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:
Jan. 02, 2018
Filed:
Oct. 25, 2007
Emilio Ruiz Morales, Taino, IT;
Carlos Correcher Salvador, Valencia, ES;
Emilio Ruiz Morales, Taino, IT;
Carlos Correcher Salvador, Valencia, ES;
Abstract
A method of force estimation for a minimally invasive medical system comprising a robot manipulator (). The manipulator has an effector unit () equipped with a 6-degrees-of-freedom (DOF) force/torque sensor and is configured to hold a minimally invasive instrument () having a first end () mounted to the effector unit and a second end () located beyond an external fulcrum () that limits the instrument in motion, usually to 4 DOF. The method comprising the steps: —determining a position of the instrument relative to the fulcrum; —measuring by means of the 6-DOF force/torque sensor a force and a torque exerted onto the effector unit by the first end of the instrument; and —calculating by means of the principle of superposition an estimate of a force exerted onto the second end of the instrument based on the determined position, the measured force and the measured torque.