Motor assembly

Patent metadata

Field	Value
Publication number	US-11185378-B2
Application number	US-201916361095-A
Country	US
Kind code	B2
Filing date	Mar 21, 2019
Priority date	Jan 14, 2013
Publication date	Nov 30, 2021
Grant date	Nov 30, 2021

Abstract

A motor assembly and method of operating the motor assembly include a motor, a memory to store calibrated parameters of the motor, and electronics coupled to the memory and the motor. The electronics are configured to retrieve the calibrated parameters from the memory, provide the calibrated parameters to an external system, and receive control signals for driving the motor from the external system. The control signals are based on the calibrated parameters. The calibrated parameters include a motor speed versus no-load current relationship for the motor determined by a procedure that includes performing an initial calibration of the motor, wearing in the motor after performing the initial calibration, performing a final calibration of the motor after wearing in the motor, and storing the calibrated parameters in the memory based on the initial calibration and the final calibration.

First claim

What is claimed is:

1. A method comprising:
operating a motor assembly, the motor assembly including a motor, a memory to store calibrated parameters of the motor, and electronics coupled to the memory and the motor, the electronics being configured to:
retrieve the calibrated parameters of the motor from the memory;
provide the calibrated parameters of the motor to an external system separate from the motor assembly; and
receive control signals for driving the motor from the external system, the control signals being based on the calibrated parameters of the motor;

wherein the calibrated parameters of the motor comprise a motor speed versus no-load current relationship for the motor determined by a procedure comprising:
performing an initial calibration of the motor;
wearing in the motor after performing the initial calibration;
performing a final calibration of the motor after wearing in the motor; and
storing the calibrated parameters of the motor in the memory based on the initial calibration and the final calibration.

2. The method of claim 1 , wherein the calibrated parameters of the motor further comprise a torque constant.

3. The method of claim 2 , wherein performing the final calibration comprises:
acquiring torque loading data for the motor; and
determining the torque constant from the torque loading data.

4. The method of claim 1 , wherein the motor speed versus no-load current relationship is a function of motor speed and direction.

5. The method of claim 1 , wherein performing the final calibration comprises:
acquiring no-load data for the motor; and
fitting a function to the no-load data to determine the motor speed versus no-load current relationship.

6. The method of claim 5 , further comprising fitting a linear piecewise function to approximate the function.

7. The method of claim 1 , further comprising storing lifetime data in the memory of the motor assembly.

8. The method of claim 7 , wherein the lifetime data includes a motor assembly lifetime.

9. The method of claim 1 , wherein the motor is a clamping motor.

10. The method of claim 1 , wherein the motor is a firing motor.

11. A motor assembly, comprising:
a motor;
a memory to store calibrated parameters of the motor; and
electronics coupled to the memory and the motor, the electronics being configured to:
retrieve the calibrated parameters of the motor from the memory;
provide the calibrated parameters of the motor to an external system separate from the motor assembly; and
receive control signals for driving the motor from the external system, the control signals being based on the calibrated parameters of the motor;

wherein the calibrated parameters of the motor comprise a motor speed versus no-load current relationship for the motor determined by a procedure comprising:
performing an initial calibration of the motor;
wearing in the motor after performing the initial calibration;
performing a final calibration of the motor after wearing in the motor; and
storing the calibrated parameters of the motor in the memory based on the initial calibration and the final calibration.

12. The motor assembly of claim 11 , wherein the calibrated parameters of the motor further comprise a torque constant.

13. The motor assembly of claim 12 , wherein the performing the final calibration comprises:
acquiring torque loading data for the motor; and
determining the torque constant from the torque loading data.

14. The motor assembly of claim 12 , wherein the motor speed versus no-load current relationship is a function of motor speed and direction.

15. The motor assembly of claim 11 , wherein the performing the final calibration further comprises:
acquiring no-load data for the motor; and
fitting a function to the no-load data to determine the motor speed versus no-load current relationship.

16. The motor assembly of claim 15 , wherein fitting the function comprises fitting a linear piecewise function to approximate the function.

17. The motor assembly of claim 16 , wherein the motor is a clamping motor.

18. The motor assembly of claim 16 , wherein the motor is a firing motor.

19. The motor assembly of claim 11 , wherein the memory also stores lifetime data.

20. The motor assembly of claim 19 , wherein the lifetime data includes a motor assembly lifetime.

Assignees

• Intuitive Surgical Operations

Inventors

• Weir David W
• Wu Melody
• Durant Kevin
• Duque Grant

Classifications

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• G05B2219/45119

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• A61B18/1445

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• G05B2219/2617

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• A61B34/35

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