Systems and methods for motor torque compensation
AssigneeIntuitive Surgical Operations, Inc.
InventorsHsien-Hsin Liao, Niels Smaby, Gregory W. Dachs, II, Pushkar Hingwe, Amir Chaghajerdi
Life of this patent
Estimating the term…
Abstract
A method for torque compensation of a motor associated with a medical instrument includes determining a torque profile for a motor, the torque profile defining torque output as a function of rotor angle and during operation of the motor, compensating for deviations in the torque profile by adjusting an input signal to the motor, the compensating being based on the torque profile and rotor position.
Claims20
A method for torque compensation of a motor associated with a medical instrument, the method comprising:
- determining, using a control system, a torque profile for the motor, the torque profile defining torque output as a first function of a rotor angle of the motor and of multiple discrete loads;
- storing a compensation profile for controlling an input signal to the motor, the compensation profile defining adjustments to the input signal as a second function of the rotor angle of the motor;
- and
- applying the compensation profile during operation of the motor.
A motor system for driving an instrument of a teleoperative system, the motor system comprising:
- a motor;
- and
- a control system comprising a processor and a memory, the memory comprising machine readable instructions that cause the motor system to:
- determine a torque profile for the motor, the torque profile defining torque output as a first function of a rotor angle of the motor and of multiple discrete loads;
- store a compensation profile for controlling an input signal to the motor, the compensation profile defining adjustments to the input signal as a second function of the rotor angle of the motor;
- and
- apply the compensation profile during operation of the motor.
A teleoperative medical device comprising:
- a manipulator arm;
- a medical instrument detachably connected to the manipulator arm;
- a plurality of motors connected to the manipulator arm, each motor of the plurality of motors configured to move the medical instrument in a different manner from another of the plurality of motors;
- 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:
- store a separate compensation profile for each motor of the plurality of motors, each compensation profile configured for controlling an input signal to a respective motor, each compensation profile defining adjustments to the input signal of the respective motor as a second function of a rotor angle of the respective motor, each compensation profile being based on a torque profile associated with the respective motor, wherein the torque profile associated with the respective motor defines torque output as a first function of the rotor angle at a set of discrete loads;
- and
- apply each compensation profile during operation of each of the plurality of motors.
Dependencies are inferred from the claim text.