DESC:ACTIVE ACTUATOR FOR CAMERA ROTATION IN ROBOTIC SURGICAL SYSTEM
FIELD OF THE PRESENT DISCLOSURE
[0001] The present disclosure generally relates to the field of a modular multi-arm robotic surgical system. More particularly, the disclosure relates to a system with an active actuator mechanism coupled to an endoscopic camera, to facilitate rotation and positioning of the endoscopic camera, which is mounted on one of the robotic arms and configured to capture and provide real-time views of the surgical site.

BACKGROUND
[0002] Robotic surgical systems have increasingly become a significant component of modern minimally invasive procedures, leveraging technology to enhance visualization and precision during surgery. Surgeons rely on imaging systems for a detailed, magnified view of the surgical site, allowing for improved decision-making and reduced procedural risks. As these systems have evolved, the incorporation of imaging devices into robotic platforms has become more advanced, yet challenges remain in reliably delivering a clear and stable view during complex movements. This context highlights the need for dependable mechanisms that manage the positioning of imaging devices in such high-stakes environments.
[0003] Surgical procedures require the visualization system to adjust to a range of operating conditions, including diverse anatomical perspectives and dynamic positioning requirements. There is a significant demand for systems capable of maintaining an optimal angular orientation relative to the anatomical structure of interest. In practice, achieving this level of adaptability often involves solutions that allow precise adjustments in the orientation of the imaging device without disrupting the sterile field. The overarching aim is to enable smooth surgical operations while delivering real-time, dependable imaging feedback that enhances the surgeon’s view during the procedure.
[0004] Certain challenges that naturally arise are encountered when attempting to adjust the orientation of an imaging device during robotic surgery. Traditional systems often struggle to maintain proper alignment of the device during movement or when sudden shifts in the surgical field occur. These limitations can result in less-than-ideal visualization, where manual adjustments may become burdensome or disruptive. Specifically, maintaining a stable position that aligns with the surgeon’s perspective can be challenging due to the complexities involved in synchronizing mechanical motion with precise visual alignment requirements.
[0005] Specific technical issues further exacerbate the problem under demanding surgical conditions. For example, maintaining communication and feedback during device movement is important to avoid delays or interruptions in the display of the surgical field. Additionally, the mechanical connection that facilitates orientation adjustments is often susceptible to issues such as mechanical wear, inadvertent misalignment, and unwanted movement that detracts from a clear view. Such challenges highlight the importance of developing an enhanced, robust mechanism that addresses these demands, ensuring that the orientation adjusts efficiently and reliably throughout a procedure.
[0006] In the field of robotic-assisted surgery, there is a critical need for systems that provide enhanced visualization and precise control of imaging devices during minimally invasive procedures. Surgeons rely heavily on endoscopic cameras to obtain a clear and magnified view of the surgical site, which is essential for making accurate decisions and performing complex operations. However, existing systems often face challenges in maintaining proper alignment and stability of the camera, particularly during multi-quadrant surgeries or when the robotic arms are repositioned. These limitations can lead to suboptimal visualization, increased strain on the surgeon, and disruptions to the sterile field.
[0007] To address these challenges, there is a need for an advanced mechanism that enables independent rotation and positioning of the endoscopic camera. Such a mechanism should provide an additional degree of freedom to achieve horizon correction, ensuring that the surgical field appears level to the surgeon even when the camera or robotic arm is tilted or misaligned. This capability would significantly improve the surgeon's visual perception, reduce fatigue, and enhance procedural precision.
[0008] Furthermore, the mechanism must incorporate features that ensure uninterrupted communication and feedback during camera movement. Traditional wire-based connections are prone to entanglement and mechanical wear, which can compromise the reliability of the system. A solution that eliminates these issues and provides real-time feedback on the camera's position and orientation.
[0009] Another critical need in the field is a robust and versatile locking mechanism that securely attaches the camera to the actuator while accommodating multiple types of endoscopes. This mechanism should ensure a sterile connection between the camera and the robotic arm, while allowing seamless integration of various endoscopes to enhance the system's adaptability to different surgical procedures.
[0010] Additionally, the mechanism should offer independent articulation of the camera tip, enabling surgeons to adjust the view angle as needed for improved visualization during complex procedures. Precise control of rotational movement within a predefined range is also necessary to ensure that adjustments align with the surgeon's commands, further streamlining the surgical workflow.
[0011] By addressing these needs, the field of robotic-assisted surgery can benefit from systems that enhance visualization, precision, and adaptability, ultimately improving patient outcomes and advancing the capabilities of robotic surgical platforms.

SUMMARY
[0012] In an aspect, a system for minimally invasive surgery is disclosed. The system comprises a plurality of robotic arms each mounted on a respective robotic cart, the robotic carts being arranged around an operating table. The system further comprises an endoscopic camera configured to capture a view of a surgical site, the endoscopic camera being adapted for coupling to one of the robotic arms. The system further comprises a tool interface on the one robotic arm. The tool interface is configured to couple the endoscopic camera and slidably support an active actuator for rotation of the endoscopic camera. The active actuator comprises a drive assembly including a motor, an encoder mounted on an output shaft of the motor for providing real-time rotational feedback, and a controller configured to receive rotation command signals from a surgeon command center and to control the motor. The active actuator further comprises a transmission arrangement operatively coupled to the drive assembly, the transmission arrangement including a first pulley connected to the motor, a second pulley connected to a first gear, and a belt configured to transfer rotational movement from the first pulley to the first gear, the first gear being coupled to a second gear. The active actuator further comprises a semi-circular disc coupled to the second gear, the semi-circular disc comprising contact pins and a sensor, the contact pins configured to move along a path formed in a slip ring to maintain continuous electrical communication during rotational movement, and the sensor configured to detect both the presence and angular orientation of the endoscopic camera. The active actuator further comprises a camera drape sterile barrier configured to secure the endoscopic camera to the tool interface and to demarcate a sterile portion of the robotic arm from a non-sterile portion. Herein the controller, in response to the rotation command received from the surgeon command center and based on feedback from the encoder and the sensor, operatively controls the motor to rotate the endoscopic camera to a desired orientation for providing an unobstructed view of the surgical site.
[0013] In one or more embodiments, a surgeon provides an input via at least one of a hand controller and a foot switch to initiate rotation of the endoscopic camera.
[0014] In one or more embodiments, the active actuator further comprises an endoscopic lever 258 configured to be manually pressed to articulate a tip of the endoscopic camera C in a plurality of directions, and a toggle switch 254 configured to be pressed in the direction corresponding to the endoscopic lever's articulation of the endoscopic camera C, wherein the toggle switch provides feedback on the status of the articulated endoscopic camera C to the robotic surgical system 100.
