DE102004054867A1 - Robot equipped with sensory intelligence e.g. for minimum invasive surgery, has arm and control interface is provided at structure of bionic arm for affecting certain robotic operations - Google Patents

Robot equipped with sensory intelligence e.g. for minimum invasive surgery, has arm and control interface is provided at structure of bionic arm for affecting certain robotic operations Download PDF

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Publication number
DE102004054867A1
DE102004054867A1 DE102004054867A DE102004054867A DE102004054867A1 DE 102004054867 A1 DE102004054867 A1 DE 102004054867A1 DE 102004054867 A DE102004054867 A DE 102004054867A DE 102004054867 A DE102004054867 A DE 102004054867A DE 102004054867 A1 DE102004054867 A1 DE 102004054867A1
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Prior art keywords
arm
robot
control interface
invasive surgery
robot equipped
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DE102004054867A
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DE102004054867B4 (en
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Ulrich Hagn
Franz Hacker
Alexander Beyer
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Deutsches Zentrum fuer Luft und Raumfahrt eV
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Deutsches Zentrum fuer Luft und Raumfahrt eV
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • 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
    • G05B2219/39427—Panel on arm, hand of robot, controlled axis

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The sensory intelligent robot has an arm. A control interface is provided at the structure of the bionic arm for affecting certain robotic operations of the arm. The control interface has a display (10) and a control panel (12). An independent claim is included for a use of robot arm.

Description

Die Erfindung betrifft einen mit sensorischer Intelligenz ausgestatteten Roboter.The The invention relates to a person equipped with sensory intelligence Robot.

Beim Betrieb von Robotern werden derzeit externe Bedienerschnittstellen genutzt, um unterschiedliche Betriebsmodi von Roboter zu bedienen. Dabei handelt es sich um auf Standard-Computern laufende Steuerprogramme oder um spezielle externe Controllpanels. Um Kollisionen zu vermeiden, ist ein direkter Kontakt eines Bedieners mit dem Roboter im Betrieb nicht vorgesehen.At the Operation of robots are currently external operator interfaces used to operate different operating modes of robots. there These are control programs running on standard computers or special external control panels. To avoid collisions is a direct contact of an operator with the robot in operation not provided.

In der Robotik sind inzwischen Roboter mit sensorischer Intelligenz ausgestattet; sie können daher von außen aufgeprägte Kräfte und Momente erfassen und darauf reagieren. Es ist somit möglich, dass der Bediener im laufenden Betrieb den Roboter berührt und somit interagiert. Somit lassen sich Roboter teilautonom durch haptisches Führen bedienen; dies wird auch soft robotics genannt. Bei soft robotics liegt folglich der Sinn in der Interaktion mit einem Roboterarm, bei welchem eine zusätzliche Bedienung eines externen Geräts, beispielsweise in Form eines Panels, stören würde.In Robotics are now robots with sensory intelligence fitted; you can therefore from the outside impressed personnel and capture moments and react to them. It is thus possible that the operator touches the robot during operation and thus interacting. Thus, robots can be partially autonomous by haptic To lead serve; This is also called soft robotics. At soft robotics consequently, the meaning lies in the interaction with a robotic arm, in which an additional Operation of an external device, in the form of a panel, for example.

Derzeit gibt es lediglich externe Bedienschnittstellen, um die unterschiedlichen Betriebsmodi von Robotern zu bedienen. Bei soft robotics liegt der Sinn in der Interaktion mit dem Roboterarm, bei der eine zusätzliche Bedienung eines externen Geräts, beispielsweise in Form eines Panels stören würde.Currently There are only external operating interfaces to the different Operating modes of robots to operate. The point is soft robotics in the interaction with the robotic arm, in which an additional Operation of an external device, for example in the form of a panel disturb would.

Aufgabe der Erfindung ist es daher eine Einrichtung vorzusehen, um bestimmte Betriebsmodi eines mit sensorischer Intelligenz ausgestatteten Roboters beeinflussen zu können.task The invention is therefore to provide a device to certain Operating modes of a robot equipped with sensory intelligence to be able to influence.

Gemäß der Erfindung ist diese Aufgabe bei einem mit sensorischer Intelligenz ausgestatteten Roboter dadurch gelöst, dass zum unmittelbaren Beeinflussen bestimmter Roboter-Betriebsmodi an der Struktur eines Roboterarms eine Bedienschnittstelle vorgesehen ist. Gemäß einer bevorzugten vorteilhaften Weiterbildung der Erfindung weist die Bedienschnittstelle ein Display und mindestens eine Bedientaste auf.According to the invention this is the task of a robot equipped with sensory intelligence solved by that for directly influencing certain robot operating modes provided on the structure of a robot arm an operator interface is. According to one preferred advantageous embodiment of the invention, the Operator interface a display and at least one control button on.

