Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2011-01-04
2011-01-04
Tran, Khoi (Department: 3664)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C318S568110, C318S568120, C414S002000, C367S007000, C381S096000
Reexamination Certificate
active
07865269
ABSTRACT:
A robotic surgical system has a robot arm holding an instrument for performing a surgical procedure, and a control system for controlling movement of the arm and its instrument according to user manipulation of a master manipulator. The control system includes a filter in its forward path to attenuate master input commands that may cause instrument tip vibrations, and an inverse filter in a feedback path to the master manipulator configured so as to compensate for delay introduced by the forward path filter. To enhance control, master command and slave joint observers are also inserted in the control system to estimate slave joint position, velocity and acceleration commands using received slave joint position commands and torque feedbacks, and estimate actual slave joint positions, velocities and accelerations using sensed slave joint positions and commanded slave joint motor torques.
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Prisco Giuseppe Maria
Rosa David J.
Intuitive Surgical Operations, Inc.
King Rodney
Tran Khoi
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