Maximum torque driving of robotic surgical tools in robotic surgical systems

• US 9,002,518 B2
• Filed: 09/26/2006
• Issued: 04/07/2015
• Est. Priority Date: 06/30/2003
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Manzo, Scott, Swarup, Nitish
• Primary Examiner(s): PATTON, SPENCER D
• Application Number:
  US11/535,426
• Publication Number:
  US 20080046122A1
• Time in Patent Office: 3,115 Days
• Field of Search: 700/65, 700/245, 700/260, 700/261, 700/262, 700/263, 318/432, 318/433, 318/434, 901/2, 901/19, 901/21
• US Class Current: 700/261
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 2017/00203 with speech control or speech recognition
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00482 with a code
• CPC Class Codes: A61B 2017/2825 Inserts of different material in jaws
• CPC Class Codes: A61B 2017/2829 with a removable cover
• CPC Class Codes: A61B 2017/2929 with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2017/2932 Transmission of forces to jaw members
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2034/715 Cable tensioning mechanisms for removing slack
• CPC Class Codes: A61B 2090/031 torque limiting
• 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 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: A61B 90/98 using electromagnetic means, e.g. transponders
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: G05B 2219/40144 : Force sensation feedback from slave
• CPC Class Codes: G05B 2219/42289 : Avoid overload servo motor, actuator limit servo torque
• CPC Class Codes: G05B 2219/45123 : Electrogoniometer, neuronavigator, medical robot used by surgeon to operate
• CPC Class Codes: G16H 20/40 : relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/63 : for local operation
• CPC Class Codes: Y10S 901/02 : Arm motion controller
• CPC Class Codes: Y10S 901/19 : Drive system for arm
• CPC Class Codes: Y10S 901/21 : Flaccid drive element

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.

Claims

1. A control system for a surgical instrument, the control system receiving an input device position from an input device, the control system comprising:

a first function generator configured to receive the input device position, the first function generator configured to form a function to control a desired position for one or more end effectors in response to the input device position, the first function generator further configured to compensate for cable stretch within the surgical instrument over a lifetime of the surgical instrument by selectively altering, over the lifetime of the surgical instrument, the function to adjust the desired position for the one or more end effectors, the lifetime being a plurality of uses of the surgical instrument;

a position derivative controller coupled to the first function generator, the position derivative controller to generate an unbounded torque signal in response to the desired position for the one or more end effectors;

a torque saturation limiter coupled to the position derivative controller to receive the unbounded torque signal, the torque saturation limiter configured to limit the unbounded torque signal for the one or more end effectors to a range between an upper torque limit and a lower torque limit to generate a bounded torque signal;

a first torque to current converter coupled to the torque saturation limiter to receive a torque signal, the first torque to current converter configured to transform the torque signal into a first current signal; and

a first motor coupled to the first torque to current converter, the first motor configured to drive a first end effector of the one or more end effectors in response to the first current signal.

2. The control system of claim 1, further comprising:

a torque differential coupling matrix coupled between the torque saturation limiter and the first torque to current converter, the torque differential coupling matrix configured to receive the bounded torque signal and generate a motor torque signal,

and wherein the first torque to current converter transforms the motor torque signal into a first current signal, and

the first motor is responsive to the first current signal to drive the first end effector.

3. The control system of claim 2, further comprising:

a first current limiter coupled between the first torque to current converter and the first motor, the first current limiter configured to limit the first motor current signal to avoid overheating of the first motor.

4. The control system of claim 3, further comprising:

a second torque to current converter coupled to the torque saturation limiter, the second torque to current converter configured to transform a torque signal into a second current signal; and

a second motor coupled to the second torque to current converter, the second motor configured to drive a second end effector of the one or more end effectors in response to the second current signal.

5. The control system of claim 4, further comprising:

a second current limiter coupled between the second torque to current converter and the second motor, the second current limiter configured to limit the second motor current signal to avoid overheating of the second motor.

6. The control system of claim 4, wherein

the first and second motors can apply a maximum torque limit to the one or more end effectors of the surgical instrument when one or more cables have the cable stretch.

7. The control system of claim 1, wherein the surgical instrument includes:

a memory configured to store the upper torque limit and the lower torque limit for the one or more end effectors of the surgical instrument;

and wherein

the one or more end effectors are to be driven to the maximum torque limit in response to the upper torque limit and the lower torque limit stored in the memory.

