US 12,349,881 B2
Systems and methods for instrument engagement
Gabriel F. Brisson, Livermore, CA (US); Gregory W. Dachs, II, San Mateo, CA (US); Niels Smaby, Palo Alto, CA (US); and Melody Wu, Sunnyvale, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Mar. 6, 2023, as Appl. No. 18/179,155.
Application 18/179,155 is a continuation of application No. 17/142,087, filed on Jan. 5, 2021, granted, now 11,627,948.
Application 17/142,087 is a continuation of application No. 15/735,082, granted, now 10,912,544, issued on Feb. 9, 2021, previously published as PCT/US2016/037003, filed on Jun. 10, 2016.
Claims priority of provisional application 62/174,204, filed on Jun. 11, 2015.
Prior Publication US 2023/0200792 A1, Jun. 29, 2023
Int. Cl. A61B 17/00 (2006.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01); A61B 90/00 (2016.01)
CPC A61B 17/00 (2013.01) [A61B 34/35 (2016.02); A61B 2017/00477 (2013.01); A61B 2034/302 (2016.02); A61B 2090/066 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A computer-assisted device comprising:
an instrument carriage configured to couple to an adapter, the adapter configured for engaging with an instrument;
a first actuating element; and
one or more processors;
wherein the one or more processors are configured to perform operations comprising:
receiving an indication that a first input coupling of the instrument is positioned adjacent to the adapter;
in response to receiving the indication, driving the first actuating element for moving a first output coupling in a first direction, and determining whether the first actuating element experiences a first force or torque during the moving the first output coupling in the first direction; and
in response to the first actuating element not experiencing the first force or torque during the moving the first output coupling in the first direction, driving the first actuating element for moving the first output coupling in a second direction, and determining whether the first actuating element experiences a second force or torque during the moving the first output coupling in the second direction.