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1. (WO2007146984) CONTROL SYSTEM CONFIGURED TO COMPENSATE FOR NON-IDEAL ACTUATOR-TO-JOINT LINKAGE CHARACTERISTICS IN A MEDICAL ROBOTIC SYSTEM
Latest bibliographic data on file with the International Bureau

Pub. No.: WO/2007/146984 International Application No.: PCT/US2007/071081
Publication Date: 21.12.2007 International Filing Date: 13.06.2007
IPC:
G05B 19/19 (2006.01) ,A61B 19/00 (2006.01)
G PHYSICS
05
CONTROLLING; REGULATING
B
CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19
Programme-control systems
02
electric
18
Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
19
characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
A HUMAN NECESSITIES
61
MEDICAL OR VETERINARY SCIENCE; HYGIENE
B
DIAGNOSIS; SURGERY; IDENTIFICATION
19
Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B1/-A61B18/149
Applicants:
INTUITIVE SURGICAL, INC. [US/US]; 1266 Kifer Road Bldg. 101 Sunnyvale, California 94086, US (AllExceptUS)
Inventors:
DIOLAITI, Nicola; US
LARKIN, David Q.; US
COOPER, Thomas G.; US
SCHENA, Bruce; US
Agent:
NGUYEN, Frank ; Intuitive Surgical, Inc. 1266 Kifer Road Bldg. 101 Sunnyvale, California 94086, US
Priority Data:
60/813,20713.06.2006US
Title (EN) CONTROL SYSTEM CONFIGURED TO COMPENSATE FOR NON-IDEAL ACTUATOR-TO-JOINT LINKAGE CHARACTERISTICS IN A MEDICAL ROBOTIC SYSTEM
(FR) SYSTÈME DE COMMANDE CONFIGURÉ POUR COMPENSER DES CARACTÉRISTIQUES DE LIAISON D'ACTIONNEUR AU JOINT NON IDÉALES DANS UN SYSTÈME ROBOTIQUE MÉDICAL
Abstract:
(EN) A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position.
(FR) La présente invention concerne un système robotique médical ayant des caractéristiques de liaison d'actionneur au joint non idéales, comprenant un système de commande comprenant une boucle de commande proximale avec une rétroaction de capteur d'actionneur pour commander la réponse dynamique d'un actionneur couplé à un joint distal à son tour couplé à un effecteur d'extrémité pour offrir un certain degré de liberté de mouvement à l'effecteur d'extrémité, une boucle de commande distale avec une action directe et une rétroaction de capteur de joint distal vis-à-vis de l'actionneur pour garantir la convergence permanente de la position du joint distal et une boucle de commande d'effecteur d'extrémité avec une rétroaction de capteur de point d'extrémité pour commander la position de l'effecteur d'extrémité afin d'atteindre la position commandée de l'effecteur d'extrémité.
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Designated States: AE, AG, AL, AM, AT, AU, AZ, BA, BB, BG, BH, BR, BW, BY, BZ, CA, CH, CN, CO, CR, CU, CZ, DE, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IS, JP, KE, KG, KM, KN, KP, KR, KZ, LA, LC, LK, LR, LS, LT, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PG, PH, PL, PT, RO, RS, RU, SC, SD, SE, SG, SK, SL, SM, SV, SY, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LS, MW, MZ, NA, SD, SL, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Organization (AM, AZ, BY, KG, KZ, MD, RU, TJ, TM)
European Patent Office (AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HU, IE, IS, IT, LT, LU, LV, MC, MT, NL, PL, PT, RO, SE, SI, SK, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, ML, MR, NE, SN, TD, TG)
Publication Language: English (EN)
Filing Language: English (EN)
Also published as:
EP2038712