WO2025154065A1

WO2025154065A1 - Systems and methods for testing attachment of an end effector to a tool changer

Info

Publication number: WO2025154065A1
Application number: PCT/IL2025/050052
Authority: WO
Inventors: Itamar ESHEL; Itay JERBY; Moran GUTHMAN; Ron VISBROT; Hay H. SHMULEVICH
Original assignee: Mazor Robotics Ltd
Current assignee: Mazor Robotics Ltd
Priority date: 2024-01-16
Filing date: 2025-01-15
Publication date: 2025-07-24
Anticipated expiration: 2026-07-16

Abstract

An assembly for a robotic arm includes a tool changer configured to attach to and transfer power to an end effector, and a tracking system that facilitates tracking of the robotic arm within an environment. The tracking system includes at least one processor and memory including instructions that when executed by the at least one processor cause the at least one processor to generate and send a first signal to the tool changer in response to receiving an indication that the end effector has been attached to the tool changer, enable the tool changer to transfer power to the end effector in the presence of feedback from the tool changer that is based on the first signal, and block the tool changer from transferring power to the end effector in the absence of the feedback from the tool changer.

Description

SYSTEMS AND METHODS FOR TESTING ATTACHMENT OF AN END EFFECTOR TO A

TOOL CHANGER

BACKGROUND

[0001] The present disclosure is generally directed to testing attachment of an end effector to a tool changer of a robot, such as a surgical robot.

[0002] Surgical robots may assist a surgeon or other medical provider in carrying out a surgical procedure, or may complete one or more surgical procedures autonomously. Various tools, referred to as end effectors, may be used to carry out the surgical procedure with the aid of imaging devices.

BRIEF SUMMARY

[0003] Example embodiments of the present disclosure beneficially enable improved safety and accuracy within robotic systems having a tool changer that connects to part of a robotic arm and to an end effector.

[0004] Example aspects of the present disclosure include:

[0005] An assembly for a robotic arm, comprising: a tool changer configured to attach to and transfer power to an end effector; and a tracking system that facilitates tracking of the robotic arm within an environment, the tracking system comprising: at least one processor; and memory including instructions that when executed by the at least one processor cause the at least one processor to: generate and send a first signal to the tool changer in response to receiving an indication that the end effector has been attached to the tool changer; enable the tool changer to transfer power to the end effector in the presence of feedback from the tool changer that is based on the first signal; and block the tool changer from transferring power to the end effector in the absence of the feedback from the tool changer.

[0006] Any of the aspects herein, wherein the indication that the end effector has been attached to the tool changer comprises a second signal generated when the end effector is locked to the tool changer.

[0007] Any of the aspects herein, wherein the tracking system further comprises at least one component configured to trigger generation of the second signal when the end effector is locked to the tool changer. [0008] Any of the aspects herein, wherein the at least one component comprises an electromechanical switch, an electrooptical switch, or a proximity sensor.

[0009] Any of the aspects herein, wherein the feedback comprises the first signal itself.

[0010] Any of the aspects herein, wherein the tool changer comprises an electrical path that forms part of a circuit that enables the first signal to travel from the tracking system through the tool changer and back to the tracking system as the feedback.

[0011] Any of the aspects herein, wherein the tool changer comprises pins that form part of the electrical path.

[0012] Any of the aspects herein, wherein the pins are spring-loaded and have protruded state in which a spring of each pin is decompressed and a pushed-in state where the spring of each pin is compressed.

[0013] Any of the aspects herein, wherein, when the pins are in the pushed-in state, the circuit is closed to enable the first signal to travel from the tracking system through the tool changer and back to the tracking system as the feedback, and wherein, when one of the pins are in the protruded state, the circuit is open and the first signal is prevented from travelling from the tracking system through the tool changer and back to the tracking system as the feedback.

[0014] Any of the aspects herein, wherein the memory includes instructions that when executed by the at least one processor, cause the at least one processor to: provide a first notification to indicate to a user that the end effector has been attached to the tool changer.

[0015] Any of the aspects herein, wherein the memory includes instructions that when executed by the at least one processor, cause the at least one processor to: provide, in the presence of the feedback from the tool changer that is based on the first signal, a second notification that the connection between the end effector and the tool changer is complete.

[0016] Any of the aspects herein, wherein the memory includes instructions that when executed by the at least one processor, cause the at least one processor to: provide, in the absence of the feedback from the tool changer, a third notification that the connection between the end effector and the tool changer is not complete.

[0017] Any of the aspects herein, wherein one or more of the first notification, the second notification, and the third notification comprises an audio notification, a visual notification, or both. [0018] Any of the aspects herein, wherein the memory includes instructions that when executed by the at least one processor, cause the at least one processor to: enable the tool changer to transfer power to the end effector by closing a switch positioned between a power source that supplies the power and an electrical interface of the tool changer.

[0019] Any of the aspects herein, wherein the tool changer comprises an electrical interface that electrically connects to a corresponding electrical interface of the end effector, and wherein enabling the tool changer to transfer power to the end effector includes: identifying the end effector; and supplying power to portions of the electrical interface of the tool changer in accordance with the identified end effector.

[0020] Any of the aspects herein, wherein identifying the end effector includes accessing a memory of the end effector to identify the end effector’s type.

[0021] Example aspects of the present disclosure include:

[0022] A tracking system that facilitates tracking of a robotic arm within an environment, the tracking system comprising: at least one processor; and memory including instructions that when executed by the at least one processor cause the at least one processor to: generate and send a first signal to a tool changer in response to receiving an indication that an end effector has been attached to the tool changer; enable the tool changer to transfer power to the end effector in the presence of feedback from the tool changer that is based on the first signal; and block the tool changer from transferring power to the end effector in the absence of the feedback from the tool changer.

[0023] Any of the aspects herein, wherein the indication that the end effector has been attached to the tool changer comprises a second signal generated when the end effector is locked to the tool changer.

[0024] Any of the aspects herein, wherein the tracking system further comprises at least one component configured to trigger generation of the second signal when the end effector is locked to the tool changer.

[0025] Example aspects of the present disclosure include:

[0026] A method, comprising: receiving an indication that a locking mechanism has been actuated to lock an end effector of a robotic arm to a tool changer of the robotic arm; in response to receiving the indication, sending a signal to an electrical interface of the tool changer; providing, in the presence of feedback from the tool changer that is based on the signal, a first notification that end effector and the tool changer are safely attached; and providing, in the absence of the feedback from the tool changer, a second notification that end effector and the tool changer are not safely attached. [0027] Any aspect in combination with any one or more other aspects.

[0028] Any one or more of the features disclosed herein.

[0029] Any one or more of the features as substantially disclosed herein.

[0030] Any one or more of the features as substantially disclosed herein in combination with any one or more other features as substantially disclosed herein.

[0031] Any one of the aspects/features/embodiments in combination with any one or more other aspects/features/embodiments .

[0032] Use of any one or more of the aspects or features as disclosed herein.

[0033] It is to be appreciated that any feature described herein can be claimed in combination with any other feature(s) as described herein, regardless of whether the features come from the same described embodiment.

[0034] The details of one or more aspects of the disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the techniques described in this disclosure will be apparent from the description and drawings, and from the claims.

[0035] The phrases “at least one”, “one or more”, and “and/or” are open-ended expressions that are both conjunctive and disjunctive in operation. For example, each of the expressions “at least one of A, B and C”, “at least one of A, B, or C”, “one or more of A, B, and C”, “one or more of A, B, or C” and “A, B, and/or C” means A alone, B alone, C alone, A and B together, A and C together, B and C together, or A, B and C together. When each one of A, B, and C in the above expressions refers to an element, such as X, Y, and Z, or class of elements, such as XI -Xn, Yl-Ym, and Zl- Zo, the phrase is intended to refer to a single element selected from X, Y, and Z, a combination of elements selected from the same class (e.g., XI and X2) as well as a combination of elements selected from two or more classes (e.g., Y 1 and Zo).

[0036] The term “a” or “an” entity refers to one or more of that entity. As such, the terms “a” (or “an”), “one or more” and “at least one” can be used interchangeably herein. It is also to be noted that the terms “comprising”, “including”, and “having” can be used interchangeably.

[0037] The preceding is a simplified summary of the disclosure to provide an understanding of some aspects of the disclosure. This summary is neither an extensive nor exhaustive overview of the disclosure and its various aspects, embodiments, and configurations. It is intended neither to identify key or critical elements of the disclosure nor to delineate the scope of the disclosure but to present selected concepts of the disclosure in a simplified form as an introduction to the more detailed description presented below. As will be appreciated, other aspects, embodiments, and configurations of the disclosure are possible utilizing, alone or in combination, one or more of the features set forth above or described in detail below.

[0038] Numerous additional features and advantages of the present disclosure will become apparent to those skilled in the art upon consideration of the embodiment descriptions provided hereinbelow.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0039] The accompanying drawings are incorporated into and form a part of the specification to illustrate several examples of the present disclosure. These drawings, together with the description, explain the principles of the disclosure. The drawings simply illustrate preferred and alternative examples of how the disclosure can be made and used and are not to be construed as limiting the disclosure to only the illustrated and described examples. Further features and advantages will become apparent from the following, more detailed, description of the various aspects, embodiments, and configurations of the disclosure, as illustrated by the drawings referenced below. [0040] Fig. 1A shows aspects of a system according to at least one embodiment of the present disclosure.

[0041] Fig. IB shows additional aspects of the system according to at least one embodiment of the present disclosure.

[0042] Fig. 1C shows aspects of a tracking system according to at least one embodiment of the present disclosure.

[0043] Fig. ID shows aspects of an end effector according to at least one embodiment of the present disclosure.

[0044] Figs. 2A and 2B show various views of a tool changer according to at least one embodiment of the present disclosure.

[0045] Fig. 2C shows distal end view of a tracking system according to at least one embodiment of the present disclosure.

[0046] Fig. 2D illustrates a side view of a tool changer connected to an end effector and a tracking system for explaining connection verification features according to at least one embodiment of the present disclosure. [0047] Fig. 2E illustrates possible electrical paths for verifying that an end effector is connected to a tool changer according to at least one embodiment of the present disclosure.

[0048] Fig. 3 illustrates a flow chart for issuing one or more alerts when connecting a tool changer to a tracking system according to at least one embodiment of the present disclosure.

[0049] Fig. 4 illustrates a flow chart for connecting a tool changer to a tracking system and an end effector to a tool changer according to at least one embodiment of the present disclosure.

[0050] Fig. 5 illustrates a more detailed flow chart for connecting an end effector to a tool changer according to at least one embodiment of the present disclosure.

[0051] Fig. 6 illustrates a flow chart for issuing notifications or alerts when connecting an end effector to a tool changer according to at least one embodiment of the present disclosure.

DETAILED DESCRIPTION

[0052] It should be understood that various aspects disclosed herein may be combined in different combinations than the combinations specifically presented in the description and accompanying drawings. It should also be understood that, depending on the example or embodiment, certain acts or events of any of the processes or methods described herein may be performed in a different sequence, and/or may be added, merged, or left out altogether (e.g., all described acts or events may not be necessary to carry out the disclosed techniques according to different embodiments of the present disclosure). In addition, while certain aspects of this disclosure are described as being performed by a single module or unit for purposes of clarity, it should be understood that the techniques of this disclosure may be performed by a combination of units or modules associated with, for example, a computing device and/or a medical device.

[0053] In one or more examples, the described methods, processes, and techniques may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored as one or more instructions or code on a computer-readable medium and executed by a hardware-based processing unit. Alternatively or additionally, functions may be implemented using machine learning models, neural networks, artificial neural networks, or combinations thereof (alone or in combination with instructions). Computer-readable media may include non-transitory computer-readable media, which corresponds to a tangible medium such as data storage media (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer). [0054] Instructions may be executed by one or more processors, such as one or more digital signal processors (DSPs), general purpose microprocessors (e.g., Intel Core i3, i5, i7, or i9 processors; Intel Celeron processors; Intel Xeon processors; Intel Pentium processors; AMD Ryzen processors; AMD Athlon processors; AMD Phenom processors; Apple A10 or 10X Fusion processors; Apple Al l, A12, A12X, A12Z, or A13 Bionic processors; or any other general purpose microprocessors), graphics processing units (e.g., Nvidia GeForce RTX 2000-series processors, Nvidia GeForce RTX 3000-series processors, AMD Radeon RX 5000-series processors, AMD Radeon RX 6000-series processors, or any other graphics processing units), application specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Accordingly, the term “processor” as used herein may refer to any of the foregoing structure or any other physical structure suitable for implementation of the described techniques. Also, the techniques could be fully implemented in one or more circuits or logic elements.

[0055] Before any embodiments of the disclosure are explained in detail, it is to be understood that the disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The disclosure is capable of other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of “including,” “comprising,” or “having” and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Further, the present disclosure may use examples to illustrate one or more aspects thereof. Unless explicitly stated otherwise, the use or listing of one or more examples (which may be denoted by “for example,” “by way of example,” “e.g.,” “such as,” or similar language) is not intended to and does not limit the scope of the present disclosure. [0056] The terms proximal and distal are used in this disclosure with their conventional medical meanings, proximal being closer to the operator or user of the system, and further from the region of surgical interest in or on the patient, and distal being closer to the region of surgical interest in or on the patient, and further from the operator or user of the system.

[0057] Embodiments of the present disclosure provide technical solutions to one or more of the problems related to (1) user effort needed to attach an end effector to a tool changer, (2) unsafe operation of an end effector due to improper connection to a tool changer, and/or (3) other potentially dangerous consequences of having an improper connection between an end effector and a tool changer.