[0015] In one or more embodiments, the robotic arm comprises an end effector configured to hold parcels. The semi-circular disc comprises a printed circuit board including two contact pins and a sensor, wherein movement of the second gear causes the two contact pins to traverse a path defined in a slip ring to maintain continuous electrical communication between the sensor and the controller, and wherein the sensor is configured to detect the presence of the endoscopic camera at the actuator.
[0016] In another aspect, an active actuator for rotation of an endoscopic camera in a robotic surgical system is disclosed. The active actuator comprises a drive assembly configured to induce rotational movement. The drive assembly comprises a motor and an encoder. The encoder is disposed on an output shaft of the motor and configured to provide real-time angular position feedback. The drive assembly further comprises a controller configured to receive a rotation command and to drive the motor based on the encoder feedback. The active actuator further comprises a transmission assembly operatively coupled to the drive assembly and configured to transmit rotational movement. The transmission assembly comprises a belt configured to transfer rotational movement from the motor; a first gear coupled to the belt; and a second gear in drive engagement with the first gear, the second gear configured to impart rotation to an endoscopic camera. The active actuator further comprises a semi-circular disc operatively coupled to the second gear. The semi-circular disc comprises contact pins configured to traverse a path formed in a slip ring to maintain continuous electrical communication during rotational movement; and a sensor configured to detect the presence and angular orientation of the endoscopic camera. The active actuator further comprises a locking interface configured to secure a camera drape sterile barrier for mounting the endoscopic camera through a lock mount. Herein the controller, based on the rotation command and feedback from the encoder and the sensor, actuates the motor to selectively rotate the endoscopic camera to a desired orientation for achieving horizon correction during surgery.
[0017] In one or more embodiments, the slip ring comprises open tracks configured to maintain continuous electrical communication between the contact pins and the sensor during rotational movement.
[0018] In one or more embodiments, the sensor is a magnetic sensor configured to detect both the presence and angular orientation of the endoscopic camera.
[0019] In one or more embodiments, the locking interface comprises a lock mount including a plurality of pins, a release switch, and springs configured to securely engage a mating recess in the camera drape sterile barrier.
[0020] In one or more embodiments, the controller is configured to limit the rotational movement of the second gear such that the endoscopic camera is rotated within a range of ±180° relative to a neutral position.
[0021] In one or more embodiments, the active actuator further comprises an endoscopic lever configured to be manually pressed to articulate a tip of the endoscopic camera in a plurality of directions, and a toggle switch configured to be pressed in the direction corresponding to the endoscopic lever's articulation of the endoscopic camera, wherein the toggle switch provides feedback on the status of the articulated endoscopic camera to the robotic surgical system.
[0022] The foregoing summary is illustrative only and is not intended to be in any way limiting. In addition to the illustrative aspects, embodiments, and features described earlier, further aspects, embodiments, and features will become apparent by reference to the drawings and the following detailed description.

BRIEF DESCRIPTION OF THE FIGURES
[0023] For a more complete understanding of example embodiments of the present disclosure, reference is now made to the following descriptions taken in connection with the accompanying drawings in which:
[0024] FIG. 1 is a schematic diagram of a multi-arm teleoperated surgical system including robotic arms and a surgeon command center, according to embodiments of the present disclosure.
[0025] FIG. 2 is a perspective view of a five-arm robotic cart configuration arranged around an operating table in the multi-arm teleoperated surgical system, according to embodiments of the present disclosure.
[0026] FIG. 3A is a perspective view of a tool interface including an active actuator and an endoscopic camera, according to embodiments of the present disclosure.
[0027] FIG. 3B is a detailed view of the tool interface with active actuator shown via internal components, including the camera sterile barrier and mounting area, according to embodiments of the present disclosure.
[0028] FIG. 3C is a partial inverted view of the active actuator, according to embodiments of the present disclosure.
[0029] FIG. 4 is a perspective view of the active actuator, illustrating a drive assembly, a transmission arrangement, according to embodiments of the present disclosure.
[0030] FIGS. 5A-5C are different and sequential views of the active actuator demonstrating the rotational movement of the endoscopic camera, according to embodiments of the present disclosure.
[0031] FIG. 6 is a coupling of a semi-circular disc and a slip ring, according to embodiments of the present disclosure.
[0032] FIGS. 7A-7C are various views of the active actuator illustrating the integration of the endoscopic camera and a sterile barrier, according to embodiments of the present disclosure.
[0033] FIG. 8 is a perspective view of the locking interface for securing the endoscopic camera to the active actuator, according to embodiments of the present disclosure.
[0034] FIGS. 9A-9B are detailed views of the endoscopic camera locking interface, according to embodiments of the present disclosure.
[0035] FIG. 10 is a perspective view of the endoscopic camera mounted on the actuator, showing the secure engagement with the sterile barrier, according to embodiments of the present disclosure.
[0036] FIG. 11 is a sectional view of the active actuator, highlighting the components for feedback mechanism, according to embodiments of the present disclosure.
[0037] FIG. 12 is a perspective view of the active actuator with a toggle switch, LED indicator, illustrating the modular design, according to embodiments of the present disclosure.

DETAILED DESCRIPTION
[0038] In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure. It will be apparent, however, to one skilled in the art that the present disclosure is not limited to these specific details.
[0039] Reference in this specification to “one embodiment” or “an embodiment” means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present disclosure. The appearance of the phrase “in one embodiment” in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Further, the terms “a” and “an” herein do not denote a limitation of quantity, but rather denote the presence of at least one of the referenced items. Moreover, various features are described which may be exhibited by some embodiments and not by others. Similarly, various requirements are described which may be requirements for some embodiments but not for other embodiments.
[0040] Furthermore, in the following detailed description of the present disclosure, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure. However, it will be understood that the present disclosure may be practiced without these specific details. In other instances, well-known methods, procedures, components, and circuits have not been described in detail so as not to unnecessarily obscure aspects of the present disclosure.
[0041] The present disclosure pertains to advancements in robotic-assisted surgical systems, specifically focusing on an active actuator mechanism designed to enhance the functionality and precision of endoscopic cameras during minimally invasive procedures. The present disclosure addresses critical challenges such as maintaining sterility, providing real-time feedback, enabling horizon correction, and facilitating independent articulation of the camera tip. By integrating innovative components such as a drive assembly, transmission arrangement, semi-circular disc, slip ring, and sensor, the system ensures smooth and controlled rotational movement of the endoscopic camera while preserving continuous electrical communication. The modular design of the actuator allows compatibility with various robotic arms and endoscopes, making it adaptable to diverse surgical scenarios. The present disclosure aims to improve visualization, procedural efficiency, and adaptability in robotic-assisted surgeries, ultimately enhancing patient outcomes and advancing the capabilities of surgical robotics.
