Surgical robotic system and method for customizing and tuning haptic force feedback

Abstract

A surgical robotic system (10) provides customizable haptic and force feedback to enhance surgeon control and precision. The system includes one or more robotic arms (40) with attached surgical tools (50, 51) and a surgeon console equipped with display screens (32, 34) and input devices, such as handle controllers (38a, 38b), that replicate the surgeon's movements. The input devices feature haptic and force feedback assemblies, allowing the user to receive tactile feedback during surgery. The system is configured to tailor feedback settings based on individual user profiles, which can be created and calibrated via a user- specific logon process. Calibration is achieved through simulated object manipulation or real-time adjustment during surgery. Additionally, the feedback can be dynamically adjusted depending on the tissue type or critical structures being operated on. User profiles are stored locally and / or in the cloud, enabling seamless access across multiple robotic systems.

Description

Attorney Docket No.: A0012697W001SURGICAL ROBOTIC SYSTEM AND METHOD FOR CUSTOMIZING AND TUNING HAPTIC FORCE FEEDBACKCROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63 / 706,070, filed October 11, 2024, the entire content of which is incorporated herein by reference.BACKGROUND

[0001] Surgical robotic systems are currently being used in a variety of surgical procedures, including laparoscopic and endoluminal minimally invasive procedures. Laparoscopic surgical robotic systems include a surgeon console for controlling a surgical robotic arm and a surgical instrument having an end effector (e.g., forceps or grasping instrument coupled to and actuated by the robotic arm). In operation, the robotic arm is moved to a position over a patient and then guides the surgical instrument into a small incision via a surgical port to position the end effector at a work site within the patient’s body.

[0002] Haptic feedback in robotic surgery is a rapidly developing field, with varying user preferences regarding the level of force feedback provided by input devices such as handle controllers used to control surgical instruments. A uniform application of force or haptic feedback across all scenarios can be problematic, as it may be insufficient or excessive depending on the user’s preferences, the surgical procedure, or the specific task being performed. This can lead to the feedback becoming a distraction, rather than an aid, during surgery. Therefore, there is a growing need to personalize haptic and force feedback based on individual user preferences, the surgical environment, or other relevant parameters, to enhance user comfort and improve procedural outcomes.SUMMARY

[0003] According to one embodiment of the present disclosure, a surgical robotic system is disclosed. The system includes a robotic arm having a surgical instrument. The system also includes a surgeon console having a display screen and an input device configured to receive user input for controlling the surgical instrument. The input device includes a handle, a paddle movable relative to the handle for actuating the surgical instrument, and a forceAttorney Docket No.: A0012697W001 feedback motor configured to output force feedback to the paddle. The system also includes a processor configured to output a graphical user interface to the display screen, select a feedback profile unique for each user of the surgeon console, and activate a calibration state for generating the feedback profile, which includes a force feedback intensity setting, where the force feedback motor is configured to output force feedback according to the force feedback intensity setting.

[0004] Implementations of the above embodiment may include one or more of the following features. According to one aspect of the above embodiment, the surgeon console may further include an authentication device, which may be one of a password entry device, a card scanner, and a biometric scanner. A plurality of feedback profiles with each feedback profile corresponding to a unique user of the surgeon console may be stored in the surgeon console or a server. The processor may be further configured to select the feedback profile from the plurality of feedback profiles based on authentication of the user. The input device may further include a haptic feedback assembly for providing haptic feedback through the handle. The feedback profile may further include a haptic feedback setting and the haptic feedback assembly may be configured to output haptic feedback according to the haptic feedback setting. The haptic feedback setting may be adjustable using the graphical user interface. While the calibration state is active, the surgeon console may output a prompt through the graphical user interface instructing a user to grasp an object using the surgical instrument and to input the force feedback intensity setting. The force feedback intensity setting may be adjustable through the graphical user interface during a surgical procedure while the calibration state is inactive and the robotic arm and the surgical instrument are being controlled. The surgical robotic system may include a machine learning processing system having a phase detector configured to identify a phase of the surgical procedure and to adjust the force feedback intensity setting based on the identified phase of the surgical procedure.

[0005] According to another embodiment of the present disclosure, a method for controlling a surgical robotic system is disclosed. The method includes activating a calibration state to generate a feedback profile having a force feedback intensity setting. The method also includes receiving user input at an input device of a surgeon console for controlling a surgical instrument coupled to a robotic arm. The input device includes a handle, a paddle movable relative to the handle for actuating the surgical instrument, and a force feedbackAttorney Docket No.: A0012697W001 motor configured to output force feedback to the paddle. The method also includes receiving the selection of the feedback profile and generating the force feedback through the paddle according to the force feedback intensity setting during operation of the surgical instrument through the input device. The system may also include a laparoscopic camera configured to capture a video feed of a surgical site. The machine learning processing system may be further configured to identify a critical tissue structure in the video feed, wherein the machine learning processing system is configured to adjust the force feedback intensity setting based on proximity of the surgical instrument to the critical tissue structure.

[0006] Implementations of the above embodiment may include one or more of the following features. According to one aspect of the above embodiment, the method may also include authenticating a user through an authentication device of the surgeon console, the authentication device may be one of a password entry device, a card scanner, or a biometric scanner. The method may also include storing a plurality of feedback profiles with each feedback profile corresponding to a unique user of the surgeon console in the surgeon console or a server. The method may further include selecting the feedback profile from the plurality of feedback profiles based on authentication of the user. The method may additionally include providing haptic feedback through a haptic feedback assembly to the handle of the input device. The feedback profile may further include a haptic feedback setting and the haptic feedback assembly may be configured to output haptic feedback according to the haptic feedback setting. The method may also include outputting a graphical user interface to a display screen of a surgeon console and adjusting the haptic feedback setting using the graphical user interface. The method may further include outputting a prompt while the calibration state is active on the graphical user interface instructing the user to grasp an object using the surgical instrument and receiving user input in response to using the surgical instrument on the force feedback intensity setting. The method may further include receiving input to adjust the force feedback intensity setting during a surgical procedure while the calibration state is inactive, and the robotic arm and the surgical instrument are being controlled. The method may additionally include identifying a phase of the surgical procedure using a machine learning processing system and adjusting the force feedback intensity setting based on the identified phase of the surgical procedure.Attorney Docket No.: A0012697W001BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Various embodiments of the present disclosure are described herein with reference to the drawings wherein:

[0008] FIG. 1 is a perspective view of a surgical robotic system including a control tower, a console, and one or more surgical robotic arms each disposed on a mobile cart according to an embodiment of the present disclosure;

