Detection pins to determine presence of surgical instrument and adapter on manipulator
An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A sensor fixed relative to the instrument carriage detects a position of the detection pin. A carriage controller coupled to the sensor, provides a signal that indicates at least a first state and a second state responsive to a distance between the distal end of the detection pin and the control surface. The signal may indicate if an instrument sterile adapter is coupled to the control surface of the instrument carriage. A third state of the signal may indicate if a surgical instrument is coupled to the instrument sterile adapter.
1. A teleoperated surgical system comprising:
an instrument carriage comprising
a control surface,
a detection pin movable relative to the instrument carriage in a direction between a distal end and a proximal end of the detection pin, the distal end of the detection pin being positioned adjacent the control surface, and
a sensor fixed relative to the instrument carriage that detects a position of the detection pin; and
a carriage controller coupled to the sensor, the carriage controller providing a signal that indicates at least a first state associated with a first distance between the distal end of the detection pin and the control surface and a second state associated with a second distance between the distal end of the detection pin and the control surface.
2. The teleoperated surgical system of claim 1 , further comprising:
an instrument sterile adapter comprising a bottom surface;
wherein the signal indicates the first state when the distal end of the detection pin is at the first distance from the control surface because the bottom surface of the instrument sterile adapter is not coupled to the control surface of the instrument carriage; and
wherein the signal indicates the second state when the distal end of the detection pin is at the second distance from the control surface because the bottom surface of the instrument sterile adapter is operably coupled to the control surface.
3. The teleoperated surgical system of claim 2 , wherein the signal provided by the carriage controller further indicates at least a third state associated with a third distance, different than the first and second distances, between the distal end of the detection pin and the control surface.
4. The teleoperated surgical system of claim 3 , further comprising:
a surgical instrument comprising a bottom surface; and
wherein the signal indicates the third state when the distal end of the detection pin is at the third distance from the control surface because the bottom surface of the surgical instrument is operably coupled to the instrument sterile adapter.
5. The teleoperated surgical system of claim 2 , the instrument sterile adapter including a presence pin that extends the distal end of the detection pin, the presence pin being moved distally within the instrument sterile adapter by the detection pin to a distal limit of travel within the instrument sterile adapter when the bottom surface of the instrument sterile adapter is operably coupled to the control surface of the instrument carriage.
6. The teleoperated surgical system of claim 5 , further comprising:
a surgical instrument comprising a bottom surface; and
wherein the signal indicates a third state associated with a third distance, different than the first and second distances, when the distal end of the detection pin is at the third distance from the control surface because the presence pin is moved proximally away from the distal limit of travel within the instrument sterile adapter by the bottom surface of the surgical instrument being operably coupled to the instrument sterile adapter.
7. The teleoperated surgical system of claim 1 , wherein the instrument carriage further comprises a spring coupled to the detection pin such that the spring urges the detection pin toward the distal end of the detection pin.
8. A method of detecting a state of a teleoperated surgical system, the method comprising:
detecting a distance of a distal end of a detection pin from a control surface of an instrument carriage by using a sensor that detects a position of the detection pin; and
generating a signal that indicates at least a first state associated with a first distance between the distal end of the detection pin and the control surface and a second state associated with a second distance, different from the first distance, between the distal end of the detection pin and the control surface.
9. The method of claim 8 , further comprising:
indicating the first state with the signal when the distal end of the detection pin is at the first distance from the control surface because a bottom surface of an instrument sterile adapter is not coupled to the control surface of the instrument carriage; and
indicating the second state with the signal when the distal end of the detection pin is at the second distance from the control surface because the bottom surface of the instrument sterile adapter is operably coupled to the control surface.
10. The method of claim 9 , further comprising indicating at least a third state associated with a third distance, different than the first and second distances, between the distal end of the detection pin and the control surface.
11. The method of claim 10 , further comprising:
indicating the third state with the signal when the distal end of the detection pin is at the third distance from the control surface because a bottom surface of a surgical instrument is operably coupled to the instrument sterile adapter.
12. The method of claim 10 , further comprising:
indicating the third state with the signal when the distal end of the detection pin moves a presence pin in the instrument sterile adapter distally to an upward limit of travel within the instrument sterile adapter and the presence pin then moves the detection pin proximally to operably couple the bottom surface of the instrument sterile adapter to the control surface of the instrument carriage.
13. The method of claim 8 , further comprising urging the detection pin toward the distal end with a spring that allows a downward force applied to the distal end to move the detection pin proximally.
14. A teleoperated surgical system comprising:
means for detecting a distance of a distal end of a detection pin from a control surface of an instrument carriage; and
means for indicating at least a first state associated with a first distance between the distal end of the detection pin and the control surface and a second state associated with a second distance, different from the first distance, between the distal end of the detection pin and the control surface.
15. The teleoperated surgical system of claim 14 , wherein:
the means for indicating indicates the first state when the distal end of the detection pin is at the first distance from the control surface because a bottom surface of an instrument sterile adapter is not coupled to the control surface of the instrument carriage; and
the means for indicating indicates the second state when the distal end of the detection pin is at the second distance from the control surface because the bottom surface of the instrument sterile adapter is operably coupled to the control surface.
16. The teleoperated surgical system of claim 15 , wherein the means for indicating indicates at least a third state associated with a third distance, different than the first and second distances, between the distal end of the detection pin and the control surface.
17. The teleoperated surgical system of claim 16 , wherein the means for indicating indicates the third state when the distal end of the detection pin is at the third distance from the control surface because a bottom surface of a surgical instrument is operably coupled to the instrument sterile adapter.
18. The teleoperated surgical system of claim 15 , further comprising means for urging the detection pin toward the distal end and allowing a force applied to the distal end to move the detection pin toward a proximal end of the detection pin.
19. The teleoperated surgical system of claim 18 , further comprising:
means for extending the distal end of the detection pin through the instrument sterile adapter; and
means for limiting travel of the means for extending within the instrument sterile adapter.
20. The teleoperated surgical system of claim 18 , wherein the means for indicating indicates at least a third state associated with a third distance, different than the first and second distances, from the control surface because a bottom surface of a surgical instrument is operably coupled to the instrument sterile adapter thereby moving the means for extending the distal end of the detection pin away from the means for limiting travel.