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SURGICAL ROBOTIC TOOL MULTI-MOTOR ACTUATOR AND CONTROLLER
SURGICAL ROBOTIC TOOL MULTI-MOTOR ACTUATOR AND CONTROLLER
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机译:手术机器人刀具多电机执行器和控制器
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摘要
A first input coupling and a second input coupling are coupled to rotatably drive an output coupling at the same time. In one embodiment, the output coupling rotates a robotic surgery endoscope about a longitudinal axis of the output coupling. A first motor drives the first input coupling while being assisted by a second motor that is driving the second input coupling. A first compensator produces a first motor input based on a position error and in accordance with a position control law, and a second compensator produces a second motor input based on the position error and in accordance with an impedance control law. In another embodiment, the second compensator receives a measured torque of the first motor. Other embodiments are also described and claimed.
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