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US 12,697,177 B2Granted
Tool driver axial displacement sensing
AssigneeAuris Health, Inc.
InventorColin Allen Wilson
Life of this patent
Estimating the term…
Abstract
A tool driver for a robotic system can include a sensor to allow the surgical robotic system to determine if a tool or a sterile adapter are fully coupled to the tool driver. The tool driver can include a rotating output that can manipulate a tool and translate perpendicular to a surface of a tool driver body. The tool driver can include a drive mechanism to rotate the rotating output.
Claims21
A tool driver for a surgical robotic system, the tool driver comprising:
- a body;
- a rotating output extending from the body, the rotating output being axially translatable relative to a surface of the body along an axis perpendicular to the surface of the body, the rotating output being configured to engage with an input of a surgical tool;
- a drive mechanism coupled to the rotating output, the drive mechanism being configured to rotate the rotating output about the axis;
- and
- a sensor coupled to the body and configured to determine an axial position of the rotating output relative to the body.
2 more elements
A method of operating a surgical robotic system, the method comprising:
- receiving coupling of a mating device to a tool driver, the tool driver comprising a body and a rotating output that is rotatable relative to the body, the mating device comprises a corresponding input;
- axially urging the rotating output away from the body and toward the corresponding input;
- rotating the rotating output relative to the corresponding input;
- and
- detecting an axial position of the rotating output.
2 more elements
A surgical robotic system comprising:
- a tool driver comprising:
- a body;
- a rotating output extending from the body, the rotating output defining a profile, the rotating output being axially translatable along an axis perpendicular to a surface of the body and rotatable about the axis;
- and
- a sensor coupled to the body and configured to determine an axial position of the rotating output relative to the body;
- and
- a surgical tool comprising:
- a movable tool portion;
- and
- an input configured to move the tool portion, the input defining a mating profile,
- wherein the surgical tool is configured to be coupled to the tool driver to permit the rotating output to translate toward the input of the surgical tool, and the sensor is further configured to determine rotational engagement between the profile of the rotating output and the mating profile of the input of the surgical tool.
8 more elements
Dependencies are inferred from the claim text.