The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 19, 2019
Filed:
Feb. 17, 2015
Applicant:
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Inventors:
Hsien-Hsin Liao, Sunnyvale, CA (US);
Niels Smaby, Palo Alto, CA (US);
Gregory W. Dachs, II, San Mateo, CA (US);
Pushkar Hingwe, Los Altos, CA (US);
Amir Chaghajerdi, San Jose, CA (US);
Assignee:
INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US);
Attorney:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
A61B 34/30 (2016.01); A61B 34/37 (2016.01); H02P 6/10 (2006.01); H02P 6/08 (2016.01); H02P 23/04 (2006.01); H02P 23/00 (2016.01); A61B 34/35 (2016.01); A61B 90/00 (2016.01); A61B 17/00 (2006.01); H02P 6/14 (2016.01);
U.S. Cl.
CPC ...
H02P 6/10 (2013.01); A61B 17/00 (2013.01); A61B 34/35 (2016.02); A61B 90/03 (2016.02); H02P 6/08 (2013.01); H02P 6/14 (2013.01); H02P 23/0031 (2013.01); H02P 23/04 (2013.01); A61B 2017/00464 (2013.01); A61B 2090/031 (2016.02); A61B 2090/066 (2016.02); A61B 2560/0223 (2013.01);
Abstract
A method for torque compensation of a motor associated with a medical instrument includes determining a torque profile for a motor, the torque profile defining torque output as a function of rotor angle and during operation of the motor, compensating for deviations in the torque profile by adjusting an input signal to the motor, the compensating being based on the torque profile and rotor position.