[0058] Figs 1A-1D illustrate elements of a system 100 according to an embodiment of the present disclosure. The system 100 may be used to carry out a robot-assisted surgery or procedure and/or carry out one or more other aspects of one or more of the methods disclosed herein. The system 100 comprises one or more imaging device(s) 112, a robot 114, a navigation system 118, a database 130, a tracking system 132, a cloud or other network 134, a tool changer 136, an end effector 140. Systems according to other embodiments of the present disclosure may comprise more or fewer components than the system 100. For example, the system 100 may not include the imaging device 112, the database 130, and/or the cloud 134.

[0059] The imaging device 112 may be operable to image anatomical feature(s) (e.g., a bone, veins, tissue, etc.) and/or other aspects of patient anatomy to yield image data (e.g., image data depicting or corresponding to a bone, veins, tissue, etc.). “Image data” as used herein refers to the data generated or captured by an imaging device 112, including in a machine-readable form, a graphical/visual form, and in any other form. In various examples, the image data may comprise data corresponding to an anatomical feature of a patient, or to a portion thereof. The image data may be or comprise a preoperative image, an intraoperative image, a postoperative image, or an image taken independently of any surgical procedure. In some embodiments, a first imaging device 112 may be used to obtain first image data (e.g., a first image) at a first time, and a second imaging device 112 may be used to obtain second image data (e.g., a second image) at a second time after the first time. The imaging device 112 may be capable of taking a two-dimensional (2D) image or a three-dimensional (3D) image to yield the image data. The imaging device 112 may be or comprise, for example, an ultrasound scanner (which may comprise, for example, a physically separate transducer and receiver, or a single ultrasound transceiver), an 0-arm, a C-arm, a G-arm, or any other device utilizing X-ray -based imaging (e.g., a fluoroscope, a CT scanner, or other X- ray machine), a magnetic resonance imaging (MRI) scanner, an optical coherence tomography (OCT) scanner, an endoscope, a microscope, an optical camera, a thermographic camera (e.g., an infrared camera), a radar system (which may comprise, for example, a transmitter, a receiver, a processor, and one or more antennae), or any other imaging device 112 suitable for obtaining images of an anatomical feature of a patient. The imaging device 112 may be contained entirely within a single housing, or may comprise a transmitter/emitter and a receiver/detector that are in separate housings or are otherwise physically separated.

[0060] In some embodiments, the imaging device 112 may comprise more than one imaging device 112. For example, a first imaging device may provide first image data and/or a first image, and a second imaging device may provide second image data and/or a second image. In still other embodiments, the same imaging device may be used to provide both the first image data and the second image data, and/or any other image data described herein. The imaging device 112 may be operable to generate a stream of image data. For example, the imaging device 112 may be configured to operate with an open shutter, or with a shutter that continuously alternates between open and shut so as to capture successive images. For purposes of the present disclosure, unless specified otherwise, image data may be considered to be continuous and/or provided as an image data stream if the image data represents two or more frames per second.

[0061] The robot 114 comprises one or more robotic arms 116, a processor 120, a memory 122, a communication interface 124, and a controller 128. Robots according to other embodiments of the present disclosure may comprise more or fewer components than the robot 114. In some embodiments, the robot 114 may be mechanically coupled with (e.g., affixed to, attached to, mounted to, etc.) a patient bed or table. In other embodiments, the robot 114 may be disposed on a robot cart 144. The robot cart 144 may be a mobile platform that enables the robot 114 and/or components thereof to be positioned relative to the patient and/or the bed or table on which the patient is positioned. In some embodiments, the robot cart 144 may comprise wheels that enable the robot cart 144 to roll or move relative to the patient. The robot cart 144 may be detachable from the wheels or the wheels may be lockable such that, once the robot cart 144 is positioned in a desired location relative to the patient, the robot cart 144 will remain fixed in the desired location. In other words, the robot cart 144 may have a mechanism that enables the robot cart 144 to remain fixed relative to the patient. The mechanism may better ensure that the robot 114 and/or any other components on the robot cart 144 do not move relative to the patient due to the mobility of the robot cart 144 once the robot cart 144 has been positioned in the desired location.

[0062] The robot 114 may be or comprise any surgical robot or surgical robotic system. The robot 114 may be or comprise, for example, the Mazor X™ Stealth Edition robotic guidance system or successor thereof. The robot 114 may be configured to position the imaging device 112 at one or more precise position(s) and orientation/ s), and/or to return the imaging device 112 to the same position(s) and orientation(s) at a later point in time. The robot 114 may additionally or alternatively be configured to manipulate the end effector 140 and/or a component thereof such as a surgical tool (whether based on guidance from the navigation system 118 or not) to accomplish or to assist with a surgical task. In some embodiments, the robot 114 may be configured to hold and/or manipulate an anatomical element during or in connection with a surgical procedure.

[0063] In some embodiments, the robotic arm 116 may comprise a first robotic arm and a second robotic arm, though the robot 114 may comprise more than two robotic arms. In some embodiments, one or more of the robotic arms 116 may be used to hold and/or maneuver the imaging device 112. In embodiments where the imaging device 112 comprises two or more physically separate components (e.g., a transmitter and receiver), one robotic arm 116 may hold one such component, and another robotic arm 116 may hold another such component. Each robotic arm 116 may be positionable independently of the other robotic arm. The robotic arms 116 may be controlled in a single, shared coordinate space, or in separate coordinate spaces.

[0064] The robot 114, together with the robotic arm 116, may have, for example, one, two, three, four, five, six, seven, or more degrees of freedom. Further, the robotic arm 116 may be positioned or positionable in any pose, plane, and/or focal point. The pose includes a position and an orientation. As a result, an imaging device 112, the tracking system 132, the tool changer 136, the end effector 140 and components thereof such as a surgical tool, or other object held by or connected to the robot 114 (or, more specifically, held by or connected to the robotic arm 116) may be precisely positionable in one or more needed and specific positions and orientations.

[0065] The robotic arm(s) 116 may comprise one or more sensors that enable the processor 120 (or another processor of another component of the system 100) to determine a precise pose in space of the robotic arm (as well as any object or element held by or secured to the robotic arm such as the tracking system 132, the tool changer 136, and/or the end effector 140).

[0066] With reference to Fig. IB, the processor 120 of the robot 114 may be any processor described herein or any similar processor. The processor 120 may be configured to execute instructions stored in the memory 122, which instructions may cause the processor 120 to carry out one or more computing steps utilizing or based on data received from the imaging device 112, the navigation system 118, the database 130, the cloud 134, and/or the end effector 140. The processor 120 may be or comprise one or more digital signal processors (DSPs), general purpose microprocessors (e.g., Intel Core i3, i5, i7, or i9 processors; Intel Celeron processors; Intel Xeon processors; Intel Pentium processors; AMD Ryzen processors; AMD Athlon processors; AMD Phenom processors; Apple A10 or 10X Fusion processors; Apple Al l, A12, A12X, A12Z, or A13 Bionic processors; or any other general purpose microprocessors), graphics processing units (e.g., Nvidia GeForce RTX 2000-series processors, Nvidia GeForce RTX 3000-series processors, AMD Radeon RX 5000-series processors, AMD Radeon RX 6000-series processors, or any other graphics processing units), application specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry.

[0067] The memory 122 may be or comprise RAM, DRAM, SDRAM, other solid-state memory, any memory described herein, or any other tangible, non-transitory memory for storing computer- readable data and/or instructions. The memory 122 may store information or data useful for completing, for example, one or more steps of the methods described herein, or of any other methods. In one embodiment, the memory 122 comprises an EEPROM. The memory 122 may store, for example, instructions and/or machine learning models that support one or more functions of the robot 114. For instance, the memory 122 may store content (e.g., instructions and/or machine learning models) that, when executed by the processor 120, enable image processing, segmentation, transformation, and/or registration. Such content, if provided as in instruction, may, in some embodiments, be organized into one or more applications, modules, packages, layers, or engines. Alternatively or additionally, the memory 122 may store other types of content or data (e.g., machine learning models, artificial neural networks, deep neural networks, etc.) that can be processed by the processor 120 to carry out the various method and features described herein. Thus, although various contents of memory 122 may be described as instructions, it should be appreciated that functionality described herein can be achieved through use of instructions, algorithms, and/or machine learning models. The data, algorithms, and/or instructions may cause the processor 120 to manipulate data stored in the memory 122 and/or received from or via the imaging device 112, the database 130, the tracking system 132, the cloud 134, the tool changer 136, and/or the end effector 140.

[0068] The communication interface 124 may be used for receiving image data or other information from an external source (such as the imaging device 112, the navigation system 118, the database 130, the tracking system 132, the cloud 134, the tool changer 136, the end effector 140, and/or any other system or component not part of the system 100), and/or for transmitting instructions, images, or other information to an external system or device (e.g., the imaging device 112, the robot 114, the navigation system 118, the database 130, the tracking system 132, the cloud 134, the tool changer 136, the end effector 140, and/or any other system or component not part of the system 100). The communication interface 124 may comprise one or more wired interfaces (e.g., a USB port, an Ethernet port, a Firewire port) and/or one or more wireless transceivers or interfaces (configured, for example, to transmit and/or receive information via one or more wireless communication protocols such as 802.11a/b/g/n, Bluetooth, NFC, ZigBee, and so forth). In some embodiments, the communication interface 124 may be useful for enabling the robot 114 (or one or more components thereof) to communicate with one or more other processors discussed herein, whether to reduce the time needed to accomplish a computing-intensive task or for any other reason.

[0069] The controller 128 may be configured to automatically control one or more functions and/or components of the robot 114. In some embodiments, the controller 128 may utilize the processor 120 to perform computations during the course of controlling the one or more functions and/or components of the robot 114. In some embodiments, the controller 128 may be configured to actuate one or more motors in one or more joints of the robotic arm 116 to, for example, cause the robotic arm 116 to move. In some embodiments, the controller 128 may receive information from the tracking system 132, the tool changer 136, and/or the end effector 140, and use such information to authenticate and control the tracking system 132, the tool changer 136, and/or end effector 140. For example, the controller 128 may receive authentication information from the end effector 140, and compare such information to information stored, for example, in the database 130. When the authentication information from the end effector 140 does not match the information in the database 130, the controller 128 may prevent the end effector 140 from being used in the surgery or surgical procedure. In another example, the controller 128 may receive usage information from the tracking system 132 associated with a number of times the end effectorl40 has been used. If the number of times the end effector 140 has been used exceeds a threshold value, the controller 128 may prevent the end effector 140 from being used in the surgery or surgical procedure. Such information stored in the tracking system 132, the tool changer 136, and the end effector 140 and received by the controller 128 is discussed in further detail below.

[0070] Still with reference to Fig. IB, the navigation system 118 may provide navigation for a surgeon and/or a surgical robot during an operation. The navigation system 118 may be any now- known or future-developed navigation system, including, for example, the Medtronic StealthStation™ S8 surgical navigation system or any successor thereof. The navigation system 118 may include one or more cameras or other sensor(s) for tracking one or more reference markers, navigated trackers, or other objects within the operating room or other room in which some or all of the system 100 is located. The one or more cameras may be optical cameras, infrared cameras, or other cameras. In some embodiments, the navigation system 118 may comprise one or more electromagnetic sensors. In various embodiments, the navigation system 118 may be used to track a position and orientation (e.g., a pose) of the imaging device 112, the robot 114, the robotic arm 116, and/or the tracking system 132, and components thereof, and/or one or more surgical tools (or, more particularly, to track a pose of a navigated tracker attached, directly or indirectly, in fixed relation to the one or more of the foregoing). The navigation system 118 may include a display (including, for example, the user interface 110) for displaying one or more images from an external source (e.g., imaging device 112 or other source) or for displaying an image and/or video stream from the one or more cameras or other sensors of the navigation system 118. In some embodiments, the system 100 can operate without the use of the navigation system 118. The navigation system 118 may be configured to provide guidance to a surgeon or other user of the system 100 or a component thereof, to the robot 114, or to any other element of the system 100 regarding, for example, a pose of one or more anatomical elements, whether or not a tool is in the proper trajectory, and/or how to move a tool into the proper trajectory to carry out a surgical task according to a preoperative or other surgical plan. The navigation system 118 comprises a processor 104, a memory 106, a communication interface 108, and a user interface 110.

[0071] In some embodiments, reference markers (e.g., navigation markers) may be placed on the imaging device 112, the robot 114 (including, e.g., on the robotic arm 116), or any other object in the surgical space. As described with reference to Fig. 1C, for example, one or more navigation markers 150 (e.g., infrared Light Emitting Diodes (IRLEDs)) on the tracking system 132 may be used as reference markers that the navigation system uses to track the robotic arm 116 and/or the end effector 140. The reference markers may be tracked by the navigation system 118, and the results of the tracking may be used by the robot 114 and/or by an operator of the system 100 or any component thereof. In some embodiments, the navigation system 118 can be used to track other components of the system (e.g., imaging device 112).

[0072] The processor 104 may be similar to or the same as any processor discussed herein (e.g., the processor 120). The processor 104 may be configured to execute instructions stored in the memory 106, which instructions may cause the processor 104 to carry out one or more computing steps utilizing or based on data received from the imaging device 112, the robot 114, the database 130, the cloud 134, and/or any other component of the system 100.

[0073] The memory 106 may be similar to or the same as any memory discussed herein (e.g., the memory 122). The memory 106 may be or comprise RAM, DRAM, SDRAM, other solid-state memory, any memory described herein, or any other tangible, non-transitory memory for storing computer-readable data and/or instructions. In one embodiment, the memory 106 comprises an EEPROM. The memory 106 may store information or data useful for completing, for example, one or more steps of the methods described herein, or of any other methods.

[0074] The communication interface 108 may be similar to or the same as any communication interface discussed herein (e.g., the communication interface 124). The communication interface 108 may be used for receiving image data or other information from an external source (such as the imaging device 112, the robot 114, the database 130, the cloud 134, and/or any other system or component not part of the system 100), and/or for transmitting instructions, images, or other information to an external system or device (e.g., the imaging device 112, the robot 114, the database 130, the cloud 134, and/or any other system or component not part of the system 100).

