1. A method for optimal positioning of one or more patient-side carts (110A, 110B, 110C) of a robotic surgical system (100), each of the one or more patient-side carts (110A, 110B, 110C) comprising plurality of robotic arms (112, 113, 114) each having internal joint encoders (204), the method comprising: receiving, at a processor (506), surgical procedure information comprising a selected surgical procedure and patient-specific input parameters; determining, by the processor (506), clinically validated setup parameters specific to the selected surgical procedure from a predefined procedure database, wherein the setup parameters include safe joint angle envelopes for each robotic arm; computing, by the processor (506), one or more predefined reference positions for the plurality of robotic arms (112, 113, 114); validating, by the processor (506), successful positioning of the robotic arms (112, 113, 114) at the one or more predefined reference positions based on user confirmation; computing, by the processor (506), recommended positions for the one or more patient-side carts (110A, 110B, 110C) based on the selected surgical procedure, surgical table position, and port locations; validating, by the processor (506), successful positioning of the one or more patient-side carts (110A, 110B, 110C) at the recommended positions based on fulcrum generation in each robotic arm; acquiring, by the processor (506), real-time joint angles from the internal joint encoders of each robotic arm after the one or more patient-side carts are positioned based on the recommendations; computing, by the processor (506), real-time positions for the one or more patient-side carts (110A, 110B, 110C), based on the real-time joint angles and the port locations; computing, by the processor (506), optimal positions for the one or more patient-side carts (110A, 110B, 110C), based on the safe joint angle envelopes and permissible cart position ranges corresponding to the selected surgical procedure; computing, by the processor (506), deviations between the real-time positions and the optimal positions for the one or more patient-side carts (110A, 110B, 110C); providing corrective guidance, by the processor (506), for adjusting the one or more patient-side cart positions iteratively when deviations are detected based on the deviations; and confirming, by the processor (506), the optimal positioning of the one or more patient-side carts (110A, 110B, 110C) when no deviations are detected.

2. The method of claim 1, further comprising generating, by the processor (506), a patient-specific surgical workspace based on the patient-specific input parameters.

3. The method of claim 1, further comprising receiving, by the processor (506), a surgeon selection input, and wherein determining the clinically validated setup parameters further comprises retrieving surgeon-specific configuration preferences associated with the selected surgical procedure.

4. The method of claim 1, wherein computing the recommended positions for the one or more patient-side carts further comprises retrieving, by the processor (506), the permissible cart position ranges corresponding to the selected surgical procedure from the predefined procedure database.

5. The method of claim 1, further comprising verifying, by the processor (506), generation of a fulcrum at each trocar interface after insertion of surgical instruments in the plurality of robotic arms (112, 113, 114).

6. The method of claim 1, further comprising verifying, by the processor (506), if insertion depth conditions of the surgical instruments fulfil predefined procedural thresholds.

7. The method of claim 6, wherein when the insertion depth conditions do not fulfil the predefined procedural thresholds, the method comprising providing, by the processor (506), arm-specific corrective guidance for adjustment.

8. The method of claim 1, further comprising translating, by the processor (506), the detected deviations into quantified physical repositioning instructions, wherein the quantified physical repositioning instructions comprises at least one of: lateral translation, longitudinal translation, angular rotation, base adjustment, height adjustment.

9. The method of claim 1, wherein the corrective guidance is provided, by the processor (506), in an iterative closed-loop manner, such that the real-time joint angles are reacquired after each user adjustment and re-compared against the safe joint angle envelopes until deviations are resolved or a manual override is recorded.

10. The method of claim 1, further comprising providing, by the processor (506), a manual override capability to bypass the one or more patient-side cart position recommendations.

11. The method of claim 10, further comprising logging, by the processor (506), the details related to the manual override performed by the user for traceability and operational data into a clinical database.

12. The method of claim 1, wherein position recommendation of the one or more patient-side carts ensures prevention of mechanical self-collisions while providing sufficient distance from joint limits and singular configurations.

13. A robotic surgical system (100) for optimal positioning of one or more patient-side carts (110A, 110B, 110C), the system (100) comprising: the one or more patient-side carts (110A, 110B, 110C), each patient-side cart comprising a plurality of robotic arms (112, 113, 114), wherein each robotic arm having internal joint encoders; a processor (506) configured to: receive surgical procedure information comprising a selected surgical procedure and patient-specific input parameters, determine clinically validated setup parameters specific to the selected surgical procedure from a predefined procedure database, wherein the setup parameters include safe joint angle envelopes for each robotic arm, compute one or more predefined reference positions for the plurality of robotic arms (112, 113, 114), validate successful positioning of the robotic arms (112, 113, 114) at the one or more predefined reference positions based on user confirmation, compute recommended positions for the one or more patient-side carts (110A, 110B, 110C) based on the selected surgical procedure, surgical table position, and port locations, validate successful positioning of the one or more patient-side carts (110A, 110B, 110C) at the recommended positions based on fulcrum generation in each robotic arm , acquire real-time joint angles from the internal joint encoders (204) of each robotic arm after the one or more patient-side carts are positioned based on the recommendations, compute real-time positions for the one or more patient-side carts (110A, 110B, 110C), based on the real-time joint angles and the port locations, compute optimal positions for the one or more patient-side carts (110A, 110B, 110C), based on the safe joint angle envelopes and permissible cart position ranges corresponding to the selected surgical procedure, compute deviations between the real-time positions and the optimal positions for the one or more patient-side carts (110A, 110B, 110C), provide corrective guidance for adjusting the one or more patient- side cart positions iteratively when deviations are detected based on the deviations, and confirm the optimal positioning of the one or more patient-side carts (110A, 110B, 110C) when no deviations are detected.

14. The robotic surgical system (100) of claim 13, the processor (506) is further configured to generate a patient-specific surgical workspace based on the patient-specific input parameters.

15. The robotic surgical system (100) of claim 13, the processor (506) is further configured to receive a surgeon selection input, and wherein to determine the clinically validated setup parameters the processor is further configured to retrieve surgeon-specific configuration preferences associated with the selected surgical procedure.

16. The robotic surgical system (100) of claim 13, wherein to compute the recommended positions for the one or more patient-side carts the processor (506) is further configured to retrieve the permissible cart position ranges corresponding to the selected surgical procedure from the predefined procedure database.

17. The robotic surgical system (100) of claim 13, the processor (506) is further configured to verify generation of a fulcrum at each trocar interface after insertion of surgical instruments in the plurality of robotic arms (112, 113, 114).

18. The robotic surgical system (100) of claim 13, the processor (506) is further configured to verify if insertion depth conditions of the surgical instruments fulfil predefined procedural thresholds.

19. The robotic surgical system (100) of claim 18, wherein when the insertion depth conditions do not fulfil the predefined procedural thresholds, the processor (506) is configured to provide arm-specific corrective guidance for adjustment.

20. The robotic surgical system (100) of claim 13, the processor (506) is further configured to translate the detected deviations into quantified physical repositioning instructions, wherein the quantified physical repositioning instructions comprises at least one of: lateral translation, longitudinal translation, angular rotation, base adjustment, height adjustment.

21. The robotic surgical system (100) of claim 13, wherein the processor (506) is configured to provide the corrective guidance in an iterative closed-loop manner, such that the real-time joint angles are reacquired after each user adjustment and re-compared against the safe joint angle envelopes until deviations are resolved or a manual override is recorded.

22. The robotic surgical system (100) of claim 13, the processor (506) is further configured to provide a manual override capability to bypass the one or more patient-side carts position recommendations.

23. The robotic surgical system (100) of claim 22, the processor (506) is further configured to log the details related to the manual override performed by the user for traceability and operational data into a clinical database.

24. The robotic surgical system (100) of claim 13, wherein position recommendation of the one or more patient-side carts ensures prevention of mechanical self-collisions while providing sufficient distance from joint limits and singular configurations.

