Methods, systems, and devices for limiting torque in robotic surgical tools
First Claim
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1. A surgical system, comprising:
- a first motor of a robotic surgical system, the robotic surgical system being configured to releasably and replaceably couple to a surgical tool, and the first motor having a maximum torque output;
a first actuator of the robotic surgical system, the first motor being configured to apply an amount of torque to the first actuator and thereby cause movement of an end effector of the surgical tool, in which the amount of torque applied by the first motor to the first actuator does not exceed a first torque threshold that is less than the maximum torque output;
a second actuator of the robotic surgical system, the first motor being configured to apply an amount of torque to the second actuator and thereby cause movement of the end effector of the surgical tool, in which the amount of torque applied by the first motor to the second actuator does not exceed a second torque threshold that is less than the maximum torque output and that is different from the first torque threshold;
a second motor of the robotic surgical system; and
a third actuator of the robotic surgical system;
wherein the first motor is a single motor, and the second motor is configured to apply an amount of torque to the third actuator and thereby cause movement of the end effector of the surgical tool.
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Abstract
Various exemplary methods, systems, and devices for limiting torque in robotic surgical tools are provided. In general, a surgical tool can be configured to releasably and removably couple to a robotic surgical system. The robotic surgical system can include a motor configured to provide torque to the surgical tool to drive two different functions of the surgical tool. The surgical tool can include two torque limiting mechanisms, each associated with the motor, each associated with one of the functions, and each configured to limit an amount of the torque from the motor that drives the function associated therewith.
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Citations
19 Claims
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1. A surgical system, comprising:
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a first motor of a robotic surgical system, the robotic surgical system being configured to releasably and replaceably couple to a surgical tool, and the first motor having a maximum torque output; a first actuator of the robotic surgical system, the first motor being configured to apply an amount of torque to the first actuator and thereby cause movement of an end effector of the surgical tool, in which the amount of torque applied by the first motor to the first actuator does not exceed a first torque threshold that is less than the maximum torque output; a second actuator of the robotic surgical system, the first motor being configured to apply an amount of torque to the second actuator and thereby cause movement of the end effector of the surgical tool, in which the amount of torque applied by the first motor to the second actuator does not exceed a second torque threshold that is less than the maximum torque output and that is different from the first torque threshold; a second motor of the robotic surgical system; and a third actuator of the robotic surgical system; wherein the first motor is a single motor, and the second motor is configured to apply an amount of torque to the third actuator and thereby cause movement of the end effector of the surgical tool. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A surgical system, comprising:
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a motor of a robotic surgical system, the robotic surgical system being configured to releasably and replaceably couple to a surgical tool, and the motor having a maximum torque output; a first actuator of the robotic surgical system, the motor being configured to apply an amount of torque to the first actuator and thereby cause a first movement of an end effector of the surgical tool; a first torque limiting mechanism configured to prevent the amount of torque applied by the motor to the first actuator from exceeding a first torque threshold that is less than the maximum torque output; a second actuator of the robotic surgical system, the motor being configured to apply an amount of torque to the second actuator and thereby cause a second movement of the end effector of the surgical tool, the second movement being different from the first movement; and a second torque limiting mechanism configured to prevent the amount of torque applied by the motor to the second actuator from exceeding a second torque threshold that is less than the maximum torque output and that is different from the first torque threshold. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A surgical method, comprising:
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rotating a first gear of a robotic surgical system to actuate a single motor of the robotic surgical system so as to output a first amount of torque and thereby cause an end effector of a surgical tool operatively coupled to the single motor to cause a first movement of the end effector in a body of a patient; preventing the first amount of torque output by the single motor from exceeding a first torque threshold that is less than the maximum torque output; rotating a second gear of the robotic surgical system to actuate the single motor so as to output a second amount of torque and thereby cause a second movement of the end effector in the body of the patient that is different from the first movement of the end effector; and preventing the second amount of torque output by the single motor from exceeding a second torque threshold that is less than the maximum torque output and that is different from the first torque threshold. - View Dependent Claims (16, 18)
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17. A surgical method, comprising:
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actuating a single motor of a robotic surgical system to output a first amount of torque and thereby cause an end effector of a surgical tool operatively coupled to the single motor to cause a first movement of the end effector in a body of a patient; preventing the first amount of torque output by the motor from exceeding a first torque threshold that is less than the maximum torque output; actuating the single motor of the robotic surgical system to output a second amount of torque and thereby cause a second movement of the end effector in the body of the patient that is different from the first movement of the end effector; preventing the second amount of torque output by the motor from exceeding a second torque threshold that is less than the maximum torque output and that is different from the first torque threshold; and actuating an additional motor of the robotic surgical system to output a third amount of torque and thereby cause a third movement of the end effector in the body of the patient that is different from the first and second movements of the end effector. - View Dependent Claims (19)
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Specification