[0075] The user interface 110 may be or comprise one or multiple user interfaces. The user interface 110 may be or comprise a keyboard, mouse, trackball, monitor, television, screen, touchscreen, and/or any other device for receiving information from a user and/or for providing information to a user. The user interface 110 may be used, for example, to receive a user selection or other user input regarding any step of any method described herein. Notwithstanding the foregoing, any required input for any step of any method described herein may be generated automatically by the system 100 (e.g., by the processor 104, the processor 120, or another component of the system 100) or received by the system 100 from a source external to the system 100. In some embodiments, the user interface 110 may be useful to allow a surgeon or other user to modify instructions to be executed by the processor 104 (or in some embodiments the processor 120) according to one or more embodiments of the present disclosure, and/or to modify or adjust a setting of other information displayed on the user interface 110 or corresponding thereto.

[0076] Although the user interface 110 is shown as part of the navigation system 118, in some embodiments, the processor 104 and/or the processor 120 (or any other processor discussed herein) may utilize a user interface 110 that is housed separately from the navigation system 118. In some embodiments, the user interface 110 may be located proximate one or more other components of the robot 114, while in other embodiments, the user interface 110 may be located remotely from one or more other components of the robot 114.

[0077] The database 130 may store information that correlates one coordinate system to another (e.g., one or more robotic coordinate systems to a patient coordinate system and/or to a navigation coordinate system). The database 130 may additionally or alternatively store, for example, one or more surgical plans (including, for example, pose information about a target and/or image information about a patient’s anatomy at and/or proximate the surgical site, for use by the robot 114, the navigation system 118, and/or a user of the system 100; information about planned surgical tools to be used and connected to the robotic arm 116 to carry out the surgery or surgical procedure); one or more images useful in connection with a surgery to be completed by or with the assistance of one or more other components of the system 100; information related to the tracking system 132, the tool changer 136, and/or the end effector 140, and/or any other useful information. The database 130 may be configured to provide any such information to any device of the system 100 or external to the system 100, whether directly or via the cloud 134. In some embodiments, the database 130 may be or comprise part of a hospital image storage system, such as a picture archiving and communication system (PACS), a health information system (HIS), and/or another system for collecting, storing, managing, and/or transmitting electronic medical records including image data.

[0078] The cloud 134 may be or represent the Internet or any other wide area network. The robot 114, the navigation system 118, the database 130, and/or the like may be connected to the cloud 134 via the communication interface 108 and/or the communication interface 124, using a wired connection, a wireless connection, or both. In some embodiments, one or more components of the system 100 may communicate with the imaging device 112, the database 130, any other component of the system 100, and/or an external device (e.g., a computing device outside the system 100) via the cloud 134.

[0079] The tracking system 132 has a proximal end with an interface that is connectable to the distal end of the robotic arm 116 to attach the tracking system 132 to the robotic arm 116. The tracking system 132 has a distal end that facilitates connection of the tracking system 132 to the tool changer 136. In general, the tracking system 132 remains on the robotic arm 116 through the course of the surgery or surgical procedure. The tracking system 132 may comprise a tracking device 134 that includes components used for tracking the system 132 itself, the robotic arm 116, the tool changer 136, and/or the end effector 140 within a coordinate system, such as a coordinate system formed by the navigation system 118 with the aid of imaging device(s) 112. The tracking device 134 may comprise a processor 148, a memory 152, and one or more passive or active navigation markers 150 (e.g., reflective spheres as passive markers, infrared Light Emitting Diodes (IRLEDs) as active markers). As shown in Fig. 1C, the navigation markers 150 may be disposed in a predetermined arrangement on the tracking system 132 which may enable, for example, registration with other elements of the system based on the detection of the navigation markers 150 using image data from the imaging devices 112 and processing by the navigation system 118. Additionally or alternatively, the memory 152 of the tracking system 132 may comprise a calibration file including calibration and authentication information that enables the controller 128 to calibrate and authenticate the tracking system 132, as discussed in further detail below. In some embodiments, the tracking system 132 may omit one or more components depicted in Fig. IB. In some embodiments, the tracking system 132 may comprise additional components, such as temperature sensors, LED driver circuit(s), other sensors used for surgery, communication interfaces, and/or the like.

[0080] The processor 148 may be similar to or the same as any processor discussed herein (e.g., the processor 104, the processor 120, etc.). The processor 148 may be configured to execute instructions stored in the memory 152, which instructions may cause the processor 148 to carry out one or more computing steps utilizing or based on data received from the imaging device 112, the robot 114, the database 130, the cloud 134, and/or any other component of the system 100.

[0081] The memory 152 may be similar to or the same as any memory discussed herein (e.g., memory 106, the memory 122, etc.). The memory 152 may be or comprise RAM, DRAM, SDRAM, other solid-state memory, any memory described herein, or any other tangible, non- transitory memory for storing computer-readable data and/or instructions. The memory 152 may store information or data useful for completing, for example, one or more steps of the methods described herein, or of any other methods. In one embodiment, the memory 152 comprises an EEPROM that is programmable to store information specific to the tracking system 132. For example, the EEPROM may comprise information about the position of LEDs on the tracking system 132; specification information associated with the dimensions, operating conditions, and the like of the tracking system 132; usage information associated with the tracking system 132; authentication information of the tracking system 132; and/or any other useful information. Such information may be sent by the processor 148 to the controller 128 upon the tracking system 132 being attached to the robotic arm 116.

[0082] The interface(s) 156 may comprise one or more electrical and/or mechanical interfaces to electrically and mechanically connect interface(s) 164 of the tool changer 136 to the tracking system 132 to enable the tool changer 136 to provide power and control signals to the end effector 140. The end effector 140 may be an active component, such as a motorized surgical tool. In this case, the interfaces 156 may send signals to and receive signals from the end effector 140 through the tool changer 136 to control the end effector 140 and/or active components of the end effector 140 such as surgical drills, reamers, etc. In some embodiments, power supplied to the interfaces 156 and signals exchanged with the end effector 140 are controlled by the processor 148. In some examples, the end effector 140 comprises a passive component, such as a cylinder that facilitates use of another tool therethrough - whether motorized or non-motorized. The interfaces 156 may control or include a locking mechanism of the tracking system 132 that locks and unlocks the tool changer 136 such that the tool changer 136 can or cannot move relative to the tracking system 132. The locking mechanism may be mechanical (e.g., the tool changer 136 is blocked from attaching to or detaching from the tracking system 132 by bolt(s) and/or the like), electrical (e.g., the tool changer 136 receives an electrical signal from the locking mechanism that causes the tool changer 136 to lock or unlock), combinations thereof, and/or the like.

[0083] The tracking system 132 may further comprise a force-torque (FT) sensor 158. The FT sensor 158 may be in force-transmitting contact with the robotic arm 116, tool changer 136, and/or end effector 140 so as to measure rotational, compressive, and/or tensile forces applied to one or more of these elements. The FT sensor 158 may generate sensor data indicative of these forces and send the sensor data to processor 148 which may generate an alert for excessive forces and/or compensate for forces (e.g., caused by robotic arm 116 deflections). The FT sensor 158 may be a six axis FT sensor that can measure tensile and compression forces as well as elastic deformations and rotational forces around axes. The FT sensor 158 may be located closer to a distal end of the tracking system 132 than a proximal end thereof. The FT sensor 158 may be implemented with suitable force and torque sensing technology, such as a strain gauge sensor. It should be appreciated that the FT sensor 158 may be replaced by a sensor that only senses rotational force (and not necessarily compressive and tensile forces). According to embodiments of the present disclosure, the FT sensor 158 may further generate sensor data indicative of a rotational force applied to one or more connections (e.g., screw connections) between the tool changer 136 and the tracking system 132. Figs. 2A to 4 describe these aspects in more detail.

[0084] The tracking system 132 may comprise one or more output devices 159 configured to issue audio and/or visual alerts based on output of the FT sensor 158. Examples of output devices 159 include but are not limited to light sources (e.g., visible-light LEDs separate from navigation markers 150) for issuing visual alerts, a display for issuing visual alerts with readable text, one or more speakers for issuing audio alerts, and/or the like. In accordance with embodiments of the present disclosure, such alerts may be generated based on output of the FT sensor 158 that is indicative rotational, compressive, and/or tensile forces sensed when connecting the tool changer 136 to the tracking system 132 and/or during a surgical procedure involving the robotic arm.

[0085] As noted above, the tool changer 136 may comprise one or more electrical and/or mechanical interfaces 164 at the distal and proximal ends thereof that electrically and mechanically connect with an end effector 140 and the tracking system 132. The interfaces 164 are described in more detail below with reference to Figs. 2A and 2B but should generally be understood to include a first type of mechanical connection to the tracking system (e.g., via one or more screws with corresponding screw locators) and a second type of mechanical connection to the end effector (e.g., a locking kinematic connection). In some cases, the first and second types of mechanical connections are the same type of connection, such as both being a kinematic connection or both including screws and corresponding screw locators. The tool changer 136 may comprise a distal end interface with fixed dimensions designed to connect to corresponding end effectors 140. Optionally, the tool changer 136 comprises a distal end interface with adjustable dimensions to enable end effectors 140 of different shapes and sizes to be coupled to the robotic arm 116. The tool changer 136 comprises a tool changer controller 160 that generates control signals (or in some cases receive control signals from other components of the system 100) that are passed to the end effector 140. The tool changer controller 160 may control, for example, an interlocking feature of the tool changer 136 such that the end effector 140 can only be uncoupled from the tool changer 136 when the tool changer 136 is positioned near or within a tool stand.

[0086] In one example, the tool changer controller 160 may determine that the tool changer 136 is coupled with the end effector 140. The tool changer controller 160 may determine this information based on sensors, based on signals generated when the end effector 140 has effectively coupled with the tool changer 136, based on the step in the surgical procedure, combinations thereof, and/or the like. Once the tool changer controller 160 determines that the tool changer 136 and the end effector 140 are coupled, the tool changer controller 160 may keep the interlocking feature locked until receiving a further signal. The tool changer controller 160 may generate and/or send the further signal when the tool changer 136 has been placed back in the tool stand (e.g., after the end effector 140 has been used and the surgery or surgical procedure has progressed to the next step), such that the tool changer controller 160 changes the interlocking feature to an unlocked state.

[0087] The tracking system 132 and the tool changer 136 may each comprise respective connection circuit(s) 161 and 165, which are used to verify secure connection of an end effector 140 to the tool changer 136. For example, as described below with reference to Figs. 5 and 6, at least one embodiment of the present disclosure relates to a multi-stage method for ensuring that an end effector 140 is safely and securely connected to the tool changer 136. In some examples, the method includes using the connection circuit(s) 161 and/or 165 to detect that the end effector 140 is locked to the tool changer 136, and in response, checking whether the two elements are securely connected with the aid of an electrical signal that may be fed to the tool changer 136. In one example, a connection circuit 161 of the tracking system 132 generates the electrical signal in response to detecting that the end effector 140 is locked to the tool changer 136, sends the electrical signal to the tool changer 136 and awaits feedback from the tool changer 136 that is indicative of whether the end effector 140 is securely attached or not. The feedback from the tool changer 136 may comprise the electrical signal itself, a version of the electrical signal, or another signal generated by the tool changer 136 and triggered by receipt of the electrical signal.

[0088] To accomplish the above and below-described method for ensuring a secure connection between the end effector 140 and the tool changer 136, the connection circuit(s) 161 and/or 165 may include a sensor for sensing when a locking mechanism of the tool changer 136 is activated to lock the end effector 140 to the tool changer. For example, as described in more detail below with reference to Figs. 2A and 2B, the locking mechanism may comprise placing the end effector 140 in the tool changer 136 and manually rotating part of the tool changer 136 from an unlocked position to a locked position. The sensor for sensing when the lock complete may comprise a microswitch, a proximity sensor (e.g., capacitive or magnetic), and/or an optoelectrical switch. [0089] With reference to Figs. IB and 1C, the tracking device 134 enables the navigation system 118 to track the robotic arm 116. The tracking device 134 comprises navigation markers 150A- 150F. The navigation markers 150A-150F may be or comprise one or more active markers (e.g., infrared light sources), one or more passive markers (e.g., sections of reflective tape, objects of a particular shape (spheres)), or a combination of active and passive markers. The navigation markers 150A-150F may be, for example, IRLEDs, reflective markers, and/or the like. The navigation system 118 may be configured to obtain pose information describing a pose of the navigation markers 150A-150F, which may be used to determine a correlating pose of the robotic arm 116, the tracking system 132, and/or the end effector 140 (e.g., using transformation 124 and registration 128).

[0090] With reference to Figs. IB and ID, the end effector 140 may include a proximal end having an electromechanical interface that is connectable to an interface 164 of the tool changer 136 and a distal end that comprises an operative portion 180 that can be used to carry out one or more surgical tasks. The end effector 140 may comprise an active end effector, such as when the operative portion 180 comprises a surgical tool, or a passive end effector, such as when the operative portion 180 comprises a tool guide. The end effector 140 also comprises a memory 172, and may additionally comprise a processor 168 and a motor controller 176.

[0091] The operative portion 180 may comprise a surgical tool. The surgical tool may be configured to drill, burr, mill, cut, saw, ream, tap, etc. into anatomical tissues such as patient anatomy (e.g., soft tissues, bone, etc.). In some embodiments, the system 100 may comprise multiple surgical tools, with each surgical tool performing a different surgical task (e.g., a surgical drill for drilling, a surgical mill for milling, a curette for removing anatomical tissue, an osteotome for cutting bone, etc.). In other embodiments, the surgical tool may provide an adapter interface to which different working ends can be attached to perform multiple different types of surgical maneuvers (e.g., the surgical tool may be able to receive one or more different tool bits, such that the surgical tool can drill, mill, cut, saw, ream, tap, etc. depending on the tool bit coupled with the surgical tool). The surgical tool may be operated autonomously or semi-autonomously. The navigation system 118 may track the pose (e.g., position and orientation) of and/or navigate the surgical tool.

