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:
Jul. 08, 2025
Filed:
Oct. 27, 2020
Cmr Surgical Limited, Cambridge, GB;
Desmond Phillips, Cambridge, GB;
CMR SURGICAL LIMITED, Cambridge, GB;
Abstract
A system comprising: a robot comprising an arm having an attachment and, for each of n joints, a driver and a joint sensor; and a control unit configured to: obtain a desired position of the attachment; for each of k<n joints, obtain a sensed joint state; compare the states to a set of criteria indicative of the arm moving from a first to a second configuration; the states matching the set of criteria, determine a magnitude of an adjustment signal configured to slow, halt or reverse movement of the arm towards the second configuration; using the desired position of the attachment and the states, determine a direction of the adjustment signal; for each of the n joints, obtain a sensed joint state; using the desired position of the attachment, the obtained n states and the adjustment signal, determine signals for controlling the drivers; and drive the joints using the signals.