Vision-guided electromagnetic robotic system

US9259844B2 · kind B2 · utility

Assignee

• General Electric Company · US

Inventors

• Yi Xu · Menlo Park, US
• Lynn Ann DeRose · Gloversville, US
• Weston Blaine Griffin · Niskayuna, US
• Ying Mao · San Mateo, US
• Xianqiao Tong · San Jose, US
• Balajee Kannan · Niskayuna, US

Key dates

• Filing date: Feb 12, 2014
• Grant date: Feb 16, 2016
• Expiry date: Sep 27, 2034

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S902/02
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

Embodiments of the disclosure comprise a vision-based robotic manipulation system that identifies, singulates, and removes an individual surgical instrument from a cluttered environment. A computer-vision algorithm incorporated with the system is robust against optical challenges such as changing light conditions, specularities, and inter-reflections among various surgical instruments. The system estimates 2D pose (as opposed to a more challenging 3D pose) using a camera with normal room lighting to identify each object, including its specified data matrix barcode; and incorporates the use of a robotic arm with a compliant electromagnetic gripper to handle objects having large shape variance. The system can then relocate the objects as desired. The robot manipulator is utilized in hospital and research settings, manufacturing, and sterile environments.