Methods, systems, and devices for controlling a motor of a robotic surgical system
First Claim
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1. A surgical device, comprising:
- a motor of a robotic surgical system configured to removably and replaceably couple to a surgical tool, the motor being configured to deliver a torque to the surgical tool removably and replaceably coupled to the robotic surgical system, and the motor including a wire winding that generates a current, and in response to the current exceeding a predetermined threshold amount of current, the current is configured to cause a switch to open and thereby prevent a speed of the motor from exceeding a predetermined threshold amount of speed and thereby limit an amount of the delivered torque.
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Abstract
Various exemplary methods, systems, and devices for controlling a motor of a robotic surgical system are provided.
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Citations
15 Claims
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1. A surgical device, comprising:
a motor of a robotic surgical system configured to removably and replaceably couple to a surgical tool, the motor being configured to deliver a torque to the surgical tool removably and replaceably coupled to the robotic surgical system, and the motor including a wire winding that generates a current, and in response to the current exceeding a predetermined threshold amount of current, the current is configured to cause a switch to open and thereby prevent a speed of the motor from exceeding a predetermined threshold amount of speed and thereby limit an amount of the delivered torque. - View Dependent Claims (2, 3, 4, 5)
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6. A surgical device, comprising:
a motor of a robotic surgical system configured to removably and replaceably couple to a surgical tool, the motor being configured to deliver a torque to the surgical tool removably and replaceably coupled to the robotic surgical system, the motor including a plurality of each wound around a different sets of magnets, all of the magnets being configured to contribute to generation of an electromagnetic field, and the motor being configured to self-reduce the electromagnetic field to prevent the delivered torque from exceeding a predetermined threshold amount of torque, and the motor self-reducing the electromagnetic field includes the motor stopping one of the sets of magnets from contributing to the generation of the electromagnetic field. - View Dependent Claims (7, 8, 9)
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10. A surgical method, comprising:
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actuating a motor of a robotic surgical system to cause the motor rotate at a speed and thereby provide a torque to a surgical tool removably and replaceably coupled to the robotic surgical system to drive a function of the surgical tool; generating a current at the motor in response to the actuating of the motor; and reducing the speed of the motor in response to the generated current exceeding a predetermined threshold amount of current and thereby reducing the torque provided to the surgical tool. - View Dependent Claims (11, 12, 13, 14, 15)
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Specification