Disengagement detection in cable-driven tools

Abstract

The disclosed embodiments relate to systems and methods for surgical tools or surgical robotic systems. One exemplary system for detecting disengagement of a surgical tool includes an end effector connected to and driven by a cable of a tool driver, a sensor configured to detect a force associated with the cable, and one or more processors. The one or more processors identify tension in the cable derived from the force detected by the sensor, compare the tension to a tension threshold, calculate a velocity norm value based on a vector including velocity values ​​of each of the cables, compare the velocity norm value to a statistical velocity threshold, and identify disengagement of at least one cable of a plurality of cables based on the first comparison and the second comparison.

Description

[Technical Field]

[0001] SUMMARY The present disclosure relates to detecting disengagement, breakage, or other failure of a cable for driving a surgical tool. [Background technology]

[0002] Minimally invasive surgery (MIS), such as laparoscopic surgery, involves techniques intended to reduce tissue damage during surgery. For example, laparoscopic surgery typically involves making several small incisions in a patient (e.g., in the abdomen) and introducing one or more surgical tools (e.g., end effectors or endoscopes) into the patient through the incisions. The surgical procedure can then be performed using the introduced surgical tools and with the visualization assistance provided by the endoscope.

[0003] Generally, MIS offers multiple benefits, including smaller scars, less pain for the patient, shorter recovery time for the patient, and reduced healthcare costs associated with patient recovery. Recent technological developments have made it possible to perform more MIS procedures using robotic systems that include one or more robotic arms for manipulating surgical tools based on commands from a remote operator. The robotic arms may support various devices at their distal ends, such as surgical end effectors, imaging devices, and cannulas for providing access to the patient's body cavities and organs. In robotic MIS systems, it may be desirable to establish and maintain high positional accuracy for surgical instruments supported by the robotic arms.

[0004] In a surgical robotic system, surgical tools can be attached to a surgical robotic arm. Such tools can be used to enter, view, or manipulate a patient's internal anatomical structures. The surgical tools can be driven by cables to effect movement. Cables can fail. For example, one or more cables can become disengaged from the surgical tool or drive system. One or more cables can break under high tension. Detecting these events can avoid potential damage from uncontrolled tool movement. Summary of the Invention [Means for solving the problem]

[0005] Disclosed herein is a robotic-assisted surgical electromechanical system designed to enable surgeons to perform minimally invasive surgery. A series of interchangeable tools can be attached and detached from an instrument driver attached to the distal end of a robotic arm, allowing the surgeon to perform a variety of surgical tasks. The instrument driver can provide intracorporeal access to the surgical site, mechanical actuation of a compatible tool through a sterile interface, and communication with the compatible tool through the sterile interface and user touch points. The system detects when the tool encounters an obstacle or experiences a hard stop.

[0006] The disclosed embodiments relate to systems and methods for surgical tools or surgical robotic systems. One exemplary system for detecting disengagement of a surgical tool includes an end effector connected to and driven by a cable of a tool driver, a sensor configured to detect a force associated with the cable, and one or more processors. The one or more processors identify tension in the cable derived from the force detected by the sensor, compare the tension to a tension threshold, calculate a velocity norm value based on a vector including velocity values of each of the cables, compare the velocity norm value to a statistical velocity threshold, and identify disengagement of at least one cable of a plurality of cables based on the first comparison and the second comparison. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 illustrates an exemplary operating room environment including a surgical robotic system. [Figure 2] FIG. 1 illustrates an exemplary surgical robotic system including a robotic arm, a tool driver, and a cannula loaded with a surgical tool. [Figure 3A] 1A-1C illustrate an exemplary tool driver with a loaded surgical tool. [Figure 3B] 1A-1C illustrate an exemplary tool driver without a loaded surgical tool. [Figure 4A] FIG. 1 illustrates an exemplary grasper end effector having a robotic wrist, a pair of opposing jaws, and a pulley and cable system for coupling the robotic wrist and pair of jaws to an actuator of a tool driver. [Figure 4B] FIG. 1 illustrates an exemplary grasper end effector having a robotic wrist, a pair of opposing jaws, and a pulley and cable system for coupling the robotic wrist and pair of jaws to an actuator of a tool driver. [Figure 5] FIG. 1 illustrates the controls for the robotic wrist, tool driver, and / or surgical tool. [Figure 6] FIG. 10 illustrates the mapping of a tool driver to a surgical tool. [Figure 7] FIG. 1 illustrates a cable drive system for a surgical tool. [Figure 8] FIG. 2 is a more detailed view of the cable drive system. [Figure 9] FIG. 1 illustrates a sensor array and a detailed embodiment of a control unit. [Figure 10] FIG. 1 illustrates an exemplary cable disengagement detection algorithm for a cable drive system and surgical tool. [Figure 11] FIG. 10 illustrates an exemplary flowchart of an exemplary operation of a control unit. DETAILED DESCRIPTION OF THE INVENTION

[0008] The following embodiments relate to cable-driven surgical tools. An algorithm is described that detects wrist cable disengagement during normal wrist operation. The wrist cable is driven by a motor or actuator. The cable disengagement detection algorithm can use measured tension and actuator velocity to determine when cable disengagement may have occurred. On cable-driven tools, the cable can become disengaged from the drive motor during normal operation of the tool. Without corrective action, unexpected wrist behavior could cause damage. The cable disengagement detection algorithm ensures that the motor is disabled in a timely and controlled manner.

[0009] Figure 1 illustrates an exemplary operating room environment having a surgical robotic system 100. As shown in Figure 1, the surgical robotic system 100 includes a user console 110, a control tower 130, and a surgical robot 120 having one or more surgical robotic arms 122 mounted on a surgical platform 124 (e.g., a table or bed), with surgical tools having end effectors attached to the distal ends of the robotic arms 122 for performing a surgical procedure. While the robotic arms 122 are shown as being mounted on a table, in other configurations the robotic arms may be mounted to a cart, ceiling, sidewall, or another suitable support surface.

[0010] Generally, a user, such as a surgeon or other operator, sits at a user console 110 and can remotely control the robotic arm 122 and / or surgical instruments (e.g., teleoperation). The user console 110 may be located in the same operating room as the robotic system 100, as shown in FIG. 1 . In other environments, the user console 110 may be located in an adjacent or nearby room, or may be remotely operated from a remote location in a different building, city, or country. The user console 110 may include a seat 112, pedals 114, one or more handheld user interface devices (UIDs) 116, and an open display 118 configured to display, for example, a view of a surgical site within a patient. As shown in the exemplary user console 110, a surgeon sitting in the seat 112 and looking at the open display 118 can operate the pedals 114 and / or handheld user interface device 116 to remotely control the robotic arm 122 and / or surgical instruments attached to the distal end of the arm 122.

[0011] In some variations, the user may also operate the surgical robotic system 100 in an "over-the-bed" (OTB) mode, in which the user is at the patient's side and simultaneously operates the robotic-driven tool / attached end effector and a manual laparoscopic tool (e.g., with a handheld user interface device 116 held in one hand). For example, the user's left hand may operate the handheld user interface device 116 to control the robotic surgical components, while the user's right hand may operate the manual laparoscopic tool. Thus, in these variations, the user can perform both robotically-assisted minimally invasive surgery (MIS) and manual laparoscopic surgery on a patient.

[0012] The end effector may be configured to perform a surgical operation such as cutting, grasping, piercing, or energy emission. Surgical tools may be manipulated manually, robotically, or both during surgery. For example, a surgical tool may be a tool used to enter, view, or manipulate a patient's internal anatomical structures. In one embodiment, the surgical tool is a grasper capable of grasping patient tissue. Surgical tools may be controlled manually directly by the hands of a bedside operator or robotically by sending electronic commands to actuate movement.

[0013] During an exemplary procedure or surgery, the patient is sterile, prepped, and draped to achieve anesthesia. Initial access to the surgical site may be performed manually with the robotic system 100 in a stowed or retracted configuration to facilitate access to the surgical site. Once access is complete, initial positioning and / or preparation of the robotic system can occur. During the procedure, the surgeon in the user console 110 can utilize the pedals 114 and / or user interface devices 116 to operate the various end effectors and / or imaging system and perform the surgery. Manual assistance may also be provided at the procedure table by sterile, gowned personnel who can perform tasks including, but not limited to, retracting tissue or performing manual repositioning or tool changes involving one or more robotic arms 122. Non-sterile personnel may also be present to assist the surgeon at the user console 110. Once the procedure or surgery is complete, the robotic system 100 and / or user console 110 may be configured or set to a state that facilitates one or more post-operative procedures, including, but not limited to, cleaning and / or sterilization of the robotic system 100 and / or entry or printing of medical records, whether electronic or hard copy, such as via the user console 110.

