Abstract: Disclosed are systems and methods for limiting the grip force generated by closing robotic wrist jaws while operating in position mode in which the jaws are commanded to a desired jaw angle prior to being commanded to generate a grip force. In the positional mode, the desired jaw angle is above a threshold that corresponds to an angle at which both jaws are just simultaneously in contact with an object between the jaws or, if there is no object to grasp, when the jaws begin to touch each other. A feedback loop may analyze the desired jaw angle and the measured grip force to determine if the jaws are closing in the position mode and if the measured grip force exceeds a maximum grip force threshold. If so, the feedback loop may calculate a grip force error to limit the measured grip force to the maximum grip force threshold.

Abstract: A machine-learned model is used in the detection of anomalies in operation of the instrument drive chain of a surgical robotic system. For example, normal operation (e.g., cable force) based on operation information (e.g., position and/or load) is predicted by the machine-learned model, which prediction is then compared to actual operation. The comparison results in early detection of anomalies based on machine-learned prediction and the corresponding incorporation of historical operation.

Abstract: A computerized method for estimating joint friction in a joint of a robotic wrist of an end effector. Sensor measurements of force or torque in a transmission that mechanically couples a robotic wrist to an actuator, are produced. Joint friction in a joint of the robotic wrist that is driven by the actuator is computed by applying the sensor measurements of force or torque to a closed form mathematical expression that relates transmission force or torque variables to a joint friction variable. A tracking error of the end effector is also computed, using a closed form mathematical expression that relates the joint friction variable to the tracking error. Other aspects are also described and claimed.

Abstract: For control of a surgical instrument in a surgical robotic system, multiple actuators establish a static pretension by actuating in opposition to each other in torque control. The static pretension reduces or removes the compliance and elasticity, reducing the backlash width. To drive the tool, the actuators are then moved in cooperation with each other in position mode control so that the movement maintains the static pretension while providing precise control.

Abstract: Disclosed are systems and methods for achieving a smooth transition in the grip force when the wrist jaws transition between the position and force mode. In the position mode, the desired jaw angle is above a threshold corresponding to an angle at which both jaws are just simultaneously in contact with an object held between the jaws or, if there is no object, when the jaws begin to touch each other. A feedback loop may determine that the jaws are transitioning between the modes based on changes of the desired jaw angle. The feedback loop may analyze the commanded grip force and the measured grip force to determine whether to adjust the commanded grip force during the transition. If so, the feedback loop may adjust the commanded grip force to reduce changes in the measured grip force that is otherwise based on the desired jaw angle.

Abstract: For control of a surgical instrument in a surgical robotic system, multiple actuators establish a static pretension by actuating in opposition to each other in torque control. The static pretension reduces or removes the compliance and elasticity, reducing the backlash width. To drive the tool, the actuators are then moved in cooperation with each other in position mode control so that the movement maintains the static pretension while providing precise control.

Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An actuator or a motor of a tool driver is configured to operate a joint of a tool. One or more processors are configured to receive an initial joint command for the joint of the tool, determine a joint torque based on motor torque of the motor or actuator as well as motor to joint torque mapping, calculate a tip force based on an effective length associated with the joint and based on the joint torque, compare the tip force to a predetermined threshold, calculate an admittance control compensation term in response to the tip force exceeding the predetermined threshold, and generate a command for the motor or actuator based on the admittance control compensation term and the initial joint command.

Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An actuator or a motor of a tool driver is configured to operate a joint of a tool. One or more processors are configured to receive an initial joint command for the joint of the tool, determine a joint torque based on motor torque of the motor or actuator as well as motor to joint torque mapping, calculate a tip force based on an effective length associated with the joint and based on the joint torque, compare the tip force to a predetermined threshold, calculate an admittance control compensation term in response to the tip force exceeding the predetermined threshold, and generate a command for the motor or actuator based on the admittance control compensation term and the initial joint command.

Abstract: Disclosed are systems and methods for achieving a smooth transition in the grip force when the wrist jaws transition between the position and force mode. In the position mode, the desired jaw angle is above a threshold corresponding to an angle at which both jaws are just simultaneously in contact with an object held between the jaws or, if there is no object, when the jaws begin to touch each other. A feedback loop may determine that the jaws are transitioning between the modes based on changes of the desired jaw angle. The feedback loop may analyze the commanded grip force and the measured grip force to determine whether to adjust the commanded grip force during the transition. If so, the feedback loop may adjust the commanded grip force to reduce changes in the measured grip force that is otherwise based on the desired jaw angle.

Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. A tool driver is coupled to a distal end of a robotic arm and includes a roll drive disk driven by a rotary motor. One or more processors are configured to detect an attachment of a surgical tool to the tool driver. The surgical tool includes a roll tool disk to be engaged with the roll drive disk of the tool driver, actuate of the roll drive disk through the rotary motor, determine that a measured torque of the rotary motor exceeds a preset torque threshold for a preset period of time since the actuation, and report a successful engagement between the roll drive disk and the roll tool disk.

Abstract: A computerized method for estimating joint friction in a joint of a robotic wrist of an end effector. Sensor measurements of force or torque in a transmission that mechanically couples a robotic wrist to an actuator, are produced. Joint friction in a joint of the robotic wrist that is driven by the actuator is computed by applying the sensor measurements of force or torque to a closed form mathematical expression that relates transmission force or torque variables to a joint friction variable. A tracking error of the end effector is also computed, using a closed form mathematical expression that relates the joint friction variable to the tracking error. Other aspects are also described and claimed.

Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An end effector of the surgical tool is coupled to a tool driver. An actuator is driven by a motor of the tool driver and configured to drive a degree of freedom of the end effector. One or more processors are configured to receive a position command describing a desired position for the end effector, translate the desired position to a command for a joint associated with the end effector, calculate a compensation term to compensate for a source of hysteresis for backlash and/or compliance, and send a motor command for the motor coupled with the actuator based on the compensation term and the command for the end effector.

Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system.

Abstract: 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.

Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An example computer-implemented method for evaluating calibrations of a surgical tool includes fixating a joint of the surgical tool at a first angle, the joint being driven by an actuator, measuring an actuator position corresponding to the first angle, accessing a calibrated offset corresponding to the first angle, determining an expected joint angle based on the measured actuator position and the calibrated offset, and reporting a first difference between the expected joint angle and the first angle.

Abstract: A computerized method for estimating joint friction in a joint of a robotic wrist of an end effector. Sensor measurements of force or torque in a transmission that mechanically couples a robotic wrist to an actuator, are produced. Joint friction in a joint of the robotic wrist that is driven by the actuator is computed by applying the sensor measurements of force or torque to a closed form mathematical expression that relates transmission force or torque variables to a joint friction variable. A tracking error of the end effector is also computed, using a closed form mathematical expression that relates the joint friction variable to the tracking error. Other aspects are also described and claimed.

Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An end effector of the surgical tool is coupled to a tool driver. An actuator is driven by a motor of the tool driver and configured to drive a degree of freedom of the end effector. One or more processors are configured to receive a position command describing a desired position for the end effector, translate the desired position to a command for a joint associated with the end effector, calculate a compensation term to compensate for a source of hysteresis for backlash and/or compliance, and send a motor command for the motor coupled with the actuator based on the compensation term and the command for the end effector.

Abstract: For a scalable filtering infrastructure, a library of filters each usable at different control rates is provided by defining filters in a continuous time mode despite eventual use for digital filtering. For implementation, a filter is selected and discretized for the desired control rate. The discretized filter is then deployed as a discrete time realization for convolution. In a distributed system with multiple control rates, the library may be used to more rapidly and conveniently generate the desired filters.

Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. A coupling device driven by a plurality of drive disks corresponds to a first motor and a second motor. One or more processors are configured to send a low torque command to a first motor, send the low torque command to a second motor, determine whether the first motor and the second motor meet one or more hold engagement criteria, send a high torque command to the first motor in response to the first motor and the second motor meeting the one or more hold engagement criteria, and send the high torque command to the second motor in response to the first motor and the second motor meeting the one or more hold engagement criteria.

Abstract: A computerized method for estimating joint friction in a joint of a robotic wrist of an end effector. Sensor measurements of force or torque in a transmission that mechanically couples a robotic wrist to an actuator, are produced. Joint friction in a joint of the robotic wrist that is driven by the actuator is computed by applying the sensor measurements of force or torque to a closed form mathematical expression that relates transmission force or torque variables to a joint friction variable. A tracking error of the end effector is also computed, using a closed form mathematical expression that relates the joint friction variable to the tracking error. Other aspects are also described and claimed.