Systems and methods for automatically changing an end-effector on a surgical robot
Devices, systems, and methods for automatically exchanging a first end-effector on a robot arm with a second end-effector housed in a docking station. The first end-effector has a clamp that either engages or disengages the robot arm based upon an application of force of the robot arm onto the end-effector. The clamp has a spring loaded clip that disengages the first end-effector to allow the robot arm to move away from the released first end-effector. The robot arm is configured to automatically move to a port of a docking station housing the desired second end-effector using magnetic coils on the robot arm and the docking station to guide the robot arm.
1. A surgical robotic system, comprising:
a robot arm;
a first end-effector configured to be connected to the robot arm;
a first receptacle configured to receive the first end-effector; and
a second receptacle configured to house a second end-effector,
wherein the robot arm is configured to automatically deposit the first end-effector into the first receptacle and move to the second receptacle to connect with the second end-effector.
2. The system of claim 1 , wherein the first end effector comprises a clamp configured to disengage with the robot arm upon application of a downward force by the robot arm on the first end-effector.
3. The system of claim 1 , wherein the first end-effector is configured to engage with the robot arm upon removal of the downward force upon the first end-effector.
4. The system of claim 1 , wherein the first end-effector comprises a clamp having a spring loaded clip that is configured to disengage the robot arm from the first end-effector.
5. A surgical robotic system, comprising:
a robot arm having a first magnetic coil, wherein the robot arm is configured to engage a first end-effector;
a docking station comprising a second magnetic coil; and
a second end-effector housed in the docking station;
wherein the robot arm, when disengaged from the first end-effector and energized due to the first magnetic coil being in proximity to the second magnetic coil, is configured to automatically move to the docking station in order to automatically attach to the second end-effector.
6. The system of claim 5 , wherein the second magnetic coil is larger than the first magnetic coil.
7. The system of claim 6 , wherein the first magnetic coil and the second magnetic coil are configured to be concentric.
8. The system of claim 7 , wherein the robot arm is energized when the first magnetic coil is concentric to the second magnetic coil.
9. The system of claim 8 , wherein the robot arm moves through the second magnetic coil to the docking station when the robot arm is energized.
10. The system of claim 1 , wherein the robot arm is configured to automatically move to a receptacle in the first port to detach the first end-effector.
11. The system of claim 10 , wherein the receptacle is configured to automatically release the first end-effector from the robot arm.
12. The system of claim 11 , wherein the robot arm is configured to automatically move to the receptacle using optical tracking of one or more active markers attached to the first end-effector.
13. The system of claim 12 , further comprising one or more cameras configured for optical tracking of the one or more active markers.
14. The system of claim 13 , wherein, after the first end-effector has been detached from the robot arm, the robot arm is configured to move using kinematics to a second port associated with the second end-effector.
15. The system of claim 14 , wherein the second magnetic coil energizes to indicate that the robot arm is within a predetermined distance of the second end-effector.
16. The system of claim 15 , wherein the robot arm is configured to move through the second magnetic coil after the second magnetic coil energizes.
17. The system of claim 16 , wherein the predetermined distance is 30 cm.
18. The system of claim 17 , wherein the robot arm moves to snap on the second end-effector.