Engagement and/or homing of a surgical tool in a surgical robotic system
US11759269B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 23, 2019 |
| Grant date | Sep 19, 2023 |
| Priority date | — |
| Expiry date | Oct 10, 2041 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61M25/0113
- WIPO fieldMedical technology
- WIPO sectorInstruments
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.