CPC A61B 17/068 (2013.01) [A61B 17/0682 (2013.01); A61B 17/07207 (2013.01); A61B 17/07292 (2013.01); A61B 34/30 (2016.02); A61B 2017/00017 (2013.01); A61B 2017/00022 (2013.01); A61B 2017/00026 (2013.01); A61B 2017/00084 (2013.01); A61B 2017/00309 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/07257 (2013.01); A61B 2017/07271 (2013.01); A61B 2017/07285 (2013.01); A61B 2017/2927 (2013.01); A61B 2090/064 (2016.02)] | 31 Claims |
1. A method for controlling a motor of a robotic surgical system, wherein the robotic surgical system comprises an end effector, wherein the method comprises:
predicting a current speed of the motor based on a previously detected condition of the robotic surgical system, wherein the previously detected condition comprises a value of an electrical parameter previously supplied to the motor and an external influence on the motor;
detecting a condition of the end effector;
determining an actual current speed of the motor based on the detected condition;
comparing the predicted current speed of the motor to the actual current speed of the motor; and
adjusting a speed of the motor based on the comparison.
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