Systems and methods for engaging instruments of computer-aided systems

Abstract

The invention relates to systems and methods for engaging instruments of a computer-aided system. A computer-aided system includes an instrument. In one embodiment, an instrument includes a receive interface configured to couple with a drive interface, the receive interface including a first receive coupler having a set of first receive features disposed on the first receive coupler, each first receiving feature in the group is physically configured to mechanically engage with a same first drive feature disposed on a first drive coupler of the drive interface; and a transmission element coupled with the first receiving coupler such that the mechanical energy transmitted by the first drive coupler to the first receiving coupler is transmitted to the transmission element.

Description

Technical Field

[0001] The present invention generally provides improved computer-assisted devices, systems and methods. Background Art

[0002] The computer-assisted system can be used to perform tasks in the workplace. For example, the computer-assisted system can include a handheld power tool assembly. As another example, the computer-assisted system can include a robotic system and can include one or more robotic manipulators to manipulate an instrument for performing a task.

[0003] Exemplary computer-assisted systems include industrial and entertainment robotic systems. Exemplary computer-assisted systems also include medical robotic systems used in diagnostic, non-surgical, surgical, and other procedures.

[0004] Some computer-assisted systems include one or more instruments that are articulated for performing various procedures. Computer-assisted systems can be automatic, semi-automatic, remotely operated, etc. In a remotely operated instance, a human operator manipulates one or more leader input controllers to command the movement of one or more follower instruments located in a workspace. In some instances, the remote operation system is configured to support an instrument that includes an imaging device (such as an endoscope or camera) that enables an operator to observe the workspace. In some cases, the field of view of the imaging device is directed so that the operator can see the instrument(s) as the operator commands the movement of the instrument(s).

[0005] Different types of instruments may be used interchangeably. Thus, for some computer-assisted systems, instruments may be coupled to, removed from, and / or recoupled to the computer-assisted system. Thus, more efficient, more reliable, and / or easier-to-perform engagement of instruments with computer-assisted systems is highly desirable. Summary of the invention

[0006] In general, in one aspect, one or more embodiments relate to a computer-assisted system comprising: an instrument, the instrument comprising: a receiving interface, the receiving interface being configured to couple to a drive interface, the receiving interface comprising a first receiving coupler, the first receiving coupler having a plurality of first receiving features disposed on the first receiving coupler, each of the plurality of first receiving features being physically configured to mechanically engage with the same first drive feature disposed on a first drive coupler of the drive interface; and a transmission element coupled to the first receiving coupler so that mechanical energy transmitted from the first drive coupler to the first receiving coupler is transmitted to the transmission element.

[0007] In general, in one aspect, one or more embodiments relate to a method for engaging an instrument of a computer-assisted system, comprising: utilizing a control system of the computer-assisted system to detect a physical coupling of a receiving interface of the instrument with a drive interface of the computer-assisted system, wherein the receiving interface includes a receiving coupler and the drive interface includes a drive coupler; utilizing the control system and in response to detecting the physical coupling, causing movement of the drive coupler to couple the drive coupler with the receiving coupler, wherein the receiving coupler has multiple engagement options with the drive coupler; and utilizing the control system to confirm whether the drive coupler has been engaged with the receiving coupler.

[0008] Other aspects of the invention will be apparent from the following description and the appended claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component illustrated in various figures may be represented by the same number. For clarity, not every component is labeled in every drawing. In the drawings:

[0010] Figure 1 An exemplary computer-assisted system is shown in accordance with one or more implementations.

[0011] Figure 2 An example of a manipulator assembly according to one or more embodiments is shown.

[0012] Figure 3 An exemplary apparatus according to one or more embodiments is shown.

[0013] Figure 4A and Figure 4B Shown are combined elements of a robotic arm and instrument according to one or more embodiments.

[0014] Figure 5A-5H An exemplary coupler that can be a drive coupler or a receiving coupler is shown according to one or more embodiments.

[0015] Figure 6 A flow chart is shown describing an exemplary method for engaging an instrument according to one or more embodiments. DETAILED DESCRIPTION

[0016] Now the specific embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. For consistency, the same elements in various figures are represented by the same reference numerals.

[0017] In the following detailed description of the disclosed embodiments, many specific details are given to provide a more comprehensive understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that the present invention can be practiced without these specific details. In other cases, well-known features are not described in detail to avoid unnecessarily complicating the description.

[0018] Throughout this application, ordinal numbers (e.g., first, second, third, etc.) may be used as adjectives for elements (i.e., any noun in this application). Use of ordinal numbers does not imply or create any particular order of elements, and does not limit any element to only a single element, unless explicitly disclosed, such as by use of the terms "before," "after," "single," and other such terms. Instead, ordinal numbers are used to distinguish elements. By way of example, a first element is different from a second element, and a first element may encompass more than one element and follow (or precede) a second element in the order of the elements.

[0019] The present disclosure describes various devices, elements and parts of computer-assisted systems and elements according to their states in three-dimensional space. As used herein, the term "positioning" refers to the position of an element or a part of an element (e.g., three degrees of translational freedom in three-dimensional space, such as along Cartesian x, y and z coordinates). As used herein, the term "orientation" refers to the rotational placement of an element or a part of an element (e.g., three degrees of rotational freedom in three-dimensional space, such as around roll, pitch and yaw axes, represented by angle axes (angle-axis), rotation matrices, quaternions (quaternions) and / or the like). As used herein, and for devices having a kinematic series (series) (e.g., devices having a repositionable structure having a plurality of links coupled by one or more joints), the term "proximal" refers to the direction toward the base of the kinematic series, and "distal" refers to the direction away from the base along the kinematic series.

[0020] As used herein, the term "attitude" refers to the multi-degree-of-freedom (DOF) spatial positioning and orientation of the coordinate system of interest attached to a rigid body. Generally, the attitude includes attitude variables for each DOF in the attitude. For example, a complete 6-DOF attitude of a rigid body in three-dimensional space will include 6 attitude variables corresponding to 3 positioning DOFs (e.g., x, y, and z) and 3 orientation DOFs (e.g., roll, pitch, and yaw). Only a 3-DOF positioning attitude will only include attitude variables for the 3 positioning DOFs. Similarly, only a 3-DOF orientation attitude will only include attitude variables for the 3 rotational DOFs. Further, the velocity of the attitude captures the change of the attitude over time (e.g., the first-order derivative of the attitude). For a complete 6-DOF attitude of a rigid body in three-dimensional space, the velocity will include 3 translational velocities and 3 rotational velocities. Attitudes with other numbers of DOFs will have corresponding numbers of translational and / or rotational velocities.

[0021] Aspects of the present disclosure are described with reference to computer-assisted systems, which can include remotely operated, externally manipulated, autonomous, semi-autonomous, and / or similar devices. Further, aspects of the present disclosure are described in accordance with the use of a remotely operated surgical system (such as the da Surgical System However, those skilled in the art will appreciate that the inventive aspects disclosed herein may be embodied and implemented in a variety of ways, including teleoperation and non-teleoperation and medical and non-medical implementations and embodiments. The embodiments on the Surgical System are merely exemplary and are not considered to limit the scope of the inventive aspects disclosed herein. For example, the techniques described with reference to surgical instruments and surgical methods can be used in other cases. Therefore, the instruments, systems and methods described herein can be used for people, animals, parts of human or animal anatomy, industrial systems, general robots or remote operating systems. As a further example, the instruments, systems and methods described herein can be used for non-medical purposes, including industrial uses, general robot uses, sensing or manipulating non-tissue artifacts, cosmetic improvements, imaging of human or animal anatomy, collecting data from human or animal anatomy, setting up or removing systems, training medical or non-medical personnel, etc. Additional exemplary applications include (with or without returning to human or animal anatomy) procedures for tissues removed from human or animal anatomy and procedures for human or animal corpses. Further, these technologies can also be used for medical treatment or diagnostic procedures that include or do not include surgical aspects.

[0022] Referring now to the drawings, wherein like reference numerals represent like parts throughout the several views, Figure 1 An exemplary computer-assisted system (100) is shown in accordance with one or more implementations.

[0023] Although Figure 1 A computer-assisted system (100) is shown as a medical system, but the following description may be applied to other scenarios and systems, such as non-surgical, non-medical scenarios or medical scenarios or systems of computer-assisted systems, etc.

[0024] In this example, a diagnostic or therapeutic medical procedure is performed on a patient (190) on an operating table (110). The computer-assisted system (100) may include a robotic manipulation system (130) (e.g., a patient-side robotic device in a medical example). The robotic manipulation system (130) may include at least one robotic arm (150A, 150B, 150C, 150D), each of which may support a detachably coupled instrument (160) (also referred to as a tool (160)). In the example procedure, the instrument (160) may enter a workspace through an entry position (e.g., through a natural orifice such as the throat or anus or through an incision into the body of the patient (190)), while an operator (not shown) observes the workspace (e.g., a surgical site in a surgical scenario) through a user interface system (120).

