US 12,186,134 B2
Instrument drive unit torque compensation using inertial measurement unit
Jaimeen V. Kapadia, Cambridge, MA (US); and Richard S. Lech, Hamden, CT (US)
Assigned to Covidien LP, Mansfield, MA (US)
Appl. No. 17/431,473
Filed by Covidien LP, Mansfield, MA (US)
PCT Filed Mar. 10, 2020, PCT No. PCT/US2020/021917
§ 371(c)(1), (2) Date Aug. 17, 2021,
PCT Pub. No. WO2020/185797, PCT Pub. Date Sep. 17, 2020.
Claims priority of provisional application 62/818,250, filed on Mar. 14, 2019.
Prior Publication US 2022/0125545 A1, Apr. 28, 2022
Int. Cl. A61B 34/30 (2016.01); A61B 90/00 (2016.01); B25J 9/16 (2006.01); A61B 34/20 (2016.01); A61B 34/37 (2016.01)
CPC A61B 90/03 (2016.02) [A61B 34/30 (2016.02); B25J 9/1638 (2013.01); A61B 2034/2048 (2016.02); A61B 34/37 (2016.02); A61B 2090/031 (2016.02); A61B 2090/066 (2016.02); G05B 2219/39178 (2013.01); G05B 2219/39194 (2013.01); G05B 2219/45117 (2013.01)] 15 Claims
OG exemplary drawing
 
1. An instrument drive unit configured to manipulate a tool, the instrument drive unit comprising:
a housing defining a central longitudinal axis and configured to couple to the tool;
at least one motor disposed in the housing and including a torque sensor configured to measure torque of the at least one motor;
an inertial measurement unit disposed along the central longitudinal axis within the housing and configured to measure an orientation of the instrument drive unit; and
a controller configured to:
generate a calibration map between the orientation of the instrument drive unit and the torque of the at least one motor;
calculate an output signal to control the at least one motor to manipulate the tool;
determine a pose of the instrument drive unit based on the orientation of the instrument drive unit;
retrieve a correction value from the calibration map based on the pose of the instrument drive unit; and
generate a corrected output signal to manipulate the tool by adjusting the output signal based on the correction value, wherein the corrected output signal compensates for the pose of the instrument drive unit.