{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9795445","patent":{"patent_number":"US-9795445","title":"System and method for controlling a manipulator in response to backdrive forces","assignee":null,"inventors":[],"filing_date":"2015-12-01T00:00:00.000Z","publication_date":"2017-10-24T00:00:00.000Z","cpc_codes":["A61B","A61B","A61B","A61B","A61B","A61B","A61B","A61B","A61B","B25J","B25J","B25J","B25J","G16H","A61B","A61B","A61B","A61B","A61B","G05B","G05B"],"num_claims":19,"abstract":"A system and method for controlling a manipulator are provided. A manipulator controller measures an actual torque and calculates an expected torque for at least one joint motor of the manipulator. The manipulator controller computes a backdrive force for the at least one joint motor based on the actual torque and expected torque. A surgical tool of the manipulator is modeled as a virtual rigid body. The manipulator controller computes a total force or torque to apply to the virtual rigid body based on the backdrive force. The manipulator controller determines a target position of the surgical instrument based on the total force or torque and commands positioning of the joint motors to advance the surgical instrument to the target position."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"System and method for controlling a manipulator in response to backdrive forces","description":"A system and method for controlling a manipulator are provided. A manipulator controller measures an actual torque and calculates an expected torque for at least one joint motor of the manipulator. Th","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9795445","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-9795445","citation_suggestion":"Patentable. \"System and method for controlling a manipulator in response to backdrive forces\" (US-9795445). https://patentable.app/patents/US-9795445","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9795445","json":"https://patentable.app/api/llm-context/US-9795445","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T09:52:34.419Z"}