Granted Patent B2

US 12,440,196 · App. 16/751,628 · Granted Oct 14, 2025

Inventors: Niels Smaby (Palo Alto, CA); Gregory W. Dachs (San Mateo, CA); Bruce M. Schena (Menlo Park, CA)

Assignee: INTUITIVE SURGICAL OPERATIONS, INC.

A61B17/00A61B34/35A61B34/71A61B2017/00464A61B2017/00477A61B2034/302A61B2090/066A61B2090/0812

Abstract

Claims (48)

1. A system comprising:

an instrument carriage configured to support an instrument, the instrument comprising a joint output and an input coupling configured to move the joint output, the instrument carriage comprising an actuating element, the actuating element comprising a drive input and an actuator coupled to drive the drive input, the drive input configured to engage the input coupling; and

a control system configured to:

drive the drive input with the actuator; and

determine whether the drive input has engaged the input coupling based on a determination of whether the actuator experiences a resistance greater than a resistance threshold.

2. The system of claim 1 , wherein the resistance threshold is at least as large as an inherent drivetrain resistance of components between the actuator and the joint output.

3. The system of claim 1 , wherein the resistance comprises a torque, the resistance threshold comprises a torque threshold, and the torque threshold is less than a maximum torque at the drive input.

4. The system of claim 1 , wherein the control system is further configured to:

determine a position at which the drive input engages the input coupling.

5. The system of claim 1 , wherein the drive input comprises a disc having a boss corresponding to a pocket of the input coupling.

6. The system of claim 1 , wherein moving the joint output moves a tip of the instrument, wherein moving the drive input while the drive input is engaged to the input coupling moves the tip, and wherein the control system is configured to drive the drive input with the actuator by:

driving the actuator such that the tip encounters a physical limitation.

7. The system of claim 6 , wherein moving the joint output pitches or yaws the tip, and wherein the physical limitation is a wall adjacent to the tip.

8. The system of claim 6 , wherein the physical limitation is a stopping mechanism configured to stop the input coupling.

9. The system of claim 8 , wherein moving the joint output rolls the instrument.

10. The system of claim 6 , wherein the system is a medical system, wherein the instrument is a medical instrument, and wherein the physical limitation is provided by a cannula into which the instrument is inserted.

11. The system of claim 1 , wherein the instrument comprises a first finger and a second finger, wherein moving the joint output moves at least the first finger, and wherein the resistance threshold is based on resistance associated with the first and second fingers being closed against each other.

12. The system of claim 1 , wherein:

the instrument comprises a second input coupling;

the instrument carriage comprises a second actuating element, the second actuating element comprising a second drive input and a second actuator coupled to drive the second drive input; and

the control system is further configured to:

coordinate driving of the drive input with driving of the second drive input to move the joint output.

13. A method for operating a system comprising an instrument carriage supporting an instrument, the instrument comprising a joint output and an input coupling configured to move the joint output, the instrument carriage comprising an actuating element, the actuating element comprising a drive input and an actuator coupled to drive the drive input, the drive input configured to engage the input coupling, the method comprising:

driving the drive input with the actuator; and

determining whether the drive input has engaged the input coupling based on a determination of whether the actuator experiences a resistance greater than a resistance threshold.

14. The method of claim 13 , wherein the resistance threshold is as large as an inherent drivetrain resistance of components between the actuator and the joint output.

15. The method of claim 13 , wherein moving the joint output moves a tip of the instrument, wherein moving the drive input while the drive input is engaged to the input coupling moves the tip, and wherein driving the drive input with the actuator comprises:

driving the actuator such that the tip encounters a physical limitation.

16. The method of claim 15 , wherein

moving the joint output pitches or yaws the tip, and wherein the physical limitation is a wall adjacent to the tip, or wherein

the physical limitation is a stopping mechanism configured to stop the input coupling, or wherein

moving the joint output moves a first finger of the instrument, and the physical limitation comprises the first finger being closed against a second finger of the instrument.

17. A system comprising:

an instrument carriage configured to support an instrument, the instrument including an input coupling configured to cause at least a portion of the instrument to move in a degree of freedom, the instrument carriage comprising an actuating element, the actuating element comprising a drive input configured to engage the input coupling; and

a control system configured to:

drive the drive input such that movement in the degree of freedom has stalled;

determine a resistance experienced by the drive input after movement in the degree of freedom has stalled; and

determine whether the drive input has engaged the input coupling based on the resistance.

18. The system of claim 17 , wherein the system further comprises an actuator coupled to drive the drive input, and wherein the control system is further configured to:

in response to a determination that the drive input has engaged the input coupling, map a position of the actuator to a position of an instrument tip.

19. The system of claim 17 , wherein the control system is configured to determine whether the drive input has engaged the input coupling based on the resistance by:

determining that the resistance corresponds to the instrument encountering a physical limitation.

20. The system of claim 17 , wherein the control system is configured to determine whether the drive input has engaged the input coupling based on the resistance by:

determining that the resistance exceeds a threshold resistance.

21. The system of claim 17 , wherein:

the instrument comprises a second input coupling;

the instrument carriage comprises a second actuating element, the second actuating element comprising a second drive input and a second actuator coupled to drive the second drive input; and

coordinated driving of the drive input and the second drive input moves the instrument in the degree of freedom.

Assignments (1)

Continuity (5)

References Cited (221)