Control of robotic arm motion based on sensed load on cutting tool

US10531929B2 · kind B2 · utility

Assignee

• Ethicon, Inc. · US

Inventors

• Tamara Widenhouse · Clarksville, US
• Cortney E. Henderson · Loveland, US
• Kevin L. Houser · Springboro, US
• Jeffrey S. Swayze · Hamilton, US
• Geoffrey S. Strobl · Williamsburg, US
• Frederick E. Shelton, IV · Hillsboro, US
• Jason L. Harris · Lebanon, US
• David C. Yates · Morrow, US

Key dates

• Filing date: Aug 16, 2016
• Grant date: Jan 14, 2020
• Expiry date: Sep 10, 2036

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61B2090/064
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

A robotic surgical system including a control system that controls the movement of a robotic arm is described. The robotic arm can be coupled to a tool assembly that includes an end effector positioned at a distal end of a shaft. The control system can assist with controlling the movement of the end effector and any tooling (e.g., cutting tool, boring tool, jaws, etc.) associated with the end effector, such as for either cutting through tissue or controlling a tension in the tissue. The tool assembly can include one or more sensors that measure a variety of forces or velocities associated with either the robotic arm or end effector. The control system can collect and monitor such sensed forces and velocities to determine and control one or more appropriate movement parameters associated with the robotic arm thereby controlling the cutting of tissue and preventing unwanted cutting of tissue. Furthermore, movement parameters associated with more than one robotic arm can be controlled by the control system.