A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.
B25J 3/04 - Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
B25J 5/00 - Manipulators mounted on wheels or on carriages
A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms are mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.
B25J 3/04 - Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
B25J 5/00 - Manipulators mounted on wheels or on carriages
A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.
B25J 3/04 - Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
B25J 5/00 - Manipulators mounted on wheels or on carriages
A legged robotic device is disclosed. The legged robotic device can include a plurality of support members coupled together for relative movement defining a plurality of degrees of freedom, which can correspond to degrees of freedom of a human leg. The legged robotic device can also include actuators to apply forces or torques to the support members in the degrees of freedom. In addition, the legged robotic device can include potential energy storage mechanisms associated with the degrees of freedom operable to store potential energy as a result of relative movement of the support members in the degrees of freedom and to provide at least a portion of the stored potential energy to the support members as compensating forces or torques to assist the actuators. In one aspect, elastic potential energy can be stored. A spring rate and/or a zero position of the potential energy storage mechanisms can be dynamically variable.
A61H 1/02 - Stretching or bending apparatus for exercising
A61H 3/00 - Appliances for aiding patients or disabled persons to walk about
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
An end effector for a robotic arm is disclosed. The end effector includes a grasping apparatus having a gripping member and an appendage extending from the gripping member forming a channel between the griping member and the appendage. The channel is configured to receive at least a portion of an article, such as a latch for a container, to be manipulated by the end effector.
A robotic mobile low-profile transport vehicle is disclosed. The vehicle can comprise a first transport module having a frame assembly, a mobility system, and a propulsion system and a second transport module having a frame assembly and a mobility system. A multi-degree of freedom coupling assemblage can join the first and second transport modules together. The vehicle can include a first platform supported about the frame assembly of the first transport module, and a second platform supported about the frame assembly of the second transport module. Each of the platforms can be configured to receive a load for transport. Additionally, the vehicle can include a control system that can operate to facilitate intra-module communication and coordination to provide a coordinated operating mode of the first and second transport modules and the coupling assemblage about a given terrain.
A micro-camera catheter device is disclosed having at least one light source disposed on a distal end of a catheter. The light source is capable of propagating a predetermined wavelength of light with a wavelength greater than approximately 700 nanometers onto a target. The device further includes a lens system disposed on the distal end of the catheter, said lens system configured to receive light reflected from the target. The device further includes a non-linear optical media disposed about the lens system configured to reduce the wavelength of light reflected from the target. The device also includes a silicon-based solid state imaging device disposed behind the non-linear optical media configured to receive light from the non-linear optical media.
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
A61B 1/05 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
A61B 1/06 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor with illuminating arrangements
A61B 5/05 - Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fieldsMeasuring using microwaves or radio waves
A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
A legged robotic device is disclosed. The legged robotic device can include a mechanism formed at least in part by a plurality of support members coupled together for relative movement defining a plurality of degrees of freedom, at least some of the plurality of degrees of freedom corresponding to degrees of freedom of a human leg. The legged robotic device can also include a primary drive actuator operable to apply a force or a torque to the support members in a first of the plurality of degrees of freedom. In addition, the legged robotic device can include a second actuator operable to apply a force or a torque to the support members in a second of the plurality of degrees of freedom. The mechanism can be configured to move in a gait-like motion that emulates human gait. The primary drive actuator can be sufficient to actuate the mechanism to move the mechanism in the gait-like motion. The mechanism can be dynamically modified by actuating the second actuator.
A legged robotic device is disclosed. The legged robotic device can include a plurality of support members coupled together for relative movement defining a plurality of degrees of freedom, which can correspond to degrees of freedom of a human leg. The legged robotic device can also include actuators to apply forces or torques to the support members in the degrees of freedom. In addition, the legged robotic device can include potential energy storage mechanisms associated with the degrees of freedom operable to store potential energy as a result of relative movement of the support members in the degrees of freedom and to provide at least a portion of the stored potential energy to the support members as compensating forces or torques to assist the actuators. In one aspect, elastic potential energy can be stored. A spring rate and/or a zero position of the potential energy storage mechanisms can be dynamically variable.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
10.
Rapidly modulated hydraulic supply for a robotic device
A rapidly modulated hydraulic supply is disclosed. The rapidly modulated hydraulic supply can include a chamber for receiving fluid. The rapidly modulated hydraulic supply can also include a displacement member operable to displace the fluid from the chamber. In addition, the rapidly modulated hydraulic supply can include a flow modulation system operable to vary the flow rate of the fluid output from the chamber. A first flow rate corresponds to a first output pressure, and is different from a second flow rate corresponding to a second output pressure for a like movement of the displacement member.
