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

Claim 3:
4. A medical support arm control method, comprising:
in a medical support arm system that comprises a support arm, wherein the support arm includes a joint unit:
controlling, by a processor of the medical support arm system, a drive of the joint unit of the support arm, wherein
the support arm has a plurality of links connected by the joint unit,
the joint unit includes an actuator, and
the actuator includes a motor, and a speed reducer;

estimating 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;
estimating, 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;
calculating a motion estimation torque associated with the drive of the joint unit based on the friction torque; and
estimating 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; and
controlling the drive of the joint unit based on the estimated external torque.