Systems and methods for testing attachment of an end effector to a tool changer

Abstract

An assembly for a robotic arm includes a tool changer configured to attach to an end effector and transmit power to the end effector, and a tracking system that facilitates tracking the robotic arm within an environment. The tracking system includes at least one processor and a memory including instructions that, when executed by the at least one processor, cause the at least one processor to: in response to receiving an indication that the end effector has been attached to the tool changer, generate a first signal and transmit the first signal to the tool changer; in the presence of feedback from the tool changer based on the first signal, enable the tool changer to transmit power to the end effector; and in the absence of the feedback from the tool changer, prevent the tool changer from transmitting power to the end effector.

Description

Background Technology

[0001] This disclosure relates in its entirety to testing the attachment of end effectors to tool quick-change devices for robots, such as surgical robots.

[0002] Surgical robots can assist surgeons or other healthcare providers in performing surgical procedures, or can autonomously complete one or more surgical procedures. Surgical procedures can be performed using various tools known as end effectors, aided by imaging equipment. Summary of the Invention

[0003] The exemplary embodiments of this disclosure advantageously enable improvements in safety and accuracy within a robotic system having a tool changer connected to a portion of the robotic arm and an end effector.

[0004] Examples of aspects of this disclosure include: An assembly for a robotic arm includes: a tool changer configured to attach to an end effector and transmit power to the end effector; and a tracking system facilitating the tracking of the robotic arm within an environment, the tracking system including: at least one processor; and a memory including instructions that, when executed by the at least one processor, cause the at least one processor to: generate a first signal and transmit the first signal to the tool changer in response to receiving an indication that the end effector has been attached to the tool changer; enable the tool changer to transmit power to the end effector in the presence of feedback from the tool changer based on the first signal; and prevent the tool changer from transmitting power to the end effector in the absence of the feedback from the tool changer.

[0005] According to any aspect of this document, the indication that the end effector has been attached to the tool quick-change device includes a second signal generated when the end effector is locked to the tool quick-change device.

[0006] According to any aspect of this document, the tracking system further includes at least one component configured to trigger the generation of the second signal when the end effector is locked to the tool quick-change device.

[0007] According to any aspect of this document, the at least one component includes an electromechanical switch, an electro-optical switch, or a proximity sensor.

[0008] According to any aspect of this article, wherein the feedback includes the first signal itself.

[0009] According to any aspect of this document, the tool quick-change device includes an electrical path that forms part of a circuit that enables the first signal to travel from the tracking system through the tool quick-change device and return as feedback to the tracking system.

[0010] According to any aspect of this document, the tool quick-change device includes pins that form part of the electrical path.

[0011] According to any aspect of this document, the pins are spring-loaded and have a protruding state and a pushed-in state, in which the spring of each pin is decompressed and in which the spring of each pin is compressed.

[0012] According to any aspect of this document, wherein when the pins are in the pushed-in state, the circuit is closed so that the first signal can travel from the tracking system through the tool quick-change device and return as the feedback to the tracking system, and wherein when one of the pins is in the protruding state, the circuit is open and prevents the first signal from traveling from the tracking system through the tool quick-change device and returning as the feedback to the tracking system.

[0013] According to any aspect of this document, wherein the memory includes instructions that, when executed by the at least one processor, cause the at least one processor to: provide a first notification to the user indicating that the end effector has been attached to the tool quick-change device.

[0014] According to any aspect of this document, wherein the memory includes instructions that, when executed by the at least one processor, cause the at least one processor to: provide a second notification that the connection between the end effector and the tool changer is complete in the presence of feedback from the tool changer based on the first signal.

[0015] According to any aspect of this document, wherein the memory includes instructions that, when executed by the at least one processor, cause the at least one processor to: provide a third notification that the connection between the end effector and the tool changer is incomplete in the absence of feedback from the tool changer.

[0016] According to any aspect of this document, one or more of the first notification, the second notification, and the third notification include audio notifications, visual notifications, or both.

[0017] According to any aspect of this document, wherein the memory includes instructions that, when executed by the at least one processor, cause the at least one processor to: enable the tool quick-change device to transmit power to the end effector by closing a switch positioned between the power supply and the electrical interface of the tool quick-change device.

[0018] According to any aspect of this document, the tool quick-change device includes an electrical interface electrically connected to a corresponding electrical interface of the end effector, and wherein enabling the tool quick-change device to transmit power to the end effector includes: identifying the end effector; and supplying power to a portion of the electrical interface of the tool quick-change device based on the identified end effector.

[0019] According to any aspect of this document, identifying the end effector includes: accessing the memory of the end effector to identify the type of the end effector.

[0020] Examples of aspects of this disclosure include: A tracking system for tracking a robotic arm in an environment includes: at least one processor; and a memory including instructions that, when executed by the at least one processor, cause the at least one processor to: generate a first signal and transmit the first signal to the tool changer in response to receiving an indication that an end effector has been attached to a tool changer; enable the tool changer to transmit power to the end effector in the presence of feedback from the tool changer based on the first signal; and prevent the tool changer from transmitting power to the end effector in the absence of the feedback from the tool changer.

[0021] According to any aspect of this document, the indication that the end effector has been attached to the tool quick-change device includes a second signal generated when the end effector is locked to the tool quick-change device.

[0022] According to any aspect of this document, the tracking system further includes at least one component configured to trigger the generation of the second signal when the end effector is locked to the tool quick-change device.

[0023] Examples of aspects of this disclosure include: A method comprising: receiving an indication that a locking mechanism has been actuated to lock an end effector of a robot arm to a tool quick-change device of the robot arm; in response to receiving the indication, transmitting a signal to an electrical interface of the tool quick-change device; providing a first notification that the end effector and the tool quick-change device are securely attached if feedback based on the signal from the tool quick-change device is present; and providing a second notification that the end effector and the tool quick-change device are not securely attached if the feedback from the tool quick-change device is not present.

[0024] Any one aspect can be combined with any one or more other aspects.

[0025] Any one or more of the features disclosed in this article.

[0026] This article generally discloses one or more of the features.

[0027] Any one or more of the features generally disclosed in this article are combined with any one or more other features generally disclosed in this article.

[0028] Any aspect / feature / implementation may be combined with one or more other aspects / features / implementations.

[0029] Use any one or more of the aspects or features disclosed herein.

[0030] It should be understood that any feature described herein may be combined with any other feature as described herein to claim protection, regardless of whether the feature comes from an implementation of the same description.

[0031] Details of one or more aspects of this disclosure are set forth in the following drawings and description. Other features, objects, and advantages of the technology described in this disclosure will be apparent from the description, drawings, and claims.

[0032] The phrases “at least one,” “one or more,” and “and / or” are open-ended expressions that possess both connective and disjoint qualities in operation. For example, each of the expressions “at least one of A, B, and C,” “at least one of A, B, or C,” “one or more of A, B, and C,” “one or more of A, B, or C,” and “A, B, and / or C” means only A, only B, only C, A and B together, A and C together, B and C together, or A, B, and C together. When each of A, B, and C in the above expressions refers to elements such as X, Y, and Z or element classes such as X1-Xn, Y1-Ym, and Z1-Zo, the phrase is intended to refer to a single element selected from X, Y, and Z, a combination of elements selected from the same class (e.g., X1 and X2), and a combination of elements selected from two or more classes (e.g., Y1 and Zo).

[0033] The term "a" refers to one or more of the same entity. Therefore, the terms "a," "one or more," and "at least one" are used interchangeably herein. It should also be noted that the terms "comprising," "including," and "having" are used interchangeably.

[0034] The foregoing is a simplified overview of this disclosure to provide an understanding of some aspects thereof. This summary is neither a broad nor an exhaustive overview of this disclosure and its various aspects, embodiments, and configurations. It is not intended to identify key or essential elements of this disclosure, nor to define its scope, but rather to present the concepts of this disclosure in a simplified form as an introduction to the more detailed description presented below. It should be understood that other aspects, embodiments, and configurations of this disclosure may utilize one or more of the features set forth above or described in detail below, individually or in combination.

[0035] Many additional features and advantages of this disclosure will become apparent to those skilled in the art upon consideration of the embodiments described below. Attached Figure Description

[0036] The accompanying drawings are incorporated in and form a part of this specification to illustrate several examples of this disclosure. These drawings, together with the description, explain the principles of this disclosure. The drawings illustrate only preferred and alternative examples of how to implement and use this disclosure, and these examples should not be construed as limiting this disclosure solely to the illustrated and described examples. Further features and advantages will become apparent from the following more detailed description of various aspects, embodiments, and configurations of this disclosure, as illustrated by the accompanying drawings referenced below.

[0037] Figure 1A Aspects of a system according to at least one embodiment of the present disclosure are shown.

[0038] Figure 1B Additional aspects of a system according to at least one embodiment of the present disclosure are shown.

[0039] Figure 1C Aspects of a tracking system according to at least one embodiment of the present disclosure are shown.

[0040] Figure 1D Aspects of an end effector according to at least one embodiment of the present disclosure are shown.

[0041] Figure 2A and Figure 2B These are various views of a tool quick-change device according to at least one embodiment of this disclosure.

[0042] Figure 2CA distal end view of a tracking system according to at least one embodiment of the present disclosure is shown.

[0043] Figure 2D The illustration shows a side view of a tool quick-change device connected to an end effector and a tracking system according to at least one embodiment of the present disclosure, for illustrating connection verification features.

[0044] Figure 2E The illustration shows a possible electrical path for verifying the connection of an end effector to a tool quick-change device according to at least one embodiment of the present disclosure.

[0045] Figure 3 The illustration shows a flowchart of at least one embodiment of the present disclosure for issuing one or more warnings when a tool quick-change device is connected to a tracking system.

[0046] Figure 4 The illustration shows a flowchart of at least one embodiment of the present disclosure for connecting a tool quick-change device to a tracking system and connecting an end effector to the tool quick-change device.

[0047] Figure 5 A more detailed flowchart of at least one embodiment of the present disclosure for connecting an end effector to a tool quick-change device is illustrated.

[0048] Figure 6 The illustration shows a flowchart of at least one embodiment of the present disclosure for issuing a notification or warning when an end effector is connected to a tool quick-change device. Detailed Implementation

[0049] It should be understood that the various aspects disclosed herein can be combined with combinations different from those specifically presented in the specification and drawings. It should also be understood that, depending on the example or embodiment, certain actions or events of any process or method described herein may be performed in a different order, and / or may be added, combined, or omitted entirely (e.g., implementing the disclosed technology may not require all described actions or events depending on the different embodiments of this disclosure). Furthermore, although some aspects of this disclosure are described for clarity as being performed by a single module or unit, it should be understood that the technology of this disclosure can be performed by a combination of units or modules associated with, for example, computing devices and / or medical devices.

[0050] In one or more examples, the described methods, processes, and techniques may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the function may be stored as one or more instructions or code on a computer-readable medium and executed by a hardware-based processing unit. Alternatively or additionally, the function may be implemented using machine learning models, neural networks, artificial neural networks, or combinations thereof (instructions alone or in combination). The computer-readable medium may include a non-transitory computer-readable medium that corresponds to a tangible medium, such as a data storage medium (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and is accessible by a computer).

[0051] Instructions may be executed by one or more processors, such as one or more digital signal processors (DSPs), general-purpose microprocessors (e.g., Intel Core i3, i5, i7, or i9 processors; Intel Celeron processors; Intel Xeon processors; Intel Pentium processors; AMD Ryzen processors; AMD Athlon processors; AMD Phenom processors; Apple A10 or 10X Fusion processors; Apple A11, A12, A12X, A12Z, or A13 Bionic processors; or any other general-purpose microprocessor), graphics processing units (e.g., Nvidia GeForce RTX 2000 series processors, Nvidia GeForce RTX 3000 series processors, AMD Radeon RX 5000 series processors, AMD Radeon RX 6000 series processors, or any other graphics processing units), application-specific integrated circuits (ASICs), field-programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuits. Therefore, the term "processor" as used herein may refer to any of the foregoing structures or any other physical structures suitable for implementing the described techniques. Furthermore, these technologies can be fully implemented in one or more circuit or logic elements.

[0052] Before explaining any embodiment of this disclosure in detail, it should be understood that this disclosure is not limited in its application to the construction details and component arrangements set forth in the following description or illustrated in the accompanying drawings. This disclosure can have other embodiments and can be practiced or implemented in various ways. Furthermore, it should be understood that the wording and terminology used herein are for descriptive purposes and should not be considered limiting. The use of “comprising,” “including,” or “having,” and variations thereof, is intended to cover items listed thereafter and their equivalents, as well as additional items. In addition, this disclosure may use examples to illustrate one or more aspects thereof. Unless otherwise expressly stated, the use or listing of one or more examples (which may be indicated by “for example,” “by way of example,” “such as,” or similar language) is not intended to, and does not limit, the scope of this disclosure.

[0053] The terms proximal and distal are used in this disclosure in their usual medical sense, with the proximal being closer to the operator or user of the system and further away from the patient's body or surgical area of ​​concern, and the distal being closer to the patient's body or surgical area of ​​concern and further away from the operator or user of the system.

[0054] The embodiments of this disclosure provide technical solutions to one or more of the following problems: (1) the user effort required to attach an end effector to a tool quick-change device, (2) unsafe operation of the end effector due to improper connection with the tool quick-change device, and / or (3) other potential dangerous consequences of improper connection between the end effector and the tool quick-change device.

[0055] Figures 1A to 1D The illustration shows the elements of system 100 according to an embodiment of the present disclosure. System 100 can be used to perform robot-assisted surgical procedures and / or perform one or more other aspects of one or more of the methods disclosed herein. System 100 includes one or more imaging devices 112, a robot 114, a navigation system 118, a database 130, a tracking system 132, a cloud or other network 134, a tool changer 136, and an end effector 140. Systems according to other embodiments of the present disclosure may include more or fewer components than system 100. For example, system 100 may not include imaging device 112, database 130, and / or cloud 134.

