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

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Incorporated (Intuitive Surgical Holdings, LLC)
• Inventors: Niemeyer, Gunter D.
• Primary Examiner(s): Walberg, Teresa
• Assistant Examiner(s): ROBINSON, DANIEL LEON
• Application Number:
  US09/287,513
• Time in Patent Office: 1,504 Days
• Field of Search: 606/1, 606/139, 606/130, 606/169, 600/102, 600/429, 600/104, 600/114
• US Class Current: 606/1
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 90/06 Measuring instruments not otherwise provided for
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras

Abstract

The present invention provides improved devices, systems, and methods for compensating for friction within powered automatic systems, particularly for telesurgery and other telepresence applications. The invention allows uninhibited manipulation of complex linkages, enhancing the precision and dexterity with which jointed structures can be moved. This enhanced precision is particularly advantageous when applied to the robotic surgical systems now being developed. The friction compensation systems of the present invention address static friction (typically by applying a continuous load in the direction of movement of a joint) and the often more problematic static friction (generally by applying alternating loads in positive and negative joint actuation directions). The invention can accommodate imprecise velocity measurements by applying an oscillating load whenever the joint velocity reading falls within a low velocity range. Preferably, the oscillating load is insufficient to move the joint without additional input, and significantly reduces the break away input required to initiate movement. In the exemplary embodiment, a duty cycle of the oscillating load varies, favoring the apparent direction of movement of a velocity reading. The amplitude of the duty cycle may also vary, typically increasing as the velocity reading approaches zero.

Claims

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 including

moving 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.

2. A method as claimed in claim 1, which further includes obtaining a component velocity reading and using the component velocity reading to generate the friction compensation signal.

3. A method as claimed in claim 2, which includes defining a velocity reading region extending between a selected negative velocity reading and a selected positive velocity reading, generating the friction compensation signal including generating a duty cycle signal having a distribution extending between a positive duty cycle magnitude corresponding to a friction compensation force in the positive component direction and a negative duty cycle magnitude corresponding to a friction compensation force in the negative component direction when the velocity reading is within the velocity reading region.

4. A method as claimed in claim 3, which further includes generating a duty cycle signal having a continuous positive duty cycle magnitude corresponding to the friction compensation force in the positive component direction when the component velocity reading is greater than the selected positive velocity reading.

5. A method as claimed in claim 3, which further includes generating a duty cycle signal having a continuous negative duty cycle magnitude corresponding to the friction compensation force in the negative component direction when the component velocity reading is less than the selected negative velocity reading.

6. A method as claimed in claim 3, wherein the distribution of the duty cycle signal is proportional to the component velocity reading position within the velocity reading region.

7. A method as claimed in claim 3, wherein the positive and the negative duty cycle magnitudes are determined from a variable load supply model.

8. A method as claimed in claim 3, wherein the positive and the negative duty cycle magnitudes are determined from a gravity compensation model.

9. A method as claimed in claim 8, wherein the gravity compensation model determines a variable gravity compensation force to be applied to the component to compensate for gravity, and the method further includes determining a corresponding frictional compensation force from the gravity compensation force for each of the positive and the negative component direction.

10. A method as claimed in claim 9, which further includes modifying the corresponding frictional compensation force for each of the positive and the negative component direction with a predetermined factor when the component velocity reading is within a region extending between a selected velocity reading in the positive component direction and a selected velocity reading in the negative component direction.

11. A method as claimed in claim 10, wherein the factor is equal to one at the selected velocity readings and outside the region and is at a predetermined value greater than one at a zero velocity reading.

12. A method as claimed in claim 11, wherein the value of the factor increases from the selected velocity readings to the value of the factor at the zero velocity reading.

13. A method as claimed in claim 3, wherein the positive and the negative duty cycle magnitudes are determined from fixed frictional compensation force values corresponding to the actual frictional compensation required for each of the positive and the negative component direction.

14. A method as claimed in claim 13, which further includes modifying the frictional compensation force value for each of the positive and the negative component direction with a predetermined factor when the component velocity reading is within a region extending between a selected velocity reading in the positive component direction and a selected velocity reading in the negative component direction.

15. A method as claimed in claim 14, wherein the factor is equal to one at the selected velocity readings and outside the region and is at a predetermined value greater than one at a zero velocity reading.

16. A method as claimed in claim 15, wherein the value of the factor increases from the selected velocity readings to the value of the factor at the zero velocity reading.

17. A method as claimed in claim 3, wherein the actuator is an electric motor and the duty cycle signal is generated at a predetermined frequency which is less than electrical time constants of the electric motor and greater than mechanical time constants of a transmission extending between the electric motor and the component.

18. A method as claimed in claim 3, wherein the duty cycle signal is generated at a predetermined frequency falling in the range between 40 Hz and 70 Hz.

19. A method as claimed in claim 18, wherein the duty cycle signal is generated at a predetermined frequency falling in the range between 50 Hz and 60 Hz.

20. A method as claimed in claim 19, wherein the duty cycle signal is generated at a predetermined frequency of about 55 Hz.

21. A method as claimed in claim 3, wherein the actuator is in the form of an electric motor, loading the actuator with a load defined by the duty cycle including passing the duty cycle to an amplifier and causing the amplifier to supply electric current to the electric motor as defined by the duty cycle signal.