US 12,440,196 B2
Systems and methods for confirming disc engagement
Niels Smaby, Palo Alto, CA (US); Gregory W. Dachs, San Mateo, CA (US); and Bruce M. Schena, Menlo Park, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Jan. 24, 2020, as Appl. No. 16/751,628.
Application 16/751,628 is a continuation of application No. 15/126,061, granted, now 10,595,836, previously published as PCT/US2015/021111, filed on Mar. 17, 2015.
Claims priority of provisional application 62/103,991, filed on Jan. 15, 2015.
Claims priority of provisional application 61/954,408, filed on Mar. 17, 2014.
Claims priority of provisional application 61/954,571, filed on Mar. 17, 2014.
Prior Publication US 2020/0155130 A1, May 21, 2020
Int. Cl. H02K 11/24 (2016.01); A61B 17/00 (2006.01); A61B 34/00 (2016.01); A61B 34/35 (2016.01); H02K 7/14 (2006.01); H02P 3/22 (2006.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 17/00 (2013.01) [A61B 34/35 (2016.02); A61B 34/71 (2016.02); A61B 2017/00464 (2013.01); A61B 2017/00477 (2013.01); A61B 2034/302 (2016.02); A61B 2090/066 (2016.02); A61B 2090/0812 (2016.02)] 21 Claims
OG exemplary drawing
 
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.