Patent ID: 9002518
Filing Date: 2015-04-07
Classification: A61B,B25J,G05B,G16H,Y10S

Abstract:
1. A control system for a surgical instrument, the control system receiving an input device position from an input device, the control system comprising: a first function generator configured to receive the input device position, the first function generator configured to form a function to control a desired position for one or more end effectors in response to the input device position, the first function generator further configured to compensate for cable stretch within the surgical instrument over a lifetime of the surgical instrument by selectively altering, over the lifetime of the surgical instrument, the function to adjust the desired position for the one or more end effectors, the lifetime being a plurality of uses of the surgical instrument; a position derivative controller coupled to the first function generator, the position derivative controller to generate an unbounded torque signal in response to the desired position for the one or more end effectors; a torque saturation limiter coupled to the position derivative controller to receive the unbounded torque signal, the torque saturation limiter configured to limit the unbounded torque signal for the one or more end effectors to a range between an upper torque limit and a lower torque limit to generate a bounded torque signal; a first torque to current converter coupled to the torque saturation limiter to receive a torque signal, the first torque to current converter configured to transform the torque signal into a first current signal; and a first motor coupled to the first torque to current converter, the first motor configured to drive a first end effector of the one or more end effectors in response to the first current signal.