Detection pins to determine presence of surgical instrument and adapter on manipulator
An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A sensor fixed relative to the instrument carriage detects a position of the detection pin. A carriage controller coupled to the sensor, provides a signal that indicates at least a first state and a second state responsive to a distance between the distal end of the detection pin and the control surface. The signal may indicate if an instrument sterile adapter is coupled to the control surface of the instrument carriage. A third state of the signal may indicate if a surgical instrument is coupled to the instrument sterile adapter.
1. A method comprising:
mounting an instrument sterile adapter (ISA) to an instrument carriage of a surgical system;
wherein the mounting of the ISA to the instrument carriage causes movement of a detection pin from a first position to a second position; and
wherein a sensing of the detection pin in the second position causes the surgical system to determine the ISA is mounted to the instrument carriage.
2. The method of claim 1 , wherein:
the method further comprises mounting an instrument to the ISA while the ISA is mounted to the instrument carriage;
the mounting of the instrument to the ISA causes movement of the detection pin from the second position to a third position; and
a sensing of the detection pin in the third position causes the surgical system to determine the instrument is mounted to the ISA.
3. The method of claim 2 , wherein:
the instrument carriage comprises the detection pin;
the ISA comprises a presence pin, and the presence pin comprises a first end portion and a second end portion;
the mounting of the ISA to the instrument carriage causes the detection pin to move as a result of the first end portion of the presence pin pressing against the detection pin; and
the mounting of the instrument to the ISA causes the detection pin to move as a result of the instrument pressing against the second end portion of the presence pin to move the presence pin.
4. The method of claim 2 , wherein:
sensing the detection pin comprises sensing a magnetic field and generating a sensor output based on the sensing of the magnetic field; and
determining the ISA is mounted to the instrument carriage comprises determining the sensor output satisfies a first threshold criterion.
5. The method of claim 4 , wherein:
determining the instrument is mounted to the ISA comprises determining the sensor output satisfies a second threshold criterion.
6. The method of claim 2 , wherein:
the method further comprises unmounting the instrument from the ISA;
the unmounting of the instrument from the ISA causes movement of the detection pin of the instrument carriage from the third position to the second position; and
a sensing of the detection pin in the second position subsequent to the sensing of the detection pin in the third position causes the surgical system to determine the instrument is not mounted to the ISA.
7. The method of claim 1 , wherein:
the mounting of the ISA to the instrument carriage comprises engaging the detection pin with the ISA and overcoming a force biasing the detection pin toward the first position.
8. The method of claim 1 , wherein:
the method further comprises unmounting the ISA from the instrument carriage;
the unmounting of the ISA from the instrument carriage causes movement of the detection pin of the instrument carriage from the second position to the first position; and
a sensing of the detection pin in the first position subsequent to the sensing of the detection pin in the second position causes the surgical system to determine the ISA is not mounted to the instrument carriage.
9. The method of claim 1 , wherein:
the method further comprises mounting an instrument to the ISA;
the mounting of the instrument to the ISA causes movement of a second detection pin from a third position to a fourth position; and
a sensing of the second detection pin in the fourth position causes the surgical system to determine the instrument is mounted to the ISA.
10. A method comprising:
unmounting an instrument sterile adapter (ISA) from an instrument carriage of a surgical system;
wherein the unmounting of the ISA from the instrument carriage causing movement of a detection pin from a second position to a first position; and
wherein a sensing of the detection pin in the first position causes the surgical system to determine the ISA is unmounted from the instrument carriage.
11. The method of claim 10 , wherein:
the method further comprises unmounting an instrument from the ISA in a mounted state of the ISA with the instrument carriage;
the unmounting of the instrument from the ISA causes movement of the detection pin of the instrument carriage from a third position to the second position; and
a sensing of the detection pin in the second position causes the surgical system to determine the instrument is unmounted from the ISA.
12. The method of claim 11 , wherein:
the ISA comprises a presence pin configured to engage the detection pin in the mounted state of the ISA with the instrument carriage and to engage the instrument in a mounted state of the instrument with the ISA; and
the unmounting the instrument from the ISA comprises moving the instrument away from the ISA such that a biasing force is allowed to move the detection pin and the presence pin, the presence pin constraining the detection pin to stop at the second position.
13. The method of claim 10 , wherein:
the method further comprises unmounting an instrument from the ISA in a mounted state of the ISA with the instrument carriage;
the unmounting of the instrument from the ISA causes movement of a second detection pin of the instrument carriage from a fourth position to a third position; and
a sensing of the second detection pin in the third position causes the surgical system to determine the instrument is unmounted from the ISA.
14. The method of claim 10 , wherein:
sensing the detection pin comprises sensing a magnetic field and generating a sensor output based on the sensing of the magnetic field; and
the determining the ISA is unmounted from the instrument carriage comprises determining the sensor output does not satisfy a first threshold criterion.
15. An instrument sterile adapter (ISA), comprising:
a frame and a presence pin coupled to the frame;
wherein the frame comprises a first interface and a second interface,
the first interface being removably engageable with an instrument carriage of a surgical system to removably mount the ISA to the instrument carriage, and
the second interface being removably engageable with a medical instrument to removably mount the medical instrument to the ISA; and
wherein the presence pin is coupled to the frame such that
in response to engagement of the first interface with the instrument carriage, the presence pin moves a detection pin of the instrument carriage from a first position to a second position, and
in response to engagement of the second interface with the instrument while the first interface is engaged with the instrument carriage, the instrument moves the presence pin causing the detection pin of the instrument carriage to move from the second position to a third position.
16. The ISA of claim 15 ,
wherein the presence pin comprises a first end portion and a second end portion;
the first end portion of the presence pin is configured to press against the detection pin during engagement of the first interface with the instrument carriage to cause the detection pin to move from the first position to the second position; and
the second end portion of the presence pin is configured to be pressed against by the instrument during engagement of the second interface with the instrument while the first interface is engaged with the instrument carriage to cause the detection pin to move and thereby move the presence pin from the second position to the third position.
17. The ISA of claim 15 ,
wherein the presence pin is movable relative to the frame between a fourth position and a fifth position;
in response to engagement of the first interface with the instrument carriage, the presence pin is moved from the fourth position to the fifth position; and
in response to engagement of the second interface with the instrument while the first interface is engaged with the instrument carriage, the presence pin is moved from the fifth position to the fourth position.
18. The ISA of claim 17 ,
wherein the presence pin comprises a first end portion and a second end portion;
the first end portion of the presence pin is configured to contact the detection pin during engagement of the first interface with the instrument carriage, the contact forcing the detection pin to move from the fourth position to the fifth position and the presence pin to move from the first position to the second position; and
the second end portion of the presence pin is configured to contact the instrument during engagement of the second interface with the instrument while the first interface is engaged with the instrument carriage, the contact forcing the detection pin to move from the fifth position to the fourth position and the presence pin to move from the second position to the third position.
19. The ISA of claim 15 , further comprising:
a plurality of ISA couplers configured to:
couple with respectively corresponding carriage drivers of the instrument carriage in response to engagement of the first interface with the instrument carriage; and
couple with respectively corresponding instrument drivers of the instrument carriage in response to engagement of the second interface with the instrument.