Tool detection system
AssigneeAuris Health, Inc.
InventorsJeffrey C. Weintraub, Piyamate Wisanuvej, Laurentiu Andrei Lita
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Abstract
The systems and devices disclosed herein can permit a sterile adapter or manipulator interface to detect at least one attribute, parameter, and/or position of a tool attached to the instrument device manipulator. A sterile adapter can be coupled to the manipulator interface and include a magnet that is movable relative to the manipulator interface for permitting detection of the tool. Additionally, the present disclosure also relates to methods of preparing and using a medical robotic system.
Claims22
A sterile adapter for coupling to an instrument device manipulator of a medical robotic system, the sterile adapter comprising:
- a housing having a manipulator interface and a tool interface configured to operatively couple the instrument device manipulator to a tool such that the sterile adapter transfers torque from the instrument device manipulator to the tool when the tool is coupled to the sterile adapter;
- and
- a sensor target coupled to the housing and movable relative to the manipulator interface for permitting detection of the tool that is coupled to the sterile adapter,
- wherein the sterile adapter is configured to form a sterile barrier between the tool interface and the manipulator interface.
A robotic surgical system comprising:
- a medical robot comprising an instrument device manipulator and a sensor in the instrument device manipulator;
- a tool configured to be coupled to the medical robot;
- and
- an adapter configured to be coupled to the instrument device manipulator intermediate the tool and the medical robot, the adapter comprising:
- a housing having a manipulator interface and a tool interface configured to operatively couple the instrument device manipulator to the tool for transferring torque from the instrument device manipulator to the tool when the tool is coupled to the adapter;
- and
- a sensor target coupled to the housing and movable relative to the manipulator interface,
- wherein the sensor in the instrument device manipulator is configured to detect movement of the sensor target when the tool is coupled to the adapter.
A method of preparing a medical robotic system, the method comprising:
- coupling a sterile adapter to an instrument device manipulator of the medical robotic system at an manipulator interface of the sterile adapter, the instrument device manipulator having a sensor disposed therein;
- and
- coupling a tool to the sterile adapter to thereby cause movement of a sensor target disposed within the sterile adapter relative to the sensor of the instrument device manipulator,
- wherein the sterile adapter is configured to form a sterile barrier between the tool and the instrument device manipulator.
Dependencies are inferred from the claim text.