Patents Represented by Attorney Mark Barrish

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  • Friction compensation in a minimally invasive surgical apparatus
    Patent number: 6899705
    Abstract: Devices, systems, and methods for compensate for friction within powered automatic systems, particularly for telesurgery and other telepresence applications. Dynamic friction compensation may comprise applying a continuous load in the direction of movement of a joint, and static friction compensation may comprise applying alternating loads in positive and negative joint actuation directions whenever the joint velocity reading falls within a low velocity range.
    Type: Grant
    Filed: March 27, 2003
    Date of Patent: May 31, 2005
    Assignee: Intuitive Surgical
    Inventor: Gunter D. Niemeyer