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US 7,713,263 B2Granted
Friction compensation in a minimally invasive surgical apparatus
AssigneeIntuitive Surgical Operations, Inc.
InventorGunter D. Niemeyer
Life of this patent
Estimating the term…
Abstract
Devices, systems, and methods for compensate for friction within powered automatic systems, particularly for telesurgery and other telepresence applications. Dynamic friction compensation may comprise applying a continuous load in the direction of movement of a joint, and static friction compensation may comprise applying alternating loads in positive and negative joint actuation directions whenever the joint velocity reading falls within a low velocity range.
Claims10
A method for friction compensation of a movable mechanical part in a medical robotic system, comprising:
- determining a velocity reading for the movable mechanical part;
- and
- applying an alternating direction, friction compensation load on the movable mechanical part when the velocity reading is within a first reading range.
Dependencies are inferred from the claim text.