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1. WO2020118149 - METHOD OF CONTROLLING CABLE DRIVEN END EFFECTORS

Publication Number WO/2020/118149
Publication Date 11.06.2020
International Application No. PCT/US2019/064867
International Filing Date 06.12.2019
IPC
A61B 34/00 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 34/30 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
A61B 17/00 2006.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
A61B 17/29 2006.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
28Surgical forceps
29Forceps for use in minimally invasive surgery
A61B 90/00 2016.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/-A61B50/171
CPC
A61B 17/00
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
A61B 34/00
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 34/30
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
A61B 90/00
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
Applicants
  • COVIDIEN LP [US]/[US]
Inventors
  • ROCKROHR, Brian
  • CHENG, Jiqi
  • RAHMAN, Farrukh
  • MEGLAN, Dwight
  • WELLS, Brian
  • AGRAWAL, Alok
Agents
  • DELUCA, Peter
  • SARDONE, Francesco
Priority Data
62/776,28506.12.2018US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) METHOD OF CONTROLLING CABLE DRIVEN END EFFECTORS
(FR) PROCÉDÉ DE COMMANDE D’EFFECTEURS TERMINAUX ENTRAÎNÉS PAR CÂBLE
Abstract
(EN)
A method of controlling an end effector of a surgical robot includes receiving a desired pose, generating motor torques, transmitting the motor torques, generating null torques, generating desired torques, and transmitting the desired torques to an IDU such that the IDU moves the end effector to the desired pose. A primary controller receives the desired pose of the end effector in three DOF. The primary controller generates the motor torques in response to receiving the desired pose. The primary controller transmits the motor torques which are received in a secondary controller. The secondary controller generates null torques to maintain tension in cables of a differential drive mechanism of the IDU. The desired torques are generated for each motor of the IDU to include a sum of the motor torques and the null torques.
(FR)
La présente invention concerne un procédé de commande d’un effecteur terminal d’un robot chirurgical qui comprend la réception d’une posture souhaitée, la génération de couples de moteur, la transmission des couples de moteur, la génération de couples nuls, la génération de couples souhaités, et la transmission des couples souhaités à une IDU de sorte que l’IDU déplace l’effecteur terminal vers la posture souhaitée. Un dispositif de commande primaire reçoit la posture souhaitée de l’effecteur terminal dans trois DdL. Le dispositif de commande primaire génère les couples de moteur en réponse à la réception de la posture souhaitée. Le dispositif de commande primaire transmet les couples de moteur qui sont reçus dans un dispositif de commande secondaire. Le dispositif de commande secondaire génère des couples nuls pour maintenir une tension dans les câbles d’un mécanisme d’entraînement différentiel de l’IDU. Les couples souhaités sont générés pour chaque moteur de l’IDU pour inclure une somme des couples de moteur et des couples nuls.
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