Surgery – Instruments
Reexamination Certificate
2005-05-31
2005-05-31
Robinson, Daniel (Department: 3742)
Surgery
Instruments
Reexamination Certificate
active
06899705
ABSTRACT:
Devices, systems, and methods for compensate for friction within powered automatic systems, particularly for telesurgery and other telepresence applications. Dynamic friction compensation may comprise applying a continuous load in the direction of movement of a joint, and static friction compensation may comprise applying alternating loads in positive and negative joint actuation directions whenever the joint velocity reading falls within a low velocity range.
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Barrish Mark
Intuitive Surgical
Robinson Daniel
LandOfFree
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