US Patent Issued to Intuitive Surgical Operations on Oct. 6 for "System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement" (California Inventors)

ALEXANDRIA, Va., Oct. 6 -- United States Patent no. 12,751,779, issued on Oct. 6, was assigned to Intuitive Surgical Operations Inc. (Sunnyvale, Calif.).

"System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement" was invented by Nitish Swarup (Sunnyvale, Calif.) and Arjang M. Hourtash (Sunnyvale, Calif.).

According to the abstract* released by the U.S. Patent & Trademark Office: "Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent wit...