Description:TECHNICAL FIELD
[0001] The present disclosure relates to robotic surgical instruments, in particular, the present disclosure relates to a system and a method for optimal positioning of robotic arm carts of a robotic surgical system.
BACKGROUND
[0002] Robotic surgical systems have become increasingly prevalent in modern operating rooms for performing minimally invasive procedures such as laparoscopic cholecystectomy, hysterectomy, prostatectomy, and other abdominal or thoracic interventions. The robotic surgical systems include multiple robotic arms mounted on carts. Each robotic arm is configured to hold and manipulate surgical instruments through small incisions or trocar ports in body of a patient. Proper positioning of the carts relative to an operating table and accurate alignment of the robotic arms with the trocar ports are required prerequisites for safe and efficient surgical execution. However, improper cart placement or improper arm positioning may result in mechanical collisions between adjacent robotic arms, interference with patient anatomy, limited instrument reach to target surgical sites, excessive joint angle excursions approaching mechanical limits, or singularity conditions that degrade arm controllability. Moreover, manual positioning of carts and arms by operating room staff is time-consuming, prone to trial-and-error adjustments, and lacks objective verification mechanisms to confirm configurational safety before performing minimally invasive procedures. The manual positioning techniques rely on visual estimation by operating room personnel to place robotic arm carts in approximately correct locations relative to patient anatomy and to dock robotic arms to trocar ports based on subjective judgment.
[0003] Conventional methods to change the positioning of the carts and arms in the robotic surgical system relies on external sensing technologies to guide cart placement and verify the robotic arm configurations. The external sensing technologies such as optical tracking systems comprising stereo cameras or infrared camera arrays are commonly used to monitor positions of fiducial markers affixed to robotic arms or surgical instruments. The external sensing technologies require line-of-sight maintenance between cameras and markers, necessitate calibration procedures before each surgical case, and introduce additional hardware complexity into the operating room environment. Alternative conventional methods include electromagnetic tracking systems that track sensor coils embedded in surgical instruments relative to electromagnetic field generators positioned near the operating table. The electromagnetic tracking systems suffer from susceptibility to metallic interference from surgical instruments or operating room equipment, limited tracking volumes, and accuracy degradation at greater distances from the field generator. Consequently, the conventional methods impose time burdens on operating room staff, require capital investment in external sensing technologies, and fail to provide comprehensive verification of configurational safety based solely on intrinsic robotic surgical system capabilities.
[0004] Therefore, in light of the foregoing discussion, there exists a need to overcome the aforementioned drawbacks.
SUMMARY
[0005] The present disclosure provides a system and a method for optimal positioning of robotic arm carts of a robotic surgical system. The present disclosure provides a solution to the technical problem of how to setup robotic surgical systems for performing minimally invasive procedures. An aim of the present disclosure is to provide a solution that overcomes at least partially the problems encountered in the prior art by providing a system and a method for positioning arms of a robotic surgical system that provides encoder-based verification of arm configurations, procedure-specific positioning guidance derived from clinically validated setup parameters, and iterative refinement capabilities to ensure configurational safety performing minimally invasive procedures.
[0006] One or more objectives of the present disclosure is achieved by the solutions provided in the enclosed independent claims. Advantageous implementations of the present disclosure are further defined in the dependent claims.
[0007] In one aspect, the present disclosure provides a method for optimal positioning of one or more patient-side carts of a robotic surgical system, each of the one or more patient-side carts includes plurality of robotic arms each having internal joint encoders. The method comprises receiving surgical procedure information comprising a selected surgical procedure and patient-specific input parameters, at a processor. Moreover, the method comprises determining clinically validated setup parameters specific to the selected surgical procedure from a predefined procedure database, by the processor. The setup parameters include safe joint angle envelopes for each robotic arm. Furthermore, the method comprises computing one or more predefined reference positions for the plurality of robotic arms (112, 113, 114), by the processor. Furthermore, the method comprises validating successful positioning of the robotic arms at the one or more predefined reference positions based on user confirmation, by the processor. Furthermore, the method comprises computing recommended positions for the one or more patient-side carts based on the selected surgical procedure, surgical table position, and port locations, by the processor. Furthermore, the method comprises validating successful positioning of the one or more patient-side carts at the recommended positions based on fulcrum generation in each robotic arm, by the processor. Furthermore, the method comprises acquiring real-time joint angles from the internal joint encoders of each robotic arm after the one or more patient-side carts are positioned based on the recommendations, by the processor. Furthermore, the method comprises computing, real-time positions for the one or more patient-side carts, based on the real-time joint angles and the port locations, by the processor. Furthermore, the method comprises computing optimal positions for the one or more patient-side carts, based on the safe joint angle envelopes and permissible cart position ranges corresponding to the selected surgical procedure, by the processor. Furthermore, the method comprises computing deviations between the real-time positions and the optimal positions for the one or more patient-side carts , by the processor. Furthermore, the method comprises providing corrective guidance for adjusting one or more patient-side cart positions in an iterative manner when deviations are detected based on the comparison, by the processor. Furthermore, the method comprises confirming optimal positioning of the one or more patient-side carts when no deviations are detected, by the processor.
[0008] The method for optimal positioning of one or more patient-side carts of a robotic surgical system addresses the technical limitations of external tracking systems by utilizing internal joint encoders positioned within each robotic arm to determine joint angles and verify robotic arm configurations. The method eliminates dependency on optical tracking cameras, infrared marker systems, or electromagnetic field generators, to reduce hardware complexity, capital equipment costs, and calibration burdens in operating room environments. Moreover, the encoder-based positioning verification eliminates line-of-sight maintenance requirements, and eliminating pre-operative calibration procedures. The integration of clinically validated setup parameters stored in the procedure database with real-time encoder feedback enables automated generation of positioning recommendations based on validated surgical data rather than subjective manual estimation by the operating room personnel. The iterative refinement architecture combining encoder-based joint angle acquisition, comparison against the optimal positions for the one or more patient-side carts based on the safe joint angle envelopes, and corrective guidance generation creates a closed-loop verification system that progressively adjusts cart positions until configurational safety constraints are satisfied without requiring operator expertise in robotics kinematics. The combination of procedure-specific positioning recommendations and encoder-based verification reduces operating room setup time by eliminating trial-and-error cart placement while simultaneously ensuring comprehensive safety verification covering collision avoidance, joint limit prevention, and singularity avoidance through a unified validation framework. The user confirmation integration at multiple stages maintains operator control and situational awareness while enabling the system to verify actual achieved positions rather than assuming commanded positions were reached, providing fault detection for mechanical failures or communication errors during setup.
[0009] In an implementation, the method further comprises generating, by the processor, a patient-specific surgical workspace based on the patient-specific input parameters. The generation of the patient-specific surgical workspace enables to construct a workspace boundary shaped by parameters such as age, sex, and BMI, ensuring that the computed one or more predefined reference positions and the computed recommended positions are anatomically appropriate for the specific patient.
[0010] In an implementation, the method further comprises receiving, by the processor, a surgeon selection input, and wherein determining the clinically validated setup parameters further comprises retrieving surgeon-specific configuration preferences associated with the selected surgical procedure. The retrieval of the surgeon-specific configuration enables incorporating surgeon-specific preferences into the setup computation to reduce intraoperative adjustments and promote ergonomic consistency between repeat cases performed by the same surgeon.
[0011] In an implementation, computing the recommended positions for the one or more patient-side carts further comprises retrieving, by the processor, the permissible cart position ranges corresponding to the selected surgical procedure from the predefined procedure database. The retrieval of the permissible cart position ranges enables to ensure that the computed recommended positions for the one or more patient-side carts are bounded by procedure-validated spatial limits rather than being derived solely from real-time kinematics.
[0012] In an implementation, the method further comprises verifying, by the processor, generation of a fulcrum at each trocar interface after insertion of surgical instruments in the plurality of robotic arms. The verification of the generation of the fulcrum at each trocar interface enables to ensure that the fulcrum is correctly established at each port site before any positional computation proceeds.
[0013] In an implementation, the method further comprises verifying, by the processor, if insertion depth conditions of the surgical instruments fulfil predefined procedural thresholds. The verification of if the insertion depth conditions of the surgical instruments fulfil the predefined procedural thresholds enables to ensure that the surgical instrument tip is advanced sufficiently beyond the trocar cannula to establish valid instrument engagement before any surgical mode is authorised.
[0014] In an implementation, when the insertion depth conditions do not fulfil the predefined procedural thresholds, the method comprising providing, by the processor, arm-specific corrective guidance for adjustment. The arm-specific corrective guidance being provided enables to localise the corrective action to the specific non-compliant arm rather than issuing a generalised system-wide alert.
[0015] In an implementation, comprising translating, by the processor, the detected deviations into quantified physical repositioning instructions, wherein the quantified physical repositioning instructions comprises at least one of: lateral translation, longitudinal translation, angular rotation, base adjustment, height adjustment. The translation of the detected deviations into the quantified physical repositioning instructions enables to convert abstract numerical deviation values into actionable, physically interpretable movement commands that is directly executable by the bedside team without requiring kinematic expertise.
[0016] In an implementation, the corrective guidance is provided, by the processor, in an iterative closed-loop manner, such that the real-time joint angles are reacquired after each user adjustment and re-compared against the safe joint angle envelopes until deviations are resolved or a manual override is recorded. The reacquiration of the real-time joint angles after each user adjustment and re-compared against the safe joint angle envelopes until the deviations are resolved enables continuous re-validation of the cart positions after each corrective adjustment, ensuring that the system does not proceed on the basis of a single post-placement measurement that may itself be suboptimal.
[0017] In an implementation, the method further comprises providing, by the processor, a manual override capability to bypass the one or more patient-side cart position recommendations. The manual override capability enables experienced surgical teams to apply clinical judgment for case-specific positioning requirements not captured in standardized setup parameters, improving surgical precision while maintaining system traceability.
[0018] In an implementation, the method further comprises logging, by the processor, the details related to the manual override performed by the user for traceability and operational data into a clinical database. The logging enables post-surgical procedure quality assurance reviews and surgical outcome correlation studies, supporting continuous improvement of positioning protocols and clinical validation of alternative configurations provided manually.
[0019] In an implementation, position recommendation of the one or more patient-side carts ensures prevention of mechanical self-collisions while providing sufficient distance from joint limits and singular configurations. The simultaneous fulfilment of collision avoidance constraints and reachability constraints eliminates trial-and-error cart placement adjustments, reducing operating room setup time while maintaining configurational safety.
[0020] In another aspect, the present disclosure provides a robotic surgical system for optimal positioning of one or more patient-side carts. The system comprises the one or more patient-side carts, each patient-side cart comprising a plurality of robotic arms, wherein each robotic arm having internal joint encoders. Moreover, the system comprises a processor configured to receive surgical procedure information comprising a selected surgical procedure and patient-specific input parameters. Moreover, the processor is configured to determine clinically validated setup parameters specific to the selected surgical procedure from a predefined procedure database. The setup parameters include safe joint angle envelopes for each robotic arm. Furthermore, the processor is configured to compute one or more predefined reference positions for the plurality of robotic arms. Furthermore, the processor is configured to validate successful positioning of the robotic arms at the one or more predefined reference positions based on user confirmation. Furthermore, the processor is configured to compute recommended positions for the one or more patient-side carts based on the selected surgical procedure, surgical table position, and port locations. Furthermore, the processor is configured to validate successful positioning of the one or more patient-side carts at the recommended positions based on fulcrum generation in each robotic arm. Furthermore, the processor is configured to acquire real-time joint angles from the internal joint encoders of each robotic arm after the one or more patient-side carts and the robotic arm are positioned based on the recommendations. Furthermore, the processor is configured to compute real-time positions for the one or more patient-side carts, based on the real-time joint angles and the port locations. Furthermore, the processor is configured to compute optimal positions for the one or more patient-side carts, based on the safe joint angle envelopes and permissible cart position ranges corresponding to the selected surgical procedure. Furthermore, the processor is configured to compute deviations between the real-time positions and the optimal positions for the one or more patient-side carts. Furthermore, the processor is configured to provide corrective guidance for adjusting the one or more patient-side cart positions iteratively when deviations are detected based on the deviations. Furthermore, the processor is configured to confirm the optimal positioning of the one or more patient-side carts when no deviations are detected.
[0021] The system achieves all the advantages and technical effects of the method for optimal positioning of one or more patient-side carts of a robotic surgical system, formed in the present disclosure.
[0022] It is to be appreciated that all the aforementioned implementation forms can be combined.
