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:
Aug. 11, 2026
Filed:
Mar. 29, 2021
Cmr Surgical Limited, Cambridge, GB;
Edward John Mottram, Cambridge, GB;
Graham John Veitch, Cambridge, GB;
CMR Surgical Limited, Cambridge, GB;
Abstract
A control system of a surgical robot arm, the surgical robot arm comprising a series of joints by which the configuration of that surgical robot arm can be altered and one or more force or torque sensors, each force or torque sensor configured to sense a force or torque at a joint of the series of joints, the control system being configured to control the configuration of the surgical robot arm to be altered in response to an externally applied force or torque by: receiving sensory data from the one or more force or torque sensors indicative of a sensed force or torque at a part of the surgical robot arm resulting from the externally applied force or torque; determining a position of the part of the surgical robot arm using a reference position, whereby the sensed force or torque would be compensated by moving the part of the surgical robot arm to the determined position; sending a command signal to the surgical robot arm to drive the part of the surgical robot arm to the determined position; and updating the reference position if the difference between the reference position and the determined position is greater than a threshold displacement.