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    Compliance correction in a robotic system
    3.
    发明授权
    Compliance correction in a robotic system 有权

    公开(公告)号：US12290930B2

    公开(公告)日：2025-05-06

    申请号：US18358193

    申请日：2023-07-25

    Applicant: THE CLEVELAND CLINIC FOUNDATION

    Inventor： Callan Gillespie ,  Robb Colbrunn ,  Tara Nagle

    IPC: B25J9/16 ,  B25J13/08

    Abstract: Movement of an object can occur while a control system corrects for compliance within a robotic system. The control system can include the object to be moved, the robotic system that moves the object, a primary sensor positioned on the object, at least one ancillary sensor positioned on the object, and a controller. The sensors can record position and orientation data at different points on the object. The controller can use a sensor data and a delta value to correct for compliance in the robotic system. The delta value can be based on the differences between the primary sensor and the at least one ancillary sensor. The compliance correction can be applied to poses of the object to modify the trajectory of the object for more accurate movements.

    COMPLIANCE CORRECTION IN A ROBOTIC SYSTEM
    7.
    发明公开
    COMPLIANCE CORRECTION IN A ROBOTIC SYSTEM 审中-公开

    公开(公告)号：US20240131701A1

    公开(公告)日：2024-04-25

    申请号：US18358193

    申请日：2023-07-25

    Applicant: THE CLEVELAND CLINIC FOUNDATION

    Inventor： Callan Gillespie ,  Robb Colbrunn ,  Tara Nagle

    IPC: B25J9/16 ,  B25J13/08

    CPC classification number: B25J9/1633 ,  B25J9/1638 ,  B25J9/1653 ,  B25J9/1664 ,  B25J13/085 ,  B25J13/088 ,  B25J13/089

    Abstract: Movement of an object can occur while a control system corrects for compliance within a robotic system. The control system can include the object to be moved, the robotic system that moves the object, a primary sensor positioned on the object, at least one ancillary sensor positioned on the object, and a controller. The sensors can record position and orientation data at different points on the object. The controller can use a sensor data and a delta value to correct for compliance in the robotic system. The delta value can be based on the differences between the primary sensor and the at least one ancillary sensor. The compliance correction can be applied to poses of the object to modify the trajectory of the object for more accurate movements.

    Compliance correction in a robotic system
    8.
    发明授权
    Compliance correction in a robotic system 有权

    公开(公告)号：US11745341B2

    公开(公告)日：2023-09-05

    申请号：US17157237

    申请日：2021-01-25

    Applicant: THE CLEVELAND CLINIC FOUNDATION

    Inventor： Callan Gillespie ,  Robb Colbrunn ,  Tara Nagle

    IPC: B25J9/16 ,  B25J13/08

    CPC classification number: B25J9/1633 ,  B25J9/1638 ,  B25J9/1653 ,  B25J9/1664 ,  B25J13/085 ,  B25J13/088 ,  B25J13/089

    Abstract: Movement of an object can occur while a control system corrects for compliance within a robotic system. The control system can include the object to be moved, the robotic system that moves the object, a primary sensor positioned on the object, at least one ancillary sensor positioned on the object, and a controller. The sensors can record position and orientation data at different points on the object. The controller can use a sensor data and a delta value to correct for compliance in the robotic system. The delta value can be based on the differences between the primary sensor and the at least one ancillary sensor. The compliance correction can be applied to poses of the object to modify the trajectory of the object for more accurate movements.

    ROBOTIC SURGERY
    9.
    发明申请
    ROBOTIC SURGERY 有权

    公开(公告)号：US20220370139A1

    公开(公告)日：2022-11-24

    申请号：US17725243

    申请日：2022-04-20

    Applicant: The Cleveland Clinic Foundation

    Inventor： Jihad Kaouk ,  Robb Colbrunn ,  Tara Nagle ,  Callan Gillespie ,  Keiran Cantilina ,  Nicholas Haas

    IPC: A61B34/10 ,  A61B34/20

    Abstract: Teleoperative, partially automated, and fully automated robotic surgery systems and methods are described herein. These systems and methods relate to at least improvement of robotic movements, three dimensional tracking and pose correction for robots interacting with deformable objections, controlling and optimizing the redundant axis of a seven degree of freedom robotic arm, virtual robotic surgery and simulation, and task coordination and optimization for multi-robot surgery.

    HYBRID CONTROL OF A ROBOTIC SYSTEM
    10.
    发明申请
    HYBRID CONTROL OF A ROBOTIC SYSTEM 有权

    公开(公告)号：US20210229279A1

    公开(公告)日：2021-07-29

    申请号：US17157693

    申请日：2021-01-25

    Applicant: THE CLEVELAND CLINIC FOUNDATION

    Inventor： Robb Colbrunn ,  Tara Nagle ,  Callan Gillespie

    IPC: B25J9/16 ,  B25J13/08

    Abstract: An object can be moved via a robotic system with a combination of force and position control. The control system can include the object to be moved, the robotic system that moves the object, at least one force sensor, at least one position sensor, and a controller. A position control output, a force control output, and a hybrid weighting value can each be determined by the controller based on sensor data and then combined to determine an amount of position control and/or force control to be applied to move the object and/or modify an object in motion's trajectory.

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