Abstract: A robotic surgical system includes at least one robotic arm comprising at least one movable joint and an actuator configured to drive the at least one movable joint, and a controller configured to generate a first signal, the first signal comprising a first oscillating waveform having a first frequency and being modulated by a second oscillating waveform having a second frequency, wherein the second frequency is higher than the first frequency. The actuator is configured to drive the at least one movable joint based on the first signal to at least partially compensate for friction in the at least one movable joint.

Abstract: A first input coupling and a second input coupling are coupled to rotatably drive an output coupling at the same time. In one embodiment, the output coupling rotates a robotic surgery endoscope about a longitudinal axis of the output coupling. A first motor drives the first input coupling while being assisted by a second motor that is driving the second input coupling. A first compensator produces a first motor input based on a position error and in accordance with a position control law, and a second compensator produces a second motor input based on the position error and in accordance with an impedance control law. In another embodiment, the second compensator receives a measured torque of the first motor. Other embodiments are also described and claimed.

Abstract: A method for controlling a robotic arm in a robotic surgical system includes defining a reference plane at a predetermined reference location for a robotic arm, where the robotic arm includes a plurality of joints, and driving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane.

Abstract: A robotic surgical system includes at least one robotic arm comprising at least one movable joint and an actuator configured to drive the at least one movable joint, and a controller configured to generate a first signal, the first signal comprising a first oscillating waveform having a first frequency and being modulated by a second oscillating waveform having a second frequency, wherein the second frequency is higher than the first frequency. The actuator is configured to drive the at least one movable joint based on the first signal to at least partially compensate for friction in the at least one movable joint.

Abstract: A method for controlling a robotic arm in a robotic surgical system includes defining a reference plane at a predetermined reference location for a robotic arm, where the robotic arm includes a plurality of joints, and driving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane.

Abstract: A robotic surgical system includes at least one robotic arm comprising at least one movable joint and an actuator configured to drive the at least one movable joint, and a controller configured to generate a first signal, the first signal comprising a first oscillating waveform having a first frequency and being modulated by a second oscillating waveform having a second frequency, wherein the second frequency is higher than the first frequency. The actuator is configured to drive the at least one movable joint based on the first signal to at least partially compensate for friction in the at least one movable joint.

Abstract: A system and computerized method for detection of engagement of a surgical tool to a tool drive of a robotic arm of a surgical robotic system. The method may include activating an actuator of the tool drive to rotate a drive disk to be mechanically engaged with a tool disk in the surgical tool. One or more motor operating parameters of the actuator that is causing the rotation of the drive disk are monitored while activating the actuator. The method detects when the drive disk becomes mechanically engaged with the tool disk, based on the one or more monitored motor operating parameters. Other embodiments are also described and claimed.

Abstract: Engaging and/or homing is provided for a motor control of a surgical tool in a surgical robotic system. Where two or more motors are to control the same motion, the motors may be used to detect engagement even where no physical stop is provided. The motors operate in opposition to each other or in a way that does not attempt the same motion, resulting in one of the motors acting as a stop for the other motor in engagement. A change in motor operation then indicates the engagement. The known angles of engaged motors and the transmission linking the motor drives to the surgical tool indicate the home or current position of the surgical tool.

Abstract: A first input coupling and a second input coupling are coupled to rotatably drive an output coupling at the same time. In one embodiment, the output coupling rotates a robotic surgery endoscope about a longitudinal axis of the output coupling. A first motor drives the first input coupling while being assisted by a second motor that is driving the second input coupling. A first compensator produces a first motor input based on a position error and in accordance with a position control law, and a second compensator produces a second motor input based on the position error and in accordance with an impedance control law. In another embodiment, the second compensator receives a measured torque of the first motor. Other embodiments are also described and claimed.

Abstract: A tool and method for operating the tool are provided. The tool includes a housing and a power generator, such as a motor, disposed in the housing. The power generator has an operating parameter, such as rotational speed. A trigger member and associated magnet are displaceable relative to the housing. A plurality of sensors each generate an output signal based on movement of the magnet. A controller receives the output signals from the sensors, determines a base digital integer from each of the output signals, concatenates the base digital integers to form a concatenated digital integer. The controller varies the operating parameter based on the concatenated digital integer.

Abstract: A method for controlling a robotic arm in a robotic surgical system includes defining a reference plane at a predetermined reference location for a robotic arm, where the robotic arm includes a plurality of joints, and driving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane.

Abstract: A robotic surgical system includes at least one robotic arm comprising at least one movable joint and an actuator configured to drive the at least one movable joint, and a controller configured to generate a first signal, the first signal comprising a first oscillating waveform having a first frequency and being modulated by a second oscillating waveform having a second frequency, wherein the second frequency is higher than the first frequency. The actuator is configured to drive the at least one movable joint based on the first signal to at least partially compensate for friction in the at least one movable joint.

Abstract: A method for correcting an error of a nonvolatile memory of an embedded component for an end effector used in a robotic surgical system is provided. The robotic surgical system includes a host controller in communication with the embedded component. The embedded component of the end effector performs a test process to test the nonvolatile memory. The host controller of the robotic surgical system requests a result of the test process from the embedded component of the end effector. The host controller determines that the error of the nonvolatile memory has occurred after requesting the result of the test process from the embedded component of the end effector. The host controller modifies the nonvolatile memory of the embedded component of the end effector to correct the error.

Abstract: A method for correcting an error of a nonvolatile memory of an embedded component for an end effector used in a robotic surgical system is provided. The robotic surgical system includes a host controller in communication with the embedded component. The embedded component of the end effector performs a test process to test the nonvolatile memory. The host controller of the robotic surgical system requests a result of the test process from the embedded component of the end effector. The host controller determines that the error of the nonvolatile memory has occurred after requesting the result of the test process from the embedded component of the end effector. The host controller modifies the nonvolatile memory of the embedded component of the end effector to correct the error.

Abstract: A tool and method for operating the tool are provided. The tool includes a housing and a power generator, such as a motor, disposed in the housing. The power generator has an operating parameter, such as rotational speed. A trigger member and associated magnet are displaceable relative to the housing. A plurality of sensors each generate an output signal based on movement of the magnet. A controller receives the output signals from the sensors, determines a base digital integer from each of the output signals, concatenates the base digital integers to form a concatenated digital integer. The controller varies the operating parameter based on the concatenated digital integer.