Resisting torque in articulating surgical tools

Abstract

Various exemplary systems, devices, and methods are provided for resisting torque in articulating surgical tools. In general, a surgical tool can include an elongate shaft having at a distal end thereof an end effector configured to engage tissue. The end effector can be configured to articulate relative to the elongate shaft. The surgical tool can include a cutting element configured to translate longitudinally along the end effector to cut the engaged tissue. When the end effector is articulated, the longitudinal translation of the cutting element along the end effector exerts a torque force on the end effector that urges the end effector away from its current angled orientation. The surgical tool can be configured to have a corrective tension or force applied thereto that counteracts the torque force.

1 - 19 . (canceled) 
     
     
         20 . A surgical method, comprising:
 receiving a first force at a surgical tool from a robotic surgical system to which the surgical tool is coupled, the first force driving movement of a cutting element to cut tissue engaged by an end effector of the surgical tool that is articulated at an angle relative to an elongate shaft of the surgical tool; and   in real time with the movement of the cutting element, receiving a second force at the surgical tool from the robotic surgical system that counteracts a third force exerted on the end effector by the movement of the cutting element.   
     
     
         21 . The method of  claim 20 , further comprising, before receiving the first force, receiving a fourth force at the surgical tool from the robotic surgical system, the fourth force causing an articulation shaft of the surgical tool to move and thereby cause the end effector to articulate at the angle relative to the elongate shaft. 
     
     
         22 . The method of  claim 21 , wherein the second force is delivered to the articulation shaft. 
     
     
         23 . The method of  claim 20 , wherein the second force is predetermined to correlate to the angle and the first force. 
     
     
         24 . The method of  claim 20 , wherein the surgical tool is coupled to a tool driver of the robotic surgical system, and the tool driver includes a motor that provides the first force to the surgical tool. 
     
     
         25 . A surgical method, comprising:
 providing a first force to a surgical tool from a robotic surgical system to which the surgical tool is coupled, the first force causing a cutting element to move and thereby cut tissue engaged by an end effector of the surgical tool that is articulated at an angle relative to an elongate shaft of the surgical tool; and   in real time with the movement of the cutting element, providing a second force to the surgical tool from the robotic surgical system that counteracts a third force exerted on the end effector by the movement of the cutting element.   
     
     
         26 . The method of  claim 25 , wherein a controller of a robotic surgical system determines the second force to provide to the surgical tool based on the angle and on the first force. 
     
     
         27 . The method of  claim 26 , wherein the first force is measured via torque of a motor of the robotic surgical system. 
     
     
         28 . The method of  claim 26 , wherein the first force is measured via using a force sensor. 
     
     
         29 . The method of  claim 26 , wherein the controller uses a lookup table stored in a memory in determining the second force. 
     
     
         30 . The method of  claim 25 , wherein the surgical tool is coupled to a tool driver of the robotic surgical system, and the tool driver includes a motor that provides the first force to the surgical tool. 
     
     
         31 . The method of  claim 25 , further comprising, before providing the first force, providing a fourth force to the surgical tool from the robotic surgical system, the fourth force causing an articulation shaft of the surgical tool to move and thereby cause the end effector to articulate at the angle relative to the elongate shaft. 
     
     
         32 . The method of  claim 31 , wherein the second force is provided to the articulation shaft. 
     
     
         33 . A surgical method, comprising:
 causing a robotic surgical system to provide a torque force to a surgical tool that drives articulation of an end effector of the surgical tool at an angle relative to an elongate shaft of the surgical tool that is proximal to the end effector;   wherein the robotic surgical system also provides a corrective force to the surgical tool that is customized to the angle and the torque force.   
     
     
         34 . The method of  claim 33 , wherein a controller of the robotic surgical system determines the corrective force based on the angle and the torque force. 
     
     
         35 . The method of  claim 33 , wherein the corrective force is provided to the surgical tool during translation of a cutting element of the surgical tool relative to the end effector. 
     
     
         36 . The method of  claim 35 , wherein the corrective force counteracts a force experienced by the end effector due to the translation of a cutting element. 
     
     
         37 . The method of  claim 33 , wherein the torque force causes movement of an articulation shaft of the surgical tool, the movement of the articulation shaft causing the articulation. 
     
     
         38 . The method of  claim 37 , wherein the corrective force is delivered to the articulation shaft. 
     
     
         39 . The method of  claim 33 , wherein the surgical tool is coupled to a tool driver of the robotic surgical system, and the tool driver includes a motor that provides the torque force to the surgical tool.