[0009] FIG. 2 is a perspective view of a surgical robotic arm of the surgical robotic system of FIG. 1 according to an embodiment of the present disclosure;

[0010] FIG. 3 is a perspective view of a mobile cart having a setup arm with the surgical robotic arm of the surgical robotic system of FIG. 1 according to an embodiment of the present disclosure;

[0011] FIG. 4 is a schematic diagram of a computer architecture of the surgical robotic system of FIG. 1 according to an embodiment of the present disclosure;

[0012] FIG. 5 is a plan schematic view of the surgical robotic system of FIG. 1 positioned about a surgical table according to an embodiment of the present disclosure;

[0013] FIG. 6 is a schematic diagram of a system for determining phases of a surgical procedure according to an embodiment of the present disclosure;

[0014] FIG. 7 is a perspective view of a control input device (CID) according to one embodiment of the present disclosure; and

[0015] FIG. 8 is a flow chart of a method for customizing and tuning haptic force feedback according to one embodiment of the present disclosure.DETAILED DESCRIPTION

[0016] Embodiments of the presently disclosed surgical robotic system are described in detail with reference to the drawings, in which like reference numerals designate identical or corresponding elements in each of the several views. As used herein the term “coupled to” denotes a connection between components, which may be direct or indirect (i.e., through one or more components) and may be electronic, electrical, mechanical, or combinations thereof.

[0017] The present disclosure provides a surgical robotic system configured to customize and tune haptic and force feedback for specific users and specific functions being performed by the system. The system includes one or more robotic arms having a surgical tool coupledAttorney Docket No.: A0012697W001 thereto, such as a surgical instrument, a laparoscopic camera, etc. The system also includes a surgeon console having one or more input devices for controlling movement and actuation of the robotic arms and the coupled surgical tool. The input devices may be handle controllers movable by the user that are configured to record the movement inputs, which are then replicated (e.g., via scaling) by the robotic arm and the surgical tool. The input devices further include haptic and / or force feedback assemblies that provide tactile feedback to the user holding the input device during operation of the surgeon console.

[0018] To customize and tune haptic and force feedback for each user, each of the users may have a unique profile including haptic and force feedback settings. The profile may be associated with a user logon, which may be done using any suitable means, such as a username and a password, biometric authentication using a biometric scanner such as an eye, facial, palm, or fingerprint scanner, or a keycard, such as an NFC or RFID card, that is authenticated by a corresponding reader.

[0019] The feedback profile includes a baseline haptic or force feedback level, which may be set using a calibration procedure, during which the user sets a specific feel at the input device when controlling the instrument. The calibration may be performed following initial login for each user. The calibration process may include using the input device to grab simulated objects formed from materials with different stiffness properties and provide feedback on when the user is satisfied with the haptic feel or touch. User feedback may be provided using voice commands, GUI dials, sliders, etc. on a touchscreen. Another approach could include tuning the amount of force feedback during a live procedure via feedback from the user.

[0020] The system may also include additional feedback settings. The user may specify the type of feedback provided at certain events, e.g., a haptic vibration to be provided on one or both input handles, increasing resistance at the input device, etc. Once calibrated, the system would then store the haptic profiles per user in a local database and store the profiles in a cloud service or server. Thus, when the same user logs on to another robotic system (for instance, in an operating room at a different hospital), the profile can be loaded without need for calibration. The amount of force feedback could also be adaptively tuned depending on the procedure or tissue structure with which the surgeon is interacting. For example, the gain of the feedback signal may be increased when operating around critical structures and decreased when dissecting dense, fatty tissue.Attorney Docket No.: A0012697W001

[0021] With reference to FIG. 1, a surgical robotic system 10 includes a control tower 20, which is connected to all the components of the surgical robotic system 10 including a surgeon console 30 and one or more mobile carts 60. Each of the mobile carts 60 includes a robotic arm 40 having a surgical instrument 50 removably coupled thereto. The robotic arms 40 also couple to the mobile carts 60. The robotic system 10 may include any number of mobile carts 60 and / or robotic arms 40.

[0022] The surgical instrument 50 is configured for use during minimally invasive surgical procedures. In embodiments, the surgical instrument 50 may be configured for open surgical procedures. In further embodiments, the surgical instrument 50 may be an electrosurgical or ultrasonic instrument, such as a forceps configured to seal tissue by compressing tissue between jaw members and applying electrosurgical current or ultrasonic vibrations via an ultrasonic transducer to the tissue. In yet further embodiments, the surgical instrument 50 may be a surgical stapler including a pair of jaws configured to grasp and clamp tissue while deploying a plurality of tissue fasteners, e.g., staples, and cutting stapled tissue. In yet further embodiments, the surgical instrument 50 may be a surgical clip applier including a pair of jaws configured apply a surgical clip onto tissue. The system also includes an electrosurgical generator configured to output electrosurgical (e.g., monopolar or bipolar) or ultrasonic energy in a variety of operating modes, such as coagulation, cutting, sealing, etc. Suitable generators include a Valleylab™ FT10 Energy Platform available from Medtronic of Minneapolis, MN.

[0023] One of the robotic arms 40 may include a laparoscopic camera 51 configured to capture video of the surgical site. The laparoscopic camera 51 may be a stereoscopic camera configured to capture two side-by-side (i.e., left and right) images of the surgical site to produce a video stream of the surgical scene. The laparoscopic camera 51 is coupled to an image processing device 56, which may be disposed within the control tower 20. The image processing device 56 may be any computing device configured to receive the video feed from the laparoscopic camera 51 and output the processed video stream.

[0024] The surgeon console 30 includes a first, i.e., surgeon, screen 32, which displays a video feed of the surgical site provided by camera 51 of the surgical instrument 50 disposed on the robotic arm 40, and a second screen 34, which displays a user interface for controlling the surgical robotic system 10. The first screen 32 and second screen 34 may beAttorney Docket No.: A0012697W001 touchscreens allowing for displaying various graphical user inputs. The first screen 32 may be a 3D screen.

[0025] The surgeon console 30 also includes a plurality of user interface devices, such as foot pedals 36 and a pair of control input devices 38a and 38b which are used by a user to remotely control robotic arms 40. The surgeon console further includes an armrest 33 used to support clinician’s arms while operating the control input devices 38a and 38b.

