Control of computer-assisted tele-operated systems
AssigneeIntuitive Surgical Operations, Inc.
InventorsRyan Charles Abbott, John Ryan Steger, Daniel H. Gomez, Ian E. McDowall, Amy Kerdok
Life of this patent
Estimating the term…
Abstract
An instrument system includes an instrument, a drive system, and a controller operably connected to a first drive mechanism and a second drive mechanism of the drive system. The controller is configured to operate the first drive mechanism and the second drive mechanism drive a flexible tensioning member of the instrument to cause movement of an end effector of the instrument while maintaining a tension applied to the flexible tensioning member of the instrument in a tension range.
Claims21
An instrument system comprising:
- a instrument comprising:
- a first engagement member disposed at a proximal portion of the instrument,
- a second engagement member disposed at the proximal portion,
- a third engagement member disposed at the proximal portion,
- an end effector disposed at a distal portion of the instrument, and
- a flexible tensioning member extending between the distal portion and the proximal portion;
- a drive system comprising:
- a first drive mechanism configured to engage with the first engagement member,
- a second drive mechanism configured to engage with the second engagement member,
- a third drive mechanism configured to engage with the third engagement member;
- a sensor configured to generate a signal indicative of a force applied by the drive system or by the end effector;
- and
- a controller operably coupled to the first drive mechanism, the second drive mechanism, the third drive mechanism, and the sensor, wherein the controller is configured to:
- operate the first, second, and third drive mechanisms to apply a desired tension to the flexible tensioning member, the signal being generated by the sensor while the first, second, and third drive mechanisms are operated to apply the desired tension, and
- determine whether a malfunction associated with the flexible tensioning member exists based on at least the signal.
An instrument drive system comprising:
- a first drive actuator configured to engage with a first engagement member of an instrument,
- a second drive actuator configured to engage with a second engagement member of the instrument,
- a third drive actuator configured to engage with a third engagement member of the instrument;
- a sensor configured to generate a signal indicative of a force applied by the instrument drive system or an end effector of the instrument;
- and
- a controller operably coupled to the first drive actuator, the second drive actuator, the third drive actuator, and the sensor, wherein the controller is configured to:
- operate the first, second, and third drive actuators to apply a desired tension to a flexible tensioning member of the instrument, the signal being generated while the first, second, and third drive actuators are operated to apply the desired tension, and
- determine whether a malfunction associated with the flexible tensioning member exists based on at least the signal.
A method comprising:
- operating first, second, and third drive actuators of a drive system to apply a desired tension to a flexible tensioning member of a instrument, the first, second, and third drive actuators engaged with first, second, and third engagement members of the instrument disposed at a proximal portion of the instrument;
- while the first, second, and third drive actuators are operated to apply the desired tension, receiving a signal indicative of a force applied by an end effector of the instrument or the drive system;
- and
- determining whether a malfunction associated with the flexible tensioning member exists based on at least the signal.
Dependencies are inferred from the claim text.