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:
Jul. 09, 2019
Covidien Lp, Mansfield, MA (US);
William J. Peine, Ashland, MA (US);
Andreas Tobergte, Munich, DE;
Covidien LP, Mansfield, MA (US);
Abstract
A surgical robotic arm includes a first link; a second link coupled to the first link at a first joint such that at least one of the first link or the second link is movable relative to each other; and a first actuator configured to move at least one of the first link or the second link. The surgical robotic arm also includes a joint torque sensor disposed within the first joint and configured to measure torque imparted on at least one of the first link or the second link to obtain a measured torque value. The surgical robotic arm further includes a controller configured to: determine an estimated joint torque value; compare the estimated joint torque value to the measured torque value; and determine an environmental torque value based on a comparison of the estimated joint torque value and the measured torque value.