SYSTEM AND METHOD OF AUTOMATIC DETECTION AND PREVENTION OF MOTOR RUNAWAY

摘要

A robotic catheter control system (10) includes a plurality of electric motors 6141; 6142,... 614n. Diagnostic logic (210) automatically detects motor runaway fault conditions based on the current motor position, the target motor position and a predetermined tolerance parameter. Fault conditions include overshoot, movement in the a non-prescribed direction, exceeding a prescribed maximum motor speed and exceeding a prescribed maximum motor acceleration. The diagnostic logic (210) terminates operating power to the electric motor when a fault condition is detected for any one of the motor. An error message is generated to notify the operator of the fault.