[0056] Imaging device 112 may be operable to image anatomical features (e.g., bones, veins, tissues, etc.) and / or other aspects of a patient's anatomy to produce image data (e.g., image data depicting or corresponding to bones, veins, tissues, etc.). As used herein, "image data" refers to data generated or captured by imaging device 112, including data in machine-readable, graphical / visual, and any other form. In various examples, image data may include data corresponding to a patient's anatomical features or a portion thereof. Image data may be or include preoperative images, intraoperative images, postoperative images, or images taken independently of any surgical procedure. In some embodiments, first imaging device 112 may be used to acquire first image data (e.g., a first image) at a first time, and second imaging device 112 may be used to acquire second image data (e.g., a second image) at a second time after the first time. Imaging device 112 may be capable of capturing two-dimensional (2D) or three-dimensional (3D) images to produce image data. Imaging device 112 may be or include, for example, an ultrasound scanner (which may include, for example, physically separate transducers and receivers, or a single ultrasound transceiver), an O-arm, C-arm, G-arm, or any other device utilizing X-ray-based imaging (e.g., a fluorescence microscope, CT scanner, or other X-ray machine), a magnetic resonance imaging (MRI) scanner, an optical coherence tomography (OCT) scanner, an endoscope, a microscope, an optical camera, a thermal imaging camera (e.g., an infrared camera), a radar system (which may include, for example, a transmitter, a receiver, a processor, and one or more antennas), or any other imaging device 112 adapted to obtain images of a patient's anatomical features. Imaging device 112 may be entirely contained within a single housing, or may include transmitters / transmitters and receivers / detectors located in separate housings or otherwise physically separated.

[0057] In some embodiments, imaging device 112 may include more than one imaging device 112. For example, a first imaging device may provide first image data and / or a first image, and a second imaging device may provide second image data and / or a second image. In yet other embodiments, the same imaging device may be used to provide both first image data and second image data and / or any other image data described herein. Imaging device 112 may be operable to generate an image data stream. For example, imaging device 112 may be configured to utilize an open shutter operation, or to utilize shutter operations that alternate continuously between open and closed, to capture a series of images. For the purposes of this disclosure, unless otherwise specified, if the image data represents two or more frames per second, the image data may be considered continuous and / or provided as an image data stream.

[0058] Robot 114 includes one or more robotic arms 116, a processor 120, a memory 122, a communication interface 124, and a controller 128. Other embodiments of the robot according to this disclosure may include more or fewer components than robot 114. In some embodiments, robot 114 may be mechanically coupled to a patient bed or operating table (e.g., attached to, mounted to, or mounted on the patient bed or operating table). In other embodiments, robot 114 may be mounted on a robotic trolley 144. Robotic trolley 144 may be a mobile platform that enables robot 114 and / or its components to be positioned relative to the patient and / or the bed or operating table on which the patient is positioned. In some embodiments, robotic trolley 144 may include wheels that enable robotic trolley 144 to roll or move relative to the patient. Robotic trolley 144 may be detachable from the wheels, or the wheels may be locked so that once robotic trolley 144 is positioned relative to the patient in a desired position, robotic trolley 144 will remain fixed in the desired position. In other words, the robotic cart 144 may have a mechanism that allows the robotic cart 144 to remain fixed relative to the patient. Once the robotic cart 144 has been positioned in the desired location, this mechanism better ensures that the robot 114 and / or any other components on the robotic cart 144 do not move relative to the patient due to the mobility of the robotic cart 144.

[0059] Robot 114 may be or include any surgical robot or surgical robot system. Robot 114 may be or include, for example, Mazor X. ™ Stealth robot guidance system, or a subsequent version thereof. Robot 114 may be configured to position imaging device 112 at one or more precise locations and orientations, and / or return imaging device 112 to the same location and orientation at a later point in time. Robot 114 may additionally or alternatively be configured to manipulate end effector 140 and / or components thereof (such as surgical instruments) (whether or not based on guidance from navigation system 118) to perform or assist surgical tasks. In some embodiments, robot 114 may be configured to hold and / or manipulate anatomical elements during or in conjunction with surgical procedures.

[0060] In some embodiments, robotic arm 116 may include a first robotic arm and a second robotic arm, but robot 114 may include more than two robotic arms. In some embodiments, one or more of the robotic arms 116 may be used to hold and / or manipulate imaging device 112. In embodiments where imaging device 112 includes two or more physically separate components (e.g., transmitters and receivers), one robotic arm 116 may hold one such component, and another robotic arm 116 may hold another such component. Each robotic arm 116 may be able to be positioned independently of the other robotic arms. Robotic arms 116 may be controlled in a single shared coordinate space or in separate coordinate spaces.

[0061] Robot 114, together with robot arm 116, may have, for example, one, two, three, four, five, six, seven, or more degrees of freedom. Furthermore, robot arm 116 can be or is capable of being positioned in any pose, plane, and / or focal position. Pose includes position and orientation. Therefore, imaging device 112, tracking system 132, tool changer 136, end effector 140 and its components (such as surgical instruments), or other objects held or connected to robot 114 (or more specifically, robot arm 116) can be precisely positioned in one or more desired and specific positions and orientations.

[0062] The robotic arm 116 may include one or more sensors that enable the processor 120 (or another processor of another component of the system 100) to determine the precise pose of the robotic arm (and any object or element held or attached to the robotic arm, such as the tracking system 132, the tool quick-change device 136, and / or the end effector 140) in space.

[0063] refer to Figure 1BThe processor 120 of robot 114 can be any processor described herein or any similar processor. The processor 120 can be configured to execute instructions stored in memory 122, which can enable the processor 120 to perform one or more computational steps using or based on data received from imaging device 112, navigation system 118, database 130, cloud 134, and / or end effector 140. Processor 120 may be or include one or more digital signal processors (DSPs), general-purpose microprocessors (e.g., Intel Core i3, i5, i7, or i9 processors; Intel Celeron processors; Intel Xeon processors; Intel Pentium processors; AMD Ryzen processors; AMD Athlon processors; AMD Phenom processors; Apple A10 or 10X Fusion processors; Apple A11, A12, A12X, A12Z, or A13 Bionic processors; or any other general-purpose microprocessors), graphics processing units (e.g., Nvidia GeForce RTX 2000 series processors, Nvidia GeForce RTX 3000 series processors, AMD Radeon RX 5000 series processors, AMD Radeon RX 6000 series processors, or any other graphics processing units), application-specific integrated circuits (ASICs), field-programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuits.

[0064] Memory 122 may be or include RAM, DRAM, SDRAM, other solid-state memory, any memory described herein, or any other tangible non-transitory memory used to store computer-readable data and / or instructions. Memory 122 may store information or data that can be used to perform one or more steps of, for example, the methods described herein or any other methods. In one embodiment, memory 122 includes EEPROM. Memory 122 may store instructions and / or machine learning models, for example, supporting one or more functions of robot 114. For example, memory 122 may store content (e.g., instructions and / or machine learning models) that, when executed by processor 120, implement image processing, segmentation, transformation, and / or registration. In some embodiments, such content may be organized into one or more applications, modules, packages, layers, or engines if provided as instructions. Alternatively or additionally, memory 122 may store other types of content or data (e.g., machine learning models, artificial neural networks, deep neural networks, etc.) that can be processed by processor 120 to implement the various methods and features described herein. Therefore, although the various contents of memory 122 can be described as instructions, it should be understood that the functionality described herein can be implemented using instructions, algorithms, and / or machine learning models. Data, algorithms, and / or instructions can enable processor 120 to manipulate data stored in memory 122 and / or received from or via imaging device 112, database 130, tracking system 132, cloud 134, tool changer 136, and / or end effector 140.

[0065] Communication interface 124 can be used to receive image data or other information from external sources (such as imaging device 112, navigation system 118, database 130, tracking system 132, cloud 134, tool changer 136, end effector 140, and / or any other system or component not part of system 100), and / or to send instructions, images, or other information to external systems or devices (e.g., imaging device 112, robot 114, navigation system 118, database 130, tracking system 132, cloud 134, tool changer 136, end effector 140, and / or any other system or component not part of system 100). Communication interface 124 may include one or more wired interfaces (e.g., USB port, Ethernet port, FireWire port) and / or one or more wireless transceivers or interfaces (configured to send and / or receive information, for example, via one or more wireless communication protocols such as 802.11a / b / g / n, Bluetooth, NFC, ZigBee, etc.). In some implementations, the communication interface 124 may be used to enable the robot 114 (or one or more components thereof) to communicate with one or more other processors discussed herein, whether to reduce the time required to complete computationally intensive tasks or for any other reason.

[0066] Controller 128 may be configured to automatically control one or more functions and / or components of robot 114. In some embodiments, controller 128 may utilize processor 120 to perform calculations during the process of controlling one or more functions and / or components of robot 114. In some embodiments, controller 128 may be configured to actuate one or more motors in one or more joints of robotic arm 116 to, for example, move robotic arm 116. In some embodiments, controller 128 may receive information from tracking system 132, tool changer 136, and / or end effector 140, and use such information to authenticate and control tracking system 132, tool changer 136, and / or end effector 140. For example, controller 128 may receive authentication information from end effector 140 and compare such information with, for example, information stored in database 130. When the authentication information from end effector 140 does not match the information in database 130, controller 128 may prevent end effector 140 from being used in surgical procedures or surgical protocols. For example, controller 128 may receive usage information from tracking system 132 associated with the number of times end effector 140 has been used. If the number of times end effector 140 has been used exceeds a threshold, controller 128 may prevent end effector 140 from being used in surgical procedures or surgical protocols. Such information stored in tracking system 132, tool changer 136, and end effector 140 and received by controller 128 is discussed in further detail below.

[0067] Continue to refer to Figure 1B During operation, navigation system 118 can provide navigation for the surgeon and / or surgical robot. Navigation system 118 can be any navigation system currently known or developed in the future, including, for example, Medtronic StealthStation. ™The S8 surgical navigation system or any subsequent system thereof. Navigation system 118 may include one or more cameras or other sensors for tracking one or more reference markers, navigation trackers, or other objects within the operating room or other room where part or all of system 100 is located. The one or more cameras may be optical cameras, infrared cameras, or other cameras. In some embodiments, navigation system 118 may include one or more electromagnetic sensors. In various embodiments, navigation system 118 may be used to track the position and orientation (e.g., pose) of imaging device 112, robot 114, robotic arm 116, and / or tracking system 132 and their components, and / or one or more surgical instruments (or more specifically, for tracking the pose of a navigation tracker directly or indirectly attached in a fixed relationship to one or more of the foregoing). Navigation system 118 may include a display (including, for example, user interface 110) for displaying one or more images from an external source (e.g., imaging device 112 or other source), or for displaying images and / or video streams from one or more cameras or other sensors of navigation system 118. In some embodiments, system 100 may operate without using navigation system 118. The navigation system 118 can be configured to provide guidance to the surgeon or other users of the system 100 or its components, to the robot 114, or to any other element of the system 100 regarding, for example, the pose of one or more anatomical elements, whether the tools are in the appropriate trajectory, and / or how to move the tools into the appropriate trajectory to perform the surgical task according to the preoperative or other surgical plan. The navigation system 118 includes a processor 104, a memory 106, a communication interface 108, and a user interface 110.

[0068] In some implementations, reference markers (i.e., navigation markers) may be placed on imaging device 112, robot 114 (including, for example, on robotic arm 116), or any other object in the surgical space. (See reference...) Figure 1C For example, one or more navigation markers 150 on the tracking system 132 (e.g., infrared light-emitting diodes (IRLEDs)) can be used as reference markers for the navigation system to track the robot arm 116 and / or the end effector 140. The reference markers can be tracked by the navigation system 118, and the results of the tracking can be used by the operator of the robot 114 and / or the system 100 or any of its components. In some embodiments, the navigation system 118 can be used to track other components of the system (e.g., imaging device 112).

[0069] Processor 104 may be similar to or the same as any processor discussed herein (e.g., processor 120). Processor 104 may be configured to execute instructions stored in memory 106 that enable processor 104 to perform one or more computational steps using or based on data received from imaging device 112, robot 114, database 130, cloud 134 and / or any other component of system 100.

[0070] Memory 106 may be similar to or the same as any memory discussed herein (e.g., memory 122). Memory 106 may be or include RAM, DRAM, SDRAM, other solid-state memory, any memory described herein, or any other tangible non-transitory memory used to store computer-readable data and / or instructions. In one embodiment, memory 106 includes EEPROM. Memory 106 may store information or data that can be used to perform one or more steps of, for example, the methods described herein or any other methods.

[0071] Communication interface 108 may be similar to or the same as any communication interface discussed herein (e.g., communication interface 124). Communication interface 108 may be used to receive image data or other information from external sources (such as imaging device 112, robot 114, database 130, cloud 134 and / or any other system or component not part of system 100), and / or to send instructions, images or other information to external systems or devices (e.g., imaging device 112, robot 114, database 130, cloud 134 and / or any other system or component not part of system 100).

[0072] User interface 110 may be or include one or more user interfaces. User interface 110 may be or include a keyboard, mouse, trackball, monitor, television, screen, touchscreen, and / or any other device for receiving information from a user and / or providing information to a user. User interface 110 may be used, for example, to receive user selections or other user input regarding any step of any method described herein. Nevertheless, any required input for any step of any method described herein may be automatically generated by system 100 (e.g., by processor 104, processor 120, or another component of system 100) or received by system 100 from a source external to system 100. In some embodiments, user interface 110 may be used to allow a surgeon or other user to modify instructions to be executed by processor 104 (or processor 120 in some embodiments) according to one or more embodiments of this disclosure, and / or modify or adjust settings displayed on user interface 110 or corresponding to other information on user interface 110.

