Whitman, Michael P.,Malinouskas, Donald,Zeichner, David A.
申请号：
AU2010201320
公开号：
AU2010201320B2
申请日:
2010.04.01
申请国别(地区):
AU
年份:
2014
代理人:
摘要：
#$%^&*AU2010201320B220140605.pdf#####DEVICE AND METHOD FOR CONTROLLING COMPRESSION OF TISSUE ABSTRACT A method and device for controlling the compression of tissue include clamping tissue between a first clamping member (1005) and a second clamping member (1010) by s driving at least one of the clamping members with an electric motor (410) toward a predetermined tissue gap between the clamping members (1005, 1006) and, during the clamping, monitoring a parameter of the electric motor (410) indicative of a clamping force exerted to the tissue by the clamping members. The method and device include, during the clamping, controlling the electric motor (410), based on the monitored 10 parameter, to limit the clamping force to a predetermined maximum limit.5/8 System startup 500 Measure current offset and subtract offset from all current readings. 505 On calibrate. measure current due to frictional losses. 51_0 Start move Read motor Read motor velocity Read motor current, remove - Current 70 position offset & frictional loop losses 800 Ciuaepsto Calculate velocity drive Calculate position dnive L- 7Position 805 loop -- 5 Calculate current drive 605 immovable arget object reached? -- ~ Aposition Velocity (Velocity = 0) reached? loop 710 810 N Apply smallest drive (current. velocity, position) to motor 900 Report applied torque (Present current no load current for present velocity) 905 FIG. 5 Accumulate applied torque (energy) 910 Excessive time N required to attain - Y C l target position? gg9 Velocity <； Target Current <； Target Position <； Target Y Y N Position loop in control: Velocity & current loops @ max Y N Y Current loop in control: Velocity & position loops @ max N Y Y Velocity loop in control: Current & position loops @ max
