US 12,133,700 B2
Systems and methods for controlling a robotic manipulator or associated tool
Daniel N. Miller, Fremont, CA (US); Dinesh Rabindran, San Jose, CA (US); and Kollin M. Tierling, Los Altos Hills, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Apr. 17, 2023, as Appl. No. 18/301,905.
Application 18/301,905 is a continuation of application No. 17/186,391, filed on Feb. 26, 2021, granted, now 11,653,987.
Application 17/186,391 is a continuation of application No. 16/495,484, granted, now 10,952,801, issued on Mar. 23, 2021, previously published as PCT/US2018/060129, filed on Nov. 9, 2018.
Claims priority of provisional application 62/584,377, filed on Nov. 10, 2017.
Prior Publication US 2023/0248454 A1, Aug. 10, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 13/08 (2006.01); A61B 34/30 (2016.01); B25J 9/16 (2006.01); B25J 15/00 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/37 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/30 (2016.02) [B25J 9/1607 (2013.01); B25J 9/1638 (2013.01); B25J 9/1641 (2013.01); B25J 13/08 (2013.01); B25J 15/0019 (2013.01); A61B 2034/2059 (2016.02); A61B 2034/301 (2016.02); A61B 34/37 (2016.02); A61B 34/74 (2016.02); A61B 34/76 (2016.02); A61B 2090/066 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a robotic manipulator configured for control of motion of a tool, the robotic manipulator including a joint and a link connected to the joint, wherein the link is configured to connect to the tool;
a processing unit including one or more processors, the processing unit configured to:
receive joint measurement data of the joint;
receive load side measurement data from a sensor system located at the link or at the tool;
generate a first estimate of a first parameter of the tool using the joint measurement data and load side measurement data; and
control the joint based on the first estimate of the tool.