[0073] Although the user interface 110 is shown as part of the navigation system 118, in some embodiments, the processor 104 and / or processor 120 (or any other processor discussed herein) may utilize the user interface 110, which is housed separately from the navigation system 118. In some embodiments, the user interface 110 may be located close to one or more other components of the robot 114, while in other embodiments, the user interface 110 may be located away from one or more other components of the robot 114.

[0074] Database 130 may store information relating one coordinate system to another (e.g., relating one or more robot coordinate systems to a patient coordinate system and / or a navigation coordinate system). Database 130 may additionally or alternatively store, for example, one or more surgical plans (including, for example, pose information about the target and / or image information about the anatomical structures of the patient at and / or proximal to the surgical site, for use by the user of robot 114, navigation system 118, and / or system 100; information about surgical tools to be used and connected to robot arm 116 to perform surgery or surgical procedures); one or more useful images relating to a surgery to be performed by or with the assistance of one or more other components of system 100; information relating to tracking system 132, tool quick-change device 136, and / or end effector 140; and / or any other useful information. Database 130 may be configured to provide any such information (whether directly or via cloud 134) to any device of system 100 or any device outside system 100. In some implementations, database 130 may be or include part of a hospital image storage system, such as a Picture Archiving and Communication System (PACS), a Health Information System (HIS), and / or another system for collecting, storing, managing, and / or transmitting electronic medical records that include image data.

[0075] Cloud 134 can be or represents the Internet or any other wide area network. Robot 114, navigation system 118, database 130, etc., can be connected to cloud 134 via communication interface 108 and / or communication interface 124 using wired, wireless, or both connections. In some embodiments, one or more components of system 100 can communicate via cloud 134 with imaging device 112, database 130, any other components of system 100, and / or external devices (e.g., computing devices outside system 100).

[0076] The tracking system 132 has a proximal end with an interface that connects to the distal end of the robotic arm 116 to attach the tracking system 132 to the robotic arm 116. The tracking system 132 also has a distal end that facilitates connection to the tool changer 136. Generally, the tracking system 132 is held on the robotic arm 116 during surgical procedures or surgical protocols. The tracking system 132 may include a tracking device 134 comprising components for tracking the system 132 itself, the robotic arm 116, the tool changer 136, and / or the end effector 140 within a coordinate system, such as the coordinate system formed by the navigation system 118 by means of the imaging device 112. The tracking device 134 may include a processor 148, a memory 152, and one or more passive or active navigation markers 150 (e.g., a reflective ball as a passive marker, an infrared light-emitting diode (IRLED) as an active marker). Figure 1C As shown, navigation markers 150 can be arranged on tracking system 132 in a predetermined configuration, which allows for registration with other components of the system, for example, based on detection of navigation markers 150 using image data from imaging device 112 and processing performed by navigation system 118. Additionally or alternatively, the memory 152 of tracking system 132 may include a calibration file containing calibration and certification information that enables controller 128 to calibrate and certify tracking system 132, as discussed in further detail below. In some embodiments, tracking system 132 may be omitted. Figure 1B The tracking system 132 may include one or more components as depicted in the diagram. In some embodiments, the tracking system 132 may include additional components such as temperature sensors, LED driver circuitry, other sensors for surgical applications, communication interfaces, etc.

[0077] Processor 148 may be similar to or the same as any processor discussed herein (e.g., processor 104, processor 120, etc.). Processor 148 may be configured to execute instructions stored in memory 152 that enable processor 148 to perform one or more computational steps using or based on data received from imaging device 112, robot 114, database 130, cloud 134, and / or any other component of system 100.

[0078] Memory 152 may be similar to or the same as any memory discussed herein (e.g., memory 106, memory 122, etc.). Memory 152 may be or include RAM, DRAM, SDRAM, other solid-state memory, any memory described herein, or any other tangible non-transitory memory used to store computer-readable data and / or instructions. Memory 152 may store information or data that can be used to perform one or more steps of, for example, the methods described herein or any other methods. In one embodiment, memory 152 includes an EEPROM that is programmable to store information specific to tracking system 132. For example, the EEPROM may include information about the position of LEDs on tracking system 132; specification information associated with the size, operating conditions, etc., of tracking system 132; usage information associated with tracking system 132; certification information of tracking system 132; and / or any other useful information. When tracking system 132 is attached to robot arm 116, such information may be transmitted from processor 148 to controller 128.

[0079] Interface 156 may include one or more electrical and / or mechanical interfaces to electrically and mechanically connect interface 164 of tool changer 136 to tracking system 132, enabling tool changer 136 to supply power and control signals to end effector 140. End effector 140 may be an active component, such as a motorized surgical instrument. In this case, interface 156 can transmit and receive signals from end effector 140 via tool changer 136 to control end effector 140 and / or its active components, such as surgical drills, reamers, etc. In some embodiments, the power supplied to interface 156 and the signals exchanged with end effector 140 are controlled by processor 148. In some examples, end effector 140 includes passive components, such as a cylinder (whether motorized or non-motorized) that facilitates the use of another tool passing through it. Interface 156 may control or include a locking mechanism of tracking system 132 that locks and unlocks tool quick-change device 136, allowing or preventing tool quick-change device 136 from moving relative to tracking system 132. The locking mechanism may be mechanical (e.g., preventing attachment or detachment of tool quick-change device 136 from tracking system 132 by bolts, etc.), electrical (e.g., tool quick-change device 136 receiving an electrical signal from the locking mechanism that causes tool quick-change device 136 to lock or unlock), or a combination thereof.

[0080] The tracking system 132 may also include a force-torque (FT) sensor 158. The FT sensor 158 may be in force-transmitting contact with the robotic arm 116, tool quick-change device 136, and / or end effector 140 to measure rotational forces, compressive forces, and / or tensions applied to one or more of these elements. The FT sensor 158 may generate sensor data indicative of these forces and transmit this sensor data to a processor 148, which may generate an alert for excessive force and / or compensate for the force (e.g., caused by deflection of the robotic arm 116). The FT sensor 158 may be a six-axis FT sensor capable of measuring tension and compressive forces, as well as elastic deformation and rotational forces about an axis. The FT sensor 158 may be positioned closer to the distal end of the tracking system than to the proximal end of the tracking system 132. The FT sensor 158 may be implemented using suitable force and torque sensing techniques, such as strain gauge sensors. It should be understood that the FT sensor 158 may be replaced by a sensor that senses only rotational forces (and not necessarily compressive and tensile forces). According to embodiments of this disclosure, the FT sensor 158 may also generate sensor data indicating rotational forces applied to one or more connections (e.g., screw connections) between the tool quick-change device 136 and the tracking system 132. Figures 2A to 4 These aspects are described in more detail.

[0081] Tracking system 132 may include one or more output devices 159 configured to emit audio and / or visual alerts based on the output of FT sensor 158. Examples of output devices 159 include, but are not limited to, light sources (e.g., visible light LEDs separate from navigation markers 150) for emitting visual alerts, displays for emitting visual alerts with readable text, one or more speakers for emitting audio alerts, etc. According to embodiments of this disclosure, such alerts may be generated based on the output of FT sensor 158 indicating rotational forces, compressive forces, and / or tensions sensed when tool change device 136 is connected to tracking system 132 and / or during surgical procedures involving the robotic arm.

[0082] As described above, the tool quick-change device 136 may include one or more electrical and / or mechanical interfaces 164 at its distal and proximal ends, which are electrically and mechanically connected to the end effector 140 and the tracking system 132. The following references... Figure 2A and Figure 2BInterface 164 is described in more detail, but these interfaces should generally be understood to include a first type of mechanical connection to the tracking system (e.g., via one or more screws with corresponding screw locators) and a second type of mechanical connection to the end effector (e.g., a locking motion connection). In some cases, the first and second types of mechanical connections are the same type of connection, such as both being motion connections or both including screws and corresponding screw locators. Tool change device 136 may include a fixed-size distal end interface designed to connect to a corresponding end effector 140. Optionally, tool change device 136 includes a distal end interface with an adjustable size to allow end effectors 140 of different shapes and sizes to be coupled to the robot arm 116. Tool change device 136 includes a tool change device controller 160 that generates control signals transmitted to the end effector 140 (or, in some cases, receives control signals from other components of system 100). The tool quick-change device controller 160 can control, for example, the interlocking feature of the tool quick-change device 136, such that when the tool quick-change device 136 is positioned near or inside the tool holder, the end effector 140 can only be separated from the tool quick-change device 136.

[0083] In one example, the tool changer controller 160 can determine that the tool changer 136 is connected to the end effector 140. The tool changer controller 160 can determine this information based on sensors, signals generated when the end effector 140 has been effectively connected to the tool changer 136, steps in the surgical procedure, combinations thereof, etc. Once the tool changer controller 160 determines that the tool changer 136 and the end effector 140 are connected, the tool changer controller 160 can keep the interlock feature locked until another signal is received. When the tool changer 136 has been returned to the tool rack (e.g., after the end effector 140 has been used and the surgery or surgical procedure has progressed to the next step), the tool changer controller 160 can generate and / or transmit another signal causing the tool changer controller 160 to change the interlock feature to an unlocked state.

[0084] The tracking system 132 and the tool quick-change device 136 may each include corresponding connection circuits 161 and 165, which are used to verify a secure connection between the end effector 140 and the tool quick-change device 136. For example, as referenced below Figure 5 and Figure 6The present disclosure relates to at least one embodiment of a multi-stage method for ensuring that an end effector 140 is securely and firmly attached to a tool quick-change device 136. In some examples, the method includes: using connection circuitry 161 and / or 165 to detect that the end effector 140 is locked to the tool quick-change device 136, and, in response, checking whether the two elements are securely connected by means of an electrical signal that can be fed to the tool quick-change device 136. In one example, the connection circuitry 161 of the tracking system 132 generates an electrical signal in response to detecting that the end effector 140 is locked to the tool quick-change device 136, transmits the electrical signal to the tool quick-change device 136, and waits for feedback from the tool quick-change device 136 indicating whether the end effector 140 is securely attached. The feedback from the tool quick-change device 136 may include the electrical signal itself, a version of the electrical signal, or another signal generated by the tool quick-change device 136 and triggered by receiving the electrical signal.

[0085] To implement the methods described above and below for ensuring a secure connection between the end effector 140 and the tool quick-change device 136, the connection circuitry 161 and / or 165 may include a sensor for sensing when the locking mechanism of the tool quick-change device 136 is activated to lock the end effector 140 to the tool quick-change device. For example, as referenced below... Figure 2A and Figure 2B In a more detailed description, the locking mechanism may include placing the end effector 140 in the tool quick-change device 136 and manually rotating a portion of the tool quick-change device 136 from the unlocked position to the locked position. Sensors for sensing when locking is complete may include microswitches, proximity sensors (e.g., capacitive or magnetic proximity sensors), and / or photoelectric switches.

[0086] refer to Figure 1B and Figure 1C The tracking device 134 enables the navigation system 118 to track the robotic arm 116. The tracking device 134 includes navigation markers 150A to 150F. Navigation markers 150A to 150F may be or include one or more active markers (e.g., infrared light sources), one or more passive markers (e.g., segments with reflective strips, objects with a specific shape (sphere), or a combination of active and passive markers). Navigation markers 150A to 150F may be, for example, infrared LEDs, reflective markers, etc. The navigation system 118 may be configured to obtain pose information describing the pose of the navigation markers 150A to 150F, which can be used to determine the relevant poses of the robotic arm 116, the tracking system 132, and / or the end effector 140 (e.g., using transformation 124 and registration 128).

[0087] refer to Figure 1B and Figure 1DThe end effector 140 may include a proximal end and a distal end, the proximal end having an electromechanical interface for connection to an interface 164 of a tool quick-change device 136, and the distal end including an operating portion 180 for performing one or more surgical tasks. The end effector 140 may be an active end effector (such as when the operating portion 180 includes a surgical instrument) or a passive end effector (such as when the operating portion 180 includes a tool guide). The end effector 140 also includes a memory 172 and may additionally include a processor 168 and a motor controller 176.

[0088] The operating portion 180 may include surgical tools. Surgical tools may be configured to perform drilling, deburring, milling, cutting, sawing, reaming, tapping, etc., in anatomical tissues such as patient anatomy structures (e.g., soft tissue, bone, etc.). In some embodiments, system 100 may include multiple surgical tools, each performing a different surgical task (e.g., a surgical drill for drilling, a surgical milling tool for milling, a curette for removing anatomical tissue, a bone chisel for cutting bone, etc.). In other embodiments, the surgical tools may provide adapter interfaces with different working ends to which can be attached to perform multiple different types of surgical manipulations (e.g., the surgical tool may be able to receive one or more different cutting heads, such that the surgical tool can perform drilling, milling, cutting, sawing, reaming, tapping, etc., depending on the cutting head attached to the surgical tool). The surgical tools may operate autonomously or semi-autonomously. Navigation system 118 may track the pose (e.g., positioning and orientation) of the surgical tools and / or navigate the surgical tools.

[0089] Additionally or alternatively, the operating portion 180 may include a tool guide. This tool guide may provide a passive aperture through which a surgical instrument or component can reach the surgical site. For example, the tool guide may be or include a hollow cylinder that can be aligned with the planned trajectory of a surgical instrument. Thus, the guide provides a visual indication of the planned trajectory of the surgical instrument to the operator (e.g., a surgeon). In some cases, the operating portion 180 including the tool guide may be attached to a robotic arm 116, and the robotic arm 116 may be movable such that the tool guide is positioned at the planned surgical entry point. Another robotic arm 116 with a surgical instrument (e.g., a surgical drill) may then be positioned such that the surgical instrument enters the surgical site through the tool guide.

