Apparatus and method for controlling force to be used for motion of surgical robot
AssigneeSamsung Electronics Co., Ltd.
InventorsSoo Chul Lim, Joon Ah Park, Hyung Joo Kim
Life of this patent
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Abstract
An apparatus and method for controlling a robot may scale a motion of a surgical robot based on a type of object gripped by the surgical robot. In the robot controlling method, by scaling the motion of the surgical robot based on the type of object gripped by the surgical robot, the surgical robot may automatically perform the motion on objects using an optimized force although a user does not control a force minutely based on the type of object gripped by the surgical robot.
Claims26
An apparatus for controlling a robot, the apparatus comprising:
- an object type identifying unit to identify a type of object that is gripped by the robot;
- and
- a motion determining unit to determine a motion of the robot corresponding to a user input, based on the identified type of object,
- wherein the motion determining unit scales a magnitude of a force to be used for the motion of the robot corresponding to the user input, based on damage information for each type of object, and
- wherein the damage information comprises information related to a direction or a force in which the object is damaged.
A method of controlling a robot, the method comprising:
- identifying a type of object that is gripped by the robot;
- and
- determining a motion of the robot corresponding to a user input, based on the identified type of object,
- wherein the determining comprises scaling a magnitude of a force to be used for the motion of the robot corresponding to the user input, based on damage information for each type of object, and
- wherein the damage information comprises information related to a direction or a force in which the object is damaged.
A method for controlling a robot, the method comprising:
- identifying an implement used by the robot and a material on which the implement is used during the control of the robot;
- sensing a magnitude and direction of a force applied by the implement to the material;
- scaling a user input based on a predetermined threshold value of the implement, a predetermined threshold value of the material, the applied force, and based on damage information of the material associated with the applied force;
- and
- controlling a motion of the robot based on the scaled user input,
- wherein the predetermined threshold values are based on respective physical properties of the identified implement and the identified material, and
- wherein the damage information comprises information related to a direction or a force in which the object is damaged.
Dependencies are inferred from the claim text.