Patents by Inventor H. Tutkun Sen

H. Tutkun Sen has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • CONTROL OF A SURGICAL INSTRUMENT HAVING BACKLASH, FRICTION, AND COMPLIANCE UNDER EXTERNAL LOAD IN A SURGICAL ROBOTIC SYSTEM
    Publication number: 20240065786
    Abstract: 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 actuators are then moved in cooperation with each other in position mode control so that the movement maintains the static pretension while providing precise control.
    Type: Application
    Filed: November 9, 2023
    Publication date: February 29, 2024
    Inventors: H. Tutkun Sen, Alireza Hariri
  • Control of a surgical instrument having backlash, friction, and compliance under external load in a surgical robotic system
    Patent number: 11844580
    Abstract: 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 actuators are then moved in cooperation with each other in position mode control so that the movement maintains the static pretension while providing precise control.
    Type: Grant
    Filed: August 27, 2020
    Date of Patent: December 19, 2023
    Assignee: Verb Surgical Inc.
    Inventors: H. Tutkun Sen, Alireza Hariri
  • SCALABLE FILTERING INFRASTRUCTURE FOR VARIABLE CONTROL RATES IN A DISTRIBUTED SYSTEM SUCH AS A SURGICAL ROBOTIC SYSTEM
    Publication number: 20230005610
    Abstract: For a scalable filtering infrastructure, a library of filters each usable at different control rates is provided by defining filters in a continuous time mode despite eventual use for digital filtering. For implementation, a filter is selected and discretized for the desired control rate. The discretized filter is then deployed as a discrete time realization for convolution. In a distributed system with multiple control rates, the library may be used to more rapidly and conveniently generate the desired filters.
    Type: Application
    Filed: July 2, 2021
    Publication date: January 5, 2023
    Inventors: Apoorv Shrivastava, Haoran Yu, Renbin Zhou, H. Tutkun Sen, Alireza Hariri
  • CONTROL OF A SURGICAL INSTRUMENT HAVING BACKLASH, FRICTION, AND COMPLIANCE UNDER EXTERNAL LOAD IN A SURGICAL ROBOTIC SYSTEM
    Publication number: 20220061934
    Abstract: 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 actuators are then moved in cooperation with each other in position mode control so that the movement maintains the static pretension while providing precise control.
    Type: Application
    Filed: August 27, 2020
    Publication date: March 3, 2022
    Inventors: H. Tutkun Sen, Alireza Hariri