[0090] The operating section 180 can be controlled by a motor controller 176. The motor controller 176 can be connected to or otherwise communicate with one or more motors disposed in or connected to the end effector 140. The motor controller 176 can control the operation of the motors such that it controls the movement of the end effector 140 and / or one or more components thereof (such as the operating section 180). The motor controller 176 can control the motors based on signals transmitted from the robot 114 or its components (e.g., controller 128), the navigation system 118 or its components (e.g., processor 104), the tracking system 132, the tool changer 136, etc. In one example, such as when the operating section 180 includes surgical instruments, the motor controller 176 can control one or more motors of the operating section 180 to move the surgical instruments, open and close the surgical instruments, combinations thereof, etc.

[0091] Processor 168 may be similar to or the same as any processor discussed herein (e.g., processor 104, processor 120, processor 148). Processor 168 may be configured to execute instructions stored in memory 172 that cause processor 168 to transfer information stored in memory 172 to one or more components of system 100 (e.g., to robot 114, to navigation system 118, to tracking system 132, to tool changer 136, etc.). Additionally or alternatively, these instructions may cause processor 168 to write to or otherwise update information stored in memory 172, such as updating information about the number of times end effector 140 has been used, as discussed in further detail below.

[0092] Continue to refer to Figure 1B and Figure 1DMemory 172 may be similar to or the same as any memory discussed herein (e.g., memory 122). Memory 172 may be or may include RAM, DRAM, SDRAM, other solid-state memory, any memory described herein (such as EEPROM), or any other tangible non-transitory memory used to store computer-readable data and / or instructions. Memory 106 may store information or data that can be used to perform one or more steps of, for example, the methods described herein or any other methods. In some cases, both the processor 168 and the stored information are located on a printed circuit board disposed in the end effector 140. Memory 172 is a reprogrammable memory, such that the information stored in memory 172 can be erased and reprogrammed. In one embodiment, memory 172 may be specific to end effector 140. In other words, each end effector 140 may have a separate memory 172 embedded in end effector 140 and containing information specific to end effector 140. The memory 172 includes end effector type information 184, authentication information 188, calibration information 192, end effector usage information 194, and miscellaneous information 196.

[0093] End effector type information 184 indicates whether end effector 140 is an active end effector (e.g., the operating portion 180 includes an active surgical tool, such as a surgical drill) or a passive end effector (e.g., the operating portion 180 includes a passive surgical tool, such as a tool guide). End effector type information 184 is accessible by processor 168 and transmitted to controller 128 of robot 114. In some cases, end effector type information 184 may be transmitted to navigation system 118 to assist navigation system 118 in tracking end effector 140. In other words, when navigation system 118 has information about the type of end effector in use, navigation system 118 may be better able to track end effector 140 (e.g., a passive end effector is immovable compared to a movable active end effector). Controller 128 may present end effector type information 184 to user interface 110 so that the user can view end effector type information 184. Controller 128 can compare end effector type information 184 with information stored in database 130 to authenticate end effector 140. For example, a surgical plan may require the use of an active end effector capable of resecting anatomical tissue, and end effector type information 184 may specify that end effector 140 is an active end effector including a surgical drill. Controller 128 may receive end effector type information 184, and because end effector type information 184 matches the end effector type required by the surgical plan, controller 128 may determine that end effector 140 connected to robotic arm 116 is the correct end effector. Again, for example, a surgical plan may require the use of an active surgical drill, but end effector type information 184 may specify that end effector 140 is a passive instrument (e.g., a tool guide) that cannot resecte anatomical tissue. Therefore, when controller 128 compares end effector type information 184 with stored data, controller 128 may determine that end effector 140 is not the correct end effector for the current step of the procedure. In such examples, controller 128 may present a warning (e.g., a flashing light) to the display to notify the user that an incorrect end effector has been attached. Additionally or alternatively, controller 128 may disable the use of robotic arm 116 and / or its components until the inappropriate end effector 140 is removed or until the appropriate end effector 140 is attached.

[0094] Authentication information 188 may contain information that enables system 100 or its components (e.g., processor 120 of robot 114) to authenticate end effector 140. End effector type information 184 may be or include information associated with manufacturing origin, manufacturing date, batch number, model, serial number, recommended operating settings, operating parameters, combinations thereof, etc. In some embodiments, authentication information 188 may be accessed by processor 168 and transmitted to controller 128 of robot 114. Controller 128 may compare authentication information 188 with information stored in database 130 to authenticate end effector 140. For example, a surgical plan for a surgical procedure may require the use of an end effector manufactured by a first manufacturer, and authentication information 188 may specify that end effector 140 was manufactured by the first manufacturer. Controller 128 may receive authentication information 188, and because authentication information 188 matches the surgical plan, controller 128 may determine that end effector 140 connected to robot arm 116 is an acceptable end effector for performing the surgical procedure. In some cases, once the end effector 140 has been certified, the controller 128 may be able to control the end effector 140. For example, a surgical procedure may require the use of an end effector manufactured by a first manufacturer, but certification information 188 may specify that the end effector 140 is manufactured by a different second manufacturer. Therefore, when the controller 128 compares the certification information 188 with stored data, the controller 128 may determine that the end effector 140 is unacceptable for performing the current step of the procedure. In such examples, the controller 128 may present a warning (e.g., a flashing light) to the display to notify the user that an incorrect end effector has been attached. Additionally or alternatively, the controller 128 may disable the use of the robotic arm 116 and / or its components until the inappropriate end effector 140 is removed or until a suitable end effector 140 is attached.

[0095] The calibration information 192 may include information about the dimensions of the end effector 140 and / or its components (e.g., the operating portion 180). These dimensions may be based on one or more measurements of the end effector 140 generated using one or more measurement systems. For example, the dimensions of the end effector 140 may be generated using a CMM. The CMM may capture the geometry of the end effector 140 based on sensing discrete points on the surface of the end effector 140. In some embodiments, the measurements of the end effector 140 may be stored as calibration information 192 in memory 172. The calibration information 192 may be accessed by processor 168 and transmitted to controller 128. Once the end effector 140 is coupled to robot arm 116 (e.g., via tool changer 136), processor 168 can transmit the information. Controller 128 may receive the calibration information 192 and, using the calibration information 192 and the known pose of robot arm 116, register the end effector 140 to robot 114. The controller 128 may additionally or alternatively register the end effector 140 to any other coordinate system and transmit such information to the navigation system 118 so that the navigation system 118 can track the pose of the end effector 140.

[0096] The end effector usage information 194 may contain information about the number of times the end effector 140 has been used. For example, the end effector usage information 194 may contain an integer representing the number of times the end effector 140 has been attached to the robot arm 116 and / or its components (e.g., tool changer 136), and / or the number of times the end effector 140 has been used in a surgical procedure or surgical protocol. In some embodiments, the end effector usage information 194 may be updated and saved to memory 172 once the end effector 140 has been attached to the tool changer 136. For example, the end effector usage information 194 may indicate that the end effector 140 has been used three times. When the robot arm 116 moves to the tool holder and the end effector 140 is attached to the distal end of the tool changer 136, or when the user manually attaches the end effector 140 to the tool changer 136, the processor 168 may access memory 172 and update the end effector usage information 194 to indicate that the end effector 140 has been used four times. Additionally or alternatively, processor 168 may transmit end effector usage information 194 to one or more components of system 100, such as to user interface 110, so that end effector usage information 194 can be displayed and viewed by a user (e.g., a physician, surgical team member, etc.). In some embodiments, end effector usage information 194 may be updated by processor 168 after end effector 140 has been used and returned to the tool rack. In other words, memory 172 is updated after end effector 140 has been used and the surgical procedure requiring end effector 140 has been completed.

[0097] In some embodiments, processor 168 may access end effector usage information 194 and transmit it to controller 128, and controller 128 may determine whether end effector 140 has exceeded a predetermined number of uses. The predetermined number of uses may be or include a threshold stored, for example, in database 130. When the number of uses of end effector 140 reaches or exceeds the threshold, controller 128 may disable the use of end effector 140, for example, by preventing the operating portion 180 of end effector 140 from receiving power. In some embodiments, controller 128 may cause processor 168 to write an instruction to memory 172 specifying that end effector 140 should no longer be used. Additionally or alternatively, controller 128 may present a warning to user interface 110 informing the user that end effector 140 has exceeded the threshold number of uses. The threshold number of uses may be based on a detailed description of the surgical procedure or surgical protocol, surgical plan, surgeon preferences, combinations thereof, etc.

[0098] Miscellaneous information 196 may include any other useful information associated with end effector 140 and / or its components. Miscellaneous information 196 may include historical data associated with end effector 140, such as the date of use of end effector 140, the total time of use of end effector 140, combinations thereof, etc.

[0099] As will be understood and as described in more detail below with reference to other accompanying drawings, some or all of the information 184, 188, 192, 194, and 196 contained in memory 172 may be used to identify end effector 140 in order to energize selected portions (e.g., conductive pins) of the electrical interface of tool quick-change device 136 included in interface 164. In other words, the electrical interface 164 of tool quick-change device 136 may include multiple conductive pins or other electrical connectors, and different end effectors 140 may utilize different pins or connectors among the pins or connectors. The information in memory 172 may be used to identify the end effector 140 currently connected to tool quick-change device 136, such that tracking system 132 transmits power and / or data (e.g., control signals) to the appropriate pins or connectors. For example, end effector type information 184 can be used to identify the currently connected end effector 140 as a specific type of drill bit utilizing a subset of the electrical pins on the tool quick-change device 136, such that power and / or control signals are transmitted from the tracking system 132 to the appropriate pins of the tool quick-change device 136 for the purpose of controlling the end effector 140.

[0100] It should be understood that the above discussion of memory 172 and its elements (e.g., end effector type information 184, authentication information 188, etc.) is not limited to end effector 140, and other components of system 100 may store such information in erasable and programmable memory unique to that component. For example, memory 152 of tracking system 132 may include EEPROM or any similar erasable and programmable memory that stores information about tracking system 132.

[0101] System 100 or a similar system may be used, for example, to implement one or more aspects of the methods described herein. System 100 or a similar system may also be used for other purposes.

[0102] Figure 2A and Figure 2B Different views of a tool quick-change device 136 according to at least one embodiment of the present disclosure are illustrated. Figure 2C The illustration shows a distal end view of a tracking system 132 according to at least one embodiment of the present disclosure. In particular, Figure 2A An example distal end view of a tool quick-change device 136, which is electrically and mechanically connected to an end effector 140 (not shown) via a corresponding interface, is illustrated. Figure 2B The illustration shows an example proximal end view of a tool quick-change device 136, which, when connected to the tracking system 132, can face... Figure 2C The distal end of the tracking system 132 in the middle. Figure 2D A close-up side view of the distal end of the tool quick-change device 136 and the tracking system 132 according to at least one embodiment of the present disclosure is illustrated to explain the locking feature. Reference is made below. Figures 2A to 2E The interfaces of the tool quick-change device 136 are described in more detail, but these interfaces should generally be understood to include corresponding electrical connections to the tracking system 132 and first-type mechanical connections (e.g., via one or more screws or bolts), and second-type mechanical connections to the end effector (e.g., locking motion connections). Additional details regarding the connections between the tool quick-change device and the end effector and attachments (such as the tracking system 132) can be found in U.S. Patent Application Nos. 17 / 357,649 (U.S. Publication No. 2022 / 0409303) and 17,357 / 647 (U.S. Publication No. 2022 / 0409304), filed June 24, 2021, entitled “Interchangeable End Effector and Sterile Barrier,” both of which are incorporated herein by reference. In some cases, the first type of mechanical connection and the second type of mechanical connection are the same type of connection, such as both being kinematic connections or both including screws and corresponding screw positioners.

[0103] refer to Figure 2A and Figure 2BThe tool quick-change device 136 includes a stationary portion 200 and a movable portion 204 that rotates relative to the stationary portion 200 in the direction indicated by the dashed double-headed arrow D. The stationary portion 200 may include a lock-unlock indicator 208, and the movable portion 204 may include a corresponding marker or indicator 212 for indicating whether the end effector 140 is locked to the tool quick-change device 136. For example, starting from the unlocked state indicated by indicators 208 and 212, a user can place the end effector 140 (not shown) into the interior 218 of the tool quick-change device and manually rotate the movable portion 204 relative to the stationary portion 200 in a counterclockwise (or clockwise, if designed) direction using protrusions 216 to lock the end effector 140 to the stationary portion 200. A total of four protrusions 216 are shown, but the number of protrusions may be more or less, and in some cases, may be zero, in which case the outer surface of the movable portion 204 may be textured. To unlock the end effector 140 from the stationary portion 200, the user manually rotates the movable portion 204 clockwise until the indicator 212 reaches the unlocked portion of the indicator 208. In some examples, locking the end effector 140 to the tool changer 136 also makes the end effector 140 electrically contact the tool changer 136 by means of a mechanism that converts the rotational motion of the movable portion 204 into translational motion of the end effector 140. Conversely, unlocking the end effector 140 from the tool changer 136 allows or permits the end effector 140 to move away from the tool changer 136, thus eliminating electrical contact.

[0104] In some cases, the mechanism for the locking effect includes the mechanism described in the above-cited U.S. patent applications and / or any other suitable locking mechanism. As described in these documents, protrusions 220a, 220b, 220c, and / or 220d may facilitate alignment, locking, and / or movement restriction between the tool quick-change device 136 and the end effector 140. In some examples, protrusion 220c serves as a kinematic connection between the tool quick-change device 136 and the end effector 140.