8. The control system of claim 7, wherein

the memory further stores a constant to generate an increase in the desired torque in response to a grip position;

and

the one or more end effectors are driven to the maximum torque limit in response to the constant and the upper torque limit and the lower torque limit stored in the memory.

9. The control system of claim 8, wherein

the constant is a compliance value.

10. The control system of claim 7, wherein the surgical instrument further includes

an interface base configured to mechanically and electrically couple to an end of a manipulatable surgical arm, the memory coupled to the interface base;

a hollow shaft coupled to the interface base, the hollow shaft having a wrist member coupled to the one or more end effectors;

a first drive shaft extending through the interface base;

a first input disk coupled to one end of the first drive shaft;

a first actuating spool coupled to an opposite end of the first drive shaft;

a first cable loop having a first pair of ends wrapped around and coupled to the first actuating spool;

a first driver pulley coupled to a first end effector of the one or more end effectors; and

wherein the first cable loop extends through the hollow shaft and is coupled to the first driver pulley to mechanically couple the first input disk to the first end effector, the first input disk to control the movement of the first end effector.

11. The control system of claim 10, wherein the surgical instrument further includes

a second drive shaft extending through interface base;

a second input disk coupled to one end of the second drive shaft;

a second actuating spool coupled to an opposite end of the second drive shaft;

a second cable loop having a second pair of ends wrapped around and coupled to the second actuating spool;

a second driver pulley coupled to a second end effector of the one or more end effectors; and

wherein the second cable loop extends through the hollow shaft and is coupled to the second driver pulley to mechanically couple the second input disk to the second end effector, the second input disk to control the movement of the second end effector.

12. The control system of claim 1, wherein

the surgical instrument is an electrosurgical tool.

13. The control system of claim 1, further comprising:

a first sensor coupled to the position derivative controller, the first sensor configured to respectively measure actual velocity of the one or more end effectors;

a second sensor coupled to the position derivative controller, the second sensor configured to respectively measure actual position of the one or more end effectors; and

wherein the position derivative controller generates the unbounded joint torque in response to the measures of actual position and actual velocity of the one or more end effectors.

14. The control system of claim 13, further comprising:

a third sensor coupled to the position derivative controller, the third sensor configured to respectively measure position of an input device;

a fourth sensor coupled to the position derivative controller, the fourth sensor configured to respectively measure velocity of movement of the input device; and

wherein the position derivative controller generates the unbounded joint torque in further response to the measures of position and velocity of the input device.

15. The control system of claim 14, further comprising:

a second function generator coupled between the fourth sensor and the position derivative controller, the second function generator configured to form a desired velocity for the one or more end effectors in response to the velocity of the input device.

16. The control system of claim 1, wherein

the position derivative controller further includes

a first subtractor configured to subtract the actual position from a desired position of the one or more end effectors to determine the position error signal;

a second subtractor configured to subtract the actual velocity from a desired velocity of the one or more end effectors to determine a velocity error signal;

a first amplifier coupled to the first subtractor, the first amplifier configured to amplify the position error signal with a first gain factor;

a second amplifier coupled to the second subtractor, the second amplifier configured to amplify the velocity error signal with a second gain factor; and

a summer coupled to the first amplifier and the second amplifier, the summer configured to add the amplified position error signal and the amplified velocity error signal together to generate the unbounded torque signal to drive the one or more end effectors.

17. The control system of claim 1, wherein

the input device are master grips;

and

the function generator forms the desired position for the one or more end effectors by determining a desired end effector slave angle from closure of the master grips.

18. The control system of claim 17, wherein

with the master grips being substantially closed, the function generator reads a desired end effector slave angle of negative seventy degrees in wrist space to compensate for the cable stretch.

19. The control system of claim 1, wherein

the first motor can apply a maximum torque limit to the one or more end effectors of the surgical instrument when one or more cables have the cable stretch.

20. The control system of claim 1, wherein

the selectively altering of the function is performed by a processor.

21. The control system of claim 1, wherein

the selectively altering of the function to adjust the desired position for the one or more end effectors to compensate for cable stretch is in response to input from a switch.