User-installable part installation detection techniques
AssigneeIntuitive Surgical Operations, Inc.
InventorsNicola Diolaiti, Benjamin S. Flamm
Life of this patent
Estimating the term…
Abstract
Techniques are described for testing whether an end effector, or component thereof, is correctly or incorrectly installed to a manipulation system. A manipulation system can include a manipulator arm configured to receive an end effector having a first moveable jaw, a transducer configured to provide first effort information of the end effector as the end effector moves, and a processor configured to provide a command signal to effect a first test move of the first moveable jaw, and to provide an installation status of the of the end effector using the first effort information of the first test move.
Claims20
A manipulation system comprising:
- a manipulator arm configured to receive an end effector having a moveable jaw;
- a transducer configured to provide effort information of the end effector;
- and
- a processor configured to:
- provide a command signal to effect a first test move comprising motion of the moveable jaw,
- provide an installation status of the end effector using first effort information of the first test move, the first effort information indicative of an effort for moving the moveable jaw via the first test move;
- wherein the installation status is set to a first fail state when the processor does not detect a first knee within the first effort information.
A manipulation system comprising:
- a manipulator arm configured to receive an end effector having a moveable jaw;
- a transducer configured to provide effort information of the end effector;
- and
- a processor configured to:
- provide a first command signal to effect a first test move comprising motion of the moveable jaw,
- provide a second command signal to effect a second test move comprising second motion of the moveable jaw, and
- provide an installation status of the of the end effector using the first effort information of the first test move and the second effort information of the second test move, the first effort information indicative of an effort for moving the moveable jaw via the first test move, the second effort information indicative of an effort for moving the moveable jaw via the second test move.
A method comprising:
- moving a moveable jaw of an end effector coupled to a manipulator of a tele-manipulation system during a first test move;
- receiving first effort information from a transducer, the first effort information associated with moving the moveable jaw during the first test move;
- detecting if the first effort information includes a first knee;
- and
- providing a first fail state of the installation status in response to not detecting a first knee within the first effort information.
Dependencies are inferred from the claim text.