TOOL EXCHANGE INTERFACE AND CONTROL ALGORITHM FOR COOPERATIVE SURGICAL ROBOTS
First Claim
1. A system for tool exchange or quick release during surgery for cooperatively controlled robots, comprising:
- a tool holder for receiving a surgical tool adapted to be held by a robot and a surgeon;
a tool holding element for constraining downward motion of the surgical tool relative to the tool holder while allowing low force removal of the surgical tool from the tool holder;
a first sensor for detecting if the surgical tool is docked within the tool holder; and
a selector for automatically selecting different movements or actions of the tool holder to be performed based upon information detected by the first sensor.
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Accused Products
Abstract
A system and method for tool exchange during surgery for cooperatively controlled robots comprises a tool holder for receiving a surgical tool adapted to be held by a robot and a surgeon, a tool holding element for constraining downward motion of the tool while allowing low force removal of the surgical tool from the holder, a first sensor for detecting if the surgical tool is docked within the tool holder, and a selector for automatically selecting different movements or actions of the tool holder to be performed based upon information detected by the first sensor. The system and method of the present invention provides an advantage to an often slow moving cooperative robot, by increasing the speed by which the tool holder may move in the direction away from the patient.
116 Citations
19 Claims
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1. A system for tool exchange or quick release during surgery for cooperatively controlled robots, comprising:
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a tool holder for receiving a surgical tool adapted to be held by a robot and a surgeon; a tool holding element for constraining downward motion of the surgical tool relative to the tool holder while allowing low force removal of the surgical tool from the tool holder; a first sensor for detecting if the surgical tool is docked within the tool holder; and a selector for automatically selecting different movements or actions of the tool holder to be performed based upon information detected by the first sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 19)
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16. A method for tool exchange or quick release for cooperatively controlled robots, comprising:
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providing a tool holder for receiving a surgical tool adapted to be held by a robot and a surgeon; constraining downward motion of the surgical tool while allowing low force removal of the surgical tool from the holder; detecting if the surgical tool is docked within the tool holder; and automatically selecting different movements or actions of the tool holder to be performed based upon information detected. - View Dependent Claims (17, 18)
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Specification