METHODS FOR MAXIMUM TORQUE DRIVING OF ROBOTIC SURGICAL TOOLS
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Abstract
In one embodiment of the invention, a control system for a robotic surgical instrument is provided including a torque saturation limiter, a torque to current converter coupled to the torque saturation limiter, and a motor coupled to the torque to current converter. The torque saturation limiter receives a desired torque signal for one or more end effectors and limits the desired torque to a range between an upper torque limit and a lower torque limit generating a bounded torque signal. The torque to current converter transforms a torque signal into a current signal. The motor drives an end effector of one or more end effectors to the bounded torque signal in response to the first current signal.
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Citations
27 Claims
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1-13. -13. (canceled)
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14. A method for a robotic surgical instrument comprising:
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limiting a desired torque to a range between an upper torque limit and a lower torque limit; transforming the desired torque into a first current signal; and driving a first end effector to the limited desired torque in response to the first current signal. - View Dependent Claims (15, 16, 17)
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18. A method for a robotic surgical instrument comprising:
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mounting the robotic surgical instrument to a robotic surgical arm; reading a memory in the robotic surgical tool to determine a tool type and any control system adjustments; adjusting a control system to drive a first end effector to a torque in a range between an upper torque limit and a lower torque limit; and driving the first end effector to the torque in the range. - View Dependent Claims (19, 20, 21, 22, 23)
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24. A method for a robotic surgical system comprising:
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calibrating a robotic surgical instrument coupled to a robotic surgical arm prior to a robotic surgical procedure to determine a bump point between a first end effector and a second end effector; first squeezing grips of a touch sensitive handle to close the first end effector and the second end effector around tissue; second squeezing the grips of the touch sensitive handle to apply additional torque to the first end effector and the second end effector to apply a tip force to the tissue; and applying a maximum torque to the first end effector and the second end effector to apply a maximum tip force to the tissue regardless of cable stretch in the robotic surgical instrument. - View Dependent Claims (25, 26, 27)
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Specification