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US 10,933,526 B2Granted
Method and robotic system for manipulating instruments
AssigneeGeneral Electric Company
InventorsHuan Tan, Weston Blaine Griffin, Lynn Ann DeRose, Yi Xu, Ying Mao, Balajee Kannan
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Abstract
An approach relates to manipulation of tools or instruments in the performance of a task by a robot. In accordance with this approach, sensor data is acquired and processed to identify a subset of instruments initially susceptible to manipulation. The instruments are then manipulated in the performance of the task based on the processed sensor data.
Claims18
A processor-implemented method for manipulating one or more objects, comprising:
- acquiring sensor data related to a plurality of instruments in an environment in which a robot is located;
- processing the sensor data to identify one or more non-occluded instruments in the plurality of instruments, wherein processing the sensor data comprises:
- identifying one or more instruments of the plurality of instruments based on one or more radiofrequency identifiers present on the one or more instruments;
- estimating a pose for at least one of the one or more instruments based on identification of the one or more instruments;
- and
- inferring occlusion of the one or more instruments based on the pose to identify the one or more non-occluded instruments;
- and
- operating one or both of a manipulator and an effector of the robot to manipulate at least one of the one or more non-occluded instruments based on a task assigned to the robot.
5 more elements
A processor-implemented method for identifying non-occluded items comprising:
- acquiring an image representation of a plurality of instruments;
- identifying one or more instruments from among the plurality of instruments in the image representation based on one or more radiofrequency identifiers present on the one or more instruments;
- estimating a pose for at least one of the one or more instruments based on identification of the one or more instruments;
- and
- inferring occlusion of the one or more instruments based on the pose to identify one or more non-occluded instruments.
2 more elements
A robotic manipulation system, comprising:
- a robot configured to manipulate instruments, the robot comprising:
- one or more sensors configured to generate sensor data of at least a portion of an environment in which the robot is located;
- a manipulator configured to be moved with respect to the instruments in performance of a task;
- and
- an effector positioned on the manipulator and configured to interact with the instruments in the performance of the task;
- and
- a processing component configured to:
- process the sensor data to identify one or more non-occluded instruments from among a plurality of instruments, wherein processing the sensor data comprises:
- identifying one or more instruments of the plurality of instruments based on one or more radiofrequency identifiers present on the one or more instruments;
- estimating a pose for at least one of the one or more instruments based on identification of the one or more instruments;
- and
- inferring occlusion of the one or more instruments based on the pose to identify the one or more non-occluded instruments;
- and
- operate one or both of the manipulator and the effector of the robot to manipulate at least one of the one or more non-occluded instruments based on the task.
11 more elements
Dependencies are inferred from the claim text.