Real-time 3D robot status

Abstract

The robotic medical system may use real-time three-dimensional (3-D) images to communicate information to assist a physician or physician assistant. The robotic medical system may include one or more robotic arms. The robotic medical system may include one or more robotic displays. The robotic medical system may be configured to display a 3-D rendering including a graphical representation of the one or more robotic arms. The robotic medical system may be configured to update the 3-D rendering according to a pre-programmed workflow corresponding to the procedure to guide a user through the procedure.

Description

[Technical field]

[0001] The systems and methods disclosed herein are directed to robotic medical systems, and more specifically, to communication status of robotic medical systems for medical procedures. [Background technology]

[0002] Robot-enabled medical systems can perform a variety of medical procedures, including both minimally invasive procedures such as laparoscopy, and non-invasive procedures such as endoscopic procedures (e.g., bronchoscopy, ureteroscopy, gastroscopy, etc.).

[0003] Such robotic medical systems may include a robotic arm configured to control the movement of a medical tool during a given medical procedure. To achieve a desired pose of the medical tool, the robotic arm may be placed in a specific pose during a set-up process or during teleoperation. Some robot-enabled medical systems may include arm supports (e.g., bars) connected to the base of each of the robotic arms and supporting the robotic arms. Summary of the Invention [Means for solving the problem]

[0004] Robotic medical systems are complex systems with many moving parts that can be controlled through various digital touch points located on the system and / or through a user interface coupled to the system. Before a procedure begins, an operator (e.g., physician assistant, medical personnel, etc.) may be required to set up the robotic arms and / or adjustable arm supports into a desired overall configuration. This typically involves individually (e.g., separately) adjusting each arm and / or arm support. During surgery (e.g., teleoperation), a physician typically resides at a physician console and drives the robotic arms from the physician console (e.g., using a haptic input device (HID) located at the physician console to control the movement of the robotic arms). After surgery, a physician assistant may be required to adjust the robotic arms to a stowed position. For each of these steps, it is important that the status of the robotic medical system (e.g., arm / arm support selection, progress, completion status, system errors, how to resolve errors, etc.) is communicated to the user in a manner that is easily understandable to the user. In some situations, it would also be advantageous to have a medical robotic system that can visually and intuitively guide a user through various workflow steps.

[0005] Thus, improved robotic medical systems are desirable. In particular, there is a need for a robotic medical system that provides immediate feedback regarding the current status of the robotic medical system in a manner that is clear, concise, and easily understandable to a user. Real-time (e.g., immediate) feedback of the status, selection, position changes, and / or faults of the robotic medical system can increase a user's confidence and understanding of the system, improve teleoperation performance, and enhance the user experience.

[0006] As disclosed herein, the robotic medical system is configured to display renderings (e.g., two-dimensional (2-D) or three-dimensional (3-D) renderings) that represent the status of the robotic medical system in real time. The renderings (e.g., 2-D or 3-D renderings) can include a graphical representation of one or more of the robotic arm, adjustable arm support, and / or patient support platform of the robotic medical system. In some embodiments disclosed herein, the robotic medical system can update the renderings (e.g., 2-D or 3-D renderings) according to a pre-programmed workflow corresponding to the procedure to guide a user (e.g., a physician and / or a physician assistant) through the procedure via the renderings (e.g., 2-D or 3-D renderings). In some embodiments, the pre-programmed workflow can include pre-operative, intra-operative, and / or post-operative phases. Each of the phases can include one or more respective steps. The renderings (e.g., 2-D or 3-D renderings) can be used to communicate the real-time robot status of each of the phases (and / or steps), in particular the positional changes of the robotic system.

[0007] As disclosed herein, renderings (e.g., 2-D renderings, 3-D renderings, 3-D models, etc.) can be used to communicate robot status in response to both robotic and manual control of the robotic medical system. The displayed renderings (e.g., 3-D renderings) can be moved and updated to reflect position changes to accurately reflect the actual system state and position of the robotic arm, arm support, and / or patient support platform. In some embodiments disclosed herein, the field of view of the robotic system (e.g., as seen by the robotic system's virtual camera) can be dynamically changed to include (e.g., focus on) a particular portion of the robotic medical system.

[0008] Thus, the systems and / or methods disclosed herein advantageously improve operator safety during set-up and patient and / or operator safety during surgery. It also ensures that the operator is informed in real-time about the status of the system.

[0009] The systems, methods, and devices of the present disclosure each have several innovative aspects, no single one of which is solely responsible for the desirable attributes disclosed herein.

[0010] According to some embodiments of the present disclosure, a robotic medical system includes one or more robotic arms. The robotic medical system includes one or more displays. The robotic medical system also includes one or more processors and a memory. The memory stores instructions that, when executed by the one or more processors, cause the one or more processors to display a three-dimensional (3-D) rendering that includes a graphical representation of the one or more robotic arms and update the 3-D rendering according to a pre-programmed workflow corresponding to a procedure to guide a user through the procedure.

[0011] In some embodiments, the robotic medical system further includes a patient support platform. The memory further stores instructions that, when executed by the one or more processors, cause the one or more processors to perform a spatial configuration adjustment of the one or more robotic arms relative to the patient support platform according to a workflow. The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to update the 3-D rendering to reflect a position change of the one or more robotic arms according to the spatial configuration adjustment.

[0012] In some embodiments, the memory further stores instructions that, when executed by the one or more processors, cause the one or more processors to cause movement of the patient support platform from a first position to a second position in accordance with a workflow and update the 3-D rendering to reflect the movement of the patient support platform.

[0013] In some embodiments, the robotic medical system further includes one or more adjustable arm supports movably coupled to the one or more robotic arms. The memory further stores instructions that, when executed by the one or more processors, cause the one or more processors to cause movement of the one or more adjustable arm supports relative to the one or more robotic arms according to a workflow and update the 3-D rendering to reflect positional changes of the one or more adjustable arm supports.

[0014] In some embodiments, the memory further stores instructions that, when executed by the one or more processors, cause the one or more processors to receive a user selection of a portion of the 3-D rendering. The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to display the user-selected portion in a manner visually different from other portions of the 3-D rendering in accordance with the user selection.

[0015] In some embodiments, the pre-programmed workflow includes one or more stages, including a pre-operative stage, an intra-operative stage, and / or a post-operative stage.

[0016] In some embodiments, a step of the pre-operative phase includes deploying one or more robotic arms from a stowed position to a deployed position.

[0017] In some embodiments, the pre-operative step includes moving one or more robotic arms into a draping position.

[0018] In some embodiments, the pre-operative step includes placing one or more robotic arms in a docked state.

[0019] In some embodiments, the robotic medical system further includes an adjustable arm support movably coupled to the one or more robotic arms. The robotic medical system also includes a patient platform. A step of the intraoperative procedure includes leveling the adjustable arm support and the patient support platform.

[0020] In some embodiments, each of the one or more stages of the pre-programmed workflow includes one or more respective steps.

[0021] In some embodiments, the memory further stores instructions that, when executed by the one or more processors, cause the one or more processors to identify a step of a procedure to which the robotic medical system responds and cause a movement of a portion of a first of the one or more robotic arms in accordance with the identified step. The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to update the 3-D rendering during the movement to display the portion of the first robotic arm in a first visual representation that is visually distinct from other portions of the first robotic arm and to display a position change of the portion of the first robotic arm according to the movement.

[0022] In some embodiments, displaying the portion of the first robotic arm in the first visual representation includes displaying the portion in a first color that is different from a color corresponding to another portion of the first robotic arm.

[0023] In some embodiments, the memory further stores instructions that, when executed by the one or more processors, cause the one or more processors to display a progress bar to visualize the progress of the identified step being performed according to the movement.

[0024] In some embodiments, the memory further stores instructions that, when executed by the one or more processors, cause the one or more processors to generate an audio signal in accordance with the movements.

[0025] In some embodiments, the memory further stores instructions that, when executed by the one or more processors, cause the one or more processors to determine whether the step is completed and, according to a determination that the step is completed, update the 3-D rendering to display a portion of the first robotic arm in a second visual representation that is different from the first visual representation.

[0026] In some embodiments, the first visual representation corresponds to a first color and the second visual representation corresponds to a second color that is different from the first color.

