| Predicate |
Object |
| assignee |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentassignee/MD5_80998ecad6fa12a3586ec620e1268362 |
| classificationCPCAdditional |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2018-00565
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2090-066
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G05B2219-40191
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2034-2046
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2034-107
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G05B2219-45117
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B2018-00601 |
| classificationCPCInventive |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-37
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-70
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G16H40-63
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B17-16
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J9-009
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B17-1626
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J13-00
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J13-085
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-76
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-32
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B18-148
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J9-1633
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-20
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/A61B34-30 |
| classificationIPCAdditional |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B34-10
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B18-00
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B90-00 |
| classificationIPCInventive |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/B25J9-16
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B34-37
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B34-32
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B18-14
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/B25J13-00
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B34-00
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B34-20
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B34-30
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A61B17-16
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/B25J13-08
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G16H40-63
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/B25J9-00 |
| filingDate |
2019-08-29^^<http://www.w3.org/2001/XMLSchema#date> |
| grantDate |
2021-11-23^^<http://www.w3.org/2001/XMLSchema#date> |
| inventor |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_4cce7d5f780e61f1e1f18933b40d07a1
http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_688f4b4b490f92ce1c6975427510c52e |
| publicationDate |
2021-11-23^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationNumber |
US-11179210-B2 |
| titleOfInvention |
Surgical manipulator and method for controlling pose of an instrument based on virtual rigid body modelling |
| abstract |
A surgical manipulator is disclosed which includes a surgical instrument, an arm comprising a plurality of links and being configured to support and move the surgical instrument, and at least one controller. The at least one controller is configured to model the surgical instrument as a virtual rigid body. Forces and torques are applied externally to the surgical instrument. The at least one controller determines a commanded pose of the surgical instrument based on evaluation of the forces and torques and controls movement of the arm to place the surgical instrument according to the commanded pose. |
| isCitedBy |
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-11547486-B1
http://rdf.ncbi.nlm.nih.gov/pubchem/patent/US-11364629-B2 |
| priorityDate |
2012-08-03^^<http://www.w3.org/2001/XMLSchema#date> |
| type |
http://data.epo.org/linked-data/def/patent/Publication |