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公开(公告)号：US20220140702A1
公开(公告)日：2022-05-05
申请号：US17431463
申请日：2020-03-02
申请人： Covidien LP
发明人： Richard S. Lech , Alok Agrawal
IPC分类号： H02K11/24 , H02P29/68 , H02K11/25 , G01L3/10 , G01K1/02 , G01L25/00 , G01K7/00 , A61B34/37 , A61B34/00
摘要： A measurement circuit that is configured to provide a torque reading to a motion controller includes an offset controller and an amplifier. The offset controller is configured to read a temperature signal and to generate an offset voltage in response to receiving the temperature signal. The amplifier is configured to read a differential voltage from a differential sensor and to receive the offset voltage from the offset controller. The amplifier is also configured to add the offset voltage to the differential voltage after applying a gain to the differential voltage to generate an adjusted voltage. The amplifier is then configured to transmit the adjusted voltage.
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公开(公告)号：US20240238000A1
公开(公告)日：2024-07-18
申请号：US18558632
申请日：2022-05-03
申请人： Covidien LP
IPC分类号： A61B17/295 , A61B17/00 , A61B18/00 , A61B34/30 , A61B90/00
CPC分类号： A61B17/295 , A61B34/30 , A61B2017/00725 , A61B2018/0063 , A61B2090/066
摘要： A method of determining the distal throw of a knife blade of a robotic surgical instrument includes selectively engaging an end effector onto a housing of a robotic surgical instrument homing a knife blade. The method further includes initiating an end stop detection algorithm including: actuating a knife drive coupler to advance the knife blade distally through a knife channel defined within the end effector; calculating the running torque average of the knife drive coupler as the knife blade translates through the knife channel; determining a spike above the running torque average within a predetermined threshold and recording the position of the knife blade as a maximum distal throw of the knife blade; retracting the knife blade to determine an offset position from the maximum distal throw of the knife blade; and recording the offset position of the knife blade for subsequent usage.
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公开(公告)号：US11949297B2
公开(公告)日：2024-04-02
申请号：US17431463
申请日：2020-03-02
申请人： Covidien LP
发明人： Richard S. Lech , Alok Agrawal
IPC分类号： H02K11/24 , A61B34/00 , A61B34/37 , A61B90/00 , G01K1/02 , G01K7/00 , G01L3/10 , G01L25/00 , H02K11/25 , H02P29/68
CPC分类号： H02K11/24 , A61B34/25 , A61B34/37 , A61B34/74 , G01K1/026 , G01K7/00 , G01L3/108 , G01L25/003 , H02K11/25 , H02P29/68 , A61B2090/066
摘要： A measurement circuit that is configured to provide a torque reading to a motion controller includes an offset controller and an amplifier. The offset controller is configured to read a temperature signal and to generate an offset voltage in response to receiving the temperature signal. The amplifier is configured to read a differential voltage from a differential sensor and to receive the offset voltage from the offset controller. The amplifier is also configured to add the offset voltage to the differential voltage after applying a gain to the differential voltage to generate an adjusted voltage. The amplifier is then configured to transmit the adjusted voltage.
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公开(公告)号：US20240252268A1
公开(公告)日：2024-08-01
申请号：US18290044
申请日：2022-06-07
申请人： Covidien LP
发明人： Paul M. Loschak , Alok Agrawal , William J. Peine , Andrew W. Zeccola , Colin H. Murphy , Gregory A. Dierksen , Jaimeen V. Kapadia , Jared N. Farlow , Sanjay Jonnavithula
CPC分类号： A61B34/37 , A61B90/06 , A61B2034/305 , A61B2090/062
摘要： A surgical robotic system is configured to determine access port length using an end effector of an instrument, which is inserted into a longitudinal tube of a surgical access port and calibrated at a first position. The end effector is then advanced to a second position, distal of the first position, within the longitudinal tube. Thereafter, a second calibration of the end effector is performed at the second position. During the second calibration, contact between the end effector and the longitudinal tube is monitored by a controller, which determines the length of the longitudinal tube based on the contact.
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公开(公告)号：US20230320795A1
公开(公告)日：2023-10-12
申请号：US18022284
申请日：2021-08-31
申请人： Covidien LP
发明人： Brian K. Wells , Brian A. Rockrohr , Alok Agrawal
CPC分类号： A61B34/30 , A61B34/71 , A61B90/06 , A61B2090/066 , A61B2034/305
摘要： A surgical robotic arm includes an instrument having a plurality of cables that are movable longitudinally and an end effector movable by the cables. The surgical robotic arm also includes a drive unit having a plurality of motors each of which is configured to move one of the cables and a plurality of torque sensors, each of which is configured to measure torque output by one of the motors. The surgical robotic arm also includes a controller configured to receive a torque measurement from each of the torque sensors and control each of the motors to apply a minimum torque to maintain a minimum tension on each of the cables based on the torque measurement from each of the torque sensors.
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公开(公告)号：US20220071726A1
公开(公告)日：2022-03-10
申请号：US17299869
申请日：2019-12-06
申请人： Covidien LP
发明人： Brian Rockrohr , Jiqi Cheng , Dwight Meglan , Farrukh Rahman , Brian Wells , Alok Agrawal
摘要： A method of controlling an end effector of a surgical robot includes receiving a desired pose, generating motor torques, transmitting the motor torques, generating null torques, generating desired torques, and transmitting the desired torques to an IDU such that the IDU moves the end effector to the desired pose. A primary controller receives the desired pose of the end effector in three DOF. The primary controller generates the motor torques in response to receiving the desired pose. The primary controller transmits the motor torques which are received in a secondary controller. The secondary controller generates null torques to maintain tension in cables of a differential drive mechanism of the IDU. The desired torques are generated for each motor of the IDU to include a sum of the motor torques and the null torques.
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