Systems and methods for control of end effectors

{
  "publication_number": "US11980434B2",
  "country": "US",
  "kind": "B2",
  "title": "Systems and methods for control of end effectors",
  "abstract": "A system and method of controlling an end effector includes a drive unit having a first actuator and a second actuator, a moveable platform drivably coupled to the first actuator, first and second engagement members drivably coupled to the second actuator; and a control unit. The control unit is configured to actuate the first actuator to drive the platform, detect engagement of the first engagement member with a third engagement member of an instrument, detect engagement of the second engagement member with a fourth engagement member of the instrument, and actuate the second actuator to drive the first and second engagement members. Movement of the third and engagement member causes movement of a degree of freedom of an end effector of the instrument in a first direction. Movement of the fourth engagement member causes movement of the degree of freedom in a second direction opposite the first direction.",
  "claims": [
    "1. A computer-assisted device comprising: a drive unit comprising a first actuator and a second actuator; a first engagement member drivably coupled to the first actuator; a second engagement member drivably coupled to the second actuator; and a control unit coupled to the drive unit; wherein the control unit is configured to, in an engagement mode: actuate the first actuator to drive the first engagement member; detect engagement of the first engagement member with a third engagement member of an instrument, where a movement of the third engagement member causes a movement of an end effector of the instrument in a first direction of a degree of freedom; actuate the second actuator to drive the second engagement member; detect engagement of the second engagement member with a fourth engagement member of the instrument, where a movement of the fourth engagement member causes a movement of the end effector in a second direction of the degree of freedom, the second direction being opposite the first direction; in response to detecting engagement of the first engagement member with the third engagement member and detecting engagement of the second engagement member with the fourth engagement member, actuate the first and second actuators such that a force or torque experienced by the first engagement member reaches a preset level; and actuate the first and second actuators to cause movement of the end effector along the degree of freedom while maintaining the force or torque experienced by the first engagement member at or below the preset level.",
    "2. The computer-assisted device of claim 1, wherein the movement of the first engagement member is linear, and wherein the first engagement member and the third engagement member engage in a non-detained fashion.",
    "3. The computer-assisted device of claim 1, wherein the control unit is further configured to: in response to detecting engagement of the first engagement member with the third engagement member and detecting engagement of the second engagement member with the fourth engagement member, control movement of the end effector along the degree of freedom by controlling driving of the first and second engagement members.",
    "4. The computer-assisted device of claim 1, wherein actuation of the first and second actuators is concurrent until at least the engagement between the first engagement member and the third engagement member is detected.",
    "5. The computer-assisted device of claim 1, wherein the control unit is further configured to servo the first actuator to a constant commanded position after a detection of the engagement of the first engagement member with the third engagement member and before a detection of engagement of the second engagement member with the fourth engagement member.",
    "6. The computer-assisted device of claim 1, wherein the control unit is further configured to continue actuation of the first actuator after detection of the engagement of the first engagement member with the third engagement member and before detection of engagement of the second engagement member with the fourth engagement member.",
    "7. The computer-assisted device of claim 1, wherein the control unit is further configured to: in response to both detecting engagement of the first engagement member with the third engagement member and detecting engagement of the second engagement member with the fourth engagement member, actuate the first actuator to a first actuation threshold.",
    "8. The computer-assisted device of claim 1, wherein the control unit is further configured to detect engagement of the first engagement member with the third engagement member based on an estimate of a force or torque associated with engagement between the first engagement member and the third engagement member.",
    "9. The computer-assisted device of claim 8, wherein the control unit is further configured to detect engagement of the first engagement member with the third engagement member based on a temporal, spatial, or frequency pattern in the estimated force or torque.",
    "10. The computer-assisted device of claim 9, wherein the temporal, spatial, or frequency pattern comprises a temporal or spatial increase in a magnitude of the estimated force or torque followed by a decrease in the magnitude of estimated force or torque.",
    "11. The computer-assisted device of claim 9, wherein the temporal, spatial, or frequency pattern comprises a frequency spectrum corresponding to contact of the first engagement member with the third engagement member.",
    "12. The computer-assisted device of claim 1, wherein the control unit is further configured to detect engagement of the first engagement member with the third engagement member based on a position error of the first actuator or a speed change in the first actuator.",
    "13. The computer-assisted device of claim 1, wherein the control unit is further configured to: in response to detecting engagement of the second engagement member with the fourth engagement member, confirm engagement of the first engagement member with the third engagement member and the second engagement member with the fourth engagement member.",
    "14. The computer-assisted device of claim 13, wherein to confirm engagement of the first engagement member with the third engagement member and the second engagement member with the fourth engagement member, the control unit is configured to: confirm movement of the end effector with respect to the degree of freedom in response to actuating the first actuator at a first force or torque and actuating the second actuator at a second force or torque; or detect a change in one or more of a force, a torque, a position error, or a speed associated with each of the first and second engagement members in response to actuating the first and second actuators.",
