Method for guiding a robot arm, guiding system
AssigneeSquaremind
InventorsTanguy SERRAT, Ali KHACHLOUF
Life of this patent
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Abstract
A method for guiding in real time a robot arm for the processing of data of the surface of a body, includes generating a body model including a meshing of points; planning a treatment trajectory on the surface of the body model with a calculator; activating at least one transmission of a transmitter and/or acquisition of a sensor of an operator device, the operator device being arranged at the distal end of the robotised arm, the activation being carried out when the orientation of the axis of the sensor or the transmitter is merged with a predefined straight line passing through the target point, the target point being referenced on the generated body model.
Claims20
Method for guiding in real time a robot arm for processing data of a surface of a body, comprising:
- generating a 3D body model of all or part of a surface of a human body comprising a meshing of points;
- planning a treatment trajectory on the surface of the body model with a calculator;
- calculating a guiding trajectory for a distal end of the robot arm;
- generating a kinematic of the robot arm such that a point of a head arranged at the distal end of the robot arm is enslaved on the guiding trajectory;
- activating the kinematic of the robot arm to cover the guiding trajectory, said guiding trajectory being calculated in real time from the 3D model of the surface of the human body;
- generating a new 3D body model of the surface of the human body at regular times ensuring the calculation of a new kinematic of the robot arm to manage its displacements automatically in real time, a new calculated surface of the 3D body model leading to a calculation of a new treatment trajectory and a calculation of a new guiding trajectory,
- receiving at least one position of a target point of space;
- activating at least one transmission of a transmitter and/or acquisition of a sensor of an operator device, said operator device being arranged at the distal end of the robot arm, the activation being carried out when an orientation of an axis of the sensor or the transmitter is merged with a predefined straight line passing through a target point, said target point being referenced on the generated 3D body model.
System for guiding a robot arm comprising:
- a robot arm enslaved by a calculator of a control unit calculating a kinematic of the robot arm from a trajectory calculated from points defined on an acquired meshing of a 3D body model of a surface of a human body;
- a calculator to generate a plurality of body models at different times, the generation of a new 3D body model of the surface of the human body at regular times ensuring a calculation of a new kinematic of the robot arm to manage its displacements automatically in real time, a new calculated surface of the 3D body model leading to a calculation of a new trajectory;
- and
- an operator device arranged at the end of the robot arm comprising at least one transmitter or sensor, an activation of the at least one transmitter or sensor being carried out when the orientation of the axis of the sensor or the transmitter is directed along a straight line passing through the target point, said target point being referenced on the generated 3D model of a surface of human body.
Dependencies are inferred from the claim text.