US 12,064,877 B2
Input shaper for robotic surgical system
William J. Peine, Ashland, MA (US); Stefan Joerg, Munich (DE); Paul M. Loschak, Somerville, MA (US); Reuben Hale, Oakland, CA (US); and Campbell M. Dixon, Oakland, CA (US)
Assigned to Covidien LP, Mansfield, MA (US)
Appl. No. 17/430,118
Filed by Covidien LP, Mansfield, MA (US)
PCT Filed Jun. 5, 2019, PCT No. PCT/US2019/035516
§ 371(c)(1), (2) Date Aug. 11, 2021,
PCT Pub. No. WO2020/171836, PCT Pub. Date Aug. 27, 2020.
Claims priority of provisional application 62/809,209, filed on Feb. 22, 2019.
Prior Publication US 2022/0134555 A1, May 5, 2022
Int. Cl. B25J 9/16 (2006.01); A61B 34/30 (2016.01); B25J 9/12 (2006.01); B25J 15/00 (2006.01)
CPC B25J 9/1653 (2013.01) [A61B 34/30 (2016.02); B25J 9/12 (2013.01); B25J 15/0019 (2013.01); G05B 2219/34013 (2013.01); G05B 2219/39195 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method of controlling a linkage of a robot with a controller, the method comprising:
receiving a desired joint angle of a joint of the robot;
transmitting a first control signal to a motor to actuate the joint in response to a desired joint velocity, the desired joint velocity being a function of the desired joint angle and a current joint angle of the joint;
generating the desired joint velocity by calculating a phase shift of the joint based on a resonant frequency of the joint; and
upon the phase shift exceeding or equaling 180 degrees, determining a phase ratio, and adding the phase ratio to the first control signal.