[0023] It has to be noted that all devices, elements, circuitry, units and means described in the present application could be implemented in the software or hardware elements or any kind of combination thereof. All steps which are performed by the various entities described in the present application as well as the functionalities described to be performed by the various entities are intended to mean that the respective entity is adapted to or configured to perform the respective steps and functionalities. Even if, in the following description of specific embodiments, a specific functionality or step to be performed by external entities is not reflected in the description of a specific detailed element of that entity which performs that specific step or functionality, it should be clear for a skilled person that these methods and functionalities can be implemented in respective software or hardware elements, or any kind of combination thereof. It will be appreciated that features of the present disclosure are susceptible to being combined in various combinations without departing from the scope of the present disclosure as defined by the appended claims.
[0024] Additional aspects, advantages, features, and objects of the present disclosure would be made apparent from the drawings and the detailed description of the illustrative implementations construed in conjunction with the appended claims that follow.
BRIEF DESCRIPTION OF THE DRAWINGS
[0025] The summary above, as well as the following detailed description of illustrative embodiments, is better understood when read in conjunction with the appended drawings. For the purpose of illustrating the present disclosure, exemplary constructions of the disclosure are shown in the drawings. However, the present disclosure is not limited to specific methods and instrumentalities disclosed herein. Moreover, those in the art will understand that the drawings are not to scale. Wherever possible, like elements have been indicated by identical numbers.
[0026] Embodiments of the present disclosure will now be described, by way of example only, with reference to the following diagrams wherein:
FIG. 1 is a schematic diagram illustrating a robotic surgical system, in accordance with an embodiment of the present disclosure;
FIG. 2A is a schematic diagram illustrating an isometric view of a robotic arm of the robotic surgical system, in accordance with the embodiment of the present disclosure;
FIGs. 2B and 2C are schematic diagrams illustrating cross-sectional views of the robotic arm of the robotic surgical system, in accordance with the embodiment of the present disclosure;
FIG. 3A is a schematic diagram illustrating a high pose configuration of the robotic arm, in accordance with an embodiment of the present disclosure;
FIG. 3B is a schematic diagram illustrating a low pose configuration of the robotic arm, in accordance with an embodiment of the present disclosure;
FIG. 4 is a flowchart steps of a method for optimal positioning of one or more patient-side carts of a robotic surgical system, wherein each of the one or more patient-side carts comprising a plurality of robotic arms each having internal joint encoders, in accordance with an embodiment of the present disclosure;
FIG. 5 is a block diagram illustrating the robotic surgical system, in accordance with an embodiment of the present disclosure;
FIG. 6 is a diagram illustrating cart positioning around a patient during a surgical procedure, in accordance with an embodiment of the present disclosure; and
FIGs. 7A and 7B are diagrams illustrating a logic flowchart explaining the operational flow for positioning verification in the robotic surgical system, in accordance with an embodiment of the present disclosure.
[0027] In the accompanying drawings, an underlined number is employed to represent an item over which the underlined number is positioned or an item to which the underlined number is adjacent. A non-underlined number relates to an item identified by a line linking the non-underlined number to the item. When a number is non-underlined and accompanied by an associated arrow, the non-underlined number is used to identify a general item at which the arrow is pointing.
DETAILED DESCRIPTION OF EMBODIMENTS
[0028] The following detailed description illustrates embodiments of the present disclosure and ways in which they can be implemented. Although some modes of carrying out the present disclosure have been disclosed, those skilled in the art would recognize that other embodiments for carrying out or practicing the present disclosure are also possible.
[0029] FIG. 1 is a schematic diagram illustrating a robotic surgical system 100, in accordance with an embodiment of the present disclosure. With reference to FIG. 1, there is shown the robotic surgical system 100 comprising one or more patient-side carts (depicted as a first patient-side cart 110A, a second patient-side cart 110B and a third patient-side cart 110C), a vision cart 120, and a surgeon console 130.
[0030] Throughout the present disclosure, the term "patient-side cart" refers to a mobile platform comprising a plurality of robotic arms (depicted as a first robotic arm 112, a second robotic arm 113 and a third robotic arm 114). The one or more patient-side carts 110A, 110B and 110C are configured to support the plurality of robotic arms 112-114 positioned adjacent to a patient during surgical procedures. Each patient-side cart includes a base mounted on wheels and a vertical column extending upward from the base. The plurality of robotic arms 112-114 extends from the vertical column of the one or more patient-side carts 110A, 110B and 110C. The first robotic arm 112 is configured for surgical instrument manipulation and the second robotic arm 113 is configured for endoscopic imaging. The plurality of robotic arms 112-114 includes primary segments, secondary segments, and tertiary segments connected by rotational joints. The rotational joints contain servo motors enabling precise angular positioning. The plurality of robotic arms 112-114 include surgical instrument holders 115 at distal ends. The surgical instrument holders 115 comprise mechanical interfaces and electrical connectors. The mechanical interfaces include spring-loaded clamps for instrument attachment. In an implementation, the surgical instrument holders 115 includes an actuator configured to attach the surgical instrument 140 to the surgical instrument holder 115 through the help of a sterile adapter. The electrical connectors transmit power and signals to mounted instruments. The one or more patient-side carts 110A, 110B and 110C further includes at least one surgical instrument 140 mounted to the surgical instrument holders 115 at the first robotic arm 112. The surgical instrument 140 includes elongated shafts with end effectors at distal tips. The second robotic arm 113 supports an endoscopic imaging system. Each of the robotic arms includes additional degrees of freedom for camera positioning. The endoscopic imaging system includes dual high-definition camera sensors mounted at a distal end of the second robotic arm 113. The dual camera sensors enable stereoscopic image capture. The endoscopic imaging system includes fibre optic light transmission bundles surrounding the camera sensors for illuminating the surgical field. The endoscopic imaging system enables both white light imaging and near-infrared fluorescence visualization. The endoscopic imaging system comprises glass rod lenses for controlling chromatic aberration and enhancing image quality.
[0031] The vision cart 120 is a mobile unit comprising a base with wheels and a vertical housing. The base contains power supply units and cooling systems. The vertical housing contains processing units and displays. The vertical housing includes ventilation channels for thermal management. The vision cart 120 includes a display 122 mounted at an upper portion of the vertical housing. The display 122 comprises a high-definition LCD monitor with anti-glare coating. In some other embodiments, the vision cart 120 may include multiple displays. The vision cart 120 includes an electrosurgical unit (ESU) 124 mounted within the vertical housing. The vision cart 120 further includes endoscope light sources. The endoscope light sources comprise one or two light source units mounted within the vertical housing. The vision cart 120 includes an insufflator unit mounted within the vertical housing for creating and maintaining pneumoperitoneum. The vision cart 120 includes an uninterruptible power supply (UPS) system mounted within the base for providing backup power. The vision cart 120 further includes a video processing unit and a central processing unit within the vertical housing. The video processing unit includes dedicated graphics processors. The central processing unit comprises multiple processing cores. The vision cart 120 further includes data storage devices mounted within the vertical housing. In some implementations, the vision cart 120 comprises image enhancement processors for contrast adjustment and noise reduction. In some implementations, the vision cart 120 includes fluorescence imaging processors for tissue identification. In some implementations, the vision cart 120 includes augmented reality processors for data overlay generation.
[0032] The surgeon console 130 includes a base structure supporting an operator seat and control interfaces. The base structure includes levelling mechanisms for stable positioning. The operator seat comprises height adjustment mechanisms and lumbar support systems. A display housing extends upward and forward from the base structure. The display housing contains a stereoscopic display system 134 for displaying real-time surgical site images in high resolution, providing enhanced depth perception and clarity. The stereoscopic display system 134 includes dual display panels and optical elements. The optical elements include focusing mechanisms and eye tracking sensors. In an implementation, the stereoscopic display system 134 is secured by a monitor mounting assembly, which enables adjustable positioning for optimal viewing angles. The monitor mounting assembly may be referred to as an adjustable support system that securely holds and enables the controlled positioning of the stereoscopic display system 134 within a workstation or operational environment. The surgeon console 130 further includes master control manipulators 132 mounted on sides of the base structure in front of the operator seat. The master control manipulators 132 terminate in ergonomic hand grips. The hand grips contain pressure sensors and multi-function triggers. In some other embodiments, the hand grips provide haptic feedback.
[0033] In some implementations, the surgeon console 130 further includes foot pedals mounted on a lower portion of the base structure. The foot pedals include position sensors and tactile feedback mechanisms. A user interface comprising touchscreens mounts on the base structure between the master control manipulators 132. The touchscreens display system status information and configuration controls.
[0034] The patient-side cart, the vision cart 120, and the surgeon console 130 connect through a communication network. In an implementation, the communication network may be through wired or wireless communication protocol. In an implementation, the communication between the patient-side cart, the vision cart 120, and the surgeon console 130 is established through etherCAT or ethernet. In some other embodiments, the communication may be through any wireless communication protocol.
[0035] The communication network includes redundant data pathways. The communication network transmits control signals from the master control manipulators 132 to the plurality of robotic arms 112-114. The control signals include position commands and gripper actuation commands. In some implementations, the communication network transmits imaging data from the endoscopic imaging system to the stereoscopic display system 134. The imaging data includes calibration parameters and camera position data. The robotic surgical system 100 includes monitoring systems connected to the communication network. The monitoring systems comprise voltage sensors, current sensors, temperature sensors, and position sensors.
[0036] In some implementations, the robotic surgical system 100 includes emergency stop mechanisms mounted on each component. The emergency stop mechanisms include physical switches and software-triggered stops. The robotic surgical system 100 includes power backup systems within each component. The power backup systems include batteries and uninterruptible power supplies. The robotic surgical system 100 includes fault detection processors within the vision cart 120. The fault detection processors monitor system parameters and component status.
[0037] In some implementations, the robotic surgical system 100 executes autonomous and semi-autonomous functions. In some implementations, the robotic surgical system 100 enables system upgrades through modular component replacement. The modular component replacement includes instrument interface upgrades and processing unit upgrades. The robotic surgical system 100 enables minimally invasive surgical procedures. Exemplary surgical procedures may include, but are not limited to, general surgery procedures, gynaecological procedures, urological procedures, cardiothoracic procedures, and otolaryngological procedures.
[0038] FIG. 2A is a schematic diagram illustrating an isometric view of a robotic arm (for instance, the first robotic arm 112) of the robotic surgical system 100, in accordance with the embodiment of the present disclosure. FIG. 2A is described in conjunction with elements of the FIG. 1. FIGs. 2B and 2C are schematic diagrams illustrating cross-sectional views of the robotic arm 112 of the robotic surgical system 100, in accordance with the embodiment of the present disclosure. FIGs. 2B and 2C are described in conjunction with elements of the FIGs. 1 and 2A. FIGs. 2A, 2B and 2C are described together to fully explain the elements and operation of the robotic arm 112. With reference to FIGs. 2A, 2B and 2C, there is shown the robotic arm 112 of the robotic surgical system 100. The robotic arm 112 includes a plurality of rotational joints (depicted as a first rotational joint 202A, a second rotational joint 202B, a third rotational joint 202C, a fourth rotational joint 202D, a fifth rotational joint 202E and a sixth rotational joint 202F). The plurality of rotational joints 202A-F is configured to enable articulated movement of the plurality of robotic arms 112-114 (for example, the first robotic arm 112) in multiple directions. The robotic arm 112 is capable of movement along six independent axes, providing six degrees of freedom for precise positioning during surgical procedures.
[0039] The robotic arm 112 includes plurality of internal joint encoders (depicted as an internal joint encoder 204) positioned within each rotational joint of the plurality of rotational joints 202A-F. Each internal joint encoder is configured to measure a joint angle at the corresponding rotational joint. The plurality of internal joint encoders 204 generate encoder feedback signals representing measured joint angles at the plurality of rotational joints 202A-F. The encoder feedback signals are transmitted to the surgeon console 130 for determining joint angles of the robotic arm 112. The plurality of internal joint encoders 204 include, but are not limited to, optical encoders, magnetic encoders, or capacitive encoders. The plurality of internal joint encoders 204 provide real-time joint angle measurements without requiring external tracking systems or fiducial markers.
[0040] The robotic arm 112 includes a first end 206 configured to interface with a surgical instrument holder. The surgical instrument interface is configured to attach the surgical instrument 140 to the robotic arm 112. The surgical instrument interface includes mechanical coupling mechanisms and electrical connections. The mechanical coupling mechanisms provide secure attachment of the surgical instrument 140 to the first end 206. The electrical connections transmit control signals from the robotic arm 112 to the attached surgical instrument 140. The surgical instrument 140 includes, but is not limited to, graspers, scissors, needle drivers, or electrocautery tools.
[0041] In an implementation, the robotic arm 112 includes more than six degrees of freedom to enhance reachability and orientation control during surgical procedures. In another implementation, the robotic arm 112 includes auxiliary joints positioned along arm segments between the plurality of rotational joints. The auxiliary joints provide additional angular adjustments for improved flexibility within confined surgical workspaces. In yet another implementation, the robotic arm 112 includes one or more passive joints beyond the plurality of rotational joints. The passive joints assist in avoiding obstacles, reducing singularity configurations, or optimizing instrument positioning based on surgeon input.
[0042] FIG. 3A is a schematic diagram illustrating a high pose configuration 300 of the robotic arm (for instance, the first robotic arm 112), in accordance with the embodiment of the present disclosure. FIG. 3A is described in conjunction with elements of the FIGs. 1, 2A, and 2B. With reference to FIG. 3A, there is shown the robotic arm 112 (comprising a first rotational joint 302A, a second rotational joint 302B, a third rotational joint 302C, a fourth rotational joint 302D, a fifth rotational joint 302E and a sixth rotational joint 302F) positioned in the high pose configuration 300. The high pose configuration 300 positions the robotic arm 112 in an elevated orientation with joint angles selected to maintain clearance from joint limits and singularity configurations.
