US 11,890,005 B2
Methods for closed loop velocity control for robotic surgical instrument
Frederick E. Shelton, IV, Hillsboro, OH (US); Jason L. Harris, Lebanon, OH (US); David C. Yates, Morrow, OH (US); Sarah A. Worthington, Cincinnati, OH (US); and Chester O. Baxter, III, Cincinnati, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Feb. 22, 2021, as Appl. No. 17/181,740.
Application 17/181,740 is a continuation of application No. 15/636,829, filed on Jun. 29, 2017, granted, now 10,932,772.
Prior Publication US 2021/0244407 A1, Aug. 12, 2021
Int. Cl. A61B 17/068 (2006.01); A61B 17/072 (2006.01); A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 90/00 (2016.01)
CPC A61B 17/068 (2013.01) [A61B 17/0682 (2013.01); A61B 17/07207 (2013.01); A61B 17/07292 (2013.01); A61B 34/30 (2016.02); A61B 2017/00017 (2013.01); A61B 2017/00022 (2013.01); A61B 2017/00026 (2013.01); A61B 2017/00084 (2013.01); A61B 2017/00309 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/07257 (2013.01); A61B 2017/07271 (2013.01); A61B 2017/07285 (2013.01); A61B 2017/2927 (2013.01); A61B 2090/064 (2016.02)] 31 Claims
OG exemplary drawing
 
1. A method for controlling a motor of a robotic surgical system, wherein the robotic surgical system comprises an end effector, wherein the method comprises:
predicting a current speed of the motor based on a previously detected condition of the robotic surgical system, wherein the previously detected condition comprises a value of an electrical parameter previously supplied to the motor and an external influence on the motor;
detecting a condition of the end effector;
determining an actual current speed of the motor based on the detected condition;
comparing the predicted current speed of the motor to the actual current speed of the motor; and
adjusting a speed of the motor based on the comparison.