System for controlling articulation forces

  • US 10,258,418 B2
  • Filed: 06/29/2017
  • Issued: 04/16/2019
  • Est. Priority Date: 06/29/2017
  • Status: Active Grant
First Claim
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1. A system for a robotic surgical instrument, the system comprising:

  • a control circuit;

    a first motor and a second motor, both communicatively coupled to the control circuit;

    a first articulation arm communicatively coupled to the first motor;

    a second articulation arm communicatively coupled to the second motor; and

    an end effector coupled to the first articulation arm via a first hinge and the second articulation arm via a second hinge;

    wherein;

    the control circuit is configured to cause the first motor to apply a first force to the first articulation arm;

    the control circuit is configured to cause the second motor to apply a second force to the second articulation arm, wherein the second force is antagonistic to the first force such that the first and second forces apply counteracting forces at the end effector;

    the first and second forces cause the end effector to articulate via the first and second hinges; and

    the end effector is configured to articulate to a prescribed angle based on a ratio of magnitudes between the first force and the second force.

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