CONTROL OF A SURGICAL INSTRUMENT HAVING BACKLASH, FRICTION, AND COMPLIANCE UNDER EXTERNAL LOAD IN A SURGICAL ROBOTIC SYSTEM

CONTROL OF A SURGICAL INSTRUMENT HAVING BACKLASH, FRICTION, AND COMPLIANCE UNDER EXTERNAL LOAD IN A SURGICAL ROBOTIC SYSTEM

For control of a surgical instrument in a surgical robotic system, multiple actuators establish a static pretension by actuating in opposition to each other in torque control. The static pretension reduces or removes the compliance and elasticity, reducing the backlash width. To drive the tool, the...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: HARIRI, Alireza, SEN, H. Tutkun
Format: Patent
Sprache:eng ; fre ; ger
Schlagworte:
DIAGNOSIS
HUMAN NECESSITIES
HYGIENE
IDENTIFICATION
MEDICAL OR VETERINARY SCIENCE
SURGERY
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Beschreibung
Zusammenfassung:For control of a surgical instrument in a surgical robotic system, multiple actuators establish a static pretension by actuating in opposition to each other in torque control. The static pretension reduces or removes the compliance and elasticity, reducing the backlash width. To drive the tool, the actuators are then moved in cooperation with each other in position mode control so that the movement maintains the static pretension while providing precise control.