Combination and / or homing of surgical tools in surgical robotic systems

The method of detecting surgical tool coupling in robotic systems through motor parameter changes addresses the challenge of ensuring proper tool attachment, improving reliability and precision in surgical robotic systems.

KR102997026B1Active Publication Date: 2026-07-29AURIS HEALTH INC
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Patent Information

Application Number
KR1020227017113
Authority / Receiving Office
KR · KR
Patent Type
Patents
Current Assignee / Owner
Priority Date
2019-10-23
Filing Date
2019-10-29
Publication Date
2026-07-29
Estimated Expiration
2039-10-29

AI Technical Summary

Technical Problem

Existing surgical robotic systems face challenges in ensuring that surgical tools are properly coupled and aligned with the robotic arm actuators to prevent equipment malfunction during procedures, especially when multiple motors control the same motion without physical stops.

Method used

A method and system for detecting the coupling of surgical tools to tool drive units in surgical robotic systems using motor control units, where motors rotate in opposite directions to align and detect mechanical coupling through changes in motor operation parameters, such as torque, current, and speed, ensuring alignment and proper attachment.

Benefits of technology

Ensures reliable and efficient attachment of surgical tools to robotic arms by detecting mechanical coupling, preventing malfunctions and enhancing surgical precision and safety.

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Abstract

In a surgical robot system, coupling and / or homing are provided for the motor control unit of a surgical instrument. When two or more motors control the same motion, the motors can be used to detect coupling even when no physical stop is provided. The motors operate in a manner that does not attempt opposite or identical motions to each other, so that upon coupling, one of the motors acts as a stop for the other motor. Then, a change in motor operation indicates coupling. A known angle of transmission linking the coupled motor and motor drive to the surgical instrument indicates the groove or current position of the surgical instrument.
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