Maximum torque driving of robotic surgical tools in robotic surgical systems

摘要

In one embodiment of the invention, a control system for a robotic surgical instrument is provided including a torque saturation limiter, a torque to current converter coupled to the torque saturation limiter, and a motor coupled to the torque to current converter. The torque saturation limiter receives a desired torque signal for one or more end effectors and limits the desired torque to a range between an upper torque limit and a lower torque limit generating a bounded torque signal. The torque to current converter transforms a torque signal into a current signal. The motor drives an end effector of one or more end effectors to the bounded torque signal in response to the first current signal.

主权项

1. A control system for a surgical instrument, the control system receiving an input device position from an input device, the control system comprising:
a first function generator configured to receive the input device position, the first function generator configured to form a function to control a desired position for one or more end effectors in response to the input device position, the first function generator further configured to compensate for cable stretch within the surgical instrument over a lifetime of the surgical instrument by selectively altering, over the lifetime of the surgical instrument, the function to adjust the desired position for the one or more end effectors, the lifetime being a plurality of uses of the surgical instrument; a position derivative controller coupled to the first function generator, the position derivative controller to generate an unbounded torque signal in response to the desired position for the one or more end effectors; a torque saturation limiter coupled to the position derivative controller to receive the unbounded torque signal, the torque saturation limiter configured to limit the unbounded torque signal for the one or more end effectors to a range between an upper torque limit and a lower torque limit to generate a bounded torque signal; a first torque to current converter coupled to the torque saturation limiter to receive a torque signal, the first torque to current converter configured to transform the torque signal into a first current signal; and a first motor coupled to the first torque to current converter, the first motor configured to drive a first end effector of the one or more end effectors in response to the first current signal.