[0092] Additionally or alternatively, the operative portion 180 may comprise a tool guide. The tool guide may provide a passive hole through which a surgical tool or component may pass to reach a surgical site. For example, the tool guide may be or comprise a hollow cylinder that can be aligned with a planned trajectory of a surgical tool. As a result, the guide provides a visual indicator to an operator (e.g., a surgeon) of the planned trajectory of the surgical tool. In some cases, the operative portion 180 comprising the tool guide may be attached to the robotic arm 116 and the robotic arm 116 may move such that the tool guide is positioned at the planned surgical entry point. Another robotic arm 116 with a surgical tool (e.g., a surgical drill) may then be positioned such that the surgical tool enters the surgical site through the tool guide.

[0093] The operative portion 180 may be controlled by a motor controller 176. The motor controller 176 may be connected to or otherwise communicate with one or more motors disposed in or connected to the end effector 140. The motor controller 176 may control the operation of the motors, such that the motor controller 176 controls movement of the end effector 140 and/or one or more components thereof such as the operative portion 180. The motor controller 176 may control the motors based on signals sent from the robot 114 or components thereof (e.g., the controller 128), the navigation system 118 or components thereof (e.g., the processor 104), the tracking system 132, the tool changer 136, and/or the like. In one example, such as when the operative portion 180 comprises a surgical tool, the motor controller 176 may control one or more motors of the operative portion 180 to cause movement of the surgical tool, to turn the surgical tool on and off, combinations thereof, and/or the like.

[0094] The processor 168 may be similar to or the same as any processor discussed herein (e.g., the processor 104, processor 120, the processor 148, etc.). The processor 168 may be configured to execute instructions stored in the memory 172, which instructions may cause the processor 168 to send information stored in the memory 172 to one or more components of the system 100 (e.g., to the robot 114, to the navigation system 118, to the tracking system 132, to the tool changer 136, etc.). Additionally or alternatively, the instructions may cause the processor 168 write to or otherwise update information stored in the memory 172, such as to update information about the number of uses of the end effector 140, as discussed in further detail below.

[0095] Still with reference to Figs. IB and ID, the memory 172 may be similar to or the same as any memory discussed herein (e.g., the memory 122). The memory 172 may be or comprise RAM, DRAM, SDRAM, other solid-state memory, any memory described herein such as an EEPROM, or any other tangible, non-transitory memory for storing computer-readable data and/or instructions. The memory 106 may store information or data useful for completing, for example, one or more steps of the methods described herein, or of any other methods. In some cases, both the processor 168 and the stored on a printed circuit board disposed in the end effector 140. The memory 172 is reprogrammable memory, such that information stored in the memory 172 can be erased and reprogrammed. In one embodiment, the memory 172 may be unique to the end effector 140. In other words, each end effector 140 may have a separate memory 172 embedded in the end effector 140 and containing information unique to the end effector 140. The memory 172 comprises end effector type information 184, authentication information 188, calibration information 192, end effector usage information 194, and miscellaneous information 196.

[0096] The end effector type information 184 may indicate whether the end effector 140 is an active end effector (e.g., the operative portion 180 comprises an active surgical tool such as a surgical drill) or a passive end effector (e.g., the operative portion 180 comprises a passive surgical tool such as a tool guide). The end effector type information 184 may be accessed by the processor 168 and sent to the controller 128 of the robot 114. In some cases, the end effector type information 184 may be sent to the navigation system 118 to help the navigation system 118 track the end effector 140. In other words, the navigation system 118 may be able to better track the end effector 140 when the navigation system 118 has information about the type of end effector in use (e.g., a passive end effector may not move as compared to an active end effector which may move). The controller 128 may render the end effector type information 184 to the user interface 110 to enable a user to view the end effector type information 184. The controller 128 may compare the end effector type information 184 to information stored in the database 130 to authenticate the end effector 140. For example, the surgical plan may call for the use of an active end effector capable of resecting anatomical tissue, and the end effector type information 184 may specify that the end effector 140 is an active end effector that includes a surgical drill. The controller 128 may receive the end effector type information 184 and, since the end effector type information 184 matches the end effector type required by the surgical plan, the controller 128 may determine that the end effector 140 connected to the robotic arm 116 is the correct end effector. As another example, the surgical plan may call for the use of an active surgical drill, but the end effector type information 184 may specify that the end effector 140 is a passive instrument (e.g., a tool guide) that cannot resect anatomical tissue. As a result, when the controller 128 compares the end effector type information 184 to the stored data, the controller 128 may determine that the end effector 140 is not the correct end effector for the current step of the procedure. In such examples, the controller 128 may render a warning (e.g., a flashing light) to the display to notify the user that the incorrect end effector has been attached. Additionally or alternatively, the controller 128 may disable use of the robotic arm 116 and/or components thereof until the improper end effector 140 is removed or until the appropriate end effector 140 is attached.

[0097] The authentication information 188 may comprise information that enables the system 100 or components thereof (e.g., the processor 120 of the robot 114) to authenticate the end effector 140. The end effector type information 184 may be or comprise information associated with the manufacturing source, date of manufacturing, lot number, model number, serial number, recommended operating settings, operating parameters, combinations thereof, and/or the like. In some embodiments, the authentication information 188 may be accessed by the processor 168 and sent to the controller 128 of the robot 114. The controller 128 may compare the authentication information 188 to information stored in the database 130 to authenticate the end effector 140. For example, the surgical plan for a surgical procedure may call for the use of an end effector manufactured by a first manufacturer, and the authentication information 188 may specify that the end effector 140 was manufactured by the first manufacturer. The controller 128 may receive the authentication information 188 and, since the authentication information 188 matches the surgical plan, the controller 128 may determine that the end effector 140 connected to the robotic arm 116 is an acceptable end effector for performing the surgical procedure. In some cases, the controller 128 may be able to control the end effector 140 once the end effector 140 has been authenticated. As another example, the surgical plan may call for the use of an end effector manufactured by the first manufacturer, but the authentication information 188 may specify that the end effector 140 was manufactured by a second, different manufacturer. As a result, when the controller 128 compares the authentication information 188 to the stored data, the controller 128 may determine that the end effector 140 is not acceptable to perform the current step of the procedure. In such examples, the controller 128 may render a warning (e.g., a flashing light) to the display to notify the user that the incorrect end effector has been attached. Additionally or alternatively, the controller 128 may disable use of the robotic arm 116 and/or components thereof until the improper end effector 140 is removed or until the appropriate end effector 140 is attached.

[0098] The calibration information 192 may comprise information about the dimensions of the end effector 140 and/or components thereof (e.g., the operative portion 180). The dimensions may be based on one or more measurements of the end effector 140 generated with one or more measurement systems. For example, the dimensions of the end effector 140 may be generated using a CMM. The CMM may capture the geometry of the end effector 140 based on sensing of discrete points on the surface of the end effector 140. In some embodiments, the measurements of the end effector 140 may be stored as the calibration information 192 in the memory 172. The calibration information 192 may be accessed by the processor 168 and sent to the controller 128. The processor 168 may send the information once the end effector 140 is coupled to the robotic arm 116 (e.g., via the tool changer 136). The controller 128 may receive the calibration information 192 and use the calibration information 192 along with the known pose of the robotic arm 116 to register the end effector 140 to the robot 114. The controller 128 may additionally or alternatively register the end effector 140 to any other coordinate system, and send such information to the navigation system 118 to enable the navigation system 118 to track the pose of the end effector 140.

[0099] The end effector usage information 194 may comprise information about a number of times the end effector 140 has been used. For example, the end effector usage information 194 may comprise an integer number representative of the number of times the end effector 140 has connected to a robotic arm 116 and/or a component thereof (e.g., the tool changer 136) and/or the number of times the end effector 140 has been used in a surgery or surgical procedure. In some embodiments, the end effector usage information 194 may be updated and saved to the memory 172 once the end effector 140 has been connected to the tool changer 136. For example, the end effector usage information 194 may indicate that the end effector 140 has been used three times. When the robotic arm 116 moves to the tool stand and the end effector 140 is coupled with the distal end of the tool changer 136, or when the user manually attaches the end effector 140 to the tool changer 136, the processor 168 may access the memory 172 and update the end effector usage information 194 to indicate that the end effector 140 has been used four times. Additionally or alternatively, the processor 168 may send the end effector usage information 194 to one or more components of the system 100, such as to the user interface 110 so that the end effector usage information 194 can be rendered to a display and reviewed by a user (e.g., a physician, a member of surgical staff, etc.). In some embodiments, the end effector usage information 194 may be updated by the processor 168 after the end effector 140 has been used and returned to the tool stand. In other words, the memory 172 is updated after the end effector 140 has been used and the surgical procedure requiring the end effector 140 has concluded. [0100] In some embodiments, the processor 168 may access the end effector usage information 194 and send the end effector usage information 194 to the controller 128, and the controller 128 may determine whether the end effector 140 has exceeded a predetermined number of uses. The predetermined number of uses may be or comprise a threshold value stored, for example, in the database 130. When the number of uses of the end effector 140 meets or exceeds the threshold value, the controller 128 may disable use of the end effector 140 such as by preventing the operative portion 180 of the end effector 140 from receiving power. In some embodiments, the controller 128 may cause the processor 168 to write instructions to the memory 172 that specify that the end effector 140 is not to be used again. Additionally or alternatively, the controller 128 may render a warning to the user interface 110 that notifies the user that the end effector 140 has exceeded the threshold number of uses. The threshold number of uses may be based on the specifications of the surgery or surgical procedure, the surgical plan, surgeon preference, combinations thereof, and/or the like.

[0101] The miscellaneous information 196 may comprise any other useful information associated with the end effector 140 and/or components thereof. The miscellaneous information 196 may comprise historical data associated with the end effector 140, such as the dates on which the end effector 140 was used, overall time of use of the end effector 140, combinations thereof, and/or the like.

[0102] As may be appreciated and as described in more detail below with reference to other figures, some or all of the information 184, 188, 192, 194, and 196 contained in the memory 172 may be used to identify the end effector 140 for the sake of energizing selected portions (e.g., conductive pins) of an electrical interface of the tool changer 136 included with the interfaces 164. Stated another way, an electrical interface 164 of a tool changer 136 may comprise a plurality of conductive pins or other electrical connectors and different end effectors 140 may utilize different ones of the pins or connectors. The information in memory 172 may be used to identify the end effector 140 currently connected to the tool changer 136 so that the tracking system 132 sends power and/or data (e.g., control signals) to the appropriate pins or connectors. For example, the end effector type information 184 may be used to identify the currently connected end effector 140 as a particular model of a drill that utilizes a subset of the electrical pins on the tool changer 136 so that power and/or control signals are sent from the tracking system 132 to the proper pins of the tool changer 136 for the purpose of controlling the end effector 140. [0103] It is to be understood that the above discussion of the memory 172 and the elements thereof (e.g., the end effector type information 184, the authentication information 188, etc.) is not limiting to the end effector 140, and other components of the system 100 may have such information stored in an erasable and programmable memory that is unique to that component. For example, the memory 152 of the tracking system 132 may comprise an EEPROM or any similar erasable and programmable memory that stores information about the tracking system 132.

[0104] The system 100 or similar systems may be used, for example, to carry out one or more aspects of the methods described herein. The system 100 or similar systems may also be used for other purposes.

[0105] Figs. 2A and 2B illustrate different views of a tool changer 136 according to at least one embodiment of the present disclosure. Fig. 2C illustrates a distal end view of a tracking system 132 according to at least one embodiment of the present disclosure. In particular, Fig. 2A illustrates an example distal end view of a tool changer 136 that electrically and mechanically connects to an end effector 140 (not shown) via corresponding interfaces. Meanwhile Fig. 2B illustrates an example proximal end view of a tool changer 136, which may face the distal end of the tracking system 132 in Fig. 2C when connected to the tracking system 132. Fig. 2D illustrates a closeupside view of the tool changer 136 and distal end of the tracking system 132 to explain locking features according to at least one embodiment of the present disclosure. The interfaces of the tool changer 136 are described in more detail below with reference to Figs. 2A-2E but should generally be understood to include respective electrical connections and a first type of mechanical connection to the tracking system 132 (e.g., via one or more screws or threaded bolts) and a second type of mechanical connection to the end effector (e.g., a locking kinematic connection). One may refer to US Patent Application Nos. US 17/357,649 (US Publication No. 2022/0409303) and US 17,357/647 (US Publication No. 2022/0409304), both incorporated herein by reference, filed on June 24, 2021, and entitled “Interchangeable End Effector and Sterile Barrier” for additional detail regarding connections between a tool changer and an end effector and an add-on, such as the tracking system 132. In some cases, the first and second types of mechanical connections are the same type of connection, such as both being a kinematic connection or both including screws and corresponding screw locators.

