Method and system for data exchange with robotic surgical tools using near field communication (NFC)
In this patent disclosure, various embodiments of using near-field communication (NFC) to facilitate the transfer of data and power between a robotic surgical system and a surgical tool attached to the robotic surgical system are disclosed. In one aspect, a process for automatically managing surgical tool attachment in a robotic surgical system can begin by detecting an attachment of a surgical tool. The process next establishes a secure near-field communication (NFC) link between a first NFC module embedded in the robotic surgical system and a second NFC module embedded in the surgical tool. Next, the process requests tool calibration data from the surgical tool via the secure NFC link. The process subsequently uses the received tool calibration data to initialize the surgical tool so that the surgical tool is ready for use.
1. A computer-implemented method for automatically managing surgical tool attachment in a robotic surgical system, the method comprising:
detecting an attachment of a surgical tool onto the robotic surgical system while a first NFC module embedded in the robotic surgical system is disabled;
enabling the first NFC module, wherein the first NFC module when enabled, supplies wireless power to a second NFC module embedded in the surgical tool;
establishing a secure near-field communication (NFC) link between the first NFC module and the second NFC module;
requesting tool calibration data from the surgical tool via the secure NFC link; and
using the received tool calibration data to initialize the surgical tool so that the surgical tool is ready for use.
2. The computer-implemented method of claim 1 , wherein establishing the secure NFC link between the first NFC module in the robotic surgical system and the second NFC module in the surgical tool includes:
transmitting a NFC link initiation request to the second NFC module; and
receiving, at the robotic surgical system, a NFC link initiation response from the second NFC module in response to the NFC link initiation request.
3. The computer-implemented method of claim 1 , wherein after establishing the secure NFC link, the method further comprises performing a certificate validation procedure between the robotic surgical system and the surgical tool to validate both an authenticity of the robotic surgical system to the surgical tool and an authenticity of the surgical tool to the robotic surgical system.
4. The computer-implemented method of claim 3 , wherein performing the certificate validation procedure between the robotic surgical system and the surgical tool includes:
providing a robot certificate to the surgical tool encrypted with a first public key of the robotic surgical system via the secure NFC link;
at the surgical tool:
decrypting the encrypted robot certificate with a first matching private key of the surgical tool;
comparing the received robot certificate with a robot ID stored in the second NFC module to verify if the received robot certificate matches the stored robot ID; and
if so, confirming the authenticity of the robotic surgical system,
otherwise, generating a first authentication error indicating a failure of the certificate validation procedure.
5. The computer-implemented method of claim 4 , wherein if the authenticity of the robotic surgical system is confirmed, the method further includes:
sending a tool certificate to the robotic surgical system encrypted with a second public key of the surgical tool via the secure NFC link;
at the robotic surgical system:
decrypting the encrypted tool certificate with a second matching private key of the robotic surgical system;
comparing the received tool certificate with a tool ID stored on the robotic surgical system to verify if the received tool certificate matches the stored tool ID; and
if so, confirming the authenticity of the surgical tool, thereby completing the certificate validation procedure between the robotic surgical system and the surgical tool,
otherwise, generating a second authentication error indicating a failure of the certificate validation procedure.
6. The computer-implemented method of claim 3 , wherein after validating the authenticities of the robotic surgical system and the surgical tool, the method further comprises performing a session key procedure to establish a session key between the robotic surgical system and the surgical tool for secure data exchange between the robotic surgical system and the surgical tool via the secure NFC link.
7. The computer-implemented method of claim 6 , wherein performing the session key procedure to establish a session key between the robotic surgical system and the surgical tool includes:
generating a crypto challenge and a first session key;
transmitting the crypto challenge unencrypted to the surgical tool via the secure NFC link;
receiving, from the surgical tool, an encrypted crypto challenge encrypted with a second session key generated by the surgical tool;
attempting to decrypt the received encrypted crypto challenge with the first session key; and
if the decrypted crypto challenge matches the crypto challenge, establishing the first session key or the second session key as a mutual session key for encrypting data exchange between the surgical robot and the surgical tool,
otherwise, if the decrypted crypto challenge does not match the crypto challenge, triggering an authentication error indicating a failure of the session key procedure.
