{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-12011244","patent":{"patent_number":"US-12011244","title":"Ratcheting for master alignment of a teleoperated minimally invasive surgical instrument","assignee":null,"inventors":[],"filing_date":"2023-04-28T00:00:00.000Z","publication_date":"2024-06-18T00:00:00.000Z","cpc_codes":["A61B","A61B","A61B","A61B","A61B","B25J","B25J","B25J","A61B","A61B","A61B","G05B"],"num_claims":20,"abstract":"A teleoperated system includes a robotic arm configured to support an instrument, a grip configured to be manipulated by an operator to command motion of the instrument, and a control system communicatively coupled to the robotic arm and the grip. To align the grip with the instrument by the grip, the control system is configured to determine grip rotation values describing an orientation of the grip, determine instrument rotation values describing an orientation of the instrument, determine an orientation error between the orientation of the grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values, produce a motion command by selectively imposing, based on the orientation error, an artificial joint limit on a commanded movement of the instrument, and command the robotic arm to move in accordance with the motion command."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Ratcheting for master alignment of a teleoperated minimally invasive surgical instrument","description":"A teleoperated system includes a robotic arm configured to support an instrument, a grip configured to be manipulated by an operator to command motion of the instrument, and a control system communica","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-12011244","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-12011244","citation_suggestion":"Patentable. \"Ratcheting for master alignment of a teleoperated minimally invasive surgical instrument\" (US-12011244). https://patentable.app/patents/US-12011244","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-12011244","json":"https://patentable.app/api/llm-context/US-12011244","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-05-31T02:40:23.230Z"}