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US 11,890,065 B2Granted
Surgical system to limit displacement
AssigneeCilag GmbH International
InventorsFrederick E. Shelton, IV, Jerome R. Morgan, Jason L. Harris, David C. Yates
Life of this patent
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Abstract
Various robotic surgical systems are disclosed. A robotic surgical system comprises a first motor; a second motor; and a robotic surgical tool. The robotic surgical tool comprises: a first rotary driver configured to receive a first rotary motion from the first motor; a second rotary driver configured to receive a second rotary motion from the second motor; an output drive; and a shifter configured to selectively couple the first rotary driver and the second rotary driver to the output drive. The first rotary driver and the second rotary driver are configured to concurrently supply torque to the output drive in a high-torque operating state.
Claims24
A surgical system, comprising:
- a surgical grasping tool comprising a force sensor;
- and
- a control system operably coupled to the surgical grasping tool, wherein the control system is configured to:
- set a retraction force threshold for the surgical grasping tool;
- transmit a first control signal to the surgical grasping tool, wherein the first control signal corresponds to a first retraction motion by the surgical grasping tool to apply a first retraction force at the retraction force threshold;
- monitor the first retraction force applied by the surgical grasping tool and detected by the force sensor during the first retraction motion;
- transmit a second control signal to the surgical grasping tool upon the first retraction force dropping a predefined amount below the retraction force threshold, wherein the second control signal corresponds to a second retraction motion of the surgical grasping tool to increase the first retraction force back to the retraction force threshold;
- set a displacement threshold range of the surgical grasping tool;
- monitor a displacement of the surgical grasping tool during the first retraction motion and the second retraction motion;
- and
- transmit a third control signal to the surgical grasping tool upon the surgical grasping tool reaching a boundary of the displacement threshold range, wherein the third control signal corresponds to limiting further displacement of the surgical grasping tool.
8 more elements
A surgical system, comprising:
- a surgical grasping tool comprising a force sensor;
- and
- a control system operably coupled to the surgical grasping tool, wherein the control system is configured to:
- set a retraction force threshold range of the surgical grasping tool;
- set a displacement threshold range of the surgical grasping tool;
- transmit a first control signal to the surgical grasping tool, wherein the first control signal corresponds to a first retraction motion by the surgical grasping tool;
- monitor a first retraction force applied by the surgical grasping tool and detected by the force sensor during the first retraction motion;
- monitor a displacement of the surgical grasping tool during the first retraction motion;
- transmit a second control signal to the surgical grasping tool upon the first retraction force reaching a boundary of the retraction force threshold range, wherein the second control signal corresponds to a displacement of the surgical grasping tool;
- and
- transmit a third control signal to the surgical grasping tool upon the surgical grasping tool reaching a boundary of the displacement threshold range, wherein the third control signal corresponds to limiting further displacement of the surgical grasping tool.
8 more elements
A surgical system, comprising:
- a surgical grasping tool configured to grasp tissue;
- and
- a control system operably coupled to the surgical grasping tool, wherein the control system is configured to:
- set a retraction force threshold of the surgical grasping tool;
- set a displacement threshold range of the surgical grasping tool;
- and
- operate the surgical grasping tool in:
- a first mode, in which the surgical grasping tool applies a substantially constant retraction force at the retraction force threshold;
- and
- a second mode, in which the substantially constant retraction force is reduced to less than the retraction force threshold to maintain the surgical grasping tool within the displacement threshold range.
7 more elements
A surgical system, comprising:
- a surgical grasping tool comprising a force sensor;
- and
- a control system operably coupled to the surgical grasping tool, wherein the control system is configured to:
- set a retraction force threshold for the surgical grasping tool;
- transmit a first control signal to the surgical grasping tool, wherein the first control signal corresponds to a first retraction motion by the surgical grasping tool;
- monitor a first retraction force applied by the surgical grasping tool and detected by the force sensor during the first retraction motion;
- and
- transmit a second control signal to the surgical grasping tool upon the first retraction force dropping a predefined amount below the retraction force threshold, wherein the second control signal corresponds to a displacement of the surgical grasping tool;
- wherein the surgical grasping tool further comprises:
- an end effector comprising a pair of jaws;
- a shaft;
- and
- an articulation joint, wherein the end effector is articulatable relative to the shaft about the articulation joint, and wherein the first retraction motion comprises an articulation motion of the end effector about the articulation joint.
10 more elements
A surgical system, comprising:
- a surgical grasping tool configured to pull tissue with a pulling force;
- and
- a control system operably coupled to the surgical grasping tool, wherein the control system is configured to:
- set a pulling force threshold of the surgical grasping tool;
- set a displacement threshold range of the surgical grasping tool;
- and
- operate the surgical grasping tool in:
- a first mode, in which the surgical grasping tool is configured to maintain the pulling force within a range of the pulling force threshold;
- and
- a second mode, in which the surgical grasping tool is permitted to apply a pulling force outside of the range of the pulling force threshold to maintain the surgical grasping tool within the displacement threshold range.
7 more elements
Dependencies are inferred from the claim text.