Engagement and/or homing of a surgical tool in a surgical robotic system
Engaging and/or homing is provided for a motor control of a surgical tool in a surgical robotic system. Where two or more motors are to control the same motion, the motors may be used to detect engagement even where no physical stop is provided. The motors operate in opposition to each other or in a way that does not attempt the same motion, resulting in one of the motors acting as a stop for the other motor in engagement. A change in motor operation then indicates the engagement. The known angles of engaged motors and the transmission linking the motor drives to the surgical tool indicate the home or current position of the surgical tool.
1. A method for tool engagement in a surgical robotic system, the method comprising:
detecting a mechanical attachment of a surgical tool to a tool drive, the tool having a first tool disc and a second tool disc to be engaged with a first drive disc and a second drive disc, respectively, of the tool drive, the first and second tool discs linked to an end effector of the surgical tool;
actuating the first drive disc by a first motor and the second drive disc by a second motor of the tool drive such that the first and the second drive discs rotate in opposition to each other;
monitoring performance of the first and the second motors; and
detecting engagement of the first and second tool discs with the first and second drive discs based on changes in the performance of the first and second motors.
2. The method of claim 1 wherein actuating comprises actuating the first and second drive discs, by the first and second motors, with position control mode.
3. The method of claim 1 wherein actuating the first and second drive discs comprises the first and second motors actuating in a same direction where a link between the first and second tool discs to the end effector uses rotation of the first and second tool discs in opposite directions to rotate the end effector in a same direction.
4. The method of claim 1 wherein movement of the end effector of the surgical tool comprises rotation of an endoscope free of a hard stop.
5. The method of claim 1 wherein detecting engagement comprises detecting spikes in currents to the first and second motors.
6. The method of claim 1 wherein detecting engagement comprises detecting first and second velocities below a velocity threshold of the first and second motors, respectively.
7. The method of claim 1 wherein detecting engagement comprises
detecting first and second velocities of the first and second motors, respectively, being within a threshold amount of zero.
8. The method of claim 1 further comprising applying a dithering current to a current ramp in current control mode to the first motor, wherein detecting engagement is based on changes in the performance of the first motor while in the current control mode.
9. A surgical robotic system comprising:
a tool drive having a first drive disc and a second drive disc; and
a processor configured to
detect a mechanical attachment of a surgical tool to the tool drive, the surgical tool having a first tool disc and a second tool disc to be engaged with the first drive disc and the second drive disc, respectively, the first and second tool discs linked to an end effector of the surgical tool,
signal a first motor of the tool drive to actuate the first drive disc, and a second motor of the tool drive to actuate the second drive disc, so that the first and the second drive discs rotate in opposition to each other,
monitor performance of the first and the second motors while the first drive disc and the second drive are actuated, and
detect engagement of the first and second tool discs with the first and second drive discs based on changes in the performance of the first and second motors.
10. The system of claim 9 wherein the processor signals the first and second motors to actuate the first and second drive discs in position control mode.
11. The system of claim 9 wherein the processor signals the first and second motors to actuate in a same direction, and the link in the surgical tool uses rotation of the first and second tool discs in opposite directions to rotate the end effector in the surgical tool in a same direction.
12. The system of claim 11 wherein movement of the end effector comprises rotation of an endoscope free of a hard stop.
13. The system of claim 9 wherein the processor is to detect engagement by detecting spikes in currents to the first and second motors.
14. The system of claim 13 wherein the processor is to detect engagement by detecting first and second velocities below a velocity threshold of the first and second motors, respectively.
15. The system of claim 13 wherein the processor is to detect engagement by detecting the first and second velocities of the first and second motors, respectively, being within a threshold amount of zero.
16. The system of claim 9 wherein the processor is configured to apply a dithering current to a current ramp in current control mode to the first motor, and detect engagement based on changes in the performance of the first motor while in the current control mode.