MEDICAL ROBOTIC SYSTEM WITH PROGRAMMABLY CONTROLLED CONSTRAINTS ON ERROR DYNAMICS
First Claim
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1. A medical robotic system comprising:
- a manipulator having a motor driven joint for moving the manipulator; and
a processor configured to control movement of the joint from a current position to a target position according to a control law from which a motor joint command may be determined using joint feedback and feedforward motor torque terms, wherein the joint feedback motor torque term is computed as a function of at least a position error computed as a difference of the current and target positions, the feedforward joint motor torque term is computed as a function of the joint target position, the feedback motor torque term is limited to a first programmable limit value, and the feedforward motor torque term is limited to a maximum motor torque value.
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Abstract
A medical robotic system has a robot arm holding an instrument for performing a medical procedure, and a control system for controlling movement of the arm and its instrument according to user manipulation of a master manipulator. The control system includes at least one joint controller that includes a controller having programmable parameters for setting a steady-state velocity error and a maximum acceleration error for the joint'"'"'s movement relative to a set point in response to an externally applied and released force.
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Citations
19 Claims
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1. A medical robotic system comprising:
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a manipulator having a motor driven joint for moving the manipulator; and
a processor configured to control movement of the joint from a current position to a target position according to a control law from which a motor joint command may be determined using joint feedback and feedforward motor torque terms, wherein the joint feedback motor torque term is computed as a function of at least a position error computed as a difference of the current and target positions, the feedforward joint motor torque term is computed as a function of the joint target position, the feedback motor torque term is limited to a first programmable limit value, and the feedforward motor torque term is limited to a maximum motor torque value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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12. A medical robotic system comprising:
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a manipulator having a motor driven joint for moving the manipulator; and
a processor configured to control movement of the joint from a current position to a target position according to a feedback control law that computes the motor joint command as a function of the difference between the current position and the target position and as a function of the difference between a current velocity and target velocity while preventing the current velocity error of the joint movement to exceed in absolute value a programmable maximum velocity error value. - View Dependent Claims (13, 14, 15)
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16. A method for controlling movement of a motor driven joint of a manipulator, comprising:
controlling movement of the joint from a current position to a target position according to a feedback control law that computes the motor joint command as a function of the difference between the current position and the target position and as a function of the difference between a current velocity and target velocity while preventing the current velocity error of the joint movement to exceed in absolute value a programmable maximum velocity error value. - View Dependent Claims (17, 18, 19)
Specification