[0014] In some embodiments, communication between the surgical robot 120 and the user console 110 may be via a control tower 130, which can translate user input from the user console 110 into robotic control commands and transmit the control commands to the surgical robot 120. The control tower 130 may also transmit status and feedback from the robot 120 back to the user console 110. The connections between the surgical robot 120, the user console 110, and the control tower 130 may be via wired and / or wireless connections, may be proprietary, and / or may be implemented using any of a variety of data communication protocols. Any wired connections may optionally be integrated into the floor and / or walls or ceiling of the operating room. The surgical robotic system 100 may provide video output to one or more displays, including displays in the operating room and remote displays accessible via the Internet or other network. The video output or feed may also be encrypted to ensure privacy, and all or portions of the video output may be stored on a server or electronic medical record system.

[0015] Before beginning surgery with the surgical robotic system, the surgical team can perform pre-operative setup. During pre-operative setup, the major components of the surgical robotic system (table 124 and robotic arm 122, control tower 130, and user console 110) are positioned in the operating room, connected, and powered. The surgical platform 124 and robotic arm 122 may be in a fully stowed configuration with the arm 122 below the surgical platform 124 for storage and / or transportation purposes. The surgical team can extend the arm from the stowed position for sterile draping.

[0016] After draping, the arms 122 can be partially retracted until needed for use. Several conventional laparoscopic procedures may be performed, including trocar placement and installation. For example, each sleeve can be inserted into a small incision and through the body wall with the aid of an obturator. The sleeve and obturator allow for an optical portal for visualization of tissue layers during insertion, minimizing the risk of injury during placement. Typically, an endoscope is placed first to provide handheld camera visualization for the placement of the other trocars.

[0017] After insufflation, any laparoscopic procedures can be performed manually, inserting hand instruments through the sleeves as needed. The surgical team can then position the robotic arms 122 on the patient and attach each arm 122 to its corresponding sleeve. The surgical robotic system 100 has the ability to uniquely identify each tool (endoscope and surgical instrument) as soon as it is attached and display the tool type and arm position on the open or immersive display 118 of the user console 110 and on the touchscreen display on the control tower 130. Corresponding tool functions are enabled and can be activated using the master UID 116 and foot pedal 114. An assistant at the patient's side can attach and detach tools as needed throughout the procedure. The surgeon, seated at the user console 110, can begin surgery using the tools controlled by the two master UIDs 116 and foot pedal 114. The system translates the surgeon's hand, wrist, and finger movements via the master UID 116 into precise real-time movements of the surgical tools. Thus, the system constantly monitors all of the surgeon's surgical operations and pauses instrument movement if the system is unable to accurately reflect the surgeon's hand movements. If the endoscope is moved from one arm to another during surgery, the system can adjust the master UID 116 to align the instrument and continue instrument control and movement. The foot pedal 114 can be used to activate various system modes, such as endoscope control and various instrument functions, including monopolar and bipolar cautery, without removing the surgeon's hands from the master UID 116.

[0018] The surgical platform 124 can be repositioned during surgery. For safety reasons, all tooltips should be visible and actively controlled by the surgeon at the user console 110. Instruments not under the surgeon's active control are removed and the table legs are locked. During table movement, the integrated robotic arm 122 can passively follow the table's movements. Audio and visual cues can be used to guide the surgical team during table movement. Audio cues may include tones and voice prompts. Visual messaging on displays at the user console 110 and control tower 130 can inform the surgical team of the table movement status.

[0019] FIG. 2 is a schematic diagram illustrating one exemplary design of a robotic arm, a tool driver, and a cannula loaded with a robotic surgical tool. As shown in FIG. 2, the exemplary surgical robotic arm 200 may include multiple links (e.g., link 202) and multiple actuation joint modules (e.g., joint 204) for actuating the multiple links relative to one another. The joint modules may include various types, such as pitch joints or roll joints, which may substantially limit the movement of adjacent links about a particular axis relative to another axis. The exemplary design in FIG. 2 also shows a tool driver 230 attached to the distal end of the robotic arm 200. The tool driver 230 may include a cannula 214 coupled to its end for receiving and guiding a surgical instrument (e.g., an endoscope, a stapler, etc.). The surgical instrument 220 (or “tool”) may include an end effector 222 at the distal end of the tool 220. The multiple joint modules of the robotic arm 200 can be actuated to position and orient a tool driver 230 that actuates a tool 220 for robotic surgery.

[0020] 3A and 3B are schematic diagrams illustrating exemplary tool drivers with adjacent and non-adjacent loaded tools, respectively, in accordance with aspects of the present technology. As shown in FIGS. 3A and 3B , in one variation, tool driver 230 may include an elongated base (or “stage”) 310 having a longitudinal track 313 and a tool carriage 320 slidably engaged with longitudinal track 313. Stage 310 may be configured to couple to a distal end of a robotic arm, whereby articulation of the robotic arm positions and / or orients tool driver 230 in space. Additionally, tool carriage 320 may be configured to receive a tool base 352 of a tool, which may also include a tool shaft 354 extending from tool base 352 through cannula 214, with end effector 222 disposed at its distal end.

[0021] Additionally, the tool carriage 320 may actuate the series of articulations of the end effector, such as through a cable system or wires operated and controlled by an actuation drive. The tool carriage 320 may include actuation drives of different configurations. For example, a rotary shaft drive may include a motor with a hollow rotor and a planetary gear transmission at least partially disposed within the hollow rotor. The multiple rotary shaft drives may be arranged in any suitable manner. For example, the tool carriage 320 may include six rotary drives 322A-322F arranged in two rows extending longitudinally along the base, with the drives slightly staggered to reduce the carriage width and increase the compactness of the tool driver. As shown in FIG. 3B, the rotary drives 322A, 322B, and 322C may be generally arranged in a first row, and the rotary drives 322D, 322E, and 322F may be generally arranged in a second row slightly longitudinally offset from the first row.

[0022] 4A and 4B are schematic diagrams illustrating an exemplary tool end effector having a robotic wrist, a pair of opposing jaws, and a pulley and cable system for coupling the robotic wrist and pair of jaws to an actuator of a tool driver. While the following tool model and controller design are described with reference to an exemplary surgical robotic grasper, it should be noted that the proposed control system for position and grip force control can be adapted to any tool that includes an end effector coupled to a tool shaft via a robotic wrist that allows multi-axis motion (e.g., pitch and yaw) of the end effector. Similar tools include, but are not limited to, needle drivers, monopolar scissors, monopolar hooks, bipolar forceps, and other instruments. A needle driver or needle holder includes opposing grippers for holding a needle and operates similarly to the graspers described in detail herein (e.g., open / close, yaw, and pitch). A set of monopolar scissors is a double-acting pair of scissors with a curved surface that operates similarly to the graspers (e.g., open / close, yaw, and pitch). A set of bipolar forceps includes two tips designed to grasp, manipulate, and coagulate selected tissue and to move (e.g., open and close, yaw, and pitch) similarly to a grasper.

[0023] 4A , a pair of opposing jaws 401A and 401B are movably coupled to a first yoke 402 of a robot wrist via an extending axle 412 along a first axis 410. The first yoke 402 may be movably coupled to a second yoke 403 of the robot wrist via a second extending axle 422 along a second axis 420. The pair of jaws 401A and 401B may be coupled to or integrally formed with pulleys 415A and 415B, respectively, via the extending axle 412 such that both jaws can rotate about axis 410. Pulleys 425A, 425B, 425C, and 425D are coupled to the extending axle 422 and rotate about axis 420. Pulleys 425A, 425B, 425C, and 425D are arranged in a first set of pulleys 425B and 425C on one side of yoke 402 and a second set of pulleys 425A and 425D on the other side of yoke 402. Pulleys 425A and 425C are outer pulleys and pulleys 425B and 425D are inner pulleys. Similarly, a third set of pulleys 435A, 435B, 435C, and 435D are coupled to a third elongated axle 432 and rotate about an axis 430 parallel to axis 420.

[0024] The end effector 222 (gripper) can be actuated to move one or both of the jaws 401A and 401B in various ways about the axis 410. For example, the jaws 401A and 401B may open and close relative to one another. The jaws 401A and 401B may also be actuated to rotate together as a pair to provide yaw motion of the end effector 222 (gripper). Additionally, the first yoke 402, pulleys 415A and 415B, and jaws 401A and 401B can rotate about the axis 420 to provide pitch motion of the end effector 222 (gripper). These movements of the tool's robotic wrist and / or jaws can be achieved by controlling four independent cables 405A-405D. 4A, cable 405A can originate (or terminate) on one side of pulley 415A and run along pulleys 425A and 435A, while cable 405B is configured to terminate on the other side of pulley 415A and run through pulleys 425B and 435B. Similarly, another pair of cables 405C and 405D can be coupled to jaw 401B. For example, cable 405C extends from one side of pulley 415B to pulleys 425C and 435C, while cable 405D passes through pulleys 425D and 435D and terminates on the other side of pulley 415B. The third set of pulleys 435A, 435B, 435C and 435D are positioned to keep the cables 405A-405D fixed to the second set of pulleys 425A-425D and prevent the cables from slipping or sliding relative to the pulleys 425A-425D.

