Apparatus for controlling a surgical instrument and method therefor
AssigneeLivsmed Inc.
InventorsJin Hyuk YOON, Soon Yong JEONG, Seung Seop SHIN
Life of this patent
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Abstract
Provided is a method for controlling a surgical instrument. The method includes: driving an end tool to a reference position; decreasing a control target angle between a first jaw and a second jaw in a direction having a negative value in which the first jaw and the second jaw pass through a state of being in contact with each other and move away from each other; and determining the control target angle between the first jaw and the second jaw at a time when a torque value of a driving motor providing power to a driving part reaches a predetermined reference torque, as a grip reference angle.
Claims20
A method for controlling a surgical instrument, which includes:
- a shaft having a first end and a second end;
- an end tool connected to the first end of the shaft, and having a first jaw and a second jaw;
- a driving part connected to the second end of the shaft;
- and
- at least one power transmission element that transmits power of the driving part to the end tool, and the method comprising:
- driving the end tool to a reference position;
- decreasing a control target angle between the first jaw and the second jaw, in a direction having a negative value in which the first jaw and the second jaw pass through a state of being in contact with each other and move away from each other;
- and
- determining the control target angle between the first jaw and the second jaw at a time when a torque value of a driving motor providing power to the driving part reaches a predetermined reference torque, as a grip reference angle.
An apparatus for controlling a surgical instrument, which includes:
- a shaft having a first end and a second end;
- an end tool connected to the first end of the shaft, and having a first jaw and a second jaw;
- a driving part connected to the second end of the shaft;
- and
- at least one power transmission element configured to transmit power of the driving part to the end tool, and the apparatus comprising:
- at least one processor;
- and
- at least one memory,
- wherein the at least one processor being configured to:
- drive the end tool to a reference position;
- decrease a control target angle between the first jaw and the second jaw in a direction having a negative value in which the first jaw and the second jaw pass through a state of being in contact with each other and move away from each other;
- and
- determine the control target angle between the first jaw and the second jaw at a time when a torque value of a driving motor providing power to the driving part reaches a predetermined reference torque, as a grip reference angle.
A non-transitory computer-readable storage medium comprising instructions executable by a processor of a surgical robot system, the instructions being configured to control a surgical instrument, which includes:
- a shaft having a first end and a second end;
- an end tool connected to the first end of the shaft, and having a first jaw and a second jaw;
- a driving part connected to the second end of the shaft;
- and
- at least one power transmission element that transmits power of the driving part to the end tool, and the instructions causing the processor to:
- drive the end tool to a reference position;
- decrease a control target angle between the first jaw and the second jaw in a direction having a negative value in which the first jaw and the second jaw pass through a state of being in contact with each other and move away from each other;
- and
- determine the control target angle between the first jaw and the second jaw at a time when a torque value of a driving motor providing power to the driving part reaches a predetermined reference torque, as a grip reference angle.
Dependencies are inferred from the claim text.