Tool memory-based software upgrades for robotic surgery

Patent metadata

Field	Value
Publication number	US-9345546-B2
Application number	US-201314145406-A
Country	US
Kind code	B2
Filing date	Dec 31, 2013
Priority date	May 4, 2004
Publication date	May 24, 2016
Grant date	May 24, 2016

Abstract

Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.

First claim

What is claimed is:

1. A robotic system comprising:
at least one robotic arm having a tool holder and a signal interface;
a processor coupled to the at least one robotic arm; and
a memory coupled to the processor;
wherein the processor is configured to:
download tool type identifier to the memory from a first robotic tool coupled to one of said at least one robotic arm;
determine from the tool type identifier whether tool kinematic data corresponding to the first robotic tool is available in the memory;
if said corresponding tool kinematic data is determined to be not available, download said tool kinematic data corresponding to the first robotic tool to the memory; and
drive a second robotic tool coupled to one of said at least one robotic arm using the tool kinematic data downloaded to the memory from the first robotic tool, wherein the first robotic tool and the second robotic tool share the same tool type identifier.

2. The system of claim 1 , the second robotic tool being coupled to the same robotic arm as the first robotic tool, and wherein the first robotic tool is decoupled from said robotic arm prior to the second robotic tool being coupled to said robotic arm.

3. The system of claim 1 , the second robotic tool being coupled to a different robotic arm from the first robotic tool.

4. The system of claim 1 , the processor further configured to associate the downloaded tool kinematic data to the second robotic tool using a tool type identifier of the second robotic tool.

5. The system of claim 1 , the processor further configured to drive a third robotic tool coupled to one of said at least one robotic arm using tool kinematic data already stored in the memory, if a tool type identifier of the third robotic tool is included on a native list.

6. The system of claim 1 , the processor further configured to drive a third robotic tool coupled to one of said at least one robotic arm using tool kinematic data already stored in the memory, if a system software revision stored on the third robotic tool is more recent than a system software revision of the processor.

7. The system of claim 1 , the processor further configured to drive a third robotic tool coupled to one of said at least one robotic arm using robotic tool data already stored in the memory.

8. The system of claim 1 , the processor further configured to download data from the first robotic tool only in response to the first robotic tool conveying a PNP flag signal to the processor.

9. The system of claim 1 , the tool type identifier comprising a software revision identifier.

Assignees

• Intuitive Surgical Operations

Inventors

• Toth Gregory K
• Swarup Nitish
• Nixon Thomas R
• Larkin David Q
• Colton Steven J

Classifications

• G16H40/40

  for the management of medical equipment or devices, e.g. scheduling maintenance or upgrades · CPC title

• A61B34/37

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

• A61B2017/00477

  Coupling (A61B2017/0046 takes precedence) · CPC title

• G05B2219/49305

  Store, memory on tool with control and maintenance data · CPC title

• Y10S901/02

  Arm motion controller · CPC title