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. 24, 2026
Filed:
Nov. 09, 2023
Applicant:
Verb Surgical Inc., Santa Clara, CA (US);
Inventors:
H. Tutkun Sen, Santa Clara, CA (US);
Alireza Hariri, Santa Clara, CA (US);
Assignee:
Verb Surgical Inc., Santa Clara, CA (US);
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
A61B 34/30 (2016.01); A61B 34/37 (2016.01); B25J 9/16 (2006.01); B25J 15/00 (2006.01); A61B 17/00 (2006.01); B25J 9/12 (2006.01);
U.S. Cl.
CPC ...
A61B 34/30 (2016.02); B25J 9/1633 (2013.01); B25J 9/1641 (2013.01); B25J 15/0019 (2013.01); A61B 2017/00477 (2013.01); A61B 34/37 (2016.02); B25J 9/12 (2013.01);
Abstract
For control of a surgical instrument in a surgical robotic system, multiple actuators establish a static pretension by actuating in opposition to each other in torque control. The static pretension reduces or removes the compliance and elasticity, reducing the backlash width. To drive the tool, the actuators are then moved in cooperation with each other in position mode control so that the movement maintains the static pretension while providing precise control.