System and method for closed-loop surgical tool homing
View Patent ↗An exemplary system and method for homing a surgical tool are provided. In general, a surgical tool can include an end effector, an elongate shaft, and a wrist that couples the end effector to a distal end of the shaft can be configured to facilitate movement of the end effector relative to the shaft. The surgical tool can be coupled to a robotic surgical system featuring an imaging device and a processor. Through the use of closed-loop feedback and machine vision techniques, the end effector can be calibrated into a home position to ensure precise and accurate movement of the end effector when in use by a surgeon.
1. A system for calibrating the position of a surgical tool, comprising:
a surgical tool having an actuator and an end effector, the end effector having at least one target feature, the surgical tool storing a reference data set comprising reference positional information of the at least one target feature;
at least one imaging device configured to acquire at least one image containing actual positional information of the at least one target feature; and
a processor configured to
electronically receive the reference data set from the surgical tool and the actual positional information from the at least one imaging device,
detect a discrepancy between the actual positional information of the at least one target feature and the reference positional information of the at least one target feature,
generate a transformation instruction from the discrepancy, the transformation instruction comprising an instruction for the end effector to move based on the detected discrepancy, and
cause the actuator to move the end effector, based on the transformation instruction, such that the at least one target feature is moved to a reference position embodied by the reference positional information.
2. The system of claim 1 , further comprising an electromechanical robotic arm having a tool carrier on a distal end thereof that is configured to couple to a housing of the surgical tool, and wherein the processor is coupled to the electromechanical robotic arm and is configured to control movement of the electromechanical robotic arm and the surgical tool coupled thereto.
3. The system of claim 1 , wherein the at least one target feature is selected from the group consisting of a point, a line, a ridge, a joint location, an axis of rotation, a grip position, a surgical tool outline, a surgical tool form, a surgical tool edge, a surgical tool surface, a surgical tool shape, a surgical tool region color, a fiducial, a laser marking, a pad printed marking, a molded element, and a machined element.
4. The system of claim 1 , wherein the processor is coupled to the imaging device and is configured to cause the imaging device to acquire images containing actual positional information of the at least one target feature.
5. The system of claim 1 , wherein the end effector is selected from the group consisting of forceps, graspers, a needle driver, a clamp, scissors, an electrocautery tool, a circular stapler, a box stapler, a clip applier, a suction tool, an irrigation tool, a linear stapler, a suture stitching device, and a vessel sealer.
6. The system of claim 1 , wherein the at least one target feature comprises two target features on the end effector.
7. The system of claim 1 , wherein the surgical tool comprises a first surgical tool and the reference data set comprises a first reference data set comprising reference positional information of the at least one target feature of the first surgical tool, and the system further includes a second surgical tool having at least one target feature and a second reference data set comprising reference positional information of the at least one target feature of the second surgical tool.
8. The system of claim 7 , wherein the first reference data set differs from the second reference data set.
9. A method of calibrating a position of an end effector of a surgical tool, comprising:
coupling a surgical tool to a surgical robotic system such that a reference data set comprising reference positional information of at least one target feature on an end effector of the surgical tool is transmitted from the surgical tool to a processor of the surgical robotic system, the processor performing a calibration test comprising
obtaining at least one image containing actual positional information of the at least one target feature on the end effector,
generating a transformation function based on the reference positional information and the actual positional information, the transformation instruction comprising an instruction for the end effector to move based on a discrepancy between the reference positional information and the actual positional information, and
sending the transformation function to the surgical tool to cause an actuator of the surgical tool to reposition the end effector to a repositioned location based on the transformation function, the repositioned location embodied by the reference positional information.
10. The method of claim 9 , further comprising, prior to performing the calibration test, positioning the end effector within a body cavity of a patient, and wherein the actual positional information comprises actual positional information of the at least one target feature on the end effector within the body cavity.
11. The method of claim 9 , wherein the at least one target feature on the end effector is selected from the group consisting of a point, a line, a ridge, a joint location, an axis of rotation, a grip position, a surgical tool outline, a surgical tool form, a surgical tool edge, a surgical tool surface, a surgical tool shape, a surgical tool region color, a fiducial, a laser marking, a pad printed marking, a molded element, and a machined element.
12. The method of claim 9 , further comprising decoupling the surgical tool from the surgical robotic system, and coupling a second surgical tool to the surgical robotic system such that a second reference data set, that differs from the first reference data set, is transmitted from the surgical tool to the surgical robotic system.
13. The method of claim 9 , further comprising obtaining at least one post-calibration image containing post-calibration location information of the at least one target feature and confirming that the post-calibration location information is the same as the reference positional information.