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.
Claims20
An instrument drive unit configured to manipulate a tool, the instrument drive unit comprising:
- 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.
A surgical robot comprising:
- a base;
- a linkage supported by the base;
- and
- an instrument drive unit supported by the linkage and configured to support and manipulate a tool, the instrument drive unit comprising:
- 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.
A method of controlling an instrument drive unit with a controller disposed within the instrument drive unit, the method comprising:
- determining a pose of the instrument drive unit by reading values from an inertial measurement unit;
- calculating a corrected torque based on the pose of the instrument drive unit;
- and
- transmitting the corrected torque to a motor of the instrument drive unit.
Dependencies are inferred from the claim text.