Closed loop velocity control of closure member for robotic surgical instrument
First Claim
1. A control system for a robotic surgical system, the control system comprising:
- a control circuit configured to;
determine actual closure force of a closure member;
compare the actual closure force to a threshold closure force;
determine a set point velocity to displace the closure member based on the comparison;
control an actual velocity of the closure member based on the set point velocity; and
wherein the threshold closure force comprises an upper threshold and a lower threshold, wherein the set point velocity is configured to advance the closure member distally when the actual closure force is less than the lower threshold, and wherein the set point velocity is configured to retract the closure member proximally when the actual closure force is greater than the lower threshold.
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0 Petitions
Accused Products
Abstract
A robotic control system for a surgical system includes a control system, a control circuit, and a proportional, integral, derivative (PID) feedback control system. The control circuit determines actual closure force of a closure member, compares the actual closure force to a threshold, determines a set point velocity to displace the closure member based on the comparison, and controls the actual velocity of the closure member based on the set point velocity. A force sensor measures the closure force. A threshold closure force includes upper and lower thresholds. The set point velocity is configured to advance the closure member distally when the actual closure force is less than the lower threshold. The set point velocity is configured to retract the closure member proximally when the actual closure force is greater than the lower threshold.
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Citations
27 Claims
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1. A control system for a robotic surgical system, the control system comprising:
a control circuit configured to; determine actual closure force of a closure member; compare the actual closure force to a threshold closure force; determine a set point velocity to displace the closure member based on the comparison; control an actual velocity of the closure member based on the set point velocity; and wherein the threshold closure force comprises an upper threshold and a lower threshold, wherein the set point velocity is configured to advance the closure member distally when the actual closure force is less than the lower threshold, and wherein the set point velocity is configured to retract the closure member proximally when the actual closure force is greater than the lower threshold. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A control system for a robotic surgical system, the control system comprising:
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a first motor configured to couple to a closure member; a force sensor configured to measure actual closure force applied to the closure member; a closed loop feedback control system comprising a control circuit coupled to the first motor and the force sensor, wherein the control circuit is configured to; receive, from the force sensor, the actual closure force from the closure member; compare the actual closure force to a threshold closure force; determine a set point velocity of the first motor to displace the closure member based on the comparison; control an actual velocity of the closure member based on the set point velocity; and wherein the threshold closure force comprises an upper threshold and a lower threshold, wherein the set point velocity is configured to advance the closure member distally when the actual closure force is less than the lower threshold, and wherein the set point velocity is configured to retract the closure member proximally when the actual closure force is greater than the lower threshold. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
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20. A control system for a robotic surgical system, the control system comprising:
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a control circuit comprising a proportional, integral, and derivative (PID) feedback control system, the control circuit configured to; determine actual closure force of a closure member; compare the actual closure force to a threshold closure force; determine a set point velocity to displace the closure member based on the comparison; and control an actual velocity of the closure member based on the set point velocity; a force sensor coupled to the control circuit, the force sensor configured measure the actual closure force; a motor coupled to the control circuit and to the closure member, wherein the control circuit is configured to advance the closure member during at least a portion of a firing stroke; and wherein the threshold closure force comprises an upper threshold and a lower threshold, wherein the set point velocity is configured to advance the closure member distally when the actual closure force is less than the lower threshold, and wherein the set point velocity is configured to retract the closure member proximally when the actual closure force is greater than the lower threshold. - View Dependent Claims (21, 22, 23, 24, 25, 26)
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27. A control system for a robotic surgical system, the control system comprising:
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a control circuit configured to; determine actual closure force of a closure member; compare the actual closure force to a threshold closure force; determine a set point velocity to displace the closure member based on the comparison; control an actual velocity of the closure member based on the set point velocity; and wherein the threshold closure force comprises an upper threshold and a lower threshold, wherein the set point velocity is configured to advance the closure member distally when the actual closure force is less than the lower threshold, and wherein the set point velocity is configured to hold the closure member in place when the actual closure force is between the upper and lower thresholds.
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Specification