[0105] As described in more detail below, the connection between the tool quick-change device 136 and the tracking system 132 may be embodied by one or more mechanical connectors that engage via an applied rotational force, which can be converted into a torque-based output of the FT sensor 158. For example, the tool quick-change device 136 includes one or more screw connections 222, in Figure 2A and Figure 2B The numbers shown are 222a, 222b, and 222c (due to the perspective, in...). Figure 2A(222c not shown). When the tool quick-change device 136 and the tracking system 132 are connected to each other, each screw connection 222a, 222b and 222c may include a threaded screw or bolt that is inserted into Figure 2A In the interior 218 of the distal end of the tool quick-change device 136, so as to penetrate Figure 2B The tool quick-change device 136 in the middle is near the end and enters into Figure 2C The corresponding threaded receiver portions 224a, 224b and 224c of the tracking system 132.

[0106] like Figures 2A to 2C As shown, the electrical connection between the tool quick-change device 136, the tracking system 132, and the end effector 140 can be achieved through the electrical connectors of the tool quick-change device 136 and the tracking system 132. Figure 2A and Figure 2B In the non-limiting example shown, the electrical connector of the tool quick-change device 136 includes a plurality of conductive pins 226a and 226b, and the electrical connector of the tracking system 132 includes a conductive pad 228 corresponding to each conductive pin 226b. It should be understood here that... Figure 2A , Figure 2B and Figure 2C It is not necessarily shown that there is a one-to-one correspondence between the pins at the distal and proximal ends of the tool quick-change device 136 and / or between the pins of the tool quick-change device 136 and the conductive pads 228 of the tracking system 132, but such a one-to-one correspondence may exist in practice. In other words, each pin 226a at the distal end of the tool quick-change device 136 can be connected via pads inside the tool quick-change device (e.g., see...). Figure 2E The pads 254 in the tool quick-change device 136 and the corresponding pins 226b at the proximal end of the tool quick-change device 136 and the corresponding pads 228 of the tracking system 132 are electrically connected, and each pin 226b is electrically connected to the corresponding conductive pad 228 of the tracking system 132. In some cases, the corresponding pins 226a and 226b are aligned with each other so that they have the same central longitudinal axis.

[0107] In some examples, pins 226a and 226b are spring-loaded to have a compressed or pushed-in state and a decompressed or protruding state. For example, when the tool changer 136 and the tracking system 132 are connected, pins 226a and 226b may be in a compressed state and electrically contacting corresponding conductive pads (not shown) inside the tool changer 136, and positioned between the ends of the corresponding pins 226a and 226b. Simultaneously, when the tool changer 136 is detached from or not secured to the tracking system 132, pin 226b is in a decompressed state. When the end effector 140 is attached to and / or locked to the tool changer 136, the spring-loaded pin 226a may be pushed to make electrical contact with a conductive pad (not shown) inside the tool changer 136. When the end effector 140 is detached from or not locked to the tool changer 136, pin 226b may be in a decompressed state. In this configuration, pin 226a retracts from the conductive pad inside the tool changer 136 to avoid electrical contact. In some examples, at least some pins of pin 226a and / or some pins of pin 226b are not spring-loaded but are designed as non-retractable conductive posts to make electrical contact with the connections on the end effector 140 and / or tracking system 132 (which may or may not be spring-loaded). For example, pin 226b at the proximal end of the tool changer 136 is not spring-loaded but has a length for constant electrical contact with pad 228 when the tool changer 136 is connected to the tracking system 132.

[0108] The above discussion describes pin 226a as separate from pin 226b and electrically connected to each other via corresponding conductive pads within the tool changer 136. However, in some examples, pins 226a and 226b form an integral component (i.e., a single pin) extending from the distal end to the proximal end through the tool changer 136. In this case, the two ends of the pin may have the same or similar spring-loaded functionality and the described compression / decompression states, such that these ends are compressed inward toward the center of the tool changer 136 in the compressed state and allowed to decompress by extending away from the center of the tool changer 136 in the decompressed state. In this case, pads 254a / 254b are omitted, and the pairs of pins 226a-1 / 226b-1 and 226a-2 and 226b-2 are each replaced by an integral pin with spring-loaded ends. In some examples, the entire pin is conductive and capable of delivering electrical signals regardless of whether each end of the pin is compressed or decompressed. However, in some examples, the pin may include a conductive pad or conductive portion located between the ends (at the same or similar location as pad 254), which serves the same function as the conductive pad described above within the tool changer 136. Here, the pin conducts electricity from one end to the other only when both ends are in a compressed state. Therefore, when either end is decompressed, the conductive portion of one end of the pin can be separated from the conductive portion of the other end of the pin by an insulator. For example, an insulated intermediate section of the pin can separate the two conductive ends. This insulated intermediate section may be fixed within the tool changer 136 and may be surrounded by or contain conductive pads that enable electrical connection when both ends are in a compressed state (i.e., when the tool changer 136 is connected to the end effector 140 and the tracking system 132 to push each end of the pin into contact with the conductive pads).

[0109] refer to Figure 2B and Figure 2C The proximal end of the tool quick-change device 136 may include one or more alignment aids, such as protrusions 230a and 230b integrated with corresponding connectors 222a and 222b, and the tracking system 132 may include corresponding recesses 232a and 232b. These protrusions and recesses facilitate alignment of the tool quick-change device 136 and the tracking system 132 for proper connection and ensure system accuracy by providing accurate and repeatable connections. Figure 2BIn this configuration, no protrusions and corresponding recesses are required, therefore these protrusions and recesses are not included for connection 222c. In at least one example, the user inserts each protrusion 230a, 230b into the corresponding recess 232a, 232b, and then secures the tool quick-change device 136 to the tracking system 132 via one or more screw connections 222 and corresponding threads 224. The protrusions 230a and 230b and the corresponding recesses 232a and 232b may be differently shaped to provide additional assurance that the tool quick-change device 136 is properly aligned with the tracking system 132.

[0110] refer to Figure 2C The tracking system 132 may include a table structure 234, a threaded receiver portion 224, and pads 228. The table structure 234 may protrude from a recessed surface 236, which serves as a cover for other components of the tracking system 132. The tracking system 132 may also include an FT sensor 158, which, when connected to the tool changer 136 and the robot arm 116, is in force-transmitting contact with the robot arm 116 and the tool changer 136. The FT sensor 158 may be an integral part of the tracking system 132. Figure 2C The internal components are not visible, but the "tool side" of the FT sensor 158 is in force-transmitting contact with the support portion 238 (e.g., attached to the support portion), and the "robot side" of the FT sensor 158 is attached to the chassis 250 of the tracking system 132, which is connected to the robot arm 116. It is worth noting that the support portion 238 is a "floating" component, which is allowed to move freely relative to the chassis 250 of the tracking system 132 to enable accurate readings from the FT sensor 158. In other words, there is no direct connection or attachment between the chassis 250 and the support portion 238. Generally, the FT sensor 158 is configured to generate sensor data indicating the rotational and / or translational forces (compressive and tensile forces) experienced by the elements of the system 100 when the end effector is operated during surgical procedures. That is, the FT sensor 158 is capable of measuring torque / torque on all axes (X, Y, and Z) and forces (compressive and tensile forces) on all axes (X, Y, and Z), which can be used to trigger one or more alerts, such as by Figure 2C The visual warning of the embodiment of one or more visible light LED output devices 159.

[0111] According to at least one embodiment, the FT sensor 158 is also used outside of situations involving the operation of the end effector 140 during a surgical procedure or other tasks performed during a surgical procedure, such as when switching the end effector 140 before operation and / or during an ongoing procedure. For example, when the tool quick-change device 136 is connected to the tracking system 132 and / or when the connection is double-checked when switching one end effector 140 to another, the FT sensor 158 can generate sensor data indicating the rotational force applied to one or more screw connections 222 described above. When the tool quick-change device 136 is tightened to the tracking system 132 via each screw connection 222, the sensor data generated by the FT sensor 158 can be converted into or indicate a torque value for that screw connection 222, which is then used to trigger one or more alerts that notify the user that the appropriate amount of torque has been received at a particular screw connection 222. Figure 2C An example is illustrated with an output device 159 embodied as a light source (e.g., an LED), which can provide a visual warning in response to determining that a particular screw connection 222 has been sufficiently twisted (e.g., according to a preset manufacturer's recommendation). In this example, as... Figure 2C As shown, the light source 159 forms a ring that partially or completely surrounds the section of the tracking system 132 between its proximal and distal ends. Using the built-in FT sensor 158 of the tracking system 132 for monitoring the torque of the screw connection 222 eliminates the need for additional special tooling (such as a sterile screwdriver with a built-in torque meter), which would increase system cost and / or increase the time required to attach the tool changer 136 to the tracking system 132. The following references... Figure 3 A more detailed description is provided regarding the issuance of the warning.

[0112] As described in more detail below, at least one embodiment of this disclosure relates to a multi-stage method for ensuring that the end effector 140 is properly secured to the tool quick-change device 136. Figure 2D The diagram illustrates the structure of the first stage that can be used to implement a multi-stage approach (some details are not shown). Figure 2A and Figure 2B (As illustrated in the diagram), this multi-stage method includes: using connection circuits 161 and / or 165 to detect that the end effector 140 is locked to the tool quick-change device 136. As can be understood, Figure 2DThis is a block diagram side view of a tool quick-change device 136 connected to a tracking system 132, with the end effector 140 locked to the tool quick-change device 136. As shown, the stationary portion 200 of the tool quick-change device 136, including a lock / unlock indicator 208, is abutted against the tracking system 132 (e.g., at the table structure 234) when connected. The movable portion 204 of the tool quick-change device 136 includes a protrusion 216 that assists in manual rotation of the movable portion 204 between a locked and unlocked position in the direction indicated by directional arrow D.

[0113] In this example, the protrusion 216 may include a fin 216a that extends across the stationary portion 200 to the tracking system 132 (e.g., to the platform structure 234 and / or the support portion 238). The tracking system 132 may include a mechanism 244 that is activated in the presence of the fin 216a. In some examples, the mechanism 244 includes a microswitch, in which case the fin 216a and / or the microswitch are configured such that when the movable portion 216 is in the unlocked state (shown in dashed lines, i.e., ...), the fin 216a extends to the tracking system 132 (e.g., to the platform structure 234 and / or the support portion 238). Figure 2D When the dashed section (in the diagram) moves to the locked state to lock the end effector 140 to the tool quick-change device 136, it allows the fin 204a to trigger (e.g., close) a microswitch. In some examples, the mechanism 244 and the fin 216a form a proximity sensor, such as a capacitive proximity sensor, wherein the mechanism 244 and the fin 216a each include a capacitive element (e.g., a metal plate) that is activated when the capacitive elements of the fin 216a and the mechanism 244 are brought close to each other. In other examples, the mechanism 244 includes an optical sensor that senses the presence or absence of the fin 216a. An example of an optical sensor is a photoelectric sensor (e.g., a photodiode) that senses the presence of light when the fin 216a is not covering the photoelectric sensor and senses the absence of light when the fin 216b covers the photoelectric sensor. The mechanism 244 may include any combination of the above possibilities, such as a combination of a proximity sensor and a photoelectric sensor, to provide an additional layer of assurance that the end effector 140 has been locked to the tool quick-change device 136.

[0114] In any case, fin 216a and / or mechanism 244 can be considered as part of connection circuits 161 and / or 165 for detecting that end effector 140 is locked to tool quick-change device 136. As described above, such connection circuits 161 and 165 may include suitable hardware and / or software for triggering the next stage of a multi-stage method for connecting end effector 140 to tool quick-change device 136. For example, moving fin 216a from an unlocked state to a locked state in contact with or adjacent to mechanism 244 can trigger other parts of connection circuits 161 and / or 165 in such a way that an electronic signal is transmitted to processor 148 of tracking system 132 to indicate the completion of the first stage of the multi-stage method. In the case where mechanism 244 includes a switch (such as a microswitch), moving fin 216a to the locked position can close the normally open circuit of the switch, thereby allowing an electrical signal to travel from the signal generator of the connection circuit to processor 148 to indicate that tool quick-change device 136 is locked to end effector 140. The same or similar concept of triggering an electrical signal or enabling an electrical signal to travel to the processor 148 to indicate a locked state can be applied to other specific implementations of mechanism 244, such as the proximity sensor and / or optical sensor mentioned above.

[0115] exist Figure 2D In this embodiment, fin 216a and mechanism 244 are located at the outer edge of tool quick-change device 136 and tracking system 132 so as to be visible in the same manner as indicator marks 208 and 212. However, the embodiment is not limited to this, and fin 216a and mechanism 244 may be located inside tool quick-change device 136 and tracking system 132 so as to be hidden from view when the end effector 140 is engaged. In this case, tool quick-change device 136 and tracking system 132 each include an internal space or recess that allows fin 216a to be positioned with... Figure 2D Move in the same or similar manner as shown.

[0116] although Figure 2D The illustration shows a single protrusion 216 having a single fin 216a and a single mechanism 244, but it should be understood that... Figure 2A One or more other protrusions 216 may also include fins 216a. In this case, an additional mechanism 244 may be present for sensing the presence of the corresponding fin 216a in the same or similar manner as described above. The additional fins 216a and mechanism 244 provide further assurance that the end effector 140 is locked to the tool quick-change device 136 to complete the first stage of the multi-stage process, thereby ensuring a secure connection between the two components.

[0117] Here, it should be understood that Figure 2DThe illustration shows a non-limiting example of a structure (e.g., fin 216 and mechanism 244) used in the first stage of a multi-stage method for detecting that the end effector 140 is locked to the tool quick-change device 136, and other structures for achieving the same objective are also within the scope of this disclosure. For example, the fin 216 may extend in the radial direction (instead of the axial direction shown) and trigger the corresponding mechanism 244.

