Method and system for engagement of a surgical tool with actuators of a tool drive in a surgical robotic system
US11406457B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 20, 2018 |
| Grant date | Aug 9, 2022 |
| Priority date | — |
| Expiry date | Nov 4, 2038 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2090/0808
- WIPO fieldMedical technology
- WIPO sectorInstruments
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.