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. 09, 2025
Filed:
Jul. 06, 2022
The European Atomic Energy Community (Euratom), Represented BY the European Commission, Brussels, BE;
Emilio Ruiz Morales, Taino, IT;
Carlos Correcher Salvador, Valencia, ES;
Abstract
A method of operating a minimally invasive medical system, including positioning a tip of a surgical instrument through an incision into a body cavity, the surgical instrument having an instrument shaft with a longitudinal instrument axis, mounting the surgical instrument to a manipulator, the manipulator including a force/torque sensor, moving the minimally invasive instrument along a first axis and a second axis, each of the first and second axes perpendicular to the instrument axis, until a reaction force along each axis is below a given threshold, and defining and axis coordinates of the external fulcrum at a location where the reaction forces along both axes are below the given threshold, and determining an axis coordinate position of the external fulcrum along the instrument axis by pivoting the instrument with respect to its tip until a sufficient contact force is reached, and determining the axis coordinate position using the lever principle.