Torque compensation

Patent metadata

Field	Value
Publication number	US-12059152-B2
Application number	US-202016930235-A
Country	US
Kind code	B2
Filing date	Jul 15, 2020
Priority date	Jan 14, 2013
Publication date	Aug 13, 2024
Grant date	Aug 13, 2024

Abstract

In some embodiments, torque compensation in a clamping instrument includes control electronics obtaining an initial torque limit for the clamping instrument, adjusting the initial torque limit based on a temperature of a motor assembly used to operate the clamping instrument, and clamping the clamping instrument according to the adjusted torque limit. The adjusted torque limit corresponds to a maximum torque that may be applied by the clamping instrument to perform the clamping. In some embodiments, torque compensation in a stapling instrument includes control electronics obtaining an initial torque limit for the stapling instrument, adjusting the initial torque limit based on a number of times the stapling instrument has been fired, and firing the stapling instrument according to the adjusted torque limit. The adjusted torque limit corresponds to a maximum torque that may be applied by the stapling instrument to perform the firing.

First claim

What is claimed is:

1. A method of operating a clamping instrument, comprising:
obtaining, by control electronics, an initial torque limit for the clamping instrument, wherein the initial torque limit is stored in a memory of the clamping instrument;
adjusting, by the control electronics, the initial torque limit based on a number of times a motor assembly has been used to actuate instruments and on one or more coefficients stored in a memory of the motor assembly, wherein the one or more coefficients are used to determine how to adjust the initial torque limit based on the number of times the motor assembly has been used to actuate instruments; and
clamping the clamping instrument according to the adjusted torque limit, the adjusted torque limit corresponding to a maximum torque that may be applied by the clamping instrument to perform the clamping.

2. The method of claim 1 , wherein adjusting the initial torque limit to obtain the adjusted torque limit is further based on one or more of a wrist angle of the clamping instrument, a lifetime of the motor assembly, or a lifetime of the clamping instrument to obtain an adjusted torque limit.

3. The method of claim 2 , wherein adjusting the initial torque limit to obtain the adjusted torque limit is accomplished according to
τ com =τ des *W (θ)*[1−α*( T−T ref )]*[1−β*( L MP )]*[1−γ*( L ins )]+δ*( T−T ref )+∈

where τ com is the adjusted torque limit, τ des is a desired torque limit, θ is the wrist angle, W(θ) is a scaling adjustment for the wrist angle, T is a temperature of the motor assembly, L MP is the lifetime of the motor assembly, L ins is the lifetime of the clamping instrument, T ref is a reference temperature, and α, β, γ, δ, and ε are coefficients.

4. The method of claim 1 , wherein clamping the clamping instrument according to the adjusted torque limit comprises:
calculating a current limit for a clamping motor; and
driving the clamping motor to a clamping position while limiting current to the current limit.

5. The method of claim 1 , further comprising:
firing the clamping instrument;
updating a lifetime of the motor assembly to an updated lifetime of the motor assembly;
updating a lifetime of the clamping instrument to an updated lifetime of the clamping instrument; and
storing the updated lifetime of the motor assembly and the updated lifetime of the clamping instrument.

6. The method of claim 1 , further including:
driving the clamping instrument through a preset range of motions;
monitoring the clamping instrument during the driving; and
adjusting the initial torque limit to obtain the adjusted torque limit further based on the monitoring.

7. A system that operates a clamping device, comprising:
a motor assembly;
a processor configured to:
acquire an initial torque limit for the clamping device, wherein the initial torque limit is stored in a memory of the clamping device;
adjust the initial torque limit based on a number of times the motor assembly has been used to actuate instruments to obtain an adjusted torque limit and on one or more coefficients stored in a memory of the motor assembly, wherein the one or more coefficients are used to determine how to adjust the initial torque limit based on the number of times the motor assembly has been used to actuate instruments; and
clamp the clamping device according to the adjusted torque limit, the adjusted torque limit corresponding to a maximum torque that may be applied by the clamping device to perform the clamping.

