Is a
Patent attributes
Patent Jurisdiction
Patent Number
Date of Patent
September 26, 2017
Patent Application Number
14333039
Date Filed
July 16, 2014
Patent Citations Received
Patent Primary Examiner
Patent abstract
A master console includes handles configured to control robotic surgical instruments of a slave robot, force/torque detectors configured to detect forces applied to the handles by an operator, a force compensator configured to generate force control signals that cancel out the forces applied to the handles by the operator, and a master controller configured to drive at least one joint of each of the handles in order to control motion of the handles based on motion control signals and the generated force control signals.
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