[0106] With reference to Figs. 2A and 2B, the tool changer 136 includes a stationary portion 200 and a movable portion 204 that rotates relative to the stationary portion 200 in the directions illustrated with dashed bi-directional arrows D. The stationary portion 200 may include a lockunlock indicator 208 and the movable portion 204 may include a corresponding mark or indicator 212 used to indicate whether an end effector 140 is locked to the tool changer 136. For example, starting in an unlocked state as indicated by indicators 208 and 212, a user may place an end effector 140 (not shown) into an interior 218 of the tool changer and manually rotate the movable portion 204 with the aid of a protrusion 216 relative to the stationary portion 200 in a counter-clockwise direction (or clockwise direction if designed as such) to lock the end effector 140 to the stationary portion 200. Four total protrusions 216 are shown, but the number of protrusions could be more or fewer, and in some scenarios, could be zero in which case the outer surface of the movable portion 204 may be textured. To unlock the end effector 140 from the stationary portion 200, the user manually rotates the movable portion 204 clockwise until the indicator 212 reaches the unlock portion of indicator 208. In some examples, locking the end effector 140 to the tool changer 136 also causes the end effector 140 to make electrical contact with the tool changer 136 by means of a mechanism that converts the rotational movement of the movable portion 204 into translational movement of the end effector 140. Conversely, unlocking the end effector 140 from the tool changer 136 may cause or allow the end effector 140 to move away from the tool changer 136 so that electrical contact does not exist.

[0107] In some cases, the mechanism employed for a locking effect comprises a mechanism described in the above-referenced US patent applications and/or any other suitable locking mechanism. As described in these documents, protrusions 220a, 220b, 220c, and/or 220d may facilitate alignment, locking, and/or restriction of movement between the tool changer 136 and an end effector 140. In some examples, protrusions 220c are for a kinematic connection between the tool changer 136 and the end effector 140.

[0108] As described in more detail below, the connection between the tool changer 136 and the tracking system 132 may be embodied by one or more mechanical connectors that are engaged via an applied rotational force that can be converted to a torque measurement based output of the FT sensor 158. For example, the tool changer 136 comprises one or more screw connections 222, shown in Figs. 2A and 2B as 222a, 222b, and 222c (222c not shown in Fig. 2A due to the view). When the tool changer 136 and tracking system 132 are connected to one another, each screw connection 222a, 222b, and 222c may comprise a threaded screw or bolt inserted into the interior 218 of the distal end of the tool changer 136 in Fig. 2 A so as to penetrate through the proximal end 1 of the tool changer 136 in Fig. 2B and into a corresponding threaded receiver portion 224a, 224b, and 224c of the tracking system 132 in Fig. 2C.

[0109] As shown in Figs. 2A-2C, electrical connection between the tool changer 136 and the tracking system 132 and end effector 140 may be achieved through electrical connectors of the tool changer 136 and an electrical connector of the tracking system 132. In the non-limiting example shown in Figs. 2A and 2B, the electrical connectors of the tool changer 136 comprise a plurality of conductive pins 226a and 226b, and the electrical connector of the tracking system 132 comprises conductive pads 228 that correspond to each conductive pin 226b. Here, it should be appreciated that Figs. 2A, 2B, and 2C do not necessarily show a one-to-one correspondence between the pins at the distal and proximal ends of the tool changer 136 and/or between the pins of the tool changer 136 and conductive pads 228 of the tracking system 132, but that such a one-to-one correspondence may exist in practice. Stated another way, each pin 226a at a distal end of the tool changer 136 may electrically connect to a corresponding pin 226b at the proximal end of the tool changer 136 and a corresponding conductive pad 228 of the tracking system 132 through a pad internal to the tool changer (see pads 254 in Fig. 2E, for example), and each pin 226b may electrically connect to a corresponding conductive pad 228 of the tracking system 132. In some cases, corresponding pins 226a and 226b are aligned with one another so as to have a same central longitudinal axis.

[0110] In some examples, the pins 226a and 226b are spring loaded so as to have a compressed or pushed-in state and a decompressed or protruded state. For example, when the tool changer 136 and the tracking system 132 are already connected, the pins 226a and 226b may be in a compressed state and in electrical contact with corresponding conductive pads (not shown) internal to the tool changer 136 and positioned between ends of corresponding pins 226a and 226b. Meanwhile, the pins 226b are in a decompressed state when the tool changer 136 is detached from or not secured to the tracking system 132. When an end effector 140 is attached and/or locked to the tool changer 136, spring-loaded pins 226a may be pushed into electrical contact with the conductive pads (not shown) internal to the tool changer 136. The pins 226b may be in a decompressed state when the end effector 140 is detached from or not locked to the tool changer 136. In this case, the pins 226a retract from the conductive pads internal to the tool changer 136 so as to not to be in electrical contact. In some examples, at least some of the pins 226a and/or some of the pins 226b are not spring-loaded and are instead non-retractable conductive posts designed to make electrical contact with connections (which may be spring-loaded or not) on the end effector 140 and/or the tracking system 132. For example, pins 226b at the proximal end of the tool changer 136 are not spring loaded, and instead have lengths so as to be in constant electrical contact with pads 228 when the tool changer 136 is connected to the tracking system 132.

[0111] The above discussion describes a pin 226a as being separate from a pin 226b and electrically connectable to one another through a corresponding conductive pad internal to the tool changer 136. However, in some examples, a pin 226a and a pin 226b form a unitary component (i.e., a single pin) which passes through the tool changer 136 from the distal end to the proximal end. In this case, both ends of the pin may have the same or similar spring-loaded functionality and compressed/decompressed states described so that the ends are compressed inward toward a center of the tool changer 136 in a compressed state and are allowed to decompress by extending away from the center of the tool changer 136 in a decompressed state. In this case, the pads 254a/254b are omitted and the pairs of pins 226a-l/226b-l and 226a-2 and 226b-2 are each replaced with a unitary pin with spring-loaded ends. In some examples, the entire pin is conductive and able to pass electrical signals regardless of whether each end of the pin is compressed or decompressed. In some examples, however, the pin may comprise a conductive pad or part located between the ends (in the same or similar position as a pad 254) which serves the same purpose as the abovedescribed conductive pads internal to the tool changer 136. Here, the pin conducts electricity from one end to the other only when both ends are in the compressed state. Thus, a conductive part of one end of the pin may be separated from a conductive part of the other end of the pin by an insulator when either end is in the decompressed state. For example, an insulative middle section of the pin may separate the two conductive ends. The insulative middle section may be secured within the tool changer 136 and may be surrounded by or house a conductive pad that enables electrical connection when both ends are in the compressed state (i.e., when the tool changer 136 is connected to the end effector 140 and the tracking system 132 to push each end of the pin into contact with the conductive pad).

[0112] Referring to Figs. 2B and 2C, the proximal end of the tool changer 136 may include one or more alignment aids, such as protrusions 230a and 230b integrated with respective connections 222a and 222b, and the tracking system 132 may include corresponding recesses 232a and 232b. The protrusions and recesses may assist with aligning the tool changer 136 and the tracking system 132 for proper connection and with ensuring accuracy of the system by providing an accurate and repeatable connection. In Fig. 2B, a protrusion and a corresponding recess is not needed and thus not included for connection 222c. In at least one example, a user inserts each protrusion 230a, 230b into a corresponding recess 232a, 232b and then secures the tool changer 136 to the tracking system 132 via the one or more screw connections 222 and corresponding threads 224. The protrusions 230a and 230b and corresponding recesses 232a and 232b may be shaped differently so as to provide additional assurance that the tool changer 136 is properly aligned to the tracking system 132.

[0113] With reference to Fig. 2C, the tracking system 132 may comprise a mesa structure 234, threaded receiver portions 224, and pads 228. The mesa structure 234 may protrude from a recessed surface 236 that functions as a cover for other components of the tracking system 132. The tracking system 132 may further comprise an FT sensor 158 which, when connected to the tool changer 136 and the robotic arm 116, is in force-transmitting contact with the robotic arm 116 and the tool changer 136. The FT sensor 158 may be an internal component of the tracking system 132 not visible in Fig. 2C, but with a “tool side” of the FT sensor 158 being in force-transmitting contact with (e.g., attached to) a support portion 238 and with the “robot side” of the FT sensor 158 being attached to a chassis 250 of the tracking system 132 connected to the robotic arm 116. Notably, the support portion 238 is a “floating” component that is allowed to move freely relative to the chassis 250 of the tracking system 132 to enable accurate readings from the FT sensor 158. Stated another way, there is not a direct connection or attachment between the chassis 250 and the support portion 238. In general, the FT sensor 158 is configured to generate sensor data indicative of rotational and/or translational (compressive and tensile) forces experienced by the elements of the system 100 while operating the end effector during a surgical procedure. That is, the FT sensor 158 is capable of measuring moments/torques in all axes (X, Y, and Z) and forces (compressive and tensile) in all axes (X, Y, and Z), which may be used to trigger one or more alerts, such a visual alert by an output device 159 embodiment by one or more visible-light LEDs in Fig. 2C.

[0114] According to at least one embodiment, the FT sensor 158 is also used outside of a context that involves operating the end effector 140 during the surgical procedure or that involves other tasks completed during the surgical procedure, such as prior to operating the end effector 140 and/or when switching end effectors 140 during an ongoing procedure. For example, the FT sensor 158 may generate sensor data indicative of the rotational force applied to the one or more of the above-described screw connections 222 when connecting the tool changer 136 to the tracking system 132 and/or when double-checking the connection when switching out one end effector 140 for another end effector 140. The sensor data generated by the FT sensor 158 when screwing the tool changer 136 to the tracking system 132 via each screw connection 222 may be converted to or indicative of a torque value for that screw connection 222 which is then used to trigger one or more alerts that notify a user when a particular screw connection 222 has received the proper amount of torque. Fig. 2C illustrates an example with output devices 159 embodied as light sources (e.g., LEDs) that may provide a visual alert in response to determining that a particular screw connection 222 is sufficiently torqued (e.g., according to preset manufacturer recommendations). In this example, as shown in Fig. 2C, the light sources 159 form a ring that wraps partially or entirely around a section of the tracking system 132 that is between the proximal and distal ends of the tracking system 132. Using the built-in FT sensor 158 of the tracking system 132 for the purpose of monitoring torque of screw connections 222 eliminates the need for additional special tooling like a sterile screwdriver with a built-in torque gauge, which adds cost to the system and/or add to the time required to attach the tool changer 136 to the tracking system 132. Additional details regarding issuance of alerts are described in more detail below with reference to Fig. 3.

[0115] As described in more detail below, at least one embodiment of the present disclosure relates to a multi-stage method for ensuring that an end effector 140 is properly secured to the tool changer 136. Fig. 2D illustrates a structure (certain details of which are not illustrated in Figs. 2A and 2B) that may be used to carry out a first stage of the multi-stage method that includes using connection circuit(s) 161 and/or 165 to detect that the end effector 140 is locked to the tool changer 136. As may be appreciated, Fig. 2D is a block diagram side-view of the tool changer 136 connected to the tracking system 132 with the end effector 140 already locked to the tool changer 136. As shown, the stationary portion 200 of the tool changer 136 that includes the lock/unlock indicator 208 abuts the tracking system 132 (e.g., at the mesa structure 234) when connected. The movable portion 204 of the tool changer 136 comprises the protrusion 216, which may aid manual rotation of the movable portion 204 between the locked and unlocked positions along directions indicated with directional arrows D.

[0116] In this example, a protrusion 216 may comprise a fin 216a that extends across the stationary portion 200 to the tracking system 132 (e.g., to the mesa structure 234 and/or the support portion 238). The tracking system 132 may include a mechanism 244 that is activated in the presence of the fin 216a. In some examples, the mechanism 244 comprises a microswitch, in which case, the fin 216a and/or the microswitch are constructed in a manner that allows the fin 216a to trigger (e.g., close) the microswitch when the movable portion 204 is moved from the unlocked state (shown in phantom - dashed lines in Fig. 2D) to the locked state to lock the end effector 140 to the tool changer 136. In some examples, the mechanism 244 and fin 216a form a proximity sensor, such as a capacitive proximity sensor with the mechanism 244 and the fin 216a each comprising a capacitive element (e.g., a metal plate) that activates when the capacitive elements of the fin 216a and mechanism 244 are brought into proximity to one another. In still other examples, the mechanism 244 comprises an optical sensor that senses the presence or absence of the fin 216a. One example of an optical sensor is a photosensor (e.g., photodiode) that senses the presence of light when the fin 216a is not covering the photosensor and the absence of light when the fin 216b covers the photosensor. The mechanism 244 may comprise any combination of the above possibilities, such as a proximity sensor in combination with a photosensor so as to provide another layer of assurance that end effector 140 has been locked to the tool changer 136.

[0117] In any event, the fin 216a and/or mechanism 244 may be considered as part of connection circuit(s) 161 and/or 165 used to detect that the end effector 140 is locked to the tool changer 136. As alluded to above, such connection circuits 161 and 165 may comprise suitable hardware and/or software for triggering a next stage of the multi-stage method for connecting the end effector 140 to the tool changer 136. For example, moving the fin 216a from the unlocked state to the locked state in contact with or in close proximity to the mechanism 244 may trigger other parts of the connection circuits 161 and/or 165 in a manner that sends an electronic signal to processor 148 of the tracking system 132 to indicate that the first stage of the multi-stage method is complete. Where the mechanism 244 comprises a switch, such as a microswitch, moving the fin 216a into the locked position may cause the switch to close a normally open electrical circuit, thereby enabling an electrical signal to travel from a signal generator of a connection circuit to the processor 148 to indicate that the tool changer 136 is locked to the end effector 140. The same or similar concept of triggering or enabling an electrical signal to travel to the processor 148 to indicate a locked state may apply to other implementations of the mechanism 244, such as the proximity and/or optical sensors noted above.

[0118] In Fig. 2D, the fin 216a and mechanism 244 are located at outer edges of the tool changer 136 and tracking system 132 so as to be visible in the same manner as the indicators 208 and 212. However, embodiments are not limited thereto, and the fin 216a and mechanism 244 may be internal to the tool changer 136 and the tracking system 132 so as to be hidden from view upon connection of the end effector 140. In this case, the tool changer 136 and the tracking system 132 each comprise an internal space or recess that allows for movement of the fin 216a in the same or similar manner shown in Fig. 2D.

