Surgical Tool Drive Engagement Detection via Motor Parameter Monitoring
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Solution Overview
Problem
Existing surgical robotic systems face challenges in ensuring that surgical tools are not only mechanically attached but also properly engaged with the actuators of the surgical robotic arm to avoid equipment malfunctions during procedures.
Innovation Solution
A control unit detects the mechanical engagement of surgical tools with tool drives in the robotic arm by monitoring motor operating parameters, such as torque, current, impedance, and speed, to ensure that tool disks are securely engaged with drive disks, using sensors and actuators to confirm alignment and engagement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If surgical tools are selectively attached to the same robotic arm, then the versatility and adaptability of the surgical robotic system is improved, but the risk of equipment malfunction increases if tools are not properly engaged with actuators
Solution Approach 1:
The system performs preliminary engagement detection before allowing surgical tool operation. The control unit monitors motor operating parameters during an engagement phase to confirm proper mechanical coupling between tool disks and drive disks before the tool becomes operational, preventing malfunctions from improper attachment
Solution Approach 2:
The control unit continuously monitors motor operating parameters (torque, current, impedance, speed) during tool attachment and engagement. This feedback mechanism detects whether tools are properly engaged with actuators by analyzing parameter patterns, allowing the system to identify improper attachment and prevent operation until engagement is confirmed
2Measurement precision
If the control unit monitors multiple motor operating parameters to detect engagement, then the measurement precision and reliability of engagement detection is improved, but the device complexity increases
Solution Approach 1:
The control unit serves multiple functions: it controls robotic arm movement, monitors tool attachment status, detects engagement through parameter analysis, and prevents operation when engagement is improper. By making the control unit multi-functional, the system achieves high measurement precision without adding separate dedicated monitoring devices
Solution Approach 2:
The system uses the existing motor's operating parameters (torque, current, impedance, speed) that are already generated during normal operation to detect engagement. No additional sensors or measurement devices are required - the system self-diagnoses engagement status using data from the motor's normal operation, avoiding increased device complexity
Data Source
AI summary
A system and computerized method for detection of engagement of a surgical tool to a tool drive of a robotic arm of a surgical robotic system. The method may include activating an actuator of the tool drive to rotate a drive disk to be mechanically engaged with a tool disk in the surgical tool. One or more motor operating parameters of the actuator that is causing the rotation of the drive disk are monitored while activating the actuator. The method detects when the drive disk becomes mechanically engaged with the tool disk, based on the one or more monitored motor operating parameters. Other embodiments are also described and claimed.