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:
Feb. 14, 2022
Medical Microinstruments, Inc., Wilmington, DE (US);
Emanuele Ruffaldi, Pisa, IT;
Massimiliano Simi, Pisa, IT;
MEDICAL MICROINSTRUMENTS, INC., Wilmington, DE (US);
Abstract
A method verifies functional/structural integrity of a hand-held unconstrained master device to control a robotic system for medical or surgical teleoperation. The master device includes a body having two rigid parts constrained to relatively rotate or translate on a common axis. Position vectors of two-plus points are measured and/or detected, each belonging to a respective one of the two rigid parts, and measuring and/or detecting evolution of the position vectors. An orientation of each of the points, and the evolution of the orientations are measured and/or detected. Constraints from constructional/structural features of the master device are defined, deriving from degrees of freedom. Mathematical relations associated with each of the defined constraints are calculated based on detected and/or measured position vectors, orientations and evolutions. A state of functional/structural integrity or non-integrity of the master device is determined, based on verification of the mathematical relations and degrees of freedom.