Patent ID: 11949297
Assignee: COVIDIEN LP
Field: Medical technology (Instruments)
Classification: CPC A  H  G | IPC A  G  H

Claim 5:
6. An instrument drive unit configured to control a tool of a surgical instrument, the instrument drive unit comprising:
a first motor;
a first torque transducer including a first torque measurement circuit configured to determine a torque of the first motor, the first torque measurement circuit including:
an offset controller configured to read a first temperature signal and to generate an offset voltage in response to reading the first temperature signal;
an amplifier configured to read a differential voltage from a differential sensor, to receive the offset voltage from the offset controller, to add the offset voltage to the differential voltage after applying a gain to the differential voltage to generate an adjusted voltage, and to transmit the adjusted voltage; and
an analog-to-digital converter configured to receive the adjusted voltage from the amplifier and to transmit the first torque signal to the motion controller; and

a motion controller configured to receive a first torque signal from the first measurement circuit indicative of the adjusted voltage and to control the first motor in response to the first torque signal.