[0118] As described herein, the multi-stage method for detecting that the end effector 140 is locked to the tool quick-change device 136 may further include a second stage triggered by the completion of the first stage described above. For example, when it is sensed that the tool quick-change device 136 has moved to the locked position in the first stage to establish a mechanical connection with the end effector 140, the connection circuits 161 and / or 165 trigger the second stage to test the electrical connection between the end effector 140 and the tool quick-change device 136. Figure 2E This diagram is used to explain the second stage and illustrates an example where the tool changing device 136 has been fixed to the tracking system 132 and locked to the end effector 140 according to the first stage. Reference Figure 2A and Figure 2E Pins 226a and 226b may include dedicated “connectivity verification pins” or “connectivity pins” 226a-1, 226a-2, 226b-1, and 226b-2, respectively, which form a short circuit when the tool quick-change device 136 is properly connected to the end effector 140. This short circuit can be tested by transmitting an electrical signal via an electrical path including pins 226a-1, 226a-2, 226b-1, and 226b-2 and waiting for feedback, which may be the electrical signal itself.

[0119] In a non-limiting example, dedicated connectivity verification pins 226a-1 and 226a-2 are located within the electrical interface of the tool quick-change device 136. This reduces or eliminates false positives for secure / robust connections that might otherwise occur due to slight misalignment of the end effector 140 when locking into the tool quick-change device 136. For example, pins 226a-1 and 226a-2 may be positioned as far apart as possible from each other on the electrical interface of the tool quick-change device 136. Figure 2A An example is shown where pins 226a-1 and 226a-2 are located on opposite sides of an electrical interface including the remaining pins. Alternatively, more connecting pins than described herein and shown in the figures can be used to provide further assurance of a secure / robust connection. For example, five connecting pins can be arranged in a pentagonal configuration at the outer edge of the electrical interface.

[0120] In some examples, in response to the detection that the tool quick-change device 136 and end effector 140 are locked in the first phase, an electrical signal is immediately generated to test a short circuit between pins 226a-1 and 226a-2. This signal can be a low-voltage, low-current pulse, which is considered safe when testing the connection. (Reference) Figure 2E From an internal diagram perspective, the electrical signal can travel along one of two electrical paths, P1 or P2. The electrical signal traveling along path P1 begins within the tracking system 132 (such as at the processor 148 capable of generating the electrical signal) and passes only through the tool changer 136 via traces of the electrical connection pins 226a-1 and 226a-2 or other conductors. In this case, and as referenced above... Figures 2A to 2C As described above, attaching the end effector 140 to the tool quick-change device 136 can push each pin 226a-1 and 226a-2 into electrical contact with the corresponding internal conductive pads 254a and 254b of the tool quick-change device 136 in path P1 (note that pins 226b-1 and 226b-2 have already been pushed in via connection to the tracking system 132). As shown, path P1 may also include two corresponding pads 228a and 228b from the tracking system 132 that contact the corresponding pins 226b-1 and 226b-2. In other examples, the electrical signal travels from the tracking system 132 along electrical path P2, passing through pad 228a, pin 226b-1, pad 254a, pin 226a-1, and end effector 140, and then returns to the tracking system 132 via pin 226a-2, pad 254b, pin 226b-2, and pad 228b. In this case, pins 226a and 226b are in electrical contact with corresponding conductive pads or pins of the end effector 140 and the tracking system 132, and the end effector 140 has internal traces or other conductors (not shown) connecting the pads or pins of the end effector 140.

[0121] In the second stage of the multi-stage method for checking the connection between the tool changer 136 and the end effector, the tracking system 132 (e.g., processor 148) transmits an electrical signal to the tool changer 136 and awaits feedback from the tool changer 136 indicating whether the end effector 140 is securely attached. As can be understood from paths P1 and P2, the feedback from the tool changer 136 may include the electrical signal itself. However, this feedback may additionally or alternatively include a version of the electrical signal, or another signal generated by the tool changer 136 and / or the end effector 140 and triggered by receiving an initial electrical signal. This electrical signal, its version, or the other electrical signal may have a flag (e.g., frequency, amplitude, etc.) that allows the processor 148 to determine that the feedback is indeed due to an existing proper connection between the end effector 140 and the tool changer 136. The following... Figure 5 and Figure 6 The description explains in more detail the stages of the multi-stage connection process between the end effector 140 and the tool quick-change device 136.

[0122] Figure 3 A method 300 according to at least one embodiment of the present disclosure is illustrated. Method 300 (and / or one or more steps thereof) may be implemented by, for example, at least one processor or otherwise performed. The at least one processor may be the same as or similar to the processor described above. The at least one processor may be part of a robot (such as robot 114) or another system (such as tracking system 132). Method 300 may also be performed using a processor other than any processor described herein. The at least one processor may perform method 300 by executing elements stored in the memory described herein. Elements stored in the memory and executed by the processor may cause the processor to perform one or more steps of the function shown in method 300. One or more portions of method 300 may be executed by a processor executing any content of the memory.

[0123] Method 300 includes: monitoring the torque applied to a first connection between the tool quick-change device 136 and the tracking system 132, based on the output of a force-torque sensor 158 integrated with the tracking system 132, which facilitates tracking of the robot arm 116 within a coordinate system (established by the navigation system 118) (step 304). For example, as described herein, the FT sensor 158 may generate sensor data indicating a rotational force applied to the first connection, specifically embodied as one or more screw connections 222 for mechanically connecting the tool quick-change device 136 to the tracking system 132. This rotational force may correspond to a torque value recommended or required to ensure a safe and secure connection of the tool quick-change device 136 to the tracking system 132. As can be understood from the above description, the FT sensor 158 is in indirect force-transfer contact with the screw connection 222, meaning that the rotational force sensed by the FT sensor 158 may not be equivalent to the actual rotational force applied to the screw connection 222. Additionally, the FT sensor 158 can sense forces other than rotational force, such as compressive force and / or tension. This means that the sensor data generated by the FT sensor 158 includes compressive force and / or tension data that are not necessarily related to the rotational force applied to the screw connection 222. Due to at least these two cases, the sensor data generated by the FT sensor 158 when a rotational force is applied to the screw connection 222 can be converted into a torque value expressed in Newton-meters, pound-feet, pound-inches, etc., or associated with that torque value.

[0124] For example, the processor 148 of the tracking system 132 uses data collected during an initialization or calibration phase to convert sensor data into torque values, which correlates sensor data from the FT sensor 158 with known torque values. This phase may include correlating sensor datasets output from the FT sensor 158 with known torque values ​​provided by a pre-calibrated torque screwdriver or wrench, such that each sensor dataset provided by the FT sensor 158 corresponds to a known torque value indicated by a torque meter on the screwdriver or wrench. These sensor datasets and known torque values ​​may be stored as lookup tables (LUTs) for access during monitoring step 304. Therefore, monitoring step 304 may include continuously receiving sensor data from the FT sensor 158 and querying the LUT to match the received sensor data with the corresponding torque values. In some examples, the amount of torque required for each screw connection 222 is a static value, and the system stores a single association that correlates a sensor dataset from the FT sensor 158 with a single static value. In this case, monitoring step 304 includes continuously checking the output of the FT sensor to determine when the sensor data matches sensor data for torque values. In some cases, for example, the torque value of a specific screw connection 222 can be displayed via a digital display included in the output device 159 of the tracking system 132. The displayed torque value, which may have a selected unit of measurement, can change with variations in the rotational force applied to the screw connection 222.

[0125] In other examples, monitoring step 304 does not include converting the output of FT sensor 158 into a torque value. In this case, monitoring step 304 includes continuously checking the output of FT sensor 158 to determine when the sensor data matches a sensor dataset known to satisfy the desired torque value of threaded connection 222, which does not necessarily require converting the output of FT sensor 158 into a torque value.

[0126] Method 300 may further include issuing one or more alerts (step 308) when the rotational force reaches a threshold. In the example where the rotational force monitored in step 304 is converted into a torque value for the screw connection 222, the threshold may include a recommended and required torque value to ensure a secure connection between the tool quick-change device 136 and the tracking system 132. In the example where the rotational force monitored in step 304 is not converted into a torque value, the threshold may include a known sensor dataset (which may contain compression force data, rotational force data, tension data, etc.) used to achieve a safe and secure connection between the tool quick-change device 136 and the tracking system 132 (e.g., as a result of previous testing).

[0127] In step 308, one or more alerts may be issued by one or more elements of system 100. In some examples, the one or more alerts include audio alerts, visual alerts, or both. Generally, audio alerts may be provided by one or more speakers, such as the speakers included in output device 159 and / or robot cart 144. Audio alerts may include a pulsed chirp whose frequency increases as the rotational force increases toward a threshold, and then transitions to a steady beeping sound when the threshold is reached. Alternatively, different audio alerts (e.g., with different tones) may be issued as the threshold approaches, in the event of a final alert. Alternatively, a single audio alert (e.g., a chirp) may be triggered when the threshold is reached. Meanwhile, visual alerts may be provided by one or more light sources (LEDs) included in output device 159. In some cases, method 300 includes issuing multiple visual alerts, which may occur in stages, wherein different alerts are issued when different thresholds are met or exceeded as a way of informing the user that the amount of rotational force monitored in step 304 is increasing or decreasing. For example, a first light source may turn on when a first threshold is reached, a second light source may turn on when a second threshold greater than the first threshold is reached, and so on, until a final threshold is reached to indicate that the screw connection 222 has been sufficiently tightened. In this example, the light sources may be arranged in a manner similar to instruments or gauges (e.g., stacked), which allows the user to easily assess the current state of the screw connection 222. Here, the light sources may turn on sequentially as the screw connection 222 is tightened, and then turn off sequentially as the screw connection 222 is loosened.

[0128] Visual warnings may be additionally or alternatively provided by a digital display included in output device 159 and / or on robot cart 144. As described above, the current torque value of screw connection 222 may be displayed on such a display. Additionally, the display may indicate which screw connection 222a, 222b, or 222c is being tightened, where such indication is based on sensor data generated by FT sensor 158. For example, the sensor data may indicate the presence of one or more directional lateral forces closer to screw connection 222a than screw connection 222b or 222c, in which case the display indicates that the displayed torque value belongs to screw connection 222a. In some examples, the display simultaneously displays the torque value for each available screw connection 222, allowing the user to know which screw connections to tighten or loosen.

[0129] In addition to, or in lieu of, audio and / or visual warnings, other warnings may be issued. For example, in at least one embodiment, step 308 generates a signal (or multiple signals) that causes the robotic arm 116 to move as a warning. In some examples, the movement of the robotic arm 116 is in a direction away from the source of the rotational force applied to the screw connection 222, which may correspond to a direction away from the tool being used to apply the rotational force, to indicate to the user of the tool that no further tightening is required. Generally, the amount of movement away from the tool may be sufficient to disengage the tool from the screw connection 222 (e.g., six inches, one foot, etc.) to prevent or mitigate further tightening. In some examples, the movement is in approximately the same direction as the rotational force, meaning that the robotic arm 116 may rotate in the same direction as the tool tightening the screw connection 222 to prevent or mitigate overtightening. Where the tracking system 132 is rotatable relative to the robot arm 116 (e.g., if the proximal end of the tracking system 132 is rotatably attached to the robot arm 116), the tracking system 132 itself can rotate in the same or similar manner without a corresponding rotation of the robot arm 116. In step 308, the movement of the robot arm 116 or another element in the system is not limited to the movements described above, and other movements are possible. For example, the robot arm 116 may move in a direction toward the tool or user to provide a gentle “push” on the tool to indicate that a threshold has been reached. In other examples, the robot arm 116 may move up, down, left, or right to indicate that a threshold has been reached.

[0130] Figure 4 A method 400 according to at least one embodiment of the present disclosure is illustrated. Method 400 (and / or one or more steps thereof) may be implemented by, for example, at least one processor or otherwise performed. The at least one processor may be the same as or similar to the processor described above. The at least one processor may be part of a robot (such as robot 114) or another system (such as tracking system 132). Method 400 may also be performed using a processor other than any processor described herein. The at least one processor may perform method 400 by executing elements stored in the memory described herein. Elements stored in the memory and executed by the processor may cause the processor to perform one or more steps of the function shown in method 400. One or more portions of method 400 may be executed by a processor executing any of the multiple contents of the memory.

[0131] Method 400 includes: entering a first mode, which may correspond to a mode in which the system 100 is notified that the tool quick-change device 136 is about to be connected to the tracking system 132 (step 404). Entering the first mode can be a useful step to inform the system 100 that the force sensed by the FT sensor 158 is due to the attachment of the tool quick-change device 136 to the tracking system 132, and not due to other forces, such as forces experienced during actual surgical procedures, as in the second mode described below. Thus, entering the first mode causes a processor (e.g., processor 148) that receives sensor data from the FT sensor 158 to process the sensor data in a manner suitable for issuing one or more alerts as described herein (rather than processing the sensor data in a manner consistent with the ongoing surgical procedure). In this way, entering the first mode can place the processor of the sensor data generated by the FT sensor 158 in a state where the rotational force applied to the screw connection 222 is determined using the sensor data, for example by converting the sensor data into a torque value as described herein.

[0132] The tracking system 132 can automatically enter a first mode in response to detecting contact or proximity between the tool quick-change device 136 and the distal end of the tracking system 132. In some examples, the FT sensor 158 can sense an initial force associated with pressing or placing the protrusion 230 of the tool quick-change device 136 into the recess 232 of the tracking system 132. In another example, the first mode is entered in response to the tracking system 132 sensing electrical and / or mechanical contact between the protrusion 230 and the recess 232. In yet another example, the first mode is entered upon user input to an electromechanical switch on the tracking system 132 or to some other element of the system 100.

[0133] Method 400 includes connecting the tool quick-change device 136 to the tracking system 132 via a rotational force applied to the first connection (step 408). For example, a user applies rotational force to a screw in a screw connection 222 using a tool such as a screwdriver or wrench.