[0025] An image of the worksite may be obtained by an imaging device (160) including an imaging apparatus (e.g., an endoscope, an optical camera, an ultrasound probe, etc. in medical examples). The imaging device (160) can be used to image the worksite and can be manipulated by one of the robotic arms (150A, 150B, 150C, 150D) of the robotic manipulation system (130) to position and orient the imaging device. The auxiliary system (140) may process the captured image in a variety of ways prior to any subsequent display. For example, the auxiliary system (140) may overlay the captured image using a virtual control interface prior to displaying the combined image to an operator via the user interface system (120) or other display system located locally or remotely from the procedure. One or more separate displays (144) may also be coupled to the control system (142) and / or the auxiliary system (140) for local and / or remote display of images (e.g., images of the procedural site or other related images).

[0026] The number of instruments (160) used at one time generally depends on the task and space constraints, among other factors. If it is appropriate to replace, clean, inspect, or reload one or more of the instruments (160) in use during a procedure, an assistant (not shown) can remove the instrument (160) from the robotic arm (150A, 150B, 150C, 150D) and replace it with the same instrument (160) or another instrument (160).

[0027] The computer-assisted system (100) may include a control system (142). The control system (142) may be used to process input provided by an operator through the user interface system (120), such as for controlling the computer-assisted system (100). The control system (142) may also be used to process signals from other devices, from sensors, from any network to which the control system (142) is connected, and the like. Exemplary sensors include those associated with actuators or joints of the computer-assisted system, such as motor encoders, rotary or linear joint encoders, torque sensors, current sensors, accelerometers, force sensors, inertial measurement units, optical or ultrasonic sensors or imagers, RF sensors, and the like. The control system may further be used to provide outputs, such as video images displayed by a display (144). The control system (142) may further be used to control the robotic manipulation system (130).

[0028] The control system (142) may include one or more computer processors, non-persistent storage devices (e.g., volatile memory (such as random access memory (RAM)), cache memory), persistent storage devices (e.g., hard disk, optical drive (such as compact disk (CD) drive or digital versatile disk (DVD) drive), flash memory, etc.), communication interfaces (e.g., Bluetooth interface, infrared interface, network interface, optical interface, etc.), and many other components and functions.

[0029] The computer processor of the control system (142) can be part or all of an integrated circuit for processing instructions. For example, the computer processor can be one or more cores or micro-cores of a processor. The control system (142) can also communicate with one or more input devices (such as a touch screen, keyboard, mouse, microphone, touch pad, electronic pen, or any other type of input device).

[0030] The communication interface of the control system (142) may include an integrated circuit for connecting the control system (142) to a network (not shown) (e.g., a local area network (LAN), a wide area network (WAN) such as the Internet, a mobile network, or any other type of network) and / or to another device (such as another control system (142)).

[0031] Further, the control system (142) may communicate with one or more output devices, such as a display device (e.g., a liquid crystal display (LCD), a plasma display, a touch screen, an organic LED display (OLED), a projector, or other display device), a printer, a speaker, an external storage device, or any other output device. One or more of the output devices may be the same as or different from the input device(s). Many different types of control systems exist, and the aforementioned input and output device(s) may take other forms.

[0032] The software instructions in the form of computer-readable program code for executing the embodiments of the present disclosure may be stored in whole or in part, temporarily or permanently, on a non-transitory computer-readable medium (such as a CD, DVD, storage device, disk, tape, flash memory, physical memory, or any other computer-readable storage medium). Specifically, the software instructions may correspond to a computer-readable program code that, when executed by a processor (one or more), is configured to execute one or more embodiments of the present invention.

[0033] The control system (142) may be connected to or be part of a network. The network may include multiple nodes. Each node may correspond to a computing system or a group of nodes. By way of example, embodiments of the present disclosure may be implemented on a node of a distributed system connected to other nodes. By way of another example, embodiments of the present invention may be implemented on a distributed computing system having multiple nodes, wherein each part of the present disclosure may be located on a different node within the distributed computing system. Further, one or more elements of the aforementioned computing system may be located at a remote location and connected to other elements via a network.

[0034] exist Figure 2 An example of a manipulator assembly (200) according to an embodiment of the present disclosure is shown in FIG. The manipulator assembly (200) may include a robotic arm (250) and an instrument (260). The robotic arm (250) may correspond to Figure 1 As described above, during operation, the robotic arm (250) generally supports the instrument (260) extending distally from the robotic arm (250) and enables movement of the instrument (260).

[0035] In a minimally invasive scenario, the instrument (260) can be positioned and manipulated through the entry location so that the kinematic distal center is maintained at the entry location. When the instrument (260) is positioned within the field of view of the imaging device, an image of the workspace captured by an imaging device such as an optical camera can include an image of the distal end of the instrument (260).

[0036] In the example shown, distal instrument retainer (214) facilitates removal and replacement of mounted instruments.

[0037] As reference Figure 1 As can be appreciated, the robotic arm (250) is proximally mounted to a base of the robotic assembly. Alternatively, the robotic arm (250) may be mounted to a separate base capable of independent movement, for example, the robotic arm (250) is mounted to a single robotic arm cart that is provided with mounting clamps that allow the robotic arm (250) to be mounted directly or indirectly to an operating table at various locations, etc. The exemplary robotic arm (250) includes a plurality of links and joints extending between a proximal base and a distal instrument holder.

[0038] For example, Figure 2 In the embodiment shown in the example, the robot arm includes multiple joints (such as revolute joints J1, J2, J3, J4 and J5 and prismatic joint J6) and links (204, 206, 208 and 210). The joints of the robot arm may or may not have redundant degrees of freedom in combination.

[0039] In the example shown, the instrument (260) can be releasably mounted on the instrument holder (214). The instrument holder (214) can translate along a linear guide formed by a prismatic joint (J6) at the link (210). Thus, the instrument holder (214) can provide inward / outward movement of the instrument (260) along the insertion axis. The link (210) can further support a cannula (216) through which the instrument axis of the instrument (260) extends. Optionally, the cannula (216) can be mechanically supported by another component of the robotic arm (250), or can be not supported at all.

[0040] Actuation of the instrument (260) in one or more degrees may be provided by actuators of the manipulator assembly. These actuators may be integrated into the instrument holder (214), or drive a transmission system in the instrument holder, and may actuate the instrument (260) via a transmission assembly (270).

[0041] although Figure 2 The outer housing of the transmission assembly (270) is shown, but additional components of the transmission assembly (270) are also discussed below. Similarly, additional components of the instrument holder (214) are discussed below, including a detailed description of an exemplary interface between the instrument (260) and the robotic arm (250) at the instrument holder (214) and the transmission assembly (270). In addition, reference is made below to Figure 3 A more detailed description of an exemplary apparatus (260) is provided.

[0042] refer to Figure 3 , the exemplary instrument (260) includes a transmission assembly (370), an instrument shaft (380), a wrist assembly (390), and an end effector (350) located at a distal portion (384) of the instrument shaft (380).

[0043] In one or more embodiments, the instrument shaft (380) has a proximal portion (382) terminating at a chassis (372) of the drive assembly (370) and a distal portion (384) terminating at a toggle assembly (390) of the instrument (260). The instrument shaft (380) can be any suitable shaft that couples the toggle assembly (390) and the end effector (392) to the drive assembly (370). In one or more embodiments, the shaft (380) defines at least one channel through which one or more tension members (e.g., cables, metal belts, not shown) or other transmission members suitable for the transfer of mechanical energy (e.g., movement, force, or torque) can be routed from the drive assembly (370) toward the toggle assembly (390). In some embodiments, other components (e.g., wires, push rods, optical fibers, etc.) can also be routed through the shaft.

[0044] The toggle assembly (390) is configured to provide a rotational degree of freedom (e.g., pitch rotation) of the end effector (392). The end effector (392) is configured with a yaw rotational degree of freedom, which can be further used to open and close the claw element of the end effector (392). Depending on the design, one, two, or more tension members can be used to control the degrees of freedom of the instrument. In an example with a claw-type instrument, three pairs of tension members (six tension members total) are used in the end effector control, wherein the first pair of tension members is used to control the end effector pitch (rotation around a first end effector axis), the second pair of tension members is used to control the end effector yaw (rotation around a second end effector axis perpendicular to the first end effector axis), and the third pair of tension members is used to control the jaw opening. In another example with a claw-type instrument, three pairs of tension members are also used in end effector control, with a first pair of tension members used to control end effector pitch (rotation about a first end effector axis), a second pair of tension members used to control rotational motion of a first finger of the claw in a "yaw" direction (rotation about a second end effector axis perpendicular to the first end effector axis), and a third pair of tension members used to control rotational motion of a second finger of the claw in a "yaw" direction (rotation about a second end effector axis). In this example, coordinated motion of the two fingers of the claw provides end effector yaw or opening-closing motion of the claw. In another example, some of the tension members are coupled to multiple degrees of freedom, and four tension members are combined to control pitch, yaw, and jaw opening for a claw-type instrument.

