Surgical robotic tool multi-motor actuator and controller

Patent metadata

Field	Value
Publication number	US-12102285-B2
Application number	US-202318184458-A
Country	US
Kind code	B2
Filing date	Mar 15, 2023
Priority date	Apr 20, 2018
Publication date	Oct 1, 2024
Grant date	Oct 1, 2024

Abstract

A first input coupling and a second input coupling are coupled to rotatably drive an output coupling at the same time. In one embodiment, the output coupling rotates a robotic surgery endoscope about a longitudinal axis of the output coupling. A first motor drives the first input coupling while being assisted by a second motor that is driving the second input coupling. A first compensator produces a first motor input based on a position error and in accordance with a position control law, and a second compensator produces a second motor input based on the position error and in accordance with an impedance control law. In another embodiment, the second compensator receives a measured torque of the first motor. Other embodiments are also described and claimed.

First claim

What is claimed is:

1. A control system for an end effector that is to be attached to a surgical robotic arm, comprising:
a first motor and a second motor to be coupled to the end effector to rotatably drive an output coupling so that torques produced by the first motor and the second motor, respectively, are summed at the output coupling, wherein the motors are to be driven in accordance with a first motor command and a second motor command; and
a controller configured to generate the first motor command using a position error input, and configured to generate the second motor command using the position error input to assist the first motor in meeting a torque demand from the end effector.

2. The control system of claim 1 , wherein the controller is configured to determine the position error input as a difference between a position input command and a position feedback from the first motor.

3. The control system of claim 1 , wherein the controller comprises a friction model that is configured to generate a torque boost to one or more of the first motor or the second motor, and wherein the torque boost is generated as a function of a velocity variable that is obtained from one of: a position input command, feedback from a first input coupling coupled to the first motor, feedback from a second input coupling coupled to the second motor, or feedback from the output coupling.

4. The control system of claim 1 , wherein the first motor and the second motor are coupled to the output coupling to rotatably drive the output coupling through a transmission.

5. The control system of claim 4 , wherein each of the first motor and the second motor have respective torque ratings insufficient to drive the output coupling by itself through the transmission.

6. The control system of claim 4 , wherein the controller produces the second motor command by measuring motor current of the first motor and then low pass filtering the measured motor current before performing a control system compensation algorithm to produce the second motor command.

7. The control system of claim 1 , wherein the controller is configured to change which of the first motor or the second motor rotatably drives the output coupling in accordance with the first motor command.

8. The control system of claim 1 , further comprising:
an endoscope camera coupled to the output coupling; and
an endoscope camera cable having one end coupled to the endoscope camera and extending through a hollow in the output coupling, wherein the endoscope camera cable twists and resists rotation of the output coupling.

9. The control system of claim 1 , wherein the controller generates the first motor command at a lower bandwidth than the second motor command.

10. A control system, comprising:
a first motor and a second motor to be coupled to an effector that is to be attached to a surgical robotic arm in such a way that the first motor and the second motor rotatably drive an output coupling so that torques produced by the first motor and the second motor, respectively, are summed at the output coupling, wherein the motors are to be driven in accordance with a first motor command and a second motor command; and
a controller configured to
generate the first motor command using a position error input,
measure torque of the first motor, and
generate the second motor command based on the measured torque.

11. The control system of claim 10 , wherein the controller comprises a friction model that is configured to generate a torque boost to one or more of the first motor or the second motor, and wherein the torque boost is generated as a function of a velocity variable that is obtained from one of: a position input command, feedback from a first input coupling coupled to the first motor, feedback from a second input coupling coupled to the second motor, or feedback from the output coupling.

12. The control system of claim 10 , wherein the first motor and the second motor are coupled to the output coupling through a transmission.

13. The control system of claim 12 , wherein each of the first motor and the second motor have respective torque ratings insufficient to drive the output coupling by itself through the transmission.

14. The control system of claim 12 , wherein the transmission comprises a first part that is housed in a tool drive housing, and a second part that is housed in an instrument housing separate from the tool drive housing and that is detachable therefrom.

15. The control system of claim 10 , wherein the controller is configured to produce the second motor command by measuring motor current of the first motor and then low pass filtering the measured motor current before performing a control system compensation algorithm to produce the second motor command.

16. The control system of claim 10 , wherein the controller generates the first motor command at a lower bandwidth than the second motor command.

17. The control system of claim 10 further comprising:
an endoscope camera coupled to the output coupling; and
an endoscope camera cable having one end coupled to the endoscope camera and extending through a hollow in the output coupling, wherein the endoscope camera cable twists and resists rotation of the output coupling.

18. A method for use in a surgical robotic system, comprising:
operating a first motor subsystem coupled to an end effector, wherein operating the first motor subsystem includes generating, by a controller, a first motor command based on a position error input to drive the first motor subsystem; and
operating a second motor subsystem coupled to the end effector, wherein operating the second motor subsystem includes generating, by the controller, a second motor command based on the position error input or based on feedback from the first motor subsystem to drive the second motor subsystem, wherein the first motor subsystem and the second motor subsystem are coupled to the end effector so as to rotatably drive an output coupling so that torques produced by the first motor subsystem and the second motor subsystem, respectively, are summed at the output coupling.

19. The method of claim 18 , wherein the second motor command is generated by the controller while operating in a torque control servo loop with the second motor subsystem and the first motor command is generated by the controller while operating in a position control servo loop with the first motor subsystem.

20. The method of claim 18 , wherein the feedback from the first motor subsystem includes measured torque of the first motor subsystem, and wherein the second motor command is generated based on the measured torque.

Assignees

• Verb Surgical Inc

Inventors

• Yu Haoran
• Zhou Renbin
• Nia Kosari Sina
• Bajo Andrea

Classifications

• H02P5/56

  Speed and position comparison between the motors by electrical means · CPC title

• H02P21/18

  Estimation of position or speed · CPC title

• A61B2034/301

  for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes · CPC title

• A61B34/30

  Surgical robots · CPC title

• A61B1/0016

  using motor drive units · CPC title