# US 12,178,534 B2 · Engagement, homing, and control of robotics surgical instrument > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,178,534 B2 - Document ID: US12178534B2 - Status: Granted - Kind: B2 - Application number: 18/201,237 - Filed: 2023-05-24 - Published: 2024-11-28 - Granted: 2024-12-31 - Earliest claimed: 2019-08-15 - Assignees: Verb Surgical Inc. - Applicants: Verb Surgical Inc. - Inventors: Ali Asadian; Alireza Hariri; Andrew Dahdouh - Web page: https://patentgrep.com/patent/US12178534B2 ## CPC - A61B 34/30: Surgical robots - A61B 34/74: {Manipulators with manual electric input means} - A61B 34/25: {User interfaces for surgical systems} - A61B 34/35: for telesurgery - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 34/71: {Manipulators operated by drive cable mechanisms} - A61B 34/77: {Manipulators with motion or force scaling} - A61B 90/03: {Automatic limiting or abutting means, e.g. for safety} - A61B 90/06: {Measuring instruments not otherwise provided for} - A61B 90/08: {Accessories or related features not otherwise provided for} - B25J 9/12: electric - G16H 40/63: for local operation - A61B 90/96: using barcodes - A61B 90/98: using electromagnetic means, e.g. transponders - A61B 2017/00398: {using powered actuators, e.g. stepper motors, solenoids} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2017/00725: {Calibration or performance testing} - A61B 2034/2055: {Optical tracking systems} - A61B 2034/2059: {Mechanical position encoders} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2034/305: {Details of wrist mechanisms at distal ends of robotic arms} - A61B 2034/742: {Joysticks} - A61B 2090/031: {torque limiting} - A61B 2090/035: {preventing further rotation} - A61B 2090/066: {for measuring torque} - A61B 2090/067: {for measuring angles} - A61B 2090/0807: {Indication means} - A61B 2090/0809: {Indication of cracks or breakages} - A61B 2090/0811: {for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA ## Abstract The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. A tool driver is coupled to a distal end of a robotic arm and includes a roll drive disk driven by a rotary motor. One or more processors are configured to detect an attachment of a surgical tool to the tool driver. The surgical tool includes a roll tool disk to be engaged with the roll drive disk of the tool driver, actuate of the roll drive disk through the rotary motor, determine that a measured torque of the rotary motor exceeds a preset torque threshold for a preset period of time since the actuation, and report a successful engagement between the roll drive disk and the roll tool disk. ## Claims ### Claim 1 A controller for a surgical tool driver, the controller comprising: one or more processors configured to: generate at least one actuation command for a rotary motor for a roll drive disk of the surgical tool driver; determine a measured current associated with the rotary motor; perform a current comparison of the measured current to a current threshold; start a counter in response to the measured current of the rotary motor exceeding the current threshold; perform a counter comparison of the counter to an engagement window defined by at least one system requirement or at least one clinical requirement; and generate data indicative of a successful engagement of the roll drive disk in response to the current comparison and the counter comparison. ### Claim 2 (depends on 1) The controller of claim 1, the one or more processors configured to: send a report including the data indicative of a successful engagement of the roll drive disk in response to the current comparison. ### Claim 3 (depends on 1) The controller of claim 1, the one or more processors configured to: decrease a velocity for actuation of the roll drive disk through the rotary motor in response to the successful engagement. ### Claim 4 (depends on 1) The controller of claim 1, wherein the data indicative of the successful engagement is provided at a display unit. ### Claim 5 (depends on 1) The controller of claim 1, further comprising: a communication interface configured to read information from a surgical tool. ### Claim 6 (depends on 5) The controller of claim 5, the one or more processors configured to: identify a type of the surgical tool based on the information read by the communication interface. ### Claim 7 (depends on 5) The controller of claim 5, the one or more processors configured to: select the rotary motor for the roll drive disk in response to the information read by the communication interface. ### Claim 8 (depends on 1) The controller of claim 1, wherein the at least one actuation command includes commands to start to rotate the rotary motor at a slow speed at a beginning of movement and then progressively increase the speed until successful engagement is detected. ### Claim 9 (depends on 1) The controller of claim 1, further comprising: an electrical sensor configured to detect the measured current associated with the rotary motor. ### Claim 10 (depends on 9) The controller of claim 9, wherein the electrical sensor includes a current sensing resistor. ### Claim 11 (depends on 1) The controller of claim 1, further comprising: a communication interface configured to read information from a surgical tool, wherein a type of the surgical tool is identified based on the information read by the communication interface. ### Claim 12 A controller for a surgical tool driver, the controller comprising: one or more processors configured to: generate at least one actuation command for a rotary motor for a roll drive disk of the surgical tool driver; determine a motor operating parameter for the rotary motor; perform a current comparison of a measured current to a current threshold; start a counter in response to the measured current of the rotary motor exceeding the current threshold; perform a counter comparison of the counter to an engagement window defined by at least one system requirement or at least one clinical requirement; and generate data indicative of a successful engagement of the roll drive disk in response to the comparison. ### Claim 13 (depends on 12) The controller of claim 12, the one or more processors configured to: send a report including the data indicative of a successful engagement of the roll drive disk in response to the current comparison and the counter comparison. ### Claim 14 (depends on 12) The controller of claim 12, the one or more processors configured to: decrease a velocity for actuation of the roll drive disk through the rotary motor in response to the successful engagement. ### Claim 15 (depends on 12) The controller of claim 12, further comprising: an electrical sensor configured to detect the measured current associated with the rotary motor. ### Claim 16 (depends on 15) The controller of claim 15, wherein the electrical sensor includes a current sensing resistor. ### Claim 17 A method for operation of a surgical tool driver, the method comprising: generating at least one actuation command for a rotary motor for a roll drive disk of the surgical tool driver; determining a motor operating parameter for the rotary motor; performing a current comparison of a measured current to a current threshold; starting a counter in response to the measured current of the rotary motor exceeding the current threshold; performing a counter comparison of the counter to an engagement window defined by at least one system requirement or at least one clinical requirement; and generating data indicative of a successful engagement of the roll drive disk in response to the current comparison and counter comparison. ### Claim 18 (depends on 17) The method of claim 17, the method comprising: providing data indicative of the successful engagement at a display unit.