Da somit gemäß der Erfindung eine bidirektionale Bedienerschnittstelle in bzw. an dem Roboterarm integriert ist, kann ein Bediener, um bestimmte Betriebsmodi des Roboters zu bedienen und gegebenenfalls Statusinformationen des Roboters auszugeben, vollständig mit dem Roboter interagieren. Insbesondere wird bei Einsatz der erfindungsgemäßen Einrichtung kein zusätzliches Bediengerät, beispielsweise Controllpanel mehr benötigt werden.There thus according to the invention a bi-directional operator interface in or on the robot arm integrated, an operator can set certain operating modes of the Robot to use and possibly status information of the Output robot, completely interact with the robot. In particular, when using the inventive device no additional Operating unit, For example, more control panels are needed.

In der schematischen Darstellung der einzigen Figur ist eine Bedienschnittstelle 1 wiedergegeben, die an der Struktur eines schematisch angedeuteten Roboterarms 2 integriert ist. Hierbei weist die Bedienschnittstelle 1 ein Display 11 und mindestens eine Bedientaste, zweckmäßigerweise mehrere, beispielsweise, wie in der Figur wiedergegeben, drei Bedientasten 12 auf.In the schematic representation of the single figure is a user interface 1 reproduced on the structure of a schematically indicated robot arm 2 is integrated. Here, the operating interface 1 a display 11 and at least one control button, suitably several, for example, as shown in the figure, three buttons 12 on.

An dem in der Figur rechten Ende des Roboterarms 2 ist ein Endeffektor 3 angedeutet.At the right end of the robot arm in the figure 2 is an end effector 3 indicated.

Da sich mit Hilfe von soft robotics Roboter durch intuitives manuelles Führen einfach programmieren lassen, kann über die am Roboterarm 2 integrierte Schnittstelle 1 während der Programmierung auf Roboterbetriebsmodi Einfluss genommen werden. Auch können gegebenenfalls, wie bereits ausgeführt, Statusinformationen ausgegeben werden.Since robots can be easily programmed using intuitive manual guidance with the help of soft robotics, it is possible to program robots using the robot arm 2 integrated interface 1 be influenced during programming on robot operating modes. If necessary, status information can also be output, as already explained.

Dadurch wird vermieden, dass ein externes Gerät, beispielsweise in Form eines Panels zusätzlich gehalten werden muss, oder der Bediener den Roboter verlassen muss, um an einem anderen Roboter-Arbeitsplatz Einfluss auf die Steuerung des Roboters zu nehmen.Thereby prevents an external device, for example in the form of a Panels in addition or the operator has to leave the robot, in order to influence the controller at another robot workstation to take the robot.

Die gewerbliche Anwendung umfasst alle die Bereiche, in denen in Zukunft soft robotics eingesetzt wird. Dabei kann es sich um intuitive Programmierung von Industrierobotern ebenso wie um haptische Interaktion mit Servicerobotern handeln.The Commercial application covers all the areas where in the future soft robotics is used. This can be intuitive programming of industrial robots as well as haptic interaction with service robots act.

In einemm konkreten Anwendungsfall wird ein Roboterarm, haptisch geführt, in medizinischen Applikationen eingesetzt. Die Bedienschnittstelle unmittelbar am Roboterarm an bzw. in dessen Struktur ermöglicht es einem einen Roboter bedienenden Arzt, Roboter-Betriebsmodis direkt zu beeinflussen, ohne dazu auf Sprachsteuerung oder externe Bediengeräte zurückgreifen zu müssen, deren Berührung im Hinblick auf die bei medizinischen Applikationen zu beachtende Sterilität problematisch ist. Auch wird in solchen Fällen kein zusätzliches Personal mehr benötigt.In In a concrete application, a robot arm, haptically guided, is inserted used in medical applications. The user interface directly on the robot arm on or in its structure allows it a robot operating a robot, robot operating modes directly without having to rely on voice control or external HMI devices to have to, their touch in view of those to be considered in medical applications sterility is problematic. Also, in such cases, no additional Staff needed more.

