Systems and methods for sensing presence of medical tools

Abstract

To provide a system that includes a tool recognition assembly comprising a first reader with a first detection zone.SOLUTION: The system also includes a tool configured to be installed in the tool recognition assembly, where the first reader detects a first reading value indicating the presence or absence of the first target in the first detection zone during an installation of the tool in the tool recognition assembly, the detected first reading value being at least a part of a detected insertion signature, and provides the detected insertion signature to initiate a comparison of the detected insertion signature to one or more model signatures.SELECTED DRAWING: Figure 4E

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application claims the benefit of U.S. Provisional Application No. 62 / 696,082, filed July 10, 2018, which is incorporated by reference herein in its entirety.

[0002] The present disclosure relates to systems and methods for detecting and recognizing tools, which in various embodiments may include determining proper installation of the tool, tool type, tool control, and / or other characteristics of the tool and its use. [Background technology]

[0003] Minimally invasive medical techniques are intended to reduce the amount of tissue damaged during a medical procedure, thereby reducing a patient's recovery time, discomfort, and adverse side effects. Such minimally invasive techniques may be performed through natural openings in the patient's anatomy or through one or more surgical incisions. Through these natural openings or incisions, a physician may insert minimally invasive medical instruments (including surgical, diagnostic, therapeutic, or biopsy instruments) to reach the location of the target tissue. Some minimally invasive medical tools may be remotely operated or otherwise computer-assisted. Proper placement and recognition of the medical instruments enables the safe and effective use of the instruments during a medical procedure. Thus, there is a need for systems and methods for determining proper placement and enabling recognition of the medical instruments. Summary of the Invention

[0004] Some embodiments of the present invention are best summarized by the claims that follow the specification.

[0005] Consistent with some embodiments, a system is provided. The system may include a tool recognition assembly having a first reader with a first detection zone. The system may further include a tool configured to be attached to the tool recognition assembly, the tool may have a first target. The first reader may detect a first reading indicative of a presence or absence of the first target in the first detection zone during attachment of the tool to the tool recognition assembly. The detected first reading may be at least a portion of a detected insertion signature. The first reader may also provide the detected insertion signature to initiate a comparison of the detected insertion signature to one or more model signatures.

[0006] Consistent with other embodiments, a system is provided. The system may include a tool including a first target. The system may further include a receiving member configured to receive the tool. The system may further include a first reader positioned along the receiving member. The first reader may be configured to detect a presence indication of the first target of the tool when the first target is in proximity to the first reader during attachment of the tool and an absence indication of the first target of the tool when the first target is out of range of the first reader during attachment of the tool. The system may further include a control system communicatively linked to the first reader and configured to receive one or more of the presence and absence indications of the first target from the first reader to create a detection insertion signature of the received tool.

[0007] Consistent with other embodiments, a tool configured for attachment to a tool recognition assembly is provided. The tool may include an elongated body. The tool may further include one or more targets positioned along the elongated body to align with corresponding one or more target readers in the tool recognition assembly when fully inserted into the tool recognition assembly. A first target of the one or more targets may cause the one or more target readers of the tool recognition assembly to detect an indication of presence of the first target when the first target is in proximity to the one or more target readers during attachment of the tool to the tool recognition assembly and an indication of absence of the first target when the first target is out of range of the one or more target readers during attachment of the tool to the tool recognition assembly.

[0008] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory in nature and are intended to provide an understanding of the present disclosure without limiting the scope of the disclosure. In this regard, further aspects, features, and advantages of the present disclosure will become apparent to those skilled in the art from the following detailed description. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a simplified schematic diagram of a remote medical system according to some embodiments. [Figure 2A] 1 is a simplified partial schematic diagram of a medical instrument system according to some embodiments. [Figure 2B] 1 is a simplified diagram of a medical instrument with an extended medical tool according to some embodiments. [Figure 3A] FIG. 13 is a simplified side view of a patient coordinate space including a medical instrument attached to an insertion assembly in accordance with some embodiments. [Figure 3B] FIG. 13 is a simplified side view of a patient coordinate space including a medical instrument attached to an insertion assembly in accordance with some embodiments. [Figure 4A]FIG. 1 is a simplified schematic perspective view of a tool recognition assembly with a tool inserted therein, in accordance with some embodiments. [Figure 4B] FIG. 1 is a simplified schematic perspective view of a tool recognition assembly according to some embodiments. [Figure 4C] FIG. 1 is a simplified schematic partial cross-sectional view of a source and detector that can be used to detect a characteristic(s) of a tool installed in a tool recognition assembly according to some embodiments. [Figure 4D] FIG. 1 is a simplified schematic partial cross-sectional view of a source and detector that can be used to detect a characteristic(s) of a tool installed in a tool recognition assembly according to some embodiments. [Figure 4E] FIG. 1 is a simplified schematic partial cross-sectional view of a source and detector that can be used to detect a characteristic(s) of a tool installed in a tool recognition assembly according to some embodiments. [Figure 4F] FIG. 1 is a simplified schematic partial cross-sectional view of a source and detector that can be used to detect a characteristic(s) of a tool installed in a tool recognition assembly according to some embodiments. [Figure 4G] FIG. 1 is a simplified schematic partial cross-sectional view of a source and detector that can be used to detect a characteristic(s) of a tool installed in a tool recognition assembly according to some embodiments. [Figure 4H] FIG. 1 is a simplified schematic partial cross-sectional view of a source and detector that can be used to detect a characteristic(s) of a tool installed in a tool recognition assembly according to some embodiments. [Figure 4I] FIG. 1 is a simplified schematic partial cross-sectional view of a source and detector that can be used to detect a characteristic(s) of a tool installed in a tool recognition assembly according to some embodiments. [Figure 4J]1A-1D are simplified schematic partial cross-sectional views of various alternative reader:target sets that can be used to detect characteristic(s) of a tool installed in a tool recognition assembly according to some embodiments. [Figure 5A] 1 is a simplified schematic side view of a tool mounted on a tool recognition assembly in accordance with some embodiments. FIG. [Figure 5B] 1 is a simplified schematic side view of a tool mounted on a tool recognition assembly in accordance with some embodiments. FIG. [Figure 5C] 1 is a simplified schematic side view of a tool mounted on a tool recognition assembly in accordance with some embodiments. FIG. [Figure 5D] 1 is a simplified schematic side view of a tool mounted on a tool recognition assembly in accordance with some embodiments. FIG. [Figure 5E] 1 is a simplified schematic side view of a tool when the tool is installed in a tool recognition assembly according to some embodiments. [Figure 5F] 1 is a simplified schematic side view of a tool when the tool is installed in a tool recognition assembly according to some embodiments. [Figure 5G] 1 is a simplified schematic side view of a tool when the tool is installed in a tool recognition assembly according to some embodiments. [Figure 5H] 1 is a simplified schematic side view of a tool when the tool is installed in a tool recognition assembly according to some embodiments. [Figure 5I] 1 is a simplified schematic side view of a tool when the tool is installed in a tool recognition assembly according to some embodiments. [Figure 5J] 1 is a simplified schematic side view of a tool when the tool is installed in a tool recognition assembly according to some embodiments. [Figure 5K] 13 is a simplified schematic side view of another tool when the tool is attached to a tool recognition assembly according to some embodiments. [Figure 5L]13 is a simplified schematic side view of another tool when the tool is attached to a tool recognition assembly according to some embodiments. [Figure 5M] FIG. 1 is a simplified schematic side view of a tool mounted to a tool recognition assembly with a detector in accordance with some embodiments. [Figure 5N] FIG. 1 is a simplified schematic side view of a tool mounted to a tool recognition assembly with a detector in accordance with some embodiments. [Figure 5P] FIG. 1 is a simplified schematic side view of a tool mounted to a tool recognition assembly with a detector in accordance with some embodiments. [Figure 5R] FIG. 1 is a simplified schematic side view of a tool mounted to a tool recognition assembly with a detector in accordance with some embodiments. [Figure 5S] 13 is a simplified schematic side view of another medical instrument when the another medical instrument is installed in a tool recognition assembly according to some embodiments. FIG. [Figure 6A] FIG. 2 is a simplified schematic perspective view of a reader:target pair according to some embodiments. [Figure 6B] FIG. 2 is a simplified schematic perspective view of a reader:target pair according to some embodiments. [Figure 6C] FIG. 2 is a simplified schematic perspective view of a reader:target pair according to some embodiments. [Figure 6D] 1 is a performance graph of a reader:target pair according to some embodiments. [Figure 7A] FIG. 2 is a simplified schematic perspective view of a reader:target pair according to some embodiments. [Figure 7B] 1 is a performance table of multiple reader:target pairs according to some embodiments. [Figure 8A] 1 is a simplified schematic side view of an elongated target having two sections that can be used with a tool installed in a tool recognition assembly in accordance with some embodiments. [Figure 8B]8B is a representative partial cross-sectional view of a section of the elongated target shown in FIG. 8A according to some embodiments. [Figure 8C] 8B is a representative partial cross-sectional view of a section of the elongated target shown in FIG. 8A according to some embodiments. [Figure 8D] 8B is a representative partial cross-sectional view of a section of the elongated target shown in FIG. 8A according to some embodiments. [Figure 8E] 1 is a representative side view of another elongated target, according to some embodiments. [Figure 8F] 1 is a representative side view of another elongated target, according to some embodiments. [Figure 9] 1 is a flowchart providing a method for determining a characteristic of a tool according to some embodiments. [Figure 10A] 1 is a table illustrating an exemplary algorithm for detecting characteristics of a medical instrument installed in a tool recognition assembly, according to some embodiments. [Figure 10B] 1 is a table illustrating an exemplary algorithm for detecting characteristics of a medical instrument installed in a tool recognition assembly, according to some embodiments. [Figure 10C] 1 is a table illustrating an exemplary algorithm for detecting characteristics of a medical instrument installed in a tool recognition assembly, according to some embodiments. [Figure 11] 1 is a representative image from within a catheter that may be captured by a camera at the distal end of a medical instrument, according to some embodiments.

[0010] The embodiments of the present disclosure and their advantages are best understood by referring to the following detailed description: Like reference numerals are used to identify like elements shown in one or more of the drawings, and it should be understood that the representations therein are for the purpose of illustrating the embodiments of the present disclosure and not for the purpose of limiting same. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] In the following description, specific details are described that describe some embodiments consistent with the present disclosure. Numerous specific details are described to provide a thorough understanding of the embodiments. However, it will be apparent to one skilled in the art that some embodiments can be practiced without some or all of these specific details. The specific embodiments disclosed herein are meant to be illustrative, but not limiting. One skilled in the art can recognize other elements that are not specifically described herein but are within the scope and spirit of the present disclosure. Furthermore, to avoid unnecessary repetition, one or more features shown and described in connection with one embodiment can be incorporated into other embodiments, unless otherwise specifically described or one or more features render the embodiment non-functional.

[0012] In some instances, well known methods, procedures, components, and circuits have not been described in detail as not to unnecessarily obscure aspects of the embodiments.

[0013] This disclosure describes various instruments and parts of instruments with respect to their status in three-dimensional space. As used herein, the term "position" refers to the location of an object or part of an object in three-dimensional space (e.g., three translational degrees of freedom along Cartesian x, y, and z coordinates). As used herein, the term "orientation" refers to the rotational configuration of an object or part of an object (three rotational degrees of freedom - e.g., roll, pitch, and yaw). As used herein, the term "pose" refers to the position of an object or part of an object in at least one translational degree of freedom and the orientation of an object or part of an object in at least one rotational degree of freedom (up to six total degrees of freedom). As used herein, the term "shape" refers to a set of poses, positions, or orientations measured along an object.

[0014] 1 is a simplified diagram of a teleoperated medical system 100 according to some embodiments. In some embodiments, the teleoperated medical system 100 may be suitable for use in, for example, surgical, diagnostic, therapeutic, or biopsy procedures. Some embodiments are provided herein with respect to such procedures, but any reference to medical or surgical instruments and methods is non-limiting. The systems, instruments, and methods described herein may be used on animals, human cadavers, animal cadavers, parts of the human or animal anatomy, non-surgical diagnostics, as well as industrial systems and general robotic or teleoperated medical systems.

[0015] As shown in Figure 1, the medical system 100 generally includes a teleoperated manipulator assembly 102 that manipulates medical instruments 104 to perform various procedures on a patient P. The manipulator assembly 102 may be teleoperated, non-teleoperated, or a hybrid teleoperated and non-teleoperated assembly having select degrees of freedom that may be motorized and / or remotely operated, as well as non-motorized and / or non-teleoperated. The manipulator assembly 102 is mounted at or near an operating table T. A master assembly 106 allows an operator O (e.g., a surgeon, clinician, or physician as shown in Figure 1) to view the intervention site and control the manipulator assembly 102.

[0016] The master assembly 106 may be located in an operator console that is typically located in the same room as the operating table T, such as to the side of the operating table where the patient P is located. However, it should be understood that the operator O may be located in a different room than the patient P or in a different building entirely. The master assembly 106 generally includes one or more controllers for controlling the manipulator assembly 102. The controllers may include any number of different input devices, such as joysticks, trackballs, data gloves, trigger guns, hand controllers, voice recognition devices, body motion or presence sensors, etc. To provide the operator O with a strong sense of direct control of the instrument 104, the controllers may be equipped with the same degrees of freedom as the associated medical instrument 104. In this manner, the controllers provide the operator O with a telepresence or awareness that the controllers are integral with the medical instrument 104.

[0017] In some embodiments, the controller may have more or fewer degrees of freedom than the associated medical instrument 104, but still provide telepresence to the operator O. In some embodiments, the controller may optionally be a manual input device that operates in six degrees of freedom, which may also include an actuatable handle for actuating the instrument (e.g., to close the grasping jaws, apply an electrical potential to an electrode, deliver a medical treatment, etc.).

[0018] The manipulator assembly 102 supports the medical instrument 104 and may include one or more non-servo controlled links (e.g., one or more links that can be manually positioned and locked into place, commonly referred to as a setup structure) and / or one or more servo controlled links (e.g., one or more links that can be controlled in response to commands from a control system) and a kinematic structure of the manipulator. The manipulator assembly 102 may optionally include multiple actuators or motors that drive inputs to the medical instrument 104 in response to commands from a control system (e.g., control system 112). The actuators may optionally include a drive system that, when coupled to the medical instrument 104, may advance the medical instrument 104 into a natural or surgically created anatomical opening. Other drive systems may move the distal end of the medical instrument 104 in multiple degrees of freedom, which may include three degrees of freedom of linear motion (e.g., linear motion along X, Y, Z Cartesian axes) and three degrees of freedom of rotational motion (e.g., rotation about X, Y, Z Cartesian axes). Additionally, the actuators can be used to actuate articulable portions of the medical instrument 104 for grasping tissue in the jaws of a biopsy device, etc. Actuator position sensors, such as resolvers, encoders, potentiometers, and other mechanisms, can provide sensor data to the medical system 100 that describes the rotation and orientation of the motor shaft. This position sensor data can be used to determine the movement of an object manipulated by the actuator.

[0019] The teleoperated medical system 100 may include a sensor system 108 having one or more subsystems for receiving information regarding the instrument of the manipulator assembly 102. Such subsystems may include a position / location sensor system (e.g., an electromagnetic (EM) sensor system), a shape sensor system for determining the position, orientation, speed, velocity, attitude, and / or shape of the distal end and / or one or more segments along a flexible body that may comprise the medical instrument 104, and / or a visualization system for capturing images from the distal end of the medical instrument 104.

[0020] The teleoperated medical system 100 also includes a display system 110 for displaying images or representations of the medical instrument 104 generated by the subsystems of the surgical site and the sensor system 108. The display system 110 and the master assembly 106 may be oriented to allow the operator O to control the medical instrument 104 and the master assembly 106 with a sense of telepresence.

[0021] In some embodiments, the medical instrument 104 may have a visualization system (described in more detail below), which may include a viewing scope assembly that records concurrent or real-time images of the surgical site and provides the images to the operator or operators O via one or more displays of the medical system 100, such as one or more displays of the display system 110. The concurrent images may be, for example, two-dimensional or three-dimensional images captured by an endoscope positioned within the surgical site. In some embodiments, the visualization system includes an endoscope component that may be integrally or removably coupled to the medical instrument 104. However, in some embodiments, a separate endoscope attached to a separate manipulator assembly may be used with the medical instrument 104 to image the surgical site. The visualization system may be implemented as hardware, firmware, software, or a combination thereof, and interacts with or is otherwise executed by one or more computer processors, which may include a processor of the control system 112.

[0022] The display system 110 may also display images of the surgical site and the medical instruments captured by the visualization system. In some examples, the teleoperated medical system 100 may configure the control of the medical instruments 104 and the master assembly 106 such that the relative positions of the medical instruments resemble the relative positions of the operator O's eyes and hands. In this way, the operator O can manipulate the medical instruments 104 and the hand controls as if he were viewing the workspace in substantially true presence. True presence means that the presentation of the images is a true perspective image that simulates the perspective of a physician physically manipulating the medical instruments 104.

