US 12,472,018 B2
Engagement and/or homing of a surgical tool in a surgical robotic system
Renbin Zhou, Mountain View, CA (US); Haoran Yu, Mountain View, CA (US); and Sina Nia Kosari, Mountain View, CA (US)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on Aug. 10, 2023, as Appl. No. 18/447,906.
Application 18/447,906 is a continuation of application No. 16/661,590, filed on Oct. 23, 2019, granted, now 11,759,269.
Application 16/661,590 is a continuation in part of application No. 15/999,561, filed on Aug. 20, 2018, granted, now 11,406,457, issued on Aug. 9, 2022.
Prior Publication US 2024/0041545 A1, Feb. 8, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01); A61B 1/00 (2006.01); A61B 17/00 (2006.01); A61M 25/01 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 1/00149 (2013.01); A61B 1/0016 (2013.01); A61B 2017/003 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/00725 (2013.01); A61B 2034/301 (2016.02); A61M 25/0113 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A surgical robotic system for engagement, the system comprising:
a surgical effector connected by a transmission to first and second rotary tool pads, the surgical effector connected by the transmission such that rotation of the first and second rotary tool pads moves the surgical effector in a single degree of freedom;
a tool drive having first and second rotary drives mateable with the first and second rotary tool pads, respectively; and
a processor configured to signal the first and second rotary drives to rotate in opposition to each other and while doing so detect mating of the first and second rotary tool pads with the first and second rotary drives, respectively, as a change in a signal representing a speed of the first rotary drive or a speed of the second rotary drive dropping below a speed threshold.
 
12. A method for tool engagement in a surgical robotic system, the method comprising:
a) signaling a first rotary drive and a second rotary drive of a tool drive in a surgical robotic system to rotate in opposition to each other, wherein the first and second rotary drives are mateable with first and second rotary tool pads, respectively, wherein the first and second rotary tool pads are connected by a transmission to a surgical effector such that rotation of the first and second rotary tool pads moves the surgical effector in a single degree of freedom; and
b) while performing a), detecting a mating of the first and second rotary tool pads with the first and second rotary drives, respectively, as a change in a signal representing a speed of the first rotary drive or a speed of the second rotary drive dropping below a speed threshold.