Control system configured to compensate for non-ideal actuator-to-joint linkage characteristics in a medical robotic system
US8419717B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 13, 2007 |
| Grant date | Apr 16, 2013 |
| Priority date | — |
| Expiry date | Apr 24, 2030 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/30
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.