[0023] In some examples, the display system 110 may present images of the surgical site recorded pre- or intra-operatively using image data from imaging techniques such as computed tomography (CT), magnetic resonance imaging (MRI), fluoroscopy, thermography, ultrasound, optical coherence tomography (OCT), thermal imaging, impedance imaging, laser imaging, nanotube x-ray imaging, etc. The pre- or intra-operative image data may be presented as two-dimensional, three-dimensional, or four-dimensional (e.g., including time-based or velocity-based information) images and / or as images from models created from the pre- or intra-operative image datasets.

[0024] In some embodiments, often for purposes of image-guided surgical procedures, the display system 110 may display a virtual navigation image in which the actual position of the medical instrument 104 is registered (i.e., dynamically referenced) with a pre-operative or contemporaneous image / model. This may be done to present the operator O with a virtual image of the internal surgical site from the perspective of the medical instrument 104. In some examples, the perspective may be from the tip of the medical instrument 104. An image of the tip of the medical instrument 104 and / or other graphical or alphanumeric indicators may be superimposed on the virtual image to aid the operator O in controlling the medical instrument 104. In some examples, the medical instrument 104 may not be visible in the virtual image.

[0025] In some embodiments, the display system 110 may display a virtual navigation image in which the actual position of the medical instrument 104 is registered with the pre-operative or contemporaneous images to present the operator O with a virtual image of the medical instrument 104 within the surgical site from an external perspective. An image of a portion of the medical instrument 104, or other graphical or alphanumeric indicators, may be superimposed on the virtual image to aid the operator O in controlling the medical instrument 104. As described herein, visual representations of the data points may be rendered on the display system 110. For example, measured data points, moved data points, registered data points, and other data points described herein may be displayed in a visual representation on the display system 110. The data points may be visually represented in the user interface by a number of points or dots on the display system 110, or as a rendered model, such as a mesh or wire model, created based on a set of data points. In some examples, the data points may be color-coded according to the data they represent. In some embodiments, the visual representation may be refreshed in the display system 110 after each processing operation is performed to modify the data points.

[0026] The teleoperated medical system 100 may also include a control system 112. The control system 112 includes at least one memory (not shown) and at least one computer processor (not shown) for controlling between the medical instruments 104, the master assembly 106, the sensor system 108, and the display system 110. The control system 112 also includes programmed instructions (e.g., a non-transitory machine-readable medium storing instructions) for implementing some or all of the methods described according to the embodiments disclosed herein, including instructions for providing information to the display system 110. Although the control system 112 is shown as a single block in the simplified schematic diagram of FIG. 1, the control system 112 may include two or more data processing circuits distributed throughout the teleoperated medical system 100 to perform distributed data processing. For example, some of the data processing performed by the distributed control system 112 can optionally be performed on or near the manipulator assembly 102, another part of the data processing can optionally be performed on the master assembly 106, and another part of the data processing can optionally be performed on other data processing circuits. At least one computer processor or more than one data processing circuit of the control system 112 can execute instructions corresponding to the processing disclosed herein and described in more detail below. Any of a wide variety of centralized or distributed data processing architectures can be used. Similarly, the programmed instructions can be implemented as several separate programs or subroutines, or they can be integrated into several other aspects of the teleoperated medical system described herein. In one embodiment, the control system 112 supports wireless communication protocols such as Bluetooth, IrDA, HomeRF, IEEE 802.11, DECT, and wireless telemetry.

[0027] In some embodiments, the control system 112 may receive force and / or torque feedback from the medical instrument 104. In response to the feedback, the control system 112 may send a signal to the master assembly 106. In some examples, the control system 112 may send a signal to instruct one or more actuators of the manipulator assembly 102 to move the medical instrument 104. The medical instrument 104 may extend into an internal surgical site within the patient P's body through one or more openings within the patient P's body. Any suitable conventional and / or specialized actuators may be used. In some examples, the one or more actuators may be separate from or integrated with the manipulator assembly 102. In some embodiments, the one or more actuators and the manipulator assembly 102 are provided as part of a remotely operated cart that is positioned adjacent to the patient P and the surgical table T.

[0028] The control system 112 may optionally further include a virtual visualization system to provide navigational assistance to the operator O when controlling the medical instrument 104 during an image-guided surgical procedure. Virtual navigation using the virtual visualization system may be based on referencing pre-operative or intra-operative acquired data sets of anatomical passageways. The virtual visualization system processes images of the surgical site imaged using imaging techniques such as computed tomography (CT), magnetic resonance imaging (MRI), fluoroscopy, thermography, ultrasound, optical coherence tomography (OCT), thermal imaging, impedance imaging, laser imaging, nanotube x-ray imaging, etc. Software, which may be used in combination with manual input, is used to convert the recorded images into a segmented two-dimensional or three-dimensional composite representation of a partial or entire anatomical organ or anatomical region. An image dataset is associated with the composite representation. The composite representation and the image dataset describe various positions and shapes of the passageways and their connectivity. The images used to generate the composite representation may be recorded pre-operatively or intra-operatively during the clinical procedure. In some embodiments, the virtual visualization system may use standard representations (i.e., not patient specific) or a hybrid of standard representations and patient specific data. The synthetic representations and virtual images generated by the synthetic representations may represent rest poses of the deformable anatomical region during one or more phases of motion (e.g., during the inhalation / exhalation cycle of the lungs).

[0029] During the virtual navigation procedure, the sensor system 108 may be used to calculate the approximate position of the medical instrument 104 relative to the patient P's anatomy. That position may be used to generate both a macro-level (external) tracking image of the patient P's anatomy and a virtual internal image of the patient P's anatomy. The sensor system 108 may implement one or more electromagnetic (EM), fiber optic, and / or other sensors to register and display the medical instrument with the surgical images recorded pre-operatively. See, for example, U.S. patent application Ser. No. 13 / 107,562, filed May 13, 2011 ("Medical System Providing Dynamic The teleoperated medical system 100 may further include optional motion and support systems, such as a lighting system, a steering control system, an irrigation system, and / or an aspiration system. In some embodiments, the teleoperated medical system 100 may include more than one manipulator assembly and / or more than one master assembly. The total number of teleoperated manipulator assemblies included in the teleoperated medical system depends on several factors, including the surgical procedure and spatial constraints within the operating room. When implemented as multiple units, the master assembly 106 may be collocated or located in separate locations. Multiple master assemblies allow more than one multiple operators to control one or more teleoperated manipulator assemblies in various combinations.

[0030] 2A is a simplified diagram of a medical instrument system 200 according to some embodiments. In some embodiments, the medical instrument system 200 may be used as the medical instrument 104 in an image-guided medical procedure performed with the teleoperated medical system 100. In some examples, the medical instrument system 200 may be used for non-teleoperational exploratory procedures or for procedures involving traditional manually operated medical instruments, such as an endoscope. Optionally, the medical instrument system 200 may be used to collect (i.e., measure) a set of data points corresponding to locations within an anatomical passageway of a patient, such as patient P.

[0031] The medical instrument system 200 includes an elongated device 202, such as a flexible catheter, coupled to a drive unit 204. The elongated device 202 includes a flexible body 216 having a proximal end 217 and a distal end or tip portion 218. In some embodiments, the flexible body 216 has an outer diameter of about 3 mm. Other flexible body outer diameters may be larger or smaller.

[0032] The medical instrument system 200 further includes a tracking system 230 for determining the position, orientation, speed, velocity, attitude, and / or shape of the distal end 218 and / or one or more segments 224 along the flexible body 216 using one or more sensors and / or imaging devices, as described in more detail below. The entire length of the flexible body 216 between the distal end 218 and the proximal end 217 may be effectively divided into segments 224. The tracking system 230 may be implemented as hardware, firmware, software, or a combination thereof that optionally interacts with or is otherwise executed by one or more computer processors, which may include at least one processor or two or more data processing circuits of the control system 112 of FIG. 1.

[0033] The tracking system 230 may optionally use a shape sensor 222 to track the distal end 218 and / or one or more of the segments 224. The shape sensor 222 may optionally include an optical fiber aligned with the flexible body 216 (e.g., disposed within an internal channel (not shown) or attached externally). In one embodiment, the optical fiber has a diameter of about 200 μm. In other embodiments, the optical fiber may be larger or smaller in size. The optical fiber of the shape sensor 222 forms a fiber optic bend sensor for determining the shape of the flexible body 216. In one alternative, an optical fiber including a fiber Bragg grating (FBG) is used to provide strain measurements of the structure in one or more dimensions. Various systems and methods for monitoring the shape and relative position of an optical fiber in three dimensions are described in U.S. patent application Ser. No. 11 / 180,389, filed Jul. 13, 2005, entitled "Fiber optic position and shape" in US Pat. No. 5,313 ... No. 12 / 047,056 (filed July 16, 2004) (discloses "Fiber-optic shape and relative No. 6,389,187, filed Jun. 17, 1998 (disclosing an "Optical Fiber Bend Sensor"), all of which are incorporated herein by reference in their entireties.

[0034] The sensors in some embodiments may use other suitable strain detection techniques, such as Rayleigh scattering, Raman scattering, Brillouin scattering, and fluorescence scattering. In some embodiments, the shape of the elongated device may be determined using other techniques. For example, a history of the distal end pose of the flexible body 216 may be used to reconstruct the shape of the flexible body 216 over a given time interval. In some embodiments, the tracking system 230 may optionally and / or additionally track the distal end 218 using the position sensor system 220. The position sensor system 220 may be a component of an EM sensor system having a position sensor system 220 that includes one or more conductive coils that may be exposed to an externally generated electromagnetic field. In that case, each coil of the EM sensor system 220 generates an induced electrical signal having characteristics that depend on the position and orientation of the coil relative to the externally generated electromagnetic field. In some embodiments, the position sensor system 220 may be configured and positioned to measure six degrees of freedom, e.g., three position coordinates X, Y, Z, and three orientation angles indicative of the pitch, yaw, and roll of a fiducial, or five degrees of freedom, e.g., three position coordinates X, Y, Z, and two orientation angles indicative of the pitch and yaw of a fiducial. Further description of position sensor systems may be found in U.S. Pat. No. 6,380,732, filed Aug. 11, 1999 ("Six-Degree of Freedom Tracking"), which is incorporated herein by reference in its entirety. The information provided to the IEEE 802.11b / g / n / ac / 11s / docs / c / 11ds / 11s / docs / c ...

[0035] In some embodiments, the tracking system 230 may alternatively and / or additionally rely on stored historical posture, position, or orientation data for known points of the instrument system along a cycle of alternating motion, such as breathing. This stored data may be used to develop shape information about the flexible body 216. In some examples, a series of position sensors (not shown), such as electromagnetic (EM) sensors similar to the sensors in the position sensor system 220, may be positioned along the flexible body 216 and then used for shape sensing. In some examples, especially when the anatomical passageway is generally stationary, a history of data from one or more of these sensors taken during a procedure may be used to represent the shape of the elongated device 202.

[0036] The flexible body 216 includes a channel 221 sized and shaped to receive a medical tool 226. FIG. 2B is a simplified diagram of the flexible body 216 with the medical tool 226 in an extended state according to some embodiments. In some embodiments, the medical tool 226 may be used for procedures such as surgery, biopsy, ablation, illumination, irrigation, or aspiration. The medical tool 226 may be deployed through the channel 221 of the flexible body 216 and used at a target location within the anatomy. The medical tool 226 may include, for example, an image capture probe, a biopsy instrument, a laser ablation fiber, and / or other surgical, diagnostic, or therapeutic tool. The medical tool may include a single working member such as a scalpel, a blunt blade, an optical fiber, an electrode, and the like. Other medical tools may include, for example, forceps, graspers, scissors, clip appliers, and the like. Other medical tools may further include electrically actuated tools such as electrosurgical electrodes, transducers, sensors, and the like. In various embodiments, the medical tool 226 is a biopsy instrument, which can be used to remove a sampling of sample tissue or cells from a target anatomical location.

[0037] The medical tool 226 may be used with an image capture probe, also within the flexible body 216. In various embodiments, the medical tool 226 may be an image capture probe that includes a distal portion with a stereoscopic or monoscopic camera at or near the distal end 218 of the flexible body 216 to capture images (including video images) that are processed by the visualization system 231 for display and / or provided to the tracking system 230 to support tracking of the distal end 218 and / or one or more of the segments 224. The image capture probe may include a cable coupled to the camera to transmit the captured image data. In some examples, the image capture device may be a fiber optic bundle, such as a fiberscope, that couples to the visualization system 231. The image capture device may be single or multi-spectral, capturing image data in one or more of the visible, infrared, and / or ultraviolet spectrums, for example. Alternatively, the medical tool 226 itself may be an image capture probe. The medical tool 226 may be advanced out of an opening in the channel 221 to perform a procedure and returned into the channel when the procedure is completed. The medical tool 226 may be removed from the proximal end 217 of the flexible body 216 or from another optional instrument port (not shown) along the flexible body 216 .

[0038] The medical tool 226 may further contain a cable, linkage, or other actuation control (not shown) extending between its proximal and distal ends for controlling the bent distal end of the medical tool 226. The steerable instrument may be any of the instruments described in U.S. Pat. No. 7,316,681 (filed Oct. 4, 2005) ("Articulated Surgical Instrument for No. 12 / 286,644 (filed Sep. 30, 2008) (disclosing “Passive The details are described in “Preload and Capstan Drive for Surgical Instruments” (http: / / www.ni.co.jp / series ...

[0039] The flexible body 216 may also house cables, links, or other steering controls (not shown) extending between the drive unit 204 and the distal end 218 to controllably bend the distal end 218, for example, as indicated by the dashed line depiction 219 of the distal end 218. In some examples, at least four cables are used to provide independent "up / down" steering to control the pitch of the distal end 218 and "side / right" steering to control the yaw of the distal end 218. Steerable elongated devices are disclosed in U.S. Patent Application Serial No. 13 / 274,208, filed October 14, 2011, which is incorporated herein by reference in its entirety ("Catheter with Removable Vision and In embodiments in which the medical instrument system 200 is actuated by a remotely operated assembly, the drive unit 204 may include a drive input that removably couples to and receives power from a drive element, such as an actuator of the remotely operated assembly. In some embodiments, the medical instrument system 200 may include a gripping feature, manual actuator, or other components to manually control the operation of the medical instrument system 200. The elongated device 202 may be steerable, or alternatively, the system may be non-steerable without an integrated mechanism for operator control of bending of the distal end 218. In some examples, one or more lumens are defined within the wall of the flexible body 216 through which medical instruments can be deployed and used at the target surgical location.

[0040] In some embodiments, the medical instrument system 200 may include a flexible bronchial instrument, such as a bronchoscope or bronchial catheter, for use in pulmonary examination, diagnosis, biopsy, or treatment. The medical instrument system 200 is also suitable for navigation and treatment of other tissues, via natural or surgically created connecting passageways, in any of a variety of anatomical systems, including the colon, intestines, kidneys and renal calyces, brain, heart, circulatory system including vasculature, and the like.

[0041] Information from the tracking system 230 is sent to a navigation system 232 where it is combined with information from the visualization system 231 and / or preoperatively derived models to provide real-time position information to a physician or other operator. In some examples, the real-time position information may be displayed on the display system 110 of FIG. 1 for use in controlling the medical instrument system 200. In some examples, the control system 112 of FIG. 1 may utilize the position information as feedback to position the medical instrument system 200. Various systems for using fiber optic sensors to register and display surgical instruments with surgical images are described in “Medical System Providing Dynamic Registration of a Model of an Instrument.” No. 13 / 107,562, filed May 13, 2011, which discloses "Anatomic Structure for Image-Guided Surgery," the entire contents of which are incorporated herein by reference.

[0042] In some examples, the medical instrument system 200 may be remotely operated within the medical system 100 of Figure 1. In some embodiments, the manipulator assembly 102 of Figure 1 may be replaced by direct operator controls. In some examples, the direct operator controls may include various handles and operator interfaces for handheld operation of the instrument.

