The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 21, 2018
Filed:
Feb. 08, 2017
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Samuel Kwok Wai Au, Mountain View, CA (US);
Raymond A. Bonneau, San Francisco, CA (US);
Nicola Diolaiti, Menlo Park, CA (US);
Pushkar Hingwe, Fremont, CA (US);
Arjang M. Hourtash, Santa Clara, CA (US);
Amy E. Kerdok, San Jose, CA (US);
Michael Turner, Sunnyvale, CA (US);
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Abstract
Methods, apparatus, and systems for operating a surgical system. In accordance with a method, a position of a surgical instrument is measured, the surgical instrument being included in a mechanical assembly having a plurality of joints and a first number of degrees of freedom, the position of the surgical instrument being measured for each of a second number of degrees of freedom of the surgical instrument. The method further includes estimating a position of each of the joints, where estimating the position of each joint includes applying the position measurements to at least one kinematic model of the mechanical assembly, the kinematic model having a third number of degrees of freedom greater than the first number of degrees of freedom. The method further includes controlling the mechanical assembly based on the estimated position of the joints.