FR3067957B1 - Dispositif de gestion des deplacements d'un robot et robot de soin associe - Google Patents

Dispositif de gestion des deplacements d'un robot et robot de soin associe Download PDF

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Publication number
FR3067957B1
FR3067957B1 FR1755812A FR1755812A FR3067957B1 FR 3067957 B1 FR3067957 B1 FR 3067957B1 FR 1755812 A FR1755812 A FR 1755812A FR 1755812 A FR1755812 A FR 1755812A FR 3067957 B1 FR3067957 B1 FR 3067957B1
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FR
France
Prior art keywords
robot
movements
managing
treated
dimensional representation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR1755812A
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English (en)
Other versions
FR3067957A1 (fr
Inventor
Francois Eyssautier
Guillaume Gibert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Capsix
Original Assignee
Capsix
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to FR1755812A priority Critical patent/FR3067957B1/fr
Application filed by Capsix filed Critical Capsix
Priority to KR1020207002557A priority patent/KR102500626B1/ko
Priority to PCT/EP2018/066672 priority patent/WO2019002104A1/fr
Priority to EP18731147.7A priority patent/EP3645218A1/fr
Priority to SG11201912547UA priority patent/SG11201912547UA/en
Priority to US16/625,704 priority patent/US11338443B2/en
Priority to CN201880042150.5A priority patent/CN110785269B/zh
Priority to JP2020520716A priority patent/JP7097956B2/ja
Priority to CA3067555A priority patent/CA3067555A1/fr
Publication of FR3067957A1 publication Critical patent/FR3067957A1/fr
Application granted granted Critical
Publication of FR3067957B1 publication Critical patent/FR3067957B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0062—Arrangements for scanning
    • A61B5/0064—Body surface scanning
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1077—Measuring of profiles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F7/00—Heating or cooling appliances for medical or therapeutic treatment of the human body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H9/00—Pneumatic or hydraulic massage
    • A61H9/005—Pneumatic massage
    • A61H9/0057—Suction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/85—Contour of the body
    • A61H2230/855—Contour of the body used as a control parameter for the apparatus
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37205—Compare measured, vision data with computer model, cad data
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37208—Vision, visual inspection of workpiece
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45084—Service robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Biophysics (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Pathology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Epidemiology (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • General Physics & Mathematics (AREA)
  • Software Systems (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Dentistry (AREA)
  • Radiology & Medical Imaging (AREA)
  • Vascular Medicine (AREA)
  • Manipulator (AREA)
  • Image Processing (AREA)
  • Percussion Or Vibration Massage (AREA)
  • Massaging Devices (AREA)

Abstract

L'invention concerne un dispositif de gestion des déplacements d'un robot, ledit dispositif comportant : - des moyens d'acquisition (14) d'une représentation en trois dimensions (Re) d'une surface à traiter ; et - des moyens de détermination d'une séquence de déplacements (Tx) en fonction de ladite représentation en trois dimensions (Re) de ladite surface à traiter ; - lesdits moyens de détermination intégrant au moins un modèle générique (m1-m3) en trois dimensions pour lequel au moins une séquence de déplacements (Tx) est connue ; - ledit dispositif comportant des moyens d'adaptation (18, 23) dudit modèle générique (m1-m3) avec ladite représentation en trois dimensions (Re) de ladite surface à traiter aptes à déformer ledit modèle générique (m1-m3) et ladite au moins une séquence de déplacements (Tx) connues pour correspondre à ladite représentation en trois dimensions (Re) de ladite surface à traiter.
FR1755812A 2017-06-26 2017-06-26 Dispositif de gestion des deplacements d'un robot et robot de soin associe Active FR3067957B1 (fr)

Priority Applications (9)

