Methods, systems, and devices for controlling a motor of a robotic surgical system

• US 10,016,246 B2
• Filed: 08/16/2016
• Issued: 07/10/2018
• Est. Priority Date: 08/16/2016
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Yates, David C., Shelton, IV, Frederick E., Overmyer, Mark, Harris, Jason L., Swayze, Jeffrey S.
• Primary Examiner(s): Masih, Karen
• Application Number:
  US15/237,653
• Publication Number:
  US 20180049813A1
• Time in Patent Office: 693 Days
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2090/031 torque limiting
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 90/03 Automatic limiting or abutting means, e.g. for safety
• CPC Class Codes: B25J 9/12 electric
• CPC Class Codes: B25J 9/1633 compliant, force, torque control, e.g. combined with position control
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: H02K 21/04 Windings on magnets for additional excitation ; Windings and magnets for additional excitation

Abstract

Various exemplary methods, systems, and devices for controlling a motor of a robotic surgical system are provided.

Claims

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.

2. The device of claim 1, wherein the plurality of permanent magnets are arranged radially around the second plurality of magnets.

3. The device of claim 1, wherein each of the second plurality of magnets includes an iron member and a rare earth magnet operatively coupled to the iron member.

4. The device of claim 3, wherein each of the iron members is an iron sleeve disposed around the rare earth magnet operatively coupled thereto such that the motor includes a plurality of paired iron sleeves and rare earth magnets.

5. The device of claim 4, wherein each of the paired iron sleeves and rare earth magnets has a wire coiled therearound.

6. The device of claim 3, wherein each of the iron members is an iron bar separate from and in operative distance of the rare earth magnet operatively coupled thereto.

7. The device of claim 6, wherein each of the iron bars has a wire coiled therearound, none of the wires being coiled around the rare earth magnets.

8. The device of claim 1, wherein the motor is configured to receive a voltage input thereto, and different amounts of the voltage input cause the selective electromagnetic reinforcing and dampening.

9. The device of claim 1, wherein the second plurality of magnets includes a first pair of magnets and a second pair of magnets, each pair having a wire coiled therearound.

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.

11. The device of claim 10, wherein the motor is configured to deliver a variable force to the surgical tool to drive the function when the motor has a speed less than the first speed or greater than the second speed.

12. The device of claim 10, wherein the second speed is about twice the first speed.

13. The device of claim 10, wherein each of the first plurality of magnets is a permanent magnet.

14. The device of claim 13, wherein the first plurality of permanent magnets are arranged radially around the second plurality of magnets.

15. The device of claim 10, wherein each of the second plurality of magnets includes an iron member and a rare earth magnet operatively coupled to the iron member.

16. The device of claim 10, wherein the second plurality of magnets includes a first pair of magnets and a second pair of magnets, each pair having a wire coiled therearound.

17. A surgical method, comprising:

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.

18. The method of claim 17, wherein the first plurality of magnets include permanent magnets, and the second plurality of magnets each include an iron member and a rare earth magnet operatively coupled to the iron member.

19. The method of claim 17, wherein the second speed is about twice the first speed.

20. The method of claim 17, wherein the first plurality of magnets are arranged radially around the second plurality of magnets.