Voltage control for the operation of jointed instruments
Patent Information
- Application Number
- DE602018080572
- Authority / Receiving Office
- DE · DE
- Patent Type
- Patents
- Current Assignee / Owner
- Priority Date
- 2017-11-10
- Filing Date
- 2018-09-10
- Publication Date
- 2025-03-26
- Estimated Expiration
- 2038-09-10
AI Technical Summary
Existing robotic and medical instrument control systems face challenges in accurately controlling instruments with compliant transmission systems, where the relationship between actuator positions and joint positions is difficult to model due to high compliance, leading to inaccurate force application and movement control, especially when the configuration of the instrument cannot be directly inferred from the positions of the proximal actuators.
A control system that determines the difference between the current and desired configurations of the instrument's end portion, including position and velocity errors, to calculate offset tensions independently of current tensions, allowing precise control of forces applied through transmission systems, even in systems with non-negligible compliance between proximal actuators and remote actuated elements.
Enables precise and flexible control of medical instruments, allowing for accurate interaction with tissues and movement, even in scenarios where direct relationship between actuator and joint positions is not feasible, improving the dynamic behavior of the instrument tip and overall robotic control.