[0043] In the high pose configuration 300, the first rotational joint 302A is positioned at a first joint angle measured by a first internal joint encoder positioned within the first rotational joint 302A. The second rotational joint 302B is positioned at a second joint angle measured by a second internal joint encoder positioned within the second rotational joint 302B. The third rotational joint 302C is positioned at a third joint angle measured by a third internal joint encoder positioned within the third rotational joint 302C. The fourth rotational joint 302D is positioned at a fourth joint angle measured by a fourth internal joint encoder positioned within the fourth rotational joint 302D. The fifth rotational joint 302E is positioned at a fifth joint angle measured by a fifth internal joint encoder positioned within the fifth rotational joint 302E. The sixth rotational joint 302F is positioned at a sixth joint angle measured by a sixth internal joint encoder positioned within the sixth rotational joint 302F. The first internal joint encoder, the second internal joint encoder, the third internal joint encoder, the fourth internal joint encoder, the fifth internal joint encoder, and the sixth internal joint encoder operate on the same principles as the internal joint encoder 204. The first joint angle, the second joint angle, and the third joint angle in the high pose configuration 300 are selected to position the surgical instrument 140 in an upward orientation relative to a base of the robotic arm 112. The high pose configuration 300 maintains each joint angle within a safe operating range that prevents mechanical interference between adjacent arm segments. For example, the safe operating range for each joint angle in the high pose configuration 300 comprises ranges of -270 to 270 degrees for the first rotational joint, -40 to 80 degrees for the second rotational joint, 25 to 150 degrees for the third rotational joint, -130 to 135 degrees for the fourth rotational joint, -110 to -10 degrees for the fifth rotational joint, -540 to 540 degrees for the sixth rotational joint.
[0044] The high pose configuration 300 is generated as an arm position recommendation by retrieving predefined joint angle values from the clinically validated setup parameters stored in a procedure database. The predefined joint angle values for the high pose configuration are determined through clinical validation studies conducted across multiple surgical procedures. The clinical validation studies identify joint angle ranges that provide reliable starting configurations without risk of collision or joint limit exceedance. The control commands are transmitted to joint motor modules within the plurality of rotational joints to move the robotic arm 112 to the high pose configuration 300. After the robotic arm 112 reaches the commanded high pose configuration 300, a user provides confirmation input indicating completion of positioning.
[0045] FIG. 3B is a schematic diagram illustrating a low pose configuration 304 of the robotic arm (for instance, the first robotic arm 112), in accordance with the embodiment of the present disclosure. FIG. 3B is described in conjunction with elements of the FIGs. 1 to 3A. With reference to FIG. 3B, there is shown the robotic arm 112 positioned in the low pose configuration 304. The low pose configuration 304 represents a second arm position recommendation generated for the robotic arm 112 based on the clinically validated setup parameters associated with the selected surgical procedure. The low pose configuration 304 positions the robotic arm 112 in an extended horizontal orientation with joint angles different from the high pose configuration 300.
[0046] In the low pose configuration 304, the first rotational joint 302A is positioned at a seventh joint angle measured by the first internal joint encoder. The second rotational joint 302B is positioned at an eighth joint angle measured by the second internal joint encoder. The third joint 302C is positioned at a ninth joint angle measured by the third internal joint encoder. The fourth rotational joint 302D is positioned at a tenth joint angle measured by the fourth internal joint encoder. The fifth rotational joint 302E is positioned at an eleventh joint angle measured by the fifth internal joint encoder. The sixth rotational joint 302F is positioned at a twelfth joint angle measured by the sixth internal joint encoder. The seventh joint angle, the eighth joint angle, and the ninth joint angle, the tenth joint angle, the eleventh joint angle, and the twelfth joint angle in the low pose configuration 304 position the surgical instrument 140 in a forward-extending orientation relative to the base of the robotic arm 112. The low pose configuration 304 provides an alternative starting configuration that maintains joint angles within safe operating ranges while positioning the robotic arm 112 in a different spatial orientation compared to the high pose configuration 300. For example, the safe operating range for each joint angle in the low pose configuration 304 comprises ranges of -270 to 270 degrees for the first rotational joint, -45 to 80 degrees for the second rotational joint, 25 to 135 degrees for the third rotational joint, -130 to 145 degrees for the fourth rotational joint, 10 to 170 degrees for the fifth rotational joint, -540 to 540 degrees for the sixth rotational joint.
[0047] The high pose configuration 300 and the low pose configuration 304 serve to verify mechanical responsiveness of the plurality of robotic arms (for example, the first robotic arm 112) before cart positioning begins. The high pose configuration 300 and the low pose configuration 304 confirm that joint motor modules respond accurately to control commands and that the plurality of internal joint encoders provide accurate feedback signals. The high pose configuration 300 and the low pose configuration 304 establish baseline configurations from which subsequent docking positions can be calculated. By verifying arm positioning in two distinct configurations (namely, the high pose configuration 300 and the low pose configuration 304), the readiness of the robotic arm 112 is confirmed without requiring external tracking systems or manual measurement tools.
[0048] FIG. 4 is a flowchart depicting steps of a method for optimal positioning of one or more patient-side carts of a robotic surgical system, wherein each of the one or more patient-side carts comprising a plurality of robotic arms each having internal joint encoders, in accordance with an embodiment of the present disclosure. FIG. 4 is described in conjunction with elements of the FIGs. 1 to 3B . With reference to FIG. 4, there is shown the method for optimal positioning of the one or more patient-side carts of the robotic surgical system.
[0049] At step 402, surgical procedure information comprising a selected surgical procedure and patient-specific input parameters is received, at a processor. Throughout the present disclosure, the term "surgical procedure information" refers to data inputs that define the type of surgery to be performed and characteristics of the patient undergoing the surgery. The surgical procedure information is received by the processor through a user interface displayed on a display unit. Notably, the surgical procedure information being received enables the patient-specific input parameters and the selected surgical procedure in the surgical procedure information to be used in subsequent steps. Throughout the present disclosure, the term "patient-specific input parameters" refers to individual characteristics and attributes of the patient undergoing the surgical procedure. The patient-specific input parameters include age, sex, body mass index, anatomical position, and diagnostic reports (such as, ultrasound images. X-ray images, and the like) of the patient on the operating table. Throughout the present disclosure, the term "selected surgical procedure" refers to the specific type of minimally invasive surgical operation chosen from a predefined list of procedures supported by the supported surgical system. The selected surgical procedure is selected from a plurality of surgical procedures including robotic cholecystectomy, hysterectomy, prostatectomy, nephrectomy, or colectomy. The user provides the patient-specific input parameters and selects the surgical procedure in the surgical procedure information through input elements on the display unit. The received surgical procedure information is stored in a memory for further processing.
[0050] At step 404, clinically validated setup parameters are determined specific to the selected surgical procedure from a predefined procedure database, by the processor, wherein the setup parameters include safe joint angle envelopes for each robotic arm. Throughout the present disclosure, the term "clinically validated setup parameters" refers to configuration parameters that have been tested and verified through clinical use to be safe and effective for performing the selected surgical procedure. The clinically validated setup parameters include standard trocar locations, patient positioning parameters such as Trendelenburg or reverse Trendelenburg tilt, acceptable robotic arm configurations, the safe joint angle envelopes, and spatial clearance requirements. The clinically validated setup parameters ensure that the robotic surgical system is configured in a manner proven safe and effective through prior clinical experience, thereby reducing risk of improper setup that can compromise surgical access or patient safety. The clinically validated setup parameters are stored in the predefined procedure database and retrieved by the processor based on the selected surgical procedure. Throughout the present disclosure, the term "predefined procedure database" refers to a stored collection of the clinically validated setup parameters organized by surgical procedure type and containing parameters for each surgical procedure supported by the robotic surgical system. The clinically validated setup parameters are determined specific to the selected surgical procedure as different surgical procedures target different anatomical regions and require different port placements, arm orientations, and workspace configurations. The clinically validated setup parameters specific to the selected surgical procedure being determined provides the processor with procedure-specific data required for computing recommended positions and validating robotic arm configurations. The clinically validated setup parameters specific to the selected surgical procedure are determined by the processor by executing a database query or lookup operation on the predefined procedure database using the selected surgical procedure as an identifier.
[0051] Throughout the present disclosure, the term "safe joint angle envelopes" refers to defined ranges of acceptable joint angles for each joint of each robotic arm, specifying minimum and maximum joint angle limits within which each robotic arm can operate safely without the mechanical collision, the joint limit exceedance, or the singularity conditions. The safe joint angle envelopes prevent mechanical self-collisions between parts of the same robotic arm, avoid interference with other robotic arms or port sites, maintain sufficient distance from joint limits, and avoid the singular configurations where the robotic arm loses degrees of freedom or becomes mechanically unstable. Notably, the safe joint angle envelopes are stored as part of the clinically validated setup parameters in the predefined procedure database. The setup parameters including the safe joint angle envelopes for each robotic arm provides the processor with reference ranges against which real-time joint angles will be compared during verification of robotic arm positioning.
[0052] In an implementation, the predefined procedure database contains the clinically validated setup parameters comprising standard trocar locations specific to the selected surgical procedure, acceptable robotic arm configurations with joint angle envelopes, and spatial clearance requirements. In this regard, the term "standard trocar locations" refers to predefined anatomical positions on a patient's body where trocars are typically inserted for the selected surgical procedure. The standard trocar locations are expressed as coordinates, anatomical landmarks, or positional descriptions that specify where each trocar should be placed to provide optimal access to the target anatomy for that specific surgical procedure. The standard trocar locations vary depending on the selected surgical procedure, as different procedures require access to different anatomical regions. The standard trocar locations are necessary to be included in the clinically validated setup parameters because the port locations determine where the plurality of robotic arms must reach during the surgical procedure, and standardized locations based on clinical experience ensure optimal surgical access while minimizing trauma to surrounding tissues. The standard trocar locations are stored in the predefined procedure database as part of the clinically validated setup parameters for each supported surgical procedure. The term "acceptable robotic arm configurations" refers to validated arrangements of the joint angles and spatial orientations for the plurality of robotic arms that are clinically proven safe and effective for performing the selected surgical procedure. The acceptable robotic arm configurations with the joint angle envelopes define ranges of positions and orientations in which each robotic arm can operate without the mechanical collision, interference with other robotic arms, the joint limit exceedance, or the singularity conditions while maintaining effective access to the target anatomy through the standard trocar locations. The acceptable robotic arm configurations are necessary to be included in the clinically validated setup parameters to establish validated boundaries within which the plurality of robotic arms should operate during the selected surgical procedure. The acceptable robotic arm configurations are stored in the predefined procedure database as part of the clinically validated setup parameters, typically represented as the safe joint angle envelopes that specify minimum and maximum joint angles for each joint of each robotic arm. The term "spatial clearance requirements" refers to minimum distances that must be maintained between different components of the robotic surgical system to prevent physical interference during the selected surgical procedure. The spatial clearance requirements specify minimum separation distances between adjacent robotic arms, between the plurality of robotic arms and the patient anatomy, between the plurality of robotic arms and the surgical table, between the one or more patient-side carts, and between robotic arms and other equipment in the operating room environment. The spatial clearance requirements are necessary to be included in the clinically validated setup parameters to prevent mechanical collisions between moving components during the selected surgical procedure. The spatial clearance requirements are stored in the predefined procedure database as numerical values representing minimum separation distances or as geometric constraints defining exclusion zones around the components of the robotic surgical system. A technical effect of the aforementioned implementation is that the clinically validated setup parameters comprises complete procedural knowledge necessary to compute the recommended positions for each specific surgical procedure.
[0053] At step 406, one or more predefined reference positions are computed for the plurality of robotic arms, by the processor. Throughout the present disclosure, the term "one or more predefined reference positions" refers to standardized initial configurations for the plurality of robotic arms. The one or more predefined reference positions establish a known starting configuration for the plurality of robotic arms before positioning the one or more patient-side carts, ensuring that all joints of each robotic arm are positioned away from joint limits and away from singularities during initial pre-positioning. The one or more predefined reference positions being computed for the plurality of robotic arms provide a controlled, repeatable starting point for the positioning workflow, ensuring that the plurality of robotic arms are moved to safe configurations before the one or more patient-side carts are moved.