[0027] In some embodiments, the robotic medical system further includes an adjustable arm support movably coupled to the one or more robotic arms. The memory further stores instructions that, when executed by the one or more processors, cause the one or more processors to identify a step of a procedure to which the robotic medical system corresponds and cause movement of the adjustable arm support according to the identified step. The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to update the 3-D rendering during the movement to display the adjustable arm support in a first visual representation that is visually distinct from the one or more robotic arms and to display a positional change of the adjustable arm support according to the movement.

[0028] In some embodiments, displaying the adjustable arm support in a first visual representation includes displaying the adjustable arm support in a first color that is different from a color corresponding to the one or more robotic arms.

[0029] In some embodiments, the robotic medical system further includes a patient support platform. The memory further stores instructions that, when executed by the one or more processors, cause the one or more processors to identify a step of a procedure to which the robotic medical system corresponds and cause a movement of at least a portion of the patient support platform. The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to update the 3-D rendering during the movement to display at least a portion of the patient support platform in a first visual representation that is visually distinct from other portions of the one or more robotic arms and / or the patient support platform and to display a positional change of at least a portion of the patient support platform according to the movement.

[0030] In some embodiments, displaying at least a portion of the patient support platform in a first visual representation includes displaying at least a portion of the patient support platform in a first color that is different from a color corresponding to the one or more robotic arms.

[0031] In some embodiments, the memory further stores instructions that, when executed by the one or more processors, cause the one or more processors to adjust a field of view of a virtual camera of the robotic medical system to include a particular portion of the one or more robotic arms in accordance with a determination that the robotic medical system is performing a particular step of a workflow.

[0032] In some embodiments, the memory further stores instructions that, when executed by the one or more processors, cause the one or more processors to generate a graphic in accordance with a determination that the robotic medical system is performing a particular step of a workflow, and display the graphic as an overlay on the 3-D rendering.

[0033] According to some embodiments of the present disclosure, a robotic medical system includes one or more robotic arms. The robotic medical system includes one or more displays. The robotic medical system also includes one or more processors and a memory. The memory stores instructions that, when executed by the one or more processors, cause the one or more processors to display a three-dimensional (3-D) rendering that includes the one or more robotic arms and determine whether a manual action by a user is completed. The memory also includes instructions that, when executed by the one or more processors, cause the one or more processors to update the 3-D rendering according to a determination that the manual action is completed.

[0034] In some embodiments, the manual action corresponds to a step in a workflow for a medical procedure.

[0035] In some embodiments, the workflow includes one or more stages, including a pre-operative stage, an intra-operative stage, and / or a post-operative stage.

[0036] In some embodiments, the manual action includes docking each of the robotic arms to its corresponding respective cannula.

[0037] In some embodiments, the manual action includes attaching at least one of the robotic arms with a first medical tool.

[0038] In some embodiments, the manual action includes attaching each of the robotic arms with a respective medical tool.

[0039] In some embodiments, the 3-D rendering includes one or more visual indicators, each of the visual indicators corresponding to a respective one of the robotic arms. The memory further stores instructions that, when executed by the one or more processors, cause the one or more processors to update each of the visual indicators to indicate completion of the manual operation according to a determination that the manual operation is completed.

[0040] In some embodiments, the manual operation includes attaching each of the robotic arms with a respective medical tool. The memory further stores instructions that, when executed by the one or more processors, cause the one or more processors to detect removal of the medical tool from a first one of the robotic arms and, according to the detection, update a first visual indicator corresponding to the first robotic arm to indicate that the medical tool has been removed from the first robotic arm.

[0041] In some embodiments, the manual action includes manually moving a portion of a first robotic arm of the one or more robotic arms from a first position to a second position.

[0042] In some embodiments, updating the 3-D rendering includes updating a position of the first robot arm in the 3-D rendering from a first position to a second position.

[0043] In some embodiments, updating the 3-D rendering includes displaying a portion of the first robotic arm in a first visual representation that is visually distinct from other portions of the first robotic arm.

[0044] In some embodiments, displaying the portion of the first robotic arm in the first visual representation includes displaying the portion in a first color that is different from a color corresponding to another portion of the first robotic arm.

[0045] In some embodiments, the memory further stores instructions that, when executed by the one or more processors, cause the one or more processors to detect a change in position of a portion of the first robotic arm as a manual movement is performed, and to continuously update the 3-D rendering to reflect the change in position.

[0046] In some embodiments, the memory further stores instructions that, when executed by the one or more processors, cause the one or more processors to detect a change in a position of a portion of the first robotic arm as a manual operation is performed, and display a progress bar according to the performed movements to visualize the progress of the manual operation.

[0047] In some embodiments, the memory further stores instructions that, when executed by the one or more processors, cause the one or more processors to generate and output an audio signal when a manual action is performed.

[0048] In some embodiments, the memory further stores instructions that, when executed by the one or more processors, cause the one or more processors to display an error condition and information for correcting the error following a determination that the manual operation has not been completed.

[0049] In some embodiments, the robotic medical system further includes one or more adjustable arm supports movably coupled to the one or more robotic arms. The 3-D rendering includes a rendering of the one or more adjustable arm supports.

[0050] In some embodiments, the manual action includes moving one or more adjustable arm supports relative to the one or more robotic arms. Updating the 3-D rendering includes updating positions of the one or more adjustable arm supports in the rendering relative to the one or more robotic arms.

[0051] In some embodiments, the robotic medical system further comprises a patient support platform. The 3-D rendering comprises a rendering of the patient support platform.

[0052] In some embodiments, the manual action includes moving at least a portion of the patient support platform from a first position to a second position. Updating the 3-D rendering includes updating a position of the at least a portion of the patient support platform in the rendering from the first position to the second position.

[0053] It should be noted that the various embodiments described above can be combined with any other embodiment described herein. The features and advantages described herein are not all-inclusive, and in particular many additional features and advantages will be apparent to those skilled in the art upon consideration of the drawings, specification, and claims. Furthermore, it should be noted that the language used in this specification has been selected primarily for readability and instructional purposes, and may not be selected to delineate or limit the subject matter of the present invention. [Brief description of the drawings]

