Surgical Robot Instrument Detection With Asymmetric Time Hysteresis

The patent applies asymmetry by implementing different time thresholds for connection detection versus disconnection detection. The system requires a longer duration for signal presence before confirming connection, while using a shorter threshold for detecting disconnection events. This asymmetric approach prevents false disconnections caused by brief signal interruptions or external noise while maintaining reliable detection of genuine connection changes.

The system performs preliminary verification by monitoring the duration of signal presence before confirming a connection state. Instead of immediate response to signal changes, the system waits for the signal to persist beyond a predetermined time threshold, thereby filtering out transient false signals and confirming only stable connection states.

The system implements asymmetric time thresholds where connection detection uses a shorter threshold for quick response, while disconnection detection uses a longer threshold to filter false signals. This allows the system to quickly detect genuine instrument connections while being more conservative about declaring disconnections, thus reducing false disconnection rates.

The patent changes the time parameter thresholds dynamically based on the detection direction. For connection events, a shorter time threshold is applied to maintain fast response. For disconnection events, a longer time threshold is applied to avoid false positives. This parameter adaptation resolves the contradiction between speed and reliability.