Claims
- 1. A method for manipulating a surgical instrument in an operating room by a robotic device, comprising the steps of:
initiating a search for the instrument; identifying the instrument by a characteristic feature; determining the location of the instrument; picking up the instrument; moving the instrument from a first location to a second location; and releasing the instrument, wherein each step is performed by the robotic device.
- 2. The method of claim 1, wherein the search is in response to a human command.
- 3. The method of claim 1, wherein the search is in response to a human command made by voice and received by a voice recognition system.
- 4. The method of claim 1, wherein the search is initiated by artificial intelligence.
- 5. The method of claim 1, wherein the search is initiated autonomously by the robot.
- 6. The method of claim 1, wherein the identifying is done by size.
- 7. The method of claim 1, wherein the identifying is done by color.
- 8. The method of claim 1, wherein the identifying is done by aspect ratio.
- 9. The method of claim 1, wherein the identifying is done by bar coding.
- 10. The method of claim 1, wherein the picking up is done by using a electromagnet.
- 11. The method of claim 1, wherein the picking up is done by an electromagnet that can be controlled by the robot to turn off at the appropriate time to release the instrument to the surgeon.
- 12. The method of claim 1, wherein the picking up is done by use of suction.
- 13. A method for moving an arm of a robot comprising the steps of:
modeling the arm of the robot to create a model comprising elements of finite mass joined by junctions; using an algorithm to calculate results of the effect of applying force to the elements of the model; using attractive, repulsive and postural forces in the algorithm, and using the results to define a path for the arm of the robot.
- 14. The method of claim 13, wherein the calculation of results is done incrementally.
- 15. A device for manipulating a surgical instrument in an operating room which is capable of responding to a request for a surgical instrument, identifying a surgical instrument using machine vision, picking up a surgical instrument, moving a surgical instrument, and releasing a surgical instrument.
- 16. The device of claim 10, wherein the request is made by sound.
- 17. The device of claim 10, wherein the request is made by a human being.
- 18. The device of claim 10, wherein the request is made by artificial intelligence.
- 19. The device of claim 10, wherein the identifying is by means of size.
- 20. The device of claim 10, wherein the identifying is by means of color.
- 21. The device of claim 10, wherein the picking up is by means of magnetic forces.
- 22. The device of claim 10, wherein the picking up is by means of a magnet applied to the center of mass of the surgical instrument.
- 23. The device of claim 10, wherein the request is made using the voice of a human being and the identifying is by means of color.
- 24. The device of claim 10, wherein the request is made using the voice of a human being and the picking up is by means of magnetic forces.
- 25. The device of claim 10, wherein the request is by artificial intelligence and the picking up is by means of magnetic forces.
- 26. A device comprising an arm for manipulating a specified object which device is capable of picking up the object in response to a spoken word or words and which picks up the object utilizing the arm, wherein the arm moves by means of instructions created by an algorithm wherein calculations are made based upon the analysis of application of attractive, repulsive, and postural theoretical forces to components of a model, said components comprising elements of finite mass joined by junctions.
- 27. The device of claim 26, wherein the specified object is picked up at, or approximately at, its two-dimensional center-of-mass, as calculated by the device using machine vision.
CROSS-REFERENCE TO RELATED APPLICATION
[0001] This application corresponds to co-pending U.S. provisional patent applications Serial No. 60/370,523, filed Apr. 5, 2002, and Serial No. 60/370,924, filed Apr. 8, 2002, both of which applications are incorporated herewith by reference.
Provisional Applications (2)
|
Number |
Date |
Country |
|
60370523 |
Apr 2002 |
US |
|
60370924 |
Apr 2002 |
US |