US 12,419,709 B2
Passive and active arm control schemes with sensor integration to support tele-operation and direct manual interaction
Yanan Huang, Sunnyvale, CA (US); Ying Mao, San Mateo, CA (US); Nicholas J. Eyre, Redwood City, CA (US); Pouya Sabetian, Foster City, CA (US); Mark A. Lown, Castro Valley, CA (US); and Jason Tomas Wilson, Redwood City, CA (US)
Assigned to Auris Health, Inc., Santa Clara, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Feb. 1, 2021, as Appl. No. 17/164,496.
Claims priority of provisional application 63/002,990, filed on Mar. 31, 2020.
Prior Publication US 2021/0298850 A1, Sep. 30, 2021
Int. Cl. A61B 34/35 (2016.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/35 (2016.02) [A61B 2034/301 (2016.02); A61B 2034/302 (2016.02); A61B 2034/306 (2016.02); A61B 34/37 (2016.02); A61B 2090/064 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical robotic system, comprising:
a robotic arm comprising:
a proximal end and a distal end;
a plurality of linkages coupled by a plurality of joints between the proximal and distal ends;
one or more motors coupled with at least one joint of the plurality of joints and configured to adjust a position of at least one linkage of the plurality of linkages;
a sensor coupled with the robotic arm;
an input positioned on the robotic arm and configured to be activated by a user;
a processor; and
a memory storing computer-executable instructions to cause the processor to:
measure a force on the robotic arm with the sensor, the force located distal to the sensor;
generate a signal based on the measured force;
control the one or more motors based on the signal to move the at least one linkage of the plurality of linkages;
receive a user input signal generated by activation of the input by the user; and
control the one or more motors to move the at least one linkage further in response to receiving the user input signal.