Closed loop velocity control of closure member for robotic surgical instrument

• US 10,398,434 B2
• Filed: 06/29/2017
• Issued: 09/03/2019
• Est. Priority Date: 06/29/2017
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Shelton, IV, Frederick E., Harris, Jason L., Yates, David C.
• Primary Examiner(s): Islam, Muhammad S
• Application Number:
  US15/636,844
• Publication Number:
  US 20190000447A1
• Time in Patent Office: 796 Days
• Field of Search: 318646, 31840034, 318434, 31840007, 31840015, 318432
• CPC Class Codes: A61B 17/068 Surgical staplers , e.g. containing multiple staples or clampsstaplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105; for performing anastomosis A61B17/115; staplers in general B25C5/00
• CPC Class Codes: A61B 17/0682 for applying U-shaped staples or clamps, e.g. without a forming anvil
• CPC Class Codes: A61B 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 17/07292 Reinforcements for staple line, e.g. pledgets
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00022 Sensing or detecting at the treatment site
• CPC Class Codes: A61B 2017/00026 Conductivity or impedance, e.g. of tissue
• CPC Class Codes: A61B 2017/00084 Temperature
• CPC Class Codes: A61B 2017/00309 Cut-outs or slits
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/07257 characterised by its anvil
• CPC Class Codes: A61B 2017/07285 characterised by its cutter
• CPC Class Codes: A61B 2017/2929 with a head rotatable about the longitudinal axis of the shaft
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 2090/066 for measuring torque
• CPC Class Codes: A61B 2090/067 for measuring angles
• CPC Class Codes: A61B 2090/0811 for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
• 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 34/77 : Manipulators with motion or force scaling

Abstract

A robotic control system for a surgical system includes a control system, a control circuit, and a proportional, integral, derivative (PID) feedback control system. The control circuit determines actual closure force of a closure member, compares the actual closure force to a threshold, determines a set point velocity to displace the closure member based on the comparison, and controls the actual velocity of the closure member based on the set point velocity. A force sensor measures the closure force. A threshold closure force includes upper and lower thresholds. The set point velocity is configured to advance the closure member distally when the actual closure force is less than the lower threshold. The set point velocity is configured to retract the closure member proximally when the actual closure force is greater than the lower threshold.

Claims

1. A control system for a robotic surgical system, the control system comprising:

a control circuit configured to;

determine actual closure force of a closure member;

compare the actual closure force to a threshold closure force;

determine a set point velocity to displace the closure member based on the comparison;

control an actual velocity of the closure member based on the set point velocity; and

wherein the threshold closure force comprises an upper threshold and a lower threshold, wherein the set point velocity is configured to advance the closure member distally when the actual closure force is less than the lower threshold, and wherein the set point velocity is configured to retract the closure member proximally when the actual closure force is greater than the lower threshold.

2. The control system of claim 1, wherein the control circuit comprises a proportional, integral, and derivative (PID) feedback control system.

3. The control system of claim 1, wherein the set point velocity is configured to hold the closure member in place when the actual closure force is between the upper and lower thresholds.

4. The control system of claim 1, further comprising a force sensor coupled to the control circuit, the force sensor configured measure the actual closure force.

5. The control system of claim 1, wherein the control circuit is configured to advance the closure member during at least a portion of a firing stroke.

6. The control system of claim 2, wherein the PID feedback control system comprises a primary PID feedback loop and a secondary PID feedback loop,

wherein the primary PID feedback loop is configured to determine a first error between the actual closure force of the closure member and the threshold closure force and set the set point velocity based on the first error;

and

wherein the secondary PID feedback loop is configured to determine a second error between the actual velocity of the closure member and the set point velocity and control the actual velocity of the closure member based on the second error.

7. The control system of claim 4, wherein the force sensor comprises a torque sensor coupled to an output shaft of a motor coupled to the closure member, wherein the torque sensor is configured to measure the actual closure force.

8. The control system of claim 4, wherein the force sensor comprises a strain gauge coupled to the closure member, wherein the strain gauge is configured to measure the actual closure force.

9. The control system of claim 4, wherein the force sensor comprises a load cell coupled to the closure member, wherein the load cell is configured to measure the actual closure force.

10. The control system of claim 4, further comprising a position sensor coupled to the closure member, wherein the position sensor is configured to measure a position of the closure member.