[0054] The disclosed aspects are hereinafter described in conjunction with the accompanying drawings, in which like designations refer to like elements and which illustrate, but do not limit, the disclosed aspects. [Figure 1] 1 illustrates one embodiment of a cart-based robotic system deployed for diagnostic and / or therapeutic bronchoscopy procedures. [Diagram 2] 2 depicts a further embodiment of the robotic system of FIG. 1. [Diagram 3]2 illustrates an embodiment of the robotic system of FIG. 1 positioned for ureteroscopy. [Figure 4] 2 illustrates one embodiment of the robotic system of FIG. 1 deployed for a vascular procedure. [Diagram 5] 1 illustrates one embodiment of a table-based robotic system positioned for a bronchoscopy procedure. [Figure 6] 6 provides an alternative view of the robotic system of FIG. 5. [Figure 7] 1 illustrates an example system configured to accommodate a robotic arm. [Figure 8] 1 illustrates one embodiment of a table-based robotic system configured for a ureteroscopy procedure. [Figure 9] 1 illustrates one embodiment of a table-based robotic system configured for laparoscopic procedures. [Figure 10] 10 illustrates one embodiment of the table-based robotic system of FIGS. 5-9 with pitch or tilt adjustment. [Figure 11] 5-10 provide detailed illustrations of the interface between the table and column of the table-based robotic system. [Figure 12] 1 illustrates an alternative embodiment of a table-based robotic system. [Figure 13] FIG. 13 illustrates an end view of the table-based robotic system of FIG. [Figure 14] FIG. 1 illustrates an end view of a table-based robotic system with a robotic arm attached. [Figure 15] 1 illustrates an exemplary instrument driver. [Figure 16] 1 illustrates an exemplary medical instrument having a pair of instrument drivers. [Figure 17] 13 illustrates an alternative design of the instrument driver and instrument, where the axis of the drive unit is parallel to the axis of the elongated shaft of the instrument. [Figure 18] 1 illustrates an instrument having an instrument-based insertion architecture. [Figure 19]1 illustrates an exemplary controller. [Figure 20] 1 depicts a block diagram illustrating a localization system that estimates the location of one or more elements of the robotic system of FIGS. 1-10, such as the location of the instrument of FIGS. 16-18, in accordance with an exemplary embodiment. [Figure 21] 1 illustrates an exemplary robotic system, according to some embodiments. [Figure 22] 1 illustrates another view of an exemplary robotic system, according to some embodiments. [Figure 23A] 1 illustrates different views of an exemplary robotic arm, according to some embodiments. [Figure 23B] 1 illustrates different views of an exemplary robotic arm, according to some embodiments. [Figure 23C] 1 illustrates different views of an exemplary robotic arm, according to some embodiments. [Figure 24A] 1 illustrates a three-dimensional (3-D) rendering of a robotic medical system during the setup phase of a procedure, according to some embodiments. [Figure 24B] 1 illustrates a three-dimensional (3-D) rendering of a robotic medical system during the setup phase of a procedure, according to some embodiments. [Figure 24C] 1 illustrates a three-dimensional (3-D) rendering of a robotic medical system during the setup phase of a procedure, according to some embodiments. [Figure 25A] 1 illustrates a 3-D rendering of a robotic medical system during a post-operative phase of a procedure, according to some embodiments. [Figure 25B] 1 illustrates a 3-D rendering of a robotic medical system during a post-operative phase of a procedure, according to some embodiments. [Figure 26A] 14 illustrates a 3-D rendering reflecting the real-time status of a robotic medical system resulting from manual interaction, according to some embodiments. [Figure 26B]14 illustrates a 3-D rendering reflecting the real-time status of a robotic medical system resulting from manual interaction, according to some embodiments. [Figure 26C] 14 illustrates a 3-D rendering reflecting the real-time status of a robotic medical system resulting from manual interaction, according to some embodiments. [Figure 26D] 14 illustrates a 3-D rendering reflecting the real-time status of a robotic medical system resulting from manual interaction, according to some embodiments. [Figure 27A] 14 illustrates the use of 3-D rendering to communicate an error condition of a robotic medical system, according to some embodiments. [Figure 27B] 14 illustrates the use of 3-D rendering to communicate an error condition of a robotic medical system, according to some embodiments. [Figure 28A] 1 illustrates a 3-D rendering depicting the real-time status of a robotic medical system during an intraoperative phase, according to some embodiments. [Figure 28B] 1 illustrates a 3-D rendering depicting the real-time status of a robotic medical system during an intraoperative phase, according to some embodiments. [Figure 29A] 14 illustrates the use of pre-rendered images to communicate the status of a robotic medical system, according to some embodiments. [Figure 29B] 14 illustrates the use of pre-rendered images to communicate the status of a robotic medical system, according to some embodiments. [Figure 29C] 14 illustrates the use of pre-rendered images to communicate the status of a robotic medical system, according to some embodiments. [Figure 30A] 1 illustrates a flowchart diagram of a method implemented by one or more processors of a robotic system, according to some embodiments. [Figure 30B]1 illustrates a flowchart diagram of a method implemented by one or more processors of a robotic system, according to some embodiments. [Figure 30C] 1 illustrates a flowchart diagram of a method implemented by one or more processors of a robotic system, according to some embodiments. [Figure 30D] 1 illustrates a flowchart diagram of a method implemented by one or more processors of a robotic system, according to some embodiments. [Figure 30E] 1 illustrates a flowchart diagram of a method implemented by one or more processors of a robotic system, according to some embodiments. [Figure 31A] 1 illustrates a flowchart diagram of a method implemented by one or more processors of a robotic system, according to some embodiments. [Figure 31B] 1 illustrates a flowchart diagram of a method implemented by one or more processors of a robotic system, according to some embodiments. [Figure 31C] 1 illustrates a flowchart diagram of a method implemented by one or more processors of a robotic system, according to some embodiments. [Diagram 32] FIG. 1 is a schematic diagram illustrating electronic components of a robotic medical system, according to some embodiments. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0055] 1. Overview. Aspects of the present disclosure may be integrated into a robot-enabled medical system capable of performing a variety of medical procedures, including both minimally invasive procedures such as laparoscopy, and non-invasive procedures such as endoscopy, among other endoscopic procedures, such as bronchoscopy, ureteroscopy, gastroscopy, and the like.

[0056] In addition to performing a wide range of procedures, the system may provide additional benefits such as enhanced imaging and guidance to assist the physician. Furthermore, the system may provide the physician with the ability to perform procedures from an ergonomic position without the need for awkward arm movements and positions. Still further, the system may provide the physician with the ability to perform procedures with improved ease of use, such that even a single user may control one or more of the instruments of the system.

[0057] Various embodiments are described below for purposes of illustration and in conjunction with the drawings. It should be understood that many other embodiments of the disclosed concepts are possible, and that various advantages may be achieved in the disclosed embodiments. Headings are included herein for reference and to aid in locating various sections. The headings do not limit the scope of the concepts described therein. Such concepts may be applicable throughout the entire specification.

[0058] A. Robotic System - Cart. A robot-enabled medical system may be configured in a variety of ways depending on the particular procedure. FIG. 1 illustrates one embodiment of a cart-based robot-enabled system 10 arranged for diagnostic and / or therapeutic bronchoscopy procedures. During bronchoscopy, the system 10 may include a cart 11 having one or more robotic arms 12 for delivering medical instruments, such as a steerable endoscope 13, which may be a procedure-specific bronchoscope for bronchoscopy, to a natural orifice access point (i.e., the mouth of a patient positioned on a table in this example) for delivering diagnostic and / or therapeutic tools. As shown, the cart 11 may be positioned adjacent to the patient's upper torso to provide access to the access point. Similarly, the robotic arms 12 may be actuated to position a bronchoscope relative to the access point. The arrangement of FIG. 1 may also be utilized when performing Gastro-Intestinal (GI) procedures with a gastroscope, an endoscope specialized for GI procedures. FIG. 2 depicts an example embodiment of the cart in more detail.

[0059] With continued reference to FIG. 1, once the cart 11 is properly positioned, the robotic arm 12 can insert the steerable endoscope 13 into the patient robotically, manually, or a combination thereof. As shown, the steerable endoscope 13 can include at least two nested parts, such as an inner leader section and an outer sheath section, each section coupled to a separate instrument driver from a set of instrument drivers 28, each instrument driver coupled to the distal end of an individual robotic arm. This linear arrangement of the instrument drivers 28, which facilitates coaxial alignment of the leader section with the sheath section, creates a "virtual rail" 29 that can be repositioned in space by manipulating one or more robotic arms 12 to different angles and / or positions. The virtual rails described herein are depicted in the figures using dashed lines, and thus do not depict any physical structure of the system. Translation of the instrument driver 28 along the virtual rail 29 nests the inner leader section relative to the outer sheath section, or advances or retracts the endoscope 13 from the patient. The angle of the virtual rail 29 may be adjusted, translated, or pivoted based on clinical application or physician preference. For example, in bronchoscopy, the angle and position of the virtual rail 29 shown represents a compromise between providing the physician access to the endoscope 13 and minimizing friction that results from bending the endoscope 13 into the patient's mouth.

[0060] The endoscope 13 can be directed downstream of the patient's trachea and lungs after insertion using precise commands from the robotic system until the target destination or surgical site is reached. The endoscope 13 can be manipulated to telescope the inner leader portion from the outer sheath portion to enhance articulation and increase bend radius to enhance navigation through the patient's pulmonary network and / or reach a desired target. The use of a separate instrument driver 28 also allows the leader and sheath portions to be driven independently of one another.

[0061] For example, the endoscope 13 may be directed to deliver a biopsy needle to a target, such as a lesion or nodule in the patient's lung. The needle may be deployed through a working channel that runs the length of the endoscope to obtain a tissue sample that is analyzed by a pathologist. Depending on the results of the pathology, additional tools may be deployed through the working channel of the endoscope for additional biopsies. After identifying the nodule as malignant, the endoscope 13 may deliver tools endoscopically to ablate the potential cancerous tissue. In some cases, the diagnostic and therapeutic treatments may be delivered in separate procedures. In these situations, the endoscope 13 may also be used to deliver fiducials to "mark" the location of the targeted nodule. In other cases, the diagnostic and therapeutic treatments may be delivered during the same procedure.

[0062] The system 10 may also include a movable tower 30 that may be connected to the cart 11 via a support cable to provide support for control, electronics, fluidics, optics, sensors, and / or power to the cart 11. Placing such functionality in the tower 30 may reduce the form factor of the cart 11, allowing the operating surgeon and his / her staff to more easily adjust and / or reposition the cart 11. Additionally, the division of functionality between the cart / table and the support tower 30 reduces clutter in the operating room and promotes improved clinical workflow. The cart 11 may be positioned near the patient, while the tower 30 may be housed in a remote location so as not to get in the way during the procedure.

