Engagement control of instrument feeder devices
AssigneeAuris Health, Inc.
InventorsJiayi Lin, Casey Teal Landey, Chauncey F. Graetzel
Life of this patent
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Abstract
Systems, devices, and methods for controlling an instrument feeder device to engage with and/or control a medical instrument are discussed herein. For example, an instrument feeder device can be configured to couple to a drive output of a robotic arm and/or engage with an elongate shaft of a medical instrument. The drive output can be configured to control the engagement assembly to selectively engage with and/or retain the elongate shaft. A state of the engagement assembly can be determined based on an amount of force applied by the drive output, a position of the drive output, and/or other information.
Claims20
A system comprising:
- an instrument feeder device configured to couple to a drive output and including an engagement assembly configured to engage with an elongate shaft of a medical instrument;
- and
- control circuitry configured to:
- cause the drive output to actuate the engagement assembly so that the engagement assembly moves from an engaged state to a disengaged state or from the disengaged state to the engaged state;
- determine an amount of force applied by the drive output for actuating the engagement assembly;
- determine a position of the drive output based on the amount of force applied by the drive output;
- and
- determine a state of the engagement assembly based on the position of the drive output.
A method comprising:
- controlling a drive output to cause actuation of an engagement assembly of an instrument feeder device so that the engagement assembly moves from an engaged state to a disengaged state or from the disengaged state to the engaged state, the instrument feeder device configured to couple to a medical instrument;
- determining an amount of force applied by the drive output for actuating the engagement assembly;
- determining a position of the drive output based on the amount of force applied by the drive output;
- and
- determining an engagement state of the engagement assembly based on the position of the drive output.
A robotic system comprising:
- a robotic arm;
- an end effector associated with a distal end of the robotic arm, the end effector including a first drive output configured to actuate a first drive input of an instrument feeder to control an engagement state of an engagement assembly of the instrument feeder with an elongate shaft of an instrument, the actuation of the first drive input moving the engagement assembly from an engaged state to a disengaged state or from the disengaged state to the engaged state;
- and
- control circuitry communicatively coupled to the robotic arm and configured to;
- determine an amount of force applied by the first drive output for actuating the first drive input;
- determine a position of the first drive output based on the amount of force applied by the first drive output;
- and
- determine the engagement state of the engagement assembly based on the position of the first drive output.
Dependencies are inferred from the claim text.