Robot, Medical Work Station, And Method For Projecting An Image Onto The Surface Of An Object

• US 20100275719A1
• Filed: 11/18/2008
• Published: 11/04/2010
• Est. Priority Date: 11/19/2007
• Status: Active Grant

• Current Assignee: KUKA Laboratories GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Inventors: Passig, Georg, Ortmaier, Tobias, Jacob, Dirk
• Granted Patent: US 8,965,583 B2
• Time in Patent Office: Days
• US Class Current: 74/490.01
• CPC Class Codes: A61B 2017/00207 with hand gesture control or hand gesture recognition
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: B25J 13/00 Controls for manipulators programme controls B25J9/16; control in general G05
• CPC Class Codes: G03B 21/00 Projectors or projection-type viewers; Accessories therefor devices for changing pictures G03B23/00
• CPC Class Codes: G06F 3/0426 tracking fingers with respect to a virtual keyboard projected or printed on the surface virtual keyboards on touch screens G06F3/04886
• CPC Class Codes: Y10T 74/20305 Robotic arm

Abstract

The invention relates to a robot (R), a medical work station, and a method for projecting an image (20) onto the surface of an object (P). The robot (R) comprises a robot arm (A) and a device (18) for projecting the image (20) onto the surface of the object (P), said device (18) being mounted on or integrated into the robot arm (A).

Claims

1-18. -18. (canceled)

19. A robot comprising:

a robot arm;

a projector supported by the robot arm and configured to project an image onto the surface of an object;

a controller configured to process data associated with the image projected by the projector; and

a recording device configured to the record the image projected by the projector, the controller being further configured to analyze at least one of (a) a picture data record assigned to the image recorded by the recording device or (b) the image projected by the projector onto the surface of the object.

20. The robot of claim 19, wherein the image projected by the projector defines a virtual input feature for the controller, the controller being configured to analyze the picture data record for a gesture of a user of the robot to thereby detect actuation of the virtual input feature.

21. The robot of claim 19, further comprising:

a detector configured to detect a distortion of the image projected by the projector onto the surface of the object due to a surface geometry of the object;

wherein, in response to detection of the distortion, the controller actuates the projector to at least partially compensate for the detected distortion.

22. The robot of claim 21, wherein:

the detector is supported by the robot arm;

the recording device and the controller form part of the detector; and

the controller is configured to detect the distortion based on the analyzed picture data record.

23. The robot of claim 19, wherein the controller actuates the projector to project an image adjusted to at least partially compensate for a distortion of the image projected by the projector onto the surface of the object due to a surface geometry of the object based on a previously generated picture data record of the object.

24. The robot of claim 23, wherein the previously generated picture data record is a three-dimensional picture data record of the object.

25. The robot of claim 23, wherein:

the object is a living being; and

the picture data record was generated by a medical imaging device.

26. A medical work station to treat a living being, comprising:

a robot including a robot arm and a projector supported by the robot arm, the projector being configured to project an image onto the surface of the living being;

a navigation apparatus configured to detect a position of the living being and a position of the robot;

a detector for detecting a distortion of the image projected by the projector onto the surface of the living being due to a surface geometry of the living being; and

a controller configured to actuate the projector to at least partially compensate for the detected distortion based on (a) a previously generated picture data record of the living being and (b) the detected positions of the living being and of the robot.

27. The medical work station of claim 26, wherein the navigation apparatus includes:

a first plurality of markers positioned on the robot;

a second plurality of markers positioned on the surface of the living being; and

a marker detection device configured to detect at least one of the first or second pluralities of markers.

28. The medical work station of claim 27, further comprising:

a patient support for supporting the living being thereon, the navigation apparatus including a third plurality of markers on the patient support, the marker detection device being configured to detect the third plurality of markers.

29. The medical work station of claim 27, wherein:

the marker detection device is configured to record the image projected onto the living being, and

the controller is configured to analyze a picture data record assigned to the image recorded by the marker detection device.

30. A method for projecting an image onto the surface of an object, the method comprising:

moving a robot arm of a robot relative to the object;

projecting an image, with a projector supported by the robot arm, onto the surface of the object;

determining a distortion of the projected image on the object; and

compensating for the determined distortion.

31. The method of claim 30, further comprising:

determining a position of the robot and a position of the object; and

recording a picture data record of the object;

wherein determining the distortion comprises determining an anticipated distortion of the image projected onto the surface of the object based on (a) the determined positions of the robot and of the object, and (b) the recorded picture data record of the object.

32. The method of claim 31, further comprising:

detecting movement of the object; and

adjusting the compensation for the determined distortion based on the detected movement of the object.

33. The method of claim 32, wherein adjusting the compensation for the determined distortion includes moving the robot arm based on the detected movement of the object.

34. The method of claim 30, wherein the object is a living being, the method further comprising:

recording a picture data record of the object with a medical imaging device.

35. The method of claim 30, further comprising

recording an image associated with the image projected onto the surface of the object with a camera supported by the robot arm, the projected image defining a virtual input feature for a computer controlling the recording of the image associated with the projected image;

and

analyzing a picture data record assigned to the recorded image for a gesture made by a user, to thereby detect actuation of the virtual input feature.