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US 9,675,354 B2Granted
Torque compensation
AssigneeIntuitive Surgical Operations, Inc.
InventorsDavid W. Weir, Melody Wu, Gabriel F. Brisson, Kevin Durant, Grant Duque
Life of this patent
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Abstract
Embodiments of a clamping system are disclosed. In some embodiments, a system used with a motor assembly and a clamping device is presented, the system adjusting torque limits in the motor assembly according to conditions, for example operating temperature of the motor assembly and aging of the clamping device and the motor assembly. The clamping device can be, for example, a stapler or a vessel sealer.
Claims28
A method of operating a clamping instrument, comprising:
- obtaining, by control electronics, an initial torque limit for the clamping instrument;
- adjusting, by the control electronics, the initial torque limit based on a lifetime of a motor assembly of a system operates the clamping instrument, a lifetime of the clamping instrument, or both the lifetime of the motor assembly and the lifetime of the clamping instrument to obtain an adjusted torque limit, clamping the clamping instrument according to the adjusted torque limit.
A system that operates a clamping device, comprising:
- a processor coupled to receive data from and control motors in a motor assembly coupled to the clamping device, the processor being configured to execute instructions for
- acquiring an initial torque limit for the clamping device;
- adjusting the initial torque limit based on a lifetime of the motor assembly, a lifetime of the clamping device, or both the lifetime of the motor assembly and the lifetime of the clamping device to obtain an adjusted torque limit;
- and
- clamping the clamping device according to the adjusted torque limit.
2 more elements
Dependencies are inferred from the claim text.