Hardstop detection and handling for surgical tool

Patent metadata

Field	Value
Publication number	US-12064290-B2
Application number	US-202117498988-A
Country	US
Kind code	B2
Filing date	Oct 12, 2021
Priority date	Oct 12, 2021
Publication date	Aug 20, 2024
Grant date	Aug 20, 2024

Abstract

The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. One example system for detecting a hardstop for a surgical tool includes a wrist connected to and driven by a plurality of cables of a tool driver, a plurality of sensors configured to detect forces associated with the plurality of cables one or more processors configured to perform a comparison of the forces associated with the plurality of cables, selected a highest tension cable from the plurality of cables based on the comparison of the forces associated with the plurality of cables, set a force assigned to the highest tension cable to a predetermined value, calculate a variable torque threshold for the wrist based on a sum of the predetermined value for the highest tension cable and detected forces for remaining cables in the plurality of cables, receive a joint torque value for the wrist, perform a comparison of the received joint torque value for the wrist to a variable wrist torque threshold and identify a hardstop based on the comparison of the received joint torque value for the wrist to the variable wrist torque threshold.

First claim

What is claimed is:

1. An apparatus for detecting a hardstop for a surgical tool including a plurality of sensors and a wrist coupled to a plurality of cables, the apparatus comprising:
one or more processors configured to:
select a highest tension cable from the plurality of cables based on a comparison of the forces associated with the plurality of cables;
set a force assigned to the highest tension cable to a predetermined value;
calculate a variable wrist torque threshold for the wrist based on a sum of the predetermined value for the highest tension cable and detected forces for remaining cables in the plurality of cables; and
identify a hardstop based on a comparison of a received joint torque value for the wrist to the variable wrist torque threshold.

2. The apparatus of claim 1 , the one or more processors configured to:
when the comparison indicates that the received joint torque value for the wrist exceeds the variable wrist torque threshold, generate a user message with an instruction to move the wrist.

3. The apparatus of claim 2 , wherein the instruction to move the wrist include an instruction to move in a yaw direction closer to a home position, an instruction to move in a pitch direction closer to the homing position, or operate an end effector of the wrist.

4. The apparatus of claim 1 , wherein the forces (F1, F2, F3, and F4) associated with the plurality of cables are determined from respective motor torque sensors and associated with pulley dimensions (R11, R12, R21, R22, R31 and R32) for respective pulleys for the cables.

5. The apparatus of claim 4 , wherein the variable wrist torque threshold for a pitch angle is a minimum pitch angle when one cable is the highest selected cable or a maximum pitch angle when another cable is the highest selected cable.

6. The apparatus of claim 5 , wherein when the comparison indicates that the variable wrist torque threshold is less than the minimum pitch angle, then the wrist is hitting a hardstop on a negative side of a pitch joint of the surgical tool; or
wherein when the comparison indicates that the variable wrist torque threshold is greater than the maximum pitch angle, then the wrist is hitting a hardstop on a positive side of the pitch joint of the surgical tool.

7. The apparatus of claim 4 , wherein the variable wrist torque threshold for a yaw angle is a minimum yaw angle when one cable is the highest selected cable or a maximum yaw angle when another cable is the highest selected cable.

8. The apparatus of claim 7 , wherein when the comparison indicates that the variable wrist torque threshold is less than the minimum yaw angle, then the wrist is hitting a hardstop on a negative side of a yaw joint of the surgical tool; or
wherein when the comparison indicates that the variable wrist torque threshold is greater than the maximum yaw angle, then the wrist is hitting a hardstop on a positive side of the yaw joint of the surgical tool.

9. The apparatus of claim 1 , the one or more processors configured to:
activate a hardstop handling phase in response to the comparison of the received joint torque value for the wrist to a variable wrist torque threshold.

10. The apparatus of claim 9 , the one or more processors configured to:
identify a user input wrist angle; and
provide a motor command independent of the user input angle when the received joint torque value for the wrist exceeds the variable wrist torque threshold.