[0026] The control tower 20 includes a screen 23, which may be a touchscreen, and outputs on the graphical user interfaces (GUIs). The control tower 20 also acts as an interface between the surgeon console 30 and one or more robotic arms 40. In particular, the control tower 20 is configured to control the robotic arms 40, such as to move the robotic arms 40 and the corresponding surgical instrument 50, based on a set of programmable instructions and / or input commands from the surgeon console 30, in such a way that robotic arms 40 and the surgical instrument 50 execute a desired movement sequence in response to input from the foot pedals 36 and the control input devices 38a and 38b. The foot pedals 36 may be used to enable and lock the control input devices 38a and 38b, repositioning camera movement and electrosurgical activation / deactivation. In particular, the foot pedals 36 may be used to perform a clutching action on the control input devices 38a and 38b. Clutching is initiated by pressing one of the foot pedals 36, which disconnects (i.e., prevents movement inputs) the control input devices 38a and / or 38b from the robotic arm 40 and corresponding instrument 50 or camera 51 attached thereto. This allows the user to reposition the control input devices 38a and 38b without moving the robotic arm(s) 40 and the instrument 50 and / or camera 51. This is useful when reaching control boundaries of the surgical space.

[0027] Each of the control tower 20, the surgeon console 30, and the robotic arm 40 includes a respective computer 21, 31, 41. The computers 21, 31, 41 are interconnected to each other using any suitable communication network based on wired or wireless communication protocols. The term “network,” whether plural or singular, as used herein, denotes a data network, including, but not limited to, the Internet, Intranet, a wide area network, or a local area network, and without limitation as to the full scope of the definition of communication networks as encompassed by the present disclosure. Suitable protocols include, but are not limited to, transmission control protocol / intemet protocol, datagram protocol / intemet protocol, and / or datagram congestion control protocol. Wireless communication may be achieved via one or more wireless configurations, e.g., radio frequency, optical, Wi-Fi,Attorney Docket No.: A0012697W001Bluetooth (an open wireless protocol for exchanging data over short distances, using short length radio waves, from fixed and mobile devices, creating personal area networks (PANs), ZigBee® (a specification for a suite of high level communication protocols using small, low-power digital radios based on the IEEE 122.15.4-1203 standard for wireless personal area networks (WPANs)).

[0028] The computers 21, 31, 41 may include any suitable processor (not shown) operably connected to a memory (not shown), which may include one or more of volatile, nonvolatile, magnetic, optical, or electrical media, such as read-only memory (ROM), random access memory (RAM), electrically erasable programmable ROM (EEPROM), non-volatile RAM (NVRAM), or flash memory. The processor may be any suitable processor (e.g., control circuit) adapted to perform the operations, calculations, and / or set of instructions described in the present disclosure including, but not limited to, a hardware processor, a field programmable gate array (FPGA), a digital signal processor (DSP), a central processing unit (CPU), a microprocessor, and combinations thereof. Those skilled in the art will appreciate that the processor may be substituted for by using any logic processor (e.g., control circuit) adapted to execute algorithms, calculations, and / or set of instructions described herein.

[0029] With reference to FIG. 2, each of the robotic arms 40 may include a plurality of links 42a, 42b, 42c, which are interconnected at joints 44a, 44b, 44c, respectively. Other configurations of links and joints may be utilized as known by those skilled in the art. The joint 44a is configured to secure the robotic arm 40 to the mobile cart 60 and defines a first longitudinal axis. With reference to FIG. 3, the mobile cart 60 includes a lift 67 and a setup arm 61, which provides a base for mounting the robotic arm 40. The lift 67 allows for vertical movement of the setup arm 61. The mobile cart 60 also includes a screen 69 for displaying information pertaining to the robotic arm 40. In embodiments, the robotic arm 40 may include any type and / or number of joints.

[0030] The setup arm 61 includes a first link 62a, a second link 62b, and a third link 62c, which provide for lateral maneuverability of the robotic arm 40. The links 62a, 62b, 62c are interconnected at joints 63a and 63b, each of which may include an actuator (not shown) for rotating the links 62b and 62b relative to each other and the link 62c. In particular, the links 62a, 62b, 62c are movable in their corresponding lateral planes that are parallel to each other, thereby allowing for extension of the robotic arm 40 relative to the patient (e.g.,Attorney Docket No.: A0012697W001 surgical table). In embodiments, the robotic arm 40 may be coupled to the surgical table (not shown). The setup arm 61 includes controls 65 for adjusting movement of the links 62a, 62b, 62c as well as the lift 67. In embodiments, the setup arm 61 may include any type and / or number of joints.

[0031] The third link 62c may include a rotatable base 64 having two degrees of freedom. In particular, the rotatable base 64 includes a first actuator 64a and a second actuator 64b. The first actuator 64a is rotatable about a first stationary arm axis which is perpendicular to a plane defined by the third link 62c and the second actuator 64b is rotatable about a second stationary arm axis which is transverse to the first stationary arm axis. The first and second actuators 64a and 64b allow for full three-dimensional orientation of the robotic arm 40.

[0032] The actuator 48b of the joint 44b is coupled to the joint 44c via the belt 45a, and the joint 44c is in turn coupled to the joint 46b via the belt 45b. Joint 44c may include a transfer case coupling the belts 45a and 45b, such that the actuator 48b is configured to rotate each of the links 42b, 42c and a holder 46 relative to each other. More specifically, links 42b, 42c, and the holder 46 are passively coupled to the actuator 48b which enforces rotation about a pivot point “P” which lies at an intersection of the first axis defined by the link 42a and the second axis defined by the holder 46. In other words, the pivot point “P” is a remote center of motion (RCM) for the robotic arm 40. Thus, the actuator 48b controls the angle 9 between the first and second axes allowing for orientation of the surgical instrument 50. Due to the interlinking of the links 42a, 42b, 42c, and the holder 46 via the belts 45a and 45b, the angles between the links 42a, 42b, 42c, and the holder 46 are also adjusted to achieve the desired angle 9. In embodiments, some or all of the joints 44a, 44b, 44c may include an actuator to obviate the need for mechanical linkages.

[0033] The joints 44a and 44b include an actuator 48a and 48b configured to drive the joints 44a, 44b, 44c relative to each other through a series of belts 45a and 45b or other mechanical linkages such as a drive rod, a cable, or a lever and the like. In particular, the actuator 48a is configured to rotate the robotic arm 40 about a longitudinal axis defined by the link 42a.

[0034] With reference to FIG. 2, the holder 46 defines a second longitudinal axis and configured to receive an instrument drive unit (IDU) 52 (FIG. 1). The IDU 52 is configured to couple to an actuation mechanism of the surgical instrument 50 and the camera 51 and is configured to move (e.g., rotate) and actuate the instrument 50 and / or the camera 51. IDU 52 transfers actuation forces from its actuators to the surgical instrument 50 to actuateAttorney Docket No.: A0012697W001 components an end effector 49 of the surgical instrument 50. The holder 46 includes a sliding mechanism 46a, which is configured to move the IDU 52 along the second longitudinal axis defined by the holder 46. The holder 46 also includes a joint 46b, which rotates the holder 46 relative to the link 42c. During laparoscopic procedures, the instrument 50 may be inserted through a laparoscopic access port 55 (FIG. 3) held by the holder 46. The holder 46 also includes a port latch 46c for securing the access port 55 to the holder 46 (FIG. 2).

