Methods for maximum torque driving of robotic surgical tools
AssigneeIntuitive Surgical Operations, Inc.
InventorsScott Manzo, Nitish Swarup
Life of this patent
Estimating the term…
Abstract
In one embodiment of the invention, a control system for a robotic surgical instrument is provided including a torque saturation limiter, a torque to current converter coupled to the torque saturation limiter, and a motor coupled to the torque to current converter. The torque saturation limiter receives a desired torque signal for one or more end effectors and limits the desired torque to a range between an upper torque limit and a lower torque limit generating a bounded torque signal. The torque to current converter transforms a torque signal into a current signal. The motor drives an end effector of one or more end effectors to the bounded torque signal in response to the first current signal.
Claims22
A method of compensating for cable stretch in a robotic surgical instrument comprising:
- receiving an input from an input device;
- with a function, forming a desired position for one or more end effectors of the robotic surgical instrument in response to the input;
- selectively altering, over a total tool life of the robotic surgical instrument, the function to adjust the desired position to compensate for cable stretch in one or more cables of the robotic surgical instrument over the total tool life of the robotic surgical instrument;
- generating a torque signal in response to the adjusted desired position for the one or more end effectors;
- limiting the torque signal to a range between an upper torque limit and a lower torque limit;
- transforming the limited torque signal into a first current signal;
- and
- driving a first end effector to a torque within the range in response to the first current signal.
A method for a robotic surgical instrument comprising:
- receiving the robotic surgical instrument on a robotic surgical arm;
- reading a memory in the robotic surgical instrument to determine a tool type and an initial tool calibration;
- selectively adjusting, over a total tool life of the robotic surgical instrument, a control system to compensate for cable stretch in one or more cables of the robotic surgical instrument over the total tool life of the robotic surgical instrument;
- and
- driving a first end effector to a torque in a range between an upper torque limit and a lower torque limit.
A method for a robotic surgical system comprising:
- receiving a signal of an initial squeeze of grips of a touch sensitive handle;
- with a function, forming a desired end effector angle of a first end effector and a second end effector to close around tissue in response to the signal of the initial squeeze of the grips;
- receiving a signal of a further squeeze of grips of the touch sensitive handle to apply additional torque to the first end effector and the second end effector;
- selectively altering, over a total tool life of the robotic surgical instrument, the function to adjust the desired end effector angle to compensate for cable stretch in one or more cables of a robotic surgical instrument over the total tool life of the robotic surgical instrument;
- and
- in response to selectively altering the function, applying a maximum torque to the first end effector and the second end effector to apply a maximum force to the tissue.
Dependencies are inferred from the claim text.