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:
Nov. 03, 2020
Filed:
May. 14, 2019
Titan Medical Inc., Toronto, Ontario, CA;
Joseph Kralicky, North Kingstown, RI (US);
Peter Cameron, Menlo Park, CA (US);
Titan Medical Inc., Toronto, Ontario, CA;
Abstract
In some embodiments, correcting an alignment error between an end effector of a tool associated with a slave and a master actuator associated with a master in a robotic system involves receiving at the master, master actuator orientation signals (R) representing the orientation of the master actuator relative to a master reference frame and generating end effector orientation signals (R) representing the end effector orientation relative to a slave reference frame, producing control signals based on the end effector orientation signals, receiving an enablement signal for selectively enabling the control signals to be transmitted from the master to the slave, responsive to a transition of the enablement signal from not active state to active state, computing the master-slave misalignment signals (R) as a difference between the master actuator orientation signals (R) and the end effector orientation signals (R), and adjusting the master-slave misalignment signals (R) to reduce the alignment difference.