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 system comprising:
- one or more processors, coupled to memory, and in communication with a manipulator arm and a transducer, wherein the manipulator arm is configured to receive installation of an end effector having a moveable jaw, and wherein the transducer is configured to provide effort information of the end effector;
- and
- wherein the one or more processors are configured to:
- communicate a signal to the manipulator arm to effect movement of the moveable jaw;
- receive, from the transducer, effort information on movement of the moveable jaw;
- determine in the effort information a location of a transition associated with movement of the end effector;
- compare the location with a corresponding location window of an effort profile;
- and
- provide an installation status of the end effector based at least on the comparison.
A method comprising:
- communicating, by one or more processors, a signal to a manipulator arm to effect movement of a moveable jaw installed on the end effector;
- receive, by the one or more processors, from a transducer effort information on movement of the moveable jaw;
- determine, by the one or more processors, in the effort information a location of a transition associated with movement of the end effector;
- compare, by the one or more processors, the location with a corresponding location window of an effort profile to determine a status of installation of the end effector;
- and
- provide, by the one or more processors responsive to the comparison, the status of installation of the end effector.
A system comprising:
- one or more processors, coupled to memory, and configured to:
- receive effort information on opening or closing of a moveable jaw of an end effector being operated responsive to one or more signals from the one or more processors;
- identify a shape of a transition at a location in the effort information;
- determine a status of installation of the end effector based at least on a comparison of the shape of the transition with one or more shapes of a corresponding location window in one or more effort profiles;
- and
- display the status of installation of the end effector.
Dependencies are inferred from the claim text.