[0043] 3A and 3B are simplified diagrams of a side view of a patient coordinate space including a medical instrument attached to an insertion assembly according to some embodiments. As shown in FIGS. 3A and 3B, a surgical environment 300 includes a patient P positioned on the surgical table T of FIG. 1. The patient P may be stationary within the surgical environment in the sense that overall patient motion is limited by sedation, restraints, and / or other means. Cyclic anatomical motion, including breathing and cardiac motion, of the patient P may continue unless the patient is instructed to hold their breath to temporarily stop respiratory motion. Thus, in some embodiments, data may be collected at specific respiratory phases and tagged and identified with that phase. In some embodiments, the phase at which data is collected may be inferred from physiological information collected from the patient P. Within the surgical environment 300, a point collection instrument 304 is coupled to an instrument carriage 306. In some embodiments, the point collection instrument 304 may use EM sensors, shape sensors, and / or other sensor modalities. The instrument carriage 306 is attached to an insertion stage 308 that is fixed within the surgical environment 300. Alternatively, the insertion stage 308 may be movable but have a known position within the surgical environment 300 (e.g., via a tracking sensor or other tracking device). The instrument carriage 306 may be a component of a manipulator assembly (e.g., manipulator assembly 102) that couples to the point collection instrument 304 to control the insertion motion (i.e., motion along the A-axis) and, optionally, the motion of the distal end 318 of the elongated instrument 310 in multiple directions, including yaw, pitch, and roll. The instrument carriage 306 or insertion stage 308 may include actuators such as servo motors (not shown) that control the motion of the instrument carriage 306 along the insertion stage 308.

[0044] The elongated device 310 (e.g., a medical instrument) may be coupled to an instrument body 312. The instrument body 312 is coupled and fixed to the instrument carriage 306. In some embodiments, a fiber optic shape sensor 314 is fixed to a proximal point 316 on the instrument body 312. In some embodiments, the proximal point 316 of the fiber optic shape sensor 314 may be movable with the instrument body 312, but the position of the proximal point 316 may be known (e.g., via a tracking sensor or other tracking device). The shape sensor 314 measures the shape from the proximal point 316 to another point, such as a distal end 318 of the elongated device 310. The point collection instrument 304 may be substantially similar to the medical instrument system 200.

[0045] The position measurement device 320 provides information regarding the position of the instrument body 312 as it moves on the insertion stage 308 along the insertion axis A. The position measurement device 320 may include resolvers, encoders, potentiometers, and / or other sensors that determine the rotation and / or orientation of actuators that control the movement of the instrument carriage 306 and, consequently, the instrument body 312. In some implementations, the insertion stage 308 is linear. In some embodiments, the insertion stage 308 may be curved or have a combination of curved and linear sections.

[0046] FIG. 3A shows the instrument body 312 and instrument carriage 306 in a retracted position along the insertion stage 308. In this retracted position, the proximal point 316 is at a position L0 on axis A. In this retracted position along the insertion stage 308, a component of the position of the proximal point 316 may be set to zero and / or another reference value to provide a base reference for describing the position of the instrument carriage 306, and thus the proximal point 316, on the insertion stage 308. In this retracted position of the instrument body 312 and instrument carriage 306, the distal end 318 of the elongated device 310 may be located just inside the entrance orifice of the patient P. Also in this position, the position measuring device 320 may be set to zero and / or another reference value (e.g., I=0). In FIG. 3B, the instrument body 312 and instrument carriage 306 have advanced along the linear track of the insertion stage 308 and the distal end 318 of the elongated device 310 has advanced into the patient P. In this advanced position, proximal point 316 is at position L1 on axis A. In some examples, one or more actuators controlling the movement of instrument carriage 306 along insertion stage 308 and / or encoders and / or other position data from one or more position sensors associated with instrument carriage 306 and / or insertion stage 308 may determine the position L of proximal point 316 relative to position L0. X In some examples, the position L X may further be used as an indicator of the distance or insertion depth that the distal end 318 of the elongate device 310 is inserted into a passageway of the patient P's anatomy.

[0047] For a medical instrument system to operate safely and effectively, a medical tool may need to be properly located, positioned, identified, authenticated, and / or otherwise received and recognized when attached to a system such as the manipulator assembly 102 or inserted into a receiving member such as the medical instrument system 200. As disclosed herein, a tool recognition assembly in the receiving member may be used to detect the presence, proximity, and / or absence of targets on the tool to detect and develop an insertion signature for each inserted tool. Based on the detected and developed insertion signature, various options for operating the tool or medical instrument system may be enabled or disabled. Although many of the embodiments described herein describe the receiving member as a catheter, the tool recognition systems and methods described are suitable for use with any type of tool and receiving member. In one example, described in detail below, the tool recognition assembly may be used to determine an operating mode based on whether a medical tool is fully inserted into a catheter assembly. For example, if the tool is a camera probe, the tool recognition assembly may be used to determine whether the probe is properly seated within the delivery catheter before the catheter is operated in drive mode and advanced to the patient. Allowing the catheter to be advanced blindly without ensuring that the camera probe is properly positioned can result in injury to the patient that can be prevented by the use of the tool recognition assembly. Once at the destination, the camera probe can be retracted from the catheter to make space for a different medical tool. Retraction of the camera probe can leave the physician blind to an internal structure that is to be treated or evaluated. Consistent with the teachings of the present disclosure, the tool recognition assembly may detect that the camera has been removed and in response enter a safe mode. In the safe mode, one or more functions of the control system (e.g., control system 112 of FIG. 1) may be limited or disabled. For example, the flexibility of the catheter and / or the speed at which adjustments to the position of the catheter can be made may be limited.Such limitations are expected to reduce the likelihood of patient injury resulting from blind adjustments to instruments that remain inserted in the patient after withdrawal of the camera. Accordingly, implementation of the teachings of the present disclosure is expected to improve the safety of minimally invasive procedures. The tool recognition assembly may also be used to recognize counterfeit, competitive, or other unauthorized devices or tools, such as devices or tools manufactured by competitive or unauthorized manufacturers. The tool recognition assembly may also be used to identify the type of tool (e.g., needle, ablation tool, cutter, grasper, etc.), and based on recognition of the type of tool, a change in control mode or a change in tool behavior may be implemented.

[0048] FIG. 4A illustrates an exemplary tool recognition system implemented as a tool recognition assembly 410 into which a receiving member 450 (e.g., a catheter, flexible body 216, or elongated device 310) may extend. It should also be understood that the receiving member 450 (e.g., a catheter) may be inserted through the tool recognition assembly 410, and an insertion signature may be generated upon insertion of the receiving member 450 and / or tool 404. In this embodiment, the tool recognition assembly 410 includes a reader mount 402. In various embodiments, the reader mount 402 may be attached to a manipulator assembly (e.g., manipulator assembly 102), as described in more detail in FIG. 4B. The tool recognition assembly 410 may incorporate one or more target readers configured to detect one or more targets on the tool and / or catheter. In the example illustrated in FIG. 4A, a target reader 406 is coupled to a proximal end of the reader mount 402, and another target reader 407 is coupled to a distal end of the reader mount. In this embodiment, the reader mount 402 is shown as a cylinder or bobbin having channels 452 separated by an elongated body 403. The reader mount 402 may be formed of plastic, ceramic, or another type of material that minimizes interference with the target readers 406, 407. Each of the target readers 406, 407 extends into a corresponding one of the channels 452 to couple to the reader mount 402. The target readers 406, 407 are separated by a distance D1. The target reader 406 may have an inductive sensor (e.g., an inductor or induction coil that detects changes in inductance caused by the ferromagnetic and conductive properties of a material), a capacitive sensor, a Hall effect sensor, a photogate sensor, an optical sensor, a magnetic switch, a barcode scanner, a radio frequency identification (RFID) scanner, a relative position sensor, or a combination thereof that can read a corresponding target or targets on a tool to be inserted into the receiving member 450 of the tool recognition assembly 410.Any combination of different types of target readers may be implemented within the tool recognition assembly 410.

[0049] An exemplary tool 404 (e.g., tool 226) and / or receiving member 450 can include one or more targets that can be read by one or more target readers 406, 407 on the tool recognition assembly 410. In the example shown in FIG. 4A, the tool 404 includes a target 456 and a target 457 separated by a distance D2. The distance D2 between the targets 456, 457 on the tool can have a predetermined relationship to the distance D1 between the target readers 406, 407. The tool 404 is sized for insertion into the reader mount 402 and receiving member 450 along an insertion trajectory path 458. The tool 404 can extend through the reader mount 402 and receiving member 450. The receiving member 450 can also be configured to extend through the reader mount 402 with one or more targets (which may be similar to targets 456, 457), thereby enabling the target readers 406, 407 to detect the presence of targets on both the receiving member 450 and the tool 404. The receptive member 450 may be configured and / or constructed to minimize interference between the target reader 406, 407 and the target 456, 457. However, the receptive member 450 may be configured to increase an inductance reading at the target reader by a predetermined amount to indicate the presence of the receptive member 450 (e.g., a catheter). Various techniques may be implemented to minimize interference between the target readers 406, 407. For example, the target readers 406, 407 may perform corresponding tasks at different times as a form of time division multiplexing. As described in more detail below, the presence, proximity, and / or absence of the target 456, 457 may be sensed, detected, or otherwise recognized by the target reader 406, 407. For example, the target may have a ferromagnetic material (e.g., a metal cylinder, a metal coating), one or more apertures, a surface or material with various optical absorption properties, a bar code, an RFID chip, or a combination thereof that may be sensed, detected, or otherwise recognized by the target reader.In one example, the target reader may detect the presence of a target by detecting inductance and / or a change in inductance when the target is placed in proximity to the target reader. It should be understood that the discussion regarding targets on the tool 404 is also applicable to targets on the receiving member 450 (e.g., a catheter). When the receiving member 450 is inserted into the recognition assembly 410, an insertion signature may be generated for the receiving member 450, and when the tool 404 is inserted into the recognition assembly 410, an insertion signature may be generated for the tool 404. When both the tool 404 and the receiving member 450 are inserted into the recognition assembly 410, the inductance reading may be higher than the individual reading of the target on either the receiving member 450 or the tool 404. This may be used in some embodiments to determine the presence and / or absence of the receiving member 450 and the tool 404.

[0050] In the embodiment of FIG. 4A, the reader mount 402 includes two channels 452 and therefore may accommodate two target readers 406, 407 - one in each channel 452. In alternative embodiments, the reader mount may have any number of channels and may accommodate any number of target readers. For example, the reader mount 402 may have a single channel 452, three channels 452, four channels 452, or some other number of channels 452 and may accommodate the same number of target readers as there are channels. In some embodiments, the reader mount 402 may lack channels but may nevertheless accommodate any number of target readers via other coupling mechanisms. In some embodiments, there may be fewer target readers than channels and some channels may be empty. In some embodiments, the reader mount may have a non-cylindrical shape and may be any type of bracket or mounting mechanism for mounting one or more target readers in a position proximate to the receiving member. In some embodiments, the receiving member may have an open channel or any shape for receiving and allowing longitudinal movement of the tool. In some embodiments, the reader mount 402 (or a region of the reader mount) may be considered to be an element or elements of the target reader 406, 407 in that the reader mount 402 may play a role in detecting one or more targets on the tool 404. For example, the channel 452 may be of a different composition than the remainder of the reader mount 402 to facilitate detection of one or more targets on the tool 404.

[0051] In the embodiment of FIG. 4A, the tool 404 may include any number of targets disposed along the length of the tool. For example, the tool may include a single target, three targets, or some other number of targets. The number of targets may differ from the target reader. For example, there may be three target readers on the tool recognition assembly with two targets on the tool, one target reader on the tool recognition assembly with two targets on the tool, or two target readers on the tool recognition assembly with one target on the tool.

[0052] The targets 456, 457 may be positioned on the tool 404 to be detected by the target readers 406, 407 when the tool is at least partially attached (or inserted) into the receiving member 450. In the embodiment of FIG. 4A, the targets 456, 457 may be attached near the proximal end 411 of the tool 404 and the target readers 406, 407 may be attached (e.g., to the manipulator assembly 102) near the proximal end of the receiving member 450. The proximal location of the target readers 406, 407 relative to the targets 456, 457 on the receiving member 450 and the tool 404 provides a configuration that allows the tool recognition assembly 410 to recognize that the tool 404 is fully extended into the receiving member 450. In alternative embodiments, the targets 456, 457 may be positioned at other locations along the tool 404 and the target readers 406, 407 may be positioned at other locations along the receiving member 450. For example, in some embodiments a distal location may be appropriate. In other alternative embodiments, the reader mount may be omitted and the target reader may be coupled to or integrated into the receiving member itself.

[0053] The target readers 406, 407 may communicate with a computing system configured to process data from the target readers (e.g., changes in inductance, changes in magnetic field, changes in light intensity, changes in light color, etc.). The computing system may be, for example, a component of a teleoperated medical system (e.g., the control system 112). The computer system may receive data from the target readers 406, 407 periodically, at irregular intervals, or continuously. For example, the target readers 406, 407 may communicate data to the computing system in response to changes in data sensed by the target readers (e.g., changes in inductance, changes in resistance, changes in capacitance, changes in magnetic field, changes in light intensity, changes in light color, etc.). In other examples, data from the target readers is communicated periodically, either periodically or continuously, to a computing device, and the computing device is tasked with determining when the data has changed. The computing system may include one or more processors configured to process data received from the target readers 406, 407, including detecting changes in sensed data received from the target readers 406, 407.

[0054] As described, the tool recognition assembly 410 may be configured to detect whether the tool 404 is fully inserted into the receiving member 450. The tool recognition assembly 410 may also be configured to detect whether the receiving member 450 (such as a catheter) is fully inserted into the patient. The tool 404 may be considered fully inserted when it is inserted to an extent that allows the tool 404 to be used within the patient's body, when the distal end 413 of the tool 404 is inserted to an extent that is within a particular distance of the distal end of the receiving member 450, when the tool 404 extends through the reader mount 402, when the distal portion of the tool 404 extends a relative distance beyond the distal end of the receiving member, or a combination thereof. In some embodiments, the tool 404 may be considered fully inserted when it is inserted coaxially through the receiving member 450 such that the distal end 413 of the tool is flush with the distal end of the receiving member.

[0055] Detecting whether the tool 404 is fully inserted (or acceptably positioned for operation) relative to the receiving member 450 may include comparing readings from the target readers 406, 407 to a pre-established model insertion signature. As used herein, a "pre-established model insertion signature" or "model insertion signature" refers to an insertion signature generated by a modeling software application, input from a user interface, measurements logged during installation of other tools, etc., that has been established to represent the position of the tool while inserted into the receiving member 450. The tool 404 may be determined to be acceptably positioned for operation and therefore fully inserted when the readings from the target readers 406, 407 match the model insertion signature indicative of a fully inserted tool, and may be determined not to be acceptably positioned for operation and therefore not fully inserted when the readings from the target readers 406, 407 do not match the model insertion signature indicative of a fully inserted tool. Readings from the target readers 406, 407 corresponding to a model insertion signature indicative of a fully inserted tool may include various features, such as a sequence of target readings by the target readers 406, 407, a threshold duration of target readings by the target readers 406, 407, various thresholds, value ratios, or combinations of sequences, threshold durations, thresholds, and / or value ratios.

[0056] Various characteristics of the readings detected by the target readers 406 and 407 can affect the determination of whether a particular reading from the target readers 406 and 407 can contribute to a detection insertion signature. For example, intensity (i.e., threshold), duration, multiple thresholds, or a combination of intensity, duration, and multiple thresholds of readings can be used to determine when a target is detected by the target readers 406 and 407. Additionally or alternatively, differential characteristics of the signal read by the target readers 406, 407, such as the rate of change of the signal (e.g., slope), can be used in determining the detection insertion signature. When inductive elements are used as targets, the target readers 406, 407 can generate an inductance measurement signal that varies as the target 456, 457 approaches the target reader 406, 407, as the target 456, 457 approaches the target reader 406, 407, and as the target 456, 457 moves away from the target reader 406, 407. The amplitude (or strength) of the inductance measurement can indicate the presence of the target 456, 457 within the detection zone of the target reader 406, 407. The strength of the inductance measurement (i.e., the amplitude threshold), the duration of the inductance measurement, multiple thresholds, and a combination of the strength read by the target readers 406 and 407, the duration of the inductance measurement, and multiple thresholds can be used to determine whether a target has been detected in the detection zone of the target reader 406, 407. Additionally, the slope, inductance ratio, and / or other derivatives of the inductance measurement signal can be used to indicate the presence or absence of a target within the detection zone of the target reader 406, 407.One way to express target detection and non-detection, respectively, is to use a binary (e.g., "1" or "0") signal to indicate the presence or absence of a target within the detection zone of the respective target reader 406, 407, as determined by the strength, duration, slope, ratio, and combinations thereof, as well as other derivatives, of the inductance measurement signals from the target readers 406 and 407.

