Manipulator for micro-surgical instrument e.g. injector, outputs current value generated based on control quantity calculated in accordance with detected manipulator vibration, to motor

摘要

A control unit (702) outputs current value assigned based on signal representing position of rotational joint, to motor so as to generate a counter torque to balance a load torque applied to joint. A vibration damping control loop outputs a current value generated based on control quantity calculated in accordance with detected manipulator vibration, to motor so as to move the joint such that vibration is counter balanced. Independent claims are also included for the following: (1) method for determining current control curve for adjusting equilibrium state in manipulator; and (2) method for adjusting equilibrium state in manipulator.