Surgical robotic tool multi-motor actuator and controller
US11071441B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 20, 2018 |
| Grant date | Jul 27, 2021 |
| Priority date | — |
| Expiry date | Apr 13, 2040 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2034/301
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A first input coupling and a second input coupling are coupled to rotatably drive an output coupling at the same time. In one embodiment, the output coupling rotates a robotic surgery endoscope about a longitudinal axis of the output coupling. A first motor drives the first input coupling while being assisted by a second motor that is driving the second input coupling. A first compensator produces a first motor input based on a position error and in accordance with a position control law, and a second compensator produces a second motor input based on the position error and in accordance with an impedance control law. In another embodiment, the second compensator receives a measured torque of the first motor. Other embodiments are also described and claimed.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.