US 11,832,910 B1
Co-manipulation surgical system having adaptive gravity compensation
Ehsan Basafa, Redwood City, CA (US); Nicolas Linard, Montrouge (FR); and Jesus Mago, Saint-Mande (FR)
Assigned to Moon Surgical SAS, Paris (FR)
Filed by Moon Surgical SAS, Paris (FR)
Filed on Jun. 7, 2023, as Appl. No. 18/331,070.
Claims priority of provisional application 63/495,527, filed on Apr. 11, 2023.
Claims priority of provisional application 63/479,142, filed on Jan. 9, 2023.
Claims priority of application No. 23305026 (EP), filed on Jan. 9, 2023.
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01); A61B 34/37 (2016.01); A61B 34/00 (2016.01); A61B 1/313 (2006.01); A61B 34/30 (2016.01)
CPC A61B 34/37 (2016.02) [A61B 1/3132 (2013.01); A61B 34/25 (2016.02); A61B 34/74 (2016.02); B25J 9/1638 (2013.01); B25J 9/1692 (2013.01); A61B 2034/304 (2016.02); A61B 2034/306 (2016.02)] 30 Claims
OG exemplary drawing
 
1. A method for assisting with laparoscopic surgery using a robot arm comprising a proximal end, a distal end configured to be removably coupled to a surgical instrument, a plurality of links, and a plurality of joints between the proximal end and the distal end, the method comprising:
applying, via a controller operatively coupled to the robot arm, an initial gravity compensation to the robot arm to compensate for gravity of the surgical instrument when the surgical instrument is coupled to the distal end of the robot arm based on an estimated instrument parameter associated with the surgical instrument;
calculating, via the controller during application of the initial gravity compensation, a hold force required to maintain the distal end of the robot arm in a static position in a passive mode; and
determining, via the controller, a calibrated instrument parameter for the surgical instrument based on the hold force, the calibrated instrument parameter selected to adjust the hold force required to maintain the distal end of the robot arm in the static position in the passive mode during application of an adjusted gravity compensation to the robot arm based on the calibrated instrument parameter.