US 12,409,006 B2
Joint calibration for surgical tool
Ali Asadian, San Jose, CA (US); Alireza Hariri, Berkeley, CA (US); and Andrew Dahdouh, Campbell, CA (US)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on Dec. 14, 2022, as Appl. No. 18/081,055.
Application 18/081,055 is a continuation of application No. 16/814,422, filed on Mar. 10, 2020, granted, now 11,547,511.
Claims priority of provisional application 62/887,386, filed on Aug. 15, 2019.
Prior Publication US 2023/0117447 A1, Apr. 20, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01); A61B 34/00 (2016.01); A61B 34/35 (2016.01); A61B 34/37 (2016.01); A61B 90/00 (2016.01); B25J 9/12 (2006.01); G16H 40/63 (2018.01); A61B 17/00 (2006.01)
CPC A61B 34/74 (2016.02) [A61B 34/25 (2016.02); A61B 34/35 (2016.02); A61B 34/37 (2016.02); A61B 34/71 (2016.02); A61B 34/77 (2016.02); A61B 90/03 (2016.02); A61B 90/06 (2016.02); A61B 90/08 (2016.02); B25J 9/12 (2013.01); G16H 40/63 (2018.01); A61B 2017/00398 (2013.01); A61B 2017/00477 (2013.01); A61B 2034/301 (2016.02); A61B 2034/305 (2016.02); A61B 2034/742 (2016.02); A61B 2090/031 (2016.02); A61B 2090/035 (2016.02); A61B 2090/066 (2016.02); A61B 2090/0807 (2016.02); A61B 2090/0809 (2016.02); A61B 2090/0811 (2016.02)] 9 Claims
OG exemplary drawing
 
1. A surgical robotic system comprising:
an end effector of a surgical tool coupled to a tool driver;
an actuator of the tool driver, the actuator configured to drive the end effector; and
one or more processors configured to:
receive a position command describing a desired angle for the end effector;
translate the angle to a command for the actuator with a compensation term,
wherein the compensation term is based on a source of hysteresis for backlash or compliance; and
send the command with the compensation term to the actuator.