[0025] Controlling the movement of the end effector 222 (grasper) via four independent cables has several advantages. One advantage may be a reduction in the number of cables extending from the tool base 352 to the robot wrist compared to typical commercially available designs that use six cables (or three cable loops with six cable ends). Fewer cables may reduce the tool size and complexity of the wrist assembly, which may be beneficial for minimally invasive surgical or non-surgical applications. Furthermore, having four independent cables instead of two or three cable loops not only allows for independent control of the tension of each cable without the need to pre-tension the cables, but also allows for variable compliance of the wrist joint and improved sensitivity to external loads. Furthermore, the tension of each cable may be independently readjusted, further improving tool performance.

[0026] As shown in FIGS. 4A and 4B, actuation of end effector 222 (grasper) can impart motion to one or more of pulleys 415A, 415B, 425A, 425B, 425C, and 425D, which in turn imparts motion to first yoke 402 and / or one or both of jaws 401A and 401B, thereby moving jaws 401A and 401B in a variety of ways, including gripping (e.g., jaws rotate independently about axis 410), yaw (e.g., jaws rotate together about axis 410), and pitch (e.g., jaws rotate about axis 420). Cables 405A-405D can be grouped into two antagonistic pairs, i.e., when one cable of the antagonistic pair is actuated or tensioned and the other cable is released, the jaws rotate in one direction, while tensioning only the other cable causes the jaws to rotate in the opposite direction.

[0027] For example, cables 405A and 405B are a first antagonistic pair for moving jaw 401A, and cables 405C and 405D are a second antagonistic pair for controlling jaw 401B. When cable 405A is tensioned (e.g., by at least one of rotary drives 322A-322F) and cable 405B is released, jaw 401A closes (moves toward opposite jaw 401B). When cable 405B is tensioned and cable 405A is released, jaw 401A opens (moves away from opposite jaw 401B). Similarly, when tension is applied, cable 405C closes jaw 401B (moves toward opposite jaw 401A) and cable 405D opens jaw 401B (moves away from opposite jaw 401A) while the other cable is released. As another example, the gripping force between jaws 401A and 401B can be achieved by maintaining tension on both cables 405A and 405C (while slackening cables 405B and 405D) after the jaws are closed (contacted with each other).

[0028] When both cables of an antagonistic pair are simultaneously tensioned and both cables of the other pair are slack, pulley 415A or pulley 415B do not rotate. Instead, first yoke 402, along with jaws 401A and 401B, are forced to pitch about axis 420 by pulleys 415A and 415B. For example, when pair of cables 405A and 405B are both simultaneously tensioned and pair of cables 405C and 405D are slack, the jaws (along with yoke 402) pitch out of the page. On the other hand, when both cables 405C and 405D are simultaneously tensioned and pair of cables 405A and 405B remain slack, the jaws pitch into the page.

[0029] 4B is a schematic diagram illustrating exemplary angle definitions for various movements of the end effector 221 (grapple). The angles are defined relative to axes 410 and 420, as well as axes 452 and 453 of the first yoke 402 and the second yoke 403. For example, as shown in FIG. 4B, the angle (θ1) between axes 452 and 453 can represent the angle of rotation of the yoke 402 about axis 420, which can also represent the pitch angle (θ1) of the end effector 222 (grapple). pitch ) (whereas in FIG. 4A , the jaws remain in the reference position, i.e., there is no pitch movement, so axis 452 of yoke 402 is superimposed on axis 453 of yoke 403). In addition, angles (θ2) and (θ3) can represent the angles between each of jaws 401A and 401B and axis 452 of yoke 402 (as the origin), respectively. To distinguish the direction from axis 452, angles (θ2) and (θ3) can have different signs. For example, as shown in FIG. 4B , angle (θ2) is negative and angle (θ3) is positive.

[0030] To perform control tasks, it is often useful to define a consistent coordinate frame for joint angles. For example, the jaw angle (θ jaw ) can be defined as the angle between the two jaws 401A and 401B, and the yaw angle (θ yaw ) can be defined as the angle between axis 452 and the bisector of the jaw angle. These angles can be defined according to Equations 1-3. θ pitch =θ1 equation 1 θ yaw =1 / 2(θ2+θ3) Equation 2 θ jaw =θ2-θ3 Equation 3

[0031] The conversion between the angles in FIG. 4B and the defined angles is as described in Equation 4.

[0032]

number

[0033] The pulleys of the pulley and cable systems of Figures 4A and 4B can be described by establishing the following nomenclature for the pulley geometries. a) r11 is the radius of the outer pulleys 425A and 425C on which the cables 405A and 405C reside, respectively. b) r12 is the radius of the inner pulleys 425B and 425D where the cables 405B and 405D reside, respectively (r11 may or may not be equal to r12). c) r21 is the radius of pulley 415A on the side where cable 405A resides (referenced to the center of pulley 415A and axle 412 as shown in FIG. 4A). d) r22 is the radius of pulley 415A on the side where cable 405B resides (referenced to the center of pulley 415A and axle 412 as shown in FIG. 4A). e) r31 is the radius of pulley 415B on the side where cable 405C resides. f) r32 is the radius of pulley 415B on the side where cable 405D resides.

[0034] In the exemplary symmetric design above, r31=r21, r32=r22, and r21 (as shown in FIG. 4A), but in some other designs, r31=r21=r32=r22, and r11=r12 are possible.

[0035] The basic equation relating the cable tension (ξ[4×1]) or force in the cable (F[4×1]) to the joint torque (τ[3×1]) is given by Equation 5. τ[3×1]=B[3×4]·ξ[4×1] Equation 5a where the matrix (B) has the form given by Equation 5b.

[0036]

number

[0037] The joint torque is the pitch joint τ pitch , yaw joint τ yaw, which in the example of FIGS. 4A and 4B may include τ yaw =τ jaw1 +τ jaw2 and the cable tension may be the force in the cable (F[4×1]) as shown in Equation 6.

[0038]

number

[0039] The kinematic relationship between ideal cable displacement (assuming no cable elasticity) and jaw angle is given in Equation 7: q [4×1] =B T [4×3] θ [3×1] formula 7 where q=[q1q2q3q4] T is the cable displacement in the ideal case where the cable is rigid. Therefore, the expanded form of the relationship is written as Equation 8. q1=-r 11 θ1-r 21 θ2 q2=-r 12 θ1+r 22 θ2 q3=+r 11 θ1+r 31 θ3 q4=+r 12 θ1-r 31 θ3 where θ1 is the pitch joint angle, and θ2 and θ3 are the joint angles of Jaw A and Jaw B, respectively (see Figure 3). In practice, the cable may be somewhat elastic, and the force and elongation of the cable follow Hooke's Law, as shown in Equation 9. ξ 1= k(x1-q1) ξ 2= k(x2-q2) ξ 3= k(x3-q3) ξ 4= k(x4-q4) where k is the cable elasticity (assuming all four cables are similar) and x is the actuator displacement, which can then be related to the joint angles of the end effector 222 in two different coordinate frames.

[0040] If the cable cannot be assumed to be elastic, the above equation can be replaced by a nonlinear equation that describes the relationship between cable elongation and force.

[0041] Angular position and gripping force of a distal end effector of a robotic surgical instrument. The end effector may include a robotic wrist and a pair of opposing members (e.g., jaws or claws), each movable between open and closed positions actuated by two antagonistic cables. Each of the four total cables may be driven by an independent actuator or motor. The control system may include a feedback loop with position and velocity feedback from the actuators and force feedback measured on the four cables to provide the desired position and gripping force. In some implementations, the actuator controller may operate in a position-plus-feedforward current mode. For example, the position controller may drive the distal end effector to a desired angular position in space based on the position feedback, while the gripping force controller provides additional feedforward current based on the gripping force measured by load cells on the four cables to achieve the desired gripping force between the opposing members.

[0042] 5 is a diagram of a subsystem or portion of surgical robot system 100 for detecting engagement of a surgical tool 240 with a tool driver 230 (tool driver) of surgical robot arm 122. Surgical robot arm 122 may be one of the surgical robot arms of surgical robot system 100 shown and discussed with respect to FIG. 1. Control unit 210 may be, for example, part of the control tower of FIG. 1. As discussed in more detail herein, engagement may be detected by control unit 210 based on one or more rotational motor operating parameters of one or more actuators (e.g., actuators 238-j) in tool driver 230.

