Surgical robotic system and method for detecting detachment of instruments

Abstract

A surgical robotic system includes a surgical instrument having an end effector, at least one coupler, when rotated configured to actuate at least one function of the end effector, and a first connector. The system also includes an electrosurgical generator configured to output electrosurgical energy for energizing the end effector. The system further includes an instrument drive unit having at least one motor, a torque sensor configured to measure torque of the at least one motor, and a second connector configured to electrically couple to the first connector. The system includes a controller configured to determine a status of a connection between the first and second connectors, activate the at least one motor to rotate the at least one coupler, and determine whether the surgical instrument is detached from the instrument drive unit based the torque of the at least one motor during activation and the status of the connection.

Dependencies are inferred from the claim text.