| Predicate |
Object |
| assignee |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentassignee/MD5_80998ecad6fa12a3586ec620e1268362 |
| classificationCPCAdditional |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G05B2219-40191
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2018-00601
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G05B2219-45117
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2090-066
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2034-2046
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2018-00565
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2034-107 |
| classificationCPCInventive |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B19-22
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/B25J9-009
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J9-1633
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J13-085
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G16H40-63
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B17-1626
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/A61B34-20
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-30
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-32
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-37
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-76 |
| classificationIPCInventive |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B19-00 |
| filingDate |
2015-12-01-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| inventor |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_688f4b4b490f92ce1c6975427510c52e |
| publicationDate |
2016-03-31-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationNumber |
US-2016089211-A1 |
| titleOfInvention |
System and Method for Controlling a Manipulator in Response to Backdrive Forces |
| abstract |
A system and method for controlling a manipulator are provided. A manipulator controller measures an actual torque and calculates an expected torque for at least one joint motor of the manipulator. The manipulator controller computes a backdrive force for the at least one joint motor based on the actual torque and expected torque. A surgical tool of the manipulator is modeled as a virtual rigid body. The manipulator controller computes a total force or torque to apply to the virtual rigid body based on the backdrive force. The manipulator controller determines a target position of the surgical instrument based on the total force or torque and commands positioning of the joint motors to advance the surgical instrument to the target position. |
| isCitedBy |
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-9505129-B2
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/KR-102001101-B1
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/WO-2020246997-A1
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-2016257003-A1
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-11639001-B2
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-10272572-B2
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-11400590-B2
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-9808934-B2
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-10710651-B2
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-11471232-B2
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/KR-20190022174-A
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-10821610-B2
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-2016176052-A1
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-11672620-B2
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/EP-3944734-B1 |
| priorityDate |
2012-08-03-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| type |
http://data.epo.org/linked-data/def/patent/Publication |