11. A control system for a robotic surgical system, the control system comprising:

a first motor configured to couple to a closure member;

a force sensor configured to measure actual closure force applied to the closure member;

a closed loop feedback control system comprising a control circuit coupled to the first motor and the force sensor, wherein the control circuit is configured to;

receive, from the force sensor, the actual closure force from the closure member;

compare the actual closure force to a threshold closure force;

determine a set point velocity of the first motor to displace the closure member based on the comparison;

control an actual velocity of the closure member based on the set point velocity; and

wherein the threshold closure force comprises an upper threshold and a lower threshold, wherein the set point velocity is configured to advance the closure member distally when the actual closure force is less than the lower threshold, and wherein the set point velocity is configured to retract the closure member proximally when the actual closure force is greater than the lower threshold.

12. The control system of claim 11, wherein the closed loop feedback control system comprises a proportional, integral, and derivative (PID) feedback control system.

13. The control system of claim 11, wherein the set point velocity is configured to hold the closure member in place when the actual closure force is between the upper and lower thresholds.

14. The control system of claim 11, wherein the force sensor comprises a torque sensor coupled to an output shaft of the first motor, wherein the torque sensor is configured to measure the actual closure force.

15. The control system of claim 11, wherein the force sensor comprises a strain gauge coupled to the closure member, wherein the strain gauge is configured to measure the actual closure force.

16. The control system of claim 11, wherein the force sensor comprises a load cell coupled to the closure member, wherein the load cell is configured to measure the actual closure force.

17. The control system of claim 11, further comprising a position sensor coupled to the closure member, wherein the position sensor is configured to measure a position of the closure member.

18. The control system of claim 11, further comprising a second motor coupled to a firing member, wherein the control circuit is configured to advance the closure member during at least a portion of a firing stroke of the firing member.

19. The control system of claim 12, wherein the PID feedback control system comprises a primary PID feedback loop and a secondary PID feedback loop,

wherein the primary PID feedback loop is configured to determine a first error between the actual closure force of the closure member and the threshold closure force and set the set point velocity based on the first error;

and

wherein the secondary PID feedback loop is configured to determine a second error between the actual velocity of the closure member and the set point velocity of the closure member and control the actual velocity of the closure member based on the second error.

20. A control system for a robotic surgical system, the control system comprising:

a control circuit comprising a proportional, integral, and derivative (PID) feedback control system, the control circuit configured to;

determine actual closure force of a closure member;

compare the actual closure force to a threshold closure force;

determine a set point velocity to displace the closure member based on the comparison; and

control an actual velocity of the closure member based on the set point velocity;

a force sensor coupled to the control circuit, the force sensor configured measure the actual closure force;

a motor coupled to the control circuit and to the closure member, wherein the control circuit is configured to advance the closure member during at least a portion of a firing stroke; and

wherein the threshold closure force comprises an upper threshold and a lower threshold, wherein the set point velocity is configured to advance the closure member distally when the actual closure force is less than the lower threshold, and wherein the set point velocity is configured to retract the closure member proximally when the actual closure force is greater than the lower threshold.

21. The control system of claim 20, wherein the PID feedback control system comprises a primary PID feedback loop and a secondary PID feedback loop,

wherein the primary PID feedback loop determines a first error between the actual closure force of the closure member and the threshold closure force and sets the set point velocity based on the first error;

and

wherein the secondary PID feedback loop determines a second error between the actual velocity of the closure member and the set point velocity and controls the actual velocity of the closure member based on the second error.

22. The control system of claim 20, wherein the set point velocity is configured to hold the closure member in place when the actual closure force is between the upper and lower thresholds.

23. The control system of claim 20, wherein the force sensor comprises a torque sensor coupled to an output shaft of the motor coupled to the closure member, wherein the torque sensor is configured to measure the actual closure force.

24. The control system of claim 20, wherein the force sensor comprises a strain gauge coupled to the closure member, wherein the strain gauge is configured to measure the actual closure force.

25. The control system of claim 20, wherein the force sensor comprises a load cell coupled to the closure member, wherein the load cell is configured to measure the actual closure force.

26. The control system of claim 20, further comprising a position sensor coupled to the closure member, wherein the position sensor is configured to measure a position of the closure member.

27. A control system for a robotic surgical system, the control system comprising:

a control circuit configured to;

determine actual closure force of a closure member;

compare the actual closure force to a threshold closure force;

determine a set point velocity to displace the closure member based on the comparison;

control an actual velocity of the closure member based on the set point velocity; and

wherein the threshold closure force comprises an upper threshold and a lower threshold, wherein the set point velocity is configured to advance the closure member distally when the actual closure force is less than the lower threshold, and wherein the set point velocity is configured to hold the closure member in place when the actual closure force is between the upper and lower thresholds.