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US 9,956,050 B2Granted
Methods, systems, and devices for controlling a motor of a robotic surgical system
AssigneeEthicon Endo-Surgery, Inc.
InventorsMark D. Overmyer, Frederick E. Shelton, IV, Jason L. Harris, Jeffrey S. Swayze, David C. Yates
Life of this patent
Estimating the term…
Abstract
Various exemplary methods, systems, and devices for controlling a motor of a robotic surgical system are provided.
Claims15
A surgical device, comprising:
- a motor of a robotic surgical system configured to removably and replaceably couple to a surgical tool, the motor being configured to deliver a torque to the surgical tool removably and replaceably coupled to the robotic surgical system, and the motor including a wire winding that generates a current, and in response to the current exceeding a predetermined threshold amount of current, the current is configured to cause a switch to open and thereby prevent a speed of the motor from exceeding a predetermined threshold amount of speed and thereby limit an amount of the delivered torque.
A surgical device, comprising:
- a motor of a robotic surgical system configured to removably and replaceably couple to a surgical tool, the motor being configured to deliver a torque to the surgical tool removably and replaceably coupled to the robotic surgical system, the motor including a plurality of each wound around a different sets of magnets, all of the magnets being configured to contribute to generation of an electromagnetic field, and the motor being configured to self-reduce the electromagnetic field to prevent the delivered torque from exceeding a predetermined threshold amount of torque, and the motor self-reducing the electromagnetic field includes the motor stopping one of the sets of magnets from contributing to the generation of the electromagnetic field.
A surgical method, comprising:
- actuating a motor of a robotic surgical system to cause the motor rotate at a speed and thereby provide a torque to a surgical tool removably and replaceably coupled to the robotic surgical system to drive a function of the surgical tool;
- generating a current at the motor in response to the actuating of the motor;
- and
- reducing the speed of the motor in response to the generated current exceeding a predetermined threshold amount of current and thereby reducing the torque provided to the surgical tool.
1 more element
Dependencies are inferred from the claim text.