Robotic surgical system torque transduction sensing
A method of verifying torque measurements of a reaction torque transducer of an instrument drive unit includes a controller receiving a verification signal, generating an acceptable range of torques, receiving a torque signal, comparing the torque signal to the acceptable range of torques, and stopping a motor if the torque applied by the motor is outside of the acceptable range of torques. The verification signal is indicative of the current drawn by the motor and the torque signal is indicative of torque applied by the motor.
1. An instrument drive unit of a robotic surgical system, the instrument drive unit comprising:
a fixed plate;
a first motor having a first drive shaft;
a first reaction torque transducer disposed about the first drive shaft to secure the first motor to the fixed plate and being configured to detect torque delivered by the first motor;
a first controller for controlling the first motor, the first controller in communication with the first sensor and the first reaction torque transducer, the first controller configured to compare the detected current drawn by the first motor to the detected torque delivered by the first motor to verify the detected torque is within an acceptable range of torque values for the detected current drawn by the first motor;
a second motor having a second drive shaft;
a second reaction torque transducer disposed about the second drive shaft to secure the second motor to the fixed plate and being configured to detect torque delivered by the second motor; and
a second sensor configured to detect current drawn by the second motor, wherein the first controller is configured to control the second motor, the first controller in communication with the second sensor and the second reaction torque transducer, the first controller configured to compare the detected current drawn by the second motor to the detected torque delivered by the second motor to verify the detected torque is within an acceptable range of torque values for the detected current drawn by the second motor.
2. An instrument drive unit of a robotic surgical system, the instrument drive unit comprising:
a fixed plate;
a first motor having a first drive shaft;
a first reaction torque transducer disposed about the first drive shaft to secure the first motor to the fixed plate and being configured to detect torque delivered by the first motor;
a first sensor configured to detect current drawn by the first motor;
a first controller for controlling the first motor, the first controller in communication with the first sensor and the first reaction transducer, the first controller configured to compare the detected current drawn by the first motor to the detected torque delivered by the first motor to verify the detected torque is within an acceptable range of torque values for the detected current drawn by the first motor;
a third motor having a third drive shaft;
a third reaction torque transducer disposed about the third drive shaft to secure the third motor to the fixed plate and being configured to detect torque delivered by the third motor;
a third sensor configured to detect current drawn by the third motor; and
a second controller for controlling the third motor, the second controller in communication with the third sensor and the third reaction torque transducer, the third controller configured to compare the detected current drawn by the third motor to the detected torque delivered by the third motor to verify the detected torque is within an acceptable range of torque values for the detected current drawn by the third motor.