{
  "abstract": "A computer-assisted system includes a manipulator arm including a joint, an actuator mechanism configured to drive the joint, and a controller including a computer processor. The controller is communicatively coupled to the manipulator arm and configured with a first control mode and a second control mode. In each of the first control mode and the second control mode, the controller commands the actuator mechanism to allow an external articulation to reconfigure the manipulator arm by backdriving the joint. The first control mode is distinguished from the second control mode at least by the controller being configured to, in the first control mode, command the actuator mechanism to provide a first speed-dependent resistance in response to the joint being backdriven at a first backdriven speed above a first speed threshold. The first speed-dependent resistance opposes the joint being backdriven.",
  "assignees": [
    "INTUITIVE SURGICAL OPERATIONS"
  ],
  "authors": [
    "DUFFY SEAN",
    "LYNCH GORAN",
    "VALLADAO WILL",
    "ZEIAEE AMIN"
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    "name": "Creative Commons Attribution 4.0 International",
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  "published_at": "2026-09-15T19:14:28.608696Z",
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  "source_date": "2026-02-24",
  "source_id": "US-12558176-B2",
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  "title": "Controlled resistance in backdrivable joints",
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