[0042] Referring to FIG. 1, illustrated is a schematic diagram of a multi-arm teleoperated surgical system 100 for minimally invasive robotic-assisted surgery, according to certain embodiments. The system 100 comprises five robotic arms 102a, 102b, 102c, 102d, 102e mounted on respective robotic carts CA, PL, SL, PR, SR arranged around an operating table 104. Further, the multi arm teleoperated surgical system 100 includes a surgeon command center 106 having a master controller 108, a surgeon 114, a 2D monitor 110 which acts as a graphical user interface and is configured to receive inputs from the surgeon 114, a 3D monitor 112, a vision cart 116, a side staff 118, and a surgical instrument and accessory table (not shown). Each robotic arm is configured to perform specific tasks during surgery, such as manipulating surgical instruments or supporting an endoscopic camera for visualization. The vision cart 116 houses imaging and processing equipment necessary for generating and displaying high-resolution images of the surgical site. The side staff 118 provides support for managing surgical instruments and accessories during the procedure.
[0043] The robotic arms are modular and can be positioned strategically around the operating table to optimize access to the surgical site. In this configuration, one robotic arm 102a is designated as the camera arm, which supports the endoscopic camera C for capturing real-time images of the surgical site. The remaining robotic arms 102b, 102c, 102d, 102e are equipped with surgical tools and instruments to perform various surgical actions.
[0044] The surgeon 114 provides an input via at least one of a hand controller (not shown) and a foot switch (not shown) to initiate rotation of the endoscopic camera C. The hand controller is an integral part of the surgeon command center, designed to provide precise input for controlling the robotic arms and associated surgical instruments during minimally invasive procedures. The hand controller allows the surgeon to intuitively manipulate the robotic system by translating complex hand movements into corresponding actions performed by the robotic arms. In the context of the active actuator mechanism, the at least one of the hand controller and the foot switch enable the surgeon to initiate rotation of the endoscopic camera by providing rotation commands. These commands are processed by the controller of the active actuator, which adjusts the motor operation to achieve the desired angular orientation of the camera, ensuring effective visualization of the surgical site.
[0045] The master controller 108 allows the surgeon 114 to input commands for precise manipulation of the robotic arms and surgical instruments. The graphical user interface provides real-time feedback and visualization of the surgical site, while the 3D monitor offers a magnified, three-dimensional view to enhance surgical precision.
[0046] Referring to FIG. 1 and FIG. 2, in combination, illustrated are a perspective view of a five-arm robotic cart configuration arranged around an operating table 104 in a multi-arm teleoperated surgical system 100. Each of the five robotic arms 102a, 102b, 102c, 102d, 102e are mounted on a respective robotic cart strategically positioned to optimize access to the surgical site while maintaining an unobstructed workspace for minimally invasive robotic-assisted surgery.
[0047] The robotic arm 102a mounted on the camera arm cart CA is dedicated to supporting an endoscopic camera C, providing real-time visualization of the surgical site with magnified, high-resolution images. The primary left robotic arm cart PL and secondary left robotic arm cart SL house robotic arms 102b, 102c positioned on the left side of the operating table relative to the surgeon’s perspective, equipped with surgical instruments for tasks such as cutting, suturing, or tissue manipulation. Herein, the endoscopic camera is a medical imaging device used to capture real-time visualizations of internal anatomical structures during minimally invasive procedures. It is typically mounted on an endoscope, which is a flexible or rigid tube equipped with optical components, allowing surgeons to view magnified images of the surgical site on a monitor. Endoscopic cameras are essential for enhancing precision and visibility in procedures such as laparoscopic, gastrointestinal, and robotic-assisted surgeries.
[0048] Similarly, the primary right robotic arm cart PR and secondary right robotic arm cart SR house robotic arms 102d, 102e positioned on the right side of the operating table, also equipped with surgical tools to assist in the procedure. The centrally located operating table 104 provides a stable platform for the patient, while the arrangement of robotic carts ensures that the arms can access the surgical site from multiple angles, enabling precise and efficient manipulation of surgical instruments. Controlled remotely by the surgeon through the surgeon command center 106, the system facilitates multi-quadrant surgeries by allowing access to different anatomical regions. The modular design of the robotic carts and arms enhances flexibility and adaptability to various surgical scenarios, improving the overall efficiency and precision of the procedure.
[0049] Referring to FIG. 3A, illustrated is a perspective view of a tool interface 200 configured to couple the active actuator 202 for rotation of the endoscopic camera C, wherein the active actuator 202 of a robotic arm (not shown), highlight the ability of the tool interface 200 to facilitate rotational movement of the endoscopic camera C. Hereinafter, the “active actuator” and the “actuator” with reference numeral 202 are used alternatively in the succeeding paragraphs. The tool interface 200 on one robotic arm slidably supports the active actuator 202. This configuration is designed to enhance the surgeon’s ability to achieve optimal visualization of the surgical site during minimally invasive procedures.
[0050] The active actuator 202 of the tool interface 200 is securely mounted on the robotic arm via a designated mounting area 204, which is in the form of sliding rail that allows for smooth and controlled movement of the camera ensuring stable integration within the robotic system. The active actuator 202 includes a camera sterile barrier 206, which serves as a protective interface to maintain sterility by separating the sterile portion of the robotic arm from the non-sterile portion. Hereinafter, the “camera sterile barrier” or “camera drape sterile barrier” or “sterile barrier” have been used interchangeably without any limitations.
[0051] The camera drape sterile barrier 206 is also maintained such that the torque and other force feedback are received as an input from both the sterile surgical instrument as well as the robotic arm 102a. This camera drape sterile barrier 206 ensures that the surgical environment remains uncontaminated while allowing the active actuator 202 to perform its functions effectively. One end of the endoscope or endoscopic camera has a lock mount 208. Hereinafter, the terms “endoscope” and “endoscopic camera” are used interchangeably, both referring to the reference numeral C. The lock mount 208 is a critical component of the tool interface 200 which ensures the fixation of the one end of the endoscope with the camera sterile drape 206 and ultimately to the active actuator 202, with locking mechanism (as shown in FIG. 8). The lock mount 208 is configured to accommodate multiple types of endoscopes, provided they meet specific dimensional and peripheral requirements, making the system versatile and adaptable to various surgical scenarios.
[0052] The rotational capability of the endoscopic camera C is achieved through the active actuator’s internal components, including a motor-driven assembly and a transmission arrangement (not shown in this figure; shown in FIG. 4). The active actuator’s design allows the endoscopic camera C to rotate, providing the surgeon 114 with the ability to adjust the camera’s orientation to achieve horizon correction or to obtain a desired view of the surgical site.
