Systems and methods for motor torque compensation

{
  "publication_number": "US10483881B2",
  "country": "US",
  "kind": "B2",
  "title": "Systems and methods for motor torque compensation",
  "abstract": "A method for torque compensation of a motor associated with a medical instrument includes determining a torque profile for a motor, the torque profile defining torque output as a function of rotor angle and during operation of the motor, compensating for deviations in the torque profile by adjusting an input signal to the motor, the compensating being based on the torque profile and rotor position.",
  "claims": [
    "1. A method for torque compensation of a motor associated with a medical instrument, the method comprising: determining, using a control system, a torque profile for the motor, the torque profile defining torque output as a first function of a rotor angle of the motor and of multiple discrete loads; storing a compensation profile for controlling an input signal to the motor, the compensation profile defining adjustments to the input signal as a second function of the rotor angle of the motor; and applying the compensation profile during operation of the motor.",
    "2. The method of claim 1, further comprising, creating the compensation profile based on the torque profile.",
    "3. The method of claim 1, further comprising, performing a calibration operation on the motor, the calibration operation comprising determining effects on a torque ripple at a harmonic in response to a change in the input signal to the motor.",
    "4. The method of claim 3, further comprising, storing the effects in association with a sensitivity profile for the harmonic.",
    "5. The method of claim 4, wherein compensating for deviations in the torque profile comprises adjusting the input signal based on the sensitivity profile.",
    "6. The method of claim 3, wherein the harmonic is one of: a 1× harmonic, a 2× harmonic, and a 4× harmonic.",
    "7. The method of claim 3, further comprising, storing sensitivity profiles for torque ripples at different harmonics, each of the sensitivity profiles defining variation in amplitudes in response to varying input signals at each of the different harmonics.",
    "8. The method of claim 7, further comprising, during operation of the motor, using each of the sensitivity profiles to compensate for the torque ripples at different harmonics.",
    "9. The method of claim 1, wherein determining the torque profile comprises measuring torque output as a function of the rotor angle with a constant input current.",
    "10. The method of claim 1, wherein the motor comprises a direct current (DC) brushless motor.",
    "11. The method of claim 1, wherein the motor is used to drive a medical instrument attached to a manipulator arm.",
    "12. The method of claim 1, wherein the torque profile identifies torque ripples caused by torque harmonics.",
    "13. A motor system for driving an instrument of a teleoperative system, the motor system comprising: a motor; and a control system comprising a processor and a memory, the memory comprising machine readable instructions that cause the motor system to: determine a torque profile for the motor, the torque profile defining torque output as a first function of a rotor angle of the motor and of multiple discrete loads; store a compensation profile for controlling an input signal to the motor, the compensation profile defining adjustments to the input signal as a second function of the rotor angle of the motor; and apply the compensation profile during operation of the motor.",
    "14. The motor system of claim 13, wherein to determine the torque profile, the control system is configured to measure torque output as a function of the rotor angle with a constant input current.",
    "15. The motor system of claim 13, further comprising, creating the compensation profile based on the torque profile.",
    "16. The motor system of claim 13, wherein the torque profile further defines torque output as a function of an applied load.",
    "17. The motor system of claim 13, wherein determining the compensation profile for a new load comprises interpolating the torque profile for each of the discrete loads.",
    "18. A teleoperative medical device comprising: a manipulator arm; a medical instrument detachably connected to the manipulator arm; a plurality of motors connected to the manipulator arm, each motor of the plurality of motors configured to move the medical instrument in a different manner from another of the plurality of motors; a control system comprising a processor and a memory, the memory comprising machine readable instructions that when executed by the processor, cause the control system to: store a separate compensation profile for each motor of the plurality of motors, each compensation profile configured for controlling an input signal to a respective motor, each compensation profile defining adjustments to the input signal of the respective motor as a second function of a rotor angle of the respective motor, each compensation profile being based on a torque profile associated with the respective motor, wherein the torque profile associated with the respective motor defines torque output as a first function of the rotor angle at a set of discrete loads; and apply each compensation profile during operation of each of the plurality of motors.",
    "19. The teleoperative medical device of claim 18, wherein to apply the compensation profile, the machine readable instructions further cause the control system to interpolate the torque profile at the discrete set of loads to determine the torque profile for each load of the discrete set of loads.",
    "20. The teleoperative medical device of claim 18, wherein each compensation profile comprises a load independent factor that contributes to torque ripples."
  ],
  "description_excerpt": "The present disclosure is directed to systems and methods for motor torque compensation, and more particularly to systems and methods for efficiently compensating for torque output variations for specific motors.\n\nElectric motors are commonly used in a variety of applications. Such motors are electric machines that generate torque (or force, in the case of a linear motor) when supplied with an electric current. One type of electric motor is a DC brushless motor. When paired with a position sensor in a feedback loop, a DC brushless motor can provide accurate position control.\n\nElectric motors may be used in a variety of applications. For example, teleoperative surgery involves the use of manipulator arms that move a medical instrument in a variety of spaces. Specifically, a brushless motor may be used to change the rotation, pitch, yaw, or position of a medical instrument. The brushless motor allows the operator of the instrument to put the device in a specific position based on putting the motor corresponding to each type of movement in a specific position.\n\nGenerally, there exists a fixed, nominal mapping between the current supplied to the motor, and the torque it produces. In reality, this mapping from the input current to the output torque of a brushless motor is generally not uniform over one rotor revolution. Specifically, at different rotation angles, the motor may produce a different torque output with the same input current. This is often referred to as a torque ripple. Torque ripples can affect the performance of the motor, and thus it is desirable to minimize or eliminate torque ripples.",
  "cpc": [
    "H02P 6/10",
    "A61B 17/00",
    "A61B 2017/00464",
    "A61B 2090/031",
    "A61B 2090/066",
    "A61B 2560/0223",
    "A61B 34/35",
    "A61B 90/03",
    "H02P 23/0031",
    "H02P 23/04",
    "H02P 6/08",
    "H02P 6/14"
  ],
  "ipc": [
    "H02P 6/04",
    "A61B 17/00",
    "A61B 34/35",
    "A61B 90/00",
    "H02P 6/08",
    "H02P 6/10",
    "H02P 6/14",
    "A61B 34/30",
    "A61B 34/37",
    "H02P 23/00",
    "H02P 23/04"
  ],
  "assignees": [
    "Intuitive Surgical Operations Inc"
  ],
  "inventors": [
    "Hsien-Hsin Liao",
    "Niels Smaby",
    "II Gregory W. Dachs",
    "Pushkar Hingwe",
    "Amir Chaghajerdi"
  ],
  "filing_date": "2015-02-17",
  "publication_date": "2019-11-19",
  "grant_date": "2019-11-19",
  "priority_date": "2014-02-19",
  "application_number": "US-201515118264-A",
  "family_id": "53878866",
  "cited_by_count": 5,
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    "US20100204713A1",
    "US20080075439A1",
    "US20120274248A1",
    "US20130119900A1",
    "US20140253002A1"
  ]
}