Systems and methods for controlling a robotic manipulator or associated tool
US12133700B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 17, 2023 |
| Grant date | Nov 5, 2024 |
| Priority date | — |
| Expiry date | Apr 17, 2043 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2090/0818
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A system comprises a robotic manipulator for control of motion of a medical tool. The robotic manipulator including a joint and a link connected to the joint. The link is configured to connect to the medical tool. A processing unit of the system is configured to receive first data from an encoder of the joint. A first tool tip estimate of a first parameter of a tool tip coupled at a distal end of the medical tool is generated using the first data. The first parameter of the tool tip is a position or a velocity of the tool tip. Second data is received from a sensor system located at a sensor portion of the link or the medical tool. The joint is controlled based on a first difference between the first tool tip estimate and a second tool tip estimate generated using the first and second data.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.