[0053] The active actuator’s modular design ensures compatibility with various robotic arms and endoscopic cameras, making it adaptable to different surgical scenarios. By enabling precise rotational movement and maintaining sterility, the active camera actuator enhances the surgeon’s ability to perform complex procedures with improved visualization and control.
[0054] Referring to FIG. 3B, illustrated is a detailed view of the tool interface 200 with internal components of the active actuator 202 including the camera sterile barrier 206 and mounting area 204. FIG. 3B further shows the tool interface with active actuator and endoscopic camera in exploded view (top part of FIG. 3B) and assembled or consolidated view (bottom part of the FIG. 3B). The exploded view shows some major components of tool interface 200 with the active actuator 202 in a distinct manner. The exploded view illustrates the principal components of the tool interface 200, including the active actuator 202, in a spatially separated configuration to clearly depict their relative arrangement and individual structure. In contrast, the assembled or consolidated view presents these components, including the active actuator 202, in their operative, fixed configuration as part of the assembled tool assembly.
[0055] Herein, the tool interface 200 is configured to slidably couple the active actuator 202 through the designated mounting area 204, ensuring proper alignment and integration with the robotic arm for rotation of the endoscopic camera C. The active actuator 202 is designed to facilitate precise rotational movement of the endoscopic camera C while maintaining sterility and ensuring secure attachment to the robotic arm, ensuring proper alignment and integration with the robotic arm.
[0056] The camera sterile barrier 206 serves as a protective interface to maintain sterility by separating the sterile portion of the robotic arm from the non-sterile portion. This sterile barrier ensures that the surgical environment remains uncontaminated while allowing the actuator to perform its functions effectively.
[0057] The endoscopic camera C is securely attached to the active actuator 202 and is capable of rotational movement. The active actuator’s internal components, including a semi-circular disc, gear assembly, and slip ring (not explicitly labeled in FIG. 3B), facilitate smooth and continuous rotation of the endoscopic camera C.
[0058] The active actuator’s modular design ensures compatibility with various robotic arms and endoscopic cameras, making it adaptable to different surgical scenarios. By combining precise rotational control, uninterrupted communication, and sterility maintenance, the active camera actuator significantly enhances the functionality and efficiency of robotic surgical systems. FIG. 3B highlights the actuator’s robust construction and its ability to provide stable and reliable support for the endoscopic camera during minimally invasive.
[0059] Referring to FIG. 4, a perspective view of the active actuator 202, highlighting a drive assembly 222 and a transmission arrangement 238. The drive assembly 222 is a critical subsystem of the active actuator 202, designed to provide smooth and controlled rotational movement based on commands received from the surgeon command center 106 during minimally invasive surgical procedures. Referring to FIG. 3C and FIG. 4, in combination, illustrated are a sectional/partial inverted view of the active actuator 202, highlighting its internal components and functional design. The active actuator 202 is a coupled structure of the tool interface 200 of a robotic arm (not shown) and is configured to facilitate precise rotational movement of the endoscopic camera C (not shown) during minimally invasive surgical procedures.
[0060] Referring to FIG. 4, the drive assembly 222 comprises a motor 236, wherein the motor 236 serves as the primary source of rotational movement for the active actuator 202. The motor 236 is configured to respond to rotation command signals received from the surgeon command center 106, ensuring precise control over the camera’s orientation. The drive assembly 222 further comprises an encoder 234 and a controller 232, wherein the encoder 234 mounted on an output shaft of the motor 236 for providing real-time rotational feedback. Generally, the controller is a device or system component that manages, regulates, and directs the operation of other devices or systems based on input commands or feedback. In the context of robotics or machinery, it typically processes signals from sensors or user inputs to control actuators, motors, or other mechanical components, ensuring precise and desired functionality.
[0061] Referring to FIG. 4, the transmission arrangement 238 is operatively coupled to the drive assembly 222 and configured to transmit rotational movement. The transmission arrangement 238 comprises a belt 226 configured to transfer rotational movement from the motor 236. Generally, the belt is a flexible looped mechanical component used to transmit power or motion between rotating shafts in machinery. Typically made of materials such as rubber, fabric, or synthetic polymers, belts are employed in pulley systems to transfer rotational energy efficiently, often reducing noise and vibration while ensuring smooth operation. The transmission arrangement 238 further comprises a first gear 220 coupled to the belt 226. The transmission arrangement 238 further a second gear 212 in drive engagement with the first gear 220, wherein the second gear 212 is configured to impart rotation to the endoscopic camera C. Herein, the gear is a mechanical component with teeth that mesh with another gear or a compatible device to transmit torque and rotational motion. Gears are commonly used in machinery to change the speed, direction, or force of motion, and they come in various types, such as spur, helical, bevel, and worm gears, depending on their design and application.
[0062] The transmission arrangement 238 includes a first pulley 228 connected to the motor 236, a second pulley 230 connected to the first gear 220, and the belt 226 configured to transfer rotational movement from the first pulley 228 to the first gear 220, the first gear 220 being coupled to the second gear 212. Herein, the pulley is a mechanical device consisting of a wheel with a grooved rim, designed to guide a rope, belt, or cable. It is used to change the direction of force, transmit power, or lift loads, often reducing the effort required to move an object. Pulleys are commonly employed in systems such as cranes, belt-driven machinery, and transmission assemblies. The motor 236 is configured to transmit rotational movement to the first gear 220 via the belt 226, which in turn drives the second gear 212. The second gear 212 is directly coupled to a semi-circular disc 210, enabling the disc to rotate along with the endoscopic camera C.
[0063] The partial view of the active actuator 202 reveals that at one end the active actuator 202 includes a semi-circular disc 210 operatively coupled to the second gear 212. The rotational movement imparted by the motor 236 is transmitted through the second pulley 230, enabling the second gear 212 to drive the semi-circular disc 210. This coupling ensures smooth and controlled rotation of the disc, which is directly responsible for the rotational movement of the endoscopic camera C. The semi-circular disc 210 is a critical component of the active actuator (202), as it houses two contact pins and sensor. The semi-circular disc 210 includes a printed circuit board (PCB) 224 mounted thereon. The PCB 224 is configured to mount contact pins 214 and a sensor 216. The PCB 224 facilitates communication between the contact pins 214, the sensor 216, and the controller 232. A semi-circular disc is a mechanical component shaped like half of a circular disc, typically used in systems requiring rotational movement or angular adjustments. In the context of the present disclosure, it serves as a coupling element in the active actuator mechanism, facilitating smooth rotation and housing components such as contact pins and sensors to maintain continuous electrical communication and detect angular orientation during operation.
[0064] The combination of the semi-circular disc 210, contact pins 214, slip ring 218, and sensor 216 ensures that the active actuator 202 can perform smooth and precise rotational movements while maintaining continuous communication and providing real-time positional feedback. This design enhances the reliability and efficiency of the active actuator 202, allowing surgeons to perform complex procedures with improved visualization and control.
