A combined teleoperative-cooperative controllable robotic system includes a robotic actuator assembly, a control system adapted to communicate with the robotic actuator assembly, and a teleoperation unit adapted to communicate with the control system. The control system is configured to control at l
A combined teleoperative-cooperative controllable robotic system includes a robotic actuator assembly, a control system adapted to communicate with the robotic actuator assembly, and a teleoperation unit adapted to communicate with the control system. The control system is configured to control at least a first portion of the robotic actuator assembly in response to at least one of a force or a torque applied to at least a second portion of the robotic actuator assembly by a first user for cooperative control. The control system is further configured to control at least a third portion of the robotic actuator assembly in response to input by a second user from the teleoperation unit for teleoperative control.
대표청구항▼
1. A combined teleoperative-cooperative controllable robotic system, comprising: a robotic actuator assembly including a first robotic manipulator and a second robotic manipulator, wherein said first robotic manipulator differs from said second robotic manipulator;a control system adapted to communi
1. A combined teleoperative-cooperative controllable robotic system, comprising: a robotic actuator assembly including a first robotic manipulator and a second robotic manipulator, wherein said first robotic manipulator differs from said second robotic manipulator;a control system adapted to communicate with said robotic actuator assembly; anda teleoperation unit adapted to communicate with said control system,wherein said control system is configured to control motion of at least said first robotic manipulator of said robotic actuator assembly in response to at least one of a force or a torque applied to at least a portion of said robotic actuator assembly by a first user for cooperative control, wherein said motion of at least said first robotic manipulator of said robotic actuator assembly is a result of cooperative actions by both the first user and the robotic actuator assembly, andwherein said control system is further configured to control, concurrently with a motion of said first robotic manipulator, at least said second robotic manipulator of said robotic actuator assembly in response to input by a second user from said teleoperation unit for teleoperative control,wherein said control system is configured to control said first robotic manipulator of said robotic actuator assembly in response to input from both said first user and said second user with a scaling factor so that input from one of said first and second users is weighted more strongly than input from the other of said first and second users while preserving concurrent control over said first robotic manipulator by both said first user and said second user in all degrees of freedom available to said first robotic manipulator, andwherein said control system is further configured to enable one of said first and second users to control motions of said first robotic manipulator in only selected first degrees of freedom available to said first robotic manipulator and enable the other of said first and second users to control motions of said first robotic manipulator in other selected degrees of freedom available to said first robotic manipulator. 2. A combined teleoperative-cooperative robotic system according to claim 1, wherein said first robotic manipulator of said robotic actuator assembly is the same element of said robotic actuator assembly as said portion. 3. A combined teleoperative-cooperative robotic system according to claim 1, wherein said control system is configured to control said first robotic manipulator of said robotic actuator assembly based on input from one of said first and second users overriding input from the other of said first and second users. 4. A combined teleoperative-cooperative robotic system according to claim 1, wherein said robotic actuator assembly comprises a surgical tool such that said combined teleoperative-cooperative robotic system is a surgical robotic system. 5. A combined teleoperative-cooperative robotic system according to claim 1, wherein said robotic actuator assembly comprises an end effector adapted to interact with an object of interest. 6. A combined teleoperative-cooperative robotic system according to claim 5, further comprising a sensor arranged to sense a physical property associated with said end effector interacting with said object of interest, wherein said sensor is adapted to communicate with said control system to provide information regarding said physical property sensed, andwherein said control system is configured to modify control of said portion of said robotic actuator assembly based on said information from said sensor. 7. A combined teleoperative-cooperative robotic system according to claim 1, wherein said control system is configured to be switchable between said cooperative control and said teleoperative control such that said first user and said second user can direct different types of tasks. 