Robotic surgical system and methods for articulation calibration
First Claim
1. A surgical method, comprising:
- actuating a homing mechanism to constrain an end effector coupled to a distal end of a shaft of a surgical tool coupled to a robotic surgical system to thereby substantially limit articulation of the end effector relative to the shaft, the homing mechanism having a fork member and a push rod that moves distally into the fork member to cause the fork member to lockingly engage at least one linkage member operably coupled to the end effector;
applying, by at least one motor, a first force to the at least one linkage member to attempt articulation of the constrained end effector in a first direction until a resistance against further articulation exceeds a first threshold, and storing a first value of a force at which the resistance has exceeded the first threshold;
applying, by the at least one motor, a second force to the at least one linkage member to attempt articulation of the constrained end effector in a second direction that is opposite the first direction until a resistance against further articulation exceeds a second threshold, and storing a second value of a force at which the resistance has exceeded the second threshold;
determining, by a processor, first and second articulation angles based on the first and second values; and
averaging, by the processor, the first and second articulation angles to obtain a home position of the constrained end effector.
1 Assignment
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Accused Products
Abstract
Systems and methods for articulation calibration of a surgical tool configured to be coupled to a robotic surgical system are provided. The tool including a tool shaft with an end effector has at least one linkage member extending along the shaft and operably coupled to the end effector such that force selectively applied to the linkage member is able to cause articulation of the end effector. The tool can also include a homing mechanism. To perform articulation calibration of the end effector, it can be constrained, force can be applied to the linkage member to attempt articulation of the end effector until a resistance against further articulation exceeds a threshold, and a home position of the end effector can be determined based on a force at which the resistance has exceeded the threshold.
6 Citations
15 Claims
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1. A surgical method, comprising:
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actuating a homing mechanism to constrain an end effector coupled to a distal end of a shaft of a surgical tool coupled to a robotic surgical system to thereby substantially limit articulation of the end effector relative to the shaft, the homing mechanism having a fork member and a push rod that moves distally into the fork member to cause the fork member to lockingly engage at least one linkage member operably coupled to the end effector; applying, by at least one motor, a first force to the at least one linkage member to attempt articulation of the constrained end effector in a first direction until a resistance against further articulation exceeds a first threshold, and storing a first value of a force at which the resistance has exceeded the first threshold; applying, by the at least one motor, a second force to the at least one linkage member to attempt articulation of the constrained end effector in a second direction that is opposite the first direction until a resistance against further articulation exceeds a second threshold, and storing a second value of a force at which the resistance has exceeded the second threshold; determining, by a processor, first and second articulation angles based on the first and second values; and averaging, by the processor, the first and second articulation angles to obtain a home position of the constrained end effector. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A surgical tool configured to be coupled to a robotic surgical system, comprising:
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a tool shaft having an end effector coupled to a distal end thereof; a wrist disposed between the tool shaft and the end effector; at least one linkage member associated with the tool shaft and operably coupled to the end effector such that force selectively applied to the at least one linkage member is able to cause at least one of a pitch and a yaw motion of the end effector; and a homing mechanism configured to be actuated to angularly adjust a presumed zero position of the end effector relative to the tool shaft to an adjusted zero position of the end effector, wherein the homing mechanism includes a fork member and a push rod configured to move distally into the fork member to cause the fork member to lockingly engage the at least one linkage member. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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Specification