Patent ID: 11877814
Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 6:
7. A method of controlling a medical instrument system, the medical instrument system comprising a medical instrument, a first actuator, a second actuator, the medical instrument comprising a distal tip, a joint coupled to the distal tip and providing a degree of freedom for the distal tip, a first transmission system coupling the joint to the first actuator, and a second transmission system coupling the joint to the second actuator, the method comprising:
computing, with a control system programmed to control the medical instrument system, a first tension to apply to the first transmission system and a second tension to apply to the second transmission system based on (i) a desired configuration of the distal tip and (ii) limiting a minimum value of the first tension and the second tension;
generating, using the control system, based on the first tension and second tension, control signals for the first actuator and the second actuator; and
using the control signals, by the control system, to cause the first actuator to apply the first tension to the first transmission system and the second actuator to apply the second tension to the second transmission system such that the distal tip moves in the degree of freedom while maintaining values of the first tension and the second tension at no less than the minimum value.