An exoskeleton is disclosed. The exoskeleton can include support members rotatably coupled together about a joint. The joint can define a degree of freedom, which can correspond to a degree of freedom of a human extremity, such as hip medial/lateral rotation, ankle medial/lateral rotation, shoulder medial/lateral rotation, or wrist pronation/supination rotation. One or more parasagittal planes through the human extremity can intersect the joint to minimize a gravity-induced moment on the first joint during operation of the exoskeleton.
Device coordinated robotic control technology is described. A network of robotic devices is established. An anthropomorphic motion is sensed from an operator. One or more signals are generated that are representative of at least a portion of the anthropomorphic motion. The one or more signals are converted into a collective set of commands to actuate the network of robotic devices. The collective set of commands is functionally equivalent to the anthropomorphic motion.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
A method for controlling a tele-operated robot agile lift system is disclosed. The method comprises manipulating a human-machine interface of a master robot located on a mobile platform. The human machine interface is kinematically equivalent to a user's arm with a plurality of support members. A position value and a torque value is measured for each support member. The position value and torque value are communicated to support members of a kinematically equivalent slave arm to position the support members to correspond with a position of the human-machine interface.
G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
B25J 3/04 - Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
B25J 5/00 - Manipulators mounted on wheels or on carriages
A probe for underground sensing of materials of interest, for example chemicals such as explosives, includes a probe body that is capable of being inserted into the ground, and one or more sensors that are able to sense one or more materials in the vicinity of at least a portion of the probe body. The sensor(s) may include a light source that directs light to the vicinity of the portion of the probe body, and a light detector, such as a photosensor or spectrometer, that detects reflected light from the material around the probe body. The reflected light may be analyzed to determine the presence of one or more materials of interest, such as chemicals used in explosive devices. The probe may be part of a vehicle used to detect and neutralize buried explosive devices, with the probe for example being on an articulable arm of the vehicle.
G01N 3/00 - Investigating strength properties of solid materials by application of mechanical stress
G01N 21/27 - ColourSpectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands using photo-electric detection
F41H 11/16 - Self-propelled mine-clearing vehiclesMine-clearing devices attachable to vehicles
G01N 21/85 - Investigating moving fluids or granular solids
15.
Serpentine robotic crawler for performing dexterous operations
A serpentine robotic crawler having multiple dexterous manipulators supported about multiple frame units. The frame units are connected via an articulating linkage at proximal ends wherein the articulating linkage is capable of positioning the frames into various configurations. Dexterous manipulators are coupled to distal ends of the frame units and are positionable via the articulating linkage and articulating joints therein into various positions about the frame ends. The configurations and positioning of the dexterous manipulators allows the robotic crawler to perform coordinated dexterous operations.
B25J 9/06 - Programme-controlled manipulators characterised by multi-articulated arms
B25J 5/00 - Manipulators mounted on wheels or on carriages
B25J 3/04 - Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
A catheter configured for imaging objects substantially in focus is described herein. An imaging device is disposed on the distal end of the catheter. The imaging device has an effective focal plane that is located in front of the imaging device. The catheter also includes a transparent focal instrument that has an outer periphery that is positioned at the effective focal plane of the imaging device, to enable objects in contact with the outer periphery of the transparent focal instrument to be imaged substantially in focus.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
A61B 1/05 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
A61B 1/015 - Control of fluid supply or evacuation
A rotary actuation mechanism comprising an actuator having a body, and a slider movable on a linear path relative to the body. A first linkage can be pivotally coupled to the body at a first pivot having a first axis. A second linkage can be pivotally coupled to the slider at a second pivot having a second axis, and pivotally coupled to the first linkage at a third pivot. A length of the first linkage between the first pivot and the third pivot can be equal to a length of the second linkage between the second pivot and the third pivot. The slider can be movable to position the second axis in a collinear relationship with the first axis. The rotary actuation mechanism can include an anti-singularity device to constrain movement of the body when the first axis and the second axis are in the collinear relationship.
