Intuitive Surgical Operations

Uniform Scaling of Haptic Forces in Surgical Systems

This patent describes a surgical system that uses a single scaling factor to adjust the strength of touch feedback from multiple motors, ensuring the feedback feels consistent even when one motor reaches its maximum power.

How Surgical Robots Reconfigure Their Arms Without Moving the Tool Tip

This patent describes how a surgical robot arm can move and reshape itself to avoid obstacles or improve its position, all while keeping its surgical tool perfectly still at the patient's entry point or target.