[0043] There is a tool driver 230 to which different surgical tools (e.g., surgical tool 240 and other removable surgical tools for rotating an endoscopic camera, pivoting a grasping jaw, or translating a needle) can be selectively attached (one at a time). This may be done, for example, by a human user manually holding the housing of surgical tool 240 and moving the surgical tool 240 in the direction of arrow 280 until the outer surface of surgical tool 240, on which one or more tool discs (e.g., tool disc 244-i) reside, contacts the outer surface of tool driver 230, on which one or more drive discs (e.g., drive disc 234-j) reside. The one or more tool discs and / or the one or more drive discs may be implemented by a puck, which may be formed from plastic or another durable material. In the illustrated example, tool driver 230 is a segment of surgical robot arm 122 at the distal end portion of the surgical robot arm 122. The proximal end portion of the arm is fixed to a surgical robot platform, such as the operating table shown in FIG. 1 above.

[0044] The control unit 210 is configured to control the movement of various motorized joints in the surgical robotic arm 122 (including the drive disc 234), through which movement of the end effector 222 (its position and orientation and its surgical function, such as opening, closing, cutting, applying pressure, etc.) that mimics the movement of a user input device is achieved. This is achieved through mechanical transmission in the surgical tool 240 when the surgical tool 240 is engaged to transmit force or torque (e.g., torque is a torsional force) from the tool driver 230. The control unit 210 may be implemented as a programmed processor, for example, as part of the control tower 130 of FIG. 1 . The control unit 210 can respond to one or more user commands received via local or remote user input (e.g., a joystick, touch control device, wearable device, or other user input device communicating via a console computer system). Alternatively, the control unit 210 may respond to one or more autonomous commands or controls (e.g., received from a trained surgical machine learning model being executed by the control unit 210 or by a console computer system), or a combination thereof. The commands direct the movement of the robotic arm 122 and the operation of its attached end effector 222.

[0045] The end effector 222 may be any surgical instrument, such as a jaw (e.g., as shown in FIGS. 4A and 4B), a cutting tool, an endoscope, a spreader, an implant tool, etc. Different surgical tools, each having a different end effector, may be selectively attached (one at a time) to the robotic arm 122 for use during a surgical or other medical procedure. The end effector 222 may be a jaw located at the distal end of the surgical tool 240, which may be retracted into or extend from a cannula (e.g., a thin tube that may be inserted into a patient undergoing surgery), as shown.

[0046] The robotic arm 122 includes a tool driver 230 having one or more actuators, such as actuator 238-j, residing therein. Each actuator may be a linear or rotary actuator having one or more respective electric motors (e.g., brushless permanent magnet motors), the drive shaft of which may be coupled to a respective drive disk 234-j via a transmission (e.g., a gear train achieving a given gear reduction ratio). The tool driver 230 includes one or more drive disks 234, which may be disposed on a flat or planar surface of the tool driver 230; this illustration shows several such drive disks disposed on the same plane of the flat surface. Each drive disk (e.g., drive disk 234-j) is exposed on the outer surface of the tool driver 230 and is designed to mechanically engage a mating tool disk 244-j of a surgical tool 240 (e.g., for secure fastening via snaps, friction, or other mating features), enabling direct torque transmission between the two. Torque transfer can occur, for example, when a flat or planar surface of the surgical tool 240 and a corresponding or mating flat or planar surface of the tool driver 230 are brought into contact with each other.

[0047] Additionally, motor driver circuitry (e.g., located within tool driver 230 or elsewhere within surgical robotic arm 122) is electrically coupled to input drive terminals of one or more constituent motors of actuator 238. The motor driver circuitry manipulates the power drawn by the motor to, for example, adjust the speed of the motor or its torque according to motor driver circuit inputs, which may be set or controlled by control unit 210, thereby resulting in motorized rotation of an associated drive disk (e.g., drive disk 234-j).

[0048] When the mating drive disk 234-j is mechanically engaged with the respective tool disk 244-j, motorized rotation of the drive disk 234-j rotates the tool disk 244-j, e.g., the two disks may rotate in unison, thereby imparting motion to, e.g., a linkage, gear, cable, chain, or other transmission device within the surgical tool 240 for controlling the movement and operation of the end effector 222, which may be mechanically coupled to the transmission device.

[0049] Different surgical tools may have different numbers of tool discs based on the type of movement, such as rotating, articulating, opening, closing, extending, retracting, applying pressure, etc., and the degrees of freedom with which these movements are performed by the end effector.

[0050] Additionally, within the surgical tool 240, two or more tool discs 244 may contribute to a single motion of the end effector 222 to achieve goals such as load sharing with two or more motors each driving a mating drive disc 234. Alternatively, within the tool driver 230, there may be two or more motors whose drive shafts are coupled (via a transmission) to rotate the same output shaft (or drive disc 234) for load sharing purposes.

[0051] In yet another embodiment, within the surgical tool 240, there may be a transmission that converts torque from two drive disks 234 (via their respective tool disks 244) to perform complementary movements in the same degree of freedom; for example, a first drive disk 234-j rotates a drum within the housing of the surgical instrument 240 to capture one end of a rod, and a second drive disk 234-i rotates another drum within the housing of the surgical instrument 240 to capture the other end of the rod. As another example, extension and retraction of an end effector along a single axis may be achieved using two tool disks 234-i, 234-j, with one cable performing the extension and another cable performing the retraction. This is in contrast to an effector that also moves in one degree of freedom (e.g., longitudinal extension and retraction along a single axis of motion) but requires only a single tool disk to control its full range of motion. As another example, an effector that moves with multiple degrees of freedom (e.g., wristed motion, motion along multiple axes, actuation of an energy emitter in addition to end effector motion, etc.) may require the use of several tool discs (each engaged with a respective drive disc). In another type of surgical tool 240, a single tool disc 244 is sufficient to perform both extension and retraction motions via direct input (e.g., gears). As another example, if the end effector 222 is a jaw, two or more tool discs 244 may cooperatively control jaw motion for load distribution, as discussed in more detail herein.

[0052] In yet another embodiment, within the surgical tool 240, there may be a transmission that converts torque from two drive disks 234 (via their respective tool disks 244) to perform complementary motions in the same degree of freedom; for example, a first drive disk 234-i rotates a drum within the housing of the surgical tool 240 to capture one end of a cable, and a second drive disk 234-j rotates another drum within the housing of the surgical tool 240 to capture the other end of the cable. As another example, extension and retraction of an end effector along a single axis may be achieved using two tool disks 234-i, 234-j, e.g., via different cables, one cable performing the extension and another cable performing the retraction. This is in contrast to an effector that also moves in one degree of freedom (e.g., longitudinal extension and retraction along a single axis of motion) but requires only a single tool disk to control its full range of motion. As another example, an effector that moves with multiple degrees of freedom (e.g., wristed motion, motion along multiple axes, actuation of an energy emitter in addition to end effector motion, etc.) may require the use of several tool discs (each engaged with a respective drive disc). In another type of surgical tool 240, a single tool disc 244 is sufficient to perform both extension and retraction motions via direct input (e.g., gears). As another example, if the end effector 246 is a jaw, two or more tool discs 244 may cooperatively control the jaw motion for load distribution, as discussed in more detail herein.

[0053] FIG. 6 shows an example of a surgical tool 240 including rotation device assignments or mappings for tool discs TD1-TD5 (TD6 is not used in this example). In this example, tool disc TD5 is mapped to the roll axis 258 of the end effector, which is shown as jaw 251 and may include a first opposing jaw 401A and a second opposing jaw 401B. Tool disc TD5 may be coupled to one or more gears that drive the jaw in rotation about the roll axis. Each opposing jaw is assigned two tool discs. For example, first opposing jaw 401A may be assigned tool disc TD1 for opening the jaw (i.e., increasing the angle between the first opposing jaw 401A and the second opposing jaw 401B) and tool disc TD3 for closing the jaw (i.e., decreasing the angle between the first opposing jaw 401A and the second opposing jaw 401B). Tool disc TD1 may be coupled to a cable that rotates pulley 415A in a first direction, and tool disc TD3 may be coupled to a cable that rotates pulley 415A in a second direction.

[0054] Similarly, the second opposing jaw 401B may be assigned a tool disc TD2 for opening the jaws (i.e., increasing the angle between the first opposing jaw 401A and the second opposing jaw 401B) and a tool disc TD4 for closing the jaws (i.e., decreasing the angle between the first opposing jaw 401A and the second opposing jaw 401B). Tool disc TD2 may be coupled to a cable that rotates pulley 415B in a first direction, and tool disc TD4 may be coupled to a cable that rotates pulley 415B in a second direction.

