Evaluation of calibration for surgical tool

1. A computer-implemented method for evaluating calibrations of a surgical tool, the method comprising:

fixating a joint of the surgical tool at a first angle, the joint being driven by an actuator;

measuring an actuator position corresponding to the first angle;

accessing a calibrated offset corresponding to the first angle;

determining an expected joint angle based on the measured actuator position and the calibrated offset; and

reporting a first difference between the expected joint angle and the first angle.

2. The method of claim 1 , wherein the joint includes a roll joint, a wrist joint, or one or more jaw joints of the surgical tool.

3. The method of claim 1 , wherein the joint is driven by the actuator through one or more cables.

4. The method of claim 3 , further comprising:

driving the actuator to achieve a predetermined tensioning force on the one or more cables before measuring the actuator position.

5. The method of claim 1 , wherein the joint is fixated at an angle by a joint lock including at least one rigid member that couples to the joint.

6. The method of claim 1 , wherein the calibrated offset is accessed from a calibration profile stored in a memory of the surgical tool, and

wherein the calibration profile includes a plurality of offsets for compensating actuator backlash at a plurality of joint angles centered at zero degree.

7. The method of claim 1 , wherein determining the expected joint angle comprises:

applying the calibrated offset to the measured actuator position to produce an offset actuator position corresponding to the first angle; and

converting the offset actuator position to the expected joint angle based on a kinematic model of the joint.

8. The method of claim 1 , further comprising:

fixating the joint at a second angle;

acquiring a second actuator position and a second calibrated offset corresponding to the second angle;

determining a second expected joint angle based on the second actuator position and the second calibrated offset; and

calculating a second difference between the second expected joint angle and the second angle.

9. The method of claim 8 , further comprising:

calculating a mean squared error based on at least the first difference and the second difference.

10. The method of claim 9 , further comprising:

reporting an inaccurate calibration if the calculated mean squared error exceeds a predetermined threshold.

11. A system for calibration of a surgical tool, the system comprising:

a surgical tool connected to and driven by at least one actuator; and

one or more processors configured to:

measure an actuator position corresponding to a joint of the surgical tool fixated at a first angle, the joint being driven by the actuator;

access a calibrated offset corresponding to the first angle;

determine an expected joint angle based on the measured actuator position and the calibrated offset; and

report a first difference between the expected joint angle and the first angle.

12. The system of claim 11 , wherein the joint includes a roll joint, a wrist joint, or one or more jaw joints of the surgical tool.

13. The system of claim 11 , wherein the joint is driven by the actuator through one or more cables.

14. The system of claim 11 , wherein the joint is fixated at an angle by a joint lock including at least one rigid member that couples to the joint.

15. The system of claim 11 , wherein the calibrated offset is accessed from a calibration profile stored in a memory of the surgical tool, and

wherein the calibration profile includes a plurality of offsets for compensating actuator backlash at a plurality of joint angles centered at zero degree.

16. The system of claim 11 , wherein the one or more processors are configured to:

apply the calibrated offset to the measured actuator position to produce an offset actuator position corresponding to the first angle; and

convert the offset actuator position to the expected joint angle based on a kinematic model of the joint.

17. The system of claim 11 , wherein the one or more processors are configured to:

acquire a second actuator position and a second calibrated offset corresponding to a second angle;

determine a second expected joint angle based on the second actuator position and the second calibrated offset; and

calculate a second difference between the second expected joint angle and the second angle.

18. The system of claim 17 , wherein the one or more processors are configured to:

calculate a mean squared error based on at least the first difference and the second difference.

19. The system of claim 18 , wherein the one or more processors are configured to:

report an inaccurate calibration if the calculated mean squared error exceeds a predetermined threshold.

20. An apparatus for evaluation of a surgical tool, the apparatus comprising:

a memory storing expected values for a plurality of motors coupled to the surgical tool;

one or more processors further configured to:

identify at least one lock identifier for a lock associated with at least one joint of the surgical tool;

determine a position associated with at least one of the plurality of motors and the at least one lock identifier;

access data for an expected position from the memory; and

perform a comparison of the determined position to the expected position.