[0063] To support the robotic system described above, the tower 30 may include computer-based control system components that store computer program instructions in a non-transitory computer-readable storage medium, such as, for example, a persistent magnetic storage drive, a solid-state drive, or the like. Execution of these instructions, whether execution occurs in the tower 30 or in the cart 11, may control the entire system or subsystems thereof. For example, when executed by a processor in a computer system, the instructions may cause the robotic system components to actuate the carriage and arm mounts, operate the robotic arm, and control medical instruments. For example, in response to receiving control signals, motors in the joints of the robotic arm may position the arm in a particular pose.

[0064] The tower 30 may also include pumps, flow meters, valve controls, and / or fluid access to provide controlled irrigation and aspiration capabilities to a system that may be deployed through the endoscope 13. These components may also be controlled using the computer system of the tower 30. In some embodiments, irrigation and aspiration capabilities may be provided directly to the endoscope 13 via separate cables.

[0065] The tower 30 may include voltage and surge protection designed to provide filtered, protected power to the cart 11, thereby avoiding the need to place power transformers and other auxiliary power components within the cart 11 and making the cart 11 smaller and more mobile.

[0066] The tower 30 may also include support equipment for sensors deployed throughout the robotic system 10. For example, the tower 30 may include optoelectronic equipment for detecting, receiving, and processing data received from optical sensors or cameras throughout the robotic system 10. In combination with a control system, such optoelectronic equipment may be used to generate real-time images for display on any number of consoles deployed throughout the system, including in the tower 30. Similarly, the tower 30 may also include electronic subsystems for receiving and processing signals from deployed ElectroMagnetic (EM) sensors. The tower 30 may also be used to house and position EM field generators for detection by EM sensors in or on a medical instrument.

[0067] The tower 30 may also include a console 31 in addition to other consoles available to the rest of the system, for example a console mounted on top of a cart. The console 31 may include a user interface and a display screen, such as a touch screen, for the operator physician. The console of the system 10 is typically designed to provide both robotic control and pre-operative and real-time information of the procedure, such as navigation and localization information for the endoscope 13. If the console 31 is not the only console available to the physician, a second operator, such as a nurse, may use the console 31 to monitor the patient's health or vital signs and the operation of the system, as well as provide procedure-specific data, such as navigation and localization information. In other embodiments, the console 30 is housed in a body separate from the tower 30.

[0068] The tower 30 may be coupled to the cart 11 and endoscope 13 via one or more cables or connections (not shown). In some embodiments, support functions from the tower 30 may be provided to the cart 11 through only one cable, simplifying and decluttering the operating room. In other embodiments, certain functions may be combined in separate wiring and connections. For example, power may be provided to the cart through only one power cable, while support for the controls, optics, fluidics, and / or navigation may be provided through separate cables.

[0069] FIG. 2 provides a detailed illustration of an embodiment of a cart from the cart-based robot-enabled system shown in FIG. The cart 11 generally includes an elongated support structure 14 (often referred to as a "column"), a cart base 15, and a console 16 at the top of the column 14. The column 14 may include one or more carriages, such as a carriage 17 (alternatively an "arm support") for supporting the deployment of one or more robotic arms 12 (three are shown in FIG. 2). The carriage 17 may include individually configurable arm mounts that rotate along orthogonal axes to adjust the base of the arm 12 for better positioning relative to the patient. The carriage 17 also includes a carriage interface 19 that allows the carriage 17 to translate vertically along the column 14.

[0070] The carriage interface 19 is connected to the column 14 through slots, such as slots 20 positioned on either side of the column 14 to guide the vertical translation of the carriage 17. The slots 20 contain the vertical translation interfaces to position and hold the carriage at various vertical heights relative to the cart base 15. The vertical translation of the carriage 17 allows the cart 11 to adjust the reach of the robotic arm 12 to meet various table heights, patient sizes, and physician preferences. Similarly, an individually configurable arm mount on the carriage 17 allows the robotic arm base 21 of the robotic arm 12 to be angled in various configurations.

[0071] In some embodiments, a slot cover may be added to the slot 20 that is flush and parallel with the slot surface to prevent dirt and fluids from entering the internal chamber of the column 14 and the vertical translation interface as the carriage 17 translates vertically. The slot cover may be deployed through a pair of spring spools positioned near the vertical top and bottom of the slot 20. The cover is coiled within the spools until it deploys to extend and retract from the coiled state as the carriage 17 translates vertically up and down. The spring loading of the spools provides a force to retract the cover onto the spool as the carriage 17 translates towards the spool, while also maintaining a seal as the carriage 17 translates away from the spool. The cover may be connected to the carriage 17 using, for example, a bracket at the carriage interface 19 to ensure that the cover extends and retracts properly as the carriage 17 translates.

[0072] Column 14 may contain mechanisms therein, such as gears and motors, designed to use a vertically aligned leadscrew to mechanically translate carriage 17 in response to control signals generated in response to user input, such as input from console 16.

[0073] The robotic arm 12 may generally include a robotic arm base 21 and an end effector 22 separated by a series of links 23 connected by a series of joints 24, each joint including an independent actuator, each actuator including an independently controllable motor. Each separately controllable joint represents an independent degree of freedom available to the robotic arm. Each of the arms 12 has seven joints, thus providing seven degrees of freedom. A large number of joints provides a large number of degrees of freedom, allowing for "redundant" degrees of freedom. The redundant degrees of freedom allow the robotic arm 12 to position its respective end effector 22 at a specific position, orientation, and trajectory in space using different link positions and joint angles. This allows the system to position and orient the medical instrument from a desired point in space, while allowing the physician to move the arm joints to a clinically advantageous position away from the patient to create greater access while avoiding arm collisions.

[0074] The cart base 15 balances the weight of the column 14, carriage 17, and arm 12 on the floor. Thus, the cart base 15 houses the heavier parts, such as electronics, motors, power supplies, as well as components that allow the cart to be both mobile and / or immobilized. For example, the cart base 15 includes casters 25 in the form of rollable wheels that allow the cart to be easily moved around the room prior to treatment. After reaching the proper position, the casters 25 can be immobilized using wheel locks to hold the cart 11 in place during treatment.

[0075] The console 16 positioned at the vertical end of the column 14 allows for both a user interface and a display screen (or dual-purpose device, e.g., touch screen 26) for receiving user input to provide both pre-operative and intra-operative data to the physician user. Potential pre-operative data on the touch screen 26 may include pre-operative planning, navigation and mapping data derived from a pre-operative computerized tomography (CT) scan, and / or notes from a pre-operative patient interview. Intra-operative data on the display may also include vital patient statistics such as respiration, heart rate, and / or pulse, along with optical information provided by tools, sensor information from sensors, and coordinate information. The console 16 may be positioned and tilted to allow the physician to access the console from the side of the column 14 opposite the carriage 17. From this position, the physician may view the console 16, the robotic arm 12, and the patient while operating the console 16 from behind the cart 11. As shown, the console 16 also includes a handle 27 to help manipulate and stabilize the cart 11.

[0076] FIG. 3 illustrates one embodiment of the robot-enabled system 10 positioned for ureteroscopy. In a ureteroscopy procedure, the cart 11 can be positioned to deliver a ureteroscope 32, a procedure-specific endoscope designed to follow the patient's urethra and ureters, to the patient's lower abdominal region. In a ureteroscopy, it may be desirable for the ureteroscope 32 to be aligned directly with the patient's urethra to reduce friction and forces on the sensitive anatomical structures in that area. As shown, the cart 11 can be aligned to the table legs to allow the robotic arm 12 to position the ureteroscope 32 for direct linear access to the patient's urethra. From the table legs, the robotic arm 12 can insert the ureteroscope 32 along a virtual rail 33 directly through the urethra into the patient's lower abdomen.

[0077] After insertion into the urethra using control techniques similar to those in bronchoscopy, the ureteroscope 32 can be navigated to the bladder, ureters, and / or kidneys for diagnostic and / or therapeutic applications. For example, the ureteroscope 32 can be directed to the ureter and kidney to fragment accumulated kidney stones using a laser lithotriptor or ultrasonic lithotriptor device deployed through the working channel of the ureteroscope 32. After lithotripsy is complete, the resulting stone fragments can be removed using a basket deployed through the ureteroscope 32.