Application Number Priority Date Filing Date Title
FR1755812A FR3067957B1 (fr) 2017-06-26 2017-06-26 Dispositif de gestion des deplacements d'un robot et robot de soin associe
PCT/EP2018/066672 WO2019002104A1 (fr) 2017-06-26 2018-06-21 Dispositif de gestion des deplacements d'un robot et robot de soin associe
EP18731147.7A EP3645218A1 (fr) 2017-06-26 2018-06-21 Dispositif de gestion des deplacements d'un robot et robot de soin associe
SG11201912547UA SG11201912547UA (en) 2017-06-26 2018-06-21 Device for managing the movements of a robot, and associated treatment robot
KR1020207002557A KR102500626B1 (ko) 2017-06-26 2018-06-21 로봇의 움직임을 제어하기 위한 장치 및 이에 관련된 치료 로봇
US16/625,704 US11338443B2 (en) 2017-06-26 2018-06-21 Device for managing the movements of a robot, and associated treatment robot
CN201880042150.5A CN110785269B (zh) 2017-06-26 2018-06-21 用于管理机器人和相关治疗机器人的运动的设备
JP2020520716A JP7097956B2 (ja) 2017-06-26 2018-06-21 ロボットの移動を管理するための装置、及び関連する処理ロボット
CA3067555A CA3067555A1 (fr) 2017-06-26 2018-06-21 Dispositif de gestion des deplacements d'un robot et robot de soin associe

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1755812A FR3067957B1 (fr) 2017-06-26 2017-06-26 Dispositif de gestion des deplacements d'un robot et robot de soin associe
FR1755812 2017-06-26

Publications (2)

Publication Number Publication Date
FR3067957A1 FR3067957A1 (fr) 2018-12-28
FR3067957B1 true FR3067957B1 (fr) 2020-10-23

Family

ID=59521126

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1755812A Active FR3067957B1 (fr) 2017-06-26 2017-06-26 Dispositif de gestion des deplacements d'un robot et robot de soin associe

Country Status (9)

Country Link
US (1) US11338443B2 (fr)
EP (1) EP3645218A1 (fr)
JP (1) JP7097956B2 (fr)
KR (1) KR102500626B1 (fr)
CN (1) CN110785269B (fr)
CA (1) CA3067555A1 (fr)
FR (1) FR3067957B1 (fr)
SG (1) SG11201912547UA (fr)
WO (1) WO2019002104A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3141853A1 (fr) 2022-11-14 2024-05-17 Capsix Effecteur de massage

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3104054B1 (fr) * 2019-12-10 2022-03-25 Capsix Dispositif de definition d’une sequence de deplacements sur un modele generique
USD1009283S1 (en) 2020-04-22 2023-12-26 Aescape, Inc. Therapy end effector
US11999061B2 (en) 2020-05-12 2024-06-04 Aescape, Inc. Method and system for autonomous object manipulation
WO2021231663A2 (fr) 2020-05-12 2021-11-18 Aescape, Inc. Procédé et système d'interaction d'objet autonome
US11858144B2 (en) 2020-05-12 2024-01-02 Aescape, Inc. Method and system for autonomous body interaction
CN111571611B (zh) * 2020-05-26 2021-09-21 广州纳丽生物科技有限公司 一种基于面部及皮肤特征的面部作业机器人轨迹规划方法
FR3127428A1 (fr) * 2021-09-30 2023-03-31 Exel Industries Procede de peinture d’une piece comprenant la generation d’une trajectoire adaptee a la piece reelle
US12083050B1 (en) 2023-09-06 2024-09-10 Aescape, Inc. Adjustable table system

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3141853A1 (fr) 2022-11-14 2024-05-17 Capsix Effecteur de massage
WO2024104943A1 (fr) 2022-11-14 2024-05-23 Capsix Effecteur de massage

Also Published As

Publication number Publication date
JP7097956B2 (ja) 2022-07-08
KR20200023646A (ko) 2020-03-05
EP3645218A1 (fr) 2020-05-06
US11338443B2 (en) 2022-05-24
FR3067957A1 (fr) 2018-12-28
CA3067555A1 (fr) 2019-01-03
CN110785269B (zh) 2023-04-07
CN110785269A (zh) 2020-02-11
US20210154852A1 (en) 2021-05-27
SG11201912547UA (en) 2020-01-30
WO2019002104A1 (fr) 2019-01-03
JP2020525306A (ja) 2020-08-27
KR102500626B1 (ko) 2023-02-15

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