{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9662174","patent":{"patent_number":"US-9662174","title":"Micro-force guided cooperative control for surgical manipulation of delicate tissue","assignee":null,"inventors":[],"filing_date":"2011-08-02T00:00:00.000Z","publication_date":"2017-05-30T00:00:00.000Z","cpc_codes":["A61B","A61B","B25J","G05B","A61B","A61B","G05B","G05B","G05B"],"num_claims":16,"abstract":"A method and system for micro-force guided cooperative control that assists the operator in manipulating tissue in the direction of least resistance. A tool holder receives a surgical tool adapted to be held by a robot and a surgeon. A first sensor measures interaction forces between a tip of the surgical tool and tissue of a region of interest. A second sensor measures interaction forces between the surgeon and a handle to the surgical tool. A data processor is configured to perform an algorithm to actively guide the surgical tool by creating a bias towards a path of least resistance and limit directional tool forces of the surgical tool as a function of handle input forces and tip forces. This function offers assistance to challenging retinal membrane peeling procedures that require a surgeon to delicately delaminate fragile tissue that is susceptible to hemorrhage and tearing due to undesirable forces."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Micro-force guided cooperative control for surgical manipulation of delicate tissue","description":"A method and system for micro-force guided cooperative control that assists the operator in manipulating tissue in the direction of least resistance. A tool holder receives a surgical tool adapted to ","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9662174","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-9662174","citation_suggestion":"Patentable. \"Micro-force guided cooperative control for surgical manipulation of delicate tissue\" (US-9662174). https://patentable.app/patents/US-9662174","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9662174","json":"https://patentable.app/api/llm-context/US-9662174","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T14:51:26.123Z"}