Prosthetic simulator with soft tissue modeling
First Claim
1. A simulator for an implantable prosthetic element, comprisinga prosthetic drive mechanism that drives the implantable prosthetic element;
- a sensor that measures a force or torque applied to the implantable prosthetic element from the drive mechanism; and
a control system responsive to the sensor and to a simulation input, the control system including a soft tissue model that accounts for soft tissue constraint and adjusts the drive provided by the drive mechanism in a repetitive programmed manner, the control system determining an error from a previous iteration of motion of the drive mechanism and including an accumulator that accumulates the error, the control system using the accumulated error to determine a drive signal applied in a subsequent iteration of motion of the drive mechanism.
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Abstract
A virtual soft tissue control system that provides enhanced motion control to a prosthetic simulator machine. The control system advantageously adds a “virtual soft tissue” control scheme to a conventional control system, such as a digital proportional integral derivative (PID) controller, to algorithmically model the soft tissue constraints that would be encountered by the prosthesis within the human body, and account for these forces in driving the simulator. In another aspect, a prosthetic simulator comprises a prosthetic drive mechanism; a feedback control system that drives the prosthetic drive mechanism; and an iterative learning control system that determines an error from a previous iteration of motion of the drive mechanism and uses the error to determine a drive signal for a subsequent iteration of motion. In certain embodiments, the prosthetic simulator uses both a soft tissue model and an iterative learning control system.
26 Citations
17 Claims
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1. A simulator for an implantable prosthetic element, comprising
a prosthetic drive mechanism that drives the implantable prosthetic element; -
a sensor that measures a force or torque applied to the implantable prosthetic element from the drive mechanism; and a control system responsive to the sensor and to a simulation input, the control system including a soft tissue model that accounts for soft tissue constraint and adjusts the drive provided by the drive mechanism in a repetitive programmed manner, the control system determining an error from a previous iteration of motion of the drive mechanism and including an accumulator that accumulates the error, the control system using the accumulated error to determine a drive signal applied in a subsequent iteration of motion of the drive mechanism. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A method for controlling a simulator for an implantable prosthetic element, comprising:
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measuring force or torque applied to the implantable prosthetic element; measuring at least one of position or orientation of the implantable prosthetic element; driving implantable prosthetic element, in a repetitive programmed manner based on the measured torque or force, the measured position or orientation of the implantable prosthetic element, and an algorithmic model of soft tissue constraints, using an error in the measured force or torque, determined as a function of a difference between a simulation input and a sum of the measured force or torque and a force or torque determined based on the soft tissue constraints, to determine a drive signal for a subsequent iteration of the repetitive motion of the prosthetic element.
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Specification