| Predicate |
Object |
| assignee |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentassignee/MD5_80998ecad6fa12a3586ec620e1268362 |
| classificationCPCAdditional |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2018-00565
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B18-148
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/Y10S901-09
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2018-00601
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B17-16
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/A61B2034-102
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2034-2068
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2034-2055
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2090-064
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2034-2059
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2034-2046
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2090-066 |
| classificationCPCInventive |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B17-1655
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B17-1659
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B17-1604
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B18-148
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B17-16
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B17-1626
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B17-1662
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J9-161
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-32
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B17-1657
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/B25J9-1633
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 |
| classificationIPCAdditional |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B17-16 |
| classificationIPCInventive |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/B25J9-16
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/B25J13-00
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B34-30
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B34-20
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B34-37
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B34-10
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B34-00
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B34-32 |
| filingDate |
2016-09-15-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| grantDate |
2019-07-16-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| inventor |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_7b0462dac86c9fe0431a33f0a7d4bbfa
http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_688f4b4b490f92ce1c6975427510c52e |
| publicationDate |
2019-07-16-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationNumber |
US-10350017-B2 |
| titleOfInvention |
Manipulator and method for controlling the manipulator based on joint limits |
| abstract |
A manipulator is provided that supports a surgical tool used in a surgical procedure. The manipulator includes a plurality of links and joints and a controller that evaluates an actual joint angle of each joint relative to one or more joint boundary angles for each joint. The controller computes forces and torques to apply to a virtual rigid body based on the evaluation. The controller then determines a commanded joint angle for each joint based on the computed forces and torques so that actuators move the surgical tool to a commanded pose associated with the commanded joint angles. |
| isCitedBy |
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-11471232-B2
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-11559360-B2
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-11737835-B2
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-11369386-B2
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-11701187-B2
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-11439419-B2
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-11357586-B2
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-11672620-B2
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-11382650-B2
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-11109928-B2
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-11571229-B2
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-10959792-B1
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-11639001-B2
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-11534249-B2
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-11737845-B2 |
| priorityDate |
2012-08-03-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| type |
http://data.epo.org/linked-data/def/patent/Publication |