Data-driven position estimation and collision detection for flexible manipulator
US11364629B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 26, 2020 |
| Grant date | Jun 21, 2022 |
| Priority date | — |
| Expiry date | Feb 14, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40279
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A flexible manipulator apparatus includes an elongate flexible manipulator having a sensor, a user output device configured to provide sensory outputs to the user, and processing circuitry. The flexible manipulator may be movable to form a curve in the flexible manipulator. The processing circuitry may be configured to receive captured sensor data from the sensor during movement of the flexible manipulator, and determine a collision likelihood score based on application of the captured sensor data to a collision detection model used for position estimation. The collision detection model may be based on an empirical data training for the flexible manipulator that includes training sensor data from the sensor and training image data of positions of the flexible manipulator. The processing circuitry may be configured to control the user output device based on the collision likelihood score to provide a collision alert sensory output to the user.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.