[0045] In one or more embodiments, the tension member is routed through the shaft to other elements of the drive assembly (370) and can be operated by the drive element (374). Figure 3 In an example, the transmission element (374) includes a capstan. In an example having four tension members, a separate capstan (or more generally, a transmission element (374)) may be provided for each tension member. Thus, in this example, four capstans may be provided to actuate the toggle assembly (390) and the end effector (392). Operation of the four capstans causes movement of the four tension members to produce the desired movement (pitch, yaw, and / or grip) of the end effector (392). Specifically, the first capstan may move the first tension member in the proximal direction (pulling the tension member) by winding the first tension member. At the same time, when the first tension member and the second tension member operate in an antagonistic manner, the second capstan may move the second tension member in the distal direction (releasing the tension member) by unfolding the second tension member. The second tension member may also operate independently of the first tension member.

[0046] exist Figure 3In an example of , the transmission element (374) further includes a gear (e.g., a spur gear) for rolling or rotating the instrument shaft (380), the wrist assembly (390), and the end effector (392) about the roll axis of the instrument shaft (380). Figure 3 In the example of the embodiment, the transmission assembly (370) includes five exemplary transmission elements (374) based on a capstan and a tension member or based on a gear. Other types of transmission elements may be used without departing from the present disclosure, such as metal belts, rubber belts, metal wires, pulleys, screw drives, chains and sprockets, etc.

[0047] In one or more embodiments, the transmission assembly (370) further includes a receiving coupler (378). Figure 3 In the example of , a receiving coupler (378) can be coupled to one of the transmission elements (374). Figure 3 In the example of FIG. 1 , the transmission assembly ( 370 ) includes five receiving couplers ( 378 ). Each receiving coupler ( 378 ) can be designed to be coupled to a corresponding drive coupler ( 250 ) of a robot arm ( 250 ) or other repositionable structure ( ref. Figure 4A and Figure 4B When the receiving coupler (378) engages with the drive coupler, mechanical energy can be transferred across the combination of the drive coupler and the receiving coupler. For example, torque or speed can be transferred from an electric motor or any other type of actuator to the capstan.

[0048] References below Figure 5A-5H A detailed description of the receiving coupler and the driving coupler, including their geometries and their engagement, is provided. Figure 6 The flowchart of describes further operations involved in engaging a receiving coupling and a corresponding driving coupling.

[0049] The chassis (372) may provide structural support for mounting and aligning components of the transmission assembly (370), such as the transmission elements and the receiving coupler. The chassis (372) may further function as a portion of the housing of the transmission assembly (370).

[0050] In one or more embodiments, the chassis (372) may also include external features (not shown) that interface with elements of the drive interface, which may be part of the instrument holder (214) to releasably lock the instrument (260) to the instrument holder (214) or other repositionable structure. Recesses, clamps, or other elements may be included in the external features. Figure 4A and Figure 4B Provide additional details.

[0051] The receiving interface (376) includes a combination of components and features of the transmission assembly (370) that contact the robotic arm (250) or an intervening adapter mounted to the robotic arm (250) when the instrument is mounted to the robotic arm (250). The drive interface includes a combination of components and features of the robotic arm (250) or other repositionable structure that contact the instrument or an intervening adapter mounted to the instrument when the instrument is mounted to the robotic arm (250). Figure 4A and Figure 4B , elements of the receiving interface (376) may include, for example, external features (recesses, clamps, etc.) previously described for releasably locking the instrument (260) to the robotic arm (250) and / or the previously described receiving coupler (378).

[0052] Figure 4A Shown is an exploded view of an example of a robotic arm and instrument combination element (400) according to one or more embodiments. Figure 4B Detailed views of additional components of the combined robotic arm and instrument component (400) are provided.

[0053] In one or more embodiments, the instrument holder drive coupler (416) is actuated by actuators (not shown). These actuators can be located in the instrument holder (214). When engaged directly or indirectly with the receiving coupler (378), the instrument holder drive coupler (416) can be used to actuate the instrument (260) in the degrees of freedom of the instrument (260). The instrument holder drive coupler (416) on the instrument holder (214) can directly mechanically engage with the receiving coupler (378) on the transmission assembly (370) of the instrument (260) without any intervening components. Optionally, the engagement of the instrument holder drive coupler (416) with the receiving coupler (378) can be indirect. In Figure 4A and Figure 4B In the example shown, one intervening adapter (410) provides a barrier between the instrument holder (214) and the drive assembly (370). Other embodiments may use two or more intervening adapters.

[0054] In one embodiment, the intervention adapter (410) is disposed on the instrument holder (214) to establish a separation between the instrument holder (214) and the transmission assembly (370). In applications that benefit from a cleaner environment, the intervention adapter (410) can be part of a larger assembly that separates the instrument space from the robot arm space. For example, in medical applications or other applications that require a sterile environment, the intervention adapter (410) can be the instrument sterile adapter portion of a sterile drape. In this configuration, the intervention adapter (410) helps to establish a barrier between a less clean (e.g., non-sterile) component (e.g., the robot arm (250)) and a clean (e.g., sterile) component (e.g., the instrument (260)). In various embodiments, the intervention adapter (410) between the instrument (260) and the robot arm (250) provides a coupling area for the instrument (260) and the robot arm (250). This facilitates removal and installation of the instrument (260) from the robotic arm (250) while the interventional adapter (410) remains in place. The interventional adapter (410) may be installed prior to the start of a procedure.

[0055] exist Figure 4A and Figure 4B In the configuration shown in , in the presence of an interventional adapter (410), once the interventional adapter (410) is mounted on the instrument holder (214), the adapter drive coupling (420) of the interventional adapter (410) can directly mechanically engage the instrument holder drive coupling (416). Thus, rotation of the instrument holder drive coupling (416) is directly translated into corresponding rotation of the adapter drive coupling (420).

[0056] Thus, the interventional adapter (410) not only creates a barrier between the instrument holder (214) and the transmission assembly (370), but also introduces an additional mechanical element (adapter drive coupler 420) between the instrument holder drive coupler (416) of the instrument holder (214) and the receiving coupler (378) of the transmission assembly (370). In some embodiments, the combination of the instrument holder drive coupler (416), the adapter drive coupler (420), and the receiving coupler (378) creates a coupler similar to an Oldham coupler to compensate for possible radial offsets between the instrument holder drive coupler (416) and the receiving coupler (378). In some embodiments, the instrument holder drive coupler (416), the adapter drive coupler (420), and the receiving coupler (378) do not create a coupler that compensates for radial offsets. In some embodiments, elements that create a coupling that compensates for radial offset may be located elsewhere, for example, in the instrument holder (214).

[0057] In embodiments including one or more interventional adapters (such as interventional adapter (410)) mounted to the robotic arm (250), the drive interface (418) is provided by the interventional adapter(s) (e.g., interventional adapter (410)). In such embodiments, the interventional adapter (410) may also provide features (e.g., recesses, clamps, etc.) to releasably lock the drive assembly (370) of the instrument (260) in place.

[0058] In embodiments that do not include an interventional adapter (410), a drive interface (418) having a drive coupling and features for releasably locking the transmission assembly (370) in place may be located at the instrument holder (214). In such embodiments, the instrument holder drive coupling (416) is a drive coupling that directly engages the receiving coupling (378).

[0059] In one or more embodiments, the combined instrument (260) involves a combination element (400) of a robotic arm (250) and an instrument (260). The instrument (260) to be used in conjunction with the robotic arm (250) may be as follows: Figure 2 In this configuration, the transmission assembly (370) is disposed on the instrument holder (214) with the access adapter (410) providing a barrier (in surgical examples, the access adapter (410) helps provide a sterile barrier). For example, as described below with reference to Figure 6 As described, an engagement procedure may be performed to enable mechanical energy to be transferred from the drive coupling to the receiving coupling for actuating the instrument (260). Figure 5A-5H The drive and receiving couplings, specific design features of the drive and receiving couplings, and possible benefits are described.

[0060] While the above description covers embodiments without an interventional adapter and with one or more interventional adapters mounted on an instrument holder of a robotic arm, one or more interventional adapters may alternatively or additionally be mounted on the transmission assembly (370) without departing from the present disclosure.

[0061] Figure 5A-5H Exemplary drive couplings and receiving couplings according to embodiments of the present disclosure are shown. The following paragraphs describe various drive couplings and receiving couplings design features, followed by a discussion of applications of these drive couplings and receiving couplings for transferring mechanical energy, and a discussion of possible benefits.

