US Patent 12059225 Active backdriving for a robotic arm
Patent 12059225 was granted and assigned to Verb Surgical Inc. on August, 2024 by the United States Patent and Trademark Office.
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US Patent 12059225 Active backdriving for a robotic arm
A robotic surgical system includes at least one robotic arm comprising at least one movable joint and an actuator configured to drive the at least one movable joint, and a controller configured to generate a first signal, the first signal comprising a first oscillating waveform having a first frequency and being modulated by a second oscillating waveform having a second frequency, wherein the second frequency is higher than the first frequency. The actuator is configured to drive the at least one movable joint based on the first signal to at least partially compensate for friction in the at least one movable joint.
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