Granted Patent B2

US 12,364,556 · App. 17/279,730 · Granted Jul 22, 2025

Inventors: Nicola Diolaiti (San Francisco, CA); Wanxi Liu (Foster City, CA); Samuel B. Schorr (East Palo Alto, CA)

Assignee: INTUITIVE SURGICAL OPERATIONS, INC.

A61B34/37A61B34/20A61B90/37A61B2034/2051A61B2034/2055A61B2034/2059A61B2034/2061A61B2090/3735A61B2090/374A61B2090/3762A61B2090/378A61B2560/0223

Abstract

Claims (55)

1. A robotic system comprising:

an instrument carriage configured to receive an elongate device, wherein the instrument carriage comprises a set of actuators configured to drive the elongate device along at least one degree of freedom and a set of drive sensors configured to monitor the set of actuators; and

a tracking system coupled to the instrument carriage and configured to:

receive an indication that the elongate device is installed on the instrument carriage;

operate the set of actuators to articulate a distal portion of the elongate device in at least one degree of freedom;

generate a set of drive sensor data from the set of drive sensors during the articulation;

generate a set of articulation sensor data from a shape sensor of the elongate device during the articulation;

compare the set of drive sensor data to the set of articulation sensor data to generate a test profile;

determine whether the test profile corresponds to a reference profile; and

determine whether a corrective action is needed for the elongate device based on whether the test profile corresponds to the reference profile.

2. The robotic system of claim 1 , wherein the robotic system further comprises a display system configured to display an instruction for an operator to install the elongate device.

3. The robotic system of claim 1 , wherein the tracking system is further configured to:

determine a first set of joint angles from the set of drive sensor data;

determine a second set of joint angles from the set of articulation sensor data; and

compare the set of drive sensor data to the set of articulation sensor data to generate the test profile based on a comparison of the first set of joint angles to the second set of joint angles.

4. The robotic system of claim 1 , wherein the tracking system is configured to determine whether the test profile corresponds to the reference profile based on a neutral position offset of at least one of the set of drive sensor data or the set of articulation sensor data.

5. The robotic system of claim 1 , wherein the tracking system is configured to determine whether the test profile corresponds to the reference profile based on a slope of at least one of the set of drive sensor data or the set of articulation sensor data.

6. The robotic system of claim 1 , wherein the tracking system is configured to determine whether the test profile corresponds to the reference profile based on a discrepancy between the set of drive sensor data and the set of articulation sensor data.

7. The robotic system of claim 1 , wherein the tracking system is configured to determine whether the test profile corresponds to the reference profile based on a linearity of at least one of the set of drive sensor data or the set of articulation sensor data.

8. The robotic system of claim 1 , wherein the tracking system is configured to determine whether the test profile corresponds to the reference profile based on a noise measurement of at least one of the set of drive sensor data or the set of articulation sensor data.

9. The robotic system of claim 1 , wherein the tracking system is configured to determine whether the test profile corresponds to the reference profile based on a hysteresis measurement of at least one of the set of drive sensor data or the set of articulation sensor data.

10. The robotic system of claim 1 , wherein the tracking system is further configured to operate the set of actuators to articulate the distal portion of the elongate device in at least two degrees of freedom, and wherein the set of drive sensor data and the set of articulation sensor data are associated with movement in each of the at least two degrees of freedom.

11. A robotic system, comprising:

an instrument carriage configured to receive an elongate device, wherein the instrument carriage comprises a set of actuators configured to drive the elongate device along at least one degree of freedom and a set of drive sensors configured to monitor the set of actuators; and

a tracking system coupled to the instrument carriage and configured to:

receive an indication that the elongate device is installed on the instrument carriage;

operate the set of actuators to articulate a distal portion of the elongate device in at least one degree of freedom;

generate a set of drive sensor data from the set of drive sensors during the articulation;

generate a set of articulation sensor data from a shape sensor of the elongate device during the articulation;

compare the set of drive sensor data to the set of articulation sensor data to generate a test profile;

determine a rotational orientation of the shape sensor based on the test profile;

determine whether the test profile corresponds to a reference profile; and

determine whether a corrective action is needed for the elongate device based on whether the test profile corresponds to the reference profile.

12. The robotic system of claim 1 , wherein operating the set of actuators includes operating the set of actuators to articulate the distal portion of the elongate device through a plurality of commanded poses; and

wherein the tracking system is further configured to monitor a positional discrepancy by comparing pose data from the shape sensor to the plurality of commanded poses during the articulation.

13. The robotic system of claim 12 , wherein the tracking system is further configured to adjust a control feedback loop of the robotic system based on the positional discrepancy during the articulation to the plurality of commanded poses.

14. The robotic system of claim 12 , wherein the plurality of commanded poses articulate the elongate device in a plurality of degrees of freedom.

15. The robotic system of claim 12 , wherein the plurality of commanded poses includes:

a first pose with articulation in a first direction in a first degree of freedom without articulation in a second degree of freedom;

a second pose with articulation in a second direction in the first degree of freedom and in a third direction in the second degree of freedom; and

a third pose with articulation in the second direction in the first degree of freedom and in a fourth direction in the second degree of freedom.

16. An apparatus comprising:

one or more processors; and

non-transitory computer memory storing machine-executable instructions that, when executed by the one or more processors, cause the apparatus to:

receive an indication that a flexible elongate device is coupled to a drive unit;

command articulation of a distal portion of the flexible elongate device in at least one degree of freedom;

receive a set of drive sensor data during the articulation;

receive a set of articulation sensor data during the articulation;

compare the set of the drive sensor data to the set of the articulation sensor data to generate a test profile;

determine whether the test profile meets one or more thresholds in a reference profile; and

determine whether to perform a corrective action based on whether the test profile meets the one or more thresholds.

17. The apparatus of claim 16 , wherein the non-transitory computer memory stores machine-executable instructions that, when executed by the one or more processors, cause the apparatus to provide an instruction for an operator to install the flexible elongate device.

18. The apparatus of claim 16 , wherein the non-transitory computer memory stores machine-executable instructions that, when executed by the one or more processors, cause the apparatus to determine a first set of joint angles from the set of the drive sensor data and a second set of joint angles from the set of the articulation sensor data.

19. The apparatus of claim 18 , wherein the non-transitory computer memory stores machine-executable instructions that, when executed by the one or more processors, cause the apparatus to determine whether an offset of at least one of the first set of joint angles or the second set of joint angles at a pose meets a threshold of the one or more thresholds.

20. The apparatus of claim 18 , wherein the non-transitory computer memory stores machine-executable instructions that, when executed by the one or more processors, cause the apparatus to determine whether a slope of at least one of the first set of joint angles or the second set of joint angles during the articulation meets a threshold of the one or more thresholds.

Assignments (1)

Continuity (2)

References Cited (27)