[0078] FIG. 4 illustrates an embodiment of a robot-enabled system similarly positioned for a vascular procedure. In a vascular procedure, the system 10 may be configured such that the cart 11 can deliver a medical instrument 34, such as a steerable catheter, to an access point in the femoral artery in the patient's leg. The femoral artery presents both a larger diameter for navigation as well as a less circuitous and tortuous path to the patient's heart, simplifying navigation. As in a ureteroscopy procedure, the cart 11 may be positioned toward the patient's leg and lower abdomen to enable the robotic arm 12 to provide a virtual rail 35 with direct linear access to the femoral artery access point in the patient's thigh / hip region. After insertion into the artery, the medical instrument 34 may be oriented and inserted by translating the instrument driver 28. Alternatively, the cart may be positioned around the patient's upper abdomen to reach alternative vascular access points, such as the carotid and brachial arteries near the shoulder and wrist.

[0079] B. Robot system-table. An embodiment of a robot-enabled medical system may also incorporate a patient table. The incorporation of a table reduces the amount of capital equipment in the operating room by removing the cart and allows better access to the patient. FIG. 5 illustrates one embodiment of such a robot-enabled system deployed for a bronchoscopy procedure. The system 36 includes a support structure or column 37 for supporting a platform 38 (shown as a "table" or "bed") across the floor. Much like a cart-based system, the end effector of the robotic arm 39 of the system 36 includes an instrument driver 42 designed to manipulate an elongated medical instrument, such as the bronchoscope 40 of FIG. 5, through or along a virtual rail 41 formed from the linear alignment of the instrument driver 42. In practice, a C-arm for providing fluoroscopic imaging may be positioned across the patient's upper abdominal region by placing emitters and detectors around the table 38.

[0080] FIG. 6 provides an alternative view of the system 36 without the patient and medical instruments for discussion purposes. As shown, the column 37 may include one or more carriages 43, shown as a ring shape, which may be the base for one or more robotic arms 39 in the system 36. The carriages 43 may translate along a vertical column interface 44 that runs the length of the column 37 to provide different vantage points from which the robotic arms 39 may be positioned to reach the patient. The carriages 43 may rotate about the column 37 using mechanical motors positioned within the column 37 to allow the robotic arms 39 to have access to multiple sides of the table 38, such as both sides of the patient. In embodiments with multiple carriages, the carriages may be positioned separately on the column and may translate and / or rotate independently of the other carriages. The carriages 43 do not have to surround the column 37 or even be circular, although the ring shape shown facilitates the rotation of the carriages 43 about the column 37 while maintaining structural balance. Rotation and translation of carriage 43 allows the system to align medical instruments such as endoscopes and laparoscopes to different access points on the patient. In other embodiments (not shown), system 36 may include a patient table or bed with an adjustable arm support in the form of a bar or rail extending alongside it. One or more robotic arms 39 may be attached to the adjustable arm support that can be adjusted vertically (e.g., via a shoulder with an elbow joint). By providing vertical adjustment, robotic arms 39 may advantageously be stored compactly under a patient table or bed and then raised during a procedure.

[0081] The arm 39 may be attached to the carriage via a set of arm mounts 45 that comprise a series of joints that may individually rotate and / or telescope to provide additional configurability to the robotic arm 39. Additionally, the arm mounts 45 may be positioned on the carriage 43 such that when the carriage 43 is appropriately rotated, the arm mounts 45 may be positioned on either the same side of the table 38 (as shown in FIG. 6), on opposite sides of the table 38 (as shown in FIG. 9), or on adjacent sides of the table 38 (not shown).

[0082] The column 37 structurally provides support for the table 38 and a path for the vertical translation of the carriage. Internally, the column 37 may be equipped with a lead screw for guiding the vertical translation of the carriage and a motor for mechanizing the translation of that carriage based on the lead screw. The column 37 may transmit power and control signals to the carriage 43 and to a robotic arm 39 attached thereto.

[0083] The table base 46 serves a similar function as the cart base 15 of the cart 11 shown in FIG. 2, housing the heavier components to counterbalance the table / bed 38, column 37, carriage 43 and robotic arm 39. The table base 46 may also incorporate rigid casters to provide stability during the procedure. The casters extend from the bottom of the table base 46 in opposite directions on either side of the base 46 and may be retracted when the system 36 needs to be moved.

[0084] Continuing with FIG. 6, the system 36 may also include a tower (not shown) that divides the functionality of the system 36 between the table and the tower to reduce the form factor and bulk of the table. As seen in the previously disclosed embodiments, the tower may provide various support functions to the table, such as processing, computing, and control capabilities, power, fluidics, and / or optical and sensor processing. The tower may also be moved to be positioned away from the patient to improve physician access and keep the operating room clutter-free. Furthermore, placing components in the tower allows for more storage space in the table base for possible accommodation of a robotic arm. The tower may also include a master controller or console that provides both a user interface for user input, such as a keyboard and / or pendant, and a display screen (or touch screen) for pre-operative and intra-operative information, such as real-time imaging, navigation, and tracking information. In some embodiments, the tower may also include a holder for a gas tank used for ventilation.

[0085] In some embodiments, the table base may house and store the robot arm when not in use. Figure 7 illustrates a system 47 for housing the robot arm in one embodiment of a table-based system. In the system 47, the carriage 48 may be vertically translated into the base 49 to house the robot arm 50, arm mount 51, and carriage 48 within the base 49. The base cover 52 may be translated and retracted open to deploy the carriage 48, arm mount 51, and arm 50 about a column 53, and closed to store and protect them when not in use. The base cover 52 may be sealed with a membrane 54 along the edge of its opening to prevent dirt and fluid ingress when closed.

[0086] FIG. 8 illustrates one embodiment of a robotic table-based system configured for a ureteroscopy procedure. For ureteroscopy, the table 38 may include a swivel 55 for positioning the patient at an off angle from the column 37 and table base 46. The swivel 55 may rotate or pivot about a pivot point (e.g., located below the patient's head) to position the bottom of the swivel 55 away from the column 37. For example, pivoting the swivel 55 allows a C-arm (not shown) to be positioned over the patient's lower abdomen without competing for space with the column (not shown) below the table 38. By rotating the carriage 35 (not shown) about the column 37, the robotic arm 39 may insert the ureteroscope 56 directly into the patient's groin area along a virtual rail 57 to reach the urethra. For ureteroscopy, stirrups 58 may be secured to swivel portion 55 of table 38 to support the position of the patient's legs during the procedure and allow clear access to the patient's groin area.

[0087] In a laparoscopic procedure, minimally invasive instruments may be inserted into a patient's anatomy through small incisions in the patient's abdominal wall. In some embodiments, the minimally invasive instruments include an elongated rigid member, such as a shaft, that is used to access anatomy within the patient. After distension of the patient's abdominal cavity, the instruments may be oriented to perform a surgical or medical task, such as grasping, cutting, ablation, suturing, etc. In some embodiments, the instruments may comprise a scope, such as a laparoscope. FIG. 9 illustrates one embodiment of a robotic table-based system configured for laparoscopic procedures. As shown in FIG. 9, the carriage 43 of the system 36 may be rotated and vertically adjusted to position a pair of robotic arms 39 on either side of the table 38 such that the instruments 59 may be positioned using the arm mounts 45 to pass through minimal incisions on either side of the patient to reach the patient's abdominal cavity.

[0088] To accommodate laparoscopic procedures, the robotic-enabled table system may also tilt the platform to a desired angle. FIG. 10 illustrates one embodiment of a robotic-enabled medical system with pitch or tilt adjustment. As shown in FIG. 10, the system 36 accommodates the tilt of the table 38 to position one portion of the table higher off the floor than another portion. Additionally, the arm mount 45 may rotate to match the tilt such that the arm 39 maintains the same planar relationship as the table 38. To accommodate steeper angles, the column 37 may also include a telescoping portion 60 that allows for vertical extension of the column 37 to prevent the table 38 from contacting the floor or colliding with the base 46.

[0089] FIG. 11 provides a detailed illustrative view of the interface between the table 38 and the column 37. The pitch mechanism 61 may be configured to vary the pitch angle of the table 38 relative to the column 37 in multiple degrees of freedom. The pitch mechanism 61 may be enabled by positioning orthogonal axes 1, 2 at the column-table interface, each actuated by a separate motor 3, 4 in response to an electrical pitch command. Rotation along one screw 5 would allow tilt adjustment in one axis 1, while rotation along the other screw 6 would allow tilt adjustment along the other axis 2. In some embodiments, the use of ball joints allows the pitch angle of the table 38 relative to the column 37 to be varied in multiple degrees of freedom.

