Systems and methods for mapping flux supply paths

Patent metadata

Field	Value
Publication number	US-10631939-B2
Application number	US-201314070118-A
Country	US
Kind code	B2
Filing date	Nov 1, 2013
Priority date	Nov 2, 2012
Publication date	Apr 28, 2020
Grant date	Apr 28, 2020

Abstract

A method of supplying flux may include receiving first data at a control system identifying which of a plurality of remotely-controllable kinematic flux delivery structures is operationally coupled to which of a plurality of flux supply pathways and receiving second data at the control system identifying which of the remotely-controllable kinematic flux delivery structures is operationally coupled to which of a plurality of kinematic support structures. A system for supplying flux may include a plurality of flux supply pathways, a plurality of remotely-controllable kinematic flux delivery structures, and a control system receiving first data identifying which of the remotely-controllable kinematic flux delivery structures is operationally coupled to which of the flux supply pathways and receiving second data identifying which of the remotely-controllable kinematic flux delivery structures is operationally coupled to which of a plurality of kinematic support structures.

First claim

What is claimed is:

1. A method of supplying flux, the method comprising:
receiving first data at a control system in response to a remotely-controllable kinematic flux delivery structure being in an operationally coupled state with a flux supply pathway, the first data comprising information identifying the remotely-controllable kinematic flux delivery structure, the first data being transmitted from a first data source at the remotely-controllable kinematic flux delivery structure; and
receiving second data at the control system in response to the remotely-controllable kinematic flux delivery structure being in an operationally coupled state with a kinematic support structure, the second data comprising information identifying the remotely-controllable kinematic flux delivery structure, the second data being transmitted from a second data source at the kinematic support structure;
wherein in response to receiving a flux delivery input command signal from an input device operationally coupled to the kinematic support structure, the control system:
compares the first data and the second data to verify the identifying information of the first data matches the identifying information of the second data and that the remotely-controllable kinematic flux delivery structure is in the operationally coupled state-with the kinematic support structure and that the remotely-controllable kinematic flux delivery structure is in the operationally coupled state with the flux supply pathway, and
sends a signal to supply flux from the flux supply pathway to the kinematic flux delivery structure upon verifying that the remotely-controllable kinematic flux delivery structure is in the operationally coupled state with the kinematic support structure and that the remotely-controllable kinematic flux delivery structure is in the operationally coupled state with the flux supply pathway.

2. The method of claim 1 , wherein the kinematic support structure comprises an actuation interface assembly of a teleoperated surgical system patient side cart.

3. The method of claim 2 , wherein receiving the second data comprises receiving unique identification data associated with the remotely-controllable kinematic flux delivery structure.

4. The method of claim 2 , wherein:
the kinematic support structure further comprises a manipulator arm to which the actuation interface assembly is coupled; and
receiving the second data comprises receiving the second data from a data reader provided at the manipulator arm of the kinematic support structure.

5. The method of claim 1 , wherein receiving the first data comprises receiving unique identification data associated with the remotely-controllable kinematic flux delivery structure, the unique identification data comprising data identifying a type of the remotely-controllable kinematic flux delivery structure.

6. The method of claim 1 , wherein the kinematic support structure comprises a manipulator arm of a teleoperated surgical system patient side cart.

7. The method of claim 1 , wherein the sending of the signal to supply flux comprises transmitting the signal via a router to provide flux from a flux generator port, the flux generator port being part of the flux supply pathway.

8. The method of claim 1 , further comprising transmitting a second signal via the control system to output feedback identifying the operationally coupled state between the remotely-controllable kinematic flux delivery structure and the kinematic support structure, and the operationally coupled state between the remotely-controllable kinematic flux delivery structure and the flux supply pathway.

9. The method of claim 1 , wherein the flux comprises at least one of electrosurgical energy, laser energy, ultrasound energy, radio frequency energy, nerve stimulation energy, an image stream, an audio stream, fluid, gas, and vacuum pressure.

10. The method of claim 1 , wherein:
the first data source comprises an electronic circuit encoded with the information identifying the one of the remotely-controllable kinematic flux delivery structures, and
the second data source comprises a radio frequency identification device encoded with the information identifying the one of the remotely-controllable kinematic flux delivery structures.

11. A system for supplying flux, comprising:
a plurality of flux supply pathways;
a plurality of kinematic support structures;
a plurality of remotely-controllable kinematic flux delivery structures each operationally coupled to a corresponding differing one of the flux supply pathways and to a corresponding differing one of the kinematic support structures; and
a control system configured to:
receive first data comprising information identifying one of the remotely-controllable kinematic flux delivery structures in response to the one of the remotely-controllable kinematic flux delivery structures being in an operationally coupled state with one of the flux supply pathways, the first data being transmitted from a first data source at the one of the remotely controllable kinematic flux delivery structures, and
receive second data comprising information identifying the one of the remotely-controllable kinematic flux delivery structures in response to the one of the remotely-controllable kinematic flux delivery structures being in an operationally coupled state with the one of the kinematic support structures, the second data being transmitted from a second data source at the one of the kinematic support structures;

wherein the control system is configured to:
compare the first data and the second data to verify that the identifying information of the first data matches the identifying information of the second data and that the one of the remotely-controllable kinematic flux delivery structures is in the operationally coupled state with the one of the kinematic support structures and is in the operationally coupled state with the one of the flux supply pathways, and
send a signal to supply flux from the one of the flux supply pathways in response to receiving a flux delivery input command signal from an input device operationally coupled to the one of the kinematic support structures and in response to verifying the operationally coupled state between the one of the remotely-controllable kinematic flux delivery structures with the one of the kinematic support structures and between the one of the remotely-controllable kinematic flux delivery structures with the one of the flux supply pathways.

12. The system of claim 11 , wherein:
each of the kinematic support structures comprises a manipulator arm of a teleoperated surgical system.

13. The system of claim 12 , wherein each of the kinematic support structures further comprises an actuation interface assembly mounted to the associated manipulator arm, each of the remotely-controllable kinematic flux delivery structures being configured to be operationally coupled to a corresponding differing actuation interface assembly.

14. The system of claim 12 , wherein each of the kinematic support structures further comprises a sterile drape connection mechanism located at the associated manipulator arm.

15. The system of claim 13 , further comprising readable memory structures, each one of the readable memory structures being associated with a corresponding differing one of the remotely-controllable kinematic flux delivery structures, wherein the first data source is one of the readable memory structures provided at the one of the remotely-controllable kinematic flux delivery structures.

16. The system of claim 15 , further comprising a plur

Assignees

• Intuitive Surgical Operations

Inventors

• Dachs Ii Gregory W
• Schena Bruce M

Classifications

• A61B2018/00178

  Electrical connectors · CPC title

• A61B18/1206

  Generators therefor · CPC title

• A61B90/98

  using electromagnetic means, e.g. transponders · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B34/37

  Leader-follower robots (A61B34/35 takes precedence) · CPC title