US 12,433,664 B2
Motor position control and methods for robotic assisted sealing instrument
Christopher T. Tschudy, Arvada, CO (US); Dylan R. Kingsley, Broomfield, CO (US); Brian Lillis, Boulder, CO (US); and Max L Balter, Boston, MA (US)
Assigned to Covidien LP, Mansfield, MA (US)
Filed by Covidien LP, Mansfield, MA (US)
Filed on May 3, 2022, as Appl. No. 17/735,424.
Claims priority of provisional application 63/183,093, filed on May 3, 2021.
Claims priority of provisional application 63/183,091, filed on May 3, 2021.
Claims priority of provisional application 63/183,089, filed on May 3, 2021.
Prior Publication US 2022/0346893 A1, Nov. 3, 2022
Int. Cl. A61B 18/14 (2006.01); A61B 17/00 (2006.01); A61B 17/3211 (2006.01); A61B 18/00 (2006.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 18/1445 (2013.01) [A61B 17/3211 (2013.01); A61B 34/30 (2016.02); A61B 2017/00477 (2013.01); A61B 2017/32113 (2013.01); A61B 2018/0063 (2013.01); A61B 2018/1452 (2013.01); A61B 2090/066 (2016.02)] 5 Claims
OG exemplary drawing
 
1. A method of determining a homing position for a knife blade of a robotic surgical instrument, comprising:
communicating with an end effector assembly engaged to a robotic surgical instrument to recognize the end effector assembly and associated operating parameters and characteristics therewith and communicating operational data back to an EPROM or PCB; and
initiating a homing algorithm to determine a fully retracted or homing position of a knife blade disposed between a pair of jaw members of the end effector assembly, the homing algorithm including:
actuating a knife drive coupler of the robotic surgical instrument 180 degrees to advance the knife blade to ensure engagement with a knife drive tube of the robotic surgical instrument and ignoring any torque readings from one or more sensors associated with the knife drive coupler during initial actuating;
further actuating the knife drive coupler to advance the knife blade an additional 500 degrees and measuring a torque on the knife drive coupler;
determining that the measured torque falls outside a range of 40 Nmm to 500 Nmm;
rotating the knife drive coupler between 100 degrees to 580 degrees to retract the knife blade and taking a running average torque reading on the knife drive coupler;
continually rotating the knife drive coupler to retract the knife blade past 580 degrees looking for a torque increase on the knife drive input of greater than 20 Nmm from the running average torque reading and assigning this position of the knife drive input as a knife point limit; and
calculating the homing position of the knife blade as the knife point limit position minus 50 degrees of rotation of the knife drive coupler.