[0090] For example, pitch adjustment is particularly useful when attempting to position the table in the Trendelenburg position, i.e., positioning the patient's lower abdomen higher off the floor than the patient's lower abdomen for lower abdominal surgery. The Trendelenburg position allows gravity to slide the patient's internal organs down to the patient's upper abdomen, emptying the abdominal cavity for entry of minimally invasive tools to perform lower abdominal surgical or medical procedures, such as laparoscopic prostatectomy.

[0091] 12 and 13 illustrate isometric and end views of an alternative embodiment of a table-based surgical robotic system 100. The surgical robotic system 100 includes one or more adjustable arm supports 105 that can be configured to support one or more robotic arms relative to a table 101 (see, e.g., FIG. 14). In the illustrated embodiment, only one adjustable arm support 105 is shown, but additional arm supports can be provided on the opposite side of the table 101. The adjustable arm support 105 can be configured to move relative to the table 101 to adjust and / or change the position of the adjustable arm support 105 and / or any robotic arm attached thereto relative to the table 101. For example, the arm support 105 can be adjustably adjusted with one or more degrees of freedom relative to the table 101. The adjustable arm support 105 provides the system 100 with great versatility, including the ability to easily accommodate one or more adjustable arm supports 105 and any robotic arms attached thereto under the table 101. The adjustable arm support 105 can be raised from a stowed position to a position below the top surface of the table 101. In other embodiments, the adjustable arm support 105 can be raised from a stowed position to a position above the top surface of the table 101.

[0092] The adjustable arm support 105 can provide several degrees of freedom, including lift, lateral translation, tilt, etc. In the illustrated embodiment of Figs. 12 and 13, the arm support 105 is configured with four degrees of freedom, which are illustrated by arrows in Fig. 12. The first degree of freedom allows adjustment of the adjustable arm support 105 in the z-direction ("Z-lift"). For example, the adjustable arm support 105 can include a carriage 109 configured to move up and down along or relative to the column 102 that supports the table 101. The second degree of freedom can allow the adjustable arm support 105 to tilt. For example, the adjustable arm support 105 can include a rotational joint, which can allow the adjustable arm support 105 to align with the bed in the Trendelenburg position. The third degree of freedom allows the adjustable arm support 105 to "pivot up," which can be used to adjust the distance between the side of the table 101 and the adjustable arm support 105. A fourth degree of freedom may allow translation of the adjustable arm support 105 along the longitudinal length of the table.

[0093] The surgical robotic system 100 of Figures 12 and 13 may include a table supported by a column 102 mounted to a base 103. The base 103 and column 102 support the table 101 against a support surface. A bed axis 131 and a support axis 133 are shown in Figure 13.

[0094] An adjustable arm support 105 can be mounted to the column 102. In other embodiments, the arm support 105 can be mounted to the table 101 or the base 103. The adjustable arm support 105 can include a carriage 109, a bar or rail connector 111, and a bar or rail 107. In some embodiments, one or more robot arms mounted to the rail 107 can translate and move relative to each other.

[0095] The carriage 109 may be attached to the column 102 by a first joint 113, which allows the carriage 109 to move relative to the column 102 (e.g., up and down a first or vertical axis 123). The first joint 113 may provide a first degree of freedom ("Z-lift") to the adjustable arm support 105. The adjustable arm support 105 may include a second joint 115 that provides a second degree of freedom (tilt) to the adjustable arm support 105. The adjustable arm support 105 may include a third joint 117 that may provide a third degree of freedom ("pivot up") to the adjustable arm support 105. A further joint 119 (shown in FIG. 13) may be provided that mechanically constrains the third joint 117 to maintain the orientation of the rail 107 as the rail connector 111 is rotated about a third axis 127. The adjustable arm support 105 may include a fourth joint 121 that may provide a fourth degree of freedom (translation) to the adjustable arm support 105 along a fourth axis 129 .

[0096] FIG. 14 illustrates an end view of a surgical robotic system 140A with two adjustable arm supports 105A, 105B mounted on either side of a table 101. A first robotic arm 142A is attached to a bar or rail 107A of the first adjustable arm support 105B. The first robotic arm 142A includes a base 144A attached to the rail 107A. The distal end of the first robotic arm 142A includes an instrument drive mechanism 146A that can be attached to one or more robotic medical instruments or tools. Similarly, the second robotic arm 142B includes a base 144B attached to the rail 107B. The distal end of the second robotic arm 142B includes an instrument drive mechanism 146B. The instrument drive mechanism 146B can be configured to attach to one or more robotic medical instruments or tools.

[0097] In some embodiments, one or more of the robotic arms 142A, 142B comprise arms with seven or more degrees of freedom. In some embodiments, one or more of the robotic arms 142A, 142B can include eight degrees of freedom, including an insertion axis (one degree of freedom including insertion), wrist (three degrees of freedom including wrist pitch, yaw and roll), elbow (one degree of freedom including elbow pitch), shoulder (two degrees of freedom including shoulder pitch and yaw), and base 144A, 144B (one degree of freedom including translation). In some embodiments, the insertion degree of freedom can be provided by the robotic arms 142A, 142B, while in other embodiments, the instrument itself provides the insertion via an instrument-based insertion architecture.

[0098] C. Instrument drivers and interfaces. The end effector of the robotic arm of the system comprises (i) an instrument driver (alternatively referred to as an "instrument drive mechanism" or "instrument device manipulator") that incorporates electromechanical means for actuating the medical instrument, and (ii) a removable or detachable medical instrument that may lack any electromechanical components such as a motor. This dichotomy may be caused by the need to sterilize the medical instruments used in the medical procedure and the inability to adequately sterilize expensive capital equipment due to the complex mechanical assembly and sensitive electronics of the medical instruments. Thus, the medical instruments may be designed to be detached, removed, and replaced from the instrument driver (and thus the system) upon individual sterilization or disposal by the physician or physician's staff. In contrast, the instrument driver does not need to be replaced or sterilized and may be draped for protection.

[0099] FIG. 15 illustrates an exemplary instrument driver. The instrument driver 62, positioned at the distal end of the robotic arm, is comprised of one or more drive units 63 arranged with parallel axes to provide a controlled torque to the medical instrument via a drive shaft 64. Each drive unit 63 comprises an individual drive shaft 64 for interacting with the instrument, a gearhead 65 for converting motor shaft rotation to a desired torque, a motor 66 for generating the drive torque, an encoder 67 for measuring the rotational speed of the motor shaft and providing feedback to the control circuit, and a control circuit 68 for receiving a control signal to operate the drive unit. Each drive unit 63 is controlled and motorized independently of the others, and the instrument driver 62 may provide multiple (four shown in FIG. 15) independent drive outputs to the medical instrument. In operation, the control circuit 68 would receive the control signal, send a motor signal to the motor 66, compare the resulting motor rotational speed measured by the encoder 67 to a desired speed, and modulate the motor signal to generate the desired torque.

[0100] For procedures requiring a sterile environment, the robotic system may incorporate a drive interface, such as a sterile adapter connected to a sterile drape, located between the instrument driver and the medical instrument. The primary purpose of the sterile adapter is to transfer angular motion from the drive shaft of the instrument driver to the drive input of the instrument while maintaining physical separation between the drive shaft and the drive input, and thus sterility. Thus, an example sterile adapter may consist of a set of rotational inputs and outputs intended to mate with the drive shaft of the instrument driver and the drive input to the instrument. The sterile drape, which is connected to the sterile adapter, is composed of a thin flexible material, such as a transparent or translucent plastic, and is designed to cover the instrument driver, the robotic arm, and capital equipment, such as a cart (in a cart-based system) or a table (in a table-based system). The use of the drape allows the capital equipment to be positioned in close proximity to the patient while still being located in an area that does not require sterility (i.e., the non-sterile field). On the other side of the sterile drape, the medical instrument may interface with the patient in an area that requires sterility (i.e., the sterile field).