[0062] Go to Figure 5A, shows four different pairings of a first coupler with four different types of second couplers. The first coupler may be a driving coupler and the second coupler may be a receiving coupler, or vice versa.

[0063] In one embodiment, the first coupler (500) has a single first feature (502) disposed on the first coupler (500). The single first feature (502) may be a protrusion protruding from the planar circular surface of the first coupler. The protrusion may be disposed in a manner such as Figure 5A , or may have other shapes. For example, the protrusion may be a spike (e.g., having a circular cross-section). In some cases, the first coupler (500) does not have other features for engaging with a receiving coupler disposed on the first coupler. In some cases, the first coupler (500) has one or more additional features disposed on the first coupler and different in geometry from the single first feature (502) for engaging with the receiving coupler.

[0064] In one embodiment, the second coupler (505, 510, 515, 520) has one or more second features (507, 512, 517, 522) disposed on the second coupler (505, 510, 515, 520). Each of the one or more second features is physically configured to mechanically engage with the same first feature (e.g., first feature (502)). For example, if an embodiment includes a second feature "A" and a second feature "B", both of which are physically configured to mechanically engage with the same first feature "1", then either the second feature "A" or the second feature "B" may mechanically engage with the first feature "1". When multiple engagements are performed over time, sometimes mechanical engagement may occur between the second feature "A" and the same first feature "1", and sometimes mechanical engagement may occur between the second feature "B" and the same first feature "1". In one embodiment, each of the one or more second features is a pocket in a planar surface of the second coupler. Each recess may be shaped to receive a projection.The projection and recess(es) may be shape matched such that mechanical play between the first coupler and the second coupler is limited when mechanically engaged.

[0065] The first feature (502) of the first coupler (500) can be mechanically engaged with the second feature (507, 512, 517, 522) of the second coupler (505, 510, 515, 520). As further discussed in the specific examples shown below, the mechanical engagement can occur in different ways depending on the configuration of the second coupler.

[0066] The second coupler (505) is provided with a single second feature (507).Therefore, there is one mechanical engagement orientation of the second coupler (505) for mechanical engagement relative to the first coupler (500).

[0067] The second coupler (510) is provided with two second features (512). Therefore, there are two mechanical engagement orientations for mechanical engagement. The deviation of the two mechanical engagement orientations is 180°.

[0068] The second coupler (515) is provided with three second features. Thus, there are three mechanical engagement orientations for mechanical engagement. The deviation of the three mechanical engagement orientations is 120°.

[0069] The second coupler (520) is provided with four second features. Therefore, there are four mechanical engagement orientations for mechanical engagement. The deviation of the four mechanical engagement orientations is 90°.

[0070] Go to Figure 5B , shows two different pairings of a first coupler with two different types of second couplers. The first coupler may be a driving coupler and the second coupler may be a receiving coupler, or vice versa.

[0071] In one embodiment, the first coupler (530) has two first features (532) with an angular spacing of 180°. The two features (532) can be protrusions protruding from the planar circular surface of the first coupler. The protrusions can be as follows: Figure 5B The shape of the embodiment may be elongated in the radial direction as shown in the example, or may have other shapes.

[0072] In one embodiment, the second coupler (535, 540) has second features (537, 542) with angular spacings of 180° and 90°, respectively. Each second feature can be a recess in the planar surface of the second coupler. Each recess can be shaped to accommodate a protrusion. The protrusion and recess can be shape-matched so that mechanical clearance between the first coupler and the second coupler is limited when mechanically engaged.

[0073] The first feature (532) of the first coupler (530) can mechanically engage with the second feature (537, 542) of the second coupler (535, 540). As discussed below, the mechanical engagement can occur in different ways depending on the configuration of the second coupler.

[0074] The second coupler (535) is provided with two second features (537). Therefore, there are two mechanical engagement orientations of the second coupler (535) for mechanical engagement relative to the first coupler (530). The deviation of the two mechanical engagement orientations is 180°.

[0075] The second coupler (540) is provided with four second features (542). Therefore, there are four mechanical engagement orientations of the second coupler (540) for mechanical engagement relative to the first coupler (530). The deviation of the four mechanical engagement orientations is 90°.

[0076] Go to Fig.5C1 , Fig.5C2 and Fig.5C3 , showing different versions of pairing a first coupler with a second coupler. The first coupler may be a driving coupler and the second coupler may be a receiving coupler, or vice versa.

[0077] refer to Fig.5C1 In one embodiment, the first coupler (550) has three first features (552) having a uniform angular spacing of 120°. The three first features (552) may be protrusions protruding from the planar circular surface of the first coupler. The protrusions may be as follows: Fig.5C1 The shape of the embodiment may be elongated in the radial direction as shown in the example, or may have other shapes.

[0078] In one embodiment, the second coupler (555) has three second features (557) having a uniform angular spacing of 120°. Each second feature can be a recess in the planar surface of the second coupler. Each recess can be shaped to accommodate a protrusion. The protrusions and recesses can be shape-matched so that the mechanical clearance between the first coupler and the second coupler is limited when mechanically engaged.

[0079] The first feature (552) of the first coupler (550) can be mechanically engaged with the second feature (557) of the second coupler (555). The second coupler (555) is provided with three second features (557). Therefore, there are three mechanical engagement orientations of the second coupler (555) for mechanical engagement relative to the first coupler (550). The deviation of the three mechanical engagement orientations is 120°.

[0080] refer to Fig.5C2In one embodiment, the first coupler (550) has a first group of three first features (552) with a uniform angular spacing of 120° and a second group of three first features (553) with a uniform angular spacing of 120°. The three first features (552) in the first group and the three first features (553) in the second group can be protrusions protruding from the planar circular surface of the first coupler. The protrusions can be as shown in Fig.5C2 The protrusions in the first group may be elongated in the radial direction as shown in the example, or may have other shapes. The shape of the protrusions in the first group is different from the shape of the protrusions in the second group.

[0081] In one embodiment, the second coupler (555) has a first set of three second features (557) with uniform angular spacing of 120° and a second set of three second features (558) with uniform angular spacing of 120°. Each of the second features in the first and second sets can be a recess in the planar surface of the second coupler. Each recess can be shaped to accommodate a protrusion.

[0082] A first feature (552) in the first group of the first coupler (550) may be mechanically engaged with a second feature (557) in the first group of the second coupler (555). However, based on the geometry of the first and second features, the first feature (552) in the first group of the first coupler (550) may not be mechanically engaged with a second feature (558) in the second group of the second coupler (555). Conversely, a first feature (553) in the second group of the first coupler (550) may be mechanically engaged with a second feature (558) in the second group of the second coupler (555), while the first feature (553) in the second group of the first coupler (550) may not be mechanically engaged with the second feature (557) in the first group of the second coupler (555). Similar to Fig.5C1 In the exemplary implementation example, Fig.5C2 The embodiment provides three mechanical engagement orientations of the second coupler (555) relative to the first coupler (550). With the presence of additional features on the first coupler and the second coupler, higher torques can be transmitted.

[0083] Fig.5C3 The implementation shown in Fig.5C2 The embodiment shown in is similar to that shown in , in that it includes two different types of first and second features. The first coupler (550) has a single first feature (552) of the first type and a single first feature (553) of the second type. In this example, Fig.5C3 The second coupler (555) in Fig.5C2 The same as the second coupler (555) in.

[0084] Fig.5C3 The mechanical engagement of the first coupler (550) and the second coupler (555) in the embodiment of the present invention can be as described in reference Fig.5C2 The embodiment of the present invention can be described as follows, wherein there are three possible engagement orientations. The number of possible engagement options can be different without departing from the present disclosure. For example, embodiments of the present disclosure can have four or five engagement options.

[0085] Go to Figure 5D , showing a pairing of a first coupler with a second coupler. The first coupler may be a driving coupler and the second coupler may be a receiving coupler, or vice versa.

[0086] In one embodiment, the first coupler (560) has four first features (562) having a uniform angular spacing of 90°. The four features (562) may be protrusions protruding from the planar circular surface of the first coupler. The protrusions may be formed as follows: Figure 5D The shape of the embodiment may be elongated in the radial direction as shown in the example, or may have other shapes.

[0087] In one embodiment, the second coupler (565) has four second features (567) having a uniform angular spacing of 90°. Each second feature can be a recess in the planar surface of the second coupler. Each recess can be shaped to accommodate a protrusion. The protrusions and recesses can be shape-matched so that the mechanical clearance between the first coupler and the second coupler is limited when mechanically engaged.

[0088] The first feature (562) of the first coupler (560) can be mechanically engaged with the second feature (567) of the second coupler (565). The second coupler (565) is equipped with four second features (567). Therefore, there are four mechanical engagement orientations of the second coupler (565) for mechanical engagement relative to the first coupler (560). The deviation of the four mechanical engagement orientations is 90°.

