Real time monitoring of a robotic drive module
AssigneeCovidien LP
InventorsAndreas Tobergte, Tom Baker
Life of this patent
Estimating the term…
Abstract
The surgical robotic system includes a robotic arm having one or more joints, each having a motor and at least one torque sensor and a velocity sensor. The system also includes a main controller, which outputs a drive command to the motor thereby actuating the motor. The system further includes a safety observer, which receives a measured velocity of the motor from the sensor, calculates an observed velocity, and detects a failure in operation of the at least one joint based on the observed velocity and the measured velocity.
Claims15
1-20. (canceled)
A surgical robotic system comprising:
- a robotic arm including:
- a joint;
- a motor configured to move the joint;
- a torque sensor configured to measure torque associated with the joint or the motor;
- and
- a velocity sensor configured to measure velocity of the motor;
- and
- a controller configured to:
- output a drive command to the motor to actuate the motor;
- receive a measured velocity from the velocity sensor and a measured torque from the torque sensor;
- calculate an estimated velocity of the motor based on the measured torque and the drive command;
- detect a failure in operation of the joint based on a velocity difference between the calculated estimated velocity and the measured velocity;
- and
- initiate a corrective action in response to the detected failure.
A method for controlling a surgical robotic system, the method comprising:
- outputting, by a controller, a drive command to a motor configured to move a joint of a robotic arm to actuate the motor;
- measuring, using a torque sensor, torque associated with the joint or the motor;
- measuring, using a velocity sensor, velocity of the motor;
- receiving, at the controller, a measured velocity from the velocity sensor and a measured torque from the torque sensor;
- calculating, by the controller, an estimated velocity of the motor based on the measured torque and the drive command;
- detecting, by the controller, a failure in operation of the joint based on a velocity difference between the calculated estimated velocity and the measured velocity;
- and
- initiating, by the controller, a corrective action in response to the detected failure.
Dependencies are inferred from the claim text.