Method for controlling a movement of a medical device in a magnetic field
US-2024041550-A1 · Feb 8, 2024 · US
Sensing in continuum robots
US12485559B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-12485559-B2 |
| Application number | US-202318227182-A |
| Country | US |
| Kind code | B2 |
| Filing date | Jul 27, 2023 |
| Priority date | Aug 12, 2022 |
| Publication date | Dec 2, 2025 |
| Grant date | Dec 2, 2025 |
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- Title
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Abstract
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A sensing system for a continuum arm robot, the sensing system comprising at least one camera ring system mounted to the continuum robot, the camera ring system having at least two forward-facing cameras that face along the axis of the robot towards the tip.
First claim
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We claim: 1 . A sensing system for a continuum arm robot, the sensing system comprising at least one camera ring system mounted to the continuum robot, the camera ring system having at least two forward-facing cameras that face along the axis of the robot towards the tip, wherein there are at least two camera ring systems mounted about the continuum arm robot, the camera rings having optical markers on the rear facing side of the camera ring system, which are in view of one or more of the forward facing cameras. 2 . The sensing system according to claim 1 , wherein there is a further camera system mounted in the tip of the robotic arm. 3 . The sensing system according to claim 1 , wherein at least one of the camera ring systems is provided with at least two side facing cameras that face substantially perpendicular to the axis that extends along the body of the continuum arm robot. 4 . The sensing system according to claim 3 , wherein each camera ring system is provided with side facing cameras. 5 . The sensing system according to claim 1 , wherein there are two tip cameras. 6 . The sensing system according to claim 1 , wherein the camera ring systems are built into the robot. 7 . The sensing system according to claim 1 , wherein the camera ring systems are provided with a clamping mechanism so that the camera ring systems can be retroactively added to a continuum robot. 8 . The sensing system according to claim 1 , wherein the camera ring system has a thickness of between 2-10 mm. 9 . The sensing system according to claim 1 , wherein there are 2-6 forward facing cameras per ring system and 2-6 optical markers on the ring system. 10 . The sensing system according to claim 1 , wherein the tip is further provided with an LED illumination system. 11 . The sensing system according to claim 1 , wherein at least one of the camera ring systems are provided with an LED illumination system. 12 . The sensing system according to claim 1 , wherein the sensing system is coupled to a computer which is used to process the images from the camera system and to determine the shapea shape and position of the continuum robot. 13 . A continuum arm robot having the sensing system according to claim 1 . 14 . A method of operating a continuum arm robot having a sensing system according to claim 1 , the method comprising: inserting the continuum arm robot into an operating area, using the camera on the camera ring system to record images of the continuum arm robot operating within the operating area, processing the images to determine a shape of the continuum arm robot.
Assignees
Inventors
Classifications
- B25J9/065Primary
Snake robots · CPC title
Vision controlled systems · CPC title
Determining the position of the robot with reference to its environment · CPC title
- B25J19/023Primary
including video camera means · CPC title
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Frequently asked questions
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- What does patent US12485559B2 cover?
- A sensing system for a continuum arm robot, the sensing system comprising at least one camera ring system mounted to the continuum robot, the camera ring system having at least two forward-facing cameras that face along the axis of the robot towards the tip.
- Who is the assignee on this patent?
- Rolls Royce Plc
- What technology area does this patent fall under?
- Primary CPC classification B25J9/065. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Tue Dec 02 2025 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 4 related publications on this page (citations in our corpus or others sharing the same primary CPC).