# US 10,478,258 B2 · Methods, systems, and devices for controlling a motor of a robotic surgical system

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 10,478,258 B2
- Document ID: US10478258B2
- Status: Granted
- Kind: B2
- Application number: 15/949,276
- Filed: 2018-04-10
- Published: 2018-08-09
- Granted: 2019-11-19
- Earliest claimed: 2016-08-16
- Assignees: Ethicon, Inc.
- Applicants: Ethicon LLC
- Inventors: David C. Yates; Frederick E. Shelton, IV; Mark Overmyer; Jason L. Harris; Jeffrey S. Swayze
- Web page: https://patentgrep.com/patent/US10478258B2

## CPC

- A61B 34/30: Surgical robots
- A61B 34/35: for telesurgery
- A61B 90/03: {Automatic limiting or abutting means, e.g. for safety}
- B25J 9/12: electric
- B25J 9/1633: {compliant, force, torque control, e.g. combined with position control}
- B25J 9/1689: {Teleoperation}
- H02K 21/04: Windings on magnets for additional excitation {; Windings and magnets for additional excitation}
- A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)}
- A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities}
- A61B 2090/031: {torque limiting}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53})

## Abstract

Various exemplary methods, systems, and devices for controlling a motor of a robotic surgical system are provided.

## Claims

### Claim 1

A surgical apparatus, comprising:
a motor of a robotic surgical system, the motor being configured to provide torque to a surgical tool removably and replaceably coupled to the robotic surgical system, and the motor including a first plurality of magnets configured to generate a first electromagnetic field and a second plurality of magnets configured to generate a second electromagnetic field, wherein the motor is configured to provide a first amount torque to the surgical tool and a second amount of torque to the surgical tool in response to interference of the second electromagnetic field with the first electromagnetic field.

### Claim 2 (depends on 1)

The apparatus of claim 1, further comprising a tool driver of the robotic surgical system, the tool driver having the motor disposed therein, and the tool driver being configured to removably and replaceably couple to the surgical tool.

### Claim 3 (depends on 1)

The apparatus of claim 1, wherein the provided torque drives a function of the surgical tool.

### Claim 4 (depends on 1)

The apparatus of claim 1, wherein the first amount of torque is greater than the second amount of torque.

### Claim 5 (depends on 1)

The apparatus of claim 1, wherein the first amount of torque is less than the second amount of torque.

### Claim 6 (depends on 1)

The apparatus of claim 1, wherein the first plurality of magnets are arranged radially around the second plurality of magnets.

### Claim 7 (depends on 1)

The apparatus of claim 1, wherein each of the second plurality of magnets includes an iron member and a rare earth magnet operatively coupled to the iron member.

### Claim 8 (depends on 7)

The apparatus of claim 7, wherein each of the iron members is an iron sleeve disposed around the rare earth magnet operatively coupled thereto such that the motor includes a plurality of paired iron sleeves and rare earth magnets.

### Claim 9 (depends on 7)

The apparatus of claim 7, wherein each of the iron members is an iron bar separate from and in operative distance of the rare earth magnet operatively coupled thereto.

### Claim 10 (depends on 1)

The apparatus of claim 1, wherein the second plurality of magnets includes a first pair of magnets and a second pair of magnets, each pair having a wire coiled therearound.

### Claim 11

A surgical method, comprising:
causing a motor of a robotic surgical system to generate a first electromagnetic field to provide a first amount of torque to a surgical tool removably and replaceably coupled to the robotic surgical system and thereby causing movement of the surgical tool; and
causing the motor to generate a second electromagnetic field to interfere with the first electromagnetic field such that the first amount of torque being provided to the surgical tool is adjusted to a second amount of torque.

### Claim 12 (depends on 11)

The method of claim 11, wherein the first amount of torque provided to the surgical tool causes the surgical tool to perform one of open an end effector of the surgical tool, close the end effector, articulate the end effector relative to an elongate shaft of the surgical tool, rotate the end effector relative to the elongate shaft, and rotate the end effector and the elongate shaft as a unit about a longitudinal axis of the shaft; and
the second amount of torque provided to the surgical tool causes the surgical tool to perform a different one of open the end effector, close the end effector, articulate the end effector relative to an elongate shaft of the surgical tool, rotate the end effector relative to the elongate shaft, and rotate the end effector and the elongate shaft as a unit about a longitudinal axis of the shaft.

### Claim 13 (depends on 11)

The method of claim 11, wherein the first amount of torque is greater than the second amount of torque.

### Claim 14 (depends on 11)

The method of claim 11, wherein the first amount of torque is less than the second amount of torque.

### Claim 15 (depends on 11)

The method of claim 11, further comprising varying a voltage input to the motor to dampen or strengthen the second electromagnetic field.

### Claim 16

A surgical apparatus, comprising:
a motor of a robotic surgical system, the motor being configured to generate a first electromagnetic field to provide a first amount of torque to a surgical tool removably and replaceably coupled to the robotic surgical system, and the motor being configured to generate a second electromagnetic field that is configured to interfere with the first electromagnetic field and thereby adjust the first amount of torque to a second amount of torque that is different than the first amount of torque.

### Claim 17 (depends on 16)

The apparatus of claim 16, wherein the first amount of torque is greater than the second amount of torque.

### Claim 18 (depends on 16)

The apparatus of claim 16, wherein the first amount of torque is less than the second amount of torque.

### Claim 19 (depends on 16)

The apparatus of claim 16, further comprising a tool driver of the robotic surgical system, the tool driver having the motor disposed therein, and the tool driver being configured to removably and replaceably couple to the surgical tool.

### Claim 20 (depends on 16)

The apparatus of claim 16, wherein the first and second amounts of torque each drive a function of the surgical tool removably and replaceably coupled to the robotic surgical system.