US Patent Issued to Verb Surgical on June 10 for "Regulating joint space velocity of a surgical robotic arm" (California Inventor)

ALEXANDRIA, Va., June 18 -- United States Patent no. 12,324,644, issued on June 10, was assigned to Verb Surgical Inc. (Santa Clara, Calif.).

"Regulating joint space velocity of a surgical robotic arm" was invented by Haoran Yu (Sunnyvale, Calif.).

According to the abstract* released by the U.S. Patent & Trademark Office: "A surgical robotic system has a surgical robotic arm, and a programmed processor that determines a longest principal axis of a velocity ellipsoid for a first configuration of the arm, applies a maximum task space velocity (that is in the direction of the longest principal axis) to an inverse kinematics equation which computes a potential joint space velocity, computes a ratio of i) the potential joint space velocity and...