[0101] D. Medical equipment. 16 illustrates an exemplary medical instrument with a paired instrument driver. Similar to other instruments designed for use with a robotic system, the medical instrument 70 comprises an elongated shaft 71 (or elongated body) and an instrument base 72. The instrument base 72, also referred to as an "instrument handle" due to its design intended for manual interaction by a physician, may comprise a rotary drive input 73, e.g., a receptacle, pulley, or spool, designed to mate with a drive output 74 that passes through a drive interface on an instrument driver 75, typically at the distal end of a robotic arm 76. When physically connected, latched, and / or coupled, the mating drive input 73 of the instrument base 72 may share an axis of rotation with the drive output 74 in the instrument driver 75, allowing for the transfer of torque from the drive output 74 to the drive input 73. In some embodiments, the drive output 74 may comprise a spline designed to mate with a receptacle on the drive input 73.

[0102] The elongated shaft 71 is designed to be delivered through either an anatomical opening or lumen, such as in an endoscope, or a minimally invasive incision, such as in a laparoscopy. The elongated shaft 71 can be either flexible (e.g., having properties similar to an endoscope) or rigid (e.g., having properties similar to a laparoscope), or can include a customized combination of both flexible and rigid sections. If designed for laparoscopy, the distal end of the rigid elongated shaft can be connected to an end effector extending from an articulating wrist formed from a clevis having at least one degree of freedom, and to a surgical tool or medical instrument, such as a grasper or scissors, that can be actuated based on a force from a tendon as the drive input rotates in response to a torque received from the drive output 74 of the instrument driver 75. If designed for endoscopy, the distal end of the flexible elongated shaft can include a steerable or controllable bend that can be articulated and bent based on a torque received from the drive output 74 of the instrument driver 75.

[0103] Torque from the instrument driver 75 is transmitted downstream of the elongated shaft 71 using tendons along the shaft 71. These individual tendons, such as pull wires, can be individually secured to individual drive inputs 73 in the instrument handle 72. From the handle 72, the tendons pass along the elongated shaft 71 through one or more pull lumens and are secured to a distal portion of the elongated shaft 71 or are secured to a wrist at the distal portion of the elongated shaft. During a surgical procedure, such as a laparoscopic, endoscopic, or hybrid procedure, these tendons can be coupled to a distally mounted end effector, such as a wrist, grasper, or scissors. In such an arrangement, torque exerted on the drive input 73 would transmit tension to the tendons, thereby actuating the end effector in some manner. In some embodiments, the tendons can rotate a joint about an axis to move the end effector in one direction or another during a surgical procedure. Alternatively, the tendon may be connected to one or more jaws of a grasper at the distal end of the elongate shaft 71 such that tension from the tendon causes the grasper to close.

[0104] In endoscopy, the tendons may be coupled to a bend or articulating section positioned along (e.g., at the distal end) of the elongate shaft 71 via adhesive, control rings, or other mechanical fixation. When fixedly attached to the distal end of the bend section, torque exerted on the drive input 73 is transferred to the tendons, causing the softer bend section (sometimes referred to as the articulating section or articulating region) to bend or articulate. Along the non-bend section, it may be convenient to helical or spiral the individual pull lumens that direct the individual tendons along (or inwardly) the wall of the endoscope shaft to counterbalance the radial forces resulting from tension in the pull wires. The angle of the helix and / or spacing between them may be altered or engineered for specific purposes, with narrower helices exhibiting poor shaft compression under load forces, while lesser helices provide superior shaft compression under load forces, but also limited bending. At the other end of the spectrum, orienting the pull lumen parallel to the longitudinal axis of the elongate shaft 71 can allow for controlled articulation at the desired bend or articulation.

[0105] In endoscopy, the elongated shaft 71 houses several components that aid in robotic procedures. The elongated shaft may be configured with a working channel for deploying surgical tools (or medical instruments), irrigation, and / or suction to a surgical site at the distal end of the shaft 71. The elongated shaft 71 may also house wires and / or optical fibers that carry signals at the distal tip to / from an optical assembly that may include an optical camera. The shaft 71 may also house optical fibers for carrying light from a proximally located light source, such as a light emitting diode, to the distal end of the shaft.

[0106] At the distal end of the instrument 70, the distal tip may include a working channel opening for delivering tools to the surgical site for diagnosis and / or treatment, irrigation, and aspiration. The distal tip may also include a port for a camera, such as a fiberscope or digital camera, to capture images of the internal anatomical space. In this regard, the distal tip may also include a port for a light source to illuminate the anatomical space when the camera is in use.

[0107] 16, the drive shaft axis, and therefore the drive input axis, is orthogonal to the axis of the elongated shaft. However, this arrangement complicates the roll ability of the elongated shaft 71. Rolling the elongated shaft 71 along its axis while holding the drive input 73 stationary results in undesirable entanglement of the tendons as they exit the drive input 73 and enter the pull lumen within the elongated shaft 71. Such resulting entanglement of tendons may frustrate any control algorithms aimed at predicting the movement of a flexible elongated shaft during an endoscopic procedure.

[0108] FIG. 17 illustrates an alternative design of the instrument driver and instrument, in which the axis of the drive unit is parallel to the axis of the elongated shaft of the instrument. As shown, a circular instrument driver 80 includes four drive units with their drive outputs 81 aligned in parallel at the end of a robotic arm 82. The drive units and their respective drive outputs 81 are housed in a rotating assembly 83 of the instrument driver 80 that is driven by one of the drive units in that assembly 83. In response to torque provided by the rotating drive units, the rotating assembly 83 rotates along a circular bearing that connects the rotating assembly 83 to a non-rotating portion 84 of the instrument driver. Power and control signals may be transferred to the rotating assembly 83 from the non-rotating portion 84 of the instrument driver 80 via electrical contacts and may be maintained throughout the rotation by a brushed slip ring connection (not shown). In other embodiments, the rotating assembly 83 may be responsive to a separate drive unit that is integrated into the non-rotatable portion 84 and thus not parallel to the other drive units. The rotation mechanism 83 enables the instrument driver 80 to rotate the drive units and their respective drive outputs 81 as a single unit about the instrument driver axis 85 .

[0109] Similar to the previously disclosed embodiments, the instrument 86 may include an elongated shaft portion 88 and an instrument base 87 (shown with a transparent exterior skin for purposes of discussion) that includes a number of drive inputs 89 (such as receptacles, pulleys, and spools) configured to receive the drive outputs 81 in the instrument driver 80. Unlike the previously disclosed embodiments, the instrument shaft 88 extends from the center of the instrument base 87, with the axis being substantially parallel to the axis of the drive inputs 89, rather than orthogonal as seen in the design of FIG.

[0110] When coupled to the rotating assembly 83 of the instrument driver 80, the medical instrument 86, including the instrument base 87 and the instrument shaft 88, rotates with the rotating assembly 83 about the instrument driver axis 85. Because the instrument shaft 88 is positioned in the center of the instrument base 87, the instrument shaft 88 is coaxial with the instrument driver axis 85 when attached. Rotation of the rotating assembly 83 therefore causes the instrument shaft 88 to rotate about its own longitudinal axis. Also, because the instrument base 87 rotates with the instrument shaft 88, any tendons connected to the drive input 89 at the instrument base 87 do not become entangled during rotation. Thus, the parallelism of the axes of the drive output 81, drive input 89, and instrument shaft 88 allows for shaft rotation without entangling any of the control tendons.

[0111] FIG. 18 illustrates an instrument having an instrument-based insertion architecture, according to some embodiments. The instrument 150 can be coupled to any of the instrument drivers discussed above. The instrument 150 comprises an elongated shaft 152, an end effector 162 connected to the elongated shaft 152, and a handle 170 coupled to the elongated shaft 152. The elongated shaft 152 comprises a tubular member having a proximal portion 154 and a distal portion 156. The elongated shaft 152 comprises one or more channels or grooves 158 along its outer surface. The grooves 158 are configured to receive one or more wires or cables 180. Thus, the one or more cables 180 run along the outer surface of the elongated shaft 152. In other embodiments, the cables 180 can run through the elongated shaft 152. Manipulation of one or more of the cables 180 (e.g., via an instrument driver) results in actuation of the end effector 162.

[0112] The instrument handle 170, sometimes referred to as the instrument base, may typically include a mounting interface 172 having one or more mechanical inputs 174, e.g., receptacles, pulleys or spools, designed to intermate with one or more torque couplers on the mounting surface of the instrument driver.

[0113] In some embodiments, the instrument 150 comprises a series of pulleys or cables that allow the elongated shaft 152 to translate relative to the handle 170. In other words, the instrument 150 itself constitutes an instrument-based insertion architecture that accommodates the insertion of the instrument, thereby minimizing reliance on the robotic arm to effect the insertion of the instrument 150. In other embodiments, the robotic arm may be more heavily involved in the insertion of the instrument.