[0065] FIG. 6 is a coupling of a semi-circular disc and a slip ring, according to embodiments of the present disclosure. Referring to FIG. 6, a slip ring 218 is mechanically coupled to the second gear 212, which drives the rotational movement of the semi-circular disc 210. The slip ring is integrated into the actuator’s internal structure, ensuring seamless operation without interfering with the sterile barrier 206 or other components. Specifically, the slip ring is operatively coupled to the semi-circular disc 210, wherein the contact pins 214 traverse a path defined within the slip ring 218, ensuring continuous electrical communication during rotational movement. Structurally, the slip ring 218 comprises open tracks 246 that form a predefined path along which contact pins 214 traverse during rotation. The contact pins 214 are mounted on the PCB 224 and are configured to remain in constant contact with the tracks 246 of the slip ring 218. This design ensures uninterrupted electrical connectivity between the sensor 216 and the controller 232, even as the semi-circular disc 210 rotates. The slip ring 218 is a critical component of the active actuator 202 designed to maintain continuous electrical communication during rotational movement of the endoscopic camera C.
[0066] Referring to FIG. 6, the slip ring 218 is further connected to the drive assembly 222 (will be described later). This slip ring 218 design eliminates the need for traditional wire-based connections, reducing the risk of entanglement or mechanical wear and ensuring reliable feedback during camera operation.
[0067] In one or more embodiments, the sensor 216 may include a magnetic sensor, proximity sensor, infrared (IR) sensor, or a combination thereof. In a preferred embodiment, the sensor 216 is a magnetic sensor configured to detect both the presence and angular orientation of the endoscopic camera C, providing reliable and precise feedback during operation.
[0068] The sensor 216, integrated into the semi-circular disc 210 through the PCB 224, is configured to detect both the presence and angular orientation of the endoscopic camera C. This sensor 216 provides real-time feedback to the controller 232. Referring to FIG. 3C, the encoder 234 measures the position of motor 236 and provides real-time angular position feedback to the controller 232.
[0069] Again, referring to FIG. 4, the encoder 234 is mounted on the output shaft of the motor 236, which provides real-time feedback on the angular position of the motor 236. The encoder 234 continuously measures the motor’s rotational position and transmits this data to the controller 232. This feedback loop allows the controller 232 to monitor the motor’s movement and make adjustments as needed to achieve the desired orientation of the endoscopic camera C.
[0070] The controller 232 is configured to receive rotation command signals from the surgeon command center and to control the motor 236 based on the feedback provided by the encoder 234. The controller processes the surgeon’s input and compares the desired rotational position with the actual position reported by the encoder. If there is a discrepancy, the controller 232 adjusts the motor’s operation to minimize the difference, ensuring precise alignment of the endoscopic camera C.
[0071] The transmission arrangement 238 includes a first pulley 228 connected to the output shaft of the motor 236. The rotational movement generated by the motor 236 is transmitted to the first pulley 228, which serves as the driving pulley in the system. The belt 226 is operatively coupled to the first pulley 228 and extends to the second pulley 230, which is connected to the first gear 220. The belt 226 is configured to transfer rotational movement smoothly and efficiently from the first pulley 228 to the second pulley 230, ensuring minimal loss of power during transmission.
[0072] In an exemplary embodiment, the motor 236 is controlled by the drive assembly 222, which receives rotation command signals from the surgeon command center 106. The controller 232 of the drive assembly 222 processes the command signals and instructs the motor 236 to rotate. The rotational movement generated by the motor 236 is transmitted to the first pulley 228, which is operatively coupled to the belt/cable 226. The belt/cable 226 facilitates the transfer of rotational movement from the first pulley 228 to the second pulley 230. The second pulley 230, in turn, drives the second gear 212, which is directly responsible for imparting rotational movement to the endoscopic camera C.
[0073] The second gear 212 is operatively coupled to the slip ring 218. Specifically, the second gear 212 is operatively coupled to the slip ring 218 through the semi-circular disc 210, wherein the PCB 224 is mounted on the semi-circular disc 210. The contact pins 214 of the PCB 224 is configured to move along a path formed in the slip ring 218 to maintain continuous electrical communication during rotational movement. The slip ring tracks 218 ensure continuous electrical communication between the sensor and the controller during rotational movement. The sensor 216 of the PCB 224 is configured to detect both the presence and angular orientation of the endoscopic camera C. The controller 232, based on the rotation command and feedback from the encoder 234 and the sensor 216, actuates the motor 224 to selectively rotate the endoscopic camera C to a desired orientation for achieving horizon correction during surgery.
[0074] In one or more embodiments, the controller 232 is configured to limit the rotational movement of the second gear 212 such that the endoscopic camera C is rotated within a range of ±180° relative to a neutral position.
[0075] Referring to FIGS. 5A, 5B and 5C, illustrated is the active actuator 202 and its slip ring 218, a critical component designed to maintain continuous electrical communication during rotational movement of the endoscopic camera C. Structurally, the slip ring 218 is integrated with open tracks 246 that allow contact pins 214, mounted on the PCB 224, to traverse the tracks 246 without interruption making it open. The slip ring 218 is mechanically coupled to the semi-circular disc 210, which is operatively connected to the gear assembly 219 driven by the controller 232. Additionally, the sensor 216, integrated into the semi-circular disc 210, detects the presence and angular orientation of the endoscopic camera C and provides real-time feedback to the controller 232.
[0076] Again, referring to FIG. 5A and FIG. 6, in combination, the endoscopic camera C is in the center or neutral position, aligned at 0°, with the contact pins 214 stationary within the slip ring open tracks 246. The sensor 216 detects the endoscopic camera’s presence and confirms its angular orientation, providing feedback to the controller 232. FIG. 5B demonstrates the actuator during clockwise rotation, where the semi-circular disc 210 moves along with the endoscopic camera C, causing the contact pins 214 to traverse the slip ring open tracks 246. Despite the movement, the sensor 216 remains in position relative to the camera and maintains continuous electrical contact with the PCB 224, ensuring uninterrupted feedback to the controller board 232. Similarly, FIG. 5C illustrates the actuator during anti-clockwise rotation, where the semi-circular disc 210 moves in the opposite direction, and the contact pins 214 traverse the slip ring open tracks 246 accordingly. As in clockwise rotation, the sensor 216 remains in position relative to the camera and maintains continuous electrical contact, ensuring reliable feedback to the controller board 232.
[0077] The slip ring 218 avoids wire-based connections that are prone to damage or entanglement during rotational movement. By eliminating wires and using open tracks 246 for continuous electrical communication, the slip ring 218 ensures reliable operation and prevents mechanical wear or disruption during circular motion. This innovative design enhances the durability and efficiency of the active actuator 202, allowing the camera to maintain its position and functionality without interruption.
