An abnormality monitoring apparatus includes a drive circuit unit, a current detection unit, a current cutoff unit, a first control unit, and a second control unit. The drive circuit unit switches an energization to the motor winding. The current detection unit detects a motor current, which is a current flowing through the motor winding. The current cutoff unit cuts off the motor current. The first control unit has an energization control unit for controlling energization to the motor winding and an energization state notification unit for outputting an energization state signal according to an energization command. The second control unit is provided separately from the first control unit and has an abnormality monitoring unit configured to monitor an abnormality based on a detection value of the current detection unit and an energization state signal so as to perform fail-safe measure according to a monitoring result.

A teleoperated surgical system includes a manipulator, an electric motor, and a power circuit. The motor is operatively connected to and configured to drive movement of at least a portion of the manipulator. The power circuit includes a plurality of wires and a switch. The wires connect a selectively activated power source to the motor. The switch is connected to the wires between the power source and the motor. On a first condition in which the power source changes from an activated state to a deactivated state, the switch short-circuits the motor to cause the unpowered motor to automatically dampen motion of the at least a portion of the manipulator. On a second condition in which the power source changes from the deactivated state to the activated state, the switch electrically connects the motor to the power source to supply operating power from the power source to the motor via the wires.

A teleoperated surgical system includes a manipulator, an electric motor, and a power circuit. The motor is operatively connected to and configured to drive movement of at least a portion of the manipulator. The power circuit includes a plurality of wires and a switch. The wires connect a selectively activated power source to the motor. The switch is connected to the wires between the power source and the motor. On a first condition in which the power source changes from an activated state to a deactivated state, the switch short-circuits the motor to cause the unpowered motor to automatically dampen motion of the at least a portion of the manipulator. On a second condition in which the power source changes from the deactivated state to the activated state, the switch electrically connects the motor to the power source to supply operating power from the power source to the motor via the wires.

A power converter having a dynamic bus controller to control a rectifier DC output for motoring and regenerating power flow directions, in which the controller controls a DC bus voltage between first and second regenerating voltage limits and limits power at the DC output in an increasing fashion with increasing values of the DC bus voltage according to a regenerating power limit parameter for a regenerating direction of power flow at a DC output. For a motoring direction of power flow at the DC output, the controller controls the DC bus voltage at the DC output between first and second motoring voltage limits and limits the power at the DC output in a decreasing fashion with increasing values of the DC bus voltage according to a motoring power limit parameter.

A power converter having a dynamic bus controller to control a rectifier DC output for motoring and regenerating power flow directions, in which the controller controls a DC bus voltage between first and second regenerating voltage limits and limits power at the DC output in an increasing fashion with increasing values of the DC bus voltage according to a regenerating power limit parameter for a regenerating direction of power flow at a DC output. For a motoring direction of power flow at the DC output, the controller controls the DC bus voltage at the DC output between first and second motoring voltage limits and limits the power at the DC output in a decreasing fashion with increasing values of the DC bus voltage according to a motoring power limit parameter.

An operation device includes a motor capable of forward and reverse rotation, a transmission mechanism configured to convert forward and reverse rotation of the motor into linear ascending and descending motion and to provide tactile stimulation on an operation unit, and a controller configured to control switching of an energizing direction of the motor. The controller is configured to control acceleration such that an amount of ascending movement of the operation unit is increased by increasing driving power in a forward rotation direction of the motor, and to control deceleration such that the ascending movement of the operation unit decelerates by supplying driving power in a reverse rotation direction of the motor, in a predetermined time from when the operation unit starts the ascending movement via the transmission mechanism until a target displacement amount is reached.

An operation device includes a motor capable of forward and reverse rotation, a transmission mechanism configured to convert forward and reverse rotation of the motor into linear ascending and descending motion and to provide tactile stimulation on an operation unit, and a controller configured to control switching of an energizing direction of the motor. The controller is configured to control acceleration such that an amount of ascending movement of the operation unit is increased by increasing driving power in a forward rotation direction of the motor, and to control deceleration such that the ascending movement of the operation unit decelerates by supplying driving power in a reverse rotation direction of the motor, in a predetermined time from when the operation unit starts the ascending movement via the transmission mechanism until a target displacement amount is reached.

An operation device includes a motor capable of forward and reverse rotation, a transmission mechanism configured to convert forward and reverse rotation of the motor into linear ascending and descending motion and to provide tactile stimulation on an operation unit, and a controller configured to control switching of an energizing direction of the motor. The controller is configured to control acceleration such that an amount of ascending movement of the operation unit is increased by increasing driving power in a forward rotation direction of the motor, and to control deceleration such that the ascending movement of the operation unit decelerates by supplying driving power in a reverse rotation direction of the motor, in a predetermined time from when the operation unit starts the ascending movement via the transmission mechanism until a target displacement amount is reached.

An operation device includes a motor capable of forward and reverse rotation, a transmission mechanism configured to convert forward and reverse rotation of the motor into linear ascending and descending motion and to provide tactile stimulation on an operation unit, and a controller configured to control switching of an energizing direction of the motor. The controller is configured to control acceleration such that an amount of ascending movement of the operation unit is increased by increasing driving power in a forward rotation direction of the motor, and to control deceleration such that the ascending movement of the operation unit decelerates by supplying driving power in a reverse rotation direction of the motor, in a predetermined time from when the operation unit starts the ascending movement via the transmission mechanism until a target displacement amount is reached.

An abnormality monitoring apparatus includes a drive circuit unit, a current detection unit, a current cutoff unit, a first control unit, and a second control unit. The drive circuit unit switches an energization to the motor winding. The current detection unit detects a motor current, which is a current flowing through the motor winding. The current cutoff unit cuts off the motor current. The first control unit has an energization control unit for controlling energization to the motor winding and an energization state notification unit for outputting an energization state signal according to an energization command. The second control unit is provided separately from the first control unit and has an abnormality monitoring unit configured to monitor an abnormality based on a detection value of the current detection unit and an energization state signal so as to perform fail-safe measure according to a monitoring result.