发明授权
US08419717B2 Control system configured to compensate for non-ideal actuator-to-joint linkage characteristics in a medical robotic system
有权
控制系统被配置为补偿医疗机器人系统中的非理想的致动器 - 关节联动特性
- 专利标题： Control system configured to compensate for non-ideal actuator-to-joint linkage characteristics in a medical robotic system
- 专利标题（中）： 控制系统被配置为补偿医疗机器人系统中的非理想的致动器 - 关节联动特性
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申请号： US11762236申请日： 2007-06-13
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公开(公告)号： US08419717B2公开(公告)日： 2013-04-16
- 发明人: Nicola Diolaiti , David Q. Larkin , Thomas G. Cooper , Bruce Schena
- 申请人： Nicola Diolaiti , David Q. Larkin , Thomas G. Cooper , Bruce Schena
- 申请人地址： US CA Sunnyvale
- 专利权人： Intuitive Surgical Operations, Inc.
- 当前专利权人： Intuitive Surgical Operations, Inc.
- 当前专利权人地址： US CA Sunnyvale
- 主分类号： A61B17/00
- IPC分类号： A61B17/00
摘要：
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.