Granted Patent
Utility
US 6,714,839 · App. 09/398,507
Master having redundant degrees of freedom
Inventors:
J. Kenneth Salisbury, Jr., Akhil J. Madhani, Gary S. Guthart, Gunter D. Niemeyer, Eugene F. Duval
Patented Case
View Patent ↗
Granted: Mar 30, 2004
Filed: Sep 17, 1999
Inventors
J. Kenneth Salisbury, Jr.
Akhil J. Madhani
Gary S. Guthart
Gunter D. Niemeyer
Eugene F. Duval
Assignee (at issue)
INTUITIVE SURGICAL, INC.
This patent predates the USPTO's electronic file wrapper — prosecution documents from this era exist only in the Patent Office's paper records. A certified copy of the file history can be ordered from the USPTO's paper archives.