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:
May. 02, 2023
Filed:
Jun. 15, 2021
Stryker Corporation, Kalamazoo, MI (US);
David Gene Bowling, Los Ranchos de Albuqurque, NM (US);
John Michael Stuart, Rio Rancho, NM (US);
Jerry A. Culp, Kalamazoo, MI (US);
Donald W. Malackowski, Schoolcraft, MI (US);
José Luis Moctezuma de la Barrera, Freiburg, DE;
Patrick Roessler, Merzhausen, DE;
Joel N. Beer, Albuquerque, NM (US);
Stryker Corporation, Kalamazoo, MI (US);
Abstract
A robotic system and methods are disclosed. A common axis is defined for an instrument and an energy applicator extending from the instrument. A manipulator has a plurality of links and actuators configured to move the links to position the instrument and energy applicator. A force/torque sensor coupled to the manipulator generates an output in response to forces/torques applied to the instrument. Controller(s) defines a centering point that intersects the common axis. Controller(s) model the instrument and the energy applicator as a virtual rigid body and determine forces/torques to apply to the virtual rigid body, which are determined, in part, based on the output of the force/torque sensor. Controller(s) control the manipulator to advance the energy applicator based on the determined forces/torques applied to the virtual rigid body and reorient the instrument such that the common axis pivots about the centering point during advancement of the energy applicator.