[0089] Go to Figure 5E , shows two different pairings of a first coupler with two different types of second couplers. The first coupler may be a driving coupler and the second coupler may be a receiving coupler, or vice versa.

[0090] In one embodiment, the first coupler (570) has a first set of first features (572) and a second set of first features (574). In one embodiment, each of the first set of features and the second set of features is a recess in the planar surface of the first coupler. In the example shown, each of the first set of first features (572) and the second set of first features (572) includes two features. Without departing from the present disclosure, a set of features may include any number of features, for example, one, two, three, etc. features. In some embodiments, the features in the first set of features (572) have a first engagement geometry, and the features in the second set of features (574) have a second engagement geometry. The shape of the first engagement geometry is different from the shape of the second engagement geometry. In this example, what distinguishes the first engagement geometry and the second engagement geometry from each other is the length of the recess and the length of the protrusion. In another example, what distinguishes the first engagement geometry from the second engagement geometry is the positioning of the recess and / or the positioning of the projection (e.g., in a radial direction from the center of the disk, or from the center or edge of the driving or receiving coupler for the linear coupler). In some examples, what distinguishes the first engagement geometry from the second engagement geometry is both shape and positioning. Without departing from the present disclosure, other characteristic dimensions may be different (e.g., one characteristic dimension is larger than another characteristic dimension, located at different distances from the center of the coupler, etc.). Without departing from the present disclosure, the first engagement geometry and the second engagement geometry may also have other distinguishing geometric features. In one embodiment, the second coupler (575, 580) has a second feature (577, 582) disposed on the second coupler (575, 580). In one embodiment, the second feature (577, 582) is a projection protruding from the planar surface of the second coupler (575, 580). The second features (577, 582) are physically configured for mechanical engagement with the first set of first features (572) and / or the second set of first features (574) of the first coupler (570). More specifically, the second feature (577) has a first engagement geometry corresponding to the second engagement geometry of the second set of first features (574), and the second feature (582) has a second engagement geometry corresponding to the first engagement geometry of the first set of first features (572). Although the first engagement geometry of the second feature (577) is not mechanically compatible with the first engagement geometry of the first set of first features (572), thereby preventing the first feature (577) from engaging with the first set of first features (572), the second engagement geometry of the second feature (582) is mechanically compatible with both the first engagement geometry of the first set of first features (572) and the first engagement geometry of the second set of first features (574).Thus, for the pairing of the second coupler (580) with the first coupler (570), there are four mechanical engagement orientations. The four mechanical engagement orientations are offset by 90°. In contrast, for the pairing of the second coupler (575) with the first coupler (570), there are only two mechanical engagement orientations. The two mechanical engagement orientations are offset by 180°. Thus, a mechanical encoding is established in which different pairings of the first coupler and the second coupler have different numbers of available mechanical engagement orientations. Fig. 5F and Figure 5G Additional examples of possible joining geometries that can be used to create mechanical encoding are shown in . Fig. 5F A second coupler (584) having a second feature (585) is shown, and Figure 5G A second coupler (586) having a second feature (587) is shown. Although not shown, the corresponding first coupler may have a first feature with a matching engagement geometry and / or a non-matching engagement geometry. In some cases, as previously described, mechanical tolerances are included in the design of these engagement geometries to allow for radial offset compensation.

[0091] refer to Figure 5A-5G The coupling in question consists of a rotating disk that can be used to transfer rotational movement and torque. In contrast, Figure 5H An example of an embodiment based on a linear slider is shown, which can be used to transmit translational movement and force. In this example, a first coupler (590) has six first features (592). The first feature (592) can be a recess in the planar surface of the first coupler (590). The second coupler (595) has a second feature (597). The second feature (597) can be a protrusion protruding from the planar surface of the second coupler (595). Each of the one or more first features is physically configured for mechanical engagement with the second feature. The first coupler can be a driving coupler, and the second coupler can be a receiving coupler, or vice versa. In this example, the first coupler (590) is equipped with six first features (592). Therefore, there are six mechanical engagement locations for mechanical engagement between the first coupler (590) and the second coupler (595). The translation offset between the engagement locations is determined by the spacing of the first feature (592).

[0092] Although Figure 5A-5H Various configurations of the first coupler and the second coupler are shown, but the present disclosure is not limited to these configurations. For example, the first coupler and the second coupler may have any number of features, and the geometry of the features may deviate from the present disclosure. Figure 5A-5HThe geometry of the features shown in . Specifically, referring to the configuration of the protrusions and recesses, the protrusions can be in the form of nails. These nails can be spaced apart in different ways in the radial direction, but the recesses can be long enough (in the radial direction) to accommodate these differently spaced nails. Further, the first coupler as described above can be used as a drive coupler or a receiving coupler having a drive feature and a receiving feature, respectively. Similarly, the second coupler can be used as a drive coupler or a receiving coupler having a drive feature and a receiving feature, respectively.

[0093] like Figure 5A-5G The pairing of the first coupler and the second coupler shown can be used to transfer mechanical energy (e.g., torque and / or speed). In order to accurately transfer mechanical energy via the pairing of the first coupler and the second coupler, one or more features of the first coupler are mechanically engaged with one or more features of the second coupler. However, before the instrument interface engages with the drive interface, the receiving coupler(s) of the instrument interface and their corresponding drive coupler(s) can be arbitrarily oriented relative to each other. Therefore, when the engagement process first begins, the orientation of the drive feature(s) of the drive coupler and the receiving feature(s) of the receiving coupler is unlikely to allow mechanical engagement without relative movement of the receiving feature(s) and the drive feature(s). In one or more embodiments, the following reference is made to Figure 6 The methods discussed for engaging the instruments involve controlled rotation of a drive coupler by a corresponding actuator. As the orientation of the drive coupler changes, the orientation of the drive feature(s) eventually matches the orientation of the receiving feature(s), enabling mechanical engagement between the drive feature(s) and the receiving feature(s). In some cases, this mechanical engagement is facilitated by a biasing force (e.g., a spring force) that pushes the drive coupler toward the receiving coupler and / or pushes the receiving coupler toward the drive coupler.

[0094] When physically coupling the receiving interface of the instrument to the drive interface of the computer-assisted system, depending on the initial orientation of the drive coupler and the receiving coupler, the drive coupler may need to cover a significant range of angles until alignment between the feature(s) of the drive coupler and the feature(s) of the receiving coupler is achieved. Figure 5A The first pairing in may need to cover an angular range of up to + / -180° or 360° until alignment between the feature(s) of the drive coupler and the feature(s) of the receiving coupler is achieved. Figure 5A In the second pairing, the angle range that needs to be covered may be reduced to + / -90° or 180°, because the second pairing provides two mechanical engagement orientations. Figure 5A In the third pairing, the angle range that needs to be covered may be reduced to + / - 60° or 120°, because the third pairing provides three mechanical engagement orientations. Finally, now refer to Figure 5A For the fourth pairing, the angular range that needs to be covered may be reduced to + / - 45° or 90° because the fourth pairing provides four mechanical engagement orientations.

[0095] Reducing the angular range that may need to be covered until alignment between the feature(s) of the drive coupler and the feature(s) of the receiving coupler is achieved enables accelerated engagement of the instrument. The amount of time saved may be significant because the drive coupler may rotate at a limited angular velocity when covering the angular range. The limited angular velocity may be necessary because at higher speeds, the drive feature(s) and the receiving feature(s) may not engage due to the close mechanical tolerances between the drive feature(s) and the receiving feature(s) intended to avoid mechanical play.

[0096] Now refer to it again Figure 5A , the time required for engagement can be reduced by 50% when the second pairing is used compared to the first pairing. The time required for engagement can be reduced by 67% when the third pairing is used compared to the first pairing. The time required for engagement can be reduced by 75% when the fourth pairing is used compared to the first pairing. Thus, the availability of more engagement orientations results in a reduction in the time required to complete engagement. However, due to the reference Figure 6 For reasons discussed, the number of engagement orientations that can be used may be limited by other factors that may be instrument-specific and / or a single controllable degree of freedom of the instrument. Therefore, it may be desirable to customize the availability of engagement orientations in an instrument-specific and / or degree-of-freedom-specific manner.

[0097] For example, instrument-specific customization can be achieved by using a drive coupler that is compatible with multiple different types of receiving couplers. Consider a scenario involving the use of instrument A that is adapted to engage in two engagement orientations and the use of instrument B that is adapted to engage in four engagement orientations. In this scenario, for instrument A, based on Figure 5A The drive coupling of the first coupler (500) can be used with a drive coupling based on Figure 5A Further, for device B, the first coupler (500) can be used with a receiving coupler of the second coupler (510). Figure 5A The receiving coupler of the second coupler (520) is engaged. Optionally, it is also possible to use Figure 5B The configuration shown in .