F16H 21/00 - Gearings comprising primarily only links or levers, with or without slides
F16H 21/44 - Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for conveying or interconverting oscillating or reciprocating motions
F15B 15/06 - Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member for mechanically converting rectilinear movement into non-rectilinear movement
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
A robotic mobile low-profile transport vehicle is disclosed. The vehicle can comprise a first transport module having a frame assembly, a mobility system, and a propulsion system and a second transport module having a frame assembly and a mobility system. A multi-degree of freedom coupling assemblage can join the first and second transport modules together. The vehicle can include a first platform supported about the frame assembly of the first transport module, and a second platform supported about the frame assembly of the second transport module. Each of the platforms can be configured to receive a load for transport. Additionally, the vehicle can include a control system that can operate to facilitate intra-module communication and coordination to provide a coordinated operating mode of the first and second transport modules and the coupling assemblage about a given terrain.
A robotic crawler (100) having a non-dedicated smart control system (108) is disclosed. Such a crawler can include a first drive subsystem (102), a second drive subsystem (104), a multi-degree of freedom linkage subsystem (106) coupling the first and second drive subsystems, and a non-dedicated, smart control device removably supported about one of the first drive subsystem, the second drive subsystem, and the linkage subsystem. The smart control device is configured to initiate and control operational functionality within the robotic crawler upon being connected to the robotic crawler. The crawler can also include a communication subsystem (702, 802) functionally coupled between the smart control device and the serpentine robotic crawler, the communication subsystem facilitating control by the smart control device of at least one of the first drive subsystem, the second drive subsystem, and the linkage subsystem.
A hand control device for controlling a peripheral system is disclosed. The hand control device can include a handle configured to be grasped by a user. The handle can comprise a body portion to be supported against a palm of the user. The hand control device can also include a finger control supported about the handle and comprising a rotatable joint to facilitate control based on flexion/extension of an index finger of the user. In addition, the hand control device can include a thumb control supported about the handle and comprising first and second rotatable joints to facilitate control based on flexion/extension and abduction/adduction of a thumb of the user.
G05G 11/00 - Manually-actuated control mechanisms provided with two or more controlling members co-operating with one single controlled member
G05G 9/047 - Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
G05G 13/00 - Manually-actuated control mechanisms provided with two or more controlling members and also two or more controlled members
G06F 3/0338 - Pointing devices displaced or positioned by the userAccessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
An end effector for a robotic arm is disclosed. The end effector includes a grasping apparatus having a gripping member and an appendage extending from the gripping member forming a channel between the griping member and the appendage. The channel is configured to receive at least a portion of an article, such as a latch for a container, to be manipulated by the end effector.
Systems, devices, and methods for gathering data from a horse and rider and providing training to the rider are provided. In one aspect, for example, a method of training an equestrian rider can include performing a ride by an equestrian rider on a horse, and obtaining ride data from the ride, the ride data including video, inertial measurements, rider joint, head, torso, and/or limb information, horse joint, head, torso, and/or limb information, and at least one force measurement between the horse and the rider during the rider. The ride data can then be analyzed and at least one riding improvement to be made by the rider can be identified, and the at least one riding improvement to be made to the rider can be relayed to the rider to provide training for a subsequent ride.
A serpentine robotic crawler is disclosed. The robotic crawler can include a first frame having a first continuous track rotatably supported by the first frame, a second frame having a second continuous track rotatably supported by the second frame, and a linkage arm coupling the first and second frames together in tandem. The linkage arm can be movable about a first lateral axis associated with the first frame, a second lateral axis associated with the second frame, and at least two longitudinal axes. The longitudinal axes can be oriented by movement of the linkage arm about the first lateral axis and/or the second lateral axis. Movement about the first lateral axis and the second lateral axis can facilitate or provide exposure of leading and trailing ends of each continuous track.
A method for controlling a tele-operated robot agile lift system is disclosed. The method comprises manipulating a human-machine interface of a master robot located on a mobile platform. The human machine interface is kinematically equivalent to a user's arm with a plurality of support members. A position value and a torque value is measured for each support member. The position value and torque value are communicated to support members of a kinematically equivalent slave arm to position the support members to correspond with a position of the human-machine interface.
G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
B25J 5/00 - Manipulators mounted on wheels or on carriages
B25J 3/04 - Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.
B25J 3/00 - Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
B25J 3/04 - Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
B25J 5/00 - Manipulators mounted on wheels or on carriages
A controllable robotic arm system comprises a base unit and a moveable torso coupled to the base unit. The moveable torso is capable of moving in at least one degree of freedom independently of movement of the base unit. At least one robotic slave arm is moveably coupled to the torso. A master control system is operable to control the robotic slave arm and the moveable torso. The master control system includes an input interface by which a user can cause control signals to be communicated to the robotic slave arm and the moveable torso.