[0078] Referring to FIG. 7A, FIG. 7B, and FIG. 7C, in combination, illustrate the active actuator 202 integrated with endoscopic camera C, showcasing its structural arrangement and functionality for enabling horizon adjustment during robotic-assisted surgery. The horizon adjustment mechanism ensures that the surgical field appears level to the surgeon 114, even when the robotic arm or endoscopic camera C is tilted or misaligned due to anatomical constraints or arm movement. This capability is essential for maintaining accurate visual perception, reducing strain on the surgeon, and improving procedural precision during minimally invasive surgeries.
[0079] Referring to FIG. 7A, a condition when the robotic arm 102a is aligned straight with the target anatomy, and the endoscopic camera C is positioned at a neutral angle. In this ideal scenario, the surgical field is naturally level, and no horizon correction is required. The actuator 202 maintains the camera’s position without inducing rotational movement, ensuring a stable and unobstructed view of the surgical site. This condition represents the optimal alignment of the robotic arm and camera with the anatomy.
[0080] Referring to FIG. 7B, a condition when the robotic arm 102a is not aligned straight with the target anatomy, resulting in an angular view or a sideways perspective of the surgical site. This misalignment distorts the surgeon’s visual perception, as the surgical field appears tilted or skewed. To address this, the actuator 202 compensates for the misalignment using its horizon adjustment mechanism. The drive assembly 222 generates rotational movement, which is transmitted through the gear-pulley system comprising the first pulley 228, the second pulley 230, and the belt 226. The semi-circular disc 210, coupled to the second gear 212, rotates the camera C to correct the horizon and provide a level view of the surgical site. This adjustment ensures that the surgeon can maintain a clear and accurate perspective of the anatomy.
[0081] Referring to FIG. 7C, a condition when the endoscopic camera C is rotated independently to adjust the view angle as desired or to maintain a straight alignment with the surgical site. The active actuator 202 provides an extra degree of freedom for rotation, allowing the surgeon 114 to dynamically correct the horizon during multi-quadrant surgeries or complex procedures. The encoder 220 integrated into the motor 236 provides real-time feedback on the angular position of the endoscopic camera C, enabling precise control and alignment. Additionally, the slip ring 218 ensures continuous electrical communication between the sensor 216 and the controller 232, eliminating the risk of wire entanglement or disruption during rotational movement. This design supports uninterrupted operation and reliable feedback, even during dynamic adjustments.
[0082] The horizon adjustment mechanism integrated into the active actuator 202 is particularly advantageous in scenarios where the robotic arm 102a is misaligned or positioned at an angle relative to the target anatomy. By providing smooth and controlled rotational movement, the actuator 202 allows the surgeon 114 to correct the horizon and maintain a straight visual alignment with the surgical site. This capability reduces strain on the surgeon, enhances precision, and improves overall visualization during minimally invasive procedures.
[0083] Referring to FIG. 7A, FIG. 7B, and FIG. 7C, in combination, demonstrate the structural and functional integration of the active actuator 202 with the endoscopic camera C, highlighting its ability to perform horizon correction under varying conditions. The actuator’s modular design, combined with its drive assembly 222, slip ring 218, and encoder 234, ensures reliable operation and precise control, addressing critical challenges in robotic-assisted surgery and enhancing procedural efficiency.
[0084] Referring to FIGS. 3A, 3B, and FIG. 8, in combination, the camera drape sterile barrier 206 is a component to maintain sterility during minimally invasive surgical procedures. Structurally, the sterile barrier is configured to securely attach the endoscopic camera C to the tool interface 200 of the robotic arm while demarcating the sterile portion of the robotic arm from the non-sterile portion. The sterile barrier is made of a flexible, durable, and sterile material that conforms to the shape of the endoscopic camera C and the active actuator 202.
[0085] The camera drape sterile barrier 206 includes a locking mechanism that integrates with the lock mount 208 of the active actuator 202. The locking mechanism ensures a secure connection between the endoscopic camera C and the active actuator 202 while maintaining the sterile environment. The sterile barrier is designed to cover the actuator and the camera, isolating the sterile surgical field from the non-sterile mechanical components of the robotic arm.
[0086] The sterile barrier 206 includes a locking mechanism that integrates with the lock mount 208 of the active actuator 202. This locking mechanism ensures a secure connection between the camera and the actuator while maintaining the sterile environment. The sterile barrier is designed to lock the active actuator 202 and the endoscopic camera C, isolating the sterile surgical field from the non-sterile mechanical components of the robotic arm.
[0087] In one or more embodiments, the locking interface 240 comprises a lock mount 208 including a plurality of pins, a release switch 242, and springs configured to securely engage a mating recess in the camera drape sterile barrier 206.
[0088] Referring to FIGS. 9A, 9B, 10 and 11, in combination, illustrate the locking of endoscope with the active actuator 202 achieved through the locking interface 240 configured to secure the camera drape sterile barrier 206 for mounting the endoscope through the lock mount 208 while maintaining sterility during minimally invasive surgical procedures. FIGS. 9A and 9B illustrate the structural details of the lock mount 208, while FIG. 10 demonstrates the secure engagement of the endoscopic camera C with the sterile barrier 206 and the lock mount 208 during operation. By combining sterility maintenance, secure attachment, and reliable feedback, the locking mechanism addresses critical challenges in robotic-assisted surgery and enhances procedural efficiency.
[0089] The locking interface 240 consists of three primary components: the camera drape sterile barrier 206, the lock mount 208, and the endoscope C. The sterile barrier 206 serves as a protective interface, separating the sterile portion of the robotic arm from the non-sterile portion and ensuring a sterile environment for the endoscope C. The lock mount 208 is the central component of the mechanism, designed to accommodate multiple types of endoscopes with minor customizations to match their inner peripheral dimensions. It includes spring-loaded pins that align with locking holes on the sterile barrier 206, a manually operable release switch to compress the pins inward, springs 248 to bias the pins 244 outward for engagement.
[0090] The locking process begins with the sterile barrier 206 being attached to the active actuator 202, followed by the insertion of the endoscope C into the sterile barrier 206, aligning its locking holes with the pins on the lock mount 208.
[0091] Herein, pressing the release switch 242 compresses the pins 244 inward, clearing the path for the endoscope C to enter, and releasing the switch allows the pins 244 to move outward and engage the locking holes, securing the endoscope C in place. The lock remains engaged until the release switch 242 is pressed again to unlock. This mechanism ensures that the endoscope C remains securely attached during rotational movement or articulation, preventing accidental detachment and ensuring uninterrupted operation.
