Automated tool handling for the trauma pod surgical robot

In order to enable robotic surgery without human assistance, a means must be developed to change tools. As part of the larger Trauma Pod Project, we developed the Tool Rack Subsystem - an automated tool rack capable of holding, accepting, and dispensing up to 14 tools for the da Vinci™ surgical robot. Borrowing some techniques from industrial automation, we developed a robust system capable of presenting any stored tool in 700ms or less. Tools are positively retained in a sterilizable carousel in a compliant manner designed to accomodate misalignment during tool exchange. RFID equipment is integrated into the system and the tools so that tools can be inventoried and presented by function or serial number instead of rack position. The resulting device has completed testing and integration into the Trauma Pod system and met all its design requirements.