| Predicate |
Object |
| assignee |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentassignee/MD5_80998ecad6fa12a3586ec620e1268362 |
| classificationCPCAdditional |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2034-2055
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2034-2046
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2090-066
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2017-2908
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/Y10S901-09
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2034-107
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2034-104
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2034-2059 |
| classificationCPCInventive |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J9-1633
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-32
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B17-16
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-70
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J13-00
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-37
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-76
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-74
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-20
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-10
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-30
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J9-161 |
| classificationIPCAdditional |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B34-20 |
| classificationIPCInventive |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B17-16
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B34-30 |
| filingDate |
2014-03-13-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| inventor |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_5828a23c8308929017d143f88fd8c3e4
http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_7b0462dac86c9fe0431a33f0a7d4bbfa
http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_29b9a7a39606e68162bdd666937325c8
http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_4cce7d5f780e61f1e1f18933b40d07a1
http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_5bebaa131b394dea7267c434b7c57a82
http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_688f4b4b490f92ce1c6975427510c52e
http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_842df2258f084369431fc6cdceb7bea0
http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_dcda708a3e8799bb68a3cff38f2fb323 |
| publicationDate |
2020-12-30-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationNumber |
EP-3756610-A1 |
| titleOfInvention |
A surgical system for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path |
| abstract |
A surgical system for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path is described. The surgical system comprises a torque summing module configured to determine actual torques for each active joint of an actuated arm mechanism an expected dynamics module configured to calculate expected torques for each active joint of the actuated arm mechanism, wherein the expected torques are calculated based on an angular position of each active joint and a commanded joint angle for each active joint; and a torque calculator module configured to determine estimated backdrive torques based on the expected torques and the actual torques, wherein the estimated backdrive torques indicate a disturbance along the cutting path. |
| priorityDate |
2013-03-15-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| type |
http://data.epo.org/linked-data/def/patent/Publication |