[0098] DOF-specific customization can be achieved in a similar manner. For example, now refer to Figure 3 , Figure 4A and Figure 4B , all five drive couplings (420) may be of the same type. For example, assuming that all five drive couplings are based on Figure 5A The first coupler (500) of the embodiment of the present invention can be used as a first coupler (500). In order to achieve a specific customization of the degree of freedom, the five receiving couplers (378) can be of different types as needed.

[0099] Although Figure 1 , Figure 2 , Figure 3 , Figure 4A , Figure 4B and Figure 5A-5H Various configurations of components are shown, but other configurations may be used without departing from the scope of the present disclosure. For example, various components may be combined to create a single component. As another example, the function performed by a single component may be performed by two or more components. Figure 3 , a particular instrument with a particular end effector and particular degrees of freedom is shown, but the disclosure generalizes to any type of instrument with any type and number of degrees of freedom. Further, while the instrument is described as being supported by a robotic arm having an instrument holder, the instrument may be supported by any type of repositionable structure without departing from the disclosure. Further, while most of the discussion regarding use and design involves a rotating disc-shaped coupler (e.g., such as Figure 5A-5G ), but the discussion also applies to linear slider-type couplings, such as Figure 5H Displayed in.

[0100] Go to Figure 6 , a flowchart according to one or more implementations is shown. Figure 6 The flowchart of FIG. 6 depicts a method ( 600 ) for a computer-assisted system. The method ( 600 ) can be used to engage an instrument of a computer-assisted system. Figure 6 One or more steps in the above reference may be Figure 1 , Figure 2 , Figure 3 , Figure 4A , Figure 4B and Figure 5A-5H The method may be performed by the various components of the system described herein. The method may be executed on one or more processors of a control system of, for example, a computer-aided system. Although the flow chart is for a system using a rotating disk-shaped drive coupler and a receiving coupler, similar methods may be used for a linear slide-shaped drive coupler and a receiving coupler without departing from the present disclosure.

[0101] Although the various steps in the flow chart are presented and described in sequence, it will be appreciated by those of ordinary skill that some or all of the steps may be performed in a different order, may be combined or omitted, and some or all of the steps may be performed in parallel. Additional steps may be further performed. In addition, these steps may be performed actively or passively. For example, according to one or more embodiments of the present invention, some steps may be performed using polling or may be interrupt driven.

[0102] Turning to the flow chart, in step 602, physical coupling of a receiving interface of an instrument with a driving interface of a computer-assisted system is detected. Physical coupling can be detected in a variety of ways. In one example, a contact or switch can be activated to signal physical coupling. The contact or switch can be activated when the instrument is releasably locked to, for example, an instrument holder of a computer-assisted system (as previously described). Alternatively, a user input can confirm the physical coupling.

[0103] Step 604 illustrates that optional steps can be added to method 600. An instance that does not include step 604 will proceed directly from step 602 to step 606. In optional step 604, in response to detecting physical coupling, it is determined whether the receiving coupler of the instrument has multiple engagement options with the driving coupler of the driving interface. Different instruments can be configured differently. For example, instrument A can have a receiving coupler with a single engagement option, while instrument B can have a receiving coupler with four engagement options. In addition, different receiving couplers of a single instrument can have different numbers of engagement options. Once the instrument has been identified / identified, the detection of multiple engagement options can involve a search operation in an instrument database. The instrument can be identified, for example, based on an instrument coding (e.g., by an electronic chip, mechanical coding of the instrument) or based on user input. In an instance that includes step 604, after completing step 604, the number of engagement options for each receiving coupler of the instrument is known.

[0104] In step 606, the movement of the drive coupling is caused to engage the drive coupling with the receiving coupling. The movement of the drive coupling can be selected to be sufficient to enable engagement in only one engagement option among multiple engagement options. For example, consider a receiving coupler with four rotational engagement options. In this example, the four engagement options are equally separated at 90 ° angles. In this example, the movement of the drive coupling can be the rotation of the drive coupling. The rotation can be limited to the angle of engagement sufficient to achieve an engagement option among the engagement options. For example, the rotation can be set to an amount close to 90 degrees, limited to 95 °, etc. In some cases, the rotation can be set to an amount that provides multiple engagement possibilities, or is limited to an amount that provides multiple engagement possibilities. In the above example, such a rotation can be set to close to 180 °, limited to 185 °, etc., to provide two engagement possibilities. Additional examples include providing three, four, five or more rotations of engagement possibilities. In the above examples, the motion of the drive coupler can include 270, 360, 450, or more degrees of rotation, or be limited to 275, 365, 455, or more degrees. In the linear example, the number of engagement options that the drive coupler and receiving coupler can engage can be limited by the amount of translation caused by the drive coupler.

[0105] The movement of the drive coupling can be performed by commanding a first speed of the drive coupling. An actuator associated with the drive coupling can drive the first drive coupling at a first speed based on a command to cause engagement. Given the physical geometry and materials of the drive coupling and the receiving coupling, the first speed can be set to a value that is more likely to allow engagement, or limited to a value that is more likely to allow engagement by a speed threshold. In many cases, the likelihood that the receiving feature and the drive feature (one or more) cannot engage is higher at higher speeds, which provide very short durations in which the receiving feature and the drive feature can engage.

[0106] In one embodiment, successful engagement can be detected by a sensor (e.g., an engagement sensor). Such an engagement sensor can be dedicated to sensing engagement, or can sense some other parameter indicating engagement or non-engagement (e.g., electrical communication between a robotic arm and an instrument). In this case, a first movement can be performed until successful engagement is detected. After engagement, the sensor can sense the resistance encountered as the actuator begins to drive a transmission element associated with the receiving coupler. The sensor can measure, for example, motor torque or current. The sensor can also sense engagement directly, such as when a drive feature engages with a corresponding receiving feature, which can result in, for example, a measurable positioning change of the drive coupler.

[0107] The second movement may be selected to be sufficient to enable engagement in one engagement option. For example, the rotation may be a 365° rotation. The second movement may be similar to the first movement in other ways.

[0108] For instruments with multiple receiving couplers, the operations of step 606 may be performed sequentially or in parallel for the multiple receiving couplers. Engagement may be achieved by performing the second motion universally at the same time, where possible using the second motion to reduce the time required until engagement is achieved.

[0109] In step 608, it is confirmed whether the drive coupler has engaged with the receiving coupler. In one or more embodiments, the confirmation includes causing the drive coupler to be driven by the corresponding actuator, and determining whether the instrument encounters a mechanical stop during driving. Encountering a mechanical stop can be an indication of successful engagement because the mechanical stop is only reached when the drive coupler engages with the receiving coupler to cause movement on the instrument side. If the engagement of the drive coupler with the receiving coupler is unsuccessful, the mechanical stop will not be reached. The mechanical stop may be caused by a mechanical limitation of the instrument (e.g., a hard stop) or an obstacle encountered during driving. The detection of the mechanical stop can be performed at the actuator driving the drive coupler, for example, by an encoder, a resolver, or any other type of positioning or speed sensor that can detect a blockage of further movement when a mechanical stop is reached.

[0110] The movement towards the mechanical stop may be performed at a second speed of the drive coupling. The second speed of the drive coupling may be significantly higher than the first speed of the drive coupling (used in step 606). However, the second speed may be limited by mechanical factors such as inertia. More specifically, the inertia of the actuator may result in a significant torque peak when the mechanical stop is suddenly reached. Therefore, the second speed may be selected to be no more than a value that avoids mechanical overload when the mechanical stop is suddenly encountered. The torque peak may depend on the gear ratio of the transmission element and further on whether the transmission element is rigid or elastic. For example, in reference to Figure 3 In the described apparatus (260), a high gear reduction ratio is used to roll the apparatus along the rolling axis. The gear reduction is achieved using spur gears, i.e., rigid transmission elements. Therefore, when the mechanical stop is reached, the inertia on the actuator side has the potential to generate a high torque peak and limit the second speed to avoid damaging the transmission element. In contrast, other transmission elements can have a smaller gear reduction ratio and can have a certain elasticity (e.g., as a result of the use of tension members), and the corresponding drive coupling can therefore be driven at a higher second speed.

[0111] If the mechanical stop is not reached, it can be concluded that the previously performed engagement has failed. Another attempt can be performed and / or an error message can be provided.

[0112] In step 610, an engagement option (engagement orientation for a rotary drive coupler, engagement positioning for a linear drive coupler) in which the drive coupler and the receiving coupler are engaged is identified among a plurality of engagement options. As discussed later, the identification may be performed based on encountering a mechanical stop.

