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:
Jul. 06, 2021
Filed:
Sep. 19, 2014
Canon U.s.a., Inc., Melville, NY (US);
The Brigham and Women's Hospital, Inc, Boston, MA (US);
Nobuhiko Hata, Newton, MA (US);
Takahisa Kato, Brookline, MA (US);
Ichiro Okumura, Abiko, JP;
Kiyoshi Takagi, Tokyo, JP;
Hidekazu Kose, Atlanta, GA (US);
Canon U.S.A., Inc., Melville, NY (US);
The Brigham and Women's Hospital, Inc., Boston, MA (US);
Abstract
An apparatus including a tendon-driven device such as an endoscope comprising a bendable body, a tendon attached to and extending a length of said body, and an actuator that will actuate said tendon based on a control signal from a controller. The controller is configured to send said control signal to said actuator and comprises a forward-kinematic-mapping unit that estimates an angular displacement, wherein the kinematic-mapping unit is configured for: providing a tension value of the tendon to obtain a desired angular displacement wherein the tension has a nonlinear relationship with the desired angular displacement based on information of friction where the tension is greater that would be calculated without including the effect of friction. The friction coefficient may be determined as it changes over time.