[0057] For example, the presence (which may be indicated by a "1") and / or absence (which may be indicated by a "0") of a target within the detection zone of each target reader 406, 407 may be determined by a ratio of inductance measurements. When a ratio is used to indicate the presence or absence of a target, a baseline inductance is measured and then used to compare with other inductance measurements before, during and / or after insertion of a catheter and / or tool in the tool recognition assembly 410. The baseline inductance measurement may be collected from a baseline target reader with no catheter or probe inserted and / or a baseline inductance measurement may be collected from the target readers 406, 407 when no catheter or probe is inserted. The ratio for the inductance measurements from the target readers 406, 407 may be calculated by the following equation (1):

number

[0058] When the ratio K is determined, the value may indicate the presence and / or absence of the receiving member 450 and / or the tool(s) 404. Table 1 below shows possible inductance ratio values ​​that may be determined from one or more of the target readers 406, 407, and possible configurations that may be indicated by the values. [Table 1] In this example, if the inductance ratio is within the range of 0.99 to 1.01, this may indicate that neither the receiving member 450 nor the tool 404 has a target 456, 457 in the detection zone of the target reader 406, 407 (i.e., absent "0"). If the inductance ratio is within the range of 1.02 to 1.04, this may indicate that the tool #1 has a target in the detection zone of the target reader (i.e., present "1"), while the catheter, tool #2, and tool #3 do not have a target in the detection zone of the target reader (i.e., absent "0"). If the inductance ratio is within the range of 1.04 to 1.06, this may indicate that the catheter has a target in the detection zone of the target reader (i.e., present "1"), while the tool #1, tool #2, and tool #3 do not have a target in the detection zone of the target reader (i.e., absent "0"). If the inductance ratio is within the range of 1.06 to 1.08, this may indicate that the catheter and tool #1 (e.g., visual probe) each have a target within the detection zone of the target reader (i.e., presence "1"), while tool #2 and tool #3 do not have a target within the detection zone of the target reader (i.e., absence "0"). If the inductance ratio is within the range of 1.08 to 1.10, this may indicate that the catheter, tool #1, and tool #2 each have a target within the detection zone of the target reader (i.e., presence "1"), while tool #3 does not have a target within the detection zone of the target reader (i.e., absence "0"). If the inductance ratio is within the range of 1.10 to 1.12, this may indicate that the catheter, tool #1, tool #2, and tool #3 each have a target within the detection zone of the target reader (i.e., presence "1"). If the inductance ratio is greater than 1.12, this may indicate an unknown configuration of catheters and / or tools within the tool recognition assembly 410. This may indicate the presence of an unidentified tool or catheter within the tool recognition assembly 410.Determining the inductance ratio K can minimize the effects of inductance variations among different target readers due to use, manufacturing, material variations, environmental conditions, etc. Based on the detected catheter and tool configurations, the system can determine the operating mode or enable / disable behavior.

[0059] As shown in FIG. 4A, when two target readers 406, 407 are used in combination, a model insertion signature indicative of a fully inserted tool may include a particular sequence of measurements read from the proximal target reader 406 and the distal target reader 407 as the tool 404 (and / or catheter) is inserted. Additionally, the measurements read from the target readers 406 and 407 may depend on the number of targets present on the tool 404. In a single target implementation, such as target 457, the distal target reader 407 has a positive reading or presence reading for target detection, while the proximal target reader 406 has a negative reading or absence reading for target detection. For a single target implementation, when the tool 404 is fully inserted into the receiving member 450, the target 457 may be read first by the proximal target reader 406 and then by the distal target reader 407. Thus, an example sequence of target detection associated with a fully inserted tool 404 having a single target 457 can include: (1) both the proximal target reader 406 and the distal target reader 407 do not detect the target 457 (combined “0”, “0” readings from the two target readers 406, 407 respectively); (2) the proximal target reader 406 detects the target 457 while the distal target reader 407 does not detect the target 457 (combined “1”, “0” readings from the two target readers 406, 407 respectively); and then (3) the proximal target reader 406 no longer detects the target 457 while the distal target reader 407 detects the target 457 (combined “0”, “1” readings from the two target readers);

[0060] If a second target (e.g., target 456) is included on the tool 404, the sequence of target detection changes to accommodate the second target. For example, if target 456 is included on the tool in addition to target 457, target 456 may only be read or detected by the proximal target reader 406. In some embodiments, a fully inserted tool 440 may be indicated when target 456 is read or detected by the distal target reader 407. For example, if target 456 is located distal to the proximal end 411, a fully inserted tool may be associated with the proximal target reader 406 having a "0" reading and the distal target reader 407 having a "1" reading (corresponding to detection of target 457 by the distal target reader).

[0061] In some embodiments, the tool 404 waits for the target reader 406, 407 to read the image for a predetermined minimum period of time, for example a fraction of a second. A tool will not be considered fully inserted (or attached) to the receiving member 450 unless it produces a reading matching the model insertion signature within 1 second, 1 second, 2 seconds, 3 seconds, 4 seconds, 5 seconds, 10 seconds, etc. Detection of a model insertion signature for less than the time specified to indicate a fully inserted tool may be ignored. It should also be understood that the content of a model insertion signature may be a timed sequence of events with various time delays between the sequence of events. A reading from a target reader 406, 407 may be determined to match a given model insertion signature if the timing of events and the type of events match between the readings from the target reader 406, 407 and the model insertion signature.

[0062] Establishing a model insertion signature indicative of a fully inserted tool may reduce the occurrence of false positives caused by a partially inserted tool. For example, when the tool 404 is partially inserted into the reader mount 402, the distal target reader 407 may have a positive reading (e.g., a reading of "1") for target detection of the target 457, while the proximal target reader 406 may have a negative reading (e.g., a reading of "0") for target detection of the target 457. As used herein, a "positive" reading refers to a positive detection that a target is within the detection zone of the target reader. Thus, a "positive" reading refers to a target reader received signal strength exceeding a threshold, a ratio of received signals within a predetermined range, a slope of the received signal within an acceptable range indicating the presence of a target, an integral of the received signal within an acceptable range, a strength threshold of the received signal may be held for a predetermined period of time, or combinations thereof, as well as other signal attributes indicative of the presence of a target within the target reader detection zone. As used herein, a "negative" reading refers to a detection that a target is not within the detection zone of the target reader. Thus, a "negative" reading can be when the target reader received signal strength is below a threshold, the received signal ratio is within a predetermined range, the received signal slope is outside an acceptable range indicating that the target is not present within the detection zone, the received signal integral is within a range indicating that the target is absent, the received signal strength threshold is not held for a predetermined period of time, or combinations of these, as well as other signal attributes that indicate that the target is not present within the target reader detection zone.

[0063] The above model insertion signature is similarly expected to reduce the occurrence of false positives resulting from the insertion of a foreign object, such as an elongated item of similar composition to a target on a tool, such that both the proximal target reader 406 and the distal target reader 407 indicate a positive reading for target detection. For example, when inductive sensors are implemented in the target readers 406, 407, an iron rod inserted through the target readers 406, 407 and into the tool recognition assembly 410 may cause both target readers 406 to read a positive value for target detection. The above identified model insertion signature prevents such double positives from being interpreted as detection of the tool 404.

[0064] Despite the possibility of false positives, a model insertion signature may in some cases correspond to all of the target readers that indicate the presence of a target on a tool. Such a model insertion signature may allow a more cost-effective target reader or a smaller number of target readers (e.g., a single target reader) to be used.

[0065] In some cases, more than one model insertion signature may indicate that the tool is acceptably positioned within the receiving member. Thus, in some cases, a reading from a target reader may be compared to more than one pre-established model insertion signature. In general, increasing the number of target readers increases the number of possible model insertion signatures. By way of example and not limitation, several exemplary model insertion signatures are described in more detail herein below.

[0066] In addition to determining whether a tool is acceptably positioned for operation, the tool recognition assembly 410 may be used to classify the tool 404. For example, a detected insertion signature obtained from readings from a target reader may be compared to a number of model insertion signatures that may be associated with different types of tools. Thus, different tool types may be characterized by different numbers or types of targets read by the target reader. The specific readings that characterize the corresponding tool type may also be included in the model insertion signature to indicate that the tool is acceptably positioned for operation (e.g., fully inserted) within the receiving member 450. In some cases, different materials may be used for targets of different medical tools. Thus, tools may be classified not only by detected insertion signatures obtained based on readings from a target reader, but also by variations in sensed data. For example, targets within different tools may provide additional different sensed data when detected by a target reader.

[0067] The tool recognition assembly 410 may further be used to determine a mode of operation based on one or both of the insertion / position status and the instrument type. For example, if the tool is determined to be fully inserted, the control system 112 may enter a general operation mode in which there are no limitations on the use of various functions of the manipulator assembly 102. However, if the tool is determined to be not fully inserted, the control system 112 may enter a safe mode that includes one or more limitations on the operation of the manipulator assembly 102. Examples of limitations include limiting the speed of operation (e.g., speed of catheter insertion), limiting catheter flexibility, increasing catheter flexibility, limiting the rate at which adjustments to the catheter may be made, and disabling certain functions, such as a lens cleaning function that may use puffs of air or other fluid to perform cleaning. In some cases, functions may be activated or disabled on a per-instrument basis. For example, certain functions, such as a lens cleaning function, may be activated when the tool is determined to be fully inserted into a receiving member (e.g., a catheter) and includes an endoscope or visual probe. These same functions may be disabled when the tool is fully inserted but instead includes an ablation tool. In other embodiments, the illumination source may be dimmed or disabled if the visual probe is not detected.

[0068] Additionally, the control system 112 may control image acquisition of the imaging tool depending on whether the tool is fully inserted, partially inserted, or not inserted at all into the receiving member. For example, if the tool is not inserted, the control system 112 may control the imaging tool to acquire images at a slow rate (e.g., one image per second, or slower) to ensure that the tool is not yet inserted while minimizing image processing prior to insertion of the tool. If the tool is at least partially inserted into the receiving member, the control system 112 may increase the image acquisition rate to determine the orientation of the tool within the receiving member. Images acquired within the receiving member may include longitudinal markings (or "stripes") that may be used to determine the relative rotational orientation of the tool within the receiving member. Since the longitudinal markings are only visible from within the receiving member, image acquisition looking outside the receiving member or from the distal end of the receiving member may not include longitudinal markings. When the distal end of the tool reaches the distal end of the receiving member (e.g., a catheter), one or more targets on the tool may be detected by one or more of the target detectors of the receiving member. These detections may indicate that the tool is approaching full insertion into the receiving member or that the tool is fully inserted. Images collected just prior to full insertion may be increasingly dominated by anatomical structures. Thus, since the tool can no longer see the longitudinal markings, it may be desirable to reduce or stop image collection by the tool of images used for orientation determination. It should be understood that these, but a few examples of possible control, vary based on the insertion position of the tool.

[0069] FIG. 4B shows the tool recognition assembly 410 coupled to an instrument carriage 415 (e.g., instrument carriage 306) of a teleoperated manipulator assembly (e.g., teleoperated manipulator assembly 102). In alternative embodiments, the tool recognition assembly 410 may be coupled to a non-teleoperated manipulator or other structure used to receive a tool. In FIG. 4B, the tool recognition assembly 410 is coupled to the instrument carriage 415 proximal to an expandable support structure 417 that may be used to support an extended length of the receiving member 450 outside the patient's anatomy. For example, the tool recognition assembly 410 may be press-fit into a proximal mount (not shown) on the expandable support structure 417. As shown in FIG. 4B, the tool recognition assembly 410 may also include a baseline reader 408. The baseline reader 408 may include an inductive sensor (e.g., an inductor or induction coil that detects changes in inductance caused by the ferromagnetic and conductive properties of a material), a capacitive sensor, a Hall effect sensor, a light gate sensor, an optical sensor, a magnetic switch, a barcode scanner, an RFID scanner, a relative position sensor, or a combination thereof. As shown in the embodiment of FIG. 4B, the baseline reader 408 may not be axially aligned with the target readers 406, 407. For example, the baseline reader may have an orientation orthogonal to the target readers 406, 407. In some embodiments, the baseline reader may be omitted or a baseline reader may be used with a single target reader. The baseline reader 408 may communicate with a computing system configured to process readings from the target readers (e.g., changes in inductance, changes in resistance, changes in capacitance, changes in magnetic field, changes in light intensity, changes in light color, etc.). The computing system may be, for example, a component of a teleoperated medical system (e.g., the control system 112).

[0070] In some embodiments, the tool 404 may include an endoscope or visual probe configured to allow the physician to view the internal body structure as the catheter or other receiving member 450 is delivered to the treatment or evaluation site. Upon reaching the destination, the visual probe may be withdrawn to allow space for another medical tool or for some other reason. Withdrawal of the probe may prevent the physician from viewing the internal body structure being treated or evaluated. Thus, entering a safe mode upon detecting that the probe is not fully inserted within the catheter may reduce the possibility of injuring the patient due to adjustments of a tool inserted into the patient after withdrawal of the probe. If the probe is removed, the operator may not be able to view the internal body structure during adjustments, and thus the control system may enter a mode that limits the flexibility of the catheter and / or the speed at which adjustments are made to the catheter. Similarly, disabling certain functions when the probe is not fully inserted within the catheter may reduce the risk of injuring the patient due to accidental use of such functions, for example, accidental ejection of a puff of air into the patient's lungs.

[0071] In some embodiments, the tool recognition assembly or other tool detection sensor may be located in other locations. For example, the tool detection sensor may be located on the quick connect coupling between the visual probe and the catheter, or on the motor pack of the teleoperated manipulator assembly. In some embodiments, the tool recognition assembly may recognize that the tool is absent from the tool holder, thus indicating that the tool may be in another location, such as the catheter.

[0072] In some embodiments, based on the identified tool, the time constant can be varied to account for the amount of time the catheter may require to relax. In some embodiments, based on the identified tool, the torque limit of the pull wire motor can be altered, which can affect the amount the catheter is relaxed (e.g., the amount of torque applied by the pull wire motor can vary based on the type of tool attached). If the detected insertion signature identifies a needle, the catheter can be temporarily "relaxed" (i.e., the pull wire controlling the catheter can provide a small amount of slack that allows the catheter to become more flexible). Relaxation of the catheter can facilitate needle insertion without scraping the lumen of the catheter. Also, depending on what type of tool is detected, the user interface input buttons on the controller can be reconfigured. For example, if a camera probe is detected, a button can be provided to clean the camera. If an ablation probe is detected, the same button can be reconfigured to provide ablation energy delivered. If a needle with vacuum is detected, the same button can be reconfigured to provide vacuum. It should be appreciated that many different adjustments can be made based on which tool is identified by the detected insertion signature and whether the tool is fully inserted into the receiving member.

[0073] 4C-4J show various embodiments of target readers and targets that may be used to detect a characteristic(s) of a tool and / or catheter mounted in the tool recognition assembly 410. FIG. 4C shows the tool recognition assembly 410 including a target reader having a source 430 and a detector 436 (which may be a light detector). The source 430 and the detector 436 may be used to detect the presence, absence, location, classification (which may include a unique identifier such as a tool manufacturer's identification) or other information about a tool 404 (e.g., an imaging probe, a catheter, etc.) that is inserted between the source and the detector. The body 416 (e.g., part of the reader mount 402) may be used to position the source 430 and the detector 436 on either side of the area where the tool 404 is mounted. The source 430 and the detector 436 are positioned relative to each other such that the detector 436 can sufficiently detect a signal transmitted from the source 430. One example of the source 430 may be a light source that may generate a light signal 420 that is emitted toward the detector 436, which may be a light detector. A portion of the generated optical signal 420 (e.g., detected optical signal 422) may be detected by the detector 436 when an obstruction (e.g., tool 404) is not within the area between the source 430 and the detector 436. The conductor 412 connected to the source 430 may communicate a signal (e.g., via electrical and / or optical means from a power source) to the source 430 to power the source and generate the optical signal 420. The conductor 414 connected to the detector 436 may communicate a signal (e.g., via electrical and / or optical means) from the detector 436 to a control system, such as the control system 112, based on a detected characteristic or characteristics (e.g., intensity) of the detected optical signal 422 received by the detector 436. As seen in FIG. 4C, the tool is not disposed between the source 430 and the detector 436, thereby providing a threshold level of intensity of the detected optical signal 422 received at the detector 436 in the absence of a tool. The threshold level of the intensity of the detected light signal 422 when no tool is present is higher than when a tool is present between the source 430 and the detector 436 .

[0074] 4D and 4E show the tool 404 positioned between the source 430 and the detector 436. FIG. 4D shows the tool 404 with a target 418 (which may be an aperture, an optical target, or any other suitable target) positioned to allow a portion of the generated optical signal 420 to pass through the aperture and be received by the detector 436 as a detected optical signal 422. The intensity of the detected optical signal 422 received at the detector 436 can be communicated to a control system via conductors 414. The position of the tool 404 with the aperture of FIG. 4D can cause the detector 436 to detect a high intensity of the detected optical signal 422. The position of the tool 404 in FIG. 4E without the target 418 (e.g., aperture) positioned between the source 430 and the detector 436 can cause the detector 436 to detect a low intensity of the detected optical signal due to interference of the tool 404 with the generated optical signal 420. One or more processors within the control system 112 may use the sensor data from the detector 436 to determine the presence, absence, location, and / or classification of a tool mounted in the tool recognition assembly 410.

