US 12,144,574 B2
System and method for assisting tool exchange
Paul G. Griffiths, Santa Clara, CA (US); and Xingchi He, San Jose, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Appl. No. 17/289,999
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
PCT Filed Oct. 31, 2019, PCT No. PCT/US2019/059172
§ 371(c)(1), (2) Date Apr. 29, 2021,
PCT Pub. No. WO2020/092775, PCT Pub. Date May 7, 2020.
Claims priority of provisional application 62/753,762, filed on Oct. 31, 2018.
Prior Publication US 2022/0000571 A1, Jan. 6, 2022
Int. Cl. A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 90/00 (2016.01); B25J 15/04 (2006.01)
CPC A61B 34/70 (2016.02) [A61B 34/10 (2016.02); A61B 90/06 (2016.02); B25J 15/0466 (2013.01); A61B 2034/104 (2016.02); A61B 2090/064 (2016.02); A61B 2090/066 (2016.02)] 27 Claims
OG exemplary drawing
 
1. A computer-assisted device comprising:
a manipulator comprising one or more actuators and configured to have at least one tool of multiple tools mounted thereon; and
one or more processors coupled to the manipulator and configured to:
detect initiation of a tool exchange; and
in response to detecting the initiation of the tool exchange, perform a set of steps to:
determine a location of a source of a replacement tool to be mounted to the manipulator;
determine, based on the location of the source, a computed configuration of the manipulator for when the tool exchange is performed, wherein the computed configuration is different from a current configuration of the manipulator when the tool exchange is initiated and facilitates mounting of the replacement tool to the manipulator, wherein the computed configuration of the manipulator includes at least one of a position of the manipulator or an orientation of the manipulator;
determine a motion plan that moves the manipulator from the current configuration into the computed configuration; and
command movement of the manipulator into the computed configuration according to the motion plan via signals applied to the one or more actuators of the manipulator.