DETECTION PINS TO DETERMINE PRESENCE OF SURGICAL INSTRUMENT AND ADAPTER ON MANIPULATOR
摘要
An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first proximal end that extends from the control surface is coupled to the instrument carriage. A magnet is fixed to a distal end of the detection pin. A carriage controller provides an indication that the surgical instrument is coupled to the instrument carriage when movement of the detection pin causes an output signal from a Hall effect sensor to exceed a threshold value that is stored in the carriage controller as part of a calibration procedure during the assembly of the instrument carriage. Surgical instrument removal may be indicated when detection pin movement causes the output signal to be less than an instrument removal threshold value of less than the instrument threshold value.
申请公布号
WO2015142889(A1)
申请公布日期
2015.09.24
申请号
WO2015US21020
申请日期
2015.03.17
申请人
INTUITIVE SURGICAL OPERATIONS, INC.
发明人
MORRISSETTE, TYLER;DACHS II, GREGORY W.;SCHENA, BRUCE MICHAEL;CHAGHAJERDI, AMIR;SMABY, NIELS