US Patent Issued to Verb Surgical on March 24 for "Control of a surgical instrument having backlash, friction, and compliance under external load in a surgical robotic system" (California Inventors)

ALEXANDRIA, Va., March 24 -- United States Patent no. 12,582,491, issued on March 24, was assigned to Verb Surgical Inc. (Santa Clara, Calif.).

"Control of a surgical instrument having backlash, friction, and compliance under external load in a surgical robotic system" was invented by H. Tutkun Sen (Santa Clara, Calif.) and Alireza Hariri (Santa Clara, Calif.).

According to the abstract* released by the U.S. Patent & Trademark Office: "For control of a surgical instrument in a surgical robotic system, multiple actuators establish a static pretension by actuating in opposition to each other in torque control. The static pretension reduces or removes the compliance and elasticity, reducing the backlash width. To drive the tool, the actuator...