[0075] One or more targets 418 (e.g., apertures) may be included on the tool 404 to generate an appropriate detection insertion signature to identify the location and / or classification of the tool 404. The multiple targets 418 on the tool 404 allow the detector 436 to detect some change in the intensity of the detection light 422 as the tool 404 is inserted into the tool recognition assembly 410. For example, the detection insertion signature may include: (1) a low intensity of the detection light 422 as in FIG. 4E when the target is not detected because it is not yet located within the region between the source 430 and the detector 436; (2) a high intensity of the detection light 422 as in FIG. 4D when the target is detected because it is moved into the region between the source 430 and the detector 436; and (3) a low intensity of the detection light 422 as in FIG. 4E when the target moves beyond the region between the source 430 and the detector 436, which may be used to generate an insertion signature of the inserted tool 404. The detection insertion signature described above may include alternating intensities detected between low and high intensities when additional targets are included in the tool 404. The detection insertion signature may be compared to an existing model insertion signature to identify the type of tool 404 being inserted. It should be appreciated that a wide range of numbers of targets (e.g., apertures) and spacing of targets along the tool 404 may be used to provide a unique pattern of measurements that make up the detection insertion signature.

[0076] 4F and 4G, another configuration of source 430 and detector 436 is representatively shown and can be used to detect the presence, absence, location, classification or other information about the tool. The tool 404 can be positioned adjacent to the source 430 and detector 436 pair, and the target 418 (e.g., in this embodiment, a reflective surface or surface treatment) is positioned to redirect a portion of the generated optical signal toward the detector 436 to be received as a detected optical signal 422. The intensity of the detected optical signal 422 received at the detector 436 can be communicated via conductors 414, for example, to a control system. The position of the tool 404 in FIG. 4F, where the target 418 is in proximity to the source-detector (430:436) pair, can cause the detector 436 to detect a high intensity detected optical signal 422. The position of the tool 404 in FIG. 4G, where the target 418 is not in proximity to the source-detector (430:436) pair, can cause the detector 436 to detect a low intensity detected optical signal 422. One or more processors within the control system 112 can use the signals communicated from the detector 436 to determine the presence, absence, location, and / or classification of a tool mounted in the tool recognition assembly 410.

[0077] One or more targets 418 may be included on the tool 404 as needed to generate readings that constitute an appropriate detection insertion signature for identifying the location and / or classification of the tool 404. With multiple targets 418 on the tool 404, the detector 436 may detect several changes in light intensity of the detection light signal 422 consistent with detection of multiple targets 418 (e.g., low intensity indicating no target detection as in FIG. 4G, high intensity representing target detection as in FIG. 4F, then low intensity again as the target leaves as in FIG. 4G, then high intensity again as the next target is detected as in FIG. 4F) when the tool 404 is inserted into the tool recognition assembly 410 and generate a target detection pattern that constitutes the insertion signature of the tool 404. The detection insertion signature of the tool 404 may be compared to an existing model insertion signature to identify the type of tool 404 that is attached. It should be understood that a wide range of numbers of targets 418 and spacing of targets along the tool 404 may be used to generate a unique detection insertion signature. The target 418 can be any material or surface that can be used to affect one or more characteristics of the signal generated by the source 430, such as the intensity of light directed to the detector 436. For example, the target 418 can be a reflective band of material (such as a band of metal) placed around the outer surface of the tool 404 that reflects more light from the source 430 to the detector 436 when the target 418 is in close proximity to the source:detector pair.Also, the target 418 can be a surface treatment or material that changes the intensity of light directed to the detector 436, such as if the target 418 is of a different color (i.e., pigmenting a portion of the exterior surface 405 a different color than the remainder of the exterior surface 405 and / or making the tool 404 out of materials of different colors), if the exterior surface 405 is treated to absorb more light at the target location (i.e., lighter and darker shades, including white and black, different hues, etc.), and / or if the exterior surface 405 has various textures that diffuse and / or scatter light differently, thereby causing variations in the intensity of the detected light signal(s) received by the detector 436. It should be understood that the target 418 can also cause a low intensity of light to be detected by the detector 436, while the absence of a target can cause a high intensity of light to be detected by the detector 436.

[0078] 4H and 4I, another configuration of a target reader in a tool recognition assembly 410 is shown. In the example shown in FIGS. 4H and 4I, the target reader is implemented to include a (source-less) detector 436 to detect the presence, absence, location, classification, or other information about the tool. This configuration differs from the target readers described above at least in that the target reader does not include a source and does not provide a source signal such as optical signal 420. In this configuration, a target 418 on the tool 404 can be a source, such as a light source, and can provide a source signal, such as optical signal 420 emanating from the target 418. The tool 404 can be positioned adjacent to the detector 436, and the target 418 (e.g., a light source or optical light source such as phosphorescence, discrete LEDs, a light emitting ring, a ring that diffuses light from a discrete light source, etc.) is positioned to generate a source optical signal 420 that is received by the detector 436 as a detected optical signal 422. The intensity of the detected optical signal received at the detector 436 can be communicated to, for example, a control system via conductors 414. The position of the tool 404 in FIG. 4H where the target 418 is in proximity to the detector 436 can cause the detector 436 to detect a high intensity of light from the target 418 as the detected optical signal 422. The position of the tool 404 in FIG. 41 where the target 418 is not in proximity to the detector 436 can cause the detector 436 to detect a low intensity of light from the target 418 as the detected optical signal 422. One or more processors in the control system 112 can use the signals communicated from the detector 436 to determine the presence, absence, location, and / or classification of a tool mounted in the tool recognition assembly 410.

[0079] One or more targets 418 may be included with the tool 404 to generate readings that constitute an appropriate detection insertion signature for identifying the location and / or classification of the tool 404. With multiple targets 418, the detector 436 may detect several changes in light intensity corresponding to detecting the absence and presence of the target 418 as the tool 404 is inserted into the tool recognition assembly 410 (e.g., low intensity in FIG. 4I indicating the absence of the target, high intensity in FIG. 4G indicating the presence of the target, then low intensity in FIG. 4I indicating the absence of the target) to generate a unique detection insertion signature of the tool 404. Again, the detection insertion signature of the tool 404 may be compared to an existing model insertion signature to identify the type of tool 404 that is attached. It should be understood that a wide range of targets 418, numbers of targets 418, and spacing of targets 418 along the tool 404 may be used to generate a detection insertion signature. In this configuration of optical target reader and optical target, the target can be any material or light source that can be used to generate a light source signal 420 that can be directed to a detector 436. For example, the target 418 can be a phosphorescent ring, discrete light sources (e.g., LEDs) disposed within a ring, a luminescent ring, and / or a ring that diffuses light from discrete light sources (e.g., LEDs).

[0080] It should also be understood that the optical target readers and optical targets may be used in conjunction with and / or as a substitute for any other types of target readers and targets provided in this disclosure. For example, this and other versions of the optical target readers and optical targets may be used with electromagnetic embodiments of the target readers and targets.

[0081] 4J, another diagrammatic view of the tool recognition assembly 410 is shown with various target readers and target pairs. The first target reader:target pair can include a target reader including a Hall effect sensor 460 that can detect the proximity of a magnetic field 466 generated by a target including a magnet 474 (e.g., an electromagnet). When the tool 404 is attached to the tool recognition assembly 410, the Hall effect sensor 460 can detect when the magnet 474 is within a distance from the Hall effect sensor 460. The second target reader:target pair can include a target reader including an RFID scanner 462 that can detect the proximity of a target including an RFID chip 476 within a distance to the RFID scanner 462. The RFID scanner can emit a radio frequency (RF) signal 470 that can read the ID from the RFID chip 476 and transfer that information to the control system 112. While the RFID target reader:target pair may be more suited to identifying which tool 404 is attached to the tool recognition assembly 410, the pair may also be used to determine if the tool 404 is fully attached to the tool recognition assembly 410. For example, a model insertion signature indicative of a fully inserted tool may include detecting an RFID ID. A third target reader:target pair may include a target reader including a barcode scanner 464 capable of reading a barcode on the target 478 by illuminating the target 478 with light and reading the reflected light pattern. Although the barcode scanner target reader:target pair may be more suited to identifying which tool 404 is attached to the tool recognition assembly 410, the pair may also be used to determine if the tool 404 is fully attached to the tool recognition assembly 410. For example, a model insertion signature indicative of a fully inserted tool may include detecting a barcode.

[0082] 5A-5S, various configurations of tool recognition assembly 500 are shown that may include all or a portion of the structure and functionality of tool recognition assembly 410. Tool recognition assembly 500 may incorporate one or more target reader:target pairs, such as those described in FIG. 4J. In each of the configurations shown in FIGS. 5A-5S, a tool 520, which may include all or a portion of the structure and functionality of tool 404 (e.g., an imaging tool, an ablation tool, a catheter, etc.), is sensed by tool recognition assembly 500. FIGS. 5A-5S also can include multiple tools 520, with each tool 520 generating an insertion signature when each tool 520 is inserted into receiving member 516.

[0083] 5A , tool recognition assembly 500 includes two target readers 510, 514 for sensing a tool 520 having a target 528. Target readers 510, 514 may be substantially similar to target readers 406 or 407, and target 528 may be substantially similar to target 456 or 457. Tool recognition assembly 500 may be configured to detect whether tool 520 is fully inserted into receiving member 516.

[0084] In the embodiment of FIG. 5A, the model insertion signature for determining that the tool 520 is fully inserted into the receiving member 516 of the tool recognition assembly 500 includes a positive reading for target detection from the distal target reader 514, while the proximal target reader 510 indicates a negative reading for target detection. As discussed above, such a model insertion signature may advantageously limit the occurrence of false positives for a fully inserted tool 520. In FIG. 5A, the tool 520 is fully inserted into the tool recognition assembly 500. In this regard, the target 528 is aligned with (or at least within close range of) the distal target reader 514. In this position, the distal target reader 514 can detect the target 528, but the proximal target reader 510 cannot detect the target 528. The tool 520 may be formed from a material that is undetectable by the target reader 514.

[0085] Although the target 528 is shown as having approximately the same dimensions (e.g., length) as the target readers 510, 514, in various alternative embodiments, it may be advantageous for the target 528 to have different dimensions, such as being substantially longer than the target readers 510, 514. Optionally, the tool recognition assembly 500 may be configured to provide an indication (e.g., an audible tone, a visual prompt, tactile feedback, etc.) when the target 528 is read by one of the target readers 510, 514. In this regard, a short target 528 may pass the target readers 510, 514 quickly such that the control system 112 fails to recognize that the target 528 is aligned with the target readers 510, 514. In contrast, a longer target 528 may take longer to pass the target readers 510, 514, thereby increasing the likelihood that the control system 112 receives an indication that the target readers 510, 514 detect the target 528.

[0086] The target 528 may be, for example, 7-68 millimeters long and the target readers 510, 514 may be spaced apart by a distance of 3-60 millimeters. The target readers 510, 514 may be spaced apart a sufficient distance from each other such that a given target 528 cannot be detected by both target readers 510, 514 at once. For example, if the target readers 510, 514 can detect the target 528 from 4 millimeters away (see distances L3, L4 in FIG. 5S for an example) and the target 528 is 15 millimeters long, the target readers 510, 514 may be spaced apart by at least 23 millimeters. Similarly, if the target 528 is 30 millimeters long and the target readers 510, 514 can detect the target 528 from 4 millimeters away, the target readers 510, 514 may be spaced apart by 38 millimeters.

[0087] Figures 5B-5D show further embodiments of the tool recognition assembly 500, with repeated reference numbers, where necessary, to represent the same elements previously disclosed. For example, Figures 5B, 5C, and 5D show three target readers 510, 512, 514, and Figure 5A shows two target readers 510, 514. Figures 5A and 5B have one target 528, Figure 5C has two targets 526, 528, and Figure 5D has two targets 524, 526. Thus, the description of those elements of Figure 5A that are applicable to the corresponding elements of Figures 5B-5D will not be repeated.

[0088] 5B illustrates a tool recognition assembly 500 including target readers 510, 512, 514 for sensing a tool 520 having a single target 528. When the tool recognition assembly 500 includes three target readers 510, 512, 514 and the tool 520 includes a single target 528, multiple detection insertion signatures can be generated and used to indicate whether the tool 520 is properly inserted for operation (e.g., fully inserted into the receiving member 516). One detection insertion signature can indicate that the tool 520 is properly inserted when the target reader 514 indicates a positive detection reading for the target 528 while the target readers 510, 512 indicate a negative detection reading for the target 528 as shown in FIG. 5B. Alternatively (not shown), a detection insertion signature indicating that the tool 520 is properly inserted can be generated when the target 528 is aligned with the target reader 512. The target reader 512 may indicate a positive detection reading for the target 528, while the target readers 510, 514 indicate a negative detection reading for the target 528. As mentioned above, the target readers 510, 512, 514 may be spaced a sufficient distance from one another to prevent two of the target readers 510, 512, 514 from detecting the same target 528 at the same time.

[0089] 5C illustrates a tool recognition assembly 500 including three target readers 510, 512, 514 for sensing a tool 520 having two targets 526, 528. A detection insertion signature can be generated to indicate that the tool 520 is fully inserted into the tool recognition assembly 500 when the target readers 512, 514 indicate a positive detection reading for the targets 526, 528, respectively, and the target reader 510 indicates a negative detection reading for the targets 526, 528. As mentioned above, the target readers 510, 512, 514 can be spaced a sufficient distance from one another to prevent two of the target readers 510, 512, 514 from simultaneously detecting the same target 526 or 528.

[0090] 5D illustrates a tool recognition assembly 500 including three target readers 510, 512, 514 for sensing a tool 520 having two targets 524, 528. A detection insertion signature can be generated to indicate that the tool 520 is fully inserted into the tool recognition assembly 500 when the target readers 510, 514 indicate a positive detection reading for the targets 524, 528 while the target reader 512 indicates a negative detection reading for the targets 524, 528. As mentioned above, the target readers 510, 512, 514 can be spaced a sufficient distance from each other to prevent the two target readers 510, 512, 514 from simultaneously detecting the same target 524 or 528.

[0091] 5E-5J, which illustrate an exemplary schematic mounting sequence of a tool 520 being mounted on a tool recognition assembly 500. In this example, the tool recognition assembly 500 includes two target readers 510, 512, and the tool includes two targets 526, 528. The target reader 510 can be referred to as an absent reader A, and the target reader 512 can be referred to as a present reader P. Each of FIGS. 5E-5J illustrates whether the absent A and present P target readers 510, 512 have a positive or negative detection reading for the target 526 or 528. For example, FIG. 5E illustrates both the absent A and present P target readers 510 and 512 having a negative detection reading (A=0 and P=0) corresponding to both readers 510 and 512 not detecting targets 526 and 528. FIG. 5F shows A=1 and P=0, indicating that the Absent A target reader 510 has a positive detection reading of the target (e.g., in this case, target 528) and the Present P target reader 512 has a negative detection reading of targets 526, 528. The logic states of the Absent A and Present P target readers 510, 512 can be used to develop a detection insertion signature for the tool 520 that can be retained (e.g., in storage, in a document, in a pictorial description, etc.) for later reference and / or comparison to a previously retained model insertion signature to determine the absence, presence, location, and / or classification of the tool 520. In the embodiment of FIGS. 5E-5J, the detection insertion signature can include various combinations of readings, such as a consecutive set of readings from the target readers. The readings from the target readers can be compared to the model insertion signature. A model insertion signature may be a static signature that identifies a match based on the current logical state of the target reader, or it may be a series of model signatures that identify a match based on a set of consecutive readings that must match the set of readings detected before a signature match is registered.

[0092] FIG. 5E shows the tool 520 being inserted into the tool recognition assembly 500 to a position where the target 528 has not yet reached the target reader 510 (i.e., A=0, P=0). As the tool 520 continues to be inserted into the tool recognition assembly in a direction 550 (e.g., toward the patient), the target 528 can become aligned with the target reader 510, as shown in FIG. 5F. In this position, the absent A reader is a "1" indicating a positive detection reading, and the present P reader is a "0" indicating a negative detection reading (i.e., A=1, P=0). At this point, the detection insertion signature obtained from the readings generated thus far may not match the model insertion signature, thus indicating that the tool 520 is not fully attached to the tool recognition assembly 500. Thus, insertion of the tool 520 can continue. In the position of the tool 520 in FIG. 5G, neither of the targets 526, 528 is detected by either of the target readers 510, 512. Thus, both the absent A reader and the absent P reader are "0", indicating a negative detection reading (i.e., A=0, P=0). At this point, the detection insertion signature obtained from the readings generated thus far may still not match the model insertion signature, and thus continues to indicate that the tool 520 is not fully attached to the tool recognition assembly 500. Thus, insertion of the tool 520 may continue.

