Patent ID: 11950970
Assignee: SONY GROUP CORPORATION
Field: Medical technology (Instruments)
Classification: CPC A  B  G | IPC A  B

Claim 6:
7. A medical support arm control device, comprising:
a joint control unit configured to control a drive of a joint unit of a support arm, wherein
the support arm is a multilink structure having a plurality of links,
the plurality of links is connected by the joint unit,
the joint unit includes an actuator, and
the actuator includes a motor, and a speed reducer; and

an external force estimation unit configured to:
estimate an external force on the joint unit based on a drive characteristic of the motor of the actuator, wherein the drive characteristic of the motor includes at least one of an inertia of the motor or a velocity of the motor;
estimate, using a model identification result, a friction torque associated with the drive of the joint unit based on a static friction and a dynamic friction of the speed reducer;
calculate a motion estimation torque associated with the drive of the joint unit based on the friction torque; and
estimate an external torque on the joint unit based on the estimated external force, a current command torque associated with the drive of the joint unit, and the motion estimation torque,
wherein the joint control unit is further configured to control the drive of the joint unit based on the estimated external torque.