Systems and methods for sensing presence of medical tools
AssigneeIntuitive Surgical Operations, Inc.
InventorsAndrey Polonsky, Eric J. Earnst, Jean-Marc Gery, Andrew J. Hazelton, Sarah A. Nichols
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Abstract
A system including a tool recognition assembly comprising a first target reader with a first detection zone. The system also includes a tool configured to be installed in the tool recognition assembly, wherein the first reader detects a first reading indicating a presence or absence of the first target in the first detection zone during an installation of the tool in the tool recognition assembly, the detected first reading being at least a part of a detected insertion signature, and provides the detected insertion signature to initiate a comparison of the detected insertion signature to one or more model signatures.
Claims20
A system comprising:
- a tool recognition assembly coupled to a teleoperated manipulator, the tool recognition assembly comprising:
- a first reader with a first detection zone;
- and
- a second reader with a second detection zone, wherein the second reader is spaced apart from the first reader along an insertion axis;
- a tool configured to be inserted into the tool recognition assembly along the insertion axis, the tool comprising a first target, wherein as the tool is inserted into the tool recognition assembly along the insertion axis, the first reader detects a first reading indicating a presence or absence of the first target in the first detection zone, wherein as the tool is inserted into the tool recognition assembly along the insertion axis, the second reader detects a second reading indicating a presence or absence of the first target in the second detection zone;
- and
- a control system communicatively linked to the first reader and the second reader, the control system configured to:
- receive the first reading from the first reader and the second reading from the second reader, the first reading and the second reading forming at least a part of an insertion signature;
- and
- compare the insertion signature to one or more model signatures.
A tool shaped for insertion along an insertion axis into a tool recognition assembly coupled to a teleoperated manipulator, the tool including:
- an elongated body;
- and
- a first target positioned along the elongated body, wherein as the tool is inserted into the tool recognition assembly along the insertion axis, the first target passes a first target reader in the tool recognition assembly and a second target reader in the tool recognition assembly, wherein the second target reader is spaced apart from the first target reader along an insertion axis,
- wherein as the tool is inserted into the tool recognition assembly along the insertion axis, the first target reader in the tool recognition assembly detects:
- a first target reading indicating a presence of the first target when the first target is proximate the first target reader;
- and
- a second target reading indicating an absence of the first target when the first target is out of range of the first target reader,
- wherein as the tool is inserted into the tool recognition assembly along the insertion axis, the second target reader in the tool recognition assembly detects:
- a third target reading indicating a presence of the first target when the first target is proximate the second target reader;
- and
- a fourth target reading indicating an absence of the first target when the first target is out of range of the second target reader, and
- wherein the first reading, second reading, third reading, and fourth reading form at least a part of an insertion signature.
Dependencies are inferred from the claim text.