[0035] The robotic arm 40 also includes a plurality of manual override buttons 53 (FIG. 1) disposed on the IDU 52 and the setup arm 61, which may be used in a manual mode. The user may press one or more of the buttons 53 to move the component associated with the button 53.

[0036] With reference to FIG. 4, each of the computers 21, 31, 41 of the surgical robotic system 10 may include a plurality of controllers, which may be embodied in hardware and / or software. The computer 21 of the control tower 20 includes a controller 21a and safety observer 21b. The controller 21a receives data from the computer 31 of the surgeon console 30 about the current position and / or orientation of the control input devices 38a and 38b and the state of the foot pedals 36 and other buttons. The controller 21a processes these input positions to determine desired drive commands for each joint of the robotic arm 40 and / or the IDU 52 and communicates these to the computer 41 of the robotic arm 40. The controller 21a also receives the actual joint angles measured by encoders of the actuators 48a and 48b and uses this information to determine force feedback commands that are transmitted back to the computer 31 of the surgeon console 30 to provide haptic feedback through the control input devices 38a and 38b. The safety observer 21b performs validity checks on the data going into and out of the controller 21a and notifies a system fault handler if errors in the data transmission are detected to place the computer 21 and / or the surgical robotic system 10 into a safe state.

[0037] The controller 21a is coupled to a storage 22a, which may be non-transitory computer-readable medium configured to store any suitable computer data, such as software instructions executable by the controller 21a. The controller 21a also includes transitory memory 22b for loading instructions and other computer readable data during execution of the instructions. In embodiments, other controllers of the system 10 include similar configurations.Attorney Docket No.: A0012697W001

[0038] The computer 41 includes a plurality of controllers, namely, a main cart controller 41a, a setup arm controller 41b, a robotic arm controller 41c, and an instrument drive unit (IDU) controller 4 Id. The main cart controller 41a receives and processes joint commands from the controller 21a of the computer 21 and communicates them to the setup arm controller 41b, the robotic arm controller 41c, and the IDU controller 4 Id. The main cart controller 41a also manages instrument exchanges and the overall state of the mobile cart 60, the robotic arm 40, and the IDU 52. The main cart controller 41a also communicates actual joint angles back to the controller 21a.

[0039] Each of joints 63a and 63b and the rotatable base 64 of the setup arm 61 are passive joints (i.e., no actuators are present therein) allowing for manual adjustment thereof by a user. The joints 63a and 63b and the rotatable base 64 include brakes that are disengaged by the user to configure the setup arm 61. The setup arm controller 41b monitors slippage of each of joints 63 a and 63b and the rotatable base 64 of the setup arm 61, when brakes are engaged or can be freely moved by the operator when brakes are disengaged, but do not impact controls of other joints. The robotic arm controller 41c controls each joint 44a and 44b of the robotic arm 40 and calculates desired motor torques required for gravity compensation, friction compensation, and closed loop position control of the robotic arm 40. The robotic arm controller 41c calculates a movement command based on the calculated torque. The calculated motor commands are then communicated to one or more of the actuators 48a and 48b in the robotic arm 40. The actual joint positions are then transmitted by the actuators 48a and 48b back to the robotic arm controller 41c.

[0040] The IDU controller 41d receives desired joint angles for the surgical instrument 50, such as wrist and jaw angles, and computes desired currents for the motors in the IDU 52. The IDU controller 41d calculates actual angles based on the motor positions and transmits the actual angles back to the main cart controller 41a.

[0041] The robotic arm 40 is controlled in response to a pose of the input controller controlling the robotic arm 40, e.g., the input controller 38a, which is transformed into a desired pose of the robotic arm 40 through a hand eye transform function executed by the controller 21a. The hand eye function, as well as other functions described herein, is / are embodied in software executable by the controller 21a or any other suitable controller described herein. The pose of one of the input controllers 38a may be embodied as a coordinate position and roll-pitch-yaw (RPY) orientation relative to a coordinate referenceAttorney Docket No.: A0012697W001 frame, which is fixed to the surgeon console 30. The desired pose of the instrument 50 is relative to a fixed frame on the robotic arm 40. The pose of the input controller 38a is then scaled by a scaling function executed by the controller 21a. In embodiments, the coordinate position may be scaled down and the orientation may be scaled up by the scaling function. In addition, the controller 21a may also execute a clutching function, which disengages the input controller 38a from the robotic arm 40. In particular, the controller 21a stops transmitting movement commands from the input controller 38a to the robotic arm 40 if certain movement limits or other thresholds are exceeded and in essence acts like a virtual clutch mechanism, e.g., limits mechanical input from effecting mechanical output.

[0042] The desired pose of the robotic arm 40 is based on the pose of the input controller 38a and is then passed by an inverse kinematics function executed by the controller 21a. The inverse kinematics function calculates angles for the joints 44a, 44b, 44c of the robotic arm 40 that achieve the scaled and adjusted pose input by the input controller 38a. The desired angles are then passed to the robotic arm controller 41c, which includes a joint axis controller having a proportional-derivative (PD) controller, the friction estimator module, the gravity compensator module, and a two-sided saturation block, which is configured to limit the commanded torque of the motors of the joints 44a, 44b, 44c. In aspects, input controller 38a may be substituted for and / or employed in conjunction with input controller 38b. While reference is made above to input controller 38a, input controller 38b may also be used in a similar manner.

[0043] With reference to FIG. 5, the surgical robotic system 10 is set up around a surgical table 90. The system 10 includes mobile carts 60a-d, which may be numbered “1” through “4.” During setup, each of the carts 60a-d are positioned around the surgical table 90. Position and orientation of the carts 60a-d depends on a plurality of factors, such as placement of a plurality of access ports 55a-d, which in turn, depends on the surgery being performed. Once the port placement is determined, the access ports 55a-d are inserted into the patient, and carts 60a-d are positioned to insert instruments 50 and the laparoscopic camera 51 into corresponding ports 55a-d.