8. The system of claim 7 , wherein to adjust the initial torque limit to obtain the adjusted torque limit, the processor is configured to adjust the initial torque limit further based on one or more of a wrist angle of the clamping device, a lifetime of the motor assembly, or a lifetime of the clamping device.

9. The system of claim 8 , wherein to adjust the initial torque limit to obtain the adjusted torque limit, the processor is further configured to determine the adjusted torque limit according to
τ com =τ des *W (θ)*[1−α*( T−T ref )]*[1−β*( L MP )]*[1−γ*( L ins )]+δ*( T−T ref )+∈

where τ com is the adjusted torque limit, d s is a desired torque limit, θ is the wrist angle, W(θ) is a scaling adjustment for the wrist angle, T is a temperature of the motor assembly, L MP is the lifetime of the motor assembly, L ins is the lifetime of the clamping device, T ref is a reference temperature, and α, β, γ, δ, and ε are coefficients.

10. The system of claim 7 , wherein to clamp the clamping device according to the adjusted torque limit, the processor is configured to:
calculate a current limit for a clamping motor; and
drive the clamping motor to a clamping position while limiting current to the current limit.

11. The system of claim 7 , wherein the processor is further configured to:
fire the clamping device;
update a lifetime of the motor assembly to an updated lifetime of the motor assembly;
update a lifetime of the clamping device to an updated lifetime of the clamping device; and
store the updated lifetime of the motor assembly and the updated lifetime of the clamping device.

12. The system of claim 7 , wherein the processor is further configured to:
drive the clamping device through a preset range of motions;
monitor the clamping device during the driving; and
adjust the initial torque limit to obtain the adjusted torque limit further based on the monitoring.

13. A method of operating a stapling instrument, comprising:
obtaining, by control electronics, an initial torque limit for the stapling instrument;
adjusting, by the control electronics, the initial torque limit based on a type of a cartridge inserted in the stapling instrument; and
firing the stapling instrument according to the adjusted torque limit, the adjusted torque limit corresponding to a maximum torque that may be applied by the stapling instrument to perform the firing.

14. The method of claim 13 , wherein obtaining the initial torque limit includes reading the initial torque limit from the stapling instrument.

15. The method of claim 13 , wherein adjusting the initial torque limit to obtain the adjusted torque limit is further based on one or more of a wrist angle of the stapling instrument, a temperature of a motor assembly used to fire the stapling instrument, or a lifetime of the motor assembly to obtain an adjusted torque limit.

16. The method of claim 15 , wherein adjusting the initial torque limit to obtain the adjusted torque limit is accomplished according to
τ com =τ des *W (θ)*[1−α*( T−T ref )]*[1−β*( L MP )]*[1−γ*( L ins )]+δ*( T−T ref )+∈

where τ com is the adjusted torque limit, T des is a desired torque limit, θ is the wrist angle, W(θ) is a scaling adjustment for the wrist angle, T is the temperature of the motor assembly, L MP is the lifetime of the motor assembly, L ins is a number of times the stapling instrument has been fired, T ref is a reference temperature, and α, β, γ, δ, and ε are coefficients.

17. The method of claim 13 , wherein firing the stapling instrument according to the adjusted torque limit comprises:
calculating a current limit for a stapling motor; and
driving the stapling motor while limiting current to the current limit.

18. The method of claim 13 , further comprising:
updating a lifetime of a motor assembly used to fire the stapling instrument to an updated lifetime of the motor assembly;
incrementing a number of times the stapling instrument has been fired; and
storing the updated lifetime of

Assignees

• Intuitive Surgical Operations

Inventors

• Weir David W
• Wu Melody
• Brisson Gabriel F
• Durant Kevin
• Duque Grant

Classifications

• Y10S901/31

  Gripping jaw · CPC title

• Y10S901/29

  Wrist · CPC title

• G01L5/226

  to manipulators, e.g. the force due to gripping · CPC title

• B25J9/1633

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

• A61B2018/00595

  Cauterization · CPC title