[0093] At the position of tool 520 in FIG. 5H, both targets 526, 528 are detected by their respective target readers 510, 512. Thus, both the absent A reader 510 and the present P reader 512 are reading "1" indicating a positive detection reading (i.e., A=1, P=1). At this point, the detection insertion signature obtained from the readings generated thus far may still match the model insertion signature, thus continuing to indicate that tool 520 is not fully attached to tool recognition assembly 500. Thus, insertion of tool 520 may continue. At the position of tool 520 in FIG. 5I, neither of targets 526, 528 are detected by either of target readers 510, 512. Thus, both the absent A reader and the present P reader are reading "0" indicating a negative detection reading (i.e., A=0, P=0). At this point, the detection insertion signature obtained from the readings generated so far may not match the model insertion signature, and therefore continues to indicate that the tool 520 is not fully attached to the tool recognition assembly 500. Thus, the insertion of the tool 520 can continue. At the position of the tool 520 in FIG. 5J, the absence A reader reads a "0" indicating a negative detection reading, and the presence P reader reads a "1" indicating a positive detection reading (i.e., A=0, P=1). At this point, the detection insertion signature from the readings generated so far can be compared to the model insertion signature. If it is determined that the detection insertion signature obtained from the sequence of readings through 5J matches the sequence of readings in the model insertion signature, the tool 520 can be considered fully attached to the tool recognition assembly 500. Thus, the insertion into the tool recognition assembly can be stopped.

[0094] It should be understood that this is merely one example of the principles of the present disclosure and that the detection insertion signature obtained from readings generated by the readers 510, 512 can be used to determine the absence, presence, location, and / or classification of the tool 520. In the example system shown in Figures 5E-5J, the insertion signature can be represented as the absent A and present P states of the readers 510, 512 recorded in the following order: 1) A=0, P=0, 2) A=1, P=0, 3) A=0, P=0, 4) A=1, P=1, 5) A=0, P=1, etc. This detection insertion signature, which includes the sequence of readings at the readers 510, 512, can be compared to insertion signatures of other models to identify the location of the tool 520 within the tool recognition assembly 500 and / or to identify the tool as a particular instrument type or a particular instrument. Portions of the detection insertion signature can be used to indicate the absence of tool 520 (e.g., when A=0, P=0, as in FIG. 5E) or the presence of tool 520 (e.g., when either A=1 or P=1, as in FIGS. 5F, 5H, 5J). When only one target is used in FIGS. 5E-5J (e.g., when target 528 was not used), the detection insertion signature can be represented as: 1) A=0, P=0 (FIG. 5G, but target 528 is not used); 2) A=1, P=0 (FIG. 5H, but target 528 is not used); 3) A=0, P=0 (FIG. 5I, but target 528 is not used); 4) A=0, P=1 (FIG. 5J, but target 528 is not used). Thus, it should be understood that several variations in the number of readers and targets can be used, as well as the longitudinal spacing between adjacent readers and the longitudinal spacing between adjacent targets. All of these factors can be modified / tuned / altered / adjusted to accommodate many variations in detection insertion signatures.

[0095] 5K and 5L show another exemplary schematic mounting sequence of a tool 520 mounted on a tool recognition assembly 500 with another configuration of target readers and targets. In this example, the tool recognition assembly 500 includes two target readers 510, 512, and the tool 520 includes one elongated target 528. The elongated target 528 can be long enough to span between the target readers 510, 512, as shown in FIG. 5L, so that the absent A reader and the present P reader can simultaneously detect the same target 528, which can be used to generate a unique detection insertion signature. The detection insertion signature shown in FIG. 5K and 5L can be represented as 1) A=1, P=0, 2) A=1, P=1. If the detection insertion signature matches the model insertion signature, the tool can be recognized as fully or properly inserted.

[0096] 5M-5R, which show diagrammatic views of various embodiments of a tool recognition assembly 500. These figures show system (e.g., tool recognition assembly 500) configurations that can utilize optical target readers and optical targets, such as optical target reader 406 and optical target 456 shown in Figures 4C-4E. It should be understood that these optical target readers and optical targets, as well as other configurations such as the optical target reader and optical targets shown in Figures 4F-4G, can be substituted for any of the reader:target sets in any of the system (e.g., tool recognition assembly 500) embodiments of the present disclosure.

[0097] FIG. 5M shows a schematic diagram of a tool recognition assembly 500 including two optical reader:target pairs and one non-optical reader:target pair (e.g., RFID reader:target pair, magnetic reader:target pair, electromagnetic reader:target pair, etc.). The light sources 530, 532 of the two optical readers emit optical signals toward respective optical detectors 536, 538. When a target 524 (which may be an aperture) is formed through the tool 520 and positioned to be detected by the optical reader, at least a portion of the source optical signal from the light sources 530, 532 can be received by the optical detectors 536, 538 through the target. The optical signal received at the optical detectors 536, 538 can have a higher intensity relative to when the target is positioned to not be detected by the optical reader. In the absence of a target (e.g., aperture), a limited optical signal can be detected by the optical detector, which can lead to an optical signal received at the detector of low intensity relative to when the target is positioned to be detected by the target reader. A higher intensity light detection indicates the absence of the tool 520 or the presence of an aperture (e.g., target 524) and can be represented by a negative reading of "0". A lower intensity light detection indicates the presence of the tool 520, at least at the position of the reader:target pair, and can be represented by a positive reading of "1". Thus, the system of FIG. 5M (e.g., tool recognition assembly 500) can be viewed as having three target readers (i.e., two light source:detector pairs 530:536, 532:538, one non-optical reader 514), and two targets (i.e., one aperture target 524, one non-aperture target 528). The current position of the tool 520 in the tool recognition assembly 500 shown in FIG. 5M can result in three reader states as readers 530:536="0", readers 532:538="1", and readers 514="1".

[0098] Similarly, the system of Figure 5N (e.g., tool recognition assembly 500) can be viewed as having two target readers (i.e., source:detector pairs 530:536, 532:538) and one target (aperture 528). The current position of tool 520 in tool recognition assembly 500 shown in Figure 5N can result in the state of the two readers as readers 532:538 = "1", readers 534:540 = "0".

[0099] Similarly, the system of Figure 5P (e.g., tool recognition assembly 500) can be viewed as having three target readers (i.e., source:detector pairs 530:536, 532:538, 534:540) and two targets 526, 528 (which may be apertures). The current position of the tool 520 in the tool recognition assembly 500 shown in Figure 5P can result in three reader states as reader 530:536="1", reader 532:538="0", and reader 534:540="0".

[0100] Similarly, the system of Figure 5R (e.g., tool recognition assembly 500) can be viewed as having three target readers (i.e., source:detector pairs 530:536, 532:538, 534:540) and two targets 524, 528 (which may be apertures). The current position of the tool 520 in the tool recognition assembly 500 shown in Figure 5R can result in three reader states as reader 530:536="0", reader 532:538="1", and reader 534:540="0".

[0101] FIG. 5S shows a schematic diagram of a tool recognition assembly 500 with two target readers 510, 512 and one target 526 (items 526a-e are different locations of one target 526). When a tool 520 is inserted through the tool recognition assembly 500, the target 526 can move through various locations 526a-526e. As the target 526 approaches the first reader 510, the target 526 is not detectable by the first reader 510 until the target 526 is within a distance of L1 from the reader 510 (e.g., location 526a). Within distance L1 to the first reader 510, the target may be detectable, but the detection signal may not be strong enough to ensure that the detection is valid. However, within distance L3 to the first reader 510, the detection of the target 526 can be trusted as a valid detection (e.g., location 526b). As the target 526 passes the reader 510, the detection of the target 526 can be trusted as a valid detection until the target 526 passes a distance L4 from the reader 510. Thus, the detection of the target 526 when it remains within the distance L5 can be considered a valid detection.

[0102] Distance L2 represents the longitudinal length of the reader 510. Thus, distance L5 includes distances L2, L3, and L4 and can be seen as the detection zone of the reader 510. When the target 526 passes the first reader 510 by distance L1 (essentially position 526d), the target 526 is no longer detectable by the first reader 510. Distance L6 is the distance between the first reader 510 and the second reader 512 that can minimize interference between the two readers 510, 512 in detecting the target 526. It should be understood that these distances are exemplary and can be different for other examples where a target can be detected by both readers, such as the exemplary system (e.g., tool recognition assembly 500) shown in FIGS. 5K and 5L. The detection zone of an optical target reader (as in FIGS. 4C-4E) can be the diameter of the target 418 (e.g., aperture) plus a small distance L3, L4 on either side of the target 418 (e.g., aperture), which can represent a portion of the detection zone where the target reader detects indirect light that passes through the target 418 (e.g., aperture) but does not directly hit the target reader. When the target reader is directly under the aperture, the optical signal can directly hit the optical reader, providing an increased intensity of detected light.

[0103] Distance L1 can be, for example, 4 mm, 5 mm, or a value between about 4 and 5 mm. In some implementations, distance L1 can be larger, including 6 mm, 7 mm, 8 mm, 9 mm, 10 mm, or a value between about 4 mm and 10 mm. Distances L3 and L4 can be, for example, 2 mm, 3 mm, 4 mm, or a value between about 2 mm and 4 mm. Distance L2 can be any distance suitable for the target reader utilized. In some embodiments, distance L2 is in the range of about 3 mm to 60 mm. Distance L2 can be, for example, 3 mm, 4 mm, 6 mm, 8 mm, 10 mm, 12 mm, 20 mm, 30 mm, 40 mm, 50 mm, and 60 mm. Distance L5 is the sum of distances L2, L3, and L4, so L5 can be in the range of about 7 mm to 68 mm. Distance L5 can also be viewed as a desired separation distance between adjacent targets. However, the targets can be spaced apart by a distance less than or greater than distance L5. Distance L6 can be, for example, 9 mm, 10 mm, 11 mm, 12 mm, 13 mm, 14 mm, 15 mm, 16 mm, 17 mm, 18 mm, 19 mm, 20 mm, or a value between about 9 and 20 mm. Selecting the desired dimensions from the ranges specified for distances L1, L2, L3, L4, L5, and L6 can depend on the target reader (e.g., tool recognition assembly 500) used in the system, the strength and sensitivity of the reader, the current supplied to the reader (e.g., an inductor or induction coil to detect ferromagnetic materials), and the ambient conditions. Thus, routine experimentation can be used to determine the best dimensions for these distances for a particular system (e.g., tool recognition assembly 500).

[0104] 6A, a reader:target pair 600 is shown utilizing an electromagnetic target reader 601 (which may be one example of the target reader 406 shown in FIG. 4A) and a ferromagnetic target (which may be one example of the target 456 shown in FIG. 4A). The target reader 601 may include a coil 602 disposed around a core 604 and may be attached to a tool recognition assembly 608 (e.g., tool recognition assembly 500). The ferromagnetic target 606 may be placed along with a tool, such as tool 404. When the tool 404 is inserted into the tool recognition assembly 608, a magnetic field (not shown) surrounding the ferromagnetic target 606 may be detected by the target reader 601. The coil 602 may be, for example, about 3-5 mm long. The core 604 may include an inductive material, such as a ferromagnetic material, and may be, for example, about 5-6 mm wide, about 4-5 mm high, and about 6-7 mm long. As used herein, width corresponds to the dimension along the X-axis as shown in the various figures, height corresponds to the dimension along the Y-axis as shown in the various figures, and length corresponds to the dimension along the Z-axis as shown in the various figures.

[0105] The coil 602 may detect the proximity of a target 606 within a distance from the coil by reading a change in inductance that may occur when the target 606 is placed within a distance from the coil 602. To detect a change in inductance, a baseline inductance may need to be established. For example, if the reader:target pair 600 is implemented in a tool recognition assembly 410, the baseline inductance may be established by a baseline reader 408, which may have a target reader 406 configured to read an empty ring. The baseline reader may measure an environmental inductance that is affected by environmental factors including temperature changes, vibration changes, iron in the patient's blood, polychlorinated biphenyl (PCB) compounds, nearby mechanical assemblies, etc. The baseline inductance may be established once or may be established and re-established multiple times during a medical procedure. Thus, a baseline can be established once, or each time the tool recognition assembly 410 is powered on, or at regular intervals (e.g., every minute, hour, daily, weekly), or after the occurrence of a particular event (e.g., after each procedure, after removal of the tool 404), or in response to a combination thereof. The change in inductance can be measured relative to a baseline inductance and can be measured as current passes through the coil 602. A threshold can be set for what change in inductance relative to the baseline inductance is considered a positive or negative reading for the presence of the target 606.

[0106] The reader:target pair 600 may communicate with one or more processors of the control system 112 configured to process readings from the reader:target pair 600. For example, the one or more processors may be configured to calculate changes in inductance or magnetic field based on data received from the reader:target pair 600. In some embodiments, a baseline reading of the sensor (e.g., baseline inductance) can be measured and stored during manufacture and then referenced by the system during use. Using pre-stored baseline readings of the sensor eliminates the need for a baseline coil.

[0107] 6B and 6C show further embodiments of the reader:target pair 600. FIG. 6B shows a reader:target pair 610. The target reader 611 includes a coil 612 arranged around a core 614. A target 616 can be attached along a tool, such as the tool 404. When the tool 404 is inserted into the tool recognition assembly 618, a magnetic field (not shown) surrounding the target 606 can be detected by the target reader 611. In this example, the coil 612 is wider and the core 614 is longer than the core 604, as compared to the reader:target pair 600 of FIG. 6A. In particular, the core 614 can be approximately 8-9 mm wide, 4-5 mm high, and 13-14 mm long.

[0108] Similarly, FIG. 6C illustrates a reader:target pair 620. The target reader 621 includes a coil 622 disposed around a core 624. The target 626 can be mounted along a tool, such as the tool 404. When the tool 404 is inserted into the tool recognition assembly 628, a magnetic field (not shown) surrounding the target 606 can be detected by the target reader 621. In this example, compared to the reader:target pair 600 of FIG. 6A, the coil 622 and the core 624 can be longer than the coil 602 and the core 604. In particular, the core 624 can be approximately 5-6 mm wide, 4-5 mm high, and 13-14 mm long. Additionally, the embodiment illustrated in FIGS. 6A, 6B, and 6C illustrates the cores (e.g., cores 604, 614, 624) parallel to the length of the tool recognition assembly (e.g., tool recognition assembly 608, 618, 628). However, the cores (e.g., cores 604, 614, 624) and tool recognition assemblies (e.g., tool recognition assemblies 608, 618, 628) can be configured orthogonal to each other such that the core endpoints are on either side of the tool recognition assemblies that are similar in shape as shown in FIG. 4E.

[0109] 6D illustrates the performance of an exemplary reader:target pair. Graph 630 illustrates the percent change in inductance versus distance in millimeters for a reader:target including a copper coil, a half-inch long ferromagnetic core, and a ferromagnetic target. As can be seen from graph 630, the change in inductance spikes dramatically as the target moves within a certain distance (e.g., 4 millimeters) of the coil-core arrangement. A threshold for a positive reading for the presence of a target can be established as the change in inductance consistent with the target being within a distance of 4 millimeters from the coil-core arrangement, e.g., the target reader 406.

[0110] Referring now to FIG. 7A, a reader:target pair 700 is described. The reader:target pair 700 includes a reader in which the core is a shell type surrounding a coil. For example, the reader of the reader:target pair 700 includes a ferromagnetic shield disposed around the core 702 or coil 704. The coil 704 may also be referred to as the target reader 406. The reader:target pair 700 further includes a target 706 that is inserted into a tool receiving assembly 708. The target 706 may be disposed on the tool 404. The coil 704 may be approximately 3-5 millimeters long and the core 702 may include a ferromagnetic material approximately 13 millimeters long. The coil 704 may detect the presence of the target 706 by sensing a change in inductance. FIG. 7B shows a table 710 including performance information for multiple reader:target pairs featuring a copper solenoid coil 704, a ferromagnetic core 702, and a ferromagnetic target 706. Table 710 includes columns for core length, current, inductance, inductance change, core outer diameter, and distance to target (CL). The table shows the ability of coil 704 to detect target 706 within reasonable distances to the target (e.g., 2.5mm and 4.5mm). Table 710 also shows how several changes in core length, current applied to the core, outer diameter of target 706, and distance of target 706 to coil 704 (i.e., reader) can affect the change in detected inductance.

[0111] 8A-8F, it is desirable to have elongated targets of a certain length (e.g., 40 mm, 50 mm, or 60 mm long). As discussed above, elongated targets (e.g., target 528 in Figs. 5K and 5L) can be used in algorithms designed to simultaneously detect a single target by two separated readers. However, these elongated targets present some challenges, such as manufacturing a hollow cylindrical target having the desired length and diameter while providing some flexibility to minimize damage to the elongated target during use.

