US 11,986,969 B2
Robot device for guiding a robotic arm
Tanguy Serrat, Saint-Cloud (FR); and Ali Khachlouf, Paris (FR)
Assigned to SQUAREMIND, Paris (FR)
Appl. No. 18/010,391
Filed by SQUAREMIND, Paris (FR)
PCT Filed Jul. 2, 2021, PCT No. PCT/EP2021/068319
§ 371(c)(1), (2) Date Dec. 14, 2022,
PCT Pub. No. WO2022/003154, PCT Pub. Date Jan. 6, 2022.
Claims priority of application No. 2007102 (FR), filed on Jul. 3, 2020.
Prior Publication US 2023/0191614 A1, Jun. 22, 2023
Int. Cl. B25J 9/16 (2006.01); A61B 34/10 (2016.01); A61B 34/32 (2016.01); G06T 17/00 (2006.01); A61B 90/00 (2016.01)
CPC B25J 9/1697 (2013.01) [A61B 34/32 (2016.02); G06T 17/00 (2013.01); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2090/371 (2016.02); G06T 2210/41 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A robot device ensuring an automatic guiding of a robotic arm, the robot device comprising:
a frame holding a robotic arm articulated along a plurality of axes of freedom, said robotic arm comprising a distal operator device for generating a human-machine interaction,
an image acquisition system comprising at least two optical devices integral with said frame and arranged in at least two distinct positions of the frame, each optical device being configured to acquire a 3D image, the image acquisition system being configured to acquire a plurality of 3D images of a human body of a patient from the at least two optical devices, and
a calculation unit for generating in real time a human body model of said patient from said acquired 3D images and a guiding trajectory referenced to the surface of said human body model,
wherein movements of said robotic arm are enslaved to said guiding trajectory, and
wherein the frame comprises a main body and a base, said main body holding the image acquisition system and said base being provided with means of displacement to make the robot device movable.