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US 11,950,970 B2Granted
Medical support arm system, medical support arm control method, and medical support arm control device
AssigneeSony Group Corporation
InventorsYasuhiro Matsuda, Fumiyasu Suzuki, Atsushi Miyamoto, Yohei Kuroda, Kenichiro Nagasaka
Life of this patent
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Abstract
Provided is a medical support arm system including a support arm that is a multilink structure having a plurality of links connected by a joint unit including an actuator, and supports a medical unit. The medical support arm system further includes a control device including an external force estimation unit to estimate an external force acting on the joint unit on the basis of a drive characteristic of the actuator, and a joint control unit to control drive of the joint unit on the basis of an external torque estimated by the external force estimation unit.
Claims7
A medical support arm system, comprising:
- a support arm configured to support a medical unit, wherein
- the support arm is a multilink structure having a plurality of links,
- the plurality of links is connected by a joint unit,
- the joint unit includes an actuator, and
- the actuator includes a motor and a speed reducer;
- a control device that includes:
- an external force estimation unit configured to:
- estimate an external force on the joint unit based on a drive characteristic of the motor of the actuator, wherein the drive characteristic of the motor includes at least one of an inertia of the motor or a velocity of the motor;
- estimate, using a model identification result, a friction torque associated with a drive of the joint unit based on a static friction and a dynamic friction of the speed reducer;
- calculate a motion estimation torque associated with the drive of the joint unit based on the friction torque;
- and
- estimate an external torque on the joint unit based on the estimated external force, a current command torque associated with the drive of the joint unit, and the motion estimation torque;
- and
- a joint control unit configured to control the drive of the joint unit based on the estimated external torque.
11 more elements
A medical support arm control method, comprising:
- in a medical support arm system that comprises a support arm, wherein the support arm includes a joint unit:
- controlling, by a processor of the medical support arm system, a drive of the joint unit of the support arm, wherein
- the support arm has a plurality of links connected by the joint unit,
- the joint unit includes an actuator, and
- the actuator includes a motor, and a speed reducer;
- estimating an external force on the joint unit based on a drive characteristic of the motor of the actuator, wherein the drive characteristic of the motor includes at least one of an inertia of the motor or a velocity of the motor;
- estimating, using a model identification result, a friction torque associated with the drive of the joint unit based on a static friction and a dynamic friction of the speed reducer;
- calculating a motion estimation torque associated with the drive of the joint unit based on the friction torque;
- and
- estimating an external torque on the joint unit based on the estimated external force, a current command torque associated with the drive of the joint unit, and the motion estimation torque;
- and
- controlling the drive of the joint unit based on the estimated external torque.
9 more elements
A medical support arm control device, comprising:
- a joint control unit configured to control a drive of a joint unit of a support arm, wherein
- the support arm is a multilink structure having a plurality of links,
- the plurality of links is connected by the joint unit,
- the joint unit includes an actuator, and
- the actuator includes a motor, and a speed reducer;
- and
- an external force estimation unit configured to:
- estimate an external force on the joint unit based on a drive characteristic of the motor of the actuator, wherein the drive characteristic of the motor includes at least one of an inertia of the motor or a velocity of the motor;
- estimate, using a model identification result, a friction torque associated with the drive of the joint unit based on a static friction and a dynamic friction of the speed reducer;
- calculate a motion estimation torque associated with the drive of the joint unit based on the friction torque;
- and
- estimate an external torque on the joint unit based on the estimated external force, a current command torque associated with the drive of the joint unit, and the motion estimation torque,
- wherein the joint control unit is further configured to control the drive of the joint unit based on the estimated external torque.
10 more elements
Dependencies are inferred from the claim text.