B66C 23/00 - Cranes comprising essentially a beam, boom or triangular structure acting as a cantilever and mounted for translatory or swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib cranes, derricks or tower cranes
B66C 1/04 - Load-engaging elements or devices attached to lifting, lowering, or hauling gear of cranes, or adapted for connection therewith for transmitting forces to articles or groups of articles by magnetic means
B66C 1/68 - Load-engaging elements or devices attached to lifting, lowering, or hauling gear of cranes, or adapted for connection therewith for transmitting forces to articles or groups of articles mounted on, or guided by, jibs
H01F 7/04 - Means for releasing the attractive force
B25J 5/00 - Manipulators mounted on wheels or on carriages
A method for compensating for a perturbation external to a platform having a plurality of mechanical arms in accordance with an embodiment of the technology includes detecting a normal positional and/or orientational measurement of the platform using a sensor. A perturbed positional and/or orientational measurement of the platform can also be detected using the sensor. The normal positional and/or orientational measurement and the perturbed positional and/or orientational measurement can be compared to determine a positional and/or orientational difference. A position and/or orientation of a mechanical arm can be adjusted to compensate for the perturbation based on the positional and/or orientational difference.
B25J 3/04 - Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
B25J 5/00 - Manipulators mounted on wheels or on carriages
A device and method for adjusting the magnetic strength of a magnetic end effector for lift systems is described. The magnetic end effector is capable of lifting discriminate payloads by selectively varying the strength of the magnetic forces output by the magnetic end effector. An actuator can be operatively coupled to the variable strength magnet end effector, wherein the actuator is selectively actuatable to control the adjustment of the variable strength magnet. The actuator may also be configured to maintain the variable strength magnet at a desired magnetic force output strength once achieved for any given amount of time.
B25B 11/00 - Work holders or positioners not covered by groups , e.g. magnetic work holders, vacuum work holders
B66C 1/04 - Load-engaging elements or devices attached to lifting, lowering, or hauling gear of cranes, or adapted for connection therewith for transmitting forces to articles or groups of articles by magnetic means
B25J 5/00 - Manipulators mounted on wheels or on carriages
B66C 1/68 - Load-engaging elements or devices attached to lifting, lowering, or hauling gear of cranes, or adapted for connection therewith for transmitting forces to articles or groups of articles mounted on, or guided by, jibs
An operator controllable robotic device is disclosed. The robotic device comprises a support member, an upper robotic arm, a lower robotic arm, and a control arm. The upper robotic arm is coupled to the support member and has rotational movement in at least one degree of freedom relative to the support member. The lower robotic arm is coupled to the upper robotic arm and has rotational movement in at least one degree of freedom relative to the upper robotic arm. The control arm allows an operator to control the robotic device. The control arm is coupled to the upper robotic arm and has rotational movement in at least one degree of freedom relative to the upper robotic arm. The control arm allows a movement of the operator to control a movement of at least one of the upper robotic arm and the lower robotic arm.
B25J 3/04 - Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
B25J 5/00 - Manipulators mounted on wheels or on carriages
A mini-scope for multi-directional imaging is disclosed. The mini-scope includes an elongated mini-scoped body. An emissions aperture is disposed on the distal end of the elongated mini-scope body, which can be configured to emit a beam of optical energy propagating through a flexible optical conductor. A selective mirror is also positioned at the distal end of the elongated mini-scope body and is configured to selectively pass or reflect the beam of optical energy based on the optical characteristics of the beam. A solid state imaging device is further disposed on the distal end of the elongated mini-scope body for imaging illumination reflected by an external object in response to the beam of optical energy. This illumination is directed to pass through or reflect from the selective mirror to the camera based on optical characteristics of the beam.
A light diffusing composition that optimizes image clarity from a SSID comprising a translucent matrix further comprising a plurality of hollow micro-particles. The plurality of hollow micro-particles are dispersed throughout the translucent matrix and a fluid is disposed within the hollow micro-particle. A refractive index of the fluid within the hollow micro-particle is different than a refractive index of the translucent matrix.