[0044] During use, each of the robotic arms 40a-d is attached to one of the access ports 55a- d that is inserted into the patient by attaching the latch 46c (FIG. 2) to the access port 55 (FIG. 3). The IDU 52 is attached to the holder 46, followed by the SIM 43 being attached to a distal portion of the IDU 52. Thereafter, the instrument 50 is attached to the SIM 43.Attorney Docket No.: A0012697W001The instrument 50 is then inserted through the access port 55 by moving the IDU 52 along the holder 46. The SIM 43 includes a plurality of drive shafts configured to transmit rotation of individual motors of the IDU 52 to the instrument 50 thereby actuating the instrument 50. In addition, the SIM 43 provides a sterile barrier between the instrument 50 and the other components of robotic arm 40, including the IDU 52. The SIM 43 is also configured to secure a sterile drape (not shown) to the IDU 52.

[0045] A surgical procedure may include multiple phases, and each phase may include one or more surgical actions. As used herein, the term “phase” represents a surgical event that is composed of a series of steps (e.g., closure). A “surgical action” may include an incision, a compression, a stapling, a clipping, a suturing, a cauterization, a sealing, or any other such actions performed to complete a phase in the surgical procedure. A “step” refers to the completion of a named surgical objective (e.g., hemostasis). During each step, certain surgical instruments 50 (e.g., forceps) are used to achieve a specific objective by performing one or more surgical actions.

[0046] With reference to FIG. 6, the surgical robotic system 10 may include a machine learning (ML) processing system 310 that processes the surgical data using one or more ML models to identify one or more features, such as surgical phase, instrument, anatomical structure, etc., in the surgical data. The ML processing system 310 includes a ML training system 325, which may be a separate device (e.g., server) that stores its output as one or more trained ML models 330. The ML models 330 are accessible by a ML execution system 340. The ML execution system 340 may be separate from the ML training system 325, namely, devices that “train” the models are separate from devices that “infer,” i.e., perform real-time processing of surgical data using the trained ML models 330.

[0047] System 10 includes a data reception system 305 that collects surgical data, including the video data and surgical instrumentation data. The data reception system 305 can include one or more devices (e.g., one or more user devices and / or servers) located within and / or associated with a surgical operating room and / or control center. The data reception system 305 can receive surgical data in real-time, i.e., as the surgical procedure is being performed.

[0048] The ML processing system 310, in some examples, may further include a data generator 315 to generate simulated surgical data, such as a set of virtual images, or record the video data from the image processing device 56, to train the ML models 330 as well as other sources of data, e.g., user input, arm movement, etc. Data generator 315 can accessAttorney Docket No.: A0012697W001(read / write) a data store 320 to record data, including multiple images and / or multiple videos.

[0049] The ML processing system 310 also includes a phase detector 350 that uses the ML models to identify a phase within the surgical procedure. Phase detector 350 uses a particular procedural tracking data structure 355 from a list of procedural tracking data structures. Phase detector 350 selects the procedural tracking data structure 355 based on the type of surgical procedure that is being performed. In one or more examples, the type of surgical procedure is predetermined or input by user. The procedural tracking data structure 355 identifies a set of potential phases that may correspond to a part of the specific type of surgical procedure.

[0050] In some examples, the procedural tracking data structure 355 may be a graph that includes a set of nodes and a set of edges, with each node corresponding to a potential phase. The edges may provide directional connections between nodes that indicate (via the direction) an expected order during which the phases will be encountered throughout an iteration of the surgical procedure. The procedural tracking data structure 355 may include one or more branching nodes that feed to multiple next nodes and / or may include one or more points of divergence and / or convergence between the nodes. In some instances, a phase indicates a procedural action (e.g., surgical action) that is being performed or has been performed and / or indicates a combination of actions that have been performed. In some instances, a phase relates to a biological state of a patient undergoing a surgical procedure. For example, the biological state may indicate a complication (e.g., blood clots, clogged arteries / veins, etc.), pre-condition (e.g., lesions, polyps, etc.). In some examples, the ML models 330 are trained to detect an “abnormal condition,” such as hemorrhaging, arrhythmias, blood vessel abnormality, etc.

[0051] The phase detector 350 outputs the phase prediction associated with a portion of the video data that is analyzed by the ML processing system 310. The phase prediction is associated with the portion of the video data by identifying a start time and an end time of the portion of the video that is analyzed by the ML execution system 340. The phase prediction that is output may include an identity of a surgical phase as detected by the phase detector 350 based on the output of the ML execution system 340. Further, the phase prediction, in one or more examples, may include identities of the structures (e.g., instrument, anatomy, etc.) that are identified by the ML execution system 340 in the portionAttorney Docket No.: A0012697W001 of the video that is analyzed. The phase prediction may also include a confidence score of the prediction. Other examples may include various other types of information in the phase prediction that is output. The predicted phase may be used by the controller 21 a to determine when to customize and tune haptic and force feedback as described below.

[0052] Either one or both of the control input devices 38a and 38b may be used to control the instrument 50. FIG. 7 shows the left control input device 38a, which is a mirror copy of the right control input device 38a. The control input devices 38a and 38b may be used to control, i.e., move, activate, etc., a tool coupled to the IDU 52 of the robotic arms 40, such as the instrument 50 and the laparoscopic camera 51. Each of the control input devices 38a and 38b includes an handle 70 and a paddle 72 that is pivotally coupled to the handle 70 at one end (e.g., proximal) of the paddle 72.

[0053] The paddle 72 is configured to actuate a function of the instrument 50, e.g., open and close jaw members of the end effector 49. During use, the user applies a force to close the jaw members from fully open to fully closed configuration. To maintain full jaw closure, the operator maintains force on the paddle 72 to ensure the jaw members 120, 122 are fully closed.

[0054] The paddle 72 may include a finger sensor (not shown) configured to detect presence or movement of a finger, such as touch sensors, capacitive sensors, optical sensors, and the like. In embodiments, the finger sensor may be disposed on any portion of the control input devices 38a and 38b. Each of the control input devices 38a and 38b may also include a trigger 74a and one or more buttons 74b for activating various functions of the instrument 50. In addition, each of the control input devices 38a and 38b may include a gimbal assembly 76 allowing for movement and rotation of the control input devices 38a and 38b in a coordinate system of the control input device 38a. The coordinate system is represented by a 3D axis symbol including the X-axis, Y-axis, Z-axis. The gimbal assembly includes a plurality of frames 78a, 78b, 78c interconnected by rotatable joints 77 between each of the frames 78a, 78b, 78c, the handle 70, and a support frame 79. The joints include encoders or other sensors suitable for measuring rotation, which are then used as input to control movement (e.g., pitch, roll, yaw, etc.) of the instrument 50.