[0134] In conjunction with step 404, method 400 includes: FT sensor 158 generating sensor data indicating the rotational force applied to the first connection (step 412). Then, method 400 determines whether the rotational force applied to the first connection reaches a first threshold (step 416). The determination in step 416 can be based on the above regarding... Figures 2A to 3One or more techniques described herein may be used, such as monitoring rotational force according to step 304 and converting sensor data into a torque value, and comparing this torque value with a threshold torque value required or recommended for securely connecting the tool quick-change device 136 to the tracking system 132. If the determination in step 416 is "No", then method 400 continues to check in step 416 whether the rotational force has reached a first threshold. If the determination in step 416 is "Yes", then method 400 issues one or more first warnings (step 420). The one or more first warnings may be based on the above description of... Figure 3 The discussion is to be issued, and may include one or more audio alerts and / or visual alerts.

[0135] Method 400 continues to determine whether an additional threshold exists (step 424). If so, the method continues to determine whether the rotational force reaches the additional threshold (step 428). If it is determined that the rotational force reaches the additional threshold, method 400 issues one or more second warnings (432), which may include audio and / or visual warnings provided in addition to the first warning in step 420. (See above reference...) Figure 3 As stated above, when the system is designed to provide the user with continuous notifications of gradually increasing or decreasing tightening of the screw connection 222, additional thresholds and warnings may be encountered. However, it should be understood that there may be no additional thresholds, in which case method 400 proceeds to step 436, in which the second mode is entered.

[0136] Entering the second mode informs the system 100 that the forces sensed by the FT sensor 158 should be considered as forces experienced during an actual surgical procedure. Therefore, entering the second mode causes a processor (e.g., processor 148) receiving sensor data from the FT sensor 158 to process the sensor data in a manner suitable for the ongoing surgical procedure, wherein such processed sensor data may cause one or more warnings to be issued during the procedure (e.g., to avoid excessive twisting of the end effector 140 and / or the robotic arm 116). In any case, it should be understood that entering the second mode also terminates the first mode.

[0137] The second mode can be automatically entered in response to the tracking system 132 and / or the tool quick-change device 136 detecting contact or proximity between the end effector 140 and the distal end of the tool quick-change device 136. In some examples, the FT sensor 158 can sense the initial force associated with pressing the end effector 140 into the interior 218 of the tool quick-change device 136. In another example, the second mode is entered in response to the tool quick-change device 136 and / or the tracking system 132 sensing electrical and / or mechanical contact between the pin 226a of the tool quick-change device 136 and the corresponding conductor (pin or pad) of the end effector 140 (which may occur simultaneously or nearly simultaneously with step 440). In yet another example, the second mode is entered upon user input to an electromechanical switch on the tracking system 132 or to some other component of the system 100.

[0138] Method 400 includes connecting the end effector 140 to the tool quick-change device 136 (step 440). For example, step 440 includes: according to the... Figures 2A to 2C The discussion involves locking the end effector 140 to the tool quick-change device 136, wherein the movable portion 204 is rotated to the locked position to securely fasten the end effector 140 to the tool quick-change device 136. In at least one embodiment, locking the end effector 140 to the tool quick-change device 136 also triggers a second mode from step 436.

[0139] Method 400 includes: FT sensor 158 generating sensor data indicating forces experienced during surgical procedures, wherein such sensor data can be used to determine, based on these forces, whether to issue an alert or take other actions (step 444). The sensor data generated in step 444 can indicate forces experienced by the robotic arm 116 before, after, and / or during operation of the end effector 140, and can be used to control various functions of the robotic arm 116, tracking system 132, tool quick-change device 136, and / or end effector 140.

[0140] Here, it should be understood that although the above discussion describes issuing an alert when a threshold is reached, an alert may additionally or alternatively be issued before the threshold is reached. In this case, when the threshold is reached, the audio alert may stop and / or the light source may be turned off, which is another way to inform the user that the tool quick-change device 136 and the tracking system 132 are securely attached. Furthermore, it should be understood that the system can operate simultaneously in the first mode and the second mode described above. For example, when in the second mode, the system may continue to monitor the tightness of the screw connection 222 according to the first mode, and then issue an alert if the screw connection 222 loosens beyond a threshold amount.

[0141] Figure 5A method 500 according to at least one embodiment of the present disclosure is illustrated. In particular, method 500 describes a process for a system including a tool change device 136 and a tracking system 132, the tool change device being configured to attach to and transmit power to an end effector 140, the tracking system facilitating the tracking of the robotic arm 116 within an environment. Method 500 (and / or one or more steps thereof) may be performed by, for example, at least one processor or otherwise. The at least one processor may be the same as or similar to the processor described above. The at least one processor may be part of a robot (such as robot 114) or part of another system (such as tracking system 132). Method 500 may also be performed using a processor other than any processor described herein. The at least one processor may perform method 500 by executing elements stored in a memory described herein. Elements stored in memory and executed by the processor may cause the processor to perform one or more steps of the function shown in method 500. One or more portions of method 500 may be executed by a processor executing any of the multiple contents of the memory.

[0142] Method 500 includes receiving an indication that the end effector 140 has been attached to the tool quick-change device 136 (step 504). As may be understood, see references... Figure 2D The step of locking the end effector 140 to the tool quick-change device 136, which may occur before step 504, corresponds to the first stage of a multi-stage process for ensuring a secure connection between the two components. Meanwhile, the steps in method 500 may be part of a subsequent stage of a multi-stage process triggered by the completion of the first stage. For example, steps 504, 508, and 512 may correspond to a second stage of the multi-stage process, which includes testing whether the end effector 140 is fully attached (locked) to the tool quick-change device 136. The remaining steps of method 500 may correspond to additional stages of the multi-stage process, wherein the tool quick-change device is energized (or de-energized) to enable (or prevent operation if de-energized) the end effector 140 for surgical use.

[0143] refer to Figures 2A to 2E As described in the related description, the indication that the end effector 140 has been attached to the tool quick-change device 136 in step 504 may include a signal generated in response to the end effector 140 being locked to the tool quick-change device 136. In some examples, the tracking system 132 includes at least one component configured to trigger the generation of a signal when the end effector 140 is locked to the tool quick-change device 136. For example, as referenced... Figure 2DThe component may include one or more of an electromechanical switch (e.g., a microswitch), an electro-optical switch (e.g., a photodiode that senses the presence or absence of light), or a proximity sensor (e.g., a capacitive sensor). When the component senses that the tool changer 136 is locked to the end effector 140, it triggers the tracking system 132 to generate an electrical signal and transmits the signal to the tool changer as a "test" signal to test the connection between the tool changer 136 and the end effector 140. Therefore, method 500 may include: in response to receiving an indication that the end effector 140 has been attached to the tool changer 136, the tracking system 132 generates the "test" signal and transmits the signal to the tool changer 136 (step 508). Afterward, method 500 determines whether the tracking system 132 has received feedback related to the signal transmitted to the tool changer 136 (step 512).

[0144] As described herein, the feedback may include the signal itself transmitted by the tracking system 132, a version of the signal modified at some point along the feedback path, or a completely different signal generated by the component at some point along the feedback path. (See reference...) Figure 2E As described herein, for example, the tool changer 136 may include an electrical path P1 that forms part of a circuit that allows the signal to travel from the tracking system 132 through the tool changer 136 and back to the tracking system 132 as feedback. Also as described herein, the tool changer 136 may include pins 226a-1, a-2, b-1, and b-2 that form part of the electrical path P1 and are dedicated communication pins. These pins may be spring-loaded and have a decompressed or protruding state with the spring untensioned for each pin and a compressed or pushed-in state with the spring tensioned for each pin. When these pins are in the pushed-in state, the circuit is closed, allowing the electrical signal to travel from the tracking system 132 through the tool changer 136 and back to the tracking system 132 as feedback. Conversely, when one of these pins is in the protruding state, the circuit is open, preventing the electrical signal from traveling from the tracking system 132 through the tool changer 136 and back to the tracking system 132 as feedback.

[0145] If no feedback is received from the tool quick-change device 136 in step 512, method 500 includes preventing the tool quick-change device 136 from transmitting power to the end effector 140 (step 516). The tracking system 132 may determine that no feedback is received when a predetermined amount of time (e.g., 1 ms to 3 ms) has elapsed since the transmission of an electrical signal for testing the connection from the tracking system 132 to the tool quick-change device 136. No feedback may occur when the connection between the end effector 140 and the tool quick-change device 136 is not complete, meaning that the end effector 140 may not be safe to operate due to a loose or misaligned connection with the tool quick-change device 136. In the above example involving spring-loaded connectivity pins, no feedback may occur when one of the connectivity pins remains protruding or partially protruding after the end effector 140 is locked to the tool quick-change device 136, thereby preventing an electrical signal from returning to the tracking system 132 via the tool quick-change device 136. As can be understood, power can be delivered to the end effector 140 via other pins of the tool changer 136, which in turn receive power from a power source (such as the tracking system 132 and / or other upstream sources). In at least some examples, a switch is positioned between the electrical interface (e.g., pin 226) of the tool changer 136 that supplies power to the end effector 140 and the power source. Therefore, preventing the tool changer 136 from delivering power to the end effector 140 in step 516 may include: opening the switch, or, if the switch is already open, keeping the switch in the open state.

[0146] If feedback from the tool changer 136 is present in step 512, method 500 includes enabling the tool changer 136 to transmit power to the end effector 140 (step 520). For example, step 520 may enable the tool changer 136 to transmit power to the end effector 140 by closing a switch positioned between the power supply and the electrical interface (e.g., pin 226) of the tool changer 136. A tracking system 132 or other suitable element may transmit signals to close (and open) the switch.

[0147] When the tool changer 136 is enabled to transmit power to the end effector 140 in step 520, method 500 may include energizing the electrical interface of the tool changer 136 with power from the power source (step 524), meaning that the end effector 140 is ready for operation. As will be understood, step 524 may occur automatically when a switch positioned between the power source and the electrical interface of the tool changer 136 is closed. In other examples, step 524 may occur in response to some other trigger, such as a user providing physical input to another switch or element that activates the power source. In this case, the user may be notified that the tool changer 136 is ready for energization.

[0148] In some examples, enabling the tool quick-change device 136 to transmit power to the end effector 140 in step 520 includes: identifying the end effector 140 by accessing its memory 172, in order to... Figure 1D The discussion identifies the type of end effector. Identifying the type of end effector can be used to determine which parts (e.g., which pins) of the electrical interface of the tool changer are powered, and / or to determine how much power (e.g., voltage) the end effector requires to operate, since different end effectors can be powered using different parts (pins) of the tool changer and / or have different operating voltages (e.g., 24V, 48V, etc.). In the example where method 500 includes identifying end effector 140, step 524 then includes: supplying power to a part (pin) of the electrical interface of the tool changer 136 according to the identified end effector 140, which may include selecting power and supplying power with a selected voltage and / or current amount to the correct pin of the tool changer 136.

[0149] Here, it should be understood that one or more alerts or notifications may be displayed to the user during method 500, as referenced below. Figure 6 Provide a more detailed description of the one or more warnings or notices.

[0150] Figure 6 The diagram illustrates method 600, which describes the method for... Figure 5 Method 500 is the process of issuing an alert or notification within a specified timeframe. Therefore, one or more steps in method 600 can be combined with... Figure 5 One or more steps in the method are combined and / or performed simultaneously. Method 600 (and / or one or more steps thereof) may be performed by, for example, at least one processor or otherwise. The at least one processor may be the same as or similar to the processor described above. The at least one processor may be part of a robot (such as robot 114) or part of another system (such as tracking system 132). Method 600 may also be performed using a processor other than any processor described herein. The at least one processor may perform method 600 by executing elements stored in the memory described herein. Elements stored in the memory and executed by the processor may cause the processor to perform one or more steps of the function shown in method 600. One or more portions of method 600 may be executed by a processor that executes any of the multiple contents of the memory.

[0151] Method 600 includes receiving an indication that a locking mechanism has been actuated to lock the end effector 140 of the robot arm 116 to the tool changer 136 of the robot arm (step 604). Step 604 may be implemented in the same or similar manner as step 504 in method 500, for example, sensing that the locking feature of the tool changer 136 has moved to the locked position and transmitting a signal to the tracking system 132 to indicate that the end effector 140 has been locked to the tool changer 136. In some examples, the indication received in step 604 also triggers a notification to indicate to a user that the end effector 140 has been locked to the tool changer 136. The notification may include graphics on a display, sound generated by a speaker, illumination from LEDs, movement of the robot arm, or any combination thereof.

[0152] Subsequently, method 600 includes: in response to receiving the instruction, transmitting a signal to the electrical interface of the tool quick-change device 136 (step 608). Step 608 can be combined with... Figure 5 Step 508 is performed in the same or similar manner, wherein, for example, a test signal is transmitted to the tool quick-change device 136 to test the connection to the end effector 140.

[0153] Method 600 includes: providing a first notification (step 612) that the end effector 140 and the tool quick-change device 136 are securely attached, in the presence of feedback based on the signal from the tool quick-change device 136. For example, in response to in Figure 5 In step 512, the method is moved to step 520, where step 612 generates and issues an audio and / or visual alert to notify the user that the tool quick-change device 136 and the end effector 140 are fully attached and that the end effector 140 is ready for operation. Possible audio and / or visual alerts have been described above, and these alerts may include graphics on a display, sounds generated by a speaker, LED illumination, movement of the robotic arm, or any combination thereof.