11
BedienschnittstelleOperator interface
1111
Displaydisplay
1212
Bedientastecontrol key
22
Roboterarmrobot arm
33
EndefektorEndefektor

Claims (4)

Mit sensorischer Intelligenz ausgestatteter Roboter, mit mindestens einem Arm, dadurch gekennzeichnet, dass zum unmittelbaren Beeinflussen bestimmter Roboter-Betriebsmodi an der Struktur des Roboterarms (2) mindestens eine Bedienschnittstelle (1) vorgesehen ist.Equipped with sensory intelligence Ro Boter, with at least one arm, characterized in that for directly influencing certain robot operating modes on the structure of the robot arm ( 2 ) at least one user interface ( 1 ) is provided. Roboter nach Anspruch 1, dadurch gekennzeichnet, dass eine Bedienschnittstelle ein Display (10) und mindestens eine Bedientaste (12) aufweist.Robot according to claim 1, characterized in that a user interface a display ( 10 ) and at least one control key ( 12 ) having. Verwendung eines haptisch geführten Roboters nach Anspruch 1 bei medizinischen Applikationen.Use of a haptic guided robot according to claim 1 in medical applications. Verwendung eines haptisch geführten Roboters nach Anspruch 1 in der minimal invasiven Chirurgie.Use of a haptic guided robot according to claim 1 in minimally invasive surgery.
DE102004054867.6A 2004-11-12 2004-11-12 Robot equipped with sensory intelligence Active DE102004054867B4 (en)

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Cited By (13)

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EP2080477A2 (en) * 2008-01-18 2009-07-22 Siemens Aktiengesellschaft Positioning device for positioning a patient, particle therapy assembly and method for operating a positioning device
WO2014005607A1 (en) * 2012-07-06 2014-01-09 Abb Technology Ag Robot-motion-input-device
WO2015078585A3 (en) * 2013-11-28 2015-07-23 gomtec GmbH Robot arm comprising an input module
DE102014107642A1 (en) * 2014-05-30 2015-12-03 Deutsches Zentrum für Luft- und Raumfahrt e.V. adapter device
CN106514709A (en) * 2015-09-09 2017-03-22 青岛通产智能机器人有限公司 Connection device for robot and operation terminal
DE102016210846A1 (en) 2016-03-24 2017-09-28 Deutsches Zentrum für Luft- und Raumfahrt e.V. robot arm
CN108025434A (en) * 2015-10-08 2018-05-11 卡斯坦宁堡有限公司 Robots arm with input element
EP3359349A1 (en) * 2015-10-08 2018-08-15 Sami Haddadin Robot system
US10258895B2 (en) 2016-09-13 2019-04-16 Universal City Studios Llc Systems and methods for incorporating pneumatic robotic systems into inflatable objects
DE202019004242U1 (en) 2018-10-19 2019-10-29 Kuka Deutschland Gmbh Robotic arm with an adjustable robot control panel
DE102018219268B3 (en) * 2018-11-12 2020-03-12 Kuka Deutschland Gmbh Robotic arm with a human-machine interface
US10653495B2 (en) 2016-09-09 2020-05-19 Mobius Imaging Llc Methods and systems for display of patient data in computer-assisted surgery
DE112017006658B4 (en) 2016-12-28 2022-03-24 Korea Institute Of Machinery & Materials Robot training device

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JP6882249B2 (en) 2018-11-29 2021-06-02 ファナック株式会社 Operation device for robots
DE102021125157A1 (en) 2021-09-28 2023-03-30 Deutsches Zentrum für Luft- und Raumfahrt e.V. User interface device, end effector, robot and method for controlling a user interface device, an end effector and/or a robot

