PATENT CLAIM ANALYSIS

Application Number: 15860616
Application Type: Utility
Filing Date: 2018-01
Publication Date: 2018-07
Patent Classification: ["606", "001000"]

Abstract:
A method of force estimation for a minimally invasive medical system comprising a robot manipulator ( 10 ). The manipulator has an effector unit ( 12 ) equipped with a 6-degrees-of-freedom (DOF) force/torque sensor and is configured to hold a minimally invasive instrument ( 14 ) having a first end ( 16 ) mounted to the effector unit and a second end ( 20 ) located beyond an external fulcrum ( 23 ) that limits the instrument in motion, usually to 4 DOF. The method comprising the steps: determining a position of the instrument relative to the fulcrum; measuring by means of the 6-DOF force/torque sensor a force and a torque exerted onto the effector unit by the first end of the instrument; and calculating by means of the principle of superposition an estimate of a force exerted onto the second end of the instrument based on the determined position, the measured force and the measured torque.

Claim (Index 6):
The method of force estimation as claimed in  claim 5 , wherein said effector unit is equipped with a six-degrees-of-freedom accelerometer, and said calibration procedure further comprises: measuring with said six-degrees-of-freedom accelerometer a gravity load and/or dynamic loads exerted onto said six-degrees-of-freedom force/torque sensor; compensating said gravity and/or dynamic loads in said measured force and said measured torque; recording for each pose a measured linear acceleration and a measured angular acceleration; and determining linear and angular acceleration measurement offsets based on said recorded linear and angular acceleration measurements.

Metadata:
- Claim Count in Document: 23.0
- Percentile: 86.0
- Lexical Diversity: 2.14103
- Patent Class: 606.0
- Transitional Phrase Type: none
- Component Type: 0
- Foreign Priority: True
- Related Applications: ['12447335', '13546057', '12162902', '12278251', '10893613']

Analysis Scores:
- 35 USC 101 Eligibility (BERT): 0.8072122709491862
- 35 USC 102 Novelty (BERT): 0.5627030979070448
- Combined Prediction Score: 0.7827613536449721
- Mean Citation Score: 344.47666200000015
- Max Citation Score: 512.0356400000002
- Similarity Product: 409.24656402797234

Labels:
- Claim Label 101: 0
- Claim Label 102: 0
- Claim Label 103: 1
- Claim Label 112: 0
- Combined Label: 0
- Label 101 Adjusted: 0

Dataset: test