[0154] In some cases, method 600 includes providing a second notification (step 616) that the end effector 140 and the tool quick-change device 136 are not securely attached in the absence of such feedback from the tool quick-change device 136. For example, in response to... Figure 5In step 512, if the method determines that the end effector 140 and tool quick-change device 136 are not fully connected, then step 516, method 600 issues an audio and / or visual warning to notify the user that the end effector 140 is not ready to operate. This audio and / or visual warning may include sound generated by a speaker, LED illumination, movement of the robotic arm, or any combination thereof. It is important to note that the warnings or notifications generated in steps 604, 612, and 616 should be distinguishable from each other to provide a clear indication of what is being conveyed to the user.

[0155] As stated above, this disclosure covers those having more than Figures 3 to 6 The methods identified in the text with fewer steps (and corresponding descriptions of methods 300, 400, 500, and 600), and including Figures 3 to 6 Methods that include additional steps beyond those steps identified herein (and their corresponding descriptions in methods 300, 400, 500, and 600). This disclosure also covers methods that include one or more steps from one method described herein and one or more steps from another method described herein. Any correlation described herein can be or includes registration or any other correlation.

[0156] The foregoing is not intended to limit this disclosure to the one or more forms disclosed herein. In the foregoing detailed description, for example, for the purpose of simplification, various features of this disclosure are grouped together in one or more aspects, embodiments, and / or configurations. Features of aspects, embodiments, and / or configurations of this disclosure may be combined in alternative aspects, embodiments, and / or configurations other than those discussed above. The approach of this disclosure should not be construed as reflecting an intention that the claims require more features than expressly recited in each claim. Rather, as reflected in the following claims, aspects of the invention lie in fewer than all the features of a single foregoing aspect, embodiment, and / or configuration. Therefore, the following claims are hereby incorporated into this detailed description, wherein each claim exists independently as a separate preferred embodiment of this disclosure.

[0157] Furthermore, while the foregoing has already included descriptions of one or more aspects, embodiments, and / or configurations, as well as certain variations and modifications, other variations, combinations, and modifications may be made within the scope of this disclosure, for example, within the skill and knowledge of those skilled in the art, upon understanding of this disclosure. It is intended to obtain, to the permissible extent, rights including alternative aspects, embodiments, and / or configurations, including alternative, interchangeable, and / or equivalent structures, functions, scopes, or steps of those claimed, regardless of whether such alternative, interchangeable, and / or equivalent structures, functions, scopes, or steps are disclosed herein, and not to disclose for use in any patentable subject matter.

[0158] The aspects of this disclosure may include the following embodiments.

[0159] Example (1): A component for a robotic arm, the component comprising: a tool quick-change device configured to attach to an end effector and transmit power to the end effector; and a tracking system for tracking the robotic arm in an environment, the tracking system comprising: at least one processor; and a memory including instructions that, when executed by the at least one processor, cause the at least one processor to: generate a first signal and transmit the first signal to the tool quick-change device in response to receiving an indication that the end effector has been attached to the tool quick-change device; enable the tool quick-change device to transmit power to the end effector in the presence of feedback from the tool quick-change device based on the first signal; and prevent the tool quick-change device from transmitting power to the end effector in the absence of the feedback from the tool quick-change device.

[0160] Example (2): According to the component described in Example (1), the indication that the end effector has been attached to the tool quick-change device includes a second signal generated when the end effector is locked to the tool quick-change device.

[0161] Example (3): The components described in one or more of Examples (1) to (2), wherein the tracking system further includes at least one component configured to trigger the generation of the second signal when the end effector is locked to the tool quick-change device.

[0162] Example (4): The component according to one or more of Examples (1) to (3), wherein the at least one component includes an electromechanical switch, an electro-optical switch or a proximity sensor.

[0163] Example (5): The component according to one or more of Examples (1) to (4), wherein the feedback includes the first signal itself.

[0164] Example (6): The components according to one or more of Examples (1) to (5), wherein the tool quick-change device includes an electrical path that forms part of a circuit that enables the first signal to travel from the tracking system through the tool quick-change device and return to the tracking system as feedback.

[0165] Example (7): The component according to one or more of Examples (1) to (6), wherein the tool quick-change device includes a pin that forms part of the electrical path.

[0166] Example (8): The component according to one or more of Examples (1) to (7), wherein the pin is spring-loaded and has a protruding state and a pushed-in state, wherein the spring of each pin is decompressed in the protruding state and the spring of each pin is compressed in the pushed-in state.

[0167] Example (9): The component according to one or more of Examples (1) to (8), wherein when the pin is in the pushed-in state, the circuit is closed so that the first signal can travel from the tracking system through the tool quick-change device and return to the tracking system as the feedback, and wherein when one of the pins is in the protruding state, the circuit is open and prevents the first signal from traveling from the tracking system through the tool quick-change device and returning to the tracking system as the feedback.

[0168] Example (10): The component according to one or more of Examples (1) to (9), wherein the memory includes instructions that, when executed by the at least one processor, cause the at least one processor to: provide a first notification to the user indicating that the end effector has been attached to the tool quick-change device.

[0169] Example (11): The components according to one or more of Examples (1) to (10), wherein the memory includes instructions that, when executed by the at least one processor, cause the at least one processor to: provide a second notification that the connection between the end effector and the tool quick-change device is completed in the presence of feedback from the tool quick-change device based on the first signal.

[0170] Example (12): The components according to one or more of Examples (1) to (11), wherein the memory includes instructions that, when executed by the at least one processor, cause the at least one processor to: provide a third notification that the connection between the end effector and the tool quick-change device is not completed in the absence of feedback from the tool quick-change device.

[0171] Example (13): The components according to one or more of Examples (1) to (12), wherein one or more of the first notification, the second notification and the third notification include an audio notification, a visual notification or both.

[0172] Example (14): The component according to one or more of Examples (1) to (13), wherein the memory includes instructions that, when executed by the at least one processor, cause the at least one processor to: enable the tool quick-change device to transmit power to the end effector by closing a switch positioned between the power supply and the electrical interface of the tool quick-change device.

[0173] Example (15): The components according to one or more of Examples (1) to (14), wherein the tool quick-change device includes an electrical interface electrically connected to a corresponding electrical interface of the end effector, and wherein enabling the tool quick-change device to transmit power to the end effector includes: identifying the end effector; and supplying power to a portion of the electrical interface of the tool quick-change device according to the identified end effector.

[0174] Example (16): The components according to one or more of Examples (1) to (15), wherein identifying the end effector includes: accessing the memory of the end effector to identify the type of the end effector.

[0175] Example (17): A tracking system that facilitates tracking a robotic arm in an environment, the tracking system comprising: at least one processor; and a memory including instructions that, when executed by the at least one processor, cause the at least one processor to: generate a first signal and transmit the first signal to the tool changer in response to receiving an indication that an end effector has been attached to a tool changer; enable the tool changer to transmit power to the end effector in the presence of feedback from the tool changer based on the first signal; and prevent the tool changer from transmitting power to the end effector in the absence of such feedback from the tool changer.

[0176] Example (18): The tracking system according to Example (17), wherein the indication that the end effector has been attached to the tool quick-change device includes a second signal generated when the end effector is locked to the tool quick-change device.

[0177] Example (19): A tracking system according to one or more of Examples (17) to (18), wherein the tracking system further includes at least one component configured to trigger the generation of the second signal when the end effector is locked to the tool quick-change device.

[0178] Example (20): A method comprising: receiving an indication that a locking mechanism has been actuated to lock an end effector of a robot arm to a tool quick-change device of the robot arm; in response to receiving the indication, transmitting a signal to an electrical interface of the tool quick-change device; providing a first notification that the end effector and the tool quick-change device are securely attached if feedback based on the signal from the tool quick-change device is present; and providing a second notification that the end effector and the tool quick-change device are not securely attached if the feedback from the tool quick-change device is not present.

Claims

1. A component for a robotic arm, the component comprising: A tool quick-change device, configured to attach to an end effector and transmit power to the end effector; and A tracking system, which facilitates tracking the robotic arm within an environment, includes: At least one processor; and The memory includes instructions that, when executed by the at least one processor, cause the at least one processor to: In response to receiving an indication that the end effector has been attached to the tool quick-change device, a first signal is generated and the first signal is transmitted to the tool quick-change device; In the presence of feedback from the tool changer based on the first signal, the tool changer is able to transmit power to the end effector; and In the absence of feedback from the tool quick-change device, the tool quick-change device is prevented from transmitting power to the end effector.

2. The component of claim 1, wherein the indication that the end effector has been attached to the tool quick-change device includes a second signal generated when the end effector is locked to the tool quick-change device.

3. The component according to one or more of claims 1 to 2, wherein the tracking system further comprises at least one component configured to trigger the generation of the second signal when the end effector is locked to the tool quick-change device.

4. The component according to one or more of claims 1 to 3, wherein the at least one component comprises an electromechanical switch, an electro-optical switch, or a proximity sensor.

5. The component according to one or more of claims 1 to 4, wherein the feedback includes the first signal itself.

6. The component of claim 5, wherein the tool quick-change device includes an electrical path forming part of a circuit that enables the first signal to travel from the tracking system through the tool quick-change device and return as the feedback to the tracking system.

7. The component of claim 6, wherein the tool quick-change device includes a pin that forms part of the electrical path.

8. The assembly of claim 7, wherein the pins are spring-loaded and have a protruding state and a pushed-in state, wherein in the protruding state the spring of each pin is decompressed and in the pushed-in state the spring of each pin is compressed.

9. The component of claim 8, wherein when the pins are in the pushed-in state, the circuit is closed such that the first signal can travel from the tracking system through the tool quick-change device and return as the feedback to the tracking system, and wherein when one of the pins is in the protruding state, the circuit is open and prevents the first signal from traveling from the tracking system through the tool quick-change device and returning as the feedback to the tracking system.

10. The component according to one or more of claims 1 to 9, wherein the memory includes instructions that, when executed by the at least one processor, cause the at least one processor to: Provide a first notification to the user informing them that the end effector has been attached to the tool quick-change device.

11. The component of claim 10, wherein the memory includes instructions that, when executed by the at least one processor, cause the at least one processor to: In the presence of feedback from the tool quick-change device based on the first signal, a second notification is provided that the connection between the end effector and the tool quick-change device is complete.

12. The component of claim 11, wherein the memory includes instructions that, when executed by the at least one processor, cause the at least one processor to: In the absence of feedback from the tool quick-change device, a third notification is provided indicating that the connection between the end effector and the tool quick-change device is incomplete.

13. The component of claim 12, wherein one or more of the first notification, the second notification, and the third notification include an audio notification, a visual notification, or both.

14. The component according to one or more of claims 1 to 13, wherein the memory includes instructions that, when executed by the at least one processor, cause the at least one processor to: By closing a switch positioned between the power supply and the electrical interface of the tool quick-change device, the tool quick-change device is able to transmit power to the end effector.

15. The component according to one or more of claims 1 to 14, wherein the tool quick-change device includes an electrical interface electrically connected to a corresponding electrical interface of the end effector, and wherein enabling the tool quick-change device to transmit power to the end effector includes: Identify the end effector; as well as Power is supplied to the electrical interface portion of the tool quick-change device according to the identified end effector.

16. The assembly of Claim 15, wherein identifying the end effector comprises: Access the memory of the end effector to identify the type of the end effector.

17. A tracking system for tracking a robotic arm in an environment, the tracking system comprising: At least one processor; and The memory includes instructions that, when executed by the at least one processor, cause the at least one processor to: In response to receiving an indication that the end effector has been attached to the tool quick-change device, a first signal is generated and the first signal is transmitted to the tool quick-change device; In the presence of feedback from the tool quick-change device based on the first signal, the tool quick-change device is able to transmit power to the end effector; as well as In the absence of feedback from the tool quick-change device, the tool quick-change device is prevented from transmitting power to the end effector.

18. The tracking system of claim 17, wherein the indication that the end effector has been attached to the tool quick-change device includes a second signal generated when the end effector is locked to the tool quick-change device.

19. The tracking system of claim 18, wherein the tracking system further comprises at least one component configured to trigger the generation of the second signal when the end effector is locked to the tool quick-change device.

20. A method, the method comprising: The receiving locking mechanism has been actuated to lock the end effector of the robot arm to the tool quick-change device of the robot arm; In response to receiving the instruction, a signal is transmitted to the electrical interface of the tool quick-change device; In the presence of feedback from the tool quick-change device based on the signal, a first notification is provided that the end effector and the tool quick-change device are securely attached; as well as In the absence of feedback from the tool quick-change device, a second notification is provided that the end effector and the tool quick-change device are not securely attached.

21. A component for a robotic arm, the component comprising: A tool quick-change device, configured to attach to an end effector and transmit power to the end effector; A tracking system that facilitates tracking the robotic arm within an environment, the tracking system comprising: and Integrated circuit, the integrated circuit being configured to: In response to receiving an indication that the end effector has been attached to the tool quick-change device, a first signal is generated and the first signal is transmitted to the tool quick-change device; In the presence of feedback from the tool quick-change device based on the first signal, the tool quick-change device is able to transmit power to the end effector; as well as In the absence of feedback from the tool quick-change device, the tool quick-change device is prevented from transmitting power to the end effector.

22. The component of claim 21, wherein the integrated circuit is configured to: Provide a first notification to the user informing them that the end effector has been attached to the tool quick-change device.

23. The component of claim 22, wherein the integrated circuit is configured to: In the presence of feedback from the tool quick-change device based on the first signal, a second notification is provided that the connection between the end effector and the tool quick-change device is complete.

24. The component of claim 23, wherein the integrated circuit is configured to: In the absence of feedback from the tool quick-change device, a third notification is provided indicating that the connection between the end effector and the tool quick-change device is incomplete.

25. The component according to one or more of claims 22 to 24, wherein the integrated circuit is configured to: By closing a switch positioned between the power supply and the electrical interface of the tool quick-change device, the tool quick-change device is able to transmit power to the end effector.

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