[0055] In embodiments, the control input devices 38a and 38b may be any other directional input device, such as an analog joystick, a directional pad, a touchpad, trackball, mouse, and the like. The input controllers 38a and 38b may also include an infrared proximity sensorAttorney Docket No.: A0012697W00180 configured to detect hand contact with a grip of the input controllers 38a and 38b. The controller 31a of the surgeon console 30 monitors operator interactions with the input controllers 38a and 38b and controls the instrument s) 50 in response to operator inputs.

[0056] The paddle 72 is maintained, i.e., biased, in an open position by a force feedback motor 82, which receives operator mechanical input as the motor 82 is back driven during closure of the paddle 72 toward the closed position. The motor 82 also provides force feedback to the paddle 72 by counteracting operator’s input as the motor 82 is forward driven. In addition, the motor 82 may also measures the force, angle relative to the handle 70, and / or velocity of the paddle 72 using torque and position sensors (not shown). In embodiments, additional input buttons, triggers, etc. may be coupled to a corresponding force feedback motor. Thus, while force feedback is described below with respect to the paddle 72 and the force feedback motor 82, it is envisioned that the input devices 38a and 38b may include multiple force feedback inputs.

[0057] In addition, the controller 31a also monitors velocity of each joint of the gimbal assembly 76 as well as displacement of each of the joint of the gimbal assembly 76 and / or net displacement of the gimbal assembly 76. Details of the input controllers 38a and 38b are provided in U.S. Patent Application Publication No. 2020 / 0315729, titled “Control arm assemblies for robotic surgical systems”, the entire contents of which are incorporated by reference herein.

[0058] A feedback assembly 84 is disposed in the input device 38a to provide vibratory or haptic feedback to the operator. As shown, the feedback assembly 84 is configured to provide vibrational feedback at set frequencies and intervals to provide a sensation of touching. The feedback assembly 84 may include eccentric rotating mass (ERM) actuator, a linear resonant actuator (LRA), a piezoelectric actuator, or any other suitable tactile actuator configured to impart information to the operator through their sense of touch. Details of the haptic feedback mechanism are provided in U.S. Patent No. 10,517,686, titled “Haptic feedback controls for a robotic surgical system interface”, the entire contents of which are incorporated by reference herein.

[0059] FIG. 8 shows a flow chart of a method 100 for customizing and tuning haptic and force feedback as described below. The method may be embodied as software instructions stored in memory and executed by a processor, e.g., controller 21a. The method operates with haptic and / or force feedback hardware components described herein.Attorney Docket No.: A0012697W001

[0060] At step 102, the system 10 authenticates a user, i.e., surgeon, that is going to be operating the system 10. Authentication of the user ensures only authorized users are operating the system 10 and also allows for tailoring the system 10 to the authenticated user. Authentication may be performed using any suitable device, such as entering username and password via the surgeon console 30. An identification card, such as an NFC or RFID may also be used to authenticate and identify the user. With reference to FIG. 1, the surgeon console 30 may include a card reader 35 configured to read data, e.g., authentication key, identification number, user parameters, etc. from the identification card. In further embodiments, the surgeon console 30 may also include a biometric scanner, which may be a facial recognition scanner, which may be a camera 37 disposed on the surgeon console 30 and configured to identify a user based on unique facial features. The biometric scanner may also be a fingerprint or palm scanner 39, configured to detect unique skin patterns in the user’s hand.

[0061] Once the user is authenticated and logged in, the system 10 loads the user’s profile, which includes multiple user-specific settings, such as ergonomic settings for the surgeon console 30 (e.g., height of armrest 33), display and GUI settings for the first and second display screens 32 and 34, etc. The data of the user profile may be partially or completely stored in the identification card, in the storage 22a of the system 10, and / or a cloud service or server(s) and be loaded by the system 10 following authentication. In embodiments, the card may store codes corresponding to features of the user profile. The system 10 may then load settings in the user profile based on the codes. The user profile can thus be accessed across different systems 10 in various different hospitals.

[0062] Part of the user profile also includes user-specific haptic and / or force feedback settings. As used herein, force feedback denotes the amount of force provided to the paddle 72 by the force feedback motor 82 and haptic feedback denotes the amount of tactile or vibrational feedback provided by the feedback assembly 84. At step 104, the system checks whether the user profile includes a force feedback profile. If yes, then the force feedback profile is loaded at step 106. If not, then at step 108 the profile is generated. The force feedback profile includes data parameters or settings pertaining to the amount of force feedback provided to the paddle 72 during actuation of the instrument 50, e.g., moving the paddle 72 in order to move jaws of the instrument 50.Attorney Docket No.: A0012697W001

[0063] Creation of a new force feedback profile also includes determining a desired baseline level of force feedback that the user would like to experience during use of the input devices 38a and 38b. To determine the baseline level of force feedback the system 10 guides the user through a calibration process. At step 110 the calibration process is commenced, which may be indicated using prompts via a GUI 47 displayed on one of the first display screen 32 or the second display screen 34 of the surgeon console 30. The prompts guide the user through one or more steps via text instructions and / or visual guides (e.g., animations, storyboards, etc.) to actuate the instrument 50 via the paddle 72.

[0064] At step 112, the instrument 50 is controlled to grasp objects or perform other action in response to closing of the paddle 72 relative to the handle 70. The instrument 50 may be used in a simulator environment having an artificial abdominal cavity with one or more objects used for practicing grasping. Additional details of an artificial anatomical model and its use are provided in a U.S. Patent No. 11,468,791 “Simulator System for Medical Procedure Training,” the entire contents are incorporated by reference herein. In further embodiments, the instrument 50 may be used on a patient in a similar manner, i.e., grasping different objects or tissue.

[0065] While using the instrument 50 in any environment, artificial or real, at step 114, the user enters the desired force feedback level setting for different objects being grasped. The setting may be entered via the GUI 47 displayed on one of the first display screen 32 or the second display screen 34 of the surgeon console 30 or any other suitable input device, e.g., keyboard. The GUI input may include graphical sliders, dials, dropdown menu, etc. The force feedback setting may be provided on a scale, e.g., 0-100, as a setting, e.g., light, medium, hard, etc. or in any other classifying manner.

[0066] This process could also be done automatically by the system 10. The desired force feedback settings could be extracted from surgeon preferences, entered earlier in the process or determined based on surgeon use of the system 10 (e.g., by analyzing forces and torques applied at the input device and paddle, as well as the output forces and torques applied to the motors / joints of the robot arm 40, the IDU 52 and instrument 50).

