Patent ID: 11890005
Assignee: CILAG GMBH INTERNATIONAL
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 19:
20. A method for controlling a motor of a robotic surgical system, wherein the robotic surgical system comprises an end effector comprising a plurality of segmented sections, wherein the method comprises:
predicting a current speed of the motor based on a previously detected condition of the robotic surgical system;
detecting a first condition at a first segmented section of the plurality of segmented sections;
detecting a second condition at a second segmented section of the plurality of segmented sections of the end effector;
determining an actual current speed of the motor based on the first detected condition and the second detected condition;
comparing the predicted current speed of the motor to the actual current speed of the motor; and
adjusting a speed of the motor based on the comparison;
wherein the previously detected condition comprises a value of an electrical parameter previously supplied to the motor and an external influence on the motor.