Methods, systems, and devices for controlling a motor of a robotic surgical system
First Claim
Patent Images
1. A surgical system, comprising:
- a surgical tool having a housing configured to removably and replaceably couple to a robotic surgical system, an elongate shaft extending distally from the housing, an end effector at a distal end of the shaft configured to perform a function in a body of a patient, the surgical tool being configured to receive a torque from the robotic surgical system when removably and replaceably coupled to the robotic surgical system, the surgical tool being configured to limit a maximum torque delivered from the robotic surgical system to the surgical tool by sensing at least a current applied by the robotic surgical system to the surgical tool, and the surgical tool is configured to limit the maximum torque in response to the sensed current exceeding a predetermined threshold current.
3 Assignments
0 Petitions
Accused Products
Abstract
Various exemplary methods, systems, and devices for controlling a motor of a robotic surgical system are provided.
-
Citations
19 Claims
-
1. A surgical system, comprising:
a surgical tool having a housing configured to removably and replaceably couple to a robotic surgical system, an elongate shaft extending distally from the housing, an end effector at a distal end of the shaft configured to perform a function in a body of a patient, the surgical tool being configured to receive a torque from the robotic surgical system when removably and replaceably coupled to the robotic surgical system, the surgical tool being configured to limit a maximum torque delivered from the robotic surgical system to the surgical tool by sensing at least a current applied by the robotic surgical system to the surgical tool, and the surgical tool is configured to limit the maximum torque in response to the sensed current exceeding a predetermined threshold current. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
9. A surgical system, comprising:
a surgical tool having a housing configured to removably and replaceably couple to a robotic surgical system, an elongate shaft extending distally from the housing, an end effector at a distal end of the shaft configured to perform a function in a body of a patient, the surgical tool being coupled to the robotic surgical system, the surgical tool being configured to limit a maximum torque delivered from the robotic surgical system to the surgical tool by sensing at least a speed of rotation of the shaft, and the surgical tool is configured to limit the maximum torque in response to the sensed speed of rotation exceeding a predetermined threshold speed of rotation. - View Dependent Claims (10, 11)
-
12. A surgical system, comprising:
a surgical tool configured to removably and replaceably couple to a robotic surgical system, the surgical tool being configured to receive a torque from the robotic surgical system when removably and replaceably coupled thereto to drive a function of the surgical tool, the surgical tool being configured to transmit an electrical signal to the robotic surgical system removably and replaceably coupled thereto, the electrical signal being configured to prevent the robotic surgical system from providing an amount of the torque to the surgical tool that exceeds a first predetermined threshold amount of torque, and the surgical tool is configured to generate a current in response to the received torque, and the electrical signal is configured to reflect the generated current exceeding a predetermined threshold amount of current. - View Dependent Claims (13)
-
14. A surgical system, comprising:
-
a surgical tool configured to removably and replaceably couple to a robotic surgical system, the surgical tool being configured to receive a torque from the robotic surgical system when removably and replaceably coupled thereto to drive a function of the surgical tool, the surgical tool being configured to transmit an electrical signal to the robotic surgical system removably and replaceably coupled thereto, the electrical signal being configured to prevent the robotic surgical system from providing an amount of the torque to the surgical tool that exceeds a predetermined threshold amount of torque; and a motor of the robotic surgical system, the motor being configured to drive the torque, and the electrical signal being configured to reduce a speed of the motor and thereby prevent the robotic surgical system from providing the amount of torque to the surgical tool that exceeds the predetermined threshold amount of torque.
-
-
15. A surgical method, comprising:
-
receiving at a surgical tool a torque from a robotic surgical system to drive a function of the surgical tool, the surgical tool being removably and replaceably coupled to the robotic surgical system; generating a current at the surgical tool in response to the receipt of the torque; and transmitting the generated current from the surgical tool to the robotic surgical system and thereby prevent the torque received at the surgical tool from exceeding a predetermined maximum amount of torque, wherein the torque received at the surgical tool causes an elongate shaft of the surgical tool to rotate, and a speed of the rotation of the shaft defines an amount of the generated current. - View Dependent Claims (16)
-
-
17. A surgical method, comprising:
-
receiving at a surgical tool a torque from a robotic surgical system to drive a function of the surgical tool, the surgical tool being removably and replaceably coupled to the robotic surgical system; generating a current at the surgical tool in response to the receipt of the torque; and transmitting the generated current from the surgical tool to the robotic surgical system and thereby prevent the torque received at the surgical tool from exceeding a predetermined maximum amount of torque, wherein the robotic surgical system includes a motor, and the generated current exceeding a predetermined threshold amount of current causes the motor to slow down and thereby prevent the torque received at the surgical tool from exceeding the predetermined maximum amount of torque. - View Dependent Claims (18)
-
-
19. A surgical method, comprising:
-
receiving at a surgical tool a torque from a robotic surgical system to drive a function of the surgical tool, the surgical tool being removably and replaceably coupled to the robotic surgical system; generating a current at the surgical tool in response to the receipt of the torque; and transmitting the generated current front the surgical tool to the robotic surgical system and thereby prevent the torque received at the surgical tool from exceeding a predetermined maximum amount of torque, wherein the robotic surgical system includes a motor, and the generated current causes a change in a strength of an electromagnetic field generated by the motor and thereby prevent the torque received at the surgical tool from exceeding the predetermined maximum amount of torque.
-
Specification