A61B 1/04 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor combined with photographic or television appliances
G02B 26/00 - Optical devices or arrangements for the control of light using movable or deformable optical elements
G02B 26/02 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the intensity of light
G02F 1/1335 - Structural association of cells with optical devices, e.g. polarisers or reflectors
A biomimetic mechanical joint for generating a variable torque between support members of a biomimetic robotic device, including a base support member, a rotary support member rotatably coupled to the base support member, and a variable-radius pulley operably coupled between the base support member and rotary support member. The variable-radius pulley comprises a sheave body having a variable radius and one or more tendon grooves formed in the circumferential outer surface. The mechanical joint further includes one or more flexible tendons and antagonistic actuator pairs, with each actuator pair being coupled to one or more tendons and configured to operate the tendon around the variable-radius pulley in either direction to create a variable torque between the base and rotary support members.
An amphibious robotic crawler for traversing a body of water having two frame units coupled end-to-end or in tandem by an actuated linkage arm. Each frame unit includes a housing with a drivable continuous track rotatably supported thereon. The frame units are operable with a power supply, a drive mechanism and a control module. Each frame unit further includes a buoyancy control element for suspending the frame unit in the water, and for controlling the depth of the robotic crawler within the water. The control module coordinates the rotation of the continuous tracks, the position of the linkage arm and the buoyancy of the buoyancy control elements to control movement, direction and pose of the robotic crawler through the body of water.
A method and system for gathering information from and setting up a surveillance network within an earth-surface environment that includes inserting one or more mobile robotic devices having a sensing subsystem, a communications subsystem, and a navigation subsystem into an earth-surface environment. The mobile robotic device may be configured into a traveling pose selected from a plurality of available traveling poses, and directed using the navigation subsystem to a sensing location within the earth-surface environment. The environment may be monitored and sensed information collected may be stored or communicated to a remote location. The mobile robotic device may be configured to operate with a vehicle carrier to facilitate insertion and deployment of the robotic vehicle into the earth-surface environment.
A serpentine robotic crawler capable of multiple movement moves is disclosed. The serpentine robotic crawler includes a plurality of frame units, coupled together by at least one actuated linkage. Each frame unit includes a continuous track, enabling forward movement of the serpentine robotic crawler. The at least one actuated linkage has at least 7 degrees of movement freedom, enabling the serpentine robotic crawler to adopt a variety of poses.
A suspension system for a lightweight robotic crawler is disclosed. The suspension system provides for mounting of a flexible endless track thereon. The suspension system includes a forward guide and a rearward guide around which the endless track can be looped. A deflector positioned between the forward guide and the rearward guide downwardly deflects a ground-engaging portion of the endless track to form a peaked area. The peaked area can support the lightweight robotic vehicle allowing alteration of a distribution of load over the ground-engaging portion of the endless track with respect to a supporting surface.
A method of imaging a target using a miniaturized imaging device is disclosed comprising providing a miniaturized imaging device having a stationary lens system and an imaging array, wherein the distance from a distal end of the stationary lens system to the imaging array is fixed. The miniaturized imaging device is advanced near the desired target and a distance from a distal end of the stationary lens system to the desired target is determined. A desired wavelength of light is calculated based on the determined distance from the distal end of the stationary lens system to the desired target and the desired wavelength of light is propagated onto the target.
A remote operator console provides point and go navigation of a robotic vehicle. The remote operator console provides a display for visual representation of the environment in which the robotic vehicle is operating based on sensor information received from the robotic vehicle. An operator may designate a target point on the display. The robotic vehicle is automatically navigated toward a location in the environment corresponding to the designated target point.
A micro-camera catheter device is disclosed comprising at least one light source disposed on a distal end of a catheter. The light source is capable of propagating a predetermined wavelength of light with a wavelength between approximately 1000 nanometers and approximately 2000 nanometers onto a target. The device further comprises a lens system disposed on the distal end of the catheter, said lens system configured to receive light reflected from the target. The device further comprises a non-linear optical media disposed behind the lens system configured to modify the light reflected from the target. The device also comprises a silicon-based solid state imaging device disposed behind the non-linear optical media configured to receive light from the non-linear optical media.
A61B 1/05 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
A61B 1/06 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor with illuminating arrangements
A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
40.
Transparent endoscope head defining a focal length
A catheter configured for imaging objects substantially in focus is described herein. An imaging device is disposed on the distal end of the catheter. The imaging device has an effective focal plane that is located in front of the imaging device. The catheter also includes a transparent focal instrument that has an outer periphery that is positioned at the effective focal plane of the imaging device, to enable objects in contact with the outer periphery of the transparent focal instrument to be imaged substantially in focus.
