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US 12,186,134 B2Granted
Instrument drive unit torque compensation using inertial measurement unit
AssigneeCovidien LP
InventorsJaimeen V. Kapadia, Richard S. Lech
Life of this patent
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Abstract
An instrument drive unit includes a housing defining a central longitudinal axis; an inertial measurement unit disposed within the housing and configured to determine a pose of the instrument drive unit; and a controller disposed within the housing, the controller configured to receive the pose of the instrument drive unit from the inertial measurement unit and to generate a corrected output signal which compensates for the pose of the instrument drive unit.
Claims15
An instrument drive unit configured to manipulate a tool, the instrument drive unit comprising:
- a housing defining a central longitudinal axis and configured to couple to the tool;
- at least one motor disposed in the housing and including a torque sensor configured to measure torque of the at least one motor;
- an inertial measurement unit disposed along the central longitudinal axis within the housing and configured to measure an orientation of the instrument drive unit;
- and
- a controller configured to:
- generate a calibration map between the orientation of the instrument drive unit and the torque of the at least one motor;
- calculate an output signal to control the at least one motor to manipulate the tool;
- determine a pose of the instrument drive unit based on the orientation of the instrument drive unit;
- retrieve a correction value from the calibration map based on the pose of the instrument drive unit;
- and
- generate a corrected output signal to manipulate the tool by adjusting the output signal based on the correction value, wherein the corrected output signal compensates for the pose of the instrument drive unit.
8 more elements
A surgical robot comprising:
- a base;
- a linkage supported by the base;
- a tool;
- and
- an instrument drive unit supported by the linkage and configured to couple to and manipulate the tool, the instrument drive unit comprising:
- a housing defining a central longitudinal axis;
- at least one motor disposed in the housing and including a torque sensor configured to measure torque of the at least one motor;
- an inertial measurement unit disposed along the central longitudinal axis within the housing and configured to measure an orientation of the instrument drive unit;
- and
- a controller configured to:
- generate a calibration map between the orientation of the instrument drive unit and the torque of the at least one motor;
- calculate an output signal to control the at least one motor to manipulate the tool;
- determine a pose of the instrument drive unit based on the orientation of the instrument drive unit;
- retrieve a correction value from the calibration map based on the pose of the instrument drive unit;
- and
- generate a corrected output signal to manipulate the tool by adjusting the output signal based on the correction value, wherein the corrected output signal compensates for the pose of the instrument drive unit.
13 more elements
A method of controlling an instrument drive unit with a controller, the method comprising:
- determining a pose of the instrument drive unit based on an orientation of the instrument drive unit measured by an inertial measurement unit disposed along a central longitudinal axis within a housing of the instrument drive unit, wherein the instrument drive unit is coupled to a tool and includes at least one motor configured to manipulate the tool, the at least one motor disposed in the housing and a torque sensor configured to measure torque of the at least one motor;
- generating a calibration map between the orientation of the instrument drive unit and the torque of the at least one motor;
- calculating an output torque to control the at least one motor to manipulate the tool;
- retrieving a correction value from the calibration map based on the pose of the instrument drive unit;
- calculating a corrected torque to manipulate the tool by adjusting the output torque based on the correction value;
- and
- transmitting the corrected torque to a motor of the instrument drive unit.
4 more elements
Dependencies are inferred from the claim text.