11. The apparatus of claim 10 , the one or more processors configured to:
provide a second motor command based on the user input angle when the received joint torque value for the wrist does not exceed the variable wrist torque threshold.

12. The apparatus of claim 1 , the one or more processors configured to:
identify a user input jaw angle for a jaw of the surgical tool;
calculate a force error as a difference between the force assigned to the highest tension cable to the predetermined value; and
compensate for the force error to modify the user input jaw angle with a proportional control algorithm.

13. The apparatus of claim 12 , the one or more processors configured to:
activate a catching up algorithm for the jaw;
latch a last joint command from a proportional control algorithm as an initial jaw catching up amount;
identify a subsequent user input jaw angle to open the jaw or close the jaw; and
generate a jaw command adjusted based on the subsequent user input jaw angle.

14. The apparatus of claim 13 , the one or more processors configured to: subtract the initial jaw catching up amount from the subsequent user input jaw angle for a jaw command when the user input jaw angle is to open the jaw.

15. The apparatus of claim 13 , the one or more processors configured to:
subtract a predefined step size from the subsequent user input jaw angle for a jaw command when the user input jaw angle is to close the jaw.

16. A method for detecting a hardstop for a surgical tool including a plurality of cables, the method comprising:
select a highest tension cable from the plurality of cables;
set a force assigned to the highest tension cable to a predetermined value;
calculate a variable wrist torque threshold for a wrist of the surgical tool based on a sum of the predetermined value for the highest tension cable and detected forces for remaining cables in the plurality of cables; and
identify a hardstop or a risk of hardstop based on a comparison of a received joint torque value for the wrist to the variable wrist torque threshold.

17. The method of claim 16 , wherein the forces (F1, F2, F3, and F4) associated with the plurality of cables are determined from respective motor torque sensors and associated with pulley dimensions (R11, R12, R21, R22, R31 and R32) for respective pulleys for the cables.

18. The method of claim 17 , wherein:
the variable wrist torque threshold is a minimum pitch angle when a first cable or second cable is the highest selected cable; or
the variable wrist torque threshold is a maximum pitch angle when a third cable or a fourth cable is the highest selected cable; or
the variable wrist torque threshold is a minimum yaw angle when the first cable or the fourth cable is the highest selected cable; or
the variable wrist torque threshold is a maximum yaw angle when another cable the second cable or the third cable is the highest selected cable.

19. The method of claim 18 , wherein when the comparison indicates that the variable wrist torque threshold is less than the minimum pitch angle, then the wrist is hitting a hardstop on a negative side of a pitch joint of the surgical tool; or
wherein when the comparison indicates that the variable wrist torque threshold is greater than the maximum pitch angle, then the wrist is hitting a hardstop on a positive side of the pitch joint of the surgical tool; or
wherein when the comparison indicates that the variable wrist torque threshold is less than the minimum yaw angle, then the wrist is hitting a hardstop on the negative side of a yaw joint of the surgical tool; or
wherein when the comparison indicates that the variable wrist torque threshold is greater than the maximum yaw angle, then the wrist is hitting a hardstop on the positive side of the yaw joint of the surgical tool.

20. An apparatus for detecting a hardstop for a surgical tool, the apparatus comprising:
a memory configured to store a maximum cable force for the surgical tool and a set of measured forces associated with a set of cables for the surgical tool;
a controller config

Assignees

• Verb Surgical Inc

Inventors

• Zhang Xiaobin
• Zhou Renbin
• Hariri Alireza

Classifications

• B25J13/085

  Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title

• B25J9/1045

  comprising tensioning means · CPC title

• A61B90/03

  Automatic limiting or abutting means, e.g. for safety · CPC title

• A61B2090/067

  for measuring angles · CPC title

• A61B34/71 Primary

  Manipulators operated by drive cable mechanisms · CPC title