SYSTEMS AND METHODS FOR DOCKING MEDICAL INSTRUMENTS

Certain aspects relate to systems and techniques for docking medical instruments. For example, a medical system can include an instrument drive mechanism having a drive output that rotates and engages a corresponding drive input on a robotic medical instrument, a motor configured to rotate the drive output, and a torque sensor configured to measure torque imparted on the drive output. The robotic medical instrument can include a pre-tensioned pull wire actuated by the drive input. The system can activate the motor associated with the drive output to rotate the drive output in response to a torque signal from the torque sensor associated with the drive output in order to align the drive output with the drive input. 某些方面涉及用于对接医疗器械的系统和技术。例如，医疗系统可包括器械驱动机构，该器械驱动机构具有：驱动输出部，该驱动输出部旋转并接合机器人医疗器械上的对应的驱动输入部；马达，该马达被构造成旋转驱动输出部；以及扭矩传感器，该扭矩传感器被构造成测量施予在驱动输出部上的扭矩。机器人医疗器械可包括由该驱动输入部致动的预张紧牵拉线。系统可响应于来自与驱动输出部相关联的扭矩传感器的扭矩信号而启用与驱动输出部相关联的马达以旋转驱动输出部，从而使驱动输出部与驱动输入部对准。