公开(公告)号：US20220071726A1

公开(公告)日：2022-03-10

申请号：US17299869

申请日：2019-12-06

申请人： Covidien LP

发明人： Brian Rockrohr ,  Jiqi Cheng ,  Dwight Meglan ,  Farrukh Rahman ,  Brian Wells ,  Alok Agrawal

IPC分类号： A61B34/00 ,  A61B34/30

摘要： A method of controlling an end effector of a surgical robot includes receiving a desired pose, generating motor torques, transmitting the motor torques, generating null torques, generating desired torques, and transmitting the desired torques to an IDU such that the IDU moves the end effector to the desired pose. A primary controller receives the desired pose of the end effector in three DOF. The primary controller generates the motor torques in response to receiving the desired pose. The primary controller transmits the motor torques which are received in a secondary controller. The secondary controller generates null torques to maintain tension in cables of a differential drive mechanism of the IDU. The desired torques are generated for each motor of the IDU to include a sum of the motor torques and the null torques.