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TOOL EXCHANGE INTERFACE AND CONTROL ALGORITHM FOR COOPERATIVE SURGICAL ROBOTS

  • US 20140066944A1
  • Filed: 08/02/2011
  • Published: 03/06/2014
  • Est. Priority Date: 08/02/2010
  • Status: Active Grant
First Claim
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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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