[0067] In some embodiments, the calibration for force feedback setting may be specific to different types of control inputs, objects, and other events. The calibration process may include multiple steps instructing the user for each step to perform a specific action via the paddle 72 or another input of the input device 38a or 38b and enter a corresponding feedbackAttorney Docket No.: A0012697W001 level. The calibration and force feedback configuration process ends once all of the actions and their corresponding feedback is recorded and stored.

[0068] In addition to force feedback, the user also enters one or more desired haptic feedback setting at step 116. Haptic feedback may be used to provide feedback based on specific events, such as delivering a vibration when a certain task is completed (e.g., cutting, stapling, etc.). Similar to setting the force feedback level, the user may enter a desired level of haptic feedback via the GUI 47 displayed on one of the first display screen 32 or the second display screen 34 of the surgeon console 30 or any other suitable input device, e.g., keyboard. The GUI 47 may present a list of various events for which haptic feedback may be provided (e.g., errors, tasks completed, etc.) and for each event the user may enable, disable, provide an intensity level, etc. The haptic configuration process ends once all of the actions and their corresponding feedback is recorded and stored.

[0069] Returning to step 106, if the user profile has haptic and force feedback settings, then the settings are retrieved by the system 10, e.g., from the storage 22a, cloud storage, identification card, etc. Once the feedback settings are loaded, the system 10 proceeds to its operational state during which the system 10 is used to perform a surgical procedure. During the operation state the robotic arms 40a-d, their corresponding instruments 50 and camera 51 are controlled via the surgeon console 30 by providing user inputs through the input devices 38a and 38b. At step 118, the system provides force and / or haptic feedback through the input devices 38a and 38b according to the user settings from the user profiles and based on actions performed by the system 10.

[0070] The system 10 also adjusts haptic and force feedback based on various events occurring during the surgical procedure at step 120. The ML processing system 310 may be used to detect phases of the surgical procedure and adjust haptic and force feedback. Phase detection is described above and critical tissue structures may be detected using image processing of the video feed from the laparoscopic camera 51. The controller 21a may use the ML processing system 310 trained in pre-operative imaging / modelling of the tissue and organs as well as other preoperative and intraoperative imaging modalities (e.g., CT, MRI, ultrasound, etc.) In addition, the user may also manually adjust the haptic and force feedback during the operation state (i.e., while the calibration state is inactive) using the GUI 47 or any other suitable input means, e.g., voice commands.Attorney Docket No.: A0012697W001

[0071] At step 122, once critical structures and / or phases are detected, the system 10 adjusts the haptic and / or force feedback. In embodiments, the feedback may be activated during certain phases of the procedure. The feedback may be increased or decreased depending on the detected phase as well as proximity to critical tissue structures. In particular, when the instrument 50 is approaching critical structures, haptic feedback may be provided to notify the user of their proximity. In addition, force feedback may be increased to make it more difficult to actuate the paddle 72 or to move the instrument 50 toward the identified critical tissue structures.

[0072] Force and haptic feedback may be adjusted and / or toggled when the surgical procedure reaches specific phases, such as stapling, suturing, electrosurgical sealing, etc. For example, during robotically controlled suturing, force feedback may be increased to provide additional feel to the paddle 72, which is used to control grasping of the needle during suturing. Specific procedures and uses of certain instruments 50 may include additional adjustments. In embodiments where the instrument 50 is a surgical stapler, haptic feedback may be provided during staple ejection and / or cutting, whereas force feedback may be provided during clamping as that feature is controlled via the paddle 72. In embodiments where the instrument 50 is an electrosurgical vessel sealer, haptic feedback may be provided during completion of the vessel sealing process as well as cutting. Similarly, force feedback may be provided during clamping as that function is controlled via the paddle 72.

[0073] It will be understood that various modifications may be made to the embodiments disclosed herein. Therefore, the above description should not be construed as limiting, but merely as exemplifications of various embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended thereto.

[0074] The following examples are illustrative of the techniques described herein.

[0075] Example 1. A surgical robotic system comprising: a robotic arm including a surgical instrument; a surgeon console including: a display screen; and an input device configured to receive user input for controlling the surgical instrument, the input device including: a handle; a paddle movable relative to the handle for actuating the surgical instrument; and a force feedback motor configured to output force feedback to the paddle; and a processor configured to: output a graphical user interface to the display screen; select a feedback profile unique for each user of the surgeon console; and activate a calibrationAttorney Docket No.: A0012697W001 state for generating the feedback profile including a force feedback intensity setting, wherein the force feedback motor is configured to output force feedback according to the force feedback intensity setting.

[0076] Example 2. The surgical robotic system according to Example 1, wherein the surgeon console further includes an authentication device selected from the group consisting of a password entry device, a card scanner, and a biometric scanner.

[0077] Example s. The surgical robotic system according to Example 2, wherein a plurality of feedback profiles are stored in the surgeon console or a server, with each feedback profile of the plurality of feedback profiles corresponding to a unique user of the surgeon console.

[0078] Example 4. The surgical robotic system according to Example 3, wherein the processor is further configured to select the feedback profile from the plurality of feedback profiles based on authentication of the user.

[0079] Example 5. The surgical robotic system according to Example 1, wherein the input device further includes a haptic feedback assembly for providing haptic feedback through the handle.

[0080] Example 6. The surgical robotic system according to Example 5, wherein the feedback profile further includes a haptic feedback setting and the haptic feedback assembly is configured to output haptic feedback according to the haptic feedback setting.

[0081] Example 7. The surgical robotic system according to Example 6, wherein the haptic feedback setting is adjustable using the graphical user interface.

[0082] Example 8. The surgical robotic system according to Example 1, wherein while the calibration state is active, the surgeon console outputs a prompt through the graphical user interface instructing a user to grasp an object using the surgical instrument and to input the force feedback intensity setting.

[0083] Example 9. The surgical robotic system according to Example 8, wherein the force feedback intensity setting is adjustable through the graphical user interface during a surgical procedure while the calibration state is inactive and the robotic arm and the surgical instrument are being controlled.

[0084] Example 10. The surgical robotic system according to Example 1, further comprising: a machine learning processing system including a phase detector configured toAttorney Docket No.: A0012697W001 identify a phase of a surgical procedure and to adjust the force feedback intensity setting based on the identified phase of the surgical procedure.

[0085] Example 11. The surgical robotic system according to Example 10, further comprising: a laparoscopic camera configured to capture a video feed of a surgical site, wherein the machine learning processing system is further configured to identify a critical tissue structure in the video feed, wherein the machine learning processing system is configured to adjust the force feedback intensity setting based on proximity of the surgical instrument to the critical tissue structure.

