CN111053613B - 一种运动追踪方法、装置、机械臂及计算机可读存储介质 - Google Patents
一种运动追踪方法、装置、机械臂及计算机可读存储介质 Download PDFInfo
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- CN111053613B CN111053613B CN201911262489.9A CN201911262489A CN111053613B CN 111053613 B CN111053613 B CN 111053613B CN 201911262489 A CN201911262489 A CN 201911262489A CN 111053613 B CN111053613 B CN 111053613B
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- 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
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- 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
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- 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
- A61B34/75—Manipulators having means for prevention or compensation of hand tremors
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- 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
- A61B34/77—Manipulators with motion or force scaling
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- 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
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
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CN201911262489.9A CN111053613B (zh) | 2019-12-10 | 2019-12-10 | 一种运动追踪方法、装置、机械臂及计算机可读存储介质 |
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CN201911262489.9A CN111053613B (zh) | 2019-12-10 | 2019-12-10 | 一种运动追踪方法、装置、机械臂及计算机可读存储介质 |
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CN111053613B true CN111053613B (zh) | 2020-10-13 |
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CN111618859B (zh) * | 2020-06-03 | 2021-04-13 | 杭州键嘉机器人有限公司 | 一种对于静止或低速工况下机械臂高精度力反馈的方法 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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CN105159096A (zh) * | 2015-10-10 | 2015-12-16 | 北京邮电大学 | 一种基于粒子群算法的冗余度空间机械臂关节力矩优化方法 |
CN106361440A (zh) * | 2016-08-31 | 2017-02-01 | 北京术锐技术有限公司 | 一种柔性手术工具系统及其在运动约束下的控制方法 |
CN108748147A (zh) * | 2018-06-01 | 2018-11-06 | 清华大学深圳研究生院 | 一种外骨骼机械臂的控制系统及方法 |
CN109159151A (zh) * | 2018-10-23 | 2019-01-08 | 北京无线电测量研究所 | 一种机械臂空间轨迹跟踪动态补偿方法和系统 |
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JP6128767B2 (ja) * | 2012-07-05 | 2017-05-17 | キヤノン株式会社 | ロボット制御装置、及びロボット制御方法 |
US9815202B2 (en) * | 2014-07-09 | 2017-11-14 | Canon Kabushiki Kaisha | Control method for robot apparatus, computer readable recording medium, and robot apparatus |
US20160375580A1 (en) * | 2015-06-23 | 2016-12-29 | Kabushiki Kaisha Yaskawa Denki | Robot system and robot control method |
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Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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CN105159096A (zh) * | 2015-10-10 | 2015-12-16 | 北京邮电大学 | 一种基于粒子群算法的冗余度空间机械臂关节力矩优化方法 |
CN106361440A (zh) * | 2016-08-31 | 2017-02-01 | 北京术锐技术有限公司 | 一种柔性手术工具系统及其在运动约束下的控制方法 |
CN108748147A (zh) * | 2018-06-01 | 2018-11-06 | 清华大学深圳研究生院 | 一种外骨骼机械臂的控制系统及方法 |
CN109159151A (zh) * | 2018-10-23 | 2019-01-08 | 北京无线电测量研究所 | 一种机械臂空间轨迹跟踪动态补偿方法和系统 |
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Application publication date: 20200424 Assignee: Bone shengyuanhua robot (Shenzhen) Co., Ltd Assignor: LianBo Intelligent Technology Co.,Ltd. Contract record no.: X2020990000472 Denomination of invention: A motion tracking method, device, manipulator and computer-readable storage medium License type: Common License Record date: 20200903 |
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Effective date of registration: 20210311 Address after: No 802 Shenzhen Research Institute Chinese University of Hong Kong No 10 Yuexing 2nd Road Gaoxin community Yuehai street Nanshan District Shenzhen City Guangdong Province Patentee after: Yuanhua Intelligent Technology (Shenzhen) Co.,Ltd. Address before: Room 402, Jardine Plaza, 1 Connaught Plaza, central, Hong Kong, China Patentee before: LianBo Intelligent Technology Co.,Ltd. |
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