[0054] In an implementation, the one or more predefined reference positions comprise a high pose and a low pose, and are configured to ensure all joints of the robotic arm are positioned away from limits or singularities during the initial pre-positioning. In this regard, the term "high pose" refers to one of the one or more predefined reference positions in which the plurality of robotic arms are positioned with the sixth rotational joint 302F in the same direction as the first rotational joint 302A and the tool tip facing downwards. The high pose is necessary to establish a safe, visible starting configuration that keeps all joints of each robotic arm away from the limits and the singularities when large vertical range is needed. The term "low pose" refers to the second of the one or more predefined reference positions in which the plurality of robotic arms is positioned with the fifth rotational joint 302E in the same direction as the first rotational joint 302A and the tool tip looking forwards. The low pose is necessary to provide a second known configuration that keeps all joints of each robotic arm away from the limits and the singularities when large horizontal range is needed. The term "limits" refers to the maximum and minimum angular positions that each joint of each robotic arm can physically achieve. The limits represent mechanical boundaries beyond which joint rotation cannot proceed due to physical constraints of the robotic arm structure, such as hard stops, mechanical interference between links, or motor range restrictions. The term "singularities" refers to specific robotic arm configurations in which one or more degrees of freedom are lost, causing the robotic arm to become mechanically unstable or unable to move in certain directions. The singularities are problematic because at the singularities the robotic arm loses controllability and may become unable to execute planned motions, potentially compromising surgical precision and safety. Notably, all the joints of the robotic arm being ensured to be positioned away from the limits or the singularities during the initial pre-positioning is necessary to establish safe baseline configurations of the plurality of robotic arms before the one or more patient-side carts are moved. A technical effect of the aforementioned implementation is that safe, repeatable initial configurations that maximize operational flexibility and controllability of the plurality of robotic arms are established before cart positioning begins.
[0055] At step 408, successful positioning of the plurality of robotic arms at the one or more predefined reference positions is validated, by the processor, based on user confirmation. Throughout the present disclosure, the term "user confirmation" refers to an input signal provided by a user, typically a member of a bedside surgical team, indicating that a particular step in method has been completed. The user visually verifies that the plurality of robotic arms is positioned to the one or more predefined reference positions and subsequently, provides the user confirmation. The user provides the user confirmation through the user interface on the display unit. The processor receives the user confirmation input through a communication network. The successful positioning of the robotic arms at the one or more predefined reference positions being validated based on the user confirmation ensures that both automated positioning and human verification confirms that the plurality of robotic arms are correctly pre-positioned before proceeding to cart positioning.
[0056] At step 410, recommended positions for the one or more patient-side carts are computed, by the processor, based on the selected surgical procedure, surgical table position, and port locations. Throughout the present disclosure, the term "recommended positions" refers to calculated optimal placements for the one or more patient-side carts relative to the surgical table and the patient, specifying locations and orientations where each of the one or more patient-side carts needs to be placed to enable the plurality of robotic arms to effectively access port locations and target anatomy. The recommended positions are calculated by the processor using computational algorithms that integrate data from the clinically validated setup parameters, the surgical table position, the port locations, and the patient-specific input parameters. The recommended positions for the one or more patient-side carts being computed based on the selected surgical procedure, the surgical table position, the port locations and the patient-specific input parameters ensures that the recommended positions are customized to the specific surgical context, accounting for both procedure requirements and individual patient characteristics. Throughout the present disclosure, the term "surgical table position" refers to the orientation and configuration of the surgical table on which the patient is positioned during the surgical procedure. The surgical table position includes parameters such as table height, table tilt angle, Trendelenburg or reverse Trendelenburg angle, and lateral inclination. The surgical table position being used to compute the recommended positions is that the spatial relationship between the patient anatomy and the one or more patient-side carts is taken into account to compute the recommended positions. Throughout the present disclosure, the term "port locations" refers to the positions on the patient's body where trocars are inserted to provide access for robotic surgical instruments. The port locations are defined by coordinates or anatomical landmarks and vary depending on the selected surgical procedure and the patient anatomy. The port locations determine where the plurality of robotic arms must reach during the surgical procedure and therefore are considered when computing the recommended positions to ensure that each robotic arm can align with and access the assigned trocar.
[0057] In an implementation, computing the recommended positions for the one or more patient-side carts further comprises retrieving, by the processor, the permissible cart position ranges corresponding to the selected surgical procedure from the predefined procedure database. In this regard, the permissible cart position ranges corresponding to the selected surgical procedure being retrieved implies to a targeted database query performed by the processor using the selected surgical procedure as the retrieval key. Subsequently, the retrieval operation returns the permissible cart position ranges that are specifically stored in the predefined procedure database in association with the selected surgical procedure. Notably, computing the recommended positions for the one or more patient-side carts further comprising retrieving the permissible cart position ranges ensures that the recommended positions represent the intersection of kinematically derived positional guidance and procedure-specific clinical validation that are both geometrically sound and clinically validated for the selected surgical procedure. A technical effect of the aforementioned application is that the recommended positions are inherently bounded by the procedure-specific spatial intervals that have been clinically validated for the selected surgical procedure, preventing the processor from generating the recommended positions that are kinematically feasible but procedurally unvalidated.
[0058] In an implementation, the position recommendation of the one or more patient-side carts ensures prevention of mechanical self-collisions while providing sufficient distance from joint limits and singular configurations. In this regard, the term "mechanical self-collisions" refers to unintended physical contact occurring between two or more robotic arms of the robotic surgical system, or between one or more robotic arms and the one or more patient-side carts, during pre-surgical setup or surgical actuation. Notably, the mechanical self-collisions present a direct risk to the structural integrity of the plurality of robotic arms and to patient safety. Throughout the present disclosure, the term "joint limits" refers to the predefined maximum and minimum angular or translational boundaries within which each joint of any robotic arm is permitted to operate without risk of mechanical failure, loss of controllability, or clinically unsafe arm behaviour. Throughout the present disclosure, the term "singular configurations" refers to specific geometric arrangements of the plurality of robotic arms in which one or more degrees of freedom are lost, rendering the plurality of robotic arms unable to execute certain motions or causing disproportionately large joint velocities in response to small end-effector movements. The sufficient distance from the joint limits and the singular configurations implies to the quantified spatial and angular margin maintained between the real-time joint angle configuration of each robotic arm and the nearest joint limit or singular configuration. The sufficient distance from the joint limits and the singular configurations being provided is necessary to preserve the full operational capability of the plurality of robotic arms throughout the surgical procedure. The prevention of the mechanical self-collisions is ensured by the position recommendation of the one or more patient-side carts while providing the sufficient distance from the joint limits and the singular configurations by retrieving the permissible cart position ranges and the safe joint angle envelopes from the predefined procedure database, computing optimal positions for the one or more patient-side carts that satisfy both the collision avoidance constraint and the joint angle margin constraint, and then validating the physically achieved configuration through encoder-based deviation computation. A technical effect of the aforementioned implementation is that a dual-constraint safety envelope is enforced on the position recommendation of the one or more patient-side carts, such that the computed and validated cart placement simultaneously guarantees the prevention of the mechanical self-collisions and the provision of the sufficient distance from the joint limits and the singular configurations.
[0059] At step 412, successful positioning of the one or more patient-side carts at the recommended positions is validated, by the processor, based on fulcrum generation. The successful positioning of the one or more patient-side carts at the recommended positions being validated implies to that the one or more patient-side carts are correctly placed at the recommended positions. Moreover, the successful positioning of the one or more patient-side carts at the recommended positions being validated ensures that the one or more patient-side carts are placed with sufficient separation to prevent collisions and positioned to enable the plurality of robotic arms to reach the target anatomy before proceeding to the subsequent steps of the method. Throughout the present disclosure, the term "fulcrum generation" refers to the establishment of a kinematic pivot point at the trocar interface of each robotic arm, created when a surgical instrument inserted through the trocar cannula engages the cannula wall such that the trocar acts as a fixed spatial pivot through which all subsequent instrument motion is constrained. The successful positioning of the one or more patient-side carts being validated based on the fulcrum generation enables the method to rely exclusively on the internal joint encoders for validating the successful positioning of the one or more patient-side carts, without the use of external optical tracking systems or independent spatial measurement devices. The successful positioning of the one or more patient-side carts is validated based on the fulcrum generation by monitoring the fulcrum generation status for each robotic arm after the user has positioned the one or more patient-side carts at the recommended positions and inserted the surgical instruments.
[0060] At step 414, real-time joint angles are acquired, by the processor, from the internal joint encoders of each robotic arm after the one or more patient-side carts are positioned based on recommendations. Throughout the present disclosure, the term "internal joint encoders" refers to sensors integrated within the joints of each robotic arm that measure angular position of each joint. The internal joint encoders are embedded components of the robotic arm structure rather than external tracking devices. The internal joint encoders enable the processor to acquire real-time joint angles without requiring external sensing systems such as optical tracking cameras or fiducial markers. The internal joint encoders provide objective, accurate measurement of actual joint configurations. The internal joint encoders convert mechanical rotation of each joint into electrical signals or digital data values representing the real-time joint angles and transmit the real-time joint angles to the processor through the communication network. Throughout the present disclosure, the term "real-time joint angles" refers to current angular measurements of each joint in each robotic arm of the plurality of robotic arms, obtained at the time of verification. The real-time joint angles provide objective, sensor-based data about the actual configuration of each robotic arm, enabling the processor to verify whether the one or more patient-side cart positions matches the safe joint angle envelopes without relying on external tracking systems.
[0061] At step 416, real-time positions for the one or more patient-side carts are computed, by the processor, based on the real-time joint angles and the port locations. Throughout the present disclosure, the term "real-time positions" refers to the current physical spatial locations of the one or more patient-side carts as computed by the processor from real-time joint angle data acquired from the internal joint encoders of each robotic arm, in combination with the known port locations, at the moment immediately following physical placement of the one or more patient-side carts at the recommended positions. The real-time positions for the one or more patient-side carts being computed based on the real-time joint angles and the port locations enables the processor to determine the physical spatial location of the one or more patient-side carts without recourse to external optical tracking systems or independent positional sensors.
[0062] At step 418, optimal positions for the one or more patient-side carts are computed, by the processor, based on the safe joint angle envelopes and permissible cart position ranges corresponding to the selected surgical procedure. The term "optimal positions" refers to the target spatial locations of the one or more patient-side carts, computed by the processor from the safe joint angle envelopes and the permissible cart position ranges corresponding to the selected surgical procedure, that represent the cart placements at which each robotic arm simultaneously satisfies the safe joint angle envelopes and falls within the permissible cart position ranges for the selected surgical procedure. The term "permissible cart position ranges" refers to the procedure-specific spatial intervals, stored in the predefined procedure database, within which the one or more patient-side carts must be physically located in order to ensure that the plurality of robotic arms operate within clinically validated configurations for the selected surgical procedure. The optimal positions for the one or more patient-side carts are computed, based on the safe joint angle envelopes and the permissible cart position ranges corresponding to the selected surgical procedure as the safe joint angle envelopes alone could permit multiple cart locations, not all of which fall within the permissible cart position ranges. Conversely, the permissible cart position ranges alone do not guarantee that the resulting joint angles will fall within the safe joint angle envelopes.
[0063] At step 420, deviations between the real-time positions and the optimal positions are computed for the one or more patient-side carts, by the processor. The deviations between the real-time positions and the optimal positions being computed for the one or more patient-side carts refers to the quantified difference, computed by the processor along each relevant positioning axis, between the current spatial location of each patient-side cart as represented by the real-time positions and the target spatial location of each patient-side cart as represented by the optimal positions. The computation of the deviations between the real-time positions and the optimal positions is necessary to convert the abstract result of the encoder-based cart position computation into an actionable assessment of placement accuracy. The processor computes the deviations by performing a spatial comparison between the real-time positions and the optimal positions for each patient-side cart after the real-time positions have been computed from the real-time joint angles and the port locations.
[0064] In an implementation, the method further comprises translating, by the processor, the detected deviations into quantified physical repositioning instructions, wherein the quantified physical repositioning instructions comprises at least one of: lateral translation, longitudinal translation, angular rotation, base adjustment, height adjustment. In this regard, the term "quantified physical repositioning instructions" refers to the processor-generated, numerically specified movement commands directed at the one or more patient-side carts, derived by the processor through translation of the detected deviations between the real-time positions and the optimal positions. The quantified physical repositioning instructions specify the direction, type, and magnitude of the physical adjustment required to bring each non-compliant patient-side cart into the optimal positions, expressed in physically interpretable terms corresponding to the spatial axes and adjustment modes available for cart repositioning. The translation of the detected deviations into the quantified physical repositioning instructions enables to make the corrective guidance directly executable by the bedside team without requiring the bedside team to perform independent kinematic computation or to interpret abstract deviation values as physical adjustment commands.