[0119] Although Fig. 2D illustrates a single protrusion 216 with a single fin 216a and a single mechanism 244, it should be appreciated that one or more other protrusions 216 from Fig. 2A may also include a fin 216a. In this case, additional mechanisms 244 may exist for sensing the presence of a corresponding fin 216a in the same or similar manner described above. Additional fins 216a and mechanisms 244 may provide further assurance that the end effector 140 is locked to the tool changer 136 to complete the first stage of the multi-stage process for ensuring that the two components are safely connected.

[0120] Here, it should be appreciated that Fig. 2D illustrates a nonlimiting example of a structure (e.g., fin 216 and mechanism 244) used for a first stage of a multi-stage method for detecting that the end effector 140 is locked to the tool changer 136 and that other structures for accomplishing the same goal are within the scope of the present disclosure. For example, the fin 216 may extend in a radial direction (instead of the axial direction as shown) and trigger a corresponding mechanism 244.

[0121] As described herein, the multi-stage method for detecting that the end effector 140 is locked to the tool changer 136 may further comprise a second stage that is triggered by completion of the above-described first stage. For example, upon sensing that the tool changer 136 has been moved to the locked position in the first stage to establish a mechanical connection to the end effector 140, the connection circuits 161 and/or 165 trigger a second stage to test the electrical connection between the end effector 140 and the tool changer 136. Fig. 2E is a diagram for explaining the second stage and illustrates an example in which the tool changer 136 has been secured to the tracking system 132 and locked to the end effector 140 according to the first stage. With reference to Figs. 2A and 2E, the pins 226a and 226b may comprise dedicated “connectivity verification pins” or “connectivity pins” 226a- 1, 226a-2, 226b- 1, and 226b-2, respectively, that create a short circuit upon proper connection of the tool changer 136 to the end effector 140. The short circuit may be tested by sending an electrical signal through an electrical path that comprises the pins 226a- 1, 226a-2, 226b- 1, and 226b-2 and waiting for feedback, which may be the electrical signal itself. [0122] In one non-limiting example, the dedicated connectivity verification pins 226a- 1 and 226a-2 are located at positions within the electrical interface of the tool changer 136 that may reduce or eliminate false-positive determinations of a safe/secure connection, which could otherwise occur due to the end effector 140 being slightly askew when locked to the tool changer 136. For example, pins 226a-l and 226a-2 may be located as far away from one another as possible on the electrical interface of the tool changer 136. Fig. 2A shows an example where pins 226a-l and 226a-2 are on opposite sides of the electrical interface that includes the remaining pins. In addition, more connectivity pins than those described here and shown in the figures may be used to provide further assurance of a safe/secure connection. For example, five connectivity pins may be arranged at the outer edge of the electrical interface in a pentagonal configuration.

[0123] In some examples, the electrical signal to test the short circuit between pins 226a- 1 and 226a-2 is generated immediately in response to detecting that the tool changer 136 and the end effector 140 are locked in the first stage. Such a signal may be a low-voltage, low-current pulse that is considered safe to test the connection. With reference to the internal diagram view of Fig. 2E, the electrical signal may travel along one of two electrical paths Pl or P2. An electrical signal traveling along the electrical path Pl starts within the tracking system 132, such as at processor 148 which may generate the electrical signal, and passes through only the tool changer 136 via a trace or other conductor that electrically connects pins 226a- 1 and 226a-2. In this case and as described above with reference to Figs. 2A-2C, attaching the end effector 140 to the tool changer 136 may push each pin 226a-l and 226a-2 into electrical contact with respective internal conductive pads 254a and 254b of the tool changer 136 in the path Pl (notably, pins 226b-l and 226b-2 are already pushed in by connection to the tracking system 132). As shown, the path Pl may also include two corresponding pads 228a and 228b from the tracking system 132 that contact respective pins 226b- 1 and 226b-2. In other examples, the electrical signal travels from the tracking system 132 along an electrical path P2 that passes through the pad 228a, pin 226b- 1, pad 254a, pin 226a-l and the end effector 140 before returning to the tracking system 132 through pin 226a-2, pad 254b, pin 226b-2 and pad 228b. In this case, the pins 226a and 226b are in electrical contact with corresponding conductive pads or pins of the end effector 140 and the tracking system 132, and the end effector 140 has an internal trace or other conductor that connects pads or pins of the end effector 140 (not shown). [0124] In the second stage of the multi-stage method for checking the connection between the tool changer 136 and the end effector, the tracking system 132 (e.g., the processor 148) sends the electrical signal to the tool changer 136 and awaits feedback from the tool changer 136 that is indicative of whether the end effector 140 is securely attached or not. As may be appreciated from the paths Pl and P2, the feedback from the tool changer 136 may comprise the electrical signal itself. However, the feedback may additionally or alternatively comprise a version of the electrical signal or another signal generated by the tool changer 136 and/or the end effector 140 and triggered by receipt of an initial electrical signal. The electrical signal, the version of the electrical signal, or the another electrical signal may have a signature (e.g., frequency, amplitude, etc.) that enables the processor 148 to determine that the feedback is in fact due to an existing proper connection between the end effector 140 and the tool changer 136. The description of Figs. 5 and 6 below explain the stages of the multi-stage connection process between an end effector 140 and a tool changer 136 in more detail.

[0125] Fig. 3 illustrates a method 300 according to at least one embodiment of the present disclosure. The method 300 (and/or one or more steps thereof) may be carried out or otherwise performed, for example, by at least one processor. The at least one processor may be the same as or similar to the processor(s) described above. The at least one processor may be part of a robot (such as a robot 114) or part of another system (such as a tracking system 132). A processor other than any processor described herein may also be used to execute the method 300. The at least one processor may perform the method 300 by executing elements stored in a memory described herein. The elements stored in memory and executed by the processor may cause the processor to execute one or more steps of a function as shown in method 300. One or more portions of a method 300 may be performed by the processor executing any of the contents of memory.

[0126] The method 300 includes monitoring, based on output a force-torque sensor 158 integrated with a tracking system 132 that facilitates tracking of the robotic arm 116 within a coordinate system (established by the navigation system 118), a torque applied to a first connection between a tool changer 136 and the tracking system 132 (step 304). For example, as described herein, the FT sensor 158 may generate sensor data indicative of a rotational force applied to the first connection embodied as one or more screw connections 222 used to mechanically connect the tool changer 136 to the tracking system 132. The rotational force may correspond to a torque value that is recommended or required to ensure a safe and secure connection of the tool changer 136 to the tracking system 132. As may be appreciated from the above description, the FT sensor 158 is in indirect force-transmitting contact with a screw connection 222, meaning that a rotational force sensed by the FT sensor 158 may not be equivalent to the actual rotational force applied to the screw connection 222. In addition, the FT sensor 158 may sense forces other than rotational forces, such as compressive and/or tensile forces, meaning that the sensor data generated by the FT sensor 158 contains compressive and/or tensile force data not necessarily relevant to the rotational force applied to a screw connection 222. As a result of at least these two circumstances, the sensor data generated by the FT sensor 158 when applying a rotational force to a screw connection 222 may be translated to or associated with a torque value expressed in Newton-meters, pound-feet, poundinches, and/or the like.

[0127] For example, the processor 148 of the tracking system 132 translates the sensor data into a torque value using data collected during an initialization or calibration phase that correlates the sensor data of the FT sensor 158 with known torque values. Such a phase may include correlating sets of sensor data output from the FT sensor 158 with known torque values provided by a precalibrated torque screwdriver or wrench such that each set of sensor data provided by the FT sensor 158 corresponds to a known torque value as indicated by the torque gauge of the screwdriver or wrench. The sets of sensor data and known torque values may be stored as a lookup table (LUT) for accessing during the monitoring step 304. Thus, the monitoring step 304 may include continually receiving the sensor data from the FT sensor 158 and consulting the LUT to match the received sensor data to a corresponding torque value. In some examples, the amount of torque needed for each screw connection 222 is a static value, and the system stores a single association that correlates one set of sensor data from the FT sensor 158 to the single static value. In this case, the monitoring step 304 includes continually checking output of the FT sensor to determine when the sensor data matches the sensor data for the torque value. In some cases, the torque value for a particular screw connection 222 is displayed, for example, by a digital display included with the output devices 159 of the tracking system 132. The displayed torque value, which may have a selected unit of measurement, may change as the rotational force applied to a screw connection 222 changes.

[0128] In other examples, the monitoring step 304 does not include translating the output of the FT sensor 158 into a torque value. In this case, the monitoring step 304 includes continually checking output of the FT sensor 158 to determine when the sensor data matches a set of sensor data known to meet a desired torque value for a screw connection 222, which does not necessarily require translating the output of the FT sensor 158 into a torque value.

[0129] The method 300 may further include issuing one or more alerts when the rotational force reaches a threshold (step 308). In examples where the rotational force monitored in step 304 is translated into a torque value for a screw connection 222, the threshold may comprise a torque value that is recommended or required to ensure secure connection of a tool changer 136 to a tracking system 132. In examples where the rotational force monitored in step 304 is not translated into a torque value, the threshold may comprise a set of sensor data (which may include compressive force data, rotational force data, tensile force data, and/or the like) known to achieve a safe and secure connection between the tool changer 136 and the tracking system 132 (e.g., as a result of prior testing).

[0130] The one or more alerts may be issued in step 308 by one or more elements of the system 100. In some examples, the one or more alerts include an audio alert, a visual alert, or both. In general, audio alerts may be provided by one or more speakers, such as speakers included with the output devices 159 and/or with the robot cart 144. An audio alert may include pulsed chirp whose frequency increases as the rotational force increases toward the threshold before converting to a steady beep when the threshold is reached. Alternatively, different audio alerts (e.g., with different tones) may be issued as the threshold is approached with the final alert being issued . Alternatively, a single audio alert (e.g., chirp) is triggered upon reaching the threshold. Meanwhile, visual alerts may be provided by one or more light sources (LEDs) included with the output devices 159. In some cases, the method 300 includes issuing multiple visual alerts, which may occur in stages with a different alert being issued as different thresholds are met or exceeded as a way of indicating to a user that the amount of rotational force monitored in step 304 is increasing or decreasing. For example, a first light source may turn on when a first threshold is reached, a second light source may turn on when a second threshold greater than the first threshold is reached, and so on until a final threshold is reached to indicate that the screw connection 222 has been sufficiently tightened. In this example, the light sources may be arranged (e.g., stacked) in a manner that resembles a meter or gauge that enables a user to easily assess the current state of the screw connection 222. Here, light sources may be sequentially turned on as the screw connection 222 is tightened and then sequentially turned off as the screw connection 222 is loosened. [0131] A visual alert may be additionally or alternatively provided by a digital display included with the output devices 159 and/or on the robot cart 144. As noted above, the current torque value of a screw connection 222 may be displayed on such a display. In addition, the display may give an indication of which screw connection 222a, 222b, or 222c is being tightened, where such indication is based on the sensor data generated by the FT sensor 158. For example, the sensor data may indicate the presence of one or more directional lateral forces that are closer to screw connection 222a than 222b or 222c, in which case the display indicates that the displayed torque value belongs to screw connection 222a. In some examples, the display simultaneously displays the torque value of each available screw connection 222 so that the user knows which screw connections to tighten or loosen.

[0132] Other alerts may be issued in addition to or instead of audio and/or visual alerts. For example, in at least one embodiment, step 308 generates a signal (or signals) that causes movement of a robotic arm 116 as an alert. In some examples, the movement of the robotic arm 116 is in a direction away from a source of the rotational force applied to the screw connection 222, which may correspond to a direction away from the tool being used to apply the rotational force to indicate to the user of the tool that no additional tightening is needed. In general, the amount of movement away from the tool may be enough to cause the tool to be disengaged from the screw connection 222 (e.g., six inches, a foot, or the like) so as to prevent or mitigate the amount of further tightening. In some examples, the movement is in a substantially same direction of the rotational force, meaning that robotic arm 116 may rotate in the same direction as the tool tightening the screw connection 222 to prevent or mitigate overtightening. In a case where the tracking system 132 is rotatable relative to the robotic arm 116 (e.g., if a proximal end of the tracking system 132 is rotatably attached to a robotic arm 116), then the tracking system 132 itself may rotate in the same or similar manner without corresponding rotation of the robotic arm 116. Movement of the robotic arm 116 or another element in the system in step 308 is not limited to the movements described above, and other movements are possible. For example, the robotic arm 116 may move in a direction toward the tool or user to provide a gentle “push” on the tool to indicate that the threshold is reached. In other examples, the robotic arm 116 moves up, down, left, or right to indicate that the threshold is reached.

[0133] Fig. 4 illustrates a method 400 according to at least one embodiment of the present disclosure. The method 400 (and/or one or more steps thereof) may be carried out or otherwise performed, for example, by at least one processor. The at least one processor may be the same as or similar to the processor(s) described above. The at least one processor may be part of a robot (such as a robot 114) or part of another system (such as a tracking system 132). A processor other than any processor described herein may also be used to execute the method 400. The at least one processor may perform the method 400 by executing elements stored in a memory described herein. The elements stored in memory and executed by the processor may cause the processor to execute one or more steps of a function as shown in method 400. One or more portions of a method 400 may be performed by the processor executing any of the contents of memory.

[0134] The method 400 comprises entering a first mode, which may correspond to a mode in which the system 100 is notified that a tool changer 136 is about to be connected to a tracking system 132 (step 404). Entering the first mode may be a useful step to inform elements of the system 100 that the forces sensed by the FT sensor 158 are due to attaching the tool changer 136 to the tracking system 132 and not due to other forces, such as forces experienced during an actual surgical procedure like in the second mode described below. Thus, entering the first mode may cause a processor (e.g., processor 148) that receives sensor data from the FT sensor 158 to process the sensor data in a manner that is suitable for issuing one or more alerts as described herein (instead of processing the sensor data in a manner consistent with an ongoing surgical procedure). As such, entering the first mode may place the processor of the sensor data generated by the FT sensor 158 into a state that uses the sensor data to determine a rotational force applied to a screw connection 222 by, for example, translating the sensor data into a torque value as described herein.

