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:
Jun. 15, 2021
Filed:
Aug. 20, 2015
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Christopher R. Carlson, Belmont, CA (US);
Randall L. Schlesinger, San Mateo, CA (US);
Federico Barbagli, San Francisco, CA (US);
INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US);
Abstract
A biopsy system includes a biopsy tool and a control system in communication with the biopsy tool. The control system is configured to receive a command to perform a biopsy, retrieve a predefined dynamic trajectory for performing the biopsy from a memory device, and control the biopsy tool to move according to the predefined dynamic trajectory to perform the biopsy. The predefined dynamic trajectory includes a plurality of dynamic control modes. Each of the plurality of dynamic control modes has a different displacement profile. At least one different displacement profile comprises a cyclic displacement profile.