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

• US 10,478,258 B2
• Filed: 04/10/2018
• Issued: 11/19/2019
• 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:
  US15/949,276
• Publication Number:
  US 20180221099A1
• Time in Patent Office: 588 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 apparatus, comprising:

a motor of a robotic surgical system, the motor being configured to provide torque to a surgical tool removably and replaceably coupled to the robotic surgical system, and the motor including a first plurality of magnets configured to generate a first electromagnetic field and a second plurality of magnets configured to generate a second electromagnetic field, wherein the motor is configured to provide a first amount torque to the surgical tool and a second amount of torque to the surgical tool in response to interference of the second electromagnetic field with the first electromagnetic field.

2. The apparatus of claim 1, further comprising a tool driver of the robotic surgical system, the tool driver having the motor disposed therein, and the tool driver being configured to removably and replaceably couple to the surgical tool.

3. The apparatus of claim 1, wherein the provided torque drives a function of the surgical tool.

4. The apparatus of claim 1, wherein the first amount of torque is greater than the second amount of torque.

5. The apparatus of claim 1, wherein the first amount of torque is less than the second amount of torque.

6. The apparatus of claim 1, wherein the first plurality of magnets are arranged radially around the second plurality of magnets.

7. The apparatus 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.

8. The apparatus of claim 7, 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.

9. The apparatus of claim 7, wherein each of the iron members is an iron bar separate from and in operative distance of the rare earth magnet operatively coupled thereto.

10. The apparatus 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.

11. A surgical method, comprising:

causing a motor of a robotic surgical system to generate a first electromagnetic field to provide a first amount of torque to a surgical tool removably and replaceably coupled to the robotic surgical system and thereby causing movement of the surgical tool; and

causing the motor to generate a second electromagnetic field to interfere with the first electromagnetic field such that the first amount of torque being provided to the surgical tool is adjusted to a second amount of torque.

12. The method of claim 11, wherein the first amount of torque provided to the surgical tool causes the surgical tool to perform one of open an end effector of the surgical tool, close the end effector, articulate the end effector relative to an elongate shaft of the surgical tool, rotate the end effector relative to the elongate shaft, and rotate the end effector and the elongate shaft as a unit about a longitudinal axis of the shaft;

and

the second amount of torque provided to the surgical tool causes the surgical tool to perform a different one of open the end effector, close the end effector, articulate the end effector relative to an elongate shaft of the surgical tool, rotate the end effector relative to the elongate shaft, and rotate the end effector and the elongate shaft as a unit about a longitudinal axis of the shaft.

13. The method of claim 11, wherein the first amount of torque is greater than the second amount of torque.

14. The method of claim 11, wherein the first amount of torque is less than the second amount of torque.

15. The method of claim 11, further comprising varying a voltage input to the motor to dampen or strengthen the second electromagnetic field.

16. A surgical apparatus, comprising:

a motor of a robotic surgical system, the motor being configured to generate a first electromagnetic field to provide a first amount of torque to a surgical tool removably and replaceably coupled to the robotic surgical system, and the motor being configured to generate a second electromagnetic field that is configured to interfere with the first electromagnetic field and thereby adjust the first amount of torque to a second amount of torque that is different than the first amount of torque.

17. The apparatus of claim 16, wherein the first amount of torque is greater than the second amount of torque.

18. The apparatus of claim 16, wherein the first amount of torque is less than the second amount of torque.

19. The apparatus of claim 16, further comprising a tool driver of the robotic surgical system, the tool driver having the motor disposed therein, and the tool driver being configured to removably and replaceably couple to the surgical tool.

20. The apparatus of claim 16, wherein the first and second amounts of torque each drive a function of the surgical tool removably and replaceably coupled to the robotic surgical system.