Electricity: motive power systems – Positional servo systems – With protective or reliability increasing features
Reexamination Certificate
2008-03-31
2010-11-30
Ro, Bentsu (Department: 2837)
Electricity: motive power systems
Positional servo systems
With protective or reliability increasing features
C318S568110, C318S628000, C901S020000
Reexamination Certificate
active
07843158
ABSTRACT:
A medical robotic system includes a surgical instrument, a robotic arm assembly, an input device, and a processor. The surgical instrument has an end effector and a sensor for sensing a force exerted by the end effector, and is operatively mounted on the robotic arm assembly. The processor is configured to receive commanded movement of the end effector from the input device, receive information of the force from the sensor, determine a reduced velocity of the commanded movement that would inhibit damage causing motion of the end effector, and control robotic manipulation of the surgical instrument in response to the commanded movement of the end effector while restricting the velocity of the commanded movement to the reduced velocity.
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Vertut, Jean et al., Robot Technology: Teleoperation and Robotics Evolution and Development, 1986, vol. 3A, 332 pages, English translation Prentice-Hall, Inc., Inglewood Cliffs, NJ, USA.
Intuitive Surgical Operations, Inc.
Ro Bentsu
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