Invention Grant
- Patent Title: Systems and methods for controlling a robotic manipulator or associated tool
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Application No.: US17512832Application Date: 2021-10-28
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Publication No.: US11712798B2Publication Date: 2023-08-01
- Inventor: Dinesh Rabindran , Simon P. DiMaio , Kollin M. Tierling
- 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
- Agency: Haynes and Boone, LLP
- Main IPC: B25J9/16
- IPC: B25J9/16 ; B25J9/06 ; A61B34/20 ; A61B34/35 ; A61B34/37 ; G05B19/00 ; B25J3/04 ; A61B90/00
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.
Public/Granted literature
- US20220080589A1 SYSTEMS AND METHODS FOR CONTROLLING A ROBOTIC MANIPULATOR OR ASSOCIATED TOOL Public/Granted day:2022-03-17
Information query
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