[0055] In some embodiments, when the surgical tool 240 is first attached to or placed on the tool driver 230 (although the tool and drive disks may not yet be successfully engaged) so that the tool disks are brought substantially flush and coaxially aligned with the corresponding drive disks, the control unit 210 first detects the type of surgical tool 240. In one embodiment, the surgical tool 240 has an information storage unit 242, such as a solid-state memory, a radio frequency identification (RFID) tag, a barcode (including a two-dimensional or matrix barcode), or the like, that identifies its tool or end effector information, such as an identification of the tool or end effector type, a unique tool or end effector ID, the number of tool disks used, the location of those tool disks being used (e.g., from a total of six possible tool disks 244-e, 244-f, 244-g, 244-h, 244-i, 244-j), the type of transmission for the tool disk (e.g., direct drive, cable drive, etc.), the motion or actuation the tool disk imparts to the end effector, one or more tool calibration values (e.g., the rotational position of the tool disk as determined during parameter testing / assembly of the tool), whether the end effector motion is constrained by a maximum or minimum movement, and one or more other tool attributes. In one embodiment, the information storage unit 242 identifies minimum information, such as a tool ID, that the control unit 210 can use to perform lookups of various tool attributes.

[0056] The tool driver 230 may include a communication interface 232 (e.g., a memory writer, a near field communication (NFC), a transceiver, an RFID scanner, a barcode reader, etc.) for reading information from the information storage unit 242 and sending the information to the control unit 210. Additionally, in some embodiments, there may be more than one information storage unit in the surgical tool 240, such as one information storage unit associated with each tool disk 244. In this embodiment, the tool driver 230 may also include a corresponding sensor for each possible information storage unit that may be present in a given tool.

[0057] After the surgical tool 240 is attached to the tool driver 230 so that the tool disks are aligned and superimposed (though not necessarily mechanically engaged) on the corresponding drive disks, and after the tool disk information is obtained, e.g., read by the control unit 210, the control unit 210 performs an engagement process to detect when all of the tool disks expected to be attached to each drive disk are mechanically engaged with their corresponding drive disks (e.g., their mechanical engagement has been achieved, or the tool driver 230 is now considered to be engaged with the tool). That is, attaching the surgical tool 240 to the tool driver 230 does not necessarily ensure the proper mating required for mechanical engagement of the tool disk with the corresponding drive disk (e.g., due to misalignment of mating features). The engagement process may include actuating one or more motors of actuators (e.g., actuators 238-j) that drive the corresponding drive disks 234-j. Then, based on one or more monitored motor operating parameters of actuator 238-j, mechanical engagement between tool disk 244-i and drive disk 234-j can be detected while actuator 238-j drives drive disk 234-j. This process can be repeated for all drive disks 234 (of tool driver 230) that are expected to be currently attached to their respective tool disks 244 (e.g., as determined based on tool disk information obtained for the particular currently attached surgical tool 240).

[0058] Upon detecting that a particular type of surgical tool 240 is attached to the tool driver 230, the control unit 210 activates one or more actuators (e.g., motors) of the tool driver 230 that are previously associated with that type of surgical tool 240. In some embodiments, each actuator associated with a corresponding drive disk 234 of the surgical tool 240 can be activated simultaneously, sequentially, or a combination of simultaneous and sequential activation.

[0059] 7 illustrates a cable drive system for a surgical tool 240. As described in other embodiments herein, four cables 405A-D are driven by a tool driver 230 to provide a desired position or movement for a tool including a wrist 223 and an end effector 222. The cables 405A-D connect to the wrist 223 at a cable interface 224. The wrist 223 connects to or includes the end effector 222. The cables 405A-D are housed and protected by a shaft 239. The cables connect to the distal end of the robotic arm 200 at a tool attachment interface 205. As described in more detail below, a control unit 210 provides data to one or more components of the surgical tool 240 and receives feedback data from the surgical tool 240.

[0060] FIG. 8 is a more detailed diagram of the cable drive system. A motor 231 operates the cable 405. The motor 231 may be directly connected to a shaft that winds the cable 405 in a specific order to move the wrist 223. In the example shown in FIG. 8, the motor 231 drives a gear train 235 to rotate a capstan 237 around which the cable is wound. Various sensors may be included in the cable drive system. A position encoder 233 may be a rotary position encoder that monitors the motor shaft position and encodes the current motor shaft position into a value representing, for example, an angular position. Sensors 236 may include tension sensors coupled to each cable or torque sensors that measure the torque of each motor coupled to the cable. The measured torque (rotational force) can be converted to tension (linear force). Each cable may have an initial tension (pretension) at the tool's starting "relaxed" position. In some embodiments, the pretension is 10 N. In some embodiments, if the tool does not require cable pretension, the pretension value may be set to 0 or another low value.

[0061] 9 shows an example of a surgical tool 240 utilizing five tool discs, such as tool discs 244-e, 244-f, 244-g, 244-i, and 244-j, positioned flush on the mating surfaces of the housing. Each tool disc contributes to at least a portion of the movement and / or actuation of the end effector 222. Upon detecting attachment of the surgical tool 240 and the tool driver 230 (e.g., mating of the mating surfaces of the respective housings), the control unit 210 (or the processor 312 while executing instructions stored in memory 314) performs a process to determine that only the five corresponding drive discs, such as drive discs 234e, 234f, 234g, 234i, and 234j, should be rotated (the corresponding actuators 238 are actuated) to perform the engagement process.

[0062] In some embodiments, motor operating parameters monitored by the control unit 210 (via sensors 236) are interpreted to signify successful mechanical engagement between the tool disc and the drive disc. The control unit 210 communicates with and receives sensor data from the sensors 236 in an exemplary sensor array that includes any combination of presence sensors 341, torque sensors 342, position sensors 343, electrical sensors 345, optical sensors 347, and force sensors 348. The sensor array may include separate sensors for different degrees of freedom of the surgical tool (e.g., closure joint, roll joint, or other motion of the surgical tool). That is, the sensor array or one or more of its sensors may be repeated for multiple tool discs 244 in the tool driver 230.

[0063] The measurements may include measurements of the torque (e.g., torsional force) applied by actuator 238-j, as measured by torque sensor 342 or force sensor 348; measurements of the current by electrical sensor 345 supplied to motor 231 of actuator 238-j when attempting to drive the actuator to move at a particular speed (e.g., if sensor 236-j may include a current sensing resistor in series with the motor input drive terminals); measurements of the electrical impedance by electrical sensor 345 as seen at the input drive terminals of motor 231 of actuator 238 when attempting to drive the motor to move at a particular speed (e.g., if sensor 236-j may also include a voltage sensing circuit for measuring the voltage at the motor input drive terminals); the speed of actuator 238-j (e.g., if optical sensor 347 may include a position encoder on the output shaft of actuator 238-j or on the drive shaft of motor 231), as well as other parameters referred to herein as motor operating parameters. The measurements may include presence data from presence sensor 341, implied from any sensor in sensor array 236, or determined from interactions between information storage unit 242 and communication interface 232. Position sensor 343, although shown separately, may be implemented using a combination of presence sensor 341, torque sensor 342, electrical sensor 345, optical sensor 347, and force sensor 348. In one example, additional sensors of the same type may be used for position sensor 343.

[0064] While monitoring one or more motor operating parameters of a particular actuator, when one or more of these parameters meet (e.g., clear or reach) a predetermined condition or threshold, the detection of such a situation can be interpreted as a mechanical engagement event by the control unit 210. It should be noted that meeting a predetermined condition may mean, for example, that the monitored operating parameter exhibits a certain change according to a threshold relative to an operating parameter of another motor that is part of the same actuator 238-j or that is part of another actuator 238-i that is simultaneously being controlled by the control unit 210 during the engagement detection process.

[0065] In some embodiments, detection of certain motor operating parameters during operation of the actuator 238-j, such as one or more of: i) torque meeting (e.g., rising or reaching) a torque threshold, ii) motor current meeting (e.g., rising or reaching) a current threshold, iii) impedance below an impedance threshold, iv) motor speed below a motor speed threshold, or combinations thereof, is used by the control unit 210 to determine that mechanical engagement of the tool disc 244-j with the drive disc 234-j has occurred. The following are some examples of such processes:

[0066] A control unit 210 including a programmed processor 312 may be incorporated into the surgical robotic system 100 (FIG. 1), for example, as a shared microprocessor and program memory in the control tower 130. Alternatively, the control unit 210 may be implemented on a remote computer, such as in a different room from the operating room or in a different building from the operating room shown in FIG. 1. Furthermore, the control unit 210 may also include user interface hardware (e.g., keyboard, touchscreen, microphone, speaker), not shown, that may enable manual control of the robotic arm and its attached surgical tool 240, a power device (e.g., battery), and other components typically associated with electronic devices for controlling a surgical robotic system.

