US 11,950,970 B2
Medical support arm system, medical support arm control method, and medical support arm control device
Yasuhiro Matsuda, Tokyo (JP); Fumiyasu Suzuki, Saitama (JP); Atsushi Miyamoto, Kanagawa (JP); Yohei Kuroda, Tokyo (JP); and Kenichiro Nagasaka, Tokyo (JP)
Assigned to SONY GROUP CORPORATION, Tokyo (JP)
Filed by SONY GROUP CORPORATION, Tokyo (JP)
Filed on Mar. 16, 2022, as Appl. No. 17/655,060.
Application 17/655,060 is a continuation of application No. 16/615,908, previously published as PCT/JP2018/015393, filed on Apr. 12, 2018.
Claims priority of application No. 2017-107681 (JP), filed on May 31, 2017.
Prior Publication US 2022/0211464 A1, Jul. 7, 2022
Int. Cl. A61B 90/50 (2016.01); A61B 34/30 (2016.01); B25J 9/12 (2006.01); B25J 9/16 (2006.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01)
CPC A61B 90/50 (2016.02) [B25J 9/12 (2013.01); B25J 9/1633 (2013.01); B25J 9/1689 (2013.01); A61B 34/25 (2016.02); A61B 2090/371 (2016.02)] 7 Claims
OG exemplary drawing
 
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.