Methods, systems, and devices for controlling a motor of a robotic surgical system

• US 9,956,050 B2
• Filed: 08/16/2016
• Issued: 05/01/2018
• Est. Priority Date: 08/16/2016
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery LLC (Johnson & Johnson)
• Inventors: Overmyer, Mark D., Shelton, IV, Frederick E., Harris, Jason L., Swayze, Jeffrey S., Yates, David C.
• Primary Examiner(s): Masih, Karen
• Application Number:
  US15/237,658
• Publication Number:
  US 20180049815A1
• Time in Patent Office: 623 Days
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• 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

Various exemplary methods, systems, and devices for controlling a motor of a robotic surgical system are provided.

Claims

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.

2. The device of claim 1, wherein the motor includes the switch.

3. The device of claim 2, wherein the motor is configured to generate an electromagnetic field, and the opening of the switch is configured to reduce a strength of the electromagnetic field and thereby reduce the speed of the motor.

4. The device of claim 1, wherein the wire is wound around a shaft of the motor.

5. The device of claim 4, wherein rotation of the shaft is configured to generate the current.

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.

7. The device of claim 6, wherein the motor includes a shaft having a wire wound therearound, rotation of the shaft is configured to generate a current, and the current exceeding a predetermined amount of current causing the motor to reduce the electromagnetic field.

8. The device of claim 7, wherein the motor includes a switch operatively coupled to the one of the sets of magnets, the current exceeding the predetermined amount of current causing the motor to open the switch.

9. The device of claim 6, wherein a speed of the motor correlates to an amount of the delivered torque, and the motor being configured to self-reduce the electromagnetic field includes the motor reducing the speed of the motor.

10. A surgical method, comprising:

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.

11. The method of claim 10, wherein the motor includes a switch, and reducing the speed of the motor includes opening the switch.

12. The method of claim 10, wherein the motor includes a shaft having a wire wound therearound, the actuation of the motor causes the shaft to rotate, and the rotation of the shaft generates the current.

13. The method of claim 10, wherein the actuation of the motor cause generation of an electromagnetic field at the motor, and reducing the speed of the motor includes reducing a strength of the electromagnetic field.

14. The method of claim 13, wherein the motor includes a plurality of wires each wound around a different set of magnets, all of the magnets are configured to contribute to the generation of the electromagnetic field, and reducing the strength of the electromagnetic field includes stopping one of the sets of magnets from contributing to the generation of the electromagnetic field.

15. The method of claim 14, wherein the motor includes a switch operatively coupled to the one of the sets of magnets, and opening the switch stops the one of the sets of magnets from contributing to the generation of the electromagnetic field.