Control of robotic arm motion based on sensed load on cutting tool

• US 10,531,929 B2
• Filed: 08/16/2016
• Issued: 01/14/2020
• Est. Priority Date: 08/16/2016
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Widenhouse, Tamara S., Henderson, Cortney E., Houser, Kevin L., Swayze, Jeffrey S., Strobl, Geoffrey S., Shelton, IV, Frederick E., Harris, Jason L., Yates, David C.
• Primary Examiner(s): Figueroa, Jaime
• Application Number:
  US15/237,740
• Publication Number:
  US 20180049820A1
• Time in Patent Office: 1,246 Days
• Field of Search: 700245, 700260
• CPC Class Codes: A61B 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 17/320016 Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes A61B10/0233, A61B17/29, A61B17/3207 take precedence
• CPC Class Codes: A61B 17/320068 using mechanical vibrations, e.g. ultrasonic A61B17/22012 takes precedence; dental tooth drilling devices operated by vibration A61C3/03; removing intra-ocular material using mechanical vibrations A61F9/00745
• CPC Class Codes: A61B 18/1442 Probes having pivoting end effectors, e.g. forceps
• CPC Class Codes: A61B 2017/00022 Sensing or detecting at the treatment site
• CPC Class Codes: A61B 2017/320052 Guides for cutting instruments by marking A61B2090/395
• CPC Class Codes: A61B 2017/320082 for incising tissue
• CPC Class Codes: A61B 2017/3405 using mechanical guide means
• CPC Class Codes: A61B 2018/1452 including means for cutting A61B2018/146 takes precedence
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence

Abstract

A robotic surgical system including a control system that controls the movement of a robotic arm is described. The robotic arm can be coupled to a tool assembly that includes an end effector positioned at a distal end of a shaft. The control system can assist with controlling the movement of the end effector and any tooling (e.g., cutting tool, boring tool, jaws, etc.) associated with the end effector, such as for either cutting through tissue or controlling a tension in the tissue. The tool assembly can include one or more sensors that measure a variety of forces or velocities associated with either the robotic arm or end effector. The control system can collect and monitor such sensed forces and velocities to determine and control one or more appropriate movement parameters associated with the robotic arm thereby controlling the cutting of tissue and preventing unwanted cutting of tissue. Furthermore, movement parameters associated with more than one robotic arm can be controlled by the control system.

Claims

1. A robotic surgical system comprising:

a robotic arm;

a tool assembly coupled to the robotic arm, the tool assembly comprising

a shaft extending distally from a housing;

an end effector coupled to a distal end of the shaft; and

a sensor assembly that is configured to sense a force applied to a distal end of the end effector; and

a control system configured to control, based on the sensed force applied to the distal end of the end effector, a velocity of movement of the robotic arm, wherein the control of the velocity of movement of the robotic arm is at least one of increasing or decreasing the velocity of movement.

2. The robotic surgical system of claim 1, wherein the tool assembly includes a second sensor that is configured to sense a velocity of movement of the robotic arm.

3. The robotic surgical system of claim 2, wherein the control system is further configured to control, based on the sensed velocity of movement, the velocity of movement of the robotic arm.

4. The robotic surgical system of claim 1, wherein the control system is further configured to control, based on the sensed force applied to the distal end of the end effector, an advancement of the end effector in a first direction.

5. The robotic surgical system of claim 4, wherein the first direction is directed towards a tissue of a patient.

6. The robotic surgical system of claim 1, wherein the tool assembly further includes a waveguide that is configured to deliver an energy to a tissue of a patient and is coupled to the sensor assembly, the sensor assembly being configured to sense a pressure force applied to the waveguide by the tissue.

7. The robotic surgical system of claim 6, wherein the control system determines, based on the sensed pressure force, a first velocity of the robotic arm.

8. The robotic surgical system of claim 7, wherein the control system controls, based on the determined first velocity, the robotic arm such that it moves at a second velocity.

9. The robotic surgical system of claim 1, wherein the sensor assembly includes one or more of a piezo stack and a strain gauge that senses a resistance load.

10. The robotic surgical system of claim 9, wherein the control system controls, based on the sensed resistance load, the velocity of movement of the robotic arm.

11. The robotic surgical system of claim 9, wherein the control system controls, based on the sensed resistance load, the direction of movement of the robotic arm.

12. The robotic surgical system of claim 1, wherein the end effector includes a cutting feature that is configured to cut into tissue.

13. The robotic surgical system of claim 1, wherein the cutting feature includes one or more of a boring tool and a blade.

14. A method comprising:

sensing a first force applied to a distal end of an end effector located at a distal end of a shaft of a tool assembly, the tool assembly being coupled to a robotic arm of a robotic surgical system; and

controlling, based on the sensed first applied force, a velocity of movement of the robotic arm, wherein the controlling of the velocity of movement of the robotic arm is at least one of oncreasing or decreasing the velocity of movement.

15. The method of claim 14, further comprising sensing a second force applied to the distal end of the end effector, wherein the second force is different than the first force;

and

advancing, based on the sensed second applied force, the robotic arm at a second velocity, wherein the second velocity is different than the first velocity.

16. The method of claim 14, further comprising sensing a first velocity of movement of the robotic arm;

and

controlling, based on the sensed first velocity, the robotic arm such that it moves at a third velocity, wherein the third velocity is different than the first velocity.

17. The method of claim 14, further comprising controlling, based on the sensed first velocity, a direction of movement of the robotic arm.

18. The method of claim 14, wherein the advancing of the robotic arm includes moving the end effector in a reciprocating motion.