[0113] Regardless of whether there is a single or multiple engagement options, there may be ambiguity between the orientation on the actuator side and the orientation on the instrument side. More specifically, the engaged drive coupler and receiving coupler may complete multiple rotations between two hard stops that define the maximum range of motion, and engagement may occur anywhere between the two hard stops. Therefore, there is initially no clear mapping available between the orientation on the actuator side and the orientation on the instrument side. In other words, the orientation on the instrument side cannot be predicted based on the known orientation on the actuator side.

[0114] In one or more embodiments, to resolve this ambiguity, information about the known hard stops and kinematics of the instrument is used to enable a mapping from the orientation on the actuator side to the orientation on the instrument side. The relationship between the orientation on the actuator side and the orientation on the instrument side can be parameterized as follows:

[0115] θ 器械 =C(θ 盘 -θ 偏移 +2πn), where:

[0116] θ 器械 is the orientation vector on the instrument side (in Figure 3 In the example of an instrument, the vector includes five elements, such as the orientation of the end effector and the rotation of the instrument axis in four degrees of freedom);

[0117] C is a coupler matrix that relates the orientation vector of the receiving coupler to the orientation vector of the instrument, e.g., to completely describe the kinematic configuration of the instrument for any combination of orientations of the receiving coupler. The coupler matrix may include interaction terms (in Figure 3 In the example of the device, C is a 5x5 matrix);

[0118] θ 盘 is the vector that drives the orientation of the coupling (in Figure 3 In the example of the device, the vector has five elements);

[0119] θ 偏移 is the vector of the offsets measured during manufacturing (in Figure 3 In the example of an instrument, the vector has five elements and captures the offset to the receiving coupler when the instrument is in a particular configuration (e.g., when the elbow is straight); and

[0120] n is a vector of values ​​to be selected and identified based on finding a hard stop (in Figure 3 In the example of the apparatus of , the vector has five elements). The choice of the value in n is as follows.

[0121] n can be calculated as follows. Based on reaching the mechanical stop when performing steps 608 and / or 610, it is assumed that the mechanical stop is a hard stop of the instrument. The joint orientation at the hard stop is known (known instrument parameters). Further, from the encoder reading of the actuator, θ 盘 , and θ 偏移 is known (known instrument parameters). Therefore, the above equation can be solved for the only unknown n.

[0122] Due to imprecision (such as inaccurately known conditions regarding hard stops, elasticity in transmission elements, etc.), the solution may not result in an integer value. Therefore, each element of n can be rounded. In the case of a single engagement option, rounding to the nearest integer can be performed. To accommodate receiving couplers with multiple engagement options, rounding to the nearest half integer (for two engagement options), quarter integer (for four engagement options), etc. can be performed. Therefore, the values ​​in n can be integers, half integers, quarter integers, etc.

[0123] One example of variability in reliance on a hard stop is specific to cable-driven joints. In this example, the hard stop may be based on the tip of the end effector pressing against the inner wall of the cannula (when the end effector of the instrument is inside the cannula), and in this mechanical configuration, there may be some variability in the position of the hard stop. Further, the cables are flexible and experience stretching over their useful life, which may change the relationship between the hard stop encountered at the end effector and the corresponding orientation of the drive coupler. These factors may result in a certain degree of uncertainty in the position of the hard stop. This uncertainty may limit the number of engagement options because additional engagement options are only made available to the extent that the operations in step 614 enable their unambiguity in the presence of the described uncertainty. In the absence of flexibility or elasticity, the described operations may be used to distinguish between a higher number of engagement options. Thus, in the absence of flexibility or elasticity, the described operations may be used to distinguish between a higher number of engagement options. Figure 3 In the example of an instrument with a higher number of engagement options, gear-driven roll of the instrument axis may be a particularly good candidate.

[0124] In step 612, when the drive coupler is engaged with the receiving coupler, the drive coupler is commanded to transfer mechanical energy to the joint or end effector of the instrument through the receiving coupler and the transmission element coupled to the receiving coupler. For example, when a procedure is performed with the instrument after the instrument engagement is completed, step 612 can be performed simultaneously for all drive couplers and receiving couplers. The execution of step 612 is not mandatory. Specifically, step 612 is performed only when mechanical energy is to be transferred to the joint or end effector of the instrument. If the system is in an idle state (no mechanical energy is transferred to the joint or end effector), step 612 may not be performed.

[0125] Although only a few exemplary embodiments have been described in detail above, it will be readily apparent to those skilled in the art that many modifications are possible in the exemplary embodiments without departing substantially from the present invention. Therefore, all such modifications are intended to be included within the scope of the present disclosure as defined in the following claims.

Claims

1. A computer-aided system comprising: An apparatus, comprising: a receiving interface configured to couple with a drive interface, the receiving interface comprising a first receiving coupler having a plurality of first receiving features disposed on the first receiving coupler, each of the plurality of first receiving features being physically configured to mechanically engage with a same first drive feature disposed on the first drive coupler of the drive interface, and A transmission element is coupled to the first receiving coupler so that mechanical energy transmitted from the first drive coupler to the first receiving coupler is transmitted to the transmission element.

2. The computer-assisted system of claim 1, wherein each first receiving feature of the plurality of first receiving features is physically configured to mechanically engage with a same second drive feature disposed on the first drive coupling. 3 . The computer-assisted system of claim 1 , wherein the plurality of first receiving features comprises at least four first receiving features.

4. The computer-aided system of claim 1 , wherein the receiving interface further comprises: A plurality of second receiving features are disposed on the first receiving coupler, each of the plurality of second receiving features being physically configured to mechanically engage with a same second drive feature disposed on the first drive coupler and not to mechanically engage with the same first drive feature.

5. The computer-aided system according to claim 4, wherein each of said first receiving features has a first engagement geometry; Wherein each of the second receiving features has a second engagement geometry different from the first engagement geometry.

6. The computer-aided system of claim 5, wherein the first engagement geometry differs from the second engagement geometry in that: The first engagement geometry and the second engagement geometry have different shapes.

7. The computer-aided system of claim 6, wherein the first engagement geometry and the second engagement geometry having different shapes comprise: A characteristic dimension of the second engagement geometry is greater than a corresponding characteristic dimension of the first engagement geometry.

8. The computer-aided system of claim 5, wherein the first engagement geometry differs from the second engagement geometry in that: The first engagement geometry and the second engagement geometry are located at different distances from a center of the receiving coupler.

9. The computer-assisted system of claim 4, further comprising a robotic arm, the robotic arm comprising the drive interface, wherein the same first drive feature has a first engagement geometry, wherein the same second drive feature has a second engagement geometry, and The shape of the second engagement geometry is different from the shape of the first engagement geometry.

10. The computer-aided system according to claim 1, further comprising: A robot arm comprising the drive interface, wherein More receiving features are provided on the first receiving coupler than drive features are provided on the first drive coupler.

11. A computer-aided system according to any one of claims 1 to 10, wherein: The instrument comprises an interventional adapter, and the interventional adapter provides the receiving interface; or The computer-assisted system comprises an interventional adapter, and the interventional adapter provides the drive interface.

12. A computer-aided system according to any one of claims 1 to 10, wherein each of the plurality of receiving features comprises a recess in the first receiving coupler; and Wherein the first drive feature comprises a protrusion from the first drive coupling.

13. A computer-aided system according to any one of claims 1 to 10, wherein the first receiving coupler comprises a rotating disk having a receiving feature of the plurality of receiving features disposed on the rotating disk; or Wherein the first receiving coupler comprises a linear slide having a receiving feature of the plurality of receiving features disposed on the linear slide.

14. A computer-aided system according to any one of claims 1 to 10, The receiving interface further includes a second receiving coupler having a plurality of second receiving features disposed on the second receiving coupler, each of the plurality of second receiving features being physically configured to mechanically engage with the same second drive feature disposed on the second drive coupler of the drive interface.

15. The computer-aided system according to claim 14, Wherein a count of the first receiving features disposed on the first receiving coupler is different from a count of the second receiving features disposed on the second receiving coupler.

16. A computer-aided system according to any one of claims 1 to 10, Actuation of the transmission element causes a rolling rotation of the shaft of the instrument.

17. The computer-aided system according to any one of claims 1 to 9, further comprising: a robotic arm comprising the drive interface; and A control system comprising one or more processors, the control system being configured to: detecting physical coupling of the receiving interface of the instrument with the driving interface of the computer-assisted system, causing movement of the first drive coupler to engage the first drive coupler with the first receiving coupler using the control system and in response to detecting the physical coupling; as well as The control system is used to confirm whether the first drive coupler has engaged with the first receiving coupler.

18. The computer-aided system of claim 17, wherein the control system is further configured to: When the first drive coupler is engaged with the first receiving coupler, the first drive coupler is commanded to transmit mechanical energy to a joint or an end effector of the instrument through the first receiving coupler and a transmission element coupled to the first receiving coupler.