[0065] In this regard, the term "lateral translation" refers to a type of the quantified physical repositioning instructions that specifies the required linear movement of a patient-side cart along the axis perpendicular to the longitudinal axis of the patient or the surgical table, expressed as a signed magnitude indicating the direction and distance of the required sideways physical displacement of the patient-side cart to reduce the detected deviation between the real-time position and the optimal position of the patient-side cart along the lateral axis. The term "longitudinal translation" refers to a type of the quantified physical repositioning instructions that specifies the required linear movement of a patient-side cart along the axis parallel to the longitudinal axis of the patient or the surgical table, expressed as a signed magnitude indicating the direction and distance of the required forward or backward physical displacement of the patient-side cart to reduce the detected deviation between the real-time position and the optimal position of the patient-side cart along the longitudinal axis. The term "angular rotation" refers to a type of the quantified physical repositioning instructions that specifies the required rotational movement of a patient-side cart about a vertical axis, expressed as a signed angular magnitude indicating the direction and degree of rotation required to reorient the base of the patient-side cart to reduce the detected deviation between the real-time position and the optimal position of the patient-side cart attributable to rotational misalignment of the cart base relative to the optimal orientation defined by the optimal positions for the selected surgical procedure.
[0066] In this regard, the term "base adjustment" refers to a type of the quantified physical repositioning instructions that specifies the required modification to the positional configuration of the base of a patient-side cart encompassing corrections to the base position, stance width, or wheel locking configuration expressed as a physically interpretable instruction indicating the nature and direction of the required base modification to reduce the detected deviation between the real-time position and the optimal position of the patient-side cart attributable to base configuration error. The term "height adjustment" refers to a type of the quantified physical repositioning instructions that specifies the required modification to the vertical elevation of a patient-side cart or the robotic arms mounted on the patient-side cart, expressed as a signed magnitude indicating the direction and extent of the required vertical displacement to reduce the detected deviation between the real-time position and the optimal position of the patient-side cart attributable to vertical placement error relative to the optimal elevation defined by the optimal positions for the selected surgical procedure. A technical effect of the aforementioned implementation is that the gap between the kinematic deviation computation and the physical repositioning actions available to the bedside team is effectively eliminated.
[0067] In an implementation, the corrective guidance is provided, by the processor, in an iterative closed-loop manner, such that the real-time joint angles are reacquired after each user adjustment and re-compared against the safe joint angle envelopes until deviations are resolved or a manual override is recorded. In this regard, the term "iterative closed-loop manner" refers to the structured, cyclically repeating process by which the processor provides corrective guidance, receives the physical response of the bedside team in the form of a user adjustment to the one or more patient-side carts, reacquires real-time joint angles from the internal joint encoders, recomputes the real-time positions, reassesses the deviations between the recomputed real-time positions and the optimal positions, and generates updated corrective guidance based on the reassessed deviations, with the cycle repeating until the deviations are resolved or the manual override is recorded. The corrective guidance being provided in the iterative closed-loop manner ensures that the corrective guidance remains accurate and physically relevant to the actual configuration of the one or more patient-side carts at each stage of the repositioning process. The real-time joint angles being reacquired after each user adjustment and re-compared against the safe joint angle envelopes until the deviations are resolved or the manual override is recorded refers to the processor-executed measurement and evaluation sequence that forms the feedback pathway of the iterative closed-loop manner, wherein the internal joint encoders of each robotic arm are re-read by the processor after each physical adjustment of the one or more patient-side carts by the bedside team to obtain updated real-time joint angle measurements, which are then compared against the safe joint angle envelopes to reassess the deviation profile of the current configuration, until the deviations are resolved or the manual override is recorded. The reacquisition of the real-time joint angles after each user adjustment is necessary because the joint angle configuration of each robotic arm changes with each physical adjustment of the one or more patient-side carts, and the processor requires updated encoder measurements reflecting the post-adjustment joint angle state to accurately recompute the real-time positions and reassess the deviations. The re-comparison of the reacquired real-time joint angles against the safe joint angle envelopes after each user adjustment is necessary to provide the processor with an updated and physically grounded assessment of the deviation profile at each cycle of the iterative closed-loop manner, ensuring that the corrective guidance generated in each cycle accurately reflects the residual deviations of the current configuration. A technical effect of the aforementioned implementation is that the method ensures that the corrective guidance remains physically accurate and deviation-specific at every stage of the repositioning process, preventing the accumulation of guidance errors that would arise from reliance on stale encoder measurements across successive adjustment cycles.
[0068] At step 422, corrective guidance is provided, by the processor, for adjusting the one or more patient-side cart positions iteratively when deviations are detected, based on the deviations. Throughout the present disclosure, the term "corrective guidance" refers to instructions or recommendations provided by the processor to the bedside surgical team for adjusting the position of the one or more patient-side carts to bring the real-time joint angles within the safe joint angle envelopes. The corrective guidance enables to make targeted adjustments to correct the computed deviations, and facilitating iterative refinement until optimal positioning is achieved. The corrective guidance is provided by generating visual, textual, audio or graphical instructions on the display or user interface, indicating which patient-side cart needs be adjusted iteratively, till no deviations are detected.
[0069] At step 424, the optimal positioning of the one or more patient-side carts is confirmed, by the processor, when no deviations are detected. The optimal positioning of the one or more patient-side carts being confirmed when no deviations are detected provides final verification that all the real-time joint angles fall within the safe joint angle envelopes, ensuring that the robotic surgical system is properly configured for safe and effective performance of the selected surgical procedure.
[0070] In an implementation, the method further comprises generating, by the processor, a patient-specific surgical workspace based on the patient-specific input parameters. In this regard, the term "patient-specific surgical workspace" refers to the computational environment generated by the processor that defines the bounded spatial and configurational domain within which the robotic surgical system is configured to operate for a specific patient. The patient-specific surgical workspace is necessary to be generated as the optimal positions for the one or more patient-side carts and the safe joint angle envelopes for the plurality of robotic arms vary across patients undergoing the same selected surgical procedure. The processor applies the patient-specific input parameters to the clinically validated setup parameters retrieved from the predefined procedure database for the selected surgical procedure, constructing a patient-individualised operational context used for generating the patient-specific surgical workspace that defines the spatial boundaries and configurational constraints applicable to the specific patient. Notably, the patient-specific surgical workspace being generated based on the patient-specific input parameters enables to ensure that the positioning recommendations and validation thresholds produced by the processor are appropriate for the specific anatomical context of the patient undergoing the selected surgical procedure. A technical effect of the aforementioned implementation is that the risk of configuration errors attributable to patient-to-patient anatomical variability is significantly reduced.
[0071] In an implementation, the method further comprises receiving, by the processor, a surgeon selection input, and wherein determining the clinically validated setup parameters further comprises retrieving surgeon-specific configuration preferences associated with the selected surgical procedure. In this regard, the term "surgeon selection input" refers to the user-provided identification input received by the processor at, by which a specific operating surgeon is designated for the selected surgical procedure. The surgeon selection input identifies the specific surgeon who will perform the selected surgical procedure and serves as the lookup key by which the processor retrieves the surgeon-specific configuration preferences stored in the predefined procedure database in association with the identified surgeon and the selected surgical procedure. The term "surgeon-specific configuration preferences" refers to the individually validated positional and configurational settings associated with a specific surgeon and the selected surgical procedure, stored in the predefined procedure database, that reflect the surgeon's established clinical preferences for robotic arm orientations, cart placements, and instrument approach parameters. In other words, the surgeon-specific configuration preferences are stored data records within the predefined procedure database that encode the positional and configurational settings that a specific surgeon has historically preferred for the selected surgical procedure. The surgeon-specific configuration preferences associated with the selected surgical procedure being retrieved is necessary as the configuration preferences of a given surgeon are procedure-dependent and ensures that the retrieved surgeon-specific configuration preferences are appropriate for the specific operative context of the selected surgical procedure. A technical effect of the aforementioned implementation is that the recommended positions and optimal positions computed by the processor reflect both the patient's individual anatomy and the surgeon's established clinical preferences for the selected surgical procedure.
[0072] In an implementation, the method further comprises verifying, by the processor, generation of a fulcrum at each trocar interface after insertion of surgical instruments in the plurality of robotic arms. In this regard, the term "fulcrum" refers to the fixed kinematic pivot point established at the trocar interface of each robotic arm, about which the surgical instrument inserted through the trocar cannula rotates during surgical actuation, such that the instrument shaft pivots at the trocar cannula without imparting lateral forces on the surrounding tissue at the port site. The term "trocar interface" refers to the physical port site established at the patient's body through which the surgical instruments inserted in any robotic arm are inserted into the surgical workspace. The fulcrum being generated at each trocar interface after the insertion of the surgical instruments in the plurality of robotic arms implies to the kinematic condition that is established at each trocar interface when the surgical instruments are inserted through the trocar cannulas of the plurality of robotic arms and the plurality of robotic arms have been aligned with the assigned port sites, such that the instrument shaft of each robotic arm is constrained to pivot about the fixed point defined by the corresponding trocar interface. Notably, the processor recognises the fulcrum condition as established for each robotic arm individually. The generation of the fulcrum at each trocar interface after the insertion of the surgical instruments is necessary to establish the complete set of kinematic anchor points required for the encoder-based computation of the real-time positions of the one or more patient-side carts. Subsequently, the verification of the generation of the fulcrum at each trocar interface enables to prevent the processor from initiating the encoder-based computation of the real-time positions of the one or more patient-side carts before the kinematic anchor points required for the computation are confirmed to be in place at every trocar interface. A technical effect of the aforementioned implementation is that the fixed distal spatial reference points required for the kinematic computation of the real-time positions are confirmed to be physically established at every trocar interface across the one or more patient-side carts.
[0073] In an implementation, the method further comprises verifying, by the processor, if insertion depth conditions of the surgical instruments fulfil predefined procedural thresholds. In this regard, the "insertion depth conditions" refers to the measurable state of advancement of the surgical instruments along the instrument insertion axis of each robotic arm. The term "predefined procedural thresholds" refers to the minimum insertion depth values established for the selected surgical procedure, stored in the predefined procedure database. Notably, the insertion depth conditions of the surgical instruments must fulfil (i.e., meet or exceed) the predefined procedural thresholds, for the processor to confirm that the surgical instruments have been advanced sufficiently beyond the trocar cannulas to establish valid instrument engagement with the surgical workspace and to ensure the reliability of the encoder-based computation of the real-time positions of the one or more patient-side carts. The processor verified if the insertion depth conditions of the surgical instruments fulfil the predefined procedural thresholds by acquiring the encoder-based insertion depth measurements for each robotic arm after fulcrum generation has been confirmed at each trocar interface, and comparing each insertion depth measurement against the predefined procedural thresholds retrieved from the predefined procedure database for the selected surgical procedure. A technical effect of the aforementioned implementation is that the method prevents the encoder-based positional computation from being performed on the basis of an instrument configuration in which one or more surgical instruments have not been sufficiently advanced through the trocar cannulas to establish valid instrument engagement with the surgical workspace.
[0074] In an implementation, when the insertion depth conditions do not fulfil the predefined procedural thresholds, the method comprises providing, by the processor, arm-specific corrective guidance for adjustment. In this regard, the term "arm-specific corrective guidance" refers to the targeted, processor-generated instructions directed at a specific robotic arm for which the insertion depth conditions of the surgical instrument do not fulfil the predefined procedural thresholds. The arm-specific corrective guidance specifies the physical adjustment required to bring the insertion depth conditions of the surgical instrument of the identified robotic arm into compliance with the predefined procedural thresholds, without issuing generalised system-wide alerts that do not identify the specific robotic arm requiring correction. The arm-specific corrective guidance for adjustment being provided when the insertion depth conditions do not fulfil the predefined procedural thresholds ensure that the insertion depth conditions of all surgical instruments is confirmed to fulfil the predefined procedural thresholds. A technical effect of the aforementioned implementation is that the corrective intervention that is precise, efficient, and confined to the specific robotic arms and insertion depth deficiencies is provided.
