Systems and methods for motor torque compensation
A method includes receiving a torque limit for a motor, monitoring a torque output of the motor, determining an amplitude and a phase of a torque ripple of the torque output, and determining a compensated torque limit for the motor, the compensated torque limit including a first component at the torque limit and a second component at an adjusted torque limit.
1. A medical instrument system comprising:
a motor; and
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:
monitor a torque output of the motor;
determine an oscillation component of the torque output, the oscillation component being associated with a torque ripple;
receive an upper torque limit;
adjust the upper torque limit based on the oscillation component to create a localized compensated upper torque limit; and
output to a user interface, an indication of operation failure in response to a determination that the torque output exceeds the localized compensated upper torque limit.
2. The system of claim 1 , further comprising:
a clamping mechanism; and
a driveshaft that connects the motor to the clamping mechanism.
3. The system of claim 2 , further comprising a stapling mechanism integrated with the clamping mechanism, the stapling mechanism configured to staple tissue clamped by the clamping mechanism.
4. The system of claim 2 , wherein the upper torque limit indicates a likely failure of the clamping mechanism.
5. The system of claim 2 , wherein the driveshaft is connected to the clamping mechanism through use of at least one universal joint.
6. The system of claim 5 , wherein the oscillation component is a function of a position of the universal joint.
7. The system of claim 5 , wherein to account for the oscillation component, the control system is configured to adjust the upper torque limit in accordance with the oscillation component.
8. A medical instrument system comprising:
a motor; and
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:
receive a motor torque limit for the motor;
monitor a torque output of the motor;
determine an amplitude and a phase of a torque ripple of the torque output; and
determine a locally compensated torque limit for the motor by adjusting the motor torque limit based on the determined amplitude and phase of the torque ripple.
9. The system of claim 8 , wherein the locally compensated torque limit includes a first component at the motor torque limit and a second component at an adjusted torque limit.
10. The system of claim 8 , wherein the locally compensated torque limit includes an alternating pattern of first and second components.
11. The system of claim 8 , wherein to monitor the torque output, the control system is further made to receive information from a sensor regarding a position of the motor.
12. The system of claim 8 , wherein the control system is further made to output to a user interface an indication of operation failure in response to determining that the torque output exceeds the locally compensated torque limit.
13. The system of claim 8 , wherein the motor drives a stapler clamping mechanism.
14. The system of claim 8 , wherein the motor is coupled to a drive system that includes a universal joint.
15. The system of claim 8 , wherein the motor torque limit is an upper motor torque limit.