[0135] The first mode may be automatically entered in response to the tracking system 132 detecting that the tool changer 136 is brought into contact with or in proximity to the distal end of the tracking system 132. In some examples, the FT sensor 158 may sense the initial forces associated with pressing or placing the protrusions 230 of the tool changer 136 into recesses 232 of the tracking system 132. In another example, the first mode is entered in response to the tracking system 132 sensing electrical and/or mechanical contact between the protrusions 230 and the recesses 232. In yet another example, the first mode is entered upon user input to an electromechanical switch on the tracking system 132 or some other element of the system 100.

[0136] The method 400 includes connecting the tool changer 136 to the tracking system 132 via a rotational force applied to a first connection (step 408). For example, a user uses a tool, such as a screwdriver or wrench, to apply the rotational force to a screw of one of the screw connections 222.

[0137] In conjunction with step 404, the method 400 includes the FT sensor 158 generating sensor data indicative of the rotational force applied to the first connection (step 412). Then, the method 400 determines whether the rotational force applied to the first connection reaches a first threshold (step 416). The determination in step 416 may be made in accordance with one or more of the techniques described above with respect to Figs. 2A-3, such as by monitoring the rotational force in accordance with step 304 and translating the sensor data into a torque value and comparing that torque value to a threshold torque value that is required or recommended for secure connection of the tool changer 136 to the tracking system 132. If the determination in step 416 is ‘no’, the method 400 continues checking whether the rotational force reaches the first threshold in step 416. If the determination in step 416 is ‘yes,” the method 400 issues one or more first alerts (step 420). The one or more first alerts may be issued in accordance with the discussion of Fig. 3 above, and may include one or more audio and/or visual alerts.

[0138] The method 400 proceeds to determine whether an additional threshold exists (step 424). If so, the method proceeds to determine whether the rotational force reaches the additional threshold (step 428). If the rotational force is determined to reach the additional threshold, the method 400 issues one or more second alerts (432), which may include audio and/or visual alerts provided in addition to the first alert in step 420. As described above with reference to Fig. 3, additional thresholds and alerts may be encountered when the system is designed to provide continuous notification to a user of the gradual increase or decrease in tightening of a screw connection 222. However, it should be appreciated that additional thresholds may not exist, in which case the method 400 proceeds to step 436 where a second mode is entered.

[0139] Entering the second mode may inform elements of the system 100 that the forces sensed by the FT sensor 158 should be treated as forces experienced during an actual surgical procedure. Thus, entering the second mode may cause a processor (e.g., processor 148) that receives sensor data from the FT sensor 158 to process the sensor data in a manner that is suitable for an ongoing surgical procedure, where such processed sensor data may cause one or more alerts to be issued during the procedure (e.g., to avoid over-torquing the end effector 140 and/or the robotic arm 116). In any event, it should be appreciated that entering the second mode also ends the first mode. [0140] The second mode may be automatically entered in response to the tracking system 132 and/or the tool changer 136 detecting that an end effector 140 is brought into contact with or in proximity to the distal end of the tool changer 136. In some examples, the FT sensor 158 may sense the initial forces associated with pressing the end effector 140 into the interior 218 of the tool changer 136. In another example, the second mode is entered in response to the tool changer 136 and/or the tracking system 132 sensing electrical and/or mechanical contact between the pins 226a of the tool changer 136 and corresponding conductors (pins or pads) of the end effector 140 (which may occur at the same time or near the same time as step 440). In yet another example, the second mode is entered upon user input to an electromechanical switch on the tracking system 132 or some other element of the system 100.

[0141] The method 400 includes connecting the end effector 140 to the tool changer 136 (step 440). For example, step 440 includes locking the end effector 140 to the tool changer 136 in accordance with the discussion of Figs. 2A to 2C, where movable portion 204 is rotated to the locked position to secure the end effector 140 to the tool changer 136. In at least one embodiment, locking the end effector 140 to the tool changer 136 also triggers the second mode from step 436. [0142] The method 400 includes the FT sensor 158 generating sensor data indicative of forces experienced during a surgical procedure, where such sensor data may be used to judge whether to issue alerts or take other action based on these forces (step 444). The sensor data is generated in step 444 may be indicative of forces experienced by the robotic arm 116 before, after, and/or during operation of the end effector 140, and may be used to control various functions of the robotic arm 116, the tracking system 132, the tool changer 136, and/or the end effector 140.

[0143] Here, it should be appreciated that although the discussion above describes issuing alerts when a threshold is reached, alerts may additionally or alternatively be issued before the threshold is reached. In this case, an audio alert may cease and/or a light source may turn off upon the threshold being reached, which is another way to inform the user the tool changer 136 and the tracking system 132 are securely attached. Still further, it should be appreciated that the system may operate in the first and second modes described above simultaneously. For example, while in the second mode, the system may continue to monitor the tightness of a screw connection 222 in accordance with the first mode, and then issue an alert if the screw connection 222 loosens more than a threshold amount. [0144] Fig. 5 illustrates a method 500 according to at least one embodiment of the present disclosure. In particular, the method 500 describes a process for a system that includes a tool changer 136 configured to attach to and transfer power to an end effector 140, and a tracking system 132 that facilitates tracking of the robotic arm 116 within an environment. The method 500 (and/or one or more steps thereof) may be carried out or otherwise performed, for example, by at least one processor. The at least one processor may be the same as or similar to the processor(s) described above. The at least one processor may be part of a robot (such as a robot 114) or part of another system (such as a tracking system 132). A processor other than any processor described herein may also be used to execute the method 500. The at least one processor may perform the method 500 by executing elements stored in a memory described herein. The elements stored in memory and executed by the processor may cause the processor to execute one or more steps of a function as shown in method 500. One or more portions of a method 500 may be performed by the processor executing any of the contents of memory.

[0145] The method 500 includes receiving an indication that an end effector 140 has been attached to a tool changer 136 (step 504). As may be appreciated, a step of locking the end effector 140 to the tool changer 136, as described with reference to Fig. 2D and which may occur prior to step 504, corresponds to a first stage of a multi-stage process for ensuring secure connection between the two elements. Meanwhile, the steps in the method 500 may be part of subsequent stages of the multi-stage process that is triggered by completion of the first stage. For example, steps 504, 508, and 512 may correspond to a second stage of the multi-stage process that includes testing whether the end effector 140 is fully attached (locked) to the tool changer 136. The remaining steps of the method 500 may correspond to additional stages of the multi-stage process in which the tool changer is energized (or not) to enable operation (or prevent operation if not energized) of the end effector 140 for a surgery.

[0146] With reference to Figs. 2A to 2E and related description, the indication that the end effector 140 has been attached to the tool changer 136 in step 504 may comprise a signal generated in response to the end effector 140 being locked to the tool changer 136. In some examples, the tracking system 132 comprises at least one component configured to trigger generation of the signal when the end effector 140 is locked to the tool changer 136. For example, as described with reference to Fig. 2D, such a component may include one or more of an electromechanical switch (e.g., microswitch), an electrooptical switch (e.g., a photodiode sensing the presence or absence of light), or a proximity sensor (e.g., a capacitive sensor), which upon sensing locking of the tool changer 136 to the end effector 140, triggers the tracking system 132 to generate and send an electrical signal to the tool changer as a “test” signal to test the connection between the tool changer 136 and end effector 140. Accordingly, the method 500 may include the tracking system 132 generating and sending this “test” signal to the tool changer 136 in response to receiving the indication that the end effector 140 has been attached to the tool changer 136 (step 508). Thereafter, the method 500 determines whether feedback related to the signal sent to the tool changer 136 is received back by the tracking system 132 (step 512).

[0147] As described herein, the feedback may comprise the signal itself as sent by the tracking system 132, a version of the signal as modified at some point along the feedback path, or a completely different signal generated by a component at some point along the feedback path. As described with reference to Fig. 2E, for example, the tool changer 136 may comprise an electrical path Pl that forms part of a circuit that enables the signal to travel from the tracking system 132 through the tool changer 136 and back to the tracking system 132 as the feedback. As also described herein, the tool changer 136 may comprise pins 226a-l, a-2, b-1, and b-2 that form part of the electrical path Pl and which are dedicated connectivity pins. The pins may be spring-loaded and have decompressed or protruded state in which a spring of each pin is not tensioned and a compressed or push-in state where the spring of each pin is tensioned. When the pins are in the pushed-in state, the circuit is closed to enable the electrical signal to travel from the tracking system 132 through the tool changer 136 and back to the tracking system 132 as the feedback. On the other hand, when one of the pins are in the protruded state, the circuit is open and the electrical signal is prevented from travelling from the tracking system 132 through the tool changer 136 and back to the tracking system 132 as the feedback.

[0148] If the feedback from the tool changer 136 is absent in step 512, the method 500 includes blocking the tool changer 136 from transferring power to the end effector 140 (step 516). The tracking system 132 may determine that the feedback is absent upon expiration of a predetermined amount of time (e.g., l-3ms) from when the electrical signal for testing the connection was sent by the tracking system 132 to the tool changer 136. The feedback may be absent when the connection between the end effector 140 and the tool changer 136 is incomplete, meaning that the end effector 140 may not be safe to operate due to a loose or askew connection to the tool changer 136. In the above example involving spring-loaded connectivity pins, the feedback may be absent when one of the connectivity pins remain protruded or partially protruded after locking the end effector 140 to the tool changer 136, thereby preventing the electrical signal from returning to the tracking system 132 through the tool changer 136. As may be appreciated, power may be transferred to the end effector 140 through other pins of the tool changer 136 which in turn receive power from a power source, such as the tracking system 132 and/or other upstream sources. In at least some examples, a switch is positioned between an electrical interface (e.g., pins 226) of the tool changer 136 that provides power to the end effector 140 and the power source. Thus, blocking the tool changer 136 from transferring power to the end effector 140 in step 516 may include opening the switch or maintaining the switch in an open state if already open.

[0149] If the feedback from the tool changer 136 is present in step 512, then the method 500 includes enabling the tool changer 136 to transfer power to the end effector 140 (step 520). For example, step 520 may enable the tool changer 136 to transfer power to the end effector 140 by closing the switch positioned between the power source that supplies the power and the electrical interface (e.g., pins 226) of the tool changer 136. The tracking system 132 or other suitable element may send a signal to close (and open) the switch.

[0150] Upon enabling the tool changer 136 to transfer power to the end effector 140 in step 520, the method 500 may include energizing the electrical interface of the tool changer 136 with power from the power source (step 524), meaning that the end effector 140 is ready to be operated. As may be appreciated, step 524 may occur automatically upon closing the switch positioned between the power source and the electrical interface of the tool changer 136. In other examples, step 524 may occur in response to some other trigger, such as a user providing a physical input to another switch or element that activates the power source. In this case, the user may be provided with a notification that the tool changer 136 is ready to be energized.

[0151] In some examples, enabling the tool changer 136 to transfer power to the end effector 140 in step 520 includes identifying the end effector 140 by accessing a memory 172 of the end effector 140 to identify the end effector’s type in accordance with the discussion of Fig. ID. Identifying the end effector’s type may be useful for determining which portions (e.g., which pins) of the tool changer’ s electrical interface to energize with power and/or for determining how much power (e.g., amount of voltage) the end effector requires for operation since different end effectors may use different portions (pins) of the tool changer for power and/or have different operating voltages (e.g., 24V, 48V, etc.). In examples where the method 500 includes identifying the end effector 140, then step 524 then includes supplying power to portions (pins) of the electrical interface of the tool changer 136 in accordance with the identified end effector 140, which may include selecting and providing power to the correct pins of the tool changer 136 with a selected amount of voltage and/or current.

[0152] Here, it should be appreciated that one or more alerts or notifications may be presented to a user during the method 500, which are described in more detail below with reference to Fig.

6.

[0153] Fig. 6 illustrates a method 600 that describes a process for issuing alerts or notifications within the method 500 of Fig. 5. Accordingly, one or more steps in method 600 may be carried out in conjunction with and/or simultaneously with one or more steps in Fig. 5. The method 600 (and/or one or more steps thereof) may be carried out or otherwise performed, for example, by at least one processor. The at least one processor may be the same as or similar to the processor(s) described above. The at least one processor may be part of a robot (such as a robot 114) or part of another system (such as a tracking system 132). A processor other than any processor described herein may also be used to execute the method 600. The at least one processor may perform the method 600 by executing elements stored in a memory described herein. The elements stored in memory and executed by the processor may cause the processor to execute one or more steps of a function as shown in method 600. One or more portions of a method 600 may be performed by the processor executing any of the contents of memory.

[0154] The method 600 includes receiving an indication that a locking mechanism has been actuated to lock an end effector 140 of a robotic arm 116 to a tool changer 136 of the robotic arm (step 604). Step 604 may be carried out in the same or similar manner as step 504 in the method 500 by, for example, sensing that the locking feature of the tool changer 136 has been moved to the locked position and sending a signal to the tracking system 132 to indicate that the end effector 140 has been locked to the tool changer 136. In some examples, the indication received in step 604 also triggers a notification to indicate to a user that the end effector 140 has been locked to the tool changer 136. The notification may comprise a graphic on a display, a sound generated by a speaker, illumination of an LED, movement of the robotic arm, or any combination thereof.

[0155] Thereafter, the method 600 includes in response to receiving the indication, sending a signal to an electrical interface of the tool changer 136 (step 608). Step 608 may be performed in the same or similar manner as step 508 from Fig. 5 where, for example, a test signal is sent to the tool changer 136 to test the connection to the end effector 140.

