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US 2025/0352190 A1Published application
Systems and methods for confirming disc engagement
AssigneeIntuitive Surgical Operations, Inc.
InventorsNiels Smaby, Gregory W. Dachs, II, Bruce M. Schena
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Abstract
A method comprises receiving an input coupling adjacent to a drive input, the drive input being driven by an actuating element, the input coupling being coupled to a joint output, the joint output being connected to a movable object. The method further comprises rotating the actuating element until a resistance torque is experienced by the actuating element and determining, based upon the resistance torque, whether the drive input has engaged the input coupling.
Claims33
A method comprising:
- receiving an input coupling adjacent to a drive input, the drive input being driven by an actuating element, the input coupling being coupled to a joint output, the joint output being connected to a movable object;
- rotating the actuating element until a resistance torque is experienced by the actuating element;
- determining, based upon the resistance torque, whether the drive input has engaged the input coupling.
A system comprising:
- a medical instrument including an input coupling and an actuatable instrument tip, the input coupling configured to move the actuatable instrument tip;
- an instrument carriage including a drive coupling configured to engage the input coupling and a motor coupled to rotate the drive coupling;
- and
- a control system configured to
- rotate the motor until a commanded motion trajectory is completed or a resistance torque is experienced by the motor;
- and
- determine, based upon a magnitude of the resistance torque, whether the drive coupling has engaged the input coupling.
4 more elements
A method for confirming instrument engagement, the method comprising:
- receiving a plurality of instrument discs to a plurality of drive discs, wherein at least two of the plurality of instrument discs coordinate to move an instrument tip along a degree of freedom;
- with actuating elements connected to the drive discs, driving the discs until motion of the discs has stalled;
- determine a torque resistance experienced by each of the drive discs;
- and
- determine if engagement of the drive discs was successful based on the torque resistances.
2 more elements
Dependencies are inferred from the claim text.