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

Patent metadata

Field	Value
Publication number	US-10016246-B2
Application number	US-201615237653-A
Country	US
Kind code	B2
Filing date	Aug 16, 2016
Priority date	Aug 16, 2016
Publication date	Jul 10, 2018
Grant date	Jul 10, 2018

Abstract

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

First claim

What is claimed is:

1. A surgical device, comprising:
a motor of a robotic surgical system, the motor being configured to drive a function of a surgical tool coupled to the robotic surgical system, the motor including a stator having a first plurality of permanent magnets configured to create a permanent magnetic field and a rotator having a second plurality of magnets configured to create a second magnetic field, the second magnetic field being configured to selectively electromagnetically reinforce and dampen a strength of the permanent magnetic field.

2. The device of claim 1 , wherein the plurality of permanent magnets are arranged radially around the second plurality of magnets.

3. The device of claim 1 , wherein each of the second plurality of magnets includes an iron member and a rare earth magnet operatively coupled to the iron member.

4. The device of claim 3 , wherein each of the iron members is an iron sleeve disposed around the rare earth magnet operatively coupled thereto such that the motor includes a plurality of paired iron sleeves and rare earth magnets.

5. The device of claim 4 , wherein each of the paired iron sleeves and rare earth magnets has a wire coiled therearound.

6. The device of claim 3 , wherein each of the iron members is an iron bar separate from and in operative distance of the rare earth magnet operatively coupled thereto.

7. The device of claim 6 , wherein each of the iron bars has a wire coiled therearound, none of the wires being coiled around the rare earth magnets.

8. The device of claim 1 , wherein the motor is configured to receive a voltage input thereto, and different amounts of the voltage input cause the selective electromagnetic reinforcing and dampening.

9. The device of claim 1 , wherein the second plurality of magnets includes a first pair of magnets and a second pair of magnets, each pair having a wire coiled therearound.

10. A surgical device, comprising:
a motor of a robotic surgical system, the motor being configured to drive a function of a surgical tool coupled to the robotic surgical system, the motor having a stator that includes a first plurality of magnets that generate a first electromagnetic field and a rotator having a second plurality of magnets that generate a second electromagnetic field that interacts with the first electromagnetic field, the second electromagnetic field being configured to be selectively adjusted between a first strength corresponding to a first speed of the motor and a second, higher strength corresponding to a second, higher speed of the motor.

11. The device of claim 10 , wherein the motor is configured to deliver a variable force to the surgical tool to drive the function when the motor has a speed less than the first speed or greater than the second speed.

12. The device of claim 10 , wherein the second speed is about twice the first speed.

13. The device of claim 10 , wherein each of the first plurality of magnets is a permanent magnet.

14. The device of claim 13 , wherein the first plurality of permanent magnets are arranged radially around the second plurality of magnets.

15. The device of claim 10 , wherein each of the second plurality of magnets includes an iron member and a rare earth magnet operatively coupled to the iron member.

16. The device of claim 10 , wherein the second plurality of magnets includes a first pair of magnets and a second pair of magnets, each pair having a wire coiled therearound.

17. A surgical method, comprising:
using a robotic surgical system to advance a working end of a surgical tool into a body of a patient, the robotic surgical system including a motor having a stator that includes a first plurality of magnets that generate a first electromagnetic field and a rotator having a second plurality of magnets that generate a second electromagnetic field that interacts with the first electromagnetic field;
adjusting a strength of the second electromagnetic field to cause the motor of the robotic surgical system to have a first speed and thereby deliver a first torque to the surgical tool to cause the working end of the surgical tool to perform a first function in the body of the patient; and
adjusting the strength of the second electromagnetic field to cause the motor to have a second speed and thereby deliver a second torque to the surgical tool to cause the working end of the surgical tool to perform a second function in the body of the patient, the first speed being greater than the first speed, and the first torque and the second torque being substantially equal.

18. The method of claim 17 , wherein the first plurality of magnets include permanent magnets, and the second plurality of magnets each include an iron member and a rare earth magnet operatively coupled to the iron member.

19. The method of claim 17 , wherein the second speed is about twice the first speed.

20. The method of claim 17 , wherein the first plurality of magnets are arranged radially around the second plurality of magnets.

Assignees

• Ethicon Endo Surgery Llc
• Ethicon Llc

Inventors

• Yates David C
• Shelton Iv Frederick E
• Overmyer Mark
• Harris Jason L
• Swayze Jeffrey S

Classifications

• B25J9/1689

  Teleoperation · CPC title

• A61B2034/302

  specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities · CPC title

• A61B2017/00477

  Coupling (A61B2017/0046 takes precedence) · CPC title

• B25J9/1633

  compliant, force, torque control, e.g. combined with position control · CPC title

• A61B34/35

  for telesurgery · CPC title