PATENT CLAIM ANALYSIS

Application Number: 16026591
Application Type: Utility
Filing Date: 2018-07
Publication Date: 2019-04
Patent Classification: ["073", "862041"]

Abstract:
Certain aspects relate to systems and techniques for detection of undesirable forces on one or more surgical robotic arms. In one aspect, there is provided a system including a robotic arm, including: two linkages, a joint, a torque sensor, and an instrument device manipulator (IDM). The system may further include a processor configured to measure a first torque value at the joint based on an output of the torque sensor and determine a second torque value at the joint based on a position of the robotic arm. The second torque value may be indicative of a gravitational component of the torque between the two linkages. The processor may be further configured to determine a force at the IDM based a difference between the first and second torque values and determine whether the robotic arm has collided with an object or misaligned based on the force at the IDM.

Claim (Index 20):
The non-transitory computer readable storage medium of  claim 19 , further having stored thereon instructions that, when executed, cause at least one computing device to:\n determine a second component of the first force applied to the IDM along the first axis; and determine that the second component of the first force is greater than a second threshold value, wherein the determining of the collision is further based on determining that the second component of the first force is greater than the second threshold value, the second threshold value greater than an expected force of insertion of the first medical instrument.

Metadata:
- Claim Count in Document: 59.0
- Percentile: 95.0
- Lexical Diversity: 2.20548
- Patent Class: 73.0
- Transitional Phrase Type: none
- Component Type: 0
- Foreign Priority: False
- Related Applications: ['15729569', '16011317', '15729558', '14871253', '15640277']

Analysis Scores:
- 35 USC 101 Eligibility (BERT): 0.7231128445699915
- 35 USC 102 Novelty (BERT): 0.5637315930410547
- Combined Prediction Score: 0.7071747194170979
- Mean Citation Score: 311.161184
- Max Citation Score: 453.13596
- Similarity Product: 334.9557770423126

Labels:
- Claim Label 101: 1
- Claim Label 102: 1
- Claim Label 103: 1
- Claim Label 112: 1
- Combined Label: 1
- Label 101 Adjusted: 1

Dataset: test