Engagement, homing, and control of robotics surgical instrument
The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. A tool driver is coupled to a distal end of a robotic arm and includes a roll drive disk driven by a rotary motor. One or more processors are configured to detect an attachment of a surgical tool to the tool driver. The surgical tool includes a roll tool disk to be engaged with the roll drive disk of the tool driver, actuate of the roll drive disk through the rotary motor, determine that a measured torque of the rotary motor exceeds a preset torque threshold for a preset period of time since the actuation, and report a successful engagement between the roll drive disk and the roll tool disk.
1. A controller for a surgical tool driver, the controller comprising:
one or more processors configured to:
generate at least one actuation command for a rotary motor for a roll drive disk of the surgical tool driver;
determine a measured current associated with the rotary motor;
perform a current comparison of the measured current to a current threshold;
start a counter in response to the measured current of the rotary motor exceeding the current threshold;
perform a counter comparison of the counter to an engagement window defined by at least one system requirement or at least one clinical requirement; and
generate data indicative of a successful engagement of the roll drive disk in response to the current comparison and the counter comparison.
2. The controller of claim 1 , the one or more processors configured to:
send a report including the data indicative of a successful engagement of the roll drive disk in response to the current comparison.
3. The controller of claim 1 , the one or more processors configured to:
decrease a velocity for actuation of the roll drive disk through the rotary motor in response to the successful engagement.
4. The controller of claim 1 , wherein the data indicative of the successful engagement is provided at a display unit.
5. The controller of claim 1 , further comprising:
a communication interface configured to read information from a surgical tool.
6. The controller of claim 5 , the one or more processors configured to:
identify a type of the surgical tool based on the information read by the communication interface.
7. The controller of claim 5 , the one or more processors configured to:
select the rotary motor for the roll drive disk in response to the information read by the communication interface.
8. The controller of claim 1 , wherein the at least one actuation command includes commands to start to rotate the rotary motor at a slow speed at a beginning of movement and then progressively increase the speed until successful engagement is detected.
9. The controller of claim 1 , further comprising:
an electrical sensor configured to detect the measured current associated with the rotary motor.
10. The controller of claim 9 , wherein the electrical sensor includes a current sensing resistor.
11. The controller of claim 1 , further comprising:
a communication interface configured to read information from a surgical tool, wherein a type of the surgical tool is identified based on the information read by the communication interface.
12. A controller for a surgical tool driver, the controller comprising:
one or more processors configured to:
generate at least one actuation command for a rotary motor for a roll drive disk of the surgical tool driver;
determine a motor operating parameter for the rotary motor;
perform a current comparison of a measured current to a current threshold;
start a counter in response to the measured current of the rotary motor exceeding the current threshold;
perform a counter comparison of the counter to an engagement window defined by at least one system requirement or at least one clinical requirement; and
generate data indicative of a successful engagement of the roll drive disk in response to the comparison.
13. The controller of claim 12 , the one or more processors configured to:
send a report including the data indicative of a successful engagement of the roll drive disk in response to the current comparison and the counter comparison.
14. The controller of claim 12 , the one or more processors configured to:
decrease a velocity for actuation of the roll drive disk through the rotary motor in response to the successful engagement.
15. The controller of claim 12 , further comprising:
an electrical sensor configured to detect the measured current associated with the rotary motor.
16. The controller of claim 15 , wherein the electrical sensor includes a current sensing resistor.
17. A method for operation of a surgical tool driver, the method comprising:
generating at least one actuation command for a rotary motor for a roll drive disk of the surgical tool driver;
determining a motor operating parameter for the rotary motor;
performing a current comparison of a measured current to a current threshold;
starting a counter in response to the measured current of the rotary motor exceeding the current threshold;
performing a counter comparison of the counter to an engagement window defined by at least one system requirement or at least one clinical requirement; and
generating data indicative of a successful engagement of the roll drive disk in response to the current comparison and counter comparison.
18. The method of claim 17 , the method comprising:
providing data indicative of the successful engagement at a display unit.