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WO2025181176A3 - Method for maintaining a minimum distance between a robotic manipulator and a contact-critical object - Google Patents

Method for maintaining a minimum distance between a robotic manipulator and a contact-critical object

Info

Publication number
WO2025181176A3
WO2025181176A3 PCT/EP2025/055231 EP2025055231W WO2025181176A3 WO 2025181176 A3 WO2025181176 A3 WO 2025181176A3 EP 2025055231 W EP2025055231 W EP 2025055231W WO 2025181176 A3 WO2025181176 A3 WO 2025181176A3
Authority
WO
WIPO (PCT)
Prior art keywords
virtual
contact
manipulator
enlarged
minimum distance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/EP2025/055231
Other languages
German (de)
French (fr)
Other versions
WO2025181176A2 (en
Inventor
Thomas HULIN
Michael Panzirsch
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Deutsches Zentrum fuer Luft und Raumfahrt eV
Original Assignee
Deutsches Zentrum fuer Luft und Raumfahrt eV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Deutsches Zentrum fuer Luft und Raumfahrt eV filed Critical Deutsches Zentrum fuer Luft und Raumfahrt eV
Publication of WO2025181176A2 publication Critical patent/WO2025181176A2/en
Publication of WO2025181176A3 publication Critical patent/WO2025181176A3/en
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/32—Surgical robots operating autonomously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2074—Interface software
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39082—Collision, real time collision avoidance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39091—Avoid collision with moving obstacles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40146—Telepresence, teletaction, sensor feedback from slave to operator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40159—Between operator and sensor a world modeler, local intelligence
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40311—Real time simulation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40317—For collision avoidance and detection
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45117—Medical, radio surgery manipulator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49141—Detect near collision and slow, stop, inhibit movement tool

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a method for controlling a robotic system for maintaining a minimum distance between a robotic manipulator and a contact-critical object, wherein the contact-critical object and the manipulator are located on the basis of sensor information of the robotic system, and a virtual model is created which has at least one virtual contact-critical object and a virtual manipulator. The minimum distance is maintained by enlarging the virtual contact-critical object and/or the virtual manipulator; detecting when the enlarged or non-enlarged virtual contact-critical object and the enlarged or non-enlarged virtual manipulator contact each other; and stopping or slowing down the movement of the manipulator when the enlarged or non-enlarged virtual contact-critical object is contacted by the enlarged or non-enlarged virtual manipulator. The aim of the invention is to maintain a minimum distance between the object (4) and the manipulator (2a). This is achieved by enlarging the virtual object (6) in order to form an enlarged virtual object (9) and/or enlarging the virtual manipulator (7a) in order to form an enlarged virtual manipulator (8a) and determining a contact point between one of the aforementioned virtual components.
PCT/EP2025/055231 2024-02-26 2025-02-26 Method for maintaining a minimum distance between a robotic manipulator and a contact-critical object Pending WO2025181176A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102024105306.2A DE102024105306B3 (en) 2024-02-26 2024-02-26 Method for manipulating an object by a robot system with a robotic manipulator
DE102024105306.2 2024-02-26

Publications (2)

Publication Number Publication Date
WO2025181176A2 WO2025181176A2 (en) 2025-09-04
WO2025181176A3 true WO2025181176A3 (en) 2025-10-30

Family

ID=94871570

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2025/055231 Pending WO2025181176A2 (en) 2024-02-26 2025-02-26 Method for maintaining a minimum distance between a robotic manipulator and a contact-critical object

Country Status (2)

Country Link
DE (1) DE102024105306B3 (en)
WO (1) WO2025181176A2 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009006256A1 (en) * 2009-01-27 2010-07-29 Deutsches Forschungszentrum für künstliche Intelligenz GmbH Method for avoiding collisions controlled moving parts of a plant
DE102019103349B3 (en) * 2019-02-11 2020-06-18 Beckhoff Automation Gmbh Industrial robot system and method for controlling an industrial robot
US20200298406A1 (en) * 2016-02-26 2020-09-24 Intuitive Surgical Operations, Inc. System and method for collision avoidance using virtual boundaries
DE112019000097T5 (en) * 2018-10-15 2020-09-24 Mujin, Inc. Control device, working robot, program and control method

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ATE238140T1 (en) 1992-01-21 2003-05-15 Stanford Res Inst Int SURGICAL SYSTEM
JP6676286B2 (en) 2015-05-12 2020-04-08 キヤノン株式会社 Information processing method and information processing apparatus
JP7155664B2 (en) 2017-10-31 2022-10-19 セイコーエプソン株式会社 Simulation equipment, controllers and robots
DE102020104359B4 (en) 2020-02-19 2022-04-14 Franka Emika Gmbh Workspace limitation for a robot manipulator
JP2024048077A (en) 2022-09-27 2024-04-08 キヤノン株式会社 Information processing device, information processing method, robot system, article manufacturing method using robot system, program, and recording medium

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009006256A1 (en) * 2009-01-27 2010-07-29 Deutsches Forschungszentrum für künstliche Intelligenz GmbH Method for avoiding collisions controlled moving parts of a plant
US20200298406A1 (en) * 2016-02-26 2020-09-24 Intuitive Surgical Operations, Inc. System and method for collision avoidance using virtual boundaries
DE112019000097T5 (en) * 2018-10-15 2020-09-24 Mujin, Inc. Control device, working robot, program and control method
DE102019103349B3 (en) * 2019-02-11 2020-06-18 Beckhoff Automation Gmbh Industrial robot system and method for controlling an industrial robot

Also Published As

Publication number Publication date
DE102024105306B3 (en) 2025-05-15
WO2025181176A2 (en) 2025-09-04

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