[0067] The memory 314 is coupled to one or more processors 312 (collectively referred to herein as processors for simplicity) and stores instructions for execution by the processors 312. In some embodiments, the memory is non-transitory and may store one or more program modules, including a tension evaluation control 316 and a speed evaluation control 315, the instructions of which configure the processor 312 to perform the calibration and calibration evaluation processes described herein. In other words, the processor 312 may operate under control of the execution of programs, routines, or instructions stored in the memory 314 as part of the tension evaluation control 316 and the speed evaluation control 315 to perform methods or processes in accordance with aspects and features described herein.

[0068] The memory 314 may include one or more settings, coefficient values, threshold values, tolerance values, and calibration values for the surgical tool 240 and / or tool driver 230. The memory 314 may also include specific values for tension thresholds and / or velocity thresholds, as described below. These values may be stored in the memory 314 as a configuration file, table, or matrix. Some values in the configuration file may be provided by the user, some may be accessed or retrieved based on an identifier for the surgical tool 240 or tool driver 230, and other values may be set by the control unit 210.

[0069] 10 shows a block diagram of a procedure or technique that may be performed by any of the systems described herein, for example, by a controller, such as control unit 210. Each operation or block may refer to a separate process that may have many steps. The illustrated sequence is only an example, and steps may be performed in any order. Additional, different, or fewer blocks may be included.

[0070] As described above, each or more of the actuators 238 or motors 231 may be associated with a sensor, such as torque sensor 342. Each torque sensor 342 measures the torque of the actuator 238. The tension in the cable coupled to the actuator 238 is determined based on the measured torque. The torque of the actuator 238 measured by torque sensor 342 may be multiplied by the radius of the actuator 238 to equal the tension in the respective coupled cable. The control unit 210 may calculate a set of cable tensions 501A-D that include tension values from the torque on the corresponding actuator and / or drive train between the actuator and the cable.

[0071] The control unit 210 can calculate the tension in at least one of the cables from an inverse kinematics model of the surgical tool 240. For example, user input from the input device 317 can request a specific position or direction of movement in joint space. The control unit 210 transforms the commanded position from the inverse kinematics model, including the B matrix described above, to transform the commanded position into actuator space or directly into cable space. The inverse kinematics model includes a relationship between the torque sensed at each of the multiple motors and the tension in at least one of the multiple cables according to the inverse kinematics matrix.

[0072] Alternatively, the control unit 210 may receive the tension of at least one cable from a tension sensor coupled to the respective cable. In all of these examples, the control unit 210 identifies the tension of at least one cable of the plurality of cables derived from at least one of the forces detected by the sensor.

[0073] The control unit 210 executes a tension threshold comparison 503 (e.g., included in the tension evaluation control 316) to compare the tension in at least one of the cables to a tension threshold. The output of the threshold comparison 503 may be a binary value corresponding to a first value (e.g., a high value or 1) when the tension is less than the tension threshold and a second value (e.g., a low value or 0) when the tension is greater than the tension threshold.

[0074] The control unit 210 can also determine the set of cable velocities 502A-D based on sensor data for the corresponding actuators 238. In one example, the position encoder 233 provides sensor data regarding the position of the actuators 238. Changes in the rotational position of the actuators 238 are converted to linear velocities of the cables. Alternatively, the set velocities for the cables 502A-D are based on sensor data regarding motor torque. For example, motor torque ??

[0075] Another example of calculating the set of cable velocities 502A-D considers the capstan 237 and / or gear train. The set of cable velocities 502A-D may be determined based on the actuator position and the radius of the capstan 237. The capstan radius is the distance each cable is fixedly wrapped around as the capstan 237 rotates. The capstan rotation may be accomplished through one or more gears that convert the rotary motion of the motor 231 to rotary motion of the capstan 237. As the capstan rotates, the cable position and cable tension change depending on the amount and direction of rotation.

[0076] In some embodiments, the measured cable position (C) is determined by the product of the actuator position (x) and the radius (r), as shown by Equation 10. The radius (r) can be the radius of the actuator or the radius of the capstan, which can be adjusted by the gear ratio of the gear train. C=x * r Equation 10

[0077] The change in cable position (C) is the velocity (V) of the cable as shown in Equation 11. The derivative of the cable position with respect to time is the cable velocity. Similarly, the derivative of the actuator position with respect to time multiplied by the radius is the cable velocity. V=dC / dt=dx / dt * r Equation 10

[0078] The control unit 210 generates a velocity vector 504 from the set of cable velocities 502A-D (e.g., using the velocity estimation control 315). The control unit 210 can identify velocity values for each of the multiple cables calculated from any of the techniques described above. The velocity vector 504 includes a component for each cable in the cable drive system. The velocity vector 504 may be positioned such that opposing pairs of cables are at predetermined positions within the velocity vector 504. For example, the velocity values of opposing pairs of cables may be adjacent in the velocity vector 504.

[0079] The control unit 210 can calculate a measured velocity norm value 506 from the velocity vector 504. As shown in Equation 11, the components of the velocity vector 504 are squared and summed, and the square root of the result is the velocity norm value 506. The magnitude of the velocity vector 504 is the measured velocity norm value 506. Therefore, the measured velocity norm value (V measured ) are the measured velocities of all cables in the cable-driven system (MV1,MV2,...MV n ) is a single value representing the

[0080]

number

[0081] The measured velocity norm value 506 can be compared to the commanded velocity. The commanded velocity is the expected velocity of the cable based on the command sent to the actuator 238. If the commanded velocity differs from the measured velocity, unexpected behavior has occurred. The engagement between the actuator and the sterile adapter may be disengaged or otherwise compromised. When this occurs, energy stored as tension in one or more cables may cause the wrist to move in an unexpected manner.

[0082] The control unit 210 can calculate a commanded velocity norm value from the commanded velocity values of the cable based on user input. As shown in Equation 12, the commanded velocity values are squared and summed, and the square root of the result is the commanded velocity norm value (V command ) The commanded velocity norm value is the sum of the commanded velocities of all cables in the cable-driven system (CV1, CV2, ... CV n ) is a single value representing the

[0083]

number

[0084] The control unit 210 performs a speed threshold comparison 510 (e.g., using the speed evaluation control 315) to compare the speed norm value to a statistical speed threshold. The statistical speed threshold may be set equal to the commanded speed norm value so that the comparison is a direct comparison. The output of the threshold comparison 503 may be a binary value corresponding to a first value (e.g., a high value or 1) if the speed is greater than the statistical speed threshold and a second value (e.g., a low value or 0) if the tension is less than the statistical speed threshold.

[0085] The statistical speed threshold may be a statistically significant difference between the measured speed norm value and the commanded speed norm value. For example, the measured speed norm value and / or the commanded speed norm value may be monitored over time by the control unit 210 to determine how much of a change in the measured speed norm value and / or the commanded speed norm value indicates that one or more of the cables has experienced a release of energy due to a break or fracture, rather than simply an insignificant fluctuation in the data.

[0086] The statistical speed threshold may be calculated, in part, from a Bayesian filter. For example, the Bayesian filter can analyze time series data from measured speed norm values, commanded speed norm values, or the difference between measured and commanded speed norm values. The Bayesian filter can determine a joint probability distribution for any of these variables over time to identify statistically significant changes in the variables and filter out fluctuations that are simply noise.

[0087] The statistical speed threshold can be determined from a statistical hypothesis test (e.g., a chi-square test) that determines whether there is a statistically significant difference between the measured speed norm value and the expected value from the commanded speed norm value.

[0088] The statistical velocity threshold is calculated in part from an average of the velocity norm value at the first time and the velocity norm value at the second time. For example, the statistical velocity threshold is calculated in part from the standard deviation of time series data including the velocity norm value at the first time and the velocity norm value at the second time.

[0089] AND gate 505, which may be included merely for graphical display, represents a logical operation on the outputs of tension threshold comparison 503 and speed comparison threshold 510. There may be no component corresponding to gate 505, and it may simply be a graphical display. If the output of speed threshold comparison 510 indicates that the speed is greater than the statistical speed threshold and tension threshold comparison 503 indicates that the measured tension is less than the tension threshold, the output of AND gate 505 may be high, causing control unit 210 to generate one or more messages. Control unit 210 is configured to identify disengagement of at least one cable or associated motor of the plurality of cables or associated motors based on the first comparison and the second comparison.

[0090] The message may indicate disengagement of the cable or disengagement of the motor from the sterile adapter resulting in disengagement of the cable. The control unit 210 may generate the message in response to disengagement of at least one of the cables. The message may specify the cable. For example, the cable may be identified by the lowest tension value of the set of cable tensions 501A-D based on the torque on the corresponding actuator 238 or from an inverse kinematics model of the surgical tool 240.

