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:
Jun. 03, 2014
Filed:
Jul. 30, 2010
Honggul Jun, Seoul, KR;
Yoonyoung Chang, Seoul, KR;
Woohyun Paik, Seoul, KR;
LG Electronics Inc., Seoul, KR;
Abstract
A medical robotic system and method for controlling the system are provided to precisely measure contact force during the minimally invasive surgery. In one embodiment, a medical robotic system includes an input device, a robotic arm assembly, a surgical instrument operably coupled to the robotic arm assembly, the surgical instrument including a contact detection unit configured to detect a contact of the surgical instrument with tissue of a patient, a current measurement unit configured to measure a joint current in the robotic arm assembly, a position/velocity measurement unit configured to measure a joint position and a joint velocity in the robotic arm assembly, an external force calculation unit configured to calculate size and direction of a contact force caused by the contact of the surgical instrument to the tissue based on the joint currents, positions and velocities measured when the contact is occurred and measured when the contact is not occurred.