[0092] FIG. 10 illustrates the locking interface 240, showcasing the release switch 242 in both its pressed and released positions showing unlock and locked condition of the endoscopic camera C with the active actuator 202, respectively.
[0093] Referring to FIG. 11, illustrated is a sectional view of the active actuator 202, focusing on a feedback mechanism that ensures reliable detection of the endoscopic camera’s C presence and its locking status. The feedback mechanism is based on the interaction between a magnetic sensor 216 and a magnet 250 integrated into the lock mount 208 (shown in FIG. 3A).
[0094] The magnetic sensor 216 is strategically positioned within the lock mount 208. The lock mount 208 is designed to securely attach the endoscopic camera C to the active actuator 202 while accommodating the magnet 250. The magnet 250 is embedded in the lock mount 208 and is aligned to interact with the magnetic sensor 216 when the endoscope/endoscopic camera C is properly locked into place.
[0095] When the magnet 250 on the lock mount 208 comes into proximity with the magnetic sensor 216, the sensor is triggered, causing a change in its default state. This state change can occur in two forms: from ON to OFF or from OFF to ON, depending on the configuration. The magnetic sensor 216 detects this change and transmits a signal to the controller 232, which processes the feedback to confirm the locking status of the endoscopic camera C.
[0096] The feedback mechanism is further enhanced by a light emitting diode (LED) 252 indicator integrated into the active actuator 202. The status change detected by the magnetic sensor 216 leads to a corresponding color change in the LED 252, providing visual feedback to the surgical staff. For example, a specific color may indicate that the camera is securely locked, while another color may signal an unlocked or improper locking condition. This visual feedback ensures that the surgical team can quickly verify the locking status of the camera without disrupting the procedure.
[0097] Structurally, the feedback mechanism is seamlessly integrated into the active actuator 202, ensuring that the magnetic sensor 216 and magnet 250 operate reliably without interfering with other components. The placement of the magnetic sensor 216 and magnet 250 is optimized to maintain sterility and ensure uninterrupted operation during rotational movement or articulation of the camera.
[0098] Referring to FIG. 12, illustrated is a perspective view of the active actuator 202, emphasizing the structural integration of the articulation mechanism at the tip 256 of the endoscope C and the feedback system that provides real-time updates to the surgical team. The articulation mechanism is controlled manually through an endoscopic lever, which allows precise adjustments to the position of the endoscope tip 256 during minimally invasive surgical procedures.
[0099] Referring to FIGS. 8, 9A, and 10, the active actuator further includes an endoscopic lever 258 configured to be manually pressed to articulate the tip 256 of the endoscopic camera C in a plurality of directions, wherein the plurality of directions are defined as left, right, up, and down. Referring to FIG. 10 and 12, in combination, the active actuator further includes a toggle switch 254 configured to be pressed in the direction corresponding to the endoscopic lever’s articulation of the endoscopic camera C. The toggle switch provides feedback to the robotic surgical system 100 regarding the status of the articulated endoscopic camera C, indicating that the endoscopic camera C has been articulated in any one of the plurality of directions. Herein, the user may a side staff, an assistant surgeon, surgeon, or OT staff, without any limitations.
[00100] In an example, when the user intends to articulate the tip 256 of the endoscopic camera C to the left, the user manually presses the endoscopic lever 258 in the left direction. As the endoscopic lever 258 is moved to the left, the tip 256 of the endoscopic camera C articulates to the left. Subsequently, the user presses the toggle switch 254 in the left direction, which sends feedback to the robotic surgical system 100, confirming that the tip 256 of the endoscopic camera C has been successfully articulated to the left.
[00101] In another example, when the user intends to articulate the tip 256 of the endoscopic camera C to the right, the user manually presses the endoscopic lever 258 in the right direction. As the endoscopic lever 258 is moved to the right, the tip 256 of the endoscopic camera C articulate to the right. Subsequently, the user manually presses the toggle switch 254 in the right direction, which sends feedback to the robotic surgical system 100, confirming that the tip 256 of the endoscopic camera C has been successfully articulated to the right.
[00102] The LED 252 indicator provides visual feedback based on the sensor’s 216 input, with color changes corresponding to the toggle switch’s 254 state and the tip’s position. This intuitive feedback system ensures that the surgical staff can quickly verify the articulation status without disrupting the procedure. The integration of the toggle switch 254, magnetic sensor 216, and LED 252 indicator within the active actuator 202 is optimized to maintain sterility and ensure uninterrupted operation during surgical procedures. FIG. 12 demonstrates how this design enhances the functionality and efficiency of the active actuator 202, enabling precise control and monitoring of the endoscope C.
[00103] The system of the present disclosure is for minimally invasive surgery that integrates a plurality of robotic arms, an endoscopic camera, and an active actuator mechanism for precise rotational control of the camera. The arrangement of components and their interaction provides several operational advantages: enhanced visualization during surgery, continuous electrical communication; sterility maintenance; real-time feedback and control; improved surgeon ergonomics; and adaptability to diverse surgical scenarios.
[00104] For enhanced visualization during surgery, the active actuator enables precise rotational movement of the endoscopic camera, allowing surgeons to adjust the camera's orientation dynamically to achieve optimal visualization of the surgical site. This capability is particularly beneficial during multi-quadrant surgeries, where anatomical perspectives may vary significantly. The ability to maintain a clear and unobstructed view improves surgical precision and reduces the likelihood of errors.
[00105] For continuous electrical communication, the semi-circular disc, equipped with contact pins and a slip ring, ensures uninterrupted electrical communication between the sensor and the controller during rotational movement. This eliminates the need for traditional wire-based connections, which are prone to entanglement or mechanical wear. The slip ring design maintains reliable feedback on the camera's position and orientation, ensuring seamless operation even during complex movements.
[00106] For sterility maintenance, the camera drape sterile barrier isolates the sterile portion of the robotic arm from the non-sterile portion, preserving the sterile environment required for surgical procedures. This arrangement allows the actuator to perform functions without compromising sterility, ensuring compliance with surgical standards and reducing the risk of contamination.
[00107] For real-time feedback and control, the integration of the encoder and sensor provides real-time feedback on the angular position and presence of the endoscopic camera. This feedback is processed by the controller, which adjusts the motor's operation to achieve the desired orientation. The closed-loop control system ensures precise alignment of the camera with the surgeon's commands, enhancing the responsiveness and accuracy of the system.
[00108] For improved surgeon ergonomics, the system allows the surgeon to initiate camera rotation via at least one of a hand controller and a foot switch, reducing the need for manual adjustments and minimizing physical strain. This ergonomic design streamlines the surgical workflow and enables the surgeon to concentrate on significant aspects of the procedure.
