{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-11950970","patent":{"patent_number":"US-11950970","title":"Medical support arm system, medical support arm control method, and medical support arm control device","assignee":null,"inventors":[],"filing_date":"2022-03-16T00:00:00.000Z","publication_date":"2024-04-09T00:00:00.000Z","cpc_codes":["A61B","A61B","B25J","B25J","B25J","B25J","A61B","A61B","A61B","A61B","A61B","A61B","A61B","A61B","G05B","G05B"],"num_claims":7,"abstract":"Provided is a medical support arm system including a support arm that is a multilink structure having a plurality of links connected by a joint unit including an actuator, and supports a medical unit. The medical support arm system further includes a control device including an external force estimation unit to estimate an external force acting on the joint unit on the basis of a drive characteristic of the actuator, and a joint control unit to control drive of the joint unit on the basis of an external torque estimated by the external force estimation unit."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Medical support arm system, medical support arm control method, and medical support arm control device","description":"Provided is a medical support arm system including a support arm that is a multilink structure having a plurality of links connected by a joint unit including an actuator, and supports a medical unit.","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-11950970","license":"CC-BY-4.0-like","license_terms":"AI-generated analysis on this page (summary, layman_explanation, technical_analysis, business_analysis, faqs) may be reused with attribution and a visible link back to the canonical URL above. Patent abstracts, claims, and bibliographic data are USPTO public domain.","required_link":"https://patentable.app/patents/US-11950970","citation_suggestion":"Patentable. \"Medical support arm system, medical support arm control method, and medical support arm control device\" (US-11950970). https://patentable.app/patents/US-11950970","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-11950970","json":"https://patentable.app/api/llm-context/US-11950970","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-05-31T14:43:15.367Z"}