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. 24, 2024
Filed:
Apr. 21, 2021
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Melody Wu, Sunnyvale, CA (US);
Samuel Kwok Wai Au, Mountain View, CA (US);
INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US);
Abstract
Techniques for instrument insertion control include a manipulator system. The manipulator system includes a manipulator configured to support an instrument and a control system coupled to the manipulator. The control system is configured to determine an insertion profile associated with at least one of the instrument or a cannula through which the instrument is configured to be inserted and resist or assist a manual insertion of the instrument through the cannula according to the insertion profile, wherein the resisting or assisting causes a velocity of the manual insertion to be uniform in response to a uniform force applied by the manual insertion.