Haoran Yu,Alireza Hariri,Sina Nia Kosari,Renbin Zhou,Tutkun Hasan Sen,Ali Asadian
申请号：
US15999561
公开号：
US20200054401A1
申请日:
2018.08.20
申请国别(地区):
US
年份:
2020
代理人:
摘要：
A system and computerized method for detection of engagement of a surgical tool to a tool drive of a robotic arm of a surgical robotic system. The method may include activating an actuator of the tool drive to rotate a drive disk to be mechanically engaged with a tool disk in the surgical tool. One or more motor operating parameters of the actuator that is causing the rotation of the drive disk are monitored while activating the actuator. The method detects when the drive disk becomes mechanically engaged with the tool disk, based on the one or more monitored motor operating parameters. Other embodiments are also described and claimed.
