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Friction compensation in a minimally invasive surgical apparatus

  • US 6,565,554 B1
  • Filed: 04/07/1999
  • Issued: 05/20/2003
  • Est. Priority Date: 04/07/1999
  • Status: Expired due to Term
First Claim
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1. A method of performing a surgical procedure by means of a surgical apparatus having at least one master control operatively associated with at least one surgical instrument by means of a control system, the master control and its associated surgical instrument including a plurality of components at least some of which are selectively moveable in arbitrary positive component directions and arbitrary negative component directions, and at least one of which has an actuator operatively associated therewith, the method includingmoving the master control;

  • causing the surgical instrument to move in response to master control movement by means of the control system thereby to cause the surgical instrument to perform at least part of a surgical procedure;

    generating a friction compensation signal; and

    loading the actuator with a load defined by the friction compensation signal so as to provide friction compensation to the component associated with the actuator.

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