[0091] The message may be an alert 507 to the user. For example, the message may indicate that an error has occurred. The message may provide instructions to the user for addressing the error, such as reconnecting a disengaged cable or a disengaged motor. The message may instruct the user to remove the tool. The message may instruct the user to replace the tool with a new tool.

[0092] The message may be an internal message instructing the control unit 210 to disable the surgical tool 240, thereby disabling the surgical tool 240 if disengagement is detected. The control unit 210 may generate an error command in response to the message to disable the surgical tool 240 if disengagement is detected. Re-enabling the tool may require entering a code into the surgical tool 240 or providing a coefficient reset command to the surgical tool 240.

[0093] The message may be an external message communicated to an external device. For example, the message may be sent to a manufacturer or other entity that dispatches service for the surgical tool. The external device or control unit 210 may track the occurrence of messages or alerts in the surgical tool 240, and when a set number of messages occur, a fatal error may be assigned to the surgical tool 240 or the surgical tool 240 may be permanently disabled. The message may be recorded by the external device along with other surgical tools to identify trends in the deployment of particular models of surgical tools.

[0094] Figure 11 illustrates a process for detecting cable faults. The process may be performed by a programmed processor (also referred to herein as a processor or controller) configured according to instructions stored in a memory (e.g., processor 312 and memory 314 of Figure 8, where processor 312 is configured according to instructions of tension evaluation control 316 and speed evaluation control 315). Additional, different, or fewer operations may be performed compared to Figure 11.

[0095] In operation S101, the processor 312 identifies tension in the cables of the surgical tool. The processor 312 may calculate the tension value or may receive the value directly or indirectly from a sensor. The tension value may be received or calculated repeatedly, such as at a predetermined time interval. The tension value may be identified at a sample rate, such as every 1 second, every 100 milliseconds, or every 10 milliseconds. Tension values may be received for any number of cables or all cables in the surgical tool.

[0096] In one example, tension is measured or received only at certain times. For example, the processor 312 can determine that a cable is tensioned based on the movement of the end effector. In some examples, a cable or a subset of cables may not be tensioned when a degree of freedom (e.g., roll, pitch, yaw, or jaw) changes direction. A degree of freedom changes direction when the corresponding angle of the degree of freedom transitions from an increasing value to a decreasing value or from a decreasing value to an increasing value.

[0097] In operation S103, the processor 312 performs a comparison of the tension of at least one cable to a tension threshold retrieved from memory 314. The tension threshold may be set by a user or manufacturer. Alternatively, the tension threshold may be variable over time. The threshold tension may be based on an average of past tension values, such as twice the average of past tension values over a time window. The tension threshold may be different for each cable. The tension threshold may be different for each cable pair. In one example, for each pair of antagonistic cables, a comparison is made for only one of the antagonistic pair at a time. In another example, a tension threshold is assigned to the pair of antagonistic cables, and the comparison is to the sum of the tension values of the pair of antagonistic cables.

[0098] In operation S105, the processor 312 identifies the velocity of each of the cables of the surgical tool, or at least a plurality of the cables of the surgical tool. The processor 312 may calculate the velocity values or may receive the values directly or indirectly from a sensor. The velocity values may be received or calculated repeatedly, such as at predetermined time intervals. The velocity values may be identified at a sample rate, such as every 1 second, every 100 milliseconds, or every 10 milliseconds.

[0099] In operation S107, the processor 312 calculates a velocity norm or a representative value for all cables of the surgical tool or for multiple cables of the surgical tool. The velocity norm may be the sum of the velocity values. The velocity norm may include the sum of the squares of the velocity values. The velocity mum may be the square root of the sum of the squares of the velocity values. Other examples of velocities that combine the relative velocities of the cables of the surgical tool are possible.

[0100] In operation S109, the processor 312 compares the velocity norm to a velocity threshold. The velocity threshold may be set by a user or a manufacturer. Alternatively, the velocity threshold may be variable over time. The velocity threshold may be set based on historical values, such as twice the average of the velocity norm over a time window.

[0101] In operation S111, the processor 312 detects a malfunction of the surgical tool. The malfunction is based on a comparison of tension and a comparison of speed. If the tension is below a tension threshold and the speed is above a threshold, the processor 312 identifies a cable malfunction. The malfunction may indicate a disengagement between the sterile adapter and the surgical tool. The malfunction may be a disengagement of at least one cable.

[0102] The processor 312 can generate commands for corrective action in response to determining a malfunction of the surgical tool. The corrective action can be disabling the surgical tool. The surgical tool may be disabled for a predetermined time until user intervention (e.g., a reset switch) occurs or until the surgical tool is reconfigured. Reconfiguring the surgical tool may include homing and / or calibration. Reconfiguring the surgical tool may include replacing one or more cables.

[0103] As used herein, the phrase "coupled with" is defined to mean either directly connected or indirectly connected through one or more intermediate components. Such intermediate components may include both hardware-based and software-based components. Furthermore, for clarity of use in the pending claims and to inform the public hereby, "coupled with" is used interchangeably with "connected with." 、 , ...and <n> At least one of the following" or "< / n> 、 、... <n>The phrase "at least one of, or a combination thereof" is defined by applicant in its broadest sense and supersedes any implied definition above or below, unless expressly asserted to the contrary by applicant, to mean one or more elements selected from the group including A, B, ... and N, i.e., any combination of one or more of the elements A, B, ... or N, including any one element alone or in combination with one or more other elements, which may also include additional elements not listed in the combination.

[0104] The disclosed mechanisms may be implemented at any logical and / or physical point, or combination thereof, where relevant information / data (e.g., message traffic and responses thereto) can be monitored, streamed, or otherwise accessible or measurable, including one or more gateway devices, modems, one or more market participant computers or terminals, e.g., client computers, etc.

[0105] Those skilled in the art will appreciate that one or more of the modules described herein may be implemented using, among other things, a tangible computer-readable medium containing computer-executable instructions (e.g., executable software code). Alternatively, the modules may be implemented as software code, firmware code, specially configured hardware or processors, and / or combinations of the foregoing.

[0106] 1-25 may be controlled by computer-executable instructions stored on non-transitory computer-readable media. For example, exemplary computing device or control unit 210 may store computer-executable instructions, generate electronic messages, extract information from electronic messages, perform operations related to electronic messages, and / or calculate values from electronic messages to facilitate any of the algorithms or operations described herein. Numerous additional servers, computers, handheld devices, personal digital assistants, telephones, and other devices may also be connected to control unit 210.

[0107] As shown in FIG. 3 , the computer system may include a processor 312 implemented by a central processing unit (CPU), a graphics processing unit (GPU), or both. The processor 312 may be a component of a variety of systems. For example, the processor 312 may be part of a standard personal computer or workstation. The processor 312 may be one or more general-purpose processors, digital signal processors, specially configured processors, application-specific integrated circuits, field-programmable gate arrays, servers, networks, digital circuits, analog circuits, combinations thereof, or other now-known or later-developed devices for analyzing and processing data. The processor 312 may implement a software program, such as manually generated (i.e., programmed) code.

[0108] The computer system includes memory 314, which can communicate via a bus. Memory 314 may be main memory, static memory, or dynamic memory. Memory 314 can include, but is not limited to, various types of computer-readable storage media, such as random access memory, read-only memory, programmable read-only memory, electrically programmable read-only memory, electrically erasable read-only memory, flash memory, magnetic tape or disk, optical media, and the like. In one embodiment, memory 314 includes cache or random access memory for processor 312. In alternative embodiments, memory 314 is separate from processor 312, such as processor cache memory, system memory, or other memory. Memory 314 may also be an external storage device or database for storing data. Examples include a hard drive, compact disc (“CD”), digital video disc (“DVD”), memory card, memory stick, floppy disk, universal serial bus (“USB”) memory device, or any other device operable to store data. The memory 314 is operable to store instructions executable by the processor 312. The functions, operations, or tasks illustrated in the figures or described herein may be performed by a programmed processor 312 executing instructions stored in the memory 314. The functions, operations, or tasks are independent of a particular type of instruction set, storage medium, processor, or processing strategy and may be performed by software, hardware, integrated circuits, firmware, microcode, etc., operating alone or in combination. Similarly, the processing strategy may include multiprocessing, multitasking, parallel processing, etc.

[0109] The computer system may further include a display unit 319, such as a liquid crystal display (LCD), organic light emitting diode (OLED), flat panel display, solid state display, cathode ray tube (CRT), projector, printer, or other now known or later developed display device for outputting determined information. The display 319 may act as an interface for a user to view the functions of the processor 312, or specifically, as an interface with instructions stored in memory 314 or elsewhere in the control unit 210.

[0110] Additionally, the computer system may include input devices 317 configured to allow a user to interact with any of the system's components. The input devices 317 may be a number pad, keyboard, or cursor control device such as a mouse, or a joystick, touchscreen display, remote control, or any other device operable to interact with the control unit 210.

