US 11,812,959 B2
Dynamically matching input and output shaft speeds of articulating adapter assemblies for surgical instruments
Justin Williams, Southbury, CT (US); and Anthony Sgroi, Southbury, CT (US)
Assigned to Covidien LP, Mansfield, MA (US)
Filed by Covidien LP, Mansfield, MA (US)
Filed on Mar. 11, 2022, as Appl. No. 17/692,394.
Application 17/692,394 is a division of application No. 15/876,594, filed on Jan. 22, 2018, granted, now 11,272,929.
Claims priority of provisional application 62/466,415, filed on Mar. 3, 2017.
Prior Publication US 2022/0192664 A1, Jun. 23, 2022
Int. Cl. A61B 34/30 (2016.01); A61B 17/072 (2006.01); A61B 34/35 (2016.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 90/00 (2016.01)
CPC A61B 17/072 (2013.01) [A61B 17/07207 (2013.01); A61B 34/35 (2016.02); A61B 17/2909 (2013.01); A61B 2017/00017 (2013.01); A61B 2017/0046 (2013.01); A61B 2017/0069 (2013.01); A61B 2017/00212 (2013.01); A61B 2017/00367 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/00473 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/00482 (2013.01); A61B 2017/2927 (2013.01); A61B 2090/067 (2016.02); A61B 2090/0811 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A method of operating a surgical system, the method comprising:
articulating an end effector relative to an adapter assembly via a universal joint rotatably disposed between the end effector and the adapter assembly;
measuring an articulation angle of the universal joint;
identifying a motor speed profile having a mathematical curve based on a trigonometric function stored within a memory associated with a correction unit corresponding to the measured articulation angle of the universal joint; and
manipulating an output speed of a motor operably coupled to the universal joint, according to the motor speed profile, to generate a substantially constant output speed from the universal joint.