[0156] The method 600 includes providing, in the presence of feedback from the tool changer 136 that is based on the signal, a first notification that end effector 140 and the tool changer 136 are safely attached (step 612). For example, in response to making a determination in step 512 in Fig. 5 that moves the method to step 520, step 612 generates and issues an audio and/or visual alert to notify a user of that the tool changer 136 and the end effector 140 are fully attached and that the end effector 140 is ready for operation. Possible audio and/or visual alerts are described above and may include a graphic on a display, a sound generated by a speaker, illumination of an LED, movement of the robotic arm, or any combination thereof.

[0157] In some cases, the method 600 includes providing, in the absence of the feedback from the tool changer 136, a second notification that end effector 140 and the tool changer 136 are not safely attached (step 616). For example, in response to making a determination in step 512 in Fig. 5 that moves the method to step 516, the method 600 issues an audio and/or visual alert to notify the user that the end effector 140 and tool changer 136 are not fully connected, and thus, the end effector 140 is not ready for operation. The audio and/or visual alert may include a sound generated by a speaker, illumination of an LED, movement of the robotic arm, or any combination thereof. Notably, the alerts or notifications generated in steps 604, 612, and 616 should be distinguishable from one another by a user so as to provide a clear indication of what is being communicated to the user.

[0158] As noted above, the present disclosure encompasses methods with fewer than all of the steps identified in Figs. 3-6 (and the corresponding description of the methods 300, 400, 500, and 600), as well as methods that include additional steps beyond those identified in Figs. 3-6 (and the corresponding description of the methods 300, 400, 500, and 600). The present disclosure also encompasses methods that comprise one or more steps from one method described herein, and one or more steps from another method described herein. Any correlation described herein may be or comprise a registration or any other correlation.

[0159] The foregoing is not intended to limit the disclosure to the form or forms disclosed herein. In the foregoing Detailed Description, for example, various features of the disclosure are grouped together in one or more aspects, embodiments, and/or configurations for the purpose of streamlining the disclosure. The features of the aspects, embodiments, and/or configurations of the disclosure may be combined in alternate aspects, embodiments, and/or configurations other than those discussed above. This method of disclosure is not to be interpreted as reflecting an intention that the claims require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed aspect, embodiment, and/or configuration. Thus, the following claims are hereby incorporated into this Detailed Description, with each claim standing on its own as a separate preferred embodiment of the disclosure.

[0160] Moreover, though the foregoing has included description of one or more aspects, embodiments, and/or configurations and certain variations and modifications, other variations, combinations, and modifications are within the scope of the disclosure, e.g., as may be within the skill and knowledge of those in the art, after understanding the present disclosure. It is intended to obtain rights which include alternative aspects, embodiments, and/or configurations to the extent permitted, including alternate, interchangeable and/or equivalent structures, functions, ranges or steps to those claimed, whether or not such alternate, interchangeable and/or equivalent structures, functions, ranges or steps are disclosed herein, and without intending to publicly dedicate any patentable subject matter.

[0161] Aspects of the present disclosure may include the following Examples.

[0162] Example (1): An assembly for a robotic arm, comprising: a tool changer configured to attach to and transfer power to an end effector; and a tracking system that facilitates tracking of the robotic arm within an environment, the tracking system comprising: at least one processor; and memory including instructions that when executed by the at least one processor cause the at least one processor to: generate and send a first signal to the tool changer in response to receiving an indication that the end effector has been attached to the tool changer; enable the tool changer to transfer power to the end effector in the presence of feedback from the tool changer that is based on the first signal; and block the tool changer from transferring power to the end effector in the absence of the feedback from the tool changer.

[0163] Example (2): The assembly of Example (1), wherein the indication that the end effector has been attached to the tool changer comprises a second signal generated when the end effector is locked to the tool changer. [0164] Example (3): The assembly of one or more of Examples (1) to (2), wherein the tracking system further comprises at least one component configured to trigger generation of the second signal when the end effector is locked to the tool changer.

[0165] Example (4): The assembly of one or more of Examples (1) to (3), wherein the at least one component comprises an electromechanical switch, an electrooptical switch, or a proximity sensor.

[0166] Example (5): The assembly of one or more of Examples (1) to (4), wherein the feedback comprises the first signal itself.

[0167] Example (6): The assembly of one or more of Examples (1) to (5), wherein the tool changer comprises an electrical path that forms part of a circuit that enables the first signal to travel from the tracking system through the tool changer and back to the tracking system as the feedback. [0168] Example (7): The assembly of one or more of Examples (1) to (6), wherein the tool changer comprises pins that form part of the electrical path.

[0169] Example (8): The assembly of one or more of Examples (1) to (7), wherein the pins are spring-loaded and have protruded state in which a spring of each pin is decompressed and a pushed- in state where the spring of each pin is compressed.

[0170] Example (9): The assembly of one or more of Examples (1) to (8), wherein, when the pins are in the pushed-in state, the circuit is closed to enable the first signal to travel from the tracking system through the tool changer and back to the tracking system as the feedback, and wherein, when one of the pins are in the protruded state, the circuit is open and the first signal is prevented from travelling from the tracking system through the tool changer and back to the tracking system as the feedback.

[0171] Example (10): The assembly of one or more of Examples (1) to (9), wherein the memory includes instructions that when executed by the at least one processor, cause the at least one processor to provide a first notification to indicate to a user that the end effector has been attached to the tool changer.

[0172] Example (11): The assembly of one or more of Examples (1) to (10), wherein the memory includes instructions that when executed by the at least one processor, cause the at least one processor to provide, in the presence of the feedback from the tool changer that is based on the first signal, a second notification that the connection between the end effector and the tool changer is complete. [0173] Example (12): The assembly of one or more of Examples (1) to (11), wherein the memory includes instructions that when executed by the at least one processor, cause the at least one processor to provide, in the absence of the feedback from the tool changer, a third notification that the connection between the end effector and the tool changer is not complete.

[0174] Example (13): The assembly of one or more of Examples (1) to (12), wherein one or more of the first notification, the second notification, and the third notification comprises an audio notification, a visual notification, or both.

[0175] Example (14): The assembly of one or more of Examples (1) to (13), wherein the memory includes instructions that when executed by the at least one processor, cause the at least one processor to enable the tool changer to transfer power to the end effector by closing a switch positioned between a power source that supplies the power and an electrical interface of the tool changer.

[0176] Example (15): The assembly of one or more of Examples (1) to (14), wherein the tool changer comprises an electrical interface that electrically connects to a corresponding electrical interface of the end effector, and wherein enabling the tool changer to transfer power to the end effector includes: identifying the end effector; and supplying power to portions of the electrical interface of the tool changer in accordance with the identified end effector.

[0177] Example (16) The assembly of one or more of Examples (1) to (15), wherein identifying the end effector includes accessing a memory of the end effector to identify the end effector’s type. [0178] Example (17) A tracking system that facilitates tracking of a robotic arm within an environment, the tracking system comprising: at least one processor; and memory including instructions that when executed by the at least one processor cause the at least one processor to: generate and send a first signal to a tool changer in response to receiving an indication that an end effector has been attached to the tool changer; enable the tool changer to transfer power to the end effector in the presence of feedback from the tool changer that is based on the first signal; and block the tool changer from transferring power to the end effector in the absence of the feedback from the tool changer.

[0179] Example (18): The tracking system of Example (17), wherein the indication that the end effector has been attached to the tool changer comprises a second signal generated when the end effector is locked to the tool changer. [0180] Example (19): The tracking system of one or more of Examples (17) to (18), wherein the tracking system further comprises at least one component configured to trigger generation of the second signal when the end effector is locked to the tool changer.

[0181] Example (20): A method, comprising: receiving an indication that a locking mechanism has been actuated to lock an end effector of a robotic arm to a tool changer of the robotic arm; in response to receiving the indication, sending a signal to an electrical interface of the tool changer; providing, in the presence of feedback from the tool changer that is based on the signal, a first notification that end effector and the tool changer are safely attached; and providing, in the absence of the feedback from the tool changer, a second notification that end effector and the tool changer are not safely attached.

Claims

CLAIMS What is claimed is:

1. An assembly for a robotic arm, comprising: a tool changer configured to attach to and transfer power to an end effector; and a tracking system that facilitates tracking of the robotic arm within an environment, the tracking system comprising: at least one processor; and memory including instructions that when executed by the at least one processor cause the at least one processor to: generate and send a first signal to the tool changer in response to receiving an indication that the end effector has been attached to the tool changer; enable the tool changer to transfer power to the end effector in the presence of feedback from the tool changer that is based on the first signal; and block the tool changer from transferring power to the end effector in the absence of the feedback from the tool changer.

2. The assembly of claim 1, wherein the indication that the end effector has been attached to the tool changer comprises a second signal generated when the end effector is locked to the tool changer.

3. The assembly of one or more of claims 1 to 2, wherein the tracking system further comprises at least one component configured to trigger generation of the second signal when the end effector is locked to the tool changer.

4. The assembly of one or more of claims 1 to 3, wherein the at least one component comprises an electromechanical switch, an electrooptical switch, or a proximity sensor.

5. The assembly of one or more of claims 1 to 4, wherein the feedback comprises the first signal itself.

6. The assembly of claim 5, wherein the tool changer comprises an electrical path that forms part of a circuit that enables the first signal to travel from the tracking system through the tool changer and back to the tracking system as the feedback.

7. The assembly of claim 6, wherein the tool changer comprises pins that form part of the electrical path.

8. The assembly of claim 7, wherein the pins are spring-loaded and have protruded state in which a spring of each pin is decompressed and a pushed-in state where the spring of each pin is compressed.

9. The assembly of claim 8, wherein, when the pins are in the pushed-in state, the circuit is closed to enable the first signal to travel from the tracking system through the tool changer and back to the tracking system as the feedback, and wherein, when one of the pins are in the protruded state, the circuit is open and the first signal is prevented from travelling from the tracking system through the tool changer and back to the tracking system as the feedback.

10. The assembly of one or more of claims 1 to 9, wherein the memory includes instructions that when executed by the at least one processor, cause the at least one processor to: provide a first notification to indicate to a user that the end effector has been attached to the tool changer.

11. The assembly of claim 10, wherein the memory includes instructions that when executed by the at least one processor, cause the at least one processor to: provide, in the presence of the feedback from the tool changer that is based on the first signal, a second notification that the connection between the end effector and the tool changer is complete.

12. The assembly of claim 11, wherein the memory includes instructions that when executed by the at least one processor, cause the at least one processor to: provide, in the absence of the feedback from the tool changer, a third notification that the connection between the end effector and the tool changer is not complete.

13. The assembly of claim 12, wherein one or more of the first notification, the second notification, and the third notification comprises an audio notification, a visual notification, or both.

14. The assembly of one or more of claims 1 to 13, wherein the memory includes instructions that when executed by the at least one processor, cause the at least one processor to: enable the tool changer to transfer power to the end effector by closing a switch positioned between a power source that supplies the power and an electrical interface of the tool changer.

15. The assembly of one or more of claims 1 to 14, wherein the tool changer comprises an electrical interface that electrically connects to a corresponding electrical interface of the end effector, and wherein enabling the tool changer to transfer power to the end effector includes: identifying the end effector; and supplying power to portions of the electrical interface of the tool changer in accordance with the identified end effector.

16. The assembly of claim 15, wherein identifying the end effector includes accessing a memory of the end effector to identify the end effector’s type.

17. A tracking system that facilitates tracking of a robotic arm within an environment, the tracking system comprising: at least one processor; and memory including instructions that when executed by the at least one processor cause the at least one processor to: generate and send a first signal to a tool changer in response to receiving an indication that an end effector has been attached to the tool changer; enable the tool changer to transfer power to the end effector in the presence of feedback from the tool changer that is based on the first signal; and block the tool changer from transferring power to the end effector in the absence of the feedback from the tool changer.

18. The tracking system of claim 17, wherein the indication that the end effector has been attached to the tool changer comprises a second signal generated when the end effector is locked to the tool changer.

19. The tracking system of claim 18, wherein the tracking system further comprises at least one component configured to trigger generation of the second signal when the end effector is locked to the tool changer.

20. A method, comprising: receiving an indication that a locking mechanism has been actuated to lock an end effector of a robotic arm to a tool changer of the robotic arm; in response to receiving the indication, sending a signal to an electrical interface of the tool changer; providing, in the presence of feedback from the tool changer that is based on the signal, a first notification that end effector and the tool changer are safely attached; and providing, in the absence of the feedback from the tool changer, a second notification that end effector and the tool changer are not safely attached.

21. An assembly for a robotic arm, comprising: a tool changer configured to attach to and transfer power to an end effector; a tracking system that facilitates tracking of the robotic arm within an environment, the tracking system comprising; and an integrated circuit configured to: generate and send a first signal to the tool changer in response to receiving an indication that the end effector has been attached to the tool changer; enable the tool changer to transfer power to the end effector in the presence of feedback from the tool changer that is based on the first signal; and block the tool changer from transferring power to the end effector in the absence of the feedback from the tool changer.

22. The assembly of claim 21, wherein the integrated circuit is configured to: provide a first notification to indicate to a user that the end effector has been attached to the tool changer.

23. The assembly of claim 22, wherein the integrated circuit is configured to: provide, in the presence of the feedback from the tool changer that is based on the first signal, a second notification that the connection between the end effector and the tool changer is complete.

24. The assembly of claim 23, wherein the integrated circuit is configured to: provide, in the absence of the feedback from the tool changer, a third notification that the connection between the end effector and the tool changer is not complete.

25. The assembly of one or more of claims 22 to 24, wherein the integrated circuit is configured to: enable the tool changer to transfer power to the end effector by closing a switch positioned between a power source that supplies the power and an electrical interface of the tool changer.