Autonomous correction of alignment error in a master-slave robotic system

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United States of America Patent

PATENT NO 11779419
SERIAL NO

17530912

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Abstract

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In some embodiments, correcting an alignment error between an end effector of a tool associated with a slave and a master actuator associated with a master in a robotic system involves receiving at the master, master actuator orientation signals (RMCURR) representing the orientation of the master actuator relative to a master reference frame and generating end effector orientation signals (REENEW) representing the end effector orientation relative to a slave reference frame, producing control signals based on the end effector orientation signals, receiving an enablement signal for selectively enabling the control signals to be transmitted from the master to the slave, responsive to a transition of the enablement signal from not active state to active state, computing the master-slave misalignment signals (RΔ) as a difference between the master actuator orientation signals (RMCURR) and the end effector orientation signals (REENEW), and adjusting the master-slave misalignment signals (RΔ) to reduce the alignment difference.

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Patent Owner(s)

Patent OwnerAddress
TITAN MEDICAL INC750-155 UNIVERSITY AVENUE TORONTO M5H 3B7

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Cameron, Peter Menlo Park, US 11 189
Kralicky, Joseph North Kingstown, US 9 89

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