinate, and a X coordinate, and further include three values &thgr;y, &thgr;p, and &thgr;r indicating the state of the handling part 9. That is, the attitude parameters of the handling part 9 include a total of six parameters. The position of the handling part 9 is represented with respect to a reference position (for example, the center of a facing surface between the base 41 and the manipulator stage 7) in a space within which the handling part 9 is allowed to move. The state of the handling part 9 is represented with respect to a reference state in which, for example, X, Y, and Z axes of an orthogonal coordinate system fixed to the handling part 9 become coincident with X, Y, and X axes of an orthogonal coordinate system fixed to the space in which the handling part 9 moves.
Fo=F2+&agr;F1
To=T2+&bgr;T1 (1)
In the case where a greater force is needed to move the handling part 9 of the master manipulator 8 than is needed to move the tip part 4 of the slave manipulator 3 (that is, in the case where the handling part 9 is more massive than the tip part 4), &agr; and &bgr; have values greater than 1. Conversely, if the handling part 9 can be moved by a smaller force than a force needed to move the tip part 4 (that is, in the case where the handling part 9 is less massive than the tip part 4), &agr; and &bgr; have values smaller than 1. In the case where the handling part 9 and the tip part 4 can be moved by an equal force, &agr; and &bgr; become equal to 1.
In the case where a greater force is needed to move the handling part 103 of the master manipulator 102 than is needed to move the tip part 4 of the slave manipulator 3 (that is, in the case where the handling part 103 is more massive than the tip part 4), &agr; and &bgr; have values greater than 1. Conversely, if the handling part 103 can be moved by a smaller force than a force needed to move the tip part 4 (that is, in the case where the handling part 103 is less massive than the tip part 4), &agr; and &bgr; have values smaller than 1. In the case the handling part 100 and the tip part 4 can be moved by an equal force, &agr; and &bgr; become equal to 1.
Deviation value= Deviation ⁢ ⁢ value = ∑ i = 1 n ⁢ W i ⁢ P i 2
In this case, the attitude parameters include a total of six values, that is, three values of X, Y, and Z coordinates indicating the position and three values of &thgr;y, &thgr;p, and &thgr;r indicating the state, and thus n=6 and P1 to P6 respectively indicate the differences between the current values of X, Y, and Z coordinates and &thgr;y, &thgr;p, and &thgr;r of the attitude parameters of the handling part 103 and the corresponding values of the starting attitude parameters. W1 to W6 respectively indicate the predetermined weighting factors for P1 to P6.
Goodall, 8 th Annual medicine meets virtual reality: Internal conference; Envisioning healing; Interactive technology and patient-practitioner dialogue, 2000, Interner, pp. 1-7.*
Patent Publication Number: 20020123825
Inventor: Tomoyuki Ohtsuki (Kanagawa)
Application Number: 10/023,631
Current U.S. Class: Plural Controlled Devices Or Plural Nonvision Controlling Devices (700/247); Robot Control (700/245); Coordinate Transformation (700/251); Based On User Input (700/257); Vision Sensor (e.g., Camera, Photocell) (700/259); Having Particular Sensor (700/258); Having Particular Operator Interface (e.g., Teaching Box, Digitizer, Tablet, Pendant, Dummy Arm) (700/264); Endoscope (600/101); With Chair, Table, Holder, Or Other Support (600/102); With Means For Indicating Position, Depth Or Condition Of Endoscope (600/117); With Control Or Monitoring Of Endoscope Functions (600/118); With Stereotactic Device (600/429); Body Movement (e.g., Head Or Hand Tremor, Motility Of Limb, Etc.) (600/595); With Foot Pedal Control For Endoscope Operation (600/126); Instruments (606/1); Means For Marking Animals (606/116); Articulated Arm (606/19); Stereotaxic Device (606/130); Suture, Ligature, Elastic Band Or Clip Applier (606/139); Endoscopic (606/46); Forceps (606/205); Article Manipulator Moves Analogous With Human Hand, Finger, Or Arm Movement (414/1); Motion Of Hand, Finger, Or Arm Member Multiplied Or Reduced In Its Transmission To Article Manipulator Means (414/2); Automatic Route Guidance Vehicle (701/23); Cursor Mark Position Control Device (345/157); Robot (901/8)