A61B 1/04 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor combined with photographic or television appliances
A robot displacement device for use with a robotic frame shaped to approximate and be coupleable to at least a portion of the human body and configured to mimic movement of the human body. The device employs a plurality of force sensors which are attached to the robotic frame which detect a baseline controlling interface force status relationship between the sensors and the extremities of the human operator. Based on the output force signal from the sensors and the force and direction of gravity relative to the robotic frame, the computation system calculates at least a rotational force required to maintain the controlling force status relationship. That system then generates and transmits an actuation signal to a drive system attached to the robotic frame which displaces a portion of the robotic frame in order to maintain the controlling force status relationship.
A device for magnifying an object comprising an SSID having at least one imaging array disposed on a distal end thereof. The device further comprises a first optical element disposed on the distal end of the SSID wherein the first optical element has a distal end and a proximal end defining a first longitudinal length. A GRIN lens is disposed on the distal end of the first optical element and a second optical element is disposed on the distal end of the GRIN lens defining a second longitudinal length. The first longitudinal length and the second longitudinal length are configured such that when viewing the object at a predetermined wavelength of light, the object is magnified at a predetermined level of magnification and the focal plane of the magnified object is aligned at the proximal end of the first optical element.
A modular robotic crawler can be formed by intercoupling a selected plurality of segment modules from a preexisting collection of differing compatible segment modules. The segment modules can have at least one intercoupleable interface. The selection can be based on a planned operational scenario of functions to be performed.
B62D 55/04 - Endless-track vehicles with tracks and alternative ground wheels, e.g. changeable from endless-track vehicle into wheeled vehicle and vice versa
G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
A mini-scope for multi-directional imaging is disclosed. The mini-scope includes an elongated mini-scoped body. An emissions aperture is disposed on the distal end of the elongated mini-scope body, which can be configured to emit a beam of optical energy propagating through a flexible optical conductor. A selective mirror is also positioned at the distal end of the elongated mini-scope body and is configured to selectively pass or reflect the beam of optical energy based on the optical characteristics of the beam. A SSID is further disposed on the distal end of the elongated mini-scope body for imaging illumination reflected by an external object in response to the beam of optical energy. This illumination is directed to pass through or reflect from the selective mirror to the camera based on optical characteristics of the beam.
A suspension system for a lightweight robotic crawler is disclosed. The suspension system provides for mounting of a flexible endless track thereon. The suspension system includes a forward guide and a rearward guide around which the endless track can be looped. A deflector positioned between the forward guide and the rearward guide downwardly deflects a ground-engaging portion of the endless track to form a peaked area. The peaked area can support the lightweight robotic vehicle allowing alteration of a distribution of load over the ground-engaging portion of the endless track with respect to a supporting surface.
A serpentine robotic crawler capable of multiple movement moves is disclosed. The serpentine robotic crawler includes a plurality of frame units, coupled together by at least one actuated linkage. Each frame unit includes a continuous track, enabling forward movement of the serpentine robotic crawler. The at least one actuated linkage has at least 7 degrees of movement freedom, enabling the serpentine robotic crawler to adopt a variety of poses.
A tracked robotic crawler capable of multiple movement moves is disclosed. In one embodiment, the tracked robotic crawler includes at least one frame unit, the frame unit having a continuous track rotatably coupled thereto. Disposed on the at least one frame unit is at least one articulated arm, the arm being movable relative to the frame unit in at least one dimension. The articulated arm helps to improve mobility of the tracked robotic crawler in various environments.
The present invention is drawn toward miniaturized imaging devices. In one embodiment, the device can include a utility guide having at least one aperture configured for supporting utilities, and an SSID carried by the utility guide. The SSID can include an imaging array on a top surface, and a conductive element on a side surface, wherein the imaging array is electrically coupled to the conductive element. Further, a lens can be optically coupled to the imaging array, and an umbilical, including a conductive line, can be carried by the at least one aperture. The conductive line can be electrically coupled to the conductive element on the side surface of the SSID. Alternatively, the device can include an SSID having, as an integral structure, an imaging array electrically coupled to a conductive pad, wherein the SSID further includes at least one utility aperture passing therethrough. Further, a lens can be optically coupled to the imaging array, and an umbilical, including a conductive line carried by the at least one aperture, can be configured such that the conductive line is directly electrically coupled to the conductive pad.
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