8. A combined teleoperative-cooperative robotic system according to claim 7, wherein said different types of tasks include macro control tasks to be performed by said first user and micro control tasks to be performed by said second user. 9. A combined teleoperative-cooperative robotic system according to claim 1, wherein said control system is configured to provide feedback to said teleoperation unit based on said at least one of said force or said torque applied by said first user. 10. A combined teleoperative-cooperative robotic system according to claim 9, wherein said feedback comprises at least a haptic feedback causing portions of the teleoperation unit to move in correspondence to motions of said first robotic manipulator. 11. A combined teleoperative-cooperative robotic system according to claim 1, further comprising: an imaging system arranged in view of an object of interest; anda display system arranged at least one of proximate said teleoperation unit to display images of said object of interest to be viewed by said second user or proximate said robotic actuator assembly to display images of said object of interest to be viewed by said first user. 12. A combined teleoperative-cooperative robotic system according to claim 11, wherein said imaging system comprises a microscope such that said teleoperative-cooperative robotic system is adapted for performing micromanipulation. 13. A combined teleoperative-cooperative robotic system according to claim 12, wherein said micromanipulation is micro-assembly. 14. A combined teleoperative-cooperative robotic system according to claim 12, wherein said micromanipulation is micro-surgery. 15. A combined teleoperative-cooperative robotic system according to claim 11, wherein said display system is adapted to communicate with a data storage system to receive information from said data storage system to be displayed by said display system. 16. A combined teleoperative-cooperative robotic system according to claim 15, wherein said display system is configured to display said information from said data storage system at least one of alternately with said images of said object of interest or superimposed with said images of said object of interest. 17. A combined teleoperative-cooperative robotic system according to claim 16, wherein said robotic actuator assembly and said control system are configured to provide a user input function such that said first user can at least one of control or annotate images on said display system. 18. A combined teleoperative-cooperative robotic system, comprising: a robotic actuator assembly including a first robotic manipulator and a second robotic manipulator, wherein said first robotic manipulator differs from said second robotic manipulator;a control system adapted to communicate with said robotic actuator assembly;a teleoperation unit adapted to communicate with said control system;an imaging system arranged in view of an object of interest; anda display system arranged at least one of proximate said teleoperation unit to display images of said object of interest to be viewed by said second user or proximate said robotic actuator assembly to display images of said object of interest to be viewed by said first user,wherein said control system is configured to control motion of at least said first robotic manipulator of said robotic actuator assembly in response to at least one of a force or a torque applied to at least a portion of said robotic actuator assembly by a first user for cooperative control, wherein said motion of at least said first robotic manipulator of said robotic actuator assembly is a result of cooperative actions by both the first user and the robotic actuator assembly,wherein said control system is further configured to control, concurrently with a motion of said first robotic manipulator, at least said second robotic manipulator of said robotic actuator assembly in response to input by a second user from said teleoperation unit for teleoperative control,wherein said display system is adapted to communicate with a data storage system to receive information from said data storage system to be displayed by said display system,wherein said display system is configured to display said information from said data storage system at least one of alternately with said images of said object of interest or superimposed with said images of said object of interest,wherein said robotic actuator assembly and said control system are configured to provide a user input function such that said first user can at least one of control or annotate images on said display system, andwherein said robotic actuator assembly and said control system are configured to provide haptic feedback to said first user during said user input function.
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이 특허에 인용된 특허 (11)
Moll, Frederic H.; Rosa, David J.; Ramans, Andris D.; Blumenkranz, Stephen J.; Guthart, Gary S.; Niemeyer, Gunter D.; Nowlin, William C.; Salisbury, Jr., J. Kenneth; Tierney, Michael J.; Mintz, David, Arm cart for telerobotic surgical system.
Moll, Frederic H.; Rosa, David J.; Ramans, Andris D.; Blumenkranz, Steven J.; Guthart, Gary S.; Niemeyer, Gunter D.; Nowlin, William C.; Salisbury, Jr., J. Kenneth; Tierney, Michael J., Cooperative minimally invasive telesurgical system.
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Fung Patrick T. (Willowdale CAX) Norgate Graham (Oakville CAX) Dilts Timothy A. (Newmarket CAX) Jones Andrew S. (Toronto CAX) Ravindran Rangaswamy (Bolton CAX), Human-in-the-loop machine control loop.
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