[0075] In an implementation, the method further comprises providing, by the processor, a manual override capability to bypass the one or more patient-side cart position recommendations. In this regard, the term "manual override capability" refers to a feature that allows a user to accept a configuration of the one or more patient-side carts that differs from the recommended positions of the one or more patient-side carts. The manual override capability is necessary because clinical situations may arise where the user determines that a configuration different from the recommendations is preferable or necessary based on factors not captured by the patient-specific input parameters, the selected surgical procedure, or the clinically validated setup parameters, or when the user is performing a surgical procedure not present in the predefined procedure database and hence, the manual override is preferred over the recommendations. The manual override capability provides flexibility to accommodate unusual patient anatomy, equipment constraints, operating room layout limitations, or experienced surgeon preferences while maintaining functionality of the robotic surgical system. The manual override capability is provided by the processor presenting an option through a user interface that allows the user to actively select manual acceptance of the current configuration, bypassing the one or more patient-side cart position recommendations. The one or more patient-side cart position recommendations being bypassed refers to the processor allowing the method to proceed with subsequent steps despite the one or more patient-side carts not being positioned according to the recommended positions. The one or more patient-side cart position recommendations being bypassed is necessary to provide the manual override capability. The one or more patient-side cart position recommendations are bypassed by disabling verification checks that compare actual configurations against the recommended positions. A technical effect of the aforementioned implementation is that operational flexibility in the method is provided while maintaining user control and system traceability, by providing the manual override capability that allows the one or more patient-side cart position recommendations being bypassed when the recommended positions cannot be achieved due to physical constraints, unusual patient anatomy, or operating room limitations.
[0076] In an implementation, the method further comprises logging, by the processor, the details related to the manual override performed by the user for traceability and operational data into a clinical database. The details related to the manual override being logged implies to the processor recording information about each instance when the manual override capability is exercised by the user to bypass the patient side cart and robotic arm position recommendations. The details related to the manual override include timestamp of when the manual override was performed, identification of which positioning step was bypassed, identification of the user who performed the manual override, the acquired real-time joint angles at the time of the manual override, deviations between the acquired real-time joint angles and the safe joint angle envelopes, and the like. The details related to the manual override being logged enable post-procedure review to understand what configurations were actually used during the surgical procedure, support quality assurance processes, facilitate investigation of any complications or issues that arise during surgery, and provide data for improving the clinically validated setup parameters and the safe joint angle envelopes in the predefined procedure database. The details related to the manual override being logged are recorded by the processor writing data to a storage medium such as a database, log file, or electronic record system at the moment when the user activates the manual override capability. In this regard, the term "traceability" refers to the ability to track and reconstruct the sequence of positioning decisions and configurations used during setup of the robotic surgical system for a specific surgical procedure. The traceability is necessary to enable analysis of when and why the manual override capability is used to identify patterns that may indicate needed refinements to the clinically validated setup parameters or the safe joint angle envelopes. Notably, the traceability is achieved through the details related to the manual override being logged in a structured format that associates the manual override events with specific surgical procedures, patients, users, and configurations. Throughout the present disclosure, the term "operational data" refers to the structured record of system states, user actions, configuration parameters, and validation outcomes generated during the execution of the cart positioning and validation workflow, which is captured and stored by the processor. Throughout the present disclosure, the term "clinical database" refers to the persistent data storage element into which the processor logs the details related to the manual override and the operational data, and from which the processor retrieves clinically validated setup parameters, safe joint angle envelopes, and permissible cart position ranges corresponding to selected surgical procedures during the execution of the cart positioning and validation workflow. A technical effect of the aforementioned implementation is that continuous improvement of the method is achieved, by logging the details related to the manual override for traceability that enables post-procedure analysis of whether the manual override capability was appropriately used and whether configurations accepted through the manual override correlated with any surgical outcomes or complications.
[0077] FIG. 5 is a block diagram illustrating the robotic surgical system, in accordance with an embodiment of the present disclosure. FIG. 5 is described in conjunction with elements of the FIGs. 1 to 4. With reference to FIG. 5, there is shown the robotic surgical system 100 including the patient-side cart 110, a surgeon console 130, and a communication network 514. The patient-side cart 110 includes the plurality of robotic arms (for example, the first robotic arm 112). Each robotic arm of the plurality of robotic arms includes internal joint encoders similar to the internal joint encoder 204.
[0078] The surgeon console 130 includes a processor 506, a memory 508, and a display unit 512. In the illustrated embodiment of FIG. 5, the processor 506 and the memory 508 are positioned within the surgeon console 130. In alternative implementations, the processor 506 and the memory 508 may be implemented as an independent computational unit external to the surgeon console 130, wherein the independent computational unit is communicably coupled to the patient-side cart 110, the surgeon console 130, and the display unit 512 through the communication network 514. The independent computational unit may be integrated within the vision cart 120, implemented as a standalone processing unit, or distributed across multiple networked processing nodes within the robotic surgical system 100.
[0079] The processor 506 represents a central computational unit responsible for executing algorithms and decision-making logic for performing surgical procedures. The processor 506 is configured to receive surgical procedure information, generate arm position recommendations, generate cart position recommendations, determine joint angles from encoder feedback, compare joint angles with safe joint angle envelopes, and provide corrective guidance when deviations are detected. Examples of the processor 506 may include, but are not limited to, a Central Processing Unit (CPU) with multiple processing cores, a System-on-Chip (SoC) integrating processing and memory control functions, a Field-Programmable Gate Array (FPGA) configured for real-time encoder signal processing, an Application-Specific Integrated Circuit (ASIC) designed for robotic control operations, or a microcontroller with embedded real-time operating system capabilities.
[0080] The memory 508 represents a data storage component that stores a predefined procedure database containing clinically validated setup parameters specific to the surgical procedures, and user preferences. The clinically validated setup parameters include standard trocar locations, acceptable robotic arm configurations, and safe joint angle envelopes. The display unit 512 provides a user interface for receiving patient-specific input parameters, displaying position recommendations, and receiving user confirmation inputs. Examples of the memory 508 may include, but are not limited to, volatile Random Access Memory (RAM) for storing real-time encoder feedback and intermediate positioning computation results, non-volatile Flash memory for persistent storage of the predefined procedure database and clinically validated setup parameters, Static RAM (SRAM) for low-latency storage of safe joint angle envelopes during verification operations, cache memory integrated within the processor 506 for high-speed access to frequently used positioning parameters, or hybrid memory architectures combining volatile and non-volatile storage for surgical case data logging and system configuration.
[0081] The communication network 514 communicably couples the patient-side cart 110 and the surgeon console 130. The communication network 514 transmits control commands from the processor 506 to the first robotic arm 112. The communication network 514 transmits encoder feedback signals from the internal joint encoders 204 to the processor 506. The communication network 514 includes, but is not limited to, ethernet connections, etherCAT connections, or wireless communication protocols. The processor 506 performs positioning verification using only encoder feedback from the internal joint encoders 204 without requiring external tracking systems.
[0082] FIG. 6 is a diagram illustrating cart positioning around a patient during a surgical procedure, in accordance with an embodiment of the present disclosure. FIG. 6 is described in conjunction with elements of the FIGs. 1 to 5. With reference to FIG. 6, there is shown the first patient-side cart 110A, the second patient-side cart 110B, and the third patient-side cart 110C positioned around a patient 600 lying on an operating table 602. Each patient-side cart includes the plurality of robotic arms with the internal joint encoders 204.
[0083] The processor 506 generates cart position recommendations for the first patient-side cart 110A, the second patient-side cart 110B, and the third patient-side cart 110C based on clinically validated setup parameters retrieved from the predefined procedure database stored in the memory 508. The cart position recommendations specify spatial positions and angular orientations for each patient-side cart relative to the operating table 602 and relative to trocar port locations on the patient 600. The processor 506 calculates the cart position recommendations to ensure sufficient separation between adjacent patient-side carts while ensuring each robotic arm of the plurality of robotic arms can reach target anatomy through the trocar ports.
[0084] The first patient-side cart 110A is positioned at a first distance and a first angular orientation from the operating table 602. The second patient-side cart 110B is positioned at a second distance and a second angular orientation from the operating table 602. The third patient-side cart 110C is positioned at a third distance and a third angular orientation from the operating table 602. The first distance, the second distance, and the third distance are calculated to prevent mechanical collisions between the first robotic arm 112, the second robotic arm 113, and the third robotic arm 114 during robotic arm manipulation. The angular orientations align the plurality of robotic arms toward the trocar port locations to provide instrument access to target anatomy during the surgical procedure.
[0085] After the operating room personnel position the plurality of patient-side carts according to the cart position recommendations, the processor 506 determines joint angles of the plurality of robotic arms 112, 113 and 114, using encoder feedback from the internal joint encoders 204. The processor 506 compares the determined joint angles with safe joint angle envelopes retrieved from the predefined procedure database to verify cart positioning. The processor 506 provides corrective guidance through the display unit 512 when determined joint angles are not within the safe joint angle envelopes. The processor 506 confirms positioning when determined joint angles are within the safe joint angle envelopes, enabling surgical procedure commencement.
[0086] FIGs. 7A and 7B are diagrams illustrating a logic flowchart explaining the operational flow for positioning verification in the robotic surgical system, in accordance with an embodiment of the present disclosure. FIGs. 7A and 7B are described in conjunction with elements of the FIGs. 1 to 6. With reference to FIGs. 7A and 7B, the operational flowchart 700 is executed by the processor 506 for verifying positioning of the one or more patient-side carts and the plurality of robotic arms.
[0087] At operation 702, the processor 506 receives patient-specific input parameters including age, sex, body mass index (BMI), and imaging reports through the user interface presented on the display unit 512. The processor 506 parses the received patient-specific input parameters and stores the parsed parameters in the memory 508 for subsequent workspace computation.
[0088] At operation 704, the processor 506 generates a patient-specific surgical workspace based on the received patient-specific input parameters. The workspace model defines anatomical boundaries, reachable zones, and trocar feasibility regions corresponding to the selected surgical context.
[0089] At operation 706, the processor 506 receives a surgeon selection input or authorized user through the display unit 512. The processor 506 associates the surgeon selection input with surgeon-specific configuration parameters.
[0090] At operation 708, the processor 506 receives selection of a surgical procedure via the display unit 512. The processor 506 maps the selected surgical procedure to a corresponding procedural template stored in the memory 508.
[0091] At operation 710, the processor 506 retrieves a predefined procedure database comprising permissible cart position ranges stored in the memory 508. The database includes the permissible cart position ranges corresponding to a plurality of surgical procedures and workspace configurations. The processor 506 accesses the complete set of permissible cart position range records and makes the database available for subsequent filtering and selection based on the selected surgical procedure and the patient-specific input parameters.
[0092] At operation 712, the processor 506 retrieves additional clinical data including validated arm configuration parameters, cart positions, user profiles and trocar alignment constraints corresponding to the selected surgical procedure.
[0093] At operation 714, the processor 506 computes one or more predefined reference positions for the plurality of robotic arms based on the selected surgical procedure and the retrieved clinical parameters. The one or more predefined reference positions include predefined reference configurations, named the high pose and the low pose, suitable for subsequent cart positioning.
[0094] At operation 716, the processor 506 retrieves cart position range data associated with the selected surgical procedure from a clinical database stored in memory 508. The cart position range data defines allowable spatial envelopes for placement of one or more patient-side carts 110A-C.
[0095] At operation 718, the processor 506 transmits control commands to move the plurality of robotic arms 112-114 to the one or more predefined reference positions, establishing baseline configurations before cart positioning, based on the one or more predefined reference positions selected by a user from the display unit 512.
[0096] At operation 720, the processor 506 performs a decision operation to determine whether the user has indicated that the initial arm positioning is completed. When confirmation is not received, the processor 506 continues to monitor for user input. When confirmation is received, the processor 506 proceeds to operation 722.
[0097] At operation 722, the processor 506 computes recommended positions for the one or more patient-side carts 110A-C based on the selected surgical procedure, surgical table position, and port locations. The computation ensures sufficient separation between one or more patient-side carts 110A-C while maintaining reachability to target anatomy through trocar ports.
[0098] At operation 724, the processor 506 transmits cart placement guidance to the display unit 512, prompting the user to physically position the one or more patient-side carts 110A-C in accordance with the recommended positions. The user positions the one or more patient-side carts 110A-C according to the displayed recommendations, thereby aligning the one or more patient-side carts 110A-C within the clinically validated cart position ranges corresponding to the selected surgical procedure and the patient-specific workspace configuration.