[0086] Example 12. A method for controlling a surgical robotic system, the method comprising: activating a calibration state to generate a feedback profile including a force feedback intensity setting; receiving user input at an input device of a surgeon console for controlling a surgical instrument coupled to a robotic arm, the input device including: a handle; a paddle movable relative to the handle for actuating the surgical instrument; and a force feedback motor configured to output force feedback to the paddle; and selecting the feedback profile; and generating the force feedback through the paddle according to the force feedback intensity setting during operation of the surgical instrument through the input device.

[0087] Example 13. The method according to Example 12, further comprising: authenticating a user through an authentication device of the surgeon console, the authentication device selected from the group consisting of a password entry device, a card scanner, and a biometric scanner.

[0088] Example 14. The method according to Example 13, further comprising: storing a plurality of feedback profiles in the surgeon console or a server, with each feedback profile of the plurality of feedback profiles corresponding to a unique user of the surgeon console.

[0089] Example 15. The method according to Example 14, further comprising: receiving the selection of the feedback profile from the plurality of feedback profiles based on authentication of the user.

[0090] Example 16. The method according to Example 12, further comprising: providing haptic feedback through a haptic feedback assembly to the handle of the input device.

[0091] Example 17. The method according to Example 16, wherein the feedback profile further includes a haptic feedback setting, and the haptic feedback assembly is configured to output haptic feedback according to the haptic feedback setting.Attorney Docket No.: A0012697W001

[0092] Example 18. The method according to Example 17, further comprising: outputting a graphical user interface to a display screen of a surgeon console; and adjusting the haptic feedback setting using the graphical user interface.

[0093] Example 19. The method according to Example 18, further comprising: outputting a prompt while the calibration state is active on the graphical user interface instructing the user to grasp an object using the surgical instrument; and receiving user input in response to using the surgical instrument on the force feedback intensity setting.

[0094] Example 20. The method according to Example 12, further comprising: identifying a phase of a surgical procedure using a machine learning processing system including a phase detector; and adjusting the force feedback intensity setting based on the identified phase of the surgical procedure.

Claims

Attorney Docket No.: A0012697W001WHAT IS CLAIMED IS:

1. A surgical robotic system (10) comprising: a robotic arm (40) including a surgical instrument (50); a surgeon console (30) including: a display screen (32, 34); and an input device (38a, 38b) configured to receive user input for controlling the surgical instrument, the input device including: a handle (70); a paddle (72) movable relative to the handle for actuating the surgical instrument; and a force feedback motor (82) configured to output force feedback to the paddle; and a processor (21a) configured to: output a graphical user (47) interface to the display screen; select a feedback profile unique for each user of the surgeon console; and activate a calibration state for generating the feedback profile including a force feedback intensity setting, wherein the force feedback motor is configured to output force feedback according to the force feedback intensity setting.

2. The surgical robotic system according to claim 1, wherein the surgeon console further includes an authentication device (35, 37, 39) selected from the group consisting of a password entry device, a card scanner, and a biometric scanner.

3. The surgical robotic system according to claim 2, wherein a plurality of feedback profiles are stored in the surgeon console or a server, with each feedback profile of the plurality of feedback profiles corresponding to a unique user of the surgeon console.

4. The surgical robotic system according to claim 3, wherein the processor is further configured to select the feedback profile from the plurality of feedback profiles based on authentication of the user.Attorney Docket No.: A0012697W0015. The surgical robotic system according to any one of claims 1 to 4, wherein the input device further includes a haptic feedback assembly for providing haptic feedback through the handle.

6. The surgical robotic system according to claim 5, wherein the feedback profile further includes a haptic feedback setting and the haptic feedback assembly is configured to output haptic feedback according to the haptic feedback setting.

7. The surgical robotic system according to claim 6, wherein the haptic feedback setting is adjustable using the graphical user interface.

8. The surgical robotic system according to any one of claims 1 to 7, wherein while the calibration state is active, the surgeon console outputs a prompt through the graphical user interface instructing a user to grasp an object using the surgical instrument and to input the force feedback intensity setting.

9. The surgical robotic system according to claim 8, wherein the force feedback intensity setting is adjustable through the graphical user interface during a surgical procedure while the calibration state is inactive and the robotic arm and the surgical instrument are being controlled.

10. The surgical robotic system according to any one of claims 1 to 9, further comprising: a machine learning processing system (310) including a phase detector (350) configured to identify a phase of a surgical procedure and to adjust the force feedback intensity setting based on the identified phase of the surgical procedure.Attorney Docket No.: A0012697W00111. The surgical robotic system according to claim 10, further comprising: a laparoscopic camera (51) configured to capture a video feed of a surgical site, wherein the machine learning processing system is further configured to identify a critical tissue structure in the video feed, wherein the machine learning processing system is configured to adjust the force feedback intensity setting based on proximity of the surgical instrument to the critical tissue structure.

12. A method (100) for controlling a surgical robotic system (10), the method comprising: activating a calibration state to generate a feedback profile including a force feedback intensity setting; receiving user input at an input device (38a, 38b) of a surgeon console (30) for controlling a surgical instrument (50) coupled to a robotic arm (40), the input device including: a handle (70); a paddle (72) movable relative to the handle for actuating the surgical instrument; and a force feedback motor (82) configured to output force feedback to the paddle; and selecting the feedback profile; and generating the force feedback through the paddle according to the force feedback intensity setting during operation of the surgical instrument through the input device.

13. The method according to claim 12, further comprising: authenticating a user through an authentication device (35, 37, 39) of the surgeon console, the authentication device selected from the group consisting of a password entry device, a card scanner, and a biometric scanner; storing a plurality of feedback profiles in the surgeon console or a server, with each feedback profile of the plurality of feedback profiles corresponding to a unique user of the surgeon console; and receiving the selection of the feedback profile from the plurality of feedback profiles based on authentication of the user.Attorney Docket No.: A0012697W00114. The method according to any one of claim 12 or 13, further comprising: providing haptic feedback through a haptic feedback assembly to the handle of the input device, wherein the feedback profile further includes a haptic feedback setting, and the haptic feedback assembly is configured to output haptic feedback according to the haptic feedback setting; outputting a graphical user interface to a display screen of a surgeon console; adjusting the haptic feedback setting using the graphical user interface; outputting a prompt while the calibration state is active on the graphical user interface instructing the user to grasp an object using the surgical instrument; and receiving user input in response to using the surgical instrument on the force feedback intensity setting.

15. The method according to claim 12, further comprising: identifying a phase of a surgical procedure using a machine learning processing system (310) including a phase detector (350); and adjusting the force feedback intensity setting based on the identified phase of the surgical procedure.

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