The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jan. 19, 2021
Filed:
Sep. 28, 2018
Siemens Healthcare Gmbh, Erlangen, DE;
Peter Fischer, Erlangen, DE;
Philip Mewes, Nuremberg, DE;
Holger Mönnich, Friedberg, DE;
Gunter Müller, Heroldsberg, DE;
Siemens Healthcare GmbH, Erlangen, DE;
Abstract
A method is provided for controlling a robotic device, of which the end effector arranged on a kinematic chain interacts with an object, and including an ultrasound apparatus registered to the robotic device for movement capture of the object. Ultrasound image data of the object is captured. The relative movement of the object is determined on the basis of the ultrasound image data using a mathematical method. The absolute movement is determined through registration to a planning data set. Movements of the object are compensated for in the context of the interaction of the end effector of the robotic device with the object. Future movements of the object and a positioning of the end effector of the robotic device adapted thereto are predicted and the robotic device is controlled accordingly. In the calculation of the adapted positioning of the end effector of the robotic device, a temporal delay relative to the movement of the object is included.