Friction compensation in a minimally invasive surgical apparatus
US6899705B2 · kind B2 · utility
844Cited by
22References
31Claims
0Family size
Assignee
Inventor
Key dates
| Filing date | Mar 27, 2003 |
| Grant date | May 31, 2005 |
| Priority date | — |
| Expiry date | Mar 27, 2023 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2034/305
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
Devices, systems, and methods for compensate for friction within powered automatic systems, particularly for telesurgery and other telepresence applications. Dynamic friction compensation may comprise applying a continuous load in the direction of movement of a joint, and static friction compensation may comprise applying alternating loads in positive and negative joint actuation directions whenever the joint velocity reading falls within a low velocity range.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.