A number of improvements are provided relating to computer aided surgery utilizing an on tool tracking system. The various improvements relate generally to both the methods used during computer aided surgery and the devices used during such procedures. Other improvements relate to the structure of the tools used during a procedure and how the tools can be controlled using the OTT device. Still other improvements relate to methods of providing feedback during a procedure to improve either the efficiency or quality, or both, for a procedure including the rate of and type of data processed depending upon a CAS mode.

On-board tool tracking system and methods of computer assisted surgery

A number of improvements are provided relating to computer aided surgery. The improvement relates to both the methods used during computer aided surgery and the devices used during such procedures. Some of the improvement relate to controlling the selection of which data to display during a procedure and/or how the data is displayed to aid the surgeon. Other improvements relate to the structure of the tools used during a procedure and how the tools can be controlled automatically to improve the efficiency of the procedure. Still other improvements relate to methods of providing feedback during a procedure to improve either the efficiency or quality, or both, for a procedure.

Method and apparatus for computer aided surgery

A method in an industrial robot for increasing the accuracy in the movements of the robot, where a tool supported by the robot is brought to adopt a plurality of positions generated by the control system, which are each determined by a measuring system, whereby a deviation between the generated position and the position determined by the measuring system is introduced as a correction in the control system for adjusting the movement. The generated positions and the positions determined by the measuring system, respectively, are adapted to form a first path an a second path, respectively, whereby the correction is determined by a path deviation between geometrically calculated positions in the respective path.

Pathcorrection for an industrial robot

A robot control system for repositioning work points used by the robot control system at which operations occur. The work points are retrieved from the robot controller memory and plotted onto a video display for the operator to view. The operator then designates and selects a work point or work points which are to be repositioned. Using a mouse or other type of cursor control, the operator can then manipulate on the video display the points associated with the work points. After the operator has adjusted the position of the points, in the robot coordinate system, the revised points are then stored in the robot controller memory and used thereafter when positioning the robot.

Apparatus and method for adjusting robot positioning

A method of generating a robotic process plan for performing a process on a work structure includes a step of receiving input identifying a template corresponding to a plurality of geometric features of the work structure, each geometric feature associated with one or more robotic process elements. The method further includes a step of receiving input associating work structure data with the identified template. The method also includes a step of generating the robotic process plan based on the associated work structure data and the robotic process elements associate with the template.

Robotic process planning method and apparatus using templates

This invention is a real-time tracking controller for a standard-path robot that detects a target point in advance, permitting higher-speed work. The robot uses both sensed data and previously taught data to accurately execute its task. Accurate control is obtained using target points corresponding to time intervals. Thus, even if the speed or path is changed during operation, accurate tracing is continuously executed.

O Toyota Jidosha K.K. Ishiguro

Papers

Real-time robot control system tracking based on a standard path