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:
Sep. 03, 2024
Filed:
Jul. 06, 2021
Verb Surgical Inc., Santa Clara, CA (US);
Apoorv Shrivastava, Santa Clara, CA (US);
Renbin Zhou, Santa Clara, CA (US);
Haoran Yu, Santa Clara, CA (US);
Seungkook Yun, Santa Clara, CA (US);
Ellen Klingbeil, Santa Clara, CA (US);
Verb Surgical Inc., Santa Clara, CA (US);
Abstract
For teleoperation of a surgical robotic system, the control of the surgical robotic system accounts for a limited degree of freedom of a tool in a surgical robotic system. A projection from the greater DOF of the user input commands to the lesser DOF of the tool is included within or as part of the inverse kinematics. The projection identifies feasible motion in the end-effector domain. This projection allows for a general solution that works for tools having different degrees of freedom and will converge on a solution.