Methods for closed loop velocity control for robotic surgical instrument
AssigneeCilag GmbH International
InventorsFrederick E. Shelton, IV, Jason L. Harris, David C. Yates, Sarah A. Worthington, Chester O. Baxter, III
Life of this patent
Estimating the term…
Abstract
A method for controlling a motor of a robotic surgical system is disclosed. The robotic surgical system comprises an end effector. The method comprises predicting a current speed of the motor, based on a previously detected condition of the robotic surgical system, detecting a condition of the end effector, determining an actual current speed of the motor based on the detected condition, comparing the predicted current speed of the motor to the actual current speed of the motor, and adjusting a speed of the motor based on the comparison.
Claims31
A method for controlling a motor of a robotic surgical system, wherein the robotic surgical system comprises an end effector, wherein the method comprises:
- predicting a current speed of the motor based on a previously detected condition of the robotic surgical system, wherein the previously detected condition comprises a value of an electrical parameter previously supplied to the motor and an external influence on the motor;
- detecting a condition of the end effector;
- determining an actual current speed of the motor based on the detected condition;
- comparing the predicted current speed of the motor to the actual current speed of the motor;
- and
- adjusting a speed of the motor based on the comparison.
A method for controlling a cutting member of a robotic surgical system, wherein the robotic surgical system comprises an end effector and a motor configured to drive the cutting member through the end effector, wherein the method comprises:
- predicting a current speed of the motor based on a previously detected condition of the robotic surgical system, wherein the previously detected condition comprises a previous state of the cutting member;
- monitoring a condition of the end effector;
- determining an actual current speed of the motor based on the monitored condition;
- comparing the predicted current speed of the motor to the actual current speed of the motor;
- and
- adjusting a speed of the motor based on the comparison.
A method for controlling a motor of a robotic surgical system, wherein the robotic surgical system comprises an end effector comprising a plurality of segmented sections, wherein the method comprises:
- predicting a current speed of the motor based on a previously detected condition of the robotic surgical system;
- detecting a first condition at a first segmented section of the plurality of segmented sections;
- detecting a second condition at a second segmented section of the plurality of segmented sections of the end effector;
- determining an actual current speed of the motor based on the first detected condition and the second detected condition;
- comparing the predicted current speed of the motor to the actual current speed of the motor;
- and
- adjusting a speed of the motor based on the comparison;
- wherein the previously detected condition comprises a value of an electrical parameter previously supplied to the motor and an external influence on the motor.
A method for controlling a motor of a robotic surgical system, wherein the robotic surgical system comprises an end effector comprising a plurality of segmented sections, wherein the method comprises:
- predicting a current speed of the motor based on a previously detected condition of the robotic surgical system;
- detecting a first condition at a first segmented section of the plurality of segmented sections;
- detecting a second condition at a second segmented section of the plurality of segmented sections of the end effector;
- determining an actual current speed of the motor based on the first detected condition and the second detected condition;
- comparing the predicted current speed of the motor to the actual current speed of the motor;
- and
- adjusting a speed of the motor based on the comparison;
- wherein the motor is configured to drive a cutting member through the end effector, and wherein the previously detected condition comprises a previous state of the cutting member.
Dependencies are inferred from the claim text.