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This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-12582491-B2, on 24 March 2026. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000001569

Control of a surgical instrument having backlash, friction, and compliance under external load in a surgical robotic system

Published
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Classification
Robotics & Automation › Robot Architectures
Inventors
HARIRI ALIREZA, SEN H TUTKUN
Assignee
VERB SURGICAL INC
Original source
US-12582491-B2, the United States Patent and Trademark Office, 24 March 2026
Document SHA-256
3a69b6c9ba09537d32144e67d99cbe816c61d86ac6c20073625e705a90ec63c5

Abstract

For control of a surgical instrument in a surgical robotic system, multiple actuators establish a static pretension by actuating in opposition to each other in torque control. The static pretension reduces or removes the compliance and elasticity, reducing the backlash width. To drive the tool, the actuators are then moved in cooperation with each other in position mode control so that the movement maintains the static pretension while providing precise control.

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Citation

OpenTechnical Publication OT-2026-000001569, “Control of a surgical instrument having backlash, friction, and compliance under external load in a surgical robotic system,” published September 15, 2026 at 19:06:44 UTC, https://opentechnical.org/p/OT-2026-000001569.

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