[0111] The present disclosure contemplates computer-readable media containing instructions or receiving and executing instructions in response to signals such that network-connected devices can communicate voice, video, audio, images, or any other data over the network. Furthermore, instructions can be sent or received over the network via a communication interface 318. The communication interface 318 may be part of the processor 312 or may be a separate component. The communication interface 318 may be a physical connection in hardware. The communication interface 318 is configured to connect to a network, external media, a display unit 319, or any other component in the system, or a combination thereof. The connection to the network may be a physical connection, such as a wired Ethernet connection, or may be established wirelessly. Similarly, additional connections to other components of the system may be physical connections or may be established wirelessly.

[0112] The illustrations of the embodiments described herein are intended to provide a general understanding of the structures of various embodiments. The illustrations are not intended to serve as a complete description of all of the elements and features of apparatus and systems that utilize the structures or methods described herein. Many other embodiments will be apparent to those skilled in the art upon review of this disclosure. Other embodiments may be utilized and derived from this disclosure, such that structural and logical substitutions and changes may be made without departing from the scope of the disclosure. Furthermore, the figures are merely representative and may not be drawn to scale. Certain proportions in the figures may be exaggerated, and other proportions may be minimized. Accordingly, the disclosure and the figures are to be considered illustrative and not limiting.

[0113] While this specification contains many details, these should not be construed as limitations on the scope of the invention or the scope of what may be claimed, but rather as descriptions of features specific to particular embodiments of the invention. Certain features described herein in the context of separate embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented in multiple embodiments separately or in any suitable subcombination. Furthermore, while features may be described as functioning in a particular combination and even initially claimed as such, one or more features from the claimed combination may, in some cases, be deleted from the combination, and the claimed combination may be intended as a subcombination or a variation of the subcombination.

[0114] Similarly, although operations are shown in the figures and described herein in a particular order, this should not be understood as requiring such operations to be performed in the particular order or sequentially shown, or that all of the operations shown be performed, to achieve desired results. In certain environments, multitasking and parallel processing may be advantageous. Furthermore, the separation of various system components in the described embodiments should not be understood as requiring such separation in all embodiments, and it should be understood that the described program components and systems may generally be integrated together in a single software product or packaged in multiple software products.

[0115] [Embodiment] (1) A device for detecting disengagement of a surgical tool, comprising: an end effector connected to and driven by a plurality of cables of the tool driver; a plurality of sensors configured to detect forces associated with the plurality of cables; one or more processors, identifying a tension in at least one cable of the plurality of cables derived from at least one of the forces detected by the plurality of sensors; performing a first comparison of the tension of the at least one cable of the plurality of cables to a tension threshold; identifying a velocity value for each of the plurality of cables; calculating a velocity norm value based on a vector including the velocity values of each of the plurality of cables; performing a second comparison of the velocity norm value with a statistical velocity threshold; one or more processors configured to identify disengagement of at least one cable or associated component of the plurality of cables or associated components based on the first comparison and the second comparison; An apparatus comprising: (2) The apparatus of embodiment 1, wherein the velocity norm value is the magnitude of the vector containing the velocity values of each of the plurality of cables. (3) One or more processors: Calculating the statistical speed threshold in part from the commanded speed The device of embodiment 2, configured as follows: (4) The device of embodiment 3, wherein the statistical velocity threshold is calculated in part from a Bayesian filter. (5) The apparatus of embodiment 3, wherein the statistical velocity threshold is calculated in part from an average of the velocity norm value at a first time and the velocity norm value at a second time.

[0116] (6) The apparatus of embodiment 5, wherein the statistical velocity threshold is calculated in part from the standard deviation of time series data including the velocity norm value at the first time and the velocity norm value at the second time. (7) One or more processors: Calculate the chi-squared value for the time series data The device of embodiment 6, configured as follows: (8) The apparatus of embodiment 1, further comprising a plurality of motors respectively coupled to the plurality of cables, and the plurality of sensors detecting torque in each of the plurality of motors. (9) One or more processors: Calculating the tension in at least one cable of the plurality of cables from an inverse kinematic model of the surgical tool. The device of embodiment 8, configured as follows: (10) The apparatus of embodiment 9, wherein the inverse kinematics model includes a relationship between the torque detected at each of the plurality of motors and the tension in the at least one cable of the plurality of cables according to an inverse kinematics matrix.

[0117] (11) One or more processors: calculating the velocity values for each of the plurality of cables from an inverse kinematics model; The device of embodiment 1, configured as follows: (12) One or more processors: generating a message in response to the disengagement of at least one cable or associated component of the plurality of cables or associated components; The device of embodiment 1, configured as follows: (13) The device of embodiment 12, wherein the message is a user alert with instructions for a user of the surgical tool. (14) The device of embodiment 12, wherein the message dispatches service for the surgical tool. (15) The device described in embodiment 12, wherein the message is an error command that disables the surgical tool.

[0118] (16) A method for detecting disengagement of a surgical tool, comprising: identifying a tension in at least one cable of the plurality of cables derived from at least one force detected by the plurality of sensors; performing a first comparison of the tension of the at least one cable of the plurality of cables to a tension threshold; identifying a velocity value for each of the plurality of cables; calculating a velocity norm value based on a vector including the velocity values of each of the plurality of cables; performing a second comparison of the velocity norm value with a statistical velocity threshold; identifying a disengagement based on the first comparison and the second comparison; and A method comprising: (17) The method of embodiment 16, wherein the velocity norm value is the magnitude of the vector containing the velocity values of each of the plurality of cables. (18) The method of embodiment 16, wherein the statistical speed threshold is based at least in part on a commanded speed. (19) The method of embodiment 16, wherein the statistical velocity threshold is based at least in part on the velocity norm value at a first time and the velocity norm value at a second time. (20) An apparatus comprising: a memory configured to store a tension threshold and a statistical speed threshold; a controller configured to perform a first comparison of the tension of the at least one cable of the plurality of cables to the tension threshold and a second comparison of the speed norm value to the statistical speed threshold, wherein disengagement is determined based on the first comparison and the second comparison; An apparatus comprising:< / n>

Claims

1. 1. An apparatus for detecting disengagement of a surgical tool, comprising: an end effector connected to the tool driver by a plurality of cables and driven thereby; a plurality of sensors configured to detect forces associated with the plurality of cables; one or more processors, identifying a tension in at least one cable of the plurality of cables derived from at least one of the forces detected by the plurality of sensors; performing a first comparison of the tension of the at least one cable of the plurality of cables to a tension threshold; identifying a velocity value for each of the plurality of cables; calculating a single velocity norm value based on a vector containing the velocity values of each of the plurality of cables as components; performing a second comparison of the velocity norm value with a velocity threshold; one or more processors configured to identify disengagement of at least one cable of the plurality of cables based on the first comparison and the second comparison; An apparatus comprising:

2. The apparatus of claim 1 , wherein the velocity norm value is the magnitude of the vector that includes the velocity value of each of the plurality of cables as a component.

3. One or more processors Calculating the speed threshold from the commanded speed The device of claim 2 , configured to:

4. The apparatus of claim 3 , wherein the velocity threshold is calculated from a Bayesian filter.

5. The apparatus of claim 3 , wherein the velocity threshold is calculated from an average of the velocity norm value at a first time and the velocity norm value at a second time.

6. The apparatus of claim 5 , wherein the velocity threshold is calculated from a standard deviation of time series data including the velocity norm value at the first time and the velocity norm value at the second time.

7. One or more processors Calculate the chi-squared value for the time series data 7. The apparatus of claim 6, wherein the apparatus is configured to:

8. The apparatus of claim 1 , further comprising a plurality of motors respectively coupled to the plurality of cables, the plurality of sensors detecting torque in each of the plurality of motors.

9. One or more processors Calculating the tension in at least one cable of the plurality of cables from an inverse kinematic model of the surgical tool.

9. The apparatus of claim 8, wherein the apparatus is configured to:

10. 10. The apparatus of claim 9, wherein the inverse kinematics model includes a relationship between the torque sensed at each of the plurality of motors and the tension in the at least one cable of the plurality of cables according to an inverse kinematics matrix.

11. One or more processors calculating the velocity values for each of the plurality of cables from an inverse kinematics model; The device of claim 1 , configured to:

12. One or more processors generating a message in response to the disengagement of at least one cable of the plurality of cables; The device of claim 1 , configured to:

13. The apparatus of claim 12 , wherein the message is a user alert with instructions for a user of the surgical tool.

14. The apparatus of claim 12 , wherein the message dispatches service for the surgical tool.

15. The apparatus of claim 12 , wherein the message is an error command that disables the surgical tool.

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