Motor assembly

Patent metadata

Field	Value
Publication number	US-12318154-B2
Application number	US-202117514765-A
Country	US
Kind code	B2
Filing date	Oct 29, 2021
Priority date	Jan 14, 2013
Publication date	Jun 3, 2025
Grant date	Jun 3, 2025

Abstract

A surgical system includes a surgical arm a control system, and a motor assembly. The surgical arm is configured to removably couple an instrument to the surgical system. The surgical arm is adjustable to different configurations to change a position of an instrument coupled to the surgical arm. The motor assembly is separate from the control system and includes a motor, a memory to store calibrated parameters of the motor, and electronics coupled to the memory and the motor. The electronics are configured to retrieve the calibrated parameters of the motor from the memory, provide the calibrated parameters of the motor to the control system, receive an instruction for driving the motor from the control system, and send a control signal to the motor based on the instruction. The instruction is based on the calibrated parameters of the motor.

First claim

What is claimed is:

1. A surgical system comprising:
a surgical arm configured to removably couple an instrument to the surgical system, the surgical arm being adjustable to different configurations to change a position of an instrument coupled to the surgical arm;
a control system; and
a motor assembly, separate from the control system, the motor assembly comprising: a motor, a memory to store calibrated parameters of the motor, and electronics coupled to the memory and the motor;
wherein the electronics are configured to:
retrieve the calibrated parameters of the motor from the memory;
provide the calibrated parameters of the motor to the control system;
receive an instruction for driving the motor from the control system, the instruction being based on the calibrated parameters of the motor; and
send a control signal to the motor based on the instruction.

2. The surgical system of claim 1 , wherein the calibrated parameters of the motor comprise a torque constant.

3. The surgical system of claim 2 , wherein the torque constant is determined from torque loading data for the motor.

4. The surgical system of claim 1 , wherein the calibrated parameters of the motor comprise a motor speed versus no-load current relationship for the motor.

5. The surgical system of claim 4 , wherein the motor speed versus no-load current relationship comprises a linear function, an exponential function, or a linear piecewise function.

6. The surgical system of claim 4 , wherein the motor speed versus no-load current relationship is adjusted based on motor assembly temperature.

7. The surgical system of claim 4 , wherein the motor speed versus no-load current relationship is a function of motor speed and direction.

8. The surgical system of claim 1 , wherein the memory further stores lifetime data.

9. The surgical system of claim 8 , wherein the lifetime data includes a motor assembly lifetime.

10. The surgical system of claim 1 , wherein the motor is a clamping motor or a firing motor.

11. A method comprising:
retrieving, by electronics of a motor assembly and from a memory of the motor assembly, calibrated parameters of a motor of the motor assembly, the motor assembly being part of a surgical system, the surgical system further comprising a surgical arm and a control system separate from the motor assembly, the surgical arm being configured to removably couple an instrument to the surgical system, and the surgical arm being adjustable to different configurations to change a position of an instrument coupled to the surgical arm;
providing, by the electronics, the calibrated parameters of the motor to the control system;
receiving, by the electronics, an instruction for driving the motor from the control system, the instruction being based on the calibrated parameters of the motor; and
sending, by the electronics, a control signal to the motor based on the instruction.

12. The method of claim 11 , wherein the calibrated parameters of the motor comprise a torque constant.

13. The method of claim 12 , wherein the torque constant is determined from torque loading data for the motor.

14. The method of claim 11 , wherein the calibrated parameters of the motor comprise a motor speed versus no-load current relationship for the motor.

15. The method of claim 14 , wherein the motor speed versus no-load current relationship comprises a linear function, an exponential function, or a linear piecewise function.

16. The method of claim 14 , wherein the motor speed versus no-load current relationship is adjusted based on motor assembly temperature.

17. The method of claim 14 , wherein the motor speed versus no-load current relationship is a function of motor speed and direction.

18. The method of claim 11 , wherein the memory further stores lifetime data.

19. The method of claim 18 , wherein the lifetime data includes a motor assembly lifetime.

20. The method of claim 11 , wherein the motor is a clamping motor or a firing motor.

Assignees

• Intuitive Surgical Operations

Inventors

• Weir David W
• Wu Melody
• Durant Kevin
• Duque Grant

Classifications

• A61B34/35

  for telesurgery · CPC title

• A61B2090/031

  torque limiting · CPC title

• A61B2018/1455

  having a moving blade for cutting tissue grasped by the jaws · CPC title

• A61B2017/00725

  Calibration or performance testing · CPC title

• A61B18/1445

  at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod · CPC title