US 12,484,977 B2
Systems and methods of controlling instruments
Gabriel F. Brisson, Livermore, CA (US); J. Scot Hart, San Carlos, CA (US); and Brian D. Soe, Oakland, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Appl. No. 17/914,744
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
PCT Filed Mar. 25, 2021, PCT No. PCT/US2021/024066
§ 371(c)(1), (2) Date Sep. 26, 2022,
PCT Pub. No. WO2021/195323, PCT Pub. Date Sep. 30, 2021.
Claims priority of provisional application 63/001,046, filed on Mar. 27, 2020.
Prior Publication US 2023/0123065 A1, Apr. 20, 2023
Int. Cl. A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 90/06 (2016.02); A61B 2034/305 (2016.02); A61B 2090/064 (2016.02)] 21 Claims
OG exemplary drawing
 
1. A computer-assisted device comprising:
a first actuator configured to actuate a degree of freedom of an instrument in a first direction using a first force or torque transmission mechanism;
a second actuator configured to actuate the degree of freedom in a second direction using a second force or torque transmission mechanism, the second direction being at least partially opposite to the first direction; and
a control unit coupled to the first actuator and the second actuator;
wherein the control unit is configured to:
determine a first position of the first actuator;
determine a second position of the second actuator;
determine a force or torque command based on the first position, the second position, and a desired state of the degree of freedom;
determine a first actuation level of the first actuator and a second actuation level of the second actuator so as to maintain a first tension in the first force or torque transmission mechanism above a first minimum tension and maintain a second tension in the second force or torque transmission mechanism above a second minimum tension by:
using a model based on the force or torque command, the first and second minimum tensions, the first position, and the second position; and
command actuation of the first actuator at the first actuation level and actuation of the second actuator at the second actuation level;
wherein the model compensates for an external disturbance on the degree of freedom and for dynamics of the first actuator and the second actuator.