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:
Apr. 21, 2025
Filed:
Sep. 03, 2019
Applicant:
Riverfield Inc., Tokyo, JP;
Inventor:
Kotaro Tadano, Tokyo, JP;
Assignee:
RIVERFIELD INC., Tokyo, JP;
Primary Examiner:
Int. Cl.
CPC ...
A61B 34/30 (2015.12); A61B 17/29 (2005.12); A61B 90/50 (2015.12); B25J 9/02 (2005.12); B25J 9/10 (2005.12); B25J 13/08 (2005.12);
U.S. Cl.
CPC ...
A61B 34/30 (2016.01); A61B 17/29 (2012.12); A61B 90/50 (2016.01); B25J 9/02 (2012.12); B25J 9/1065 (2012.12); B25J 13/085 (2012.12); A61B 2034/301 (2016.01);
Abstract
An arm device includes a joint portion configured to be rotated to thereby change a position and/or a posture of a surgical tool, and an actuator configured to generate a driving force that rotates the joint portion, and to allow a rotation of the joint portion in accordance with an externally applied force. Moreover, the arm device is configured to estimate an external force applied to the surgical tool, to obtain a value of a driving force of the actuator based on a weight of the surgical tool and the external force, and to control the actuator based on a value of the driving force.