Intuitive Surgical Operations, Inc.

Kirk A Nichols

Nicola Diolaiti

June Gyu Park

Wanxi Liu

A method of detecting a tool being received in a medical system, the method including receiving, in a tool recognition assembly having a first reader with a first detection zone, the tool having a first target. The method also includes acquiring first sensor data from the first reader for the first detection zone and detecting an indication of an absence of the first target when the first sensor data is within a first pre-determined threshold range and logging the absence indication. The method also includes creating an insertion signature associated with the tool being received in the tool recognition assembly by combining, in a chronological sequence, the absence and presence indications from the first reader. The method further includes comparing the insertion signature to a predetermined set of model insertion signatures and determining a characteristic of the tool being received in the tool recognition assembly based on the comparing.

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San Jose, CA, United States of America

Kirk A Nichols