Surgery – Instruments
Reexamination Certificate
2005-12-13
2005-12-13
Robinson, Daniel (Department: 3742)
Surgery
Instruments
Reexamination Certificate
active
06974449
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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Intuitive Surgical Inc
Robinson Daniel
Townsend & Townsend & Crew
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