公开(公告)号：US20220080589A1

公开(公告)日：2022-03-17

申请号：US17512832

申请日：2021-10-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： DINESH RABINDRAN ,  Simon P. DiMaio ,  Kollin M. Tierling

IPC: B25J9/16 ,  B25J9/06 ,  A61B34/35 ,  A61B34/37 ,  G05B19/00 ,  B25J3/04

Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a first link, and a second link. The second link is between the first joint and the first link in the serial chain. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data and a kinematic model of the robotic manipulator, and control the first joint based on the first joint state estimate.