Closed-loop velocity control technology for robotic surgical instruments

摘要

A method of controlling the velocity of a launching member in a robotic surgical system is disclosed. One method is to detect the closed end effector state, set the command speed of the displacement member based on the closed state, fire the displacement member at the set command speed, and set the end effector state during the firing phase. Detect and set command speed based on firing status. Another method is to receive the closing force of the closing member, compare the actual closing force with the threshold, determine the set point velocity based on the comparison, and determine the actual speed of the closing member based on the set point velocity. Control. Another method receives the actual closing force of the closing member, receives the actual position of the launching member, and based on the actual closing force applied to the closing member and the actual position of the launching member, the new closure. Set the force.