US Patent Issued to CMR SURGICAL on July 8 for "Robotic joint control" (British Inventor)

ALEXANDRIA, Va., July 9 -- United States Patent no. 12,349,996, issued on July 8, was assigned to CMR SURGICAL Ltd. (Cambridge, Great Britain).

"Robotic joint control" was invented by Desmond Phillips (Cambridge, Great Britain).

According to the abstract* released by the U.S. Patent & Trademark Office: "A system comprising: a robot comprising an arm having an attachment and, for each of n joints, a driver and a joint sensor; and a control unit configured to: obtain a desired position of the attachment; for each of kgreater thann joints, obtain a sensed joint state; compare the states to a set of criteria indicative of the arm moving from a first to a second configuration; the states matching the set of criteria, determine a magnitude of a...