CPC A61B 17/072 (2013.01) [A61B 17/07207 (2013.01); A61B 34/35 (2016.02); A61B 17/2909 (2013.01); A61B 2017/00017 (2013.01); A61B 2017/0046 (2013.01); A61B 2017/0069 (2013.01); A61B 2017/00212 (2013.01); A61B 2017/00367 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/00473 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/00482 (2013.01); A61B 2017/2927 (2013.01); A61B 2090/067 (2016.02); A61B 2090/0811 (2016.02)] | 20 Claims |
1. A method of operating a surgical system, the method comprising:
articulating an end effector relative to an adapter assembly via a universal joint rotatably disposed between the end effector and the adapter assembly;
measuring an articulation angle of the universal joint;
identifying a motor speed profile having a mathematical curve based on a trigonometric function stored within a memory associated with a correction unit corresponding to the measured articulation angle of the universal joint; and
manipulating an output speed of a motor operably coupled to the universal joint, according to the motor speed profile, to generate a substantially constant output speed from the universal joint.
|