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

Claim 0:
1. A medical support arm system, comprising:
a support arm configured to support a medical unit, wherein
the support arm is a multilink structure having a plurality of links,
the plurality of links is connected by a joint unit,
the joint unit includes an actuator, and
the actuator includes a motor and a speed reducer;

a control device that includes:
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 a 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; and

a joint control unit configured to control the drive of the joint unit based on the estimated external torque.