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:
Nov. 26, 2024
Filed:
Nov. 16, 2020
University of Maryland, College Park, College Park, MD (US);
The Johns Hopkins University, Baltimore, MD (US);
Children's National Medical Center, Washington, DC (US);
Hamed Saeidi, College Park, MD (US);
Axel Krieger, Alexandria, VA (US);
Simon Leonard, State College, PA (US);
Justin Opfermann, Washington, DC (US);
Michael Kam, Greenbelt, MD (US);
UNIVERSITY OF MARYLAND, COLLEGE PARK, College Park, MD (US);
THE JOHNS HOPKINS UNIVERSITY, Baltimore, MD (US);
CHILDREN'S NATIONAL MEDICAL CENTER, Washington, DC (US);
Abstract
The present disclosure provides a system and method for controlling an articulating member including a tool. The system may include a dual camera system that captures near-infrared (NIR) images and point cloud images of a tissue or other substance that includes NIR markers. The system may generate a three-dimensional (3D) path based on identified positions of the NIR markers, may filter the generated path, and may generate a 3D trajectory for controlling the articulated arm of a robot having a tool to create an incision along the filtered path. In a shared control mode, an operator may generate manually control commands for the robot to guide the tool along such a path, while automated control commands are generated in parallel. One or more allocation functions may be calculated based on calculated manual and automated error models, and shared control signals may be generated based on the allocation functions.