[0112] Referring to FIG. 8A, manufacturing a hollow cylindrical target 800 with a desired length, perhaps 60 mm, can be done by manufacturing short lengths of target sections (e.g., tube sections, semi-cylinder sections, or sections of any other suitable shape) and joining the short sections together to form an elongated target 800. For example, two 30 mm long target sections 810 can be manufactured separately and then joined together at their ends. FIG. 8A shows an end 830 of a first target section 810 joined to an end 820 of a second target section 810 to form an elongated target 800. In addition to being joined together, one end (e.g., end 830) can be configured to receive another end (e.g., 820) with a mating feature that provides an even stronger joint than joining square shaped ends 820, 830. Other lengths of target 800 can be manufactured by making target sections of various lengths and joining them end to end to generate an elongated target 800. Thus, the elongated target 800 may include two or more target sections of various lengths to achieve a desired overall length of the elongated target 800 .

[0113] Referring to FIG. 8B, a target section 810 is shown with ends 820 and 830. The end 820 of one target section 810 is configured to mate with the end 830 of another target section 810. The inner diameter D1 of the target section 810 is generally constant over the length of the target section 810, except near the end 830. At a length L7 from the end 820, the outer diameter can gradually decrease toward the end 820, forming a tapered outer diameter having an angle A1 (see FIG. 8C). Additionally, at a length L8 from the end 830, the inner diameter can gradually increase toward the end 830, forming a tapered inner diameter having an angle A1 (see FIG. 8D). The tapered outer diameter of the end 820 can mate with the tapered inner diameter of the end 830. An elongated target 800 can be formed by inserting an end 820 of a first target section 810 into an end 830 of a second target section 810 and joining the mated ends together, which can increase resistance to damage caused by bending forces acting on the elongated target 800 during a procedure. The tapered ends increase the strength of the mating section 810 bonded joint.

[0114] 8E, an elongated target 840 can be formed by winding a metal wire around the tool 404. The coiled wire can be a biased member, such as a spring, or a non-biased member. The coiled wire can provide flexibility to the target 840, which can help prevent damage to the target 840 or the tool 404 when the tool 404 is attached to the tool recognition assembly 410. The flexibility allows the target 840 to be up to 60 mm long or longer without significantly affecting the use of the tool 404 with the tool recognition assembly 410. Compared to a cylindrical tube, the coiled target 840 can be less stiff and less likely to kink the tool 404 at the transition between the tool shaft and the target.

[0115] Referring to FIG. 8F, another flexible elongated target can be made by taking a tube 852 at a desired length (i.e., 30 mm, 50 mm, 60 mm, etc.) and cutting a groove 854 that extends in a spiral around the exterior surface of the tube 852 to increase the flexibility of the elongated target 850. The tube 852 can be metal, plastic, or any other suitable material. Again, the flexibility can allow the target 850 to be up to 60 mm long or longer without significantly affecting the use of the tool 404 with the tool recognition assembly 410. Note that the spacing between adjacent loops of the spiral groove can be varied. The elongated target 850 can provide enough flexibility to support placement on the tool recognition assembly and insertion into the anatomy of the patient P, and can provide more material that can improve detection of the target 850 by the target reader 406.

[0116] Referring now to FIG. 9, a method 900 may be performed by a control system (e.g., control system 112) using one or more elements of the tool recognition assembly 410 and may be performed in the surgical environment 300 and / or the teleoperated medical system 100. The method 900 is illustrated as a set of processes 902-910. It is not a requirement that all of the illustrated processes 902-910 be performed in every implementation of the method 900. Furthermore, additional processes not explicitly illustrated in FIG. 9 may be included before, after, between, or as part of the processes 902-910. In some cases, one or more of the illustrated processes may be implemented, at least in part, in the form of executable code stored on a non-transitory, tangible, machine-readable medium that, when executed by one or more processors, causes the one or more processors to perform one or more of the processes.

[0117] In process 902, a tool recognition assembly, such as the tool recognition assembly 410, can detect or calculate a baseline sensor data reading for one or more target readers. The baseline sensor data reading can be calculated based on readings from a dedicated baseline target reader that can obtain sensor data readings for the detection zone of the baseline reader that is empty. The baseline reader can be dedicated to providing a baseline reader, so that the detection zone of the baseline reader can remain empty throughout operation of the tool recognition assembly 410. The baseline sensor data reading can also be calculated based on readings from one of the target readers that can obtain sensor data readings for the detection zone of the reader that is empty (e.g., when the tool 404 is not attached to the tool recognition assembly 410). This process can be optional.

[0118] In process 904, an instrument is received into the insertion assembly. For example, the tool 404 may be received into the tool recognition assembly 410. In process 906, the control system 112 may compare sensor data readings for one or more target readers to baseline sensor data readings. The comparison may be used to calculate a change in the sensor data values ​​from the baseline sensor data values. In process 908, the control system 112 may determine, for example, whether the tool 404 is present in the tool recognition assembly 410, whether the tool 404 is fully attached to the tool recognition assembly 410, and / or a classification of the instrument (e.g., medical probe, endoscopic camera, catheter, etc.) based on the change in sensor data from the baseline sensor data. When the tool 404 is attached to the tool recognition assembly 410, the change in the sensor data of the one or more readers may be logged as a detected insertion signature of the tool 404. When the tool 404 is attached to the tool recognition assembly 410, the logged detected insertion signature can be compared to one or more pre-established model insertion signatures to determine whether the tool 404 is fully attached to the tool recognition assembly 410. As mentioned above, the logged detected insertion signature can also be compared to one or more pre-established model insertion signatures to determine a classification of the tool 404 (e.g., type of tool 404, particular tool 404, etc.).

[0119] In process 910, the control system 112 may determine or select a mode of operation based on a comparison of the logged detected insertion signature to one or more pre-established model insertion signatures. For example, if the tool 404 is fully attached to the tool recognition assembly 410, one mode of operation may be initiated (e.g., continue with the operation of advancing the tool 404 and catheter, etc.). If the tool 404 is not fully attached to the tool recognition assembly 410, another mode of operation may be initiated (e.g., fully attach the tool 404). Additionally, depending on the type of tool 404 determined by the comparison of the detected insertion signature to the model insertion signature, another mode of operation may be initiated (e.g., limit the insertion speed of the tool 404 into the patient's anatomy, dim the light source, limit the flexibility of the catheter, increase the flexibility of the catheter, limit the speed at which adjustments are made to the catheter, disable / enable certain features such as image acquisition, etc.). Depending on the tool 404 being fully inserted into the tool recognition assembly 410, different features may be enabled or disabled.

[0120] 10A-10C, tables are provided that represent a number of detection insertion signatures 1000, each of which represents a detection insertion signature 1000. Each detection insertion signature 1000 can be described as an algorithm having a series of events (or conditions) that occur when a tool 404 is attached to the tool recognition assembly 410. These events occur when a target reader detects the presence or absence of a target within the detection zone of the reader. Detection of the presence ("1") or absence ("0") of a target can be determined by a variety of means, such as those described above with respect to FIGS. 4A-4J and 5A-5S. These events can include signal strength (or intensity), signal duration, rate of change of the signal, multiple thresholds of signal strength, slope of the detection signal, inductance measurement ratio, and / or other derivatives of the inductance measurement signal. Thus, the presence ("1") and absence ("0") indicators in tables 1002-1018 can be determined by any of the means described in this disclosure. By logging these events in sequence (e.g., chronologically), a detection insertion signature (including a certain sequence of readings) can be established and then compared to one or more pre-established model insertion signatures. Tables 1002-1018 are directed to a tool recognition assembly 500, which, like the system (e.g., tool recognition assembly 500) shown in Figures 5E-5L, can include two detectors (e.g., one absent A target reader 510, and one present P target reader 512) and can accept a tool 404 that includes one or two targets (e.g., targets 526, 528).

[0121] As used herein, when a target is "detected" by a target reader or when a target reader "detects" a target, this indicates that the target is located within the detection zone of the target. As used herein, the "detection zone" of a target reader is defined as a longitudinal distance along the tool recognition assembly 410 in which detection of a target is determined by detecting a parameter that varies based on the proximity of the target to the target reader and determining whether the value of the parameter is above or below a predetermined threshold. For example, for an electromagnetic reader / target set, the parameter can be an inductance change and the predetermined threshold can be the inductance change above which the target is considered to be "detected" within the detection zone. It should be understood that the detection zones of multiple readers can overlap with each other as well as be separated from each other. As another example, for an optical reader:target pair, the parameter can be light intensity and the predetermined threshold can be the light intensity above which the target is considered to be detected or the predetermined threshold can be the light intensity below which the target is considered to be detected (e.g., if the instrument is a light color such as a shade of white and the target is a dark color, e.g., black). Other thresholds can be used for other reader:target set types, such as, for example, the threshold is the returned RF signal from a scanned RFID only if the RFID is readable.

[0122] Each table includes an algorithm number (e.g., 1-11) that designates the algorithm described by the table, an algorithm sequence number (e.g., 1.1, 1.2, 1.3, etc.) that indicates the detection of the presence or absence of a target within the detection zone of each target reader. A "0" indicates the absence of a target within the detection zone of that particular target reader, and a "1" indicates the presence of a target within the detection zone. The absence of a target within the detection zone (i.e., a "0") can be determined when the target reader detects a value of a particular signal (e.g., optical signal, electromagnetic signal, RF scan signal, magnetic flux signal, etc.) that is below a predetermined threshold. The presence of a target within the detection zone (i.e., a "1") can be determined when the target reader detects a value of a particular signal (e.g., optical signal, electromagnetic signal, RF scan signal, magnetic flux signal, etc.) that is above or below a predetermined threshold and / or within a ratio of a measurement compared to a baseline measurement. However, in the barcode reader:target pair example, the presence or absence of a target (barcode) can be determined when the pattern detected by the barcode reader is a valid barcode or not. When "N / A" is used in the tables, this indicates that a particular target (or reader) is not used in the algorithm and does not provide detection information for that sequence event.

[0123] Each table also indicates whether a "stripe" is detected. As used herein, a "stripe" refers to a longitudinal marking included on an inner surface of a medical instrument, such as a catheter (e.g., 450 in FIG. 4B), that can serve as a reference point or frame. When the tool 404 is installed in the catheter, a camera at the distal end 413 of the tool 404 can collect images from within the catheter before the tool 404 is fully installed in the catheter. A longitudinal marking can be any feature that is visible on the inner surface of the catheter and that is distinguishable from the remainder of the inner surface of the catheter. Also, the longitudinal marking can occupy a small circumferential distance of the inner surface compared to the full circumferential distance around the inner surface. Thus, the longitudinal marking can form a longitudinal stripe that extends along a significant portion of the inner surface of the catheter.

[0124] Referring to FIG. 11, a representative image from within the catheter is shown. By collecting an image 1100 from within the catheter 1012 during attachment of the tool 404, it can be confirmed that the tool 404 is at least partially attached within the catheter 1012 by viewing the longitudinal markings 1010 in the image 1100. After determining that the tool 404 is at least partially attached to the catheter, a reader:target pair can be used to confirm when the tool 404 is fully attached to the catheter (or the tool recognition assembly 410). It should be understood that stripe detection is not required and is merely an option in establishing a detection insertion signature. The reader:target pair confirms full attachment of the tool 404 and can indicate other characteristics of the tool 404, such as the classification of the tool 404.

[0125] Table 1002 describes algorithm 1, which includes sequences 1.1-1.3. Algorithm 1 includes absent reader 510, present reader 512, and target 526 at a proximal portion of tool 404. When tool 404 is attached to tool recognition assembly 410, readers 510, 512 can detect a sequence of events that constitute a detection insertion signature, as shown in table 1002. Sequence event 1.1 indicates that neither reader detects target 526. Sequence event 1.2 indicates that absent reader 510 detects target 526, while present reader 512 does not detect target 526. Sequence event 1.3 indicates that absent reader 510 does not detect target 526, while present reader 512 detects target 526.

[0126] Table 1004 describes Algorithm 2, which includes Sequences 2.1-2.3. Algorithm 2 includes stripe detection, absent reader 510, present reader 512, and target 526 at the proximal portion of tool 404. When tool 404 is attached to tool recognition assembly 410, a camera at the end of tool 404 can capture an image of the inside of the catheter. By viewing the captured image(s), it can be confirmed that tool 404 is at least partially attached to tool recognition assembly 410. After stripe detection, the reader can detect the sequences shown in Table 1004 when tool 404 is attached to assembly 410. Table 1004 (i.e., Algorithm 2) is similar to Table 1002 (i.e., Algorithm 1), except for the addition of a stripe detection event. Sequence event 2.1 indicates that stripe is detected and neither reader detects target 526. Sequence event 2.2 shows that absent reader 510 detects target 526, while present reader 512 does not detect target 526. Sequence event 2.3 shows that absent reader 510 does not detect target 526, while present reader 512 detects target 526.

[0127] Table 1006 describes algorithm 3, which includes sequences 3.1-3.4. Algorithm 3 includes an absent reader 510, a present reader 512, and a target 528 near the proximal portion of the tool 404. If the readers are located in the same location in the tool recognition assembly 410 as the readers in algorithm 1, the target may pass both readers when the tool 404 is fully attached because it is near but not at the proximal portion. When the tool 404 is attached to the assembly 410, the readers 510, 512 may detect the sequence shown in table 1006. Sequence event 3.1 indicates that neither reader 510, 512 detects the target 528. Sequence event 3.2 indicates that the absent reader 510 detects the target 528, while the present reader 512 does not detect the target 528. Sequence event 3.3 shows that absent reader 510 does not detect target 528, while present reader 512 detects target 528. Sequence event 3.4 shows that neither reader 510, 512 detects target 528.

[0128] Table 1008 describes algorithm 4, which includes sequences 4.1-4.5. Algorithm 4 includes absent reader 510, absent reader 512, target 526 at the proximal portion of tool 404, and target 528 near but spaced from the proximal portion of tool 404. In this example, the spacing between targets 526, 528 is less than the spacing between readers 510, 512. Thus, targets 528, 526 can pass through the detection zone of absent reader 510 before either target 526, 528 enters the detection zone of present reader 512. Sequence event 4.1 indicates that neither reader 510, 512 detects either of targets 526, 528. Sequence event 4.2 indicates that absent reader 510 detects target 528 but not target 526, while present reader 512 detects neither of targets 526, 528. This is expected in this example because target 528 near the proximal end may reach absent reader 510 first when tool 404 is mounted within assembly 410. As tool 404 is further mounted to assembly 410, target 528 may pass absent reader 510 and target 526 may next enter the detection zone of absent reader 510. Thus, sequence event 4.3 shows absent reader 510 detects target 526 but not target 528, while presence reader 512 continues to detect neither targets 526, 528. Sequence event 4.4 shows presence reader 512 detects target 528 but not target 526, while absence reader 510 detects neither targets 526, 528. Sequence event 4.5 shows that absent reader 510 detects neither target 526 nor 528, while present reader 512 detects target 526 but not target 528.

[0129] Table 1010 describes algorithm 5, which includes sequences 5.1-5.5. Algorithm 5 includes stripe detection, absent reader 510, present reader 512, target 526 at the proximal portion of tool 404, and target 528 near but spaced from the proximal portion of tool 404. When tool 404 is attached to tool recognition assembly 410, a camera at the end of tool 404 can capture an image of the inside of the catheter. Viewing the captured image(s) can provide confirmation that tool 404 is at least partially attached to tool recognition assembly 410. After stripes are detected, the reader can detect the sequence shown in table 1010 when tool 404 is attached to assembly 410. Table 1010 (i.e., algorithm 5) is similar to table 1008 (i.e., algorithm 4), except for the addition of a stripe detection event. Sequence event 5.1 indicates that a stripe is detected and that neither reader 510, 512 detects any of the targets 526, 528. The remaining sequences 5.2-5.5 are the same as sequences 4.2-4.5 in Algorithm 4, the descriptions of which are given above.

[0130] 10B, table 1012 describes algorithm 6, which includes sequences 6.1-6.4. Algorithm 6 includes absent reader 510, present reader 512, and elongated target 526 on a proximal portion of tool 404. When tool 404 is attached to tool recognition assembly 410, readers 510, 512 can detect a sequence of readings as shown in table 1002. Elongated target 526 is long enough to extend within the detection zones of both readers 510, 512. Sequence event 6.1 indicates that neither reader detects elongated target 526. Sequence event 6.2 indicates that absent reader 510 detects elongated target 526, while present reader 512 does not detect elongated target 526. Sequence event 6.3 indicates that both readers 510, 512 detect elongated target 526. Sequence event 6.4 indicates that absent reader 510 does not detect elongated target 526, while present reader 512 detects elongated target 526.