19. The computer-aided system of claim 17, wherein the control system is further configured to: In response to detecting the physical coupling, determining whether the first receiving coupler has a plurality of engagement options with the first driving coupler, Wherein causing the movement of the first drive coupling comprises: causing a first movement in response to determining that the first receiving coupler has a plurality of engagement options with the first driving coupler, and A second movement is caused in response to determining that the first receiving coupler does not have a plurality of engagement options with the first drive coupler.

20. The computer-aided system according to claim 19, Wherein determining whether the first receiving coupler has a plurality of engagement options with the first driving coupler comprises: Determine the type of device in question.

21. The computer-aided system according to claim 17, Wherein causing the movement of the first drive coupling comprises: The movement is limited sufficient to enable the same first drive feature to engage only one of the plurality of first receiving features.

22. The computer-aided system according to claim 17, Wherein confirming whether the first driving coupler has been engaged with the first receiving coupler comprises: causing actuation of the first drive coupling via the control system; as well as It is determined by the control system whether the instrument encounters a mechanical stop during the driving.

23. The computer-assisted system of claim 22, wherein the receiving coupler has a plurality of engagement options with the drive coupler, and wherein confirming whether the first drive coupler has engaged with the first receiving coupler further comprises: The drive coupling and the receiving coupling are identified in which of the plurality of engagement options the drive coupling and the receiving coupling have been engaged based on encountering the mechanical stop.

24. The computer-assisted system of claim 23, wherein identifying the engagement option in which the drive coupler and the receiving coupler engage comprises: Which first receiving feature of the plurality of first receiving features has been engaged with the same first drive feature is identified.

25. The computer-assisted system of claim 23, wherein identifying the engagement option in which the drive coupler and the receiving coupler engage comprises: sensing an orientation of the drive coupling when encountering the mechanical stop; as well as A mapping is established between the orientation of the drive coupling and the known kinematic configuration of the instrument at the mechanical stop.

26. The computer-assisted system of claim 17, wherein causing the movement of the first drive coupling comprises: commanding a first speed of the first drive coupling at a first time; as well as commanding a second speed of the first drive coupling at a second time later than the first time, The second speed is higher than the first speed.

27. The computer-assisted system of claim 17, wherein the control system is configured to confirm whether the first drive coupler has engaged with the first receiving coupler by: determining whether a resistance associated with the first drive coupling during inducing the movement of the first drive coupling corresponds to engagement; or A determination is made as to whether the engagement sensor provides a signal indicating that engagement has occurred.

28. A method for engaging an instrument of a computer-assisted system, comprising: detecting, with a control system of the computer-assisted system, a physical coupling of a receiving interface of the instrument with a drive interface of the computer-assisted system, wherein the receiving interface includes a receiving coupler and the drive interface includes a drive coupler; causing movement of the drive coupler to couple the drive coupler with the receiving coupler, wherein the receiving coupler has a plurality of engagement options with the drive coupler, using the control system and in response to detecting the physical coupling; as well as The control system is used to confirm whether the driving coupler has engaged with the receiving coupler.

29. The method of claim 28, wherein the drive interface is provided by an interventional adapter coupled to the computer-assisted system.

30. The method of claim 28, wherein a plurality of receiving features are disposed on the receiving coupler, each of the plurality of receiving features being physically configured to mechanically engage with a same drive feature disposed on the drive coupler, the method further comprising, when the drive coupler is engaged with the receiving coupler: The control system is used to command the driving coupler to transmit mechanical energy to a joint or an end effector of the instrument through the receiving coupler and a transmission element coupled to the receiving coupler.

31. The method of claim 28, wherein identifying the engagement option in which the drive coupler and the receiving coupler engage comprises: Which first receiving feature of the plurality of first receiving features has been engaged with the same drive feature is identified.

32. The method of claim 28, wherein causing the movement of the drive coupling comprises: utilizing the control system and in response to detecting the physical coupling, determining whether the receiving coupler has a plurality of engagement options with the driving coupler; causing a first movement in response to determining that the receiving coupler has a plurality of engagement options with the driving coupler, and A second movement is caused in response to determining that the receiving coupler does not have a plurality of engagement options with the driving coupler.

33. The method of claim 32, wherein determining whether the receiving coupler has a plurality of engagement options with the driving coupler comprises: Determine the type of device in question.

34. The method of claim 28, wherein causing the movement of the drive coupling comprises: The movement is restricted to being sufficient for only one engagement option of the plurality of engagement options.

35. The method of any one of claims 28 to 34, wherein confirming whether the drive coupler has engaged with the receiving coupler comprises: causing actuation of the drive coupling via the control system; as well as It is determined by the control system whether the instrument encounters a mechanical stop during the driving.

36. The method of claim 35, wherein confirming whether the drive coupler has engaged the receiving coupler further comprises: An engagement option of the plurality of engagement options in which the drive coupler and the receiving coupler are engaged is identified based on encountering the mechanical stop.

37. The method of claim 36, wherein identifying the engagement option in which the drive coupler and the receiving coupler engage comprises: sensing an orientation of the drive coupling when encountering the mechanical stop; as well as A mapping is established between the orientation of the drive coupling and the known kinematic configuration of the instrument at the mechanical stop.

38. The method of any one of claims 28 to 34, wherein causing the movement of the drive coupling comprises: commanding a first speed of the drive coupling at a first time; as well as commanding a second speed of the drive coupling at a second time later than the first time, The second speed is higher than the first speed.

39. A non-transitory machine-readable medium comprising a plurality of machine-readable instructions executed by one or more processors associated with a computer-assisted system, the plurality of machine-readable instructions causing the one or more processors to perform a method for engaging an instrument, the method comprising: detecting, with a control system of the computer-assisted system, a physical coupling of a receiving interface of the instrument with a drive interface of the computer-assisted system, wherein the receiving interface includes a receiving coupler and the drive interface includes a drive coupler; causing movement of the drive coupler to couple the drive coupler with the receiving coupler, wherein the receiving coupler has a plurality of engagement options with the drive coupler, using the control system and in response to detecting the physical coupling; as well as The control system is used to confirm whether the driving coupler has engaged with the receiving coupler.

40. The non-transitory machine-readable medium of claim 39, wherein the drive interface is provided by an interventional adapter coupled to the computer-assisted system.

41. The non-transitory machine-readable medium of claim 39, wherein a plurality of receiving features are disposed on the receiving coupler, each receiving feature of the plurality of receiving features being physically configured to mechanically engage with a same drive feature disposed on the drive coupler, the method further comprising, when the drive coupler is engaged with the receiving coupler: The control system is used to command the driving coupler to transmit mechanical energy to a joint or an end effector of the instrument through the receiving coupler and a transmission element coupled to the receiving coupler.

42. The non-transitory machine-readable medium of claim 39, wherein identifying the engagement option in which the drive coupler and the receiving coupler engage comprises: Which first receiving feature of the plurality of first receiving features has been engaged with the same drive feature is identified.

43. The non-transitory machine-readable medium of claim 39, wherein causing the movement of the drive coupling comprises: utilizing the control system and in response to detecting the physical coupling, determining whether the receiving coupler has a plurality of engagement options with the driving coupler; causing a first movement in response to determining that the receiving coupler has a plurality of engagement options with the driving coupler, and A second movement is caused in response to determining that the receiving coupler does not have a plurality of engagement options with the driving coupler.

44. The non-transitory machine-readable medium of claim 43, wherein determining whether the receiving coupler has a plurality of engagement options with the driving coupler comprises: Determine the type of device in question.

45. The non-transitory machine-readable medium of claim 39, wherein causing the movement of the drive coupling comprises: The movement is restricted to being sufficient for only one engagement option of the plurality of engagement options.

46. ​​The non-transitory machine-readable medium of any one of claims 39 to 45, wherein confirming whether the drive coupler has engaged with the receiving coupler comprises: causing actuation of the drive coupling via the control system; as well as It is determined by the control system whether the instrument encounters a mechanical stop during the driving.

47. The non-transitory machine-readable medium of claim 46, wherein confirming whether the drive coupling has engaged with the receiving coupling further comprises: An engagement option of the plurality of engagement options in which the drive coupler and the receiving coupler are engaged is identified based on encountering the mechanical stop.

48. The non-transitory machine-readable medium of claim 47, wherein identifying the engagement option in which the drive coupler and the receiving coupler engage comprises: sensing an orientation of the drive coupling when encountering the mechanical stop; as well as A mapping is established between the orientation of the drive coupling and the known kinematic configuration of the instrument at the mechanical stop.

49. The non-transitory machine-readable medium of any one of claims 39 to 45, wherein causing the movement of the drive coupling comprises: commanding a first speed of the drive coupling at a first time; as well as commanding a second speed of the drive coupling at a second time later than the first time, The second speed is higher than the first speed.

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