Methods, systems, and devices for controlling a motor of a robotic surgical system
First Claim
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1. A surgical device, comprising:
- a motor of a robotic surgical system, the motor being configured to drive a function of a surgical tool coupled to the robotic surgical system, the motor including a stator having a first plurality of permanent magnets configured to create a permanent magnetic field and a rotator having a second plurality of magnets configured to create a second magnetic field, the second magnetic field being configured to selectively electromagnetically reinforce and dampen a strength of the permanent magnetic field.
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Abstract
Various exemplary methods, systems, and devices for controlling a motor of a robotic surgical system are provided.
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Citations
20 Claims
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1. A surgical device, comprising:
a motor of a robotic surgical system, the motor being configured to drive a function of a surgical tool coupled to the robotic surgical system, the motor including a stator having a first plurality of permanent magnets configured to create a permanent magnetic field and a rotator having a second plurality of magnets configured to create a second magnetic field, the second magnetic field being configured to selectively electromagnetically reinforce and dampen a strength of the permanent magnetic field. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A surgical device, comprising:
a motor of a robotic surgical system, the motor being configured to drive a function of a surgical tool coupled to the robotic surgical system, the motor having a stator that includes a first plurality of magnets that generate a first electromagnetic field and a rotator having a second plurality of magnets that generate a second electromagnetic field that interacts with the first electromagnetic field, the second electromagnetic field being configured to be selectively adjusted between a first strength corresponding to a first speed of the motor and a second, higher strength corresponding to a second, higher speed of the motor. - View Dependent Claims (11, 12, 13, 14, 15, 16)
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17. A surgical method, comprising:
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using a robotic surgical system to advance a working end of a surgical tool into a body of a patient, the robotic surgical system including a motor having a stator that includes a first plurality of magnets that generate a first electromagnetic field and a rotator having a second plurality of magnets that generate a second electromagnetic field that interacts with the first electromagnetic field; adjusting a strength of the second electromagnetic field to cause the motor of the robotic surgical system to have a first speed and thereby deliver a first torque to the surgical tool to cause the working end of the surgical tool to perform a first function in the body of the patient; and adjusting the strength of the second electromagnetic field to cause the motor to have a second speed and thereby deliver a second torque to the surgical tool to cause the working end of the surgical tool to perform a second function in the body of the patient, the first speed being greater than the first speed, and the first torque and the second torque being substantially equal. - View Dependent Claims (18, 19, 20)
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Specification