A robot system for use in surgical procedures has two movable arms each carried on a wheeled base with each arm having a six of degrees of freedom of movement and an end effector which can be rolled about its axis and an actuator which can slide along the axis for operating different tools adapted to be supported by the effector. Each end effector including optical force sensors for detecting forces applied to the tool by engagement with the part of the patient. A microscope is located at a position for viewing the part of the patient. The position of the tool tip can be digitized relative to fiducial markers visible in an MRI experiment. The workstation and control system has a pair of hand-controllers simultaneously manipulated by an operator to control movement of a respective one or both of the arms. The image from the microscope is displayed on a monitor in 2D and stereoscopically on a microscope viewer. A second MRI display shows an image of the part of the patient the real-time location of the tool. The robot is MRI compatible and can be configured to operate within a closed magnet bore. The arms are driven about vertical and horizontal axes by piezoelectric motors.

Microsurgical robot system

Provided is a fully automated web service with location based services generally involved in transmission of situational location dependent information to automatically located mobile receiving data processing systems. The web service communicates with a receiving data processing system in a manner by delivering information to the device when appropriate without the device requesting it at the time of delivery. There are varieties of configurations made by different user types of the web service for configuring information to be delivered, and for receiving the information. The web service maximizes anonymity of users, provides granular privacy control with a default of complete privacy, and supports user configurable privileges and features for desired web service behavior and interoperability. The web service is fully automated to eliminate human resources required to operate services. Integrated with the web service are enhanced location based services providing map solutions, alerts, sharing of novel services between users, and complete user control for managing heterogeneous device interoperability through the web service.

System and method for anonymous location based services

Systems and methods for positioning and navigating an autonomous vehicle (102,310) allow the vehicle (102,310) to travel between locations. A first position estimate (112) of the vehicle (102,310) is derived from satellites (132-170,200-206) of a global positioning system (100A) and/or a pseudolite(s) (105). The pseudolite(s) (105) may be used exclusively when the satellites (132-170,200-206) are not in view of the vehicle (102,310). A second position estimate (114) is derived from an inertial reference unit (904) and/or a vehicle odometer (902). The first and second position estimates are combined and filtered to derive a third position estimate (118). Navigation of the vehicle (102,310) is obtained using the position information (414), obstacle detection and avoidance data (416), and on board vehicle data (908,910).

Integrated vehicle positioning and navigation system, apparatus and method

Methods and apparatus are provided for driving a vehicle from a remote control station achieving tele-operation of the vehicle. A television sensor mounted on the vehicle provides video image information which is reduced in bandwidth by a factor of approximately 1000:1 for transmission by narrow band RF data link to a remote control station. The large bandwidth reduction is accomplished by first sampling the video output of the sensor at a reduced frame rate and then compressing the data further by standard data compression techniques. Vehicle position and attitude data which may be derived from the vehicle's on board inertial reference unit are also transmitted via narrow band data link to the control station. At the control station, the data is first reconstructed by a technique which is the complement of the compression technique, and the instantaneous position and attitude data are used to compute transform coefficients that are used by a pipeline processor to extrapolate the frame data to generate a real time video display that enables an operator to drive the vehicle by transmitting appropriate control signals to the vehicle.

Human engineered remote driving system

A sensing unit, such as a camera, or the like, senses the conditions of articles and mobile existences, including humans, in a life space, such as a house of a household, or the like. An article management/operation server manages, on an article database, attribute information of the articles, which include operators, etc., according to the information from the sensing unit. The server receives a user's instruction input through a console unit and refers to the article database to convert this instruction to a control command, which is then transmitted to a life-support robot.

Article handling system and method and article management system and method

A vision system provides an apparatus and method for obtaining an image of a manufacturing apparatus that is electrically controllable. A gray scale image of the manufacturing apparatus is obtained and is used to generate control commands that control the manufacturing apparatus.

Modular, vision system for automation of inspection and process control

A vision navigation system for a mobile robot 21. The mobile robot has a plurality of light beacons 3, 5, 7 mounted on it to identify its location to fixed overhead television cameras 1 having a predefined viewing area. Navigation commands are generated by finding present robot location and transmitting new coordinates via the beacons which are used both for communicating with a master station and to locate the mobile apparatus. There are a minimum of three navigation beacons which are arranged in a tnangular pattern to enable robot direction to be determined, even when some beacons are obstructed from view of overhead cameras. The television system uses a gray scale image and has a video bus that transmits the actual pixel value synchronized with a pixel clock.

Vision navigation system for free-roaming mobile robots

A vision system provides an apparatus and method for obtaining an image of a manufacturing apparatus that is electrically controllable. The vision system has a video bus that transmits the actual pixel value synchronized with a pixel clock, frame and line strobes which are used to synchronized each unit of the vision system, a field index bit, and provision for a pixel valid bit are included. A gray scale image of the manufacturing apparatus is obtained and is used to generate control commands that control the manufacturing apparatus.

Robert B. Terrell

Papers

Modular, vision system for automation of inspection and process control

Vision navigation system for free-roaming mobile robots

Video bus for a vision system