[00109] For adaptability to diverse surgical scenarios, the modular design of the robotic arms and the active actuator allows the system to be configured for various surgical procedures. The capability to couple the endoscopic camera to different robotic arms and dynamically adjust the orientation of the camera enhances the system's versatility for a broad spectrum of minimally invasive surgeries.
[00110] The actuator’s ability to perform horizon correction ensures that the surgical field appears level to the surgeon, even when the camera or robotic arm is tilted or misaligned. This feature improves visual perception, reduces surgeon fatigue, and enhances procedural precision.
[00111] In the foregoing description, specific embodiments of the present disclosure have been described by way of examples with reference to the accompanying figures and drawings. One of ordinary skill in the art will appreciate that various modifications and changes can be made to the embodiments without departing from the scope of the present disclosure as set forth in the claims below. Accordingly, the specification and figures are to be regarded in an illustrative rather than a restrictive sense, and all such modifications are intended to be included within the scope of the present disclosure. The benefits, advantages, solutions to problems, and any element(s) that may cause any benefit, advantage, or solution to occur or become more pronounced are not to be construed as a critical, required, or essential features or elements of any or all of the claims. The present disclosure is defined solely by the appended claims including any amendments made during the pendency of this application and all equivalents of those claims as issued. ,CLAIMS:WE CLAIM:
1. A system (100) for minimally invasive surgery, comprising:
a plurality of robotic arms (102a, 102b, 102c, 102d, and 102e) each mounted on a respective robotic cart, the robotic carts being arranged around an operating table (104);
an endoscopic camera (C) configured to capture a view of a surgical site, the endoscopic camera (C) being adapted for coupling to one of the robotic arms (102a);
a tool interface (200) on the one robotic arm (102a), the tool interface (200) configured to couple the endoscopic camera (C) and slidably support an active actuator (202) for rotation of the endoscopic camera (C), the active actuator (202) comprising:
a drive assembly (222) including a motor (236), an encoder (234) mounted on an output shaft of the motor (236) for providing real-time rotational feedback, and a controller (232) configured to receive rotation command signals from a surgeon command center (106) and to control the motor (236),
a transmission arrangement (238) operatively coupled to the drive assembly (222), the transmission arrangement (238) including a first pulley (228) connected to the motor (236), a second pulley (230) connected to a first gear (220), and a belt (226) configured to transfer rotational movement from the first pulley (228) to the first gear (220), the first gear (220) being coupled to a second gear (212),
a semi-circular disc (210) coupled to the second gear (212), the semi-circular disc (210) comprising contact pins (214) and a sensor (216), the contact pins (214) configured to move along a path formed in a slip ring (218) to maintain continuous electrical communication during rotational movement, and the sensor (216) configured to detect both the presence and angular orientation of the endoscopic camera (C), and
a camera drape sterile barrier (206) configured to secure the endoscopic camera (C) to the tool interface (200) and to demarcate a sterile portion of the robotic arm (102a) from a non-sterile portion,
wherein the controller (232), in response to the rotation command received from the surgeon command center (106) and based on feedback from the encoder (234) and the sensor (216), operatively controls the motor (236) to rotate the endoscopic camera (C) to a desired orientation for providing an unobstructed view of the surgical site.

2. The system (100) as claimed in claim 1, wherein a surgeon provides an input via at least one of a hand controller and a foot switch to initiate rotation of the endoscopic camera (C).

3. The system (100) as claimed in claim 1, wherein the active actuator (202) further comprises an endoscopic lever (258) configured to be manually pressed to articulate a tip of the endoscopic camera (C) in a plurality of directions, and a toggle switch (254) configured to be pressed in the direction corresponding to the endoscopic lever's articulation of the endoscopic camera (C), wherein the toggle switch provides feedback on the status of the articulated endoscopic camera (C) to the robotic surgical system (100).

4. The system (100) as claimed in claim 1, wherein the semi-circular disc (210) comprises a printed circuit board (224) including two contact pins (214) and a sensor (216),
wherein movement of the second gear (212) causes the two contact pins (214) to traverse a path defined in a slip ring (218) to maintain continuous electrical communication between the sensor (216) and the controller (232), and
wherein the sensor (216) is configured to detect the presence of the endoscopic camera (C) at the actuator (202).

5. An active actuator (202) for rotation of an endoscopic camera (C) in a robotic surgical system (100), comprising:
a drive assembly (222) configured to induce rotational movement, the drive assembly comprising:
a motor (236);
an encoder (234) disposed on an output shaft of the motor (236) and configured to provide real-time angular position feedback; and
a controller (232) configured to receive a rotation command and to drive the motor (236) based on the encoder (234) feedback;
a transmission arrangement operatively coupled to the drive assembly (222) and configured to transmit rotational movement, the transmission arrangement (238) comprising:
a belt (226) configured to transfer rotational movement from the motor (236);
a first gear (220) coupled to the belt (226); and
a second gear (212) in drive engagement with the first gear (220), the second gear (212) configured to impart rotation to an endoscopic camera (C);
a semi-circular disc (210) operatively coupled to the second gear (212), the semi-circular disc (210) comprising:
contact pins (214) configured to traverse a path formed in a slip ring (218) to maintain continuous electrical communication during rotational movement; and
a sensor (216) configured to detect the presence and angular orientation of the endoscopic camera (C);
a locking interface (240) configured to secure a camera drape sterile barrier (206) for mounting the endoscopic camera (C) through a lock mount (208); and
wherein the controller (232), based on the rotation command and feedback from the encoder (234) and the sensor (216), actuates the motor (236) to selectively rotate the endoscopic camera (C) to a desired orientation for achieving horizon correction during surgery.
6. The active actuator (202) of claim 5, wherein the slip ring (218) comprises open tracks configured to maintain continuous electrical communication between the contact pins (214) and the sensor (216) during rotational movement.
7. The active actuator (202) of claim 5, wherein the sensor (216) is a magnetic sensor configured to detect both the presence and angular orientation of the endoscopic camera (C).
8. The active actuator (202) of claim 5, wherein the lock mount (208) comprises a plurality of pins, a release switch (242), and springs configured to securely engage a mating recess in the camera drape sterile barrier (206).
9. The active actuator (202) of claim 5, wherein the controller (232) is configured to limit the rotational movement of the second gear (212) such that the endoscopic camera (C) is rotated within a range of ±180° relative to a neutral position.
10. The active actuator (202) of claim 5 further comprising an endoscopic lever (258) configured to be manually pressed to articulate a tip of the endoscopic camera (C) in a plurality of directions, and a toggle switch (254) configured to be pressed in the direction corresponding to the endoscopic lever's articulation of the endoscopic camera (C), wherein the toggle switch provides feedback on the status of the articulated endoscopic camera (C) to the robotic surgical system (100).