- Patent Title: Friction compensation in a minimally invasive surgical apparatus
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Application No.: US15294380Application Date: 2016-10-14
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Publication No.: US09888974B2Publication Date: 2018-02-13
- Inventor: Gunter D. Niemeyer
- Applicant: Intuitive Surgical Operations, Inc.
- Applicant Address: US CA Sunnyvale
- Assignee: Intuitive Surgical Operations, Inc.
- Current Assignee: Intuitive Surgical Operations, Inc.
- Current Assignee Address: US CA Sunnyvale
- Main IPC: A61B17/00
- IPC: A61B17/00 ; A61B34/37 ; A61B34/00 ; A61B90/00 ; A61B34/30 ; A61B34/35
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.
Public/Granted literature
- US20170027655A1 Friction Compensation in a Minimally Invasive Surgical Apparatus Public/Granted day:2017-02-02
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