SG11201912547UA - Device for managing the movements of a robot, and associated treatment robot - Google Patents

Device for managing the movements of a robot, and associated treatment robot

Info

Publication number
SG11201912547UA
SG11201912547UA SG11201912547UA SG11201912547UA SG11201912547UA SG 11201912547U A SG11201912547U A SG 11201912547UA SG 11201912547U A SG11201912547U A SG 11201912547UA SG 11201912547U A SG11201912547U A SG 11201912547UA SG 11201912547U A SG11201912547U A SG 11201912547UA
Authority
SG
Singapore
Prior art keywords
robot
movements
managing
associated treatment
treatment robot
Prior art date
Application number
SG11201912547UA
Other languages
English (en)
Inventor
François Eyssautier
Guillaume Gibert
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
Application filed by Capsix filed Critical Capsix
Publication of SG11201912547UA publication Critical patent/SG11201912547UA/en

Links

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)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Epidemiology (AREA)
  • Rehabilitation Therapy (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Pain & Pain Management (AREA)
  • Surgery (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
  • Manufacturing & Machinery (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Vascular Medicine (AREA)
  • Manipulator (AREA)
  • Image Processing (AREA)
  • Percussion Or Vibration Massage (AREA)
  • Massaging Devices (AREA)
SG11201912547UA 2017-06-26 2018-06-21 Device for managing the movements of a robot, and associated treatment robot SG11201912547UA (en)

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
PCT/EP2018/066672 WO2019002104A1 (fr) 2017-06-26 2018-06-21 Dispositif de gestion des deplacements d'un robot et robot de soin associe

Publications (1)

Publication Number Publication Date
SG11201912547UA true SG11201912547UA (en) 2020-01-30

Family

ID=59521126

Family Applications (1)

Application Number Title Priority Date Filing Date
SG11201912547UA SG11201912547UA (en) 2017-06-26 2018-06-21 Device for managing the movements of a robot, and associated treatment robot

Country Status (9)

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

Families Citing this family (6)

* 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
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
FR3141853A1 (fr) 2022-11-14 2024-05-17 Capsix Effecteur de massage

Family Cites Families (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02148307A (ja) 1988-11-30 1990-06-07 Kobe Steel Ltd 工業用ロボットの教示データ作成装置
US5083552A (en) * 1990-06-05 1992-01-28 Harvey Lipowitz Computer controlled massage device
JP3670700B2 (ja) * 1994-04-27 2005-07-13 株式会社日立製作所 ロボット機構制御方法
JPH10128684A (ja) 1996-10-30 1998-05-19 Asahi Sanac Kk ロボットの動作プログラム作成方法及びその作成装置
US6267737B1 (en) * 1997-05-15 2001-07-31 Algis A. Meilus Robotic system for lengthening muscles and method of use
IL133551A0 (en) * 1999-12-16 2001-04-30 Nissim Elias Human touch massager
JP2001246582A (ja) 2000-02-29 2001-09-11 Mitsubishi Heavy Ind Ltd 作業用ロボット装置
SE524818C2 (sv) 2003-02-13 2004-10-05 Abb Ab En metod och ett system för att programmera en industrirobot att förflytta sig relativt definierade positioner på ett objekt
US20050089213A1 (en) * 2003-10-23 2005-04-28 Geng Z. J. Method and apparatus for three-dimensional modeling via an image mosaic system
JP2005138223A (ja) 2003-11-06 2005-06-02 Fanuc Ltd ロボット用位置データ修正装置
FR2875043B1 (fr) * 2004-09-06 2007-02-09 Innothera Sa Lab Dispositif pour etablir une representation tridimensionnelle complete d'un membre d'un patient a partir d'un nombre reduit de mesures prises sur ce membre
DE102006005958A1 (de) * 2006-02-08 2007-08-16 Kuka Roboter Gmbh Verfahren zum Erzeugen eines Umgebungsbildes
CN100517060C (zh) * 2006-06-01 2009-07-22 高宏 一种三维人像摄影方法
US8578579B2 (en) * 2007-12-11 2013-11-12 General Electric Company System and method for adaptive machining
US8918211B2 (en) * 2010-02-12 2014-12-23 Intuitive Surgical Operations, Inc. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
CN101751689B (zh) * 2009-09-28 2012-02-22 中国科学院自动化研究所 一种三维人脸重建方法
EP2965159B1 (en) * 2013-03-05 2020-05-06 Rolls-Royce Corporation Adaptively machining component surfaces and hole drilling
SG10201402803RA (en) * 2014-06-02 2016-01-28 Yizhong Zhang A mobile automatic massage apparatus
KR20160033325A (ko) * 2014-09-17 2016-03-28 전자부품연구원 로봇암으로 제어되는 의료용 레이저 장치
WO2016090093A1 (en) * 2014-12-04 2016-06-09 Shin James System and method for producing clinical models and prostheses
JP6497953B2 (ja) 2015-02-03 2019-04-10 キヤノン株式会社 オフライン教示装置、オフライン教示方法及びロボットシステム
US20170266077A1 (en) * 2016-03-21 2017-09-21 Christian Campbell Mackin Robotic massage machine and method of use
CN106407930A (zh) * 2016-09-18 2017-02-15 长沙军鸽软件有限公司 一种按摩机器人的服务方法

Also Published As

Publication number Publication date
FR3067957A1 (fr) 2018-12-28
JP7097956B2 (ja) 2022-07-08
JP2020525306A (ja) 2020-08-27
EP3645218A1 (fr) 2020-05-06
CN110785269B (zh) 2023-04-07
CA3067555A1 (fr) 2019-01-03
WO2019002104A1 (fr) 2019-01-03
FR3067957B1 (fr) 2020-10-23
US11338443B2 (en) 2022-05-24
KR102500626B1 (ko) 2023-02-15
KR20200023646A (ko) 2020-03-05
CN110785269A (zh) 2020-02-11
US20210154852A1 (en) 2021-05-27

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