Surgical Manipulator Having a Feed Rate Calculator
US-2015366629-A1 · Dec 24, 2015 · US
Medical robotic system with sliding mode control
US9119652B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-9119652-B2 |
| Application number | US-201113014150-A |
| Country | US |
| Kind code | B2 |
| Filing date | Jan 26, 2011 |
| Priority date | Dec 20, 2005 |
| Publication date | Sep 1, 2015 |
| Grant date | Sep 1, 2015 |
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Abstract
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A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.
First claim
Opening claim text (preview).
We claim: 1. A method implemented in a joint controller that uses sliding mode control for controlling movement of a joint in a medical system in response to user manipulation of a master input device, the method comprising: computing a distance to a sliding mode surface using the following equation: σ=λ·( QC−QL )+( VC−VL ) 2 , wherein σ represents the distance, λ is a parameter value, (QC−QL) is a position error, and (VC−VL) is a velocity error, which are associated with…
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Physics · mapped topic
Physics · mapped topic
Human Necessities · mapped topic
Human Necessities · mapped topic
Human Necessities · mapped topic
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Frequently asked questions
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- What does patent US9119652B2 cover?
- A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reduci…
- Who is the assignee on this patent?
- Prisco Giuseppe M, Larkin David Q, Intuitive Surgical Operations
- What technology area does this patent fall under?
- Primary CPC classification A61B19/22. Mapped technology areas include Human Necessities.
- When was this patent published?
- Publication date Tue Sep 01 2015 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 8 related publications on this page (citations in our corpus or others sharing the same primary CPC).