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:
Oct. 27, 2020
Filed:
Mar. 29, 2018
Auris Health, Inc., Redwood City, CA (US);
Chauncey F. Graetzel, Palo Alto, CA (US);
Ritwik Ummalaneni, San Mateo, CA (US);
Auris Health, Inc., Redwood City, CA (US);
Abstract
A surgical robotic system automatically calibrates tubular and flexible surgical tools such as endoscopes. By compensating for unideal behavior of a surgical instrument, the surgical robotic system can accurately model motions of the surgical instrument and navigate the surgical instrument while performing a surgical procedure on a patient. During calibration, the surgical robotic system moves the surgical instrument to a target position and receives data describing an actual position and/or orientation of the surgical instrument. The surgical robotic system determines gain values based at least on the discrepancy between the target position and the actual position. The surgical instrument can include tubular components referred to as a sheath and leader. An instrument device manipulator of the surgical robotic system actuates pull wires coupled to the sheath and/or the leader, which causes the surgical instrument to articulate.