8. The computer-implemented method of claim 7 , wherein the crypto challenge includes a random number.
9. The computer-implemented method of claim 1 , wherein prior to requesting the tool calibration data from the surgical tool, the method further comprises:
requesting tool usability information and a tool use count from the second NFC module via the secure NFC link;
determining if the surgical tool is usable based on the received tool usability information; and
if the received tool usability information indicates that the surgical tool is unusable, triggering a tool identification error indicate a failure to initialize the surgical tool.
10. The computer-implemented method of claim 9 , wherein if the received tool usability information indicates that the surgical tool is usable, the method further comprises:
checking to determine if the surgical tool has been previously used in the surgical procedure; and
if so,
retrieving tool calibration data directly from a cache of the robotic surgical system; and
using the retrieved tool calibration data to initialize the surgical tool so that the surgical tool is ready for use in the surgical procedure.
11. The computer-implemented method of claim 10 , wherein if it is determined that the surgical tool has not been used in the surgical procedure, the method further comprises:
decrementing the received use count of the surgical tool; and
updating the use count of the surgical tool in the second NFC module via the established secure NFC link.
12. The computer-implemented method of claim 1 , wherein the first NFC module includes an NFC reader, and wherein the second NFC module includes an NFC tag.
13. The computer-implemented method of claim 1 , wherein after initializing the surgical tool, the method further includes powering down the first NFC module to save power.
14. A robotic surgical system, comprising:
a robot arm and a first NFC module embedded in the robot arm; and
one or more processors configured to:
detect a surgical tool mechanically coupled to the robot arm while the first NFC module is disabled;
enable the first NFC module, wherein the first NFC module when enabled, supplies wireless power to a second NFC module embedded in the surgical tool;
establish a near-field communication (NFC) link between the first NFC module and the second NFC module; and
initialize the surgical tool using tool calibration data received from the surgical tool via the established NFC link.
15. The robotic surgical system of claim 14 , wherein the one or more processors are configured to establish the NFC link between the first NFC module in the robotic surgical system and the second NFC module in the surgical tool by:
transmitting a NFC link initiation request to the second NFC module; and
receiving, at the robotic surgical system, a NFC link initiation response from the second NFC module in response to the NFC link initiation request.
16. The robotic surgical system of claim 14 , wherein the one or more processors are further configured to perform a session key procedure to establish a session key between the robotic surgical system and the surgical tool by:
generating a crypto challenge and a first session key;
transmitting the crypto challenge unencrypted to the surgical tool via the established NFC link;
receiving, from the surgical tool, an encrypted crypto challenge encrypted with a second session key generated by the surgical tool;
attempting to decrypt the received encrypted crypto challenge with the first session key; and
if the decrypted crypto challenge matches the crypto challenge, establishing the first session key or the second session key as a mutual session key for encrypting data exchange between the surgical robot and the surgical tool,
otherwise, if the decrypted crypto challenge does not match the crypto challenge, triggering an authentication error indicating a failure of the session key procedure.
17. The robotic surgical system of claim 14 , wherein the one or more processors are further configured to:
request tool usability information and a tool use count from the second NFC module via the established NFC link;
determine if the surgical tool is usable based on the received tool usability information; and
if the received tool usability information indicates that the surgical tool is unusable, trigger a tool identification error indicate a failure to initialize the surgical tool.
18. The robotic surgical system of claim 17 , wherein if the received tool usability information indicates that the surgical tool is usable, the one or more processors are further configured to:
check to determine if the surgical tool has been previously used in the surgical procedure; and
if so,
retrieve tool calibration data directly from a cache of the robotic surgical system; and
use the retrieved tool calibration data to initialize the surgical tool so that the surgical tool is ready for use in the surgical procedure.
19. The robotic surgical system of claim 18 , wherein if it is determined that the surgical tool has not been used in the surgical procedure, the one or more processors are further configured to:
decrement the received use count of the surgical tool; and
update the use count of the surgical tool in the second NFC module via the established NFC link.
20. The robotic surgical system of claim 18 , wherein the first NFC module includes an NFC reader, and wherein the second NFC module includes an NFC tag.