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DE19537320A1 (en) 1995-10-06 1997-04-10 Deutsche Forsch Luft Raumfahrt System for operating hand operated unit pref. in invasive surgery or robotics
DE19653966C2 (en) 1996-12-21 1999-06-10 Juergen Dr Ing Wahrburg Device for positioning and guiding a surgical tool during orthopedic surgery
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Cited By (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008005069B4 (en) * 2008-01-18 2017-06-08 Siemens Healthcare Gmbh Positioning device for positioning a patient, particle therapy system and method for operating a positioning device
DE102008005069A1 (en) * 2008-01-18 2009-07-30 Siemens Aktiengesellschaft Positioning device for positioning a patient, particle therapy system and method for operating a positioning device
EP2080477A3 (en) * 2008-01-18 2009-12-16 Siemens Aktiengesellschaft Positioning device for positioning a patient, particle therapy assembly and method for operating a positioning device
US7875861B2 (en) 2008-01-18 2011-01-25 Siemens Aktiengesellschaft Positioning device for positioning a patient and method for operating a positioning device
EP2080477A2 (en) * 2008-01-18 2009-07-22 Siemens Aktiengesellschaft Positioning device for positioning a patient, particle therapy assembly and method for operating a positioning device
WO2014005607A1 (en) * 2012-07-06 2014-01-09 Abb Technology Ag Robot-motion-input-device
WO2015078585A3 (en) * 2013-11-28 2015-07-23 gomtec GmbH Robot arm comprising an input module
US10343277B2 (en) 2013-11-28 2019-07-09 Abb Schweiz Ag Robot arm comprising an input module
DE102014107642A1 (en) * 2014-05-30 2015-12-03 Deutsches Zentrum für Luft- und Raumfahrt e.V. adapter device
CN106514709A (en) * 2015-09-09 2017-03-22 青岛通产智能机器人有限公司 Connection device for robot and operation terminal
CN108025434A (en) * 2015-10-08 2018-05-11 卡斯坦宁堡有限公司 Robots arm with input element
EP3359349A1 (en) * 2015-10-08 2018-08-15 Sami Haddadin Robot system
CN108025434B (en) * 2015-10-08 2021-09-10 卡斯坦宁堡有限公司 Robot arm with input element
DE102016210846A1 (en) 2016-03-24 2017-09-28 Deutsches Zentrum für Luft- und Raumfahrt e.V. robot arm
DE102016210846B4 (en) 2016-03-24 2021-12-30 Deutsches Zentrum für Luft- und Raumfahrt e.V. Robotic arm
US11737850B2 (en) 2016-09-09 2023-08-29 Mobius Imaging Llc Methods and systems for display of patient data in computer-assisted surgery
US10653495B2 (en) 2016-09-09 2020-05-19 Mobius Imaging Llc Methods and systems for display of patient data in computer-assisted surgery
US11141237B2 (en) 2016-09-09 2021-10-12 Mobius Imaging Llc Methods and systems for display of patient data in computer-assisted surgery
US11229852B2 (en) 2016-09-13 2022-01-25 Universal City Studios Llc Systems and methods for incorporating pneumatic robotic systems into structures
US10335695B2 (en) 2016-09-13 2019-07-02 Universal City Studios Llc Systems and methods for incorporating pneumatic robotic systems into structures
US10668394B2 (en) 2016-09-13 2020-06-02 Universal City Studios Llc Systems and methods for incorporating pneumatic robotic systems into amusement park attractions
US10668393B2 (en) 2016-09-13 2020-06-02 Universal City Studios Llc Systems and methods for incorporating pneumatic robotic systems into inflatable objects
US10675547B2 (en) 2016-09-13 2020-06-09 Universal City Studios Llc Systems and methods for incorporating pneumatic robotic systems into structures
US10913005B2 (en) 2016-09-13 2021-02-09 Universal City Studios Llc Systems and methods for customizing amusement park attraction experiences using pneumatic robotic systems
US12042742B2 (en) 2016-09-13 2024-07-23 Universal City Studios Llc Systems and methods for incorporating pneumatic robotic systems into structures
US10456696B2 (en) 2016-09-13 2019-10-29 Universal City Studios Llc Systems and methods for customizing amusement park attraction experiences using pneumatic robotic systems
US10350504B2 (en) 2016-09-13 2019-07-16 Universal City Studios Llc Systems and methods for incorporating pneumatic robotic systems into amusement park attractions
US12005368B2 (en) 2016-09-13 2024-06-11 Universal City Studios Llc Systems and methods for incorporating pneumatic robotic systems into amusement park attractions
US11247138B2 (en) 2016-09-13 2022-02-15 Universal City Studios Llc Systems and methods for incorporating pneumatic robotic systems into amusement park attractions
US10258895B2 (en) 2016-09-13 2019-04-16 Universal City Studios Llc Systems and methods for incorporating pneumatic robotic systems into inflatable objects
US11691087B2 (en) 2016-09-13 2023-07-04 Universal City Studios Llc Systems and methods for incorporating pneumatic robotic systems into structures
US11697073B2 (en) 2016-09-13 2023-07-11 Universal City Studios Llc Systems and methods for incorporating pneumatic robotic systems into amusement park attractions
DE112017006658B4 (en) 2016-12-28 2022-03-24 Korea Institute Of Machinery & Materials Robot training device
DE202019004242U1 (en) 2018-10-19 2019-10-29 Kuka Deutschland Gmbh Robotic arm with an adjustable robot control panel
DE102018219268B3 (en) * 2018-11-12 2020-03-12 Kuka Deutschland Gmbh Robotic arm with a human-machine interface
US12090631B2 (en) 2018-11-12 2024-09-17 Kuka Deutschland Gmbh Robotic arm comprising a human-machine interface

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