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:
Mar. 08, 2022
Filed:
Mar. 19, 2019
Koninklijke Philips N.v., Eindhoven, NL;
Aleksandra Popovic, Boston, MA (US);
David Paul Noonan, New York, NY (US);
KONINKLIJKE PHILIPS N.V., Eindhoven, NL;
Abstract
A robotic actuation system for sensorless force control of an interventional tool () having cable driven distal end (e.g., a probe, a steerable catheter, a guidewire and a colonoscope). The system employs a robotic actuator () having one or more motorized gears operate the cable drive of the interventional tool (). The system further employs a robotic workstation () to generate motor commands for simultaneous actuation position and contact force control of the interventional tool (). The motor commands are a function of an actuation position measurement and a motor current measurement of the at least one motorized gear for a desired actuation position of the interventional tool ().