[0099] At operation 726, the user performs fulcrum generation for the plurality of robotic arms 112-114 and inserts the surgical instruments toward the patient workspace through corresponding trocar locations. Upon completion of fulcrum generation and instrument insertion, the processor 506 receives input indicating that fulcrum constraints have been established and that the surgical instruments are positioned toward the patient workspace.
[0100] At operation 728, the processor 506 performs a decision operation to determine whether fulcrum generation is detected in all robotic arms from amongst the plurality of robotic arms 112-114. When fulcrum generation is not detected in one or more robotic arms, the processor 506 continues monitoring fulcrum status and waits for establishment of fulcrum constraints while remaining at operation 728. When fulcrum generation is detected in all robotic arms, the processor 506 proceeds to operation 730.
[0101] At operation 730, the processor 506 performs a decision operation to determine whether insertion depth conditions are satisfied for all robotic arms. The insertion depth condition is evaluated by calculating a distance between a current tool tip position and a corresponding fulcrum point along an instrument axis for each robotic arm. The processor 506 compares the computed insertion depth with a predefined depth threshold of approximately 4 cm stored in the memory 508. The predefined depth threshold ensures that the tool tip extends beyond a distal end of a trocar cannula and is positioned outside of the trocar cannula within the patient workspace. When the computed insertion depth for one or more robotic arms is less than the predefined depth threshold, the processor 506 proceeds to operation 732 for adjustment. When the insertion depth condition is satisfied for all robotic arms, the processor 506 proceeds to operation 736.
[0102] At operation 732, the processor 506 identifies one or more robotic arms for which the computed insertion depth is less than the predefined depth threshold. The processor 506 generates and transmits targeted adjustment guidance through the display unit 512 indicating which specific robotic arm instrument is required to be advanced along the instrument axis. The displayed guidance prompts the user to push the corresponding surgical instrument inward relative to the fulcrum point until the insertion depth reaches or exceeds the predefined depth threshold.
[0103] At operation 734, the user inserts the surgical instrument further along the instrument axis through the corresponding trocar location.
[0104] At operation 736, the processor 506 acquires real-time joint angles from internal joint encoders of each robotic arm after confirmation of fulcrum generation and insertion depth compliance.
[0105] At operation 738, the processor 506 computes real-time positions for the one or more patient-side carts 110A, 110B, 110C, based on the real-time joint angles and the port locations.
[0106] At operation 740, the processor 506 computes optimal positions for the one or more patient-side carts 110A, 110B, 110C, based on the safe joint angle envelopes and permissible cart position ranges corresponding to the selected surgical procedure. The optimization further considers avoidance of inter-arm collisions between different robotic arms and intra-arm collisions between links of an individual robotic arm.
[0107] At operation 742, the processor 506 performs a decision operation to determine whether deviations exist between the real-time positions and the optimal positions for the one or more patient-side carts 110A, 110B, 110C. When no significant deviations are detected, the processor 506 proceeds to operation 750. When deviations are detected, the processor 506 proceeds to operation 744.
[0108] At operation 744, the processor 506 performs a decision operation to determine whether the user has elected to skip the recommended adjustments. When the user elects not to skip the recommendation, the processor 506 proceeds to operation 746. When the user elects to skip the recommendation, the processor 506 proceeds to operation 750.
[0109] At operation 746, the processor 506 provides corrective guidance through the display unit 512 to adjust the one or more patient-side cart positions iteratively when deviations are detected based on the deviations. The processor 506 identifies a specific robotic arm requiring adjustment and generates visual guidance indicating which arm is to be adjusted and a corresponding direction of movement. The display unit 512 presents directional cues specifying whether the identified robotic arm is to be adjusted translationally or angularly to align with the optimised cart position and maintain a collision-free configuration.
[0110] At operation 748, the user removes positional constraints by breaking the fulcrum established at the trocar locations. The user withdraws the surgical instruments and repositions one or more patient-side carts 110A-C according to the corrective guidance. Upon removal of the fulcrum constraint, the operational flow returns to operation 726 for re-establishment of fulcrum generation and instrument insertion prior to further validation.
[0111] At operation 750, the processor 506 transitions the robotic surgical system 100 into surgical mode upon confirmation that positioning requirements are satisfied or a manual override capability has been initiated.
[0112] At operation 752, the processor 506 records and logs final operational setup data including the patient-specific input parameters, the selected surgical procedure, the joint angles, the cart positions, the detected deviations, the user confirmations, the manual overrides, and final configuration states into the memory 508. The logged data supports traceability, post-operative review, and continuous refinement of clinically validated setup parameters stored in the predefined procedure database.
[0113] Modifications to embodiments of the present disclosure described in the foregoing are possible without departing from the scope of the present disclosure as defined by the accompanying claims. Expressions such as "including", "comprising", "incorporating", "have", "is" used to describe and claim the present disclosure are intended to be construed in a non-exclusive manner, namely allowing for items, components or elements not explicitly described also to be present. Reference to the singular is also to be construed to relate to the plural. The word "exemplary" is used herein to mean "serving as an example, instance or illustration". Any embodiment described as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments and/or to exclude the incorporation of features from other embodiments. The word "optionally" is used herein to mean "is provided in some embodiments and not provided in other embodiments". It is appreciated that certain features of the present disclosure, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment. Conversely, various features of the present disclosure, which are, for brevity, described in the context of a single embodiment, may also be provided separately or in any suitable combination or as suitable in any other described embodiment of the disclosure.
, Claims:CLAIMS
We claim:
1. A method for optimal positioning of one or more patient-side carts (110A, 110B, 110C) of a robotic surgical system (100), each of the one or more patient-side carts (110A, 110B, 110C) comprising plurality of robotic arms (112, 113, 114) each having internal joint encoders (204), the method comprising:
receiving, at a processor (506), surgical procedure information comprising a selected surgical procedure and patient-specific input parameters;
determining, by the processor (506), clinically validated setup parameters specific to the selected surgical procedure from a predefined procedure database, wherein the setup parameters include safe joint angle envelopes for each robotic arm;
computing, by the processor (506), one or more predefined reference positions for the plurality of robotic arms (112, 113, 114);
validating, by the processor (506), successful positioning of the robotic arms (112, 113, 114) at the one or more predefined reference positions based on user confirmation;
computing, by the processor (506), recommended positions for the one or more patient-side carts (110A, 110B, 110C) based on the selected surgical procedure, surgical table position, and port locations;
validating, by the processor (506), successful positioning of the one or more patient-side carts (110A, 110B, 110C) at the recommended positions based on fulcrum generation in each robotic arm;
acquiring, by the processor (506), real-time joint angles from the internal joint encoders of each robotic arm after the one or more patient-side carts are positioned based on the recommendations;
computing, by the processor (506), real-time positions for the one or more patient-side carts (110A, 110B, 110C), based on the real-time joint angles and the port locations;
computing, by the processor (506), optimal positions for the one or more patient-side carts (110A, 110B, 110C), based on the safe joint angle envelopes and permissible cart position ranges corresponding to the selected surgical procedure;
computing, by the processor (506), deviations between the real-time positions and the optimal positions for the one or more patient-side carts (110A, 110B, 110C);
providing corrective guidance, by the processor (506), for adjusting the one or more patient-side cart positions iteratively when deviations are detected based on the deviations; and
confirming, by the processor (506), the optimal positioning of the one or more patient-side carts (110A, 110B, 110C) when no deviations are detected.
2. The method of claim 1, further comprising generating, by the processor (506), a patient-specific surgical workspace based on the patient-specific input parameters.
3. The method of claim 1, further comprising receiving, by the processor (506), a surgeon selection input, and wherein determining the clinically validated setup parameters further comprises retrieving surgeon-specific configuration preferences associated with the selected surgical procedure.
4. The method of claim 1, wherein computing the recommended positions for the one or more patient-side carts further comprises retrieving, by the processor (506), the permissible cart position ranges corresponding to the selected surgical procedure from the predefined procedure database.
5. The method of claim 1, further comprising verifying, by the processor (506), generation of a fulcrum at each trocar interface after insertion of surgical instruments in the plurality of robotic arms (112, 113, 114).
6. The method of claim 1, further comprising verifying, by the processor (506), if insertion depth conditions of the surgical instruments fulfil predefined procedural thresholds.
7. The method of claim 6, wherein when the insertion depth conditions do not fulfil the predefined procedural thresholds, the method comprising providing, by the processor (506), arm-specific corrective guidance for adjustment.
8. The method of claim 1, further comprising translating, by the processor (506), the detected deviations into quantified physical repositioning instructions, wherein the quantified physical repositioning instructions comprises at least one of: lateral translation, longitudinal translation, angular rotation, base adjustment, height adjustment.
9. The method of claim 1, wherein the corrective guidance is provided, by the processor (506), in an iterative closed-loop manner, such that the real-time joint angles are reacquired after each user adjustment and re-compared against the safe joint angle envelopes until deviations are resolved or a manual override is recorded.
10. The method of claim 1, further comprising providing, by the processor (506), a manual override capability to bypass the one or more patient-side cart position recommendations.
11. The method of claim 10, further comprising logging, by the processor (506), the details related to the manual override performed by the user for traceability and operational data into a clinical database.
12. The method of claim 1, wherein position recommendation of the one or more patient-side carts ensures prevention of mechanical self-collisions while providing sufficient distance from joint limits and singular configurations.
13. A robotic surgical system (100) for optimal positioning of one or more patient-side carts (110A, 110B, 110C), the system (100) comprising:
the one or more patient-side carts (110A, 110B, 110C), each patient-side cart comprising a plurality of robotic arms (112, 113, 114), wherein each robotic arm having internal joint encoders;
a processor (506) configured to:
receive surgical procedure information comprising a selected surgical procedure and patient-specific input parameters,
determine clinically validated setup parameters specific to the selected surgical procedure from a predefined procedure database, wherein the setup parameters include safe joint angle envelopes for each robotic arm,
compute one or more predefined reference positions for the plurality of robotic arms (112, 113, 114),
validate successful positioning of the robotic arms (112, 113, 114) at the one or more predefined reference positions based on user confirmation,
compute recommended positions for the one or more patient-side carts (110A, 110B, 110C) based on the selected surgical procedure, surgical table position, and port locations,
validate successful positioning of the one or more patient-side carts (110A, 110B, 110C) at the recommended positions based on fulcrum generation in each robotic arm ,
acquire real-time joint angles from the internal joint encoders (204) of each robotic arm after the one or more patient-side carts are positioned based on the recommendations,
compute real-time positions for the one or more patient-side carts (110A, 110B, 110C), based on the real-time joint angles and the port locations,
compute optimal positions for the one or more patient-side carts (110A, 110B, 110C), based on the safe joint angle envelopes and permissible cart position ranges corresponding to the selected surgical procedure,
compute deviations between the real-time positions and the optimal positions for the one or more patient-side carts (110A, 110B, 110C),
provide corrective guidance for adjusting the one or more patient- side cart positions iteratively when deviations are detected based on the deviations, and
confirm the optimal positioning of the one or more patient-side carts (110A, 110B, 110C) when no deviations are detected.
14. The robotic surgical system (100) of claim 13, the processor (506) is further configured to generate a patient-specific surgical workspace based on the patient-specific input parameters.
15. The robotic surgical system (100) of claim 13, the processor (506) is further configured to receive a surgeon selection input, and wherein to determine the clinically validated setup parameters the processor is further configured to retrieve surgeon-specific configuration preferences associated with the selected surgical procedure.
16. The robotic surgical system (100) of claim 13, wherein to compute the recommended positions for the one or more patient-side carts the processor (506) is further configured to retrieve the permissible cart position ranges corresponding to the selected surgical procedure from the predefined procedure database.
17. The robotic surgical system (100) of claim 13, the processor (506) is further configured to verify generation of a fulcrum at each trocar interface after insertion of surgical instruments in the plurality of robotic arms (112, 113, 114).
18. The robotic surgical system (100) of claim 13, the processor (506) is further configured to verify if insertion depth conditions of the surgical instruments fulfil predefined procedural thresholds.
19. The robotic surgical system (100) of claim 18, wherein when the insertion depth conditions do not fulfil the predefined procedural thresholds, the processor (506) is configured to provide arm-specific corrective guidance for adjustment.
20. The robotic surgical system (100) of claim 13, the processor (506) is further configured to translate the detected deviations into quantified physical repositioning instructions, wherein the quantified physical repositioning instructions comprises at least one of: lateral translation, longitudinal translation, angular rotation, base adjustment, height adjustment.
21. The robotic surgical system (100) of claim 13, wherein the processor (506) is configured to provide the corrective guidance in an iterative closed-loop manner, such that the real-time joint angles are reacquired after each user adjustment and re-compared against the safe joint angle envelopes until deviations are resolved or a manual override is recorded.
22. The robotic surgical system (100) of claim 13, the processor (506) is further configured to provide a manual override capability to bypass the one or more patient-side carts position recommendations.
23. The robotic surgical system (100) of claim 22, the processor (506) is further configured to log the details related to the manual override performed by the user for traceability and operational data into a clinical database.
24. The robotic surgical system (100) of claim 13, wherein position recommendation of the one or more patient-side carts ensures prevention of mechanical self-collisions while providing sufficient distance from joint limits and singular configurations.