Passive and active arm control schemes with sensor integration to support tele-operation and direct manual interaction
US12419709B2 · kind B2 · utility
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13References
20Claims
0Family size
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Key dates
| Filing date | Feb 1, 2021 |
| Grant date | Sep 23, 2025 |
| Priority date | — |
| Expiry date | Mar 31, 2044 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2090/064
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
Certain aspects relate to admittance control modes for a robotic surgery system. The admittance control modes can be based on detecting and/or measuring forces (rotational and/or nonrotational) on a robotic arm and moving the robotic arm in response to such interactions. The forces can include direct manual interaction with the robotic arm by a clinician. The movement of the robotic arm can be within a nullspace that maintains the positions of a medical instrument.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.