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US 10,033,308 B2Granted
Systems and methods for motor torque compensation
AssigneeIntuitive Surgical Operations, Inc.
InventorsAmir Chaghajerdi, Pushkar Hingwe
Life of this patent
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Abstract
A method includes receiving a torque limit for a motor, monitoring a torque output of the motor, determining an amplitude and a phase of a torque ripple of the torque output, and determining a compensated torque limit for the motor, the compensated torque limit including a first component at the torque limit and a second component at an adjusted torque limit.
Claims15
A medical instrument system comprising:
- a motor;
- and
- a control system comprising a processor and a memory, the memory comprising machine readable instructions that when executed by the processor, cause the control system to:
- monitor a torque output of the motor;
- determine an oscillation component of the torque output, the oscillation component being associated with a torque ripple;
- receive an upper torque limit;
- adjust the upper torque limit based on the oscillation component to create a localized compensated upper torque limit;
- and
- output to a user interface, an indication of operation failure in response to a determination that the torque output exceeds the localized compensated upper torque limit.
6 more elements
A medical instrument system comprising:
- a motor;
- and
- a control system comprising a processor and a memory, the memory comprising machine readable instructions that when executed by the processor, cause the control system to:
- receive a motor torque limit for the motor;
- monitor a torque output of the motor;
- determine an amplitude and a phase of a torque ripple of the torque output;
- and
- determine a locally compensated torque limit for the motor by adjusting the motor torque limit based on the determined amplitude and phase of the torque ripple.
5 more elements
Dependencies are inferred from the claim text.