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. 11, 2025
Filed:
Aug. 07, 2020
Kawasaki Jukogyo Kabushiki Kaisha, Kobe, JP;
KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe, JP;
Abstract
An input device of a surgical manipulator includes an arm unit, a wrist unit including a follower link having a base end rotatably connected to a distal end of the arm unit around a follower rotation axis, a first gimbal link rotatably connected to the follower link, a second gimbal link rotatably connected to the first gimbal link, and an operation unit as a third gimbal link rotatably connected to the second gimbal link, a motor that rotates the base end of the follower link around the follower rotation axis, and a controller configured to perform feedback control of a rotation position of the follower link using a rotation position deviation of a rotation position of the second gimbal link with respect to a second reference rotation position as a rotation position deviation of the follower link by controlling an operation of the motor.