System and method for force or torque limit compensation
AssigneeIntuitive Surgical Operations, Inc.
InventorsMelody Wu, David W. Weir
Life of this patent
Estimating the term…
Abstract
Techniques for force and torque limit compensation include a computer-assisted device including a drive unit configured to operate a degree of freedom of an instrument supported by the computer-assisted device and a control unit. The control unit is configured to determine an expected amount of restraining or return to home force or torque applied to the degree of freedom; determine a force or torque limit compensation based on the expected amount of restraining or return to home force or torque; alter one or more force or torque limits based on the force or torque limit compensation; and adjust, using the drive unit, the degree of freedom subject to the one or more altered force or torque limits.
Claims20
A computer-assisted device comprising:
- a drive unit configured to operate a degree of freedom of an instrument supported by the computer-assisted device;
- and
- a control unit configured to:
- determine an expected amount of restraining or return to home force or torque applied to the degree of freedom;
- determine a force or torque limit compensation based on the expected amount of restraining or return to home force or torque;
- alter one or more force or torque limits based on the force or torque limit compensation;
- and
- adjust, using the drive unit, the degree of freedom subject to the one or more altered force or torque limits.
A method of operating an instrument supported by a computer-assisted device comprising a drive unit configured to operate a degree of freedom of the instrument, the method comprising:
- determining, by a control unit of the computer-assisted device, an expected amount of restraining or return to home force or torque applied to the degree of freedom of the instrument;
- determining, by the control unit, a force or torque limit compensation based on the expected amount of restraining or return to home force or torque;
- altering, by the control unit, one or more force or torque limits based on the force or torque limit compensation;
- and
- adjusting, by the control unit using the drive unit, the degree of freedom subject to the one or more force or torque limits.
A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which, when executed by a control unit associated with a computer-assisted device comprising a drive unit configured to operate a degree of freedom of an instrument supported by the computer-assisted device, are adapted to cause the control unit to perform a method of operating the instrument, the method comprising:
- determining an expected amount of restraining or return to home force or torque applied to a degree of freedom of the instrument;
- determining a force or torque limit compensation based on the expected amount of restraining or return to home force or torque;
- altering one or more force or torque limits based on the force or torque limit compensation;
- and
- adjusting, using the drive unit, the degree of freedom subject to the one or more force or torque limits.
Dependencies are inferred from the claim text.