    "15. The computer-assisted device of claim 13, wherein the control unit is further configured to, in response to detecting engagement of the second engagement member with the fourth engagement member: actuate the first actuator to drive the first engagement member to cause movement of the end effector in the first direction of the degree of freedom to a first detectable position; actuate the second actuator to drive the second engagement member to cause movement of the end effector in the second direction of the degree of freedom to a second detectable position; and actuate at least one of the first actuator or the second actuator to cause movement of the end effector to a home position between the first detectable position and the second detectable position that is determined based on the first detectable position and the second detectable position.",
    "16. The computer-assisted device of claim 1, further comprising: a fifth engagement member; wherein the engagement mode is entered when the control unit detects engagement between the fifth engagement member and a sixth engagement member at a proximal end of the instrument.",
    "17. The computer-assisted device of claim 1, further comprising: a fifth engagement member; wherein the movement of the first engagement member or the movement of the first engagement member and the second engagement member causes engagement between the fifth engagement member and a sixth engagement member at a proximal end of the instrument.",
    "18. A method of engaging a drive unit with an instrument, the method comprising: actuating a first actuator of the drive unit to drive a first engagement member; detecting engagement of the first engagement member with a third engagement member of the instrument, where actuation of the third engagement member causes a movement of an end effector of the instrument in a first direction of a degree of freedom; actuating a second actuator of the drive unit to drive a second engagement member; detecting engagement of the second engagement member with a fourth engagement member of the instrument, where actuation of the fourth engagement member causes a movement of the end effector in a second direction of the degree of freedom, the second direction being opposite the first direction; in response to detecting engagement of the first engagement member with the third engagement member and detecting engagement of the second engagement member with the fourth engagement member, actuating the first and second actuators such that a force or torque experienced by the first engagement member reaches a preset level; and actuating the first and second actuators to cause movement of the end effector along the degree of freedom while maintaining the force or torque experienced by the first engagement member at or below the preset level.",
    "19. The method of claim 18, wherein the first engagement member is driven linearly, wherein the first engagement member and the third engagement member engage in a non-detained fashion, and wherein the third engagement member and the fourth engagement member control movement of the end effector with respect to the degree of freedom in an antagonistic fashion.",
    "20. The method of claim 18, wherein: actuating of the first and second actuators is concurrent until at least the engagement between the first engagement member and the third engagement member is detected; or the method further comprises: servoing the first actuator to a constant commanded position after detecting engagement of the first engagement member with the third engagement member and before detecting engagement of the second engagement member with the fourth engagement member; or the method further comprises: continuing actuation of the first actuator after detecting engagement of the first engagement member with the third engagement member and before detecting engagement of the second engagement member with the fourth engagement member.",
    "21. The method of claim 18, further comprising: in response to both detecting engagement of the first engagement member with the third engagement member and detecting engagement of the second engagement member with the fourth engagement member, actuating the first actuator to a first actuation threshold."
  ],
  "description_excerpt": "The present disclosure relates generally to control of end effectors and more particularly to assisting with the engagement between actuators and degrees of freedom in the end effectors and the homing of the degrees of freedom.\n\nComputer-assisted devices often include multiple movable manipulators operable to manipulate instruments for performing a task at a work site. The computer-assisted devices can include at least one movable manipulator for supporting an image capturing device that captures images of the work site. A movable manipulator can include interconnected links that are coupled together by one or more actively controlled joints. The manipulator can include one or more passive joints that are not actively controlled and comply with movement of an actively controlled joint. The computer-assisted devices can include industrial and recreational systems, and also medical robotic systems used in procedures for diagnosis, cosmetics, therapeutics, non-surgical treatment, surgical treatment, etc. As a specific example, computer-assisted devices include minimally invasive, computer-assisted, telesurgical systems that allow a surgeon to operate on a patient from bedside or a remote location. Telesurgery is a general term for surgical systems in which the surgeon, rather than directly holding and moving all parts of the instruments by hand, uses some form of indirect or remote control, e.g., a servomechanism, or the like, to manipulate surgical instrument movements.",
  "cpc": [
    "A61B 34/35",
    "A61B 17/2909",
    "A61B 17/3201",
    "A61B 17/3421",
    "A61B 18/1445",
    "A61B 2017/00477",
    "A61B 2018/00595",
    "A61B 2034/301",
    "A61B 2090/064",
    "A61B 2090/066",
    "A61B 34/37",
    "A61B 34/71",
    "A61B 90/06",
    "B25J 13/085",
    "B25J 9/104",
    "B25J 9/1633",
    "B25J 9/1641",
    "B25J 9/1689",
    "G05B 2219/40174",
    "G05B 2219/45117"
  ],
  "ipc": [
    "A61B 17/29",
    "A61B 17/3201",
    "A61B 17/34",
    "A61B 18/00",
    "A61B 18/12",
    "A61B 18/14",
    "A61B 34/00",
    "A61B 34/30",
    "A61B 34/35",
    "A61B 34/37",
    "A61B 90/00",
    "B25J 13/08",
    "B25J 9/10",
    "B25J 9/16"
  ],
  "assignees": [
    "INTUITIVE SURGICAL OPERATIONS"
  ],
  "inventors": [
    "Rabindran Dinesh",
    "ABBOTT RYAN C",
    "GOMEZ DANIEL H",
    "STEGER JOHN RYAN"
  ],
  "filing_date": "2019-02-19",
  "publication_date": "2024-05-14",
  "grant_date": "2024-05-14",
  "priority_date": "2018-02-20",
  "application_number": "US-201916971277-A",
  "family_id": "67687210",
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