[0131] Table 1014 describes algorithm 7, which includes sequences 7.1-7.5. Algorithm 7 includes absent reader 510, present reader 512, and elongated target 528 near the proximal portion of tool 404. If the readers are located in the same position in the tool recognition assembly 410 as the readers in algorithm 6, the target may pass both readers when tool 404 is fully attached because the target is near but not at the proximal portion. When tool 404 is attached to assembly 410, readers 510, 512 may detect the sequence shown in table 1014. Sequence event 7.1 indicates that neither reader 510, 512 detects elongated target 528. Sequence event 7.2 indicates that absent reader 510 detects elongated target 528, while present reader 512 does not detect elongated target 528. Sequence event 7.3 shows that both readers 510, 512 detect the elongated target 528. Sequence event 7.4 shows that the absent reader 510 does not detect the elongated target 528, while the present reader 512 detects the elongated target 528. Sequence event 7.5 shows that neither reader 510, 512 detects the elongated target 528.

[0132] Table 1016 describes algorithm 8, which includes sequences 8.1-8.7. Algorithm 8 includes absent reader 510, present reader 512, elongated target 526 at the proximal portion of tool 404, and elongated target 528 near but spaced from the proximal portion of tool 404. Sequence event 8.1 indicates that readers 510, 512 do not detect either of elongated targets 526, 528. Sequence event 8.2 indicates that absent reader 510 detects elongated target 528 but does not detect elongated target 526, while present reader 512 does not detect either of elongated targets 526, 528. This is expected in this example because elongated target 528 near the proximal portion may reach absent reader 510 first when tool 404 is installed in assembly 410. When the tool 404 is further mounted within the assembly 410, the elongated target 528 can extend into the detection zone of the present reader 512, while a portion of the elongated target 528 remains within the detection zone of the absent reader 510. Thus, sequence event 8.3 shows that both readers 510, 512 detect the elongated target 528, but neither reader 510, 512 detects the elongated target 526.

[0133] Sequence event 8.4 indicates that absent reader 510 no longer detects elongated target 528, but present reader detects elongated target 528, while neither reader 510, 512 detects elongated target 526. In this example, the spacing between elongated targets 526, 528 is greater than the spacing between readers 510, 512. Thus, elongated target 528 can pass through the detection zone of present reader 512 before elongated target 526 enters the detection zone of absent reader 510. Sequence event 8.5 indicates that absent reader 510 detects elongated target 526 but does not detect elongated target 528, while neither reader 510, 512 detects elongated target 528. As the tool 404 is further mounted within the assembly 410, the elongated target 526 can extend into the detection zone of the presence reader 512, while a portion of the elongated target 526 remains within the detection zone of the absent reader 510. Thus, sequence event 8.6 shows that both readers detect the elongated target 526, while neither reader 510, 512 detects the elongated target 528. Sequence event 8.7 shows that the absent reader 510 detects neither of the elongated targets 526, 528, while the presence reader 512 detects the elongated target 526 but not the elongated target 528.

[0134] Table 1018 describes algorithm 9, which includes sequences 9.1-9.7. Algorithm 8 includes stripe detection, absence reader 510, presence reader 512, elongated target 526 at the proximal portion of tool 404, and elongated target 528 near but spaced from the proximal portion of tool 404. When tool 404 is attached to tool recognition assembly 410, a camera at the end of tool 404 can capture an image of the inside of the catheter. Viewing the captured image(s) can provide confirmation that tool 404 is at least partially attached to tool recognition assembly 410. After stripe detection, the reader can detect the sequence shown in table 1016 when tool 404 is attached to assembly 410. Table 1018 (i.e., algorithm 9) is similar to table 1016 (i.e., algorithm 8) except for the addition of a stripe detection event. Sequence event 9.1 indicates that a stripe is detected and that the readers 510, 512 do not detect any of the elongated targets 526, 528. The remainder of the sequence 9.2-9.7 is the same as sequences 8.2-8.7 of Algorithm 8.

[0135] 10C, table 1020 describes algorithm 10, which includes sequences 10.1-10.6. Algorithm 10 includes absent reader 510, absent reader 512, target 526 at the proximal portion of tool 404, and target 528 near but spaced from the proximal portion of tool 404. This algorithm captures the detection insertion signature described above with reference to FIGS. 5E-5J. Sequence event 10.1 indicates that readers 510, 512 do not detect either of targets 526, 528. Sequence event 10.2 indicates that absent reader 510 detects target 528 but does not detect target 526, while present reader 512 does not detect either of targets 526, 528. Sequence event 10.3 indicates that readers 510, 512 again do not detect either of targets 526, 528. In this example, the spacing between readers 510, 512 is similar to the spacing between targets 526, 528. Thus, targets 526, 528 can be located within the detection zones of absent readers 510, 512, respectively. Thus, when tool 404 is further attached to assembly 410, target 528 can enter the detection zone of present reader 512, while target 526 enters the detection zone of absent reader 510. Sequence event 10.4 shows that absent reader 510 detects target 526 but not target 528, while present reader 512 detects target 528 but not target 526. Sequence event 10.5 shows that readers 510, 512 again do not detect either target 526, 528. Sequence event 10.6 shows that the absent reader does not detect either target 526, 528, while the present reader 512 detects target 526 but not target 528.

[0136] Table 1022 shows algorithm 11, which includes sequences 11.1-11.6. Algorithm 11 includes stripe detection, absent reader 510, present reader 512, target 526 at the proximal portion of tool 404, and target 528 near but spaced from the proximal portion of tool 404. When tool 404 is attached to tool recognition assembly 410, a camera at the end of tool 404 can capture an image of the inside of the catheter. Viewing the captured image(s) can provide confirmation that tool 404 is at least partially attached to tool recognition assembly 410. After stripe detection, when tool 404 is attached to assembly 410, the reader can detect the sequence shown in table 1022. Table 1022 (i.e., algorithm 11) is similar to table 1020 (i.e., algorithm 10), except for the addition of a stripe detection event. Sequence event 11.1 indicates that a stripe is detected and that readers 510, 512 do not detect either of targets 526, 528. The remaining sequences 11.2-11.6 are the same as sequences 10.2-10.6 of algorithm 10.

[0137] It should be noted that the processes and displays presented are not inherently related to any particular computer or other apparatus. The required structure for a variety of these systems appears as elements of the claims. Moreover, the embodiments are not described with reference to any particular programming language. It will be understood that a variety of programming languages ​​can be used to implement the teachings of the invention as described herein.

[0138] While specific exemplary embodiments of the invention have been described and illustrated in the accompanying drawings, it is to be understood that, since various other modifications may occur to those skilled in the art, such embodiments are merely illustrative of the broad invention and are not limiting, and that embodiments of the invention are not limited to the specific configurations and arrangements shown and described.

[0139] The following additional note is added: (Supplementary Note 1) A tool recognition assembly having a first reader with a first detection zone; a tool configured to be attached to the tool recognition assembly, the tool having a first target; having the first reader detects a first reading indicative of a presence or absence of the first target within the first detection zone during attachment of the tool to the tool recognition assembly, the detected first reading being at least a portion of a detection insertion signature, providing the detection insertion signature for initiating a comparison of the detection insertion signature with one or more model signatures; system. (Supplementary Note 2) The tool recognition assembly further includes a second reader having a second detection zone, the second reader detecting a second reading indicative of a presence or absence of the first target within the second detection zone during attachment of the tool to the tool recognition assembly, the detection insertion signature including the second reading combined with the first reading, and the tool recognition assembly providing the detection insertion signature to initiate a comparison of the detection insertion signature including the second reading combined with the first reading to the one or more model signatures. 2. The system of claim 1. (Supplementary Note 3) The tool further has a second target spaced from the first target by a separation distance, the first reader in the tool recognition assembly detects a third reading indicative of a presence of the second target in the first detection zone during attachment of the tool to the tool recognition assembly, the detected insertion signature includes the third reading combined with the first reading, and the tool recognition assembly provides the detected insertion signature including the third reading combined with the first reading to initiate a comparison of the detected insertion signature including the combined first and third readings to the one or more model signatures. 2. The system of claim 1. (Supplementary Note 4) The separation distance is in the range of 7 mm to 68 mm. 4. The system of claim 3. (Supplementary Note 5) The first target has two or more target sections, the first reader has two or more reader sections, each reader section of the first reader including an associated detection zone, and each reader section of the first reader detects a portion of the first reading indicative of a presence or absence of at least one of the target sections within the associated detection zone of the reader section; 2. The system of claim 1. (Supplementary Note 6) Each reader is selected from the group consisting of an inductive sensor, a capacitive sensor, a Hall effect sensor, a photogate sensor, an optical sensor, a magnetic switch, a barcode scanner, an RFID scanner, and a relative position sensor; 6. The system of claim 1 . (Supplementary Note 7) Each target is selected from the group consisting of a ferromagnetic material, a metal cylinder, a magnet, an aperture, a surface or material having various light absorbing properties, a bar code, an RFID chip, and an optical light source. 6. The system of claim 1 . (Supplementary Note 8) At least one of the targets is an elongated target, and the length of the elongated target is in the range of 20 mm to 60 mm. 8. The system of claim 7. (Supplementary Note 9) The elongated target is selected from the group consisting of a plurality of tube sections joined together, a spring wound around the tool, and a metal tube placed on the tool, the metal tube having a spiral groove cut into an outer surface of the metal tube. 9. The system of claim 8. (Supplementary Note 10) The comparison of the detection insertion signature, including the first reading, the second reading, the third reading, or a combination of the first, second, and third readings, to the one or more model signatures identifies a match between the detection insertion signature and the one or more model signatures, the match being indicative of a characteristic of the tool. 6. The system of claim 1 . (Supplementary Note 11) The characteristics of the tool include the presence or absence of the tool in the tool recognition assembly, the position of the tool in the tool recognition assembly, whether the tool is fully attached to the tool recognition assembly, the classification of the tool, whether the tool is a counterfeit tool, whether the tool is a competitor's tool, or any combination thereof. 11. The system of claim 10. (Supplementary Note 12) The classification of the tool includes a type of the tool and a unique identifier of the tool. 12. The system of claim 11. (Supplementary Note 13) The tool recognition assembly includes a control mode that is changeable based on the characteristic. 12. The system of claim 11. (Supplementary Note 14) The first detection zone is a distance along an insertion trajectory path of the tool attached to the tool recognition assembly, and the distance of the first detection zone is in a range of 7 mm to 68 mm. 2. The system of claim 1. (Supplementary Note 15) The tool includes a camera at a distal end of the tool that captures a series of images along an insertion trajectory path of the tool during installation of the tool, the series of images being provided to initiate verification of the progress of the installation of the tool. 2. The system of claim 1. (Supplementary Note 16) The camera is configured to detect markings on a surface along the insertion trajectory path of the tool during installation of the tool, and the captured series of images includes images of the markings. 16. The system of claim 15. (Appendix 17) A tool containing a first target; a receiving member configured to receive the tool; a first reader positioned along the receiving member, the first reader configured to detect a presence indication of the first target of the tool when the first target is in proximity to the first reader during attachment of the tool and an absence indication of the first target of the tool when the first target is out of range of the first reader during the attachment of the tool; a control system communicatively linked to the first reader and configured to receive one or more of the presence indication and the absence indication of the first target from the first reader so as to create a detection insertion signature of the received tool; system. (Supplementary Note 18) The detection insertion signature includes the indication of presence followed by the indication of absence. 18. The system of claim 17. (Supplementary Note 19) The method further includes a second reader positioned along the receiving member at a location spaced apart from the first reader, the second reader configured to detect an indication of the presence of the first target when the first target is in proximity to the second reader and an indication of the absence of the first target when the first target is out of range of the second reader. 18. The system of claim 17. (Supplementary Note 20) The detection insertion signature includes one or more presence indications and absence indications of the first target detected by the first and second readers; 20. The system of claim 19. (Supplementary Note 21) The detection insertion signature includes an indication of absence of the first target detected by the first reader and an indication of presence of the first target detected by the second reader. 21. The system of claim 20. (Supplementary Note 22) The detection insertion signature includes the presence indication of the first target detected by the first reader, the absence indication of the first target detected by the first reader, and the presence indication of the first target detected by the second reader. 21. The system of claim 20. (Supplementary Note 23) The tool includes a second target positioned along the tool at a location spaced apart from the first target, and the first reader is configured to detect an indication of the presence of the second target when the second target is in proximity to the first reader and an indication of the absence of the second target when the second target is out of range of the first reader. 18. The system of claim 17. (Supplementary Note 24) The detection insertion signature includes one or more of the presence indication and the absence indication of the second target detected by the first reader. 24. The system of claim 23. (Supplementary Note 25) The detection insertion signature includes the presence indication of the first target detected by the first reader, the absence indication of the first target detected by the first reader, and the presence indication of the second target detected by the first reader. 25. The system of claim 24. (Supplementary Note 26) A tool configured for attachment to a tool recognition assembly, comprising: With an elongated body; one or more targets positioned along the elongate body such that when fully inserted into the tool recognition assembly, they align with corresponding one or more target readers in the tool recognition assembly; a first target of the one or more targets causes the one or more target readers of the tool recognition assembly to detect an indication of presence of the first target when the first target is in proximity to the one or more target readers during attachment of the tool to the tool recognition assembly and an indication of absence of the first target when the first target is out of range of the one or more target readers during the attachment of the tool to the tool recognition assembly; tool. (Supplementary Note 27) The one or more targets are selected from the group consisting of ferromagnetic materials, metal cylinders, magnets, apertures, surfaces or materials with various light absorbing properties, bar codes, RFID chips, and optical light sources. 26. The tool described in Appendix 26.

Claims

1. A tool including a first target; a receiving member configured to receive the tool; a first reader positioned along the receiving member, the first reader configured to detect a first plurality of consecutive readings when the tool is inserted into the receiving member, the first plurality of consecutive readings including at least an indication of a presence of the first target of the tool when the first target is in proximity to the first reader and an indication of an absence of the first target of the tool when the first target is out of range of the first reader; A control system communicatively linked to the first reader, comprising: receiving the first plurality of consecutive readings from the first reader; generating an insertion signature of the accepted tool based on the first plurality of consecutive readings; comparing the insertion signature to a model signature to determine at least one of the absence or presence of the tool within the receiving member, the position of the tool within the receiving member, whether the tool is fully inserted into the receiving member, a classification of the tool, whether the tool is a counterfeit tool, whether the tool is a competitor's tool, or a combination thereof; and a control system configured to system.

2. the insertion signature includes the indication of presence followed by the indication of absence; The system of claim 1 .

3. a second reader positioned along the receiving member at a location spaced from the first reader, the second reader configured to detect a second plurality of consecutive readings when the tool is inserted into the receiving member, the second plurality of consecutive readings including at least an indication of presence of the first target when the first target is in proximity to the second reader and an indication of absence of the first target when the first target is out of range of the second reader. The system of claim 1 .

4. The control system further receives the second plurality of consecutive readings from the second reader; generating the insertion signature based on the first plurality of consecutive readings and the second plurality of consecutive readings; It is configured as follows: The system of claim 3.

5. the insertion signature includes an indication of the absence of the first target detected by the first reader and an indication of the presence of the first target detected by the second reader. The system of claim 4.

6. the insertion signature includes an indication of the presence of the first target detected by the first reader, an indication of the absence of the first target detected by the first reader, and an indication of the presence of the first target detected by the second reader. The system of claim 4.

7. the tool includes a second target positioned along the tool at a location spaced apart from the first target, and when the tool is inserted into the receiving member, the first reader is configured to detect a second plurality of consecutive readings, the second plurality of consecutive readings including at least an indication of presence of the second target when the second target is in proximity to the first reader and an indication of absence of the second target when the second target is out of range of the first reader; The system of claim 1 .

8. The control system further comprises: receiving the second plurality of consecutive readings from the first reader; generating the insertion signature based on the first plurality of consecutive readings and the second plurality of consecutive readings; It is configured as follows: The system of claim 7.

9. the insertion signature includes an indication of the presence of the first target detected by the first reader, an indication of the absence of the first target detected by the first reader, and an indication of the presence of the second target detected by the first reader. The system of claim 8.

10. A tool configured for insertion into a tool recognition assembly, comprising: With an elongated body; one or more targets positioned along the elongate body such that when fully inserted into the tool recognition assembly, the one or more targets align with corresponding target readers in the tool recognition assembly; when the tool is inserted into the tool recognition assembly, a first target of the one or more targets causes the one or more target readers of the tool recognition assembly to detect a first plurality of consecutive readings, the first plurality of consecutive readings being at least a portion of an insertion signature, the first plurality of consecutive readings including at least an indication of presence of the first target when the first target is in proximity to the one or more target readers and an indication of absence of the first target when the first target is out of range of the one or more target readers; The insertion signature is compared to a model signature to determine at least one of: an absence or presence of the tool in the tool recognition assembly, a position of the tool in the tool recognition assembly, whether the tool is fully inserted into the tool recognition assembly, a classification of the tool, whether the tool is a counterfeit tool, whether the tool is a competitor's tool, or a combination thereof. tool.

11. the one or more targets are selected from the group consisting of ferromagnetic materials, metal cylinders, magnets, apertures, surfaces or materials with different light absorbing properties, bar codes, RFID chips, and optical light sources; The tool of claim 10.

Images