[0114] E. Controller. Any of the robotic systems described herein can include an input device or controller for manipulating an instrument attached to the robotic arm. In some embodiments, the controller can be coupled (e.g., communicatively, electrically, wirelessly, and / or mechanically) to the instrument such that manipulation of the controller causes a corresponding manipulation of the instrument, e.g., via master-slave control.

[0115] 19 is a perspective view of one embodiment of the controller 182. In this embodiment, the controller 182 includes a hybrid controller that can include both impedance control and admittance control. In other embodiments, the controller 182 can only utilize impedance control, i.e., passive control. In other embodiments, the controller 182 can only utilize admittance control. Advantageously, being a hybrid controller allows the controller 182 to have a lower perceived inertia during use.

[0116] In the illustrated embodiment, the controller 182 is configured to enable operation of two medical instruments and includes two handles 184. Each of the handles 184 is connected to a gimbal 186. Each gimbal 186 is connected to a positioning platform 188.

[0117] 19, each positioning platform 188 includes a SCARA arm (Selectively Compliant Assembly Robot Arm) 198 coupled to a column 194 by a prismatic joint 196. The prismatic joint 196 is configured to translate along the column 194 (e.g., along a rail 197) to allow each of the handles 184 to translate in the z-direction, providing a first degree of freedom. The SCARA arm 198 is configured to allow movement of the handles 184 in the xy-plane, providing an additional two degrees of freedom.

[0118] In some embodiments, one or more load cells are positioned within the controller. For example, in some embodiments, a load cell (not shown) is positioned on the body of each of the gimbals 186. By providing a load cell, a portion of the controller 182 can operate under admittance control, thereby advantageously reducing the perceived inertia of the controller during use. In some embodiments, the positioning platform 188 is configured for admittance control while the gimbal 186 is configured for impedance control. In other embodiments, the positioning platform 188 is configured for impedance control while the gimbal 186 is configured for admittance control. Thus, in some embodiments, the translational or positional degree of freedom of the positioning platform 188 can rely on admittance control, while the rotational degree of freedom of the gimbal 186 is determined by impedance control.

[0119] F. Navigation and Control. Traditional endoscopy may involve the use of fluoroscopy (e.g., as may be delivered through a C-arm) and other forms of radiation-based imaging modalities to provide intraluminal guidance to the operator-physician. In contrast, the robotic system contemplated by the present disclosure may provide non-radiation-based navigation and localization means to reduce the physician's exposure to radiation and reduce the amount of equipment in the operating room. As used herein, the term "localization" may refer to determining and / or monitoring the position of an object in a reference coordinate system. Techniques such as preoperative mapping, computer vision, real-time EM tracking, and robot command data may be used individually or in combination to achieve a radiation-free surgical environment. In other cases where radiation-based imaging modalities are still used, preoperative mapping, computer vision, real-time EM tracking, and robot command data may be used individually or in combination to improve information available only through radiation-based imaging modalities.

[0120] FIG. 20 is a block diagram illustrating a localization system 90 for estimating the position of one or more elements of a robotic system, such as the location of an instrument, according to an exemplary embodiment. The localization system 90 may be a set of one or more computing devices configured to execute one or more instructions. The computing devices may be embodied by a processor (or processors) and computer readable memory in one or more of the components discussed above. By way of example, and not limitation, the computing devices may be in the tower 30 shown in FIG. 1, the cart shown in FIGS. 1-4, or the bed shown in FIGS. 5-14.

[0121] 20, the localization system 90 may include a localization module 95 that processes the input data 91-94 to generate position data 96 of the distal tip of the medical instrument. The position data 96 may be data or logic that represents the location and / or orientation of the distal tip of the instrument relative to a frame of reference. The frame of reference may be relative to the patient's anatomy or relative to a known object such as an EM field generator (see discussion of EM field generators below).

[0122] The various input data 91-94 will now be described in more detail. Pre-operative mapping can be accomplished through the use of acquisition of low-dose CT scans. The pre-operative CT scans are reconstructed into three-dimensional images that are visualized, for example, as cutaway "slices" of the patient's internal anatomy. When analyzed as a whole, image-based models can be developed that cover the anatomical cavities, anatomical spaces, and anatomical structures of the patient's anatomy, such as the patient's pulmonary network. Techniques such as centerline geometry can be determined and approximated from the CT images to create a three-dimensional volume of the patient's anatomy, referred to as model data 91 (also referred to as "pre-operative model data" when developed using only pre-operative CT scans). The use of centerline geometry is discussed in U.S. Patent Application Serial No. 14 / 523,760, the contents of which are incorporated herein in their entirety. Network topological models can also be derived from CT images and are particularly suitable for bronchoscopy.

[0123] In some embodiments, the instrument may be equipped with a camera to provide visual data 92. A localization module 95 may process the visual data to enable one or more vision-based location tracking. For example, pre-operative model data may be used in conjunction with the visual data 92 to enable computer vision-based tracking of a medical instrument (e.g., an endoscope, or an instrument advancing through a working channel of the endoscope). For example, using the pre-operative model data 91, the robotic system may generate a model-based predicted endoscopic image library based on the expected path of travel of the endoscope, with each image linked to a location in the model. During surgery, this library may be referenced by the robotic system to compare real-time images captured by a camera (e.g., a camera at the distal end of the endoscope) to those in the image library to aid in localization.

[0124] Other computer vision based tracking techniques use feature tracking to determine the motion of the camera and therefore the endoscope. Some features of the localization module 95 may identify a circular geometry in the pre-operative model data 91 that corresponds to an anatomical lumen and track changes in that geometry to ascertain which anatomical lumen has been selected and the relative rotational and / or translational motion of the camera. The use of a phase map may further enhance vision-based algorithms or techniques.

[0125] Optical flow, another computer vision based technique, may analyze the displacement and translation of image pixels in a video sequence in the visual data 92 to infer camera movement. Examples of optical flow techniques may include motion detection, object segmentation computations, luminance, motion compensated coding, stereo disparity measurements, etc. By comparing multiple frames over multiple iterations, the movement and location of the camera (and therefore the endoscope) may be determined.

[0126] The localization module 95 may use real-time EM tracking to generate a real-time position of the endoscope in a global coordinate system that may be registered to the patient's anatomy represented by the pre-operative model. In EM tracking, an EM sensor (or tracker), consisting of one or more sensor coils embedded in a medical instrument (e.g., an endoscopic instrument) at one or more locations and orientations, measures the variations in the EM field produced by one or more static EM field generators positioned at known locations. The location information detected by the EM sensor is stored as EM data 93. The EM field generator (or transmitter) may be placed near the patient to produce a low-intensity magnetic field that the embedded sensor can detect. The magnetic field induces a small current in the sensor coil of the EM sensor, which may be analyzed to determine the spacing and angle between the EM sensor and the EM field generator. These spacings and orientations may be "registered" intraoperatively to the patient's anatomy (e.g., the pre-operative model) to ascertain a geometric transformation that aligns only one location in the coordinate system with a location in the pre-operative model of the patient's anatomy. Once registered, an EM tracker embedded at one or more locations on the medical instrument (e.g., the distal tip of an endoscope) can provide a real-time indication of the medical instrument's progression through the patient's anatomy.

[0127] The robotic commands and kinematic data 94 may also be used by a localization module 95 to provide localization data 96 for the robotic system. During pre-operative calibration, the device pitch and yaw resulting from the articulation commands may be determined. Intra-operatively, these calibration measurements may be used in combination with known insertion depth information to estimate the position of the instrument. Alternatively, these calculations may be analyzed in combination with EM, vision, and / or phase modeling to estimate the position of the medical instrument within the network.

[0128] As Fig. 20 illustrates, several other input data can be used by the localization module 95. For example, although not shown in Fig. 20, an instrument that utilizes shape sensing fibers can provide shape data that the localization module 95 can use to ascertain the position and shape of the instrument.

[0129] The localization module 95 may use a combination of the input data 91-94. In some cases, such combination may use a probabilistic approach in which the localization module 95 assigns confidence weights to the locations identified from each of the input data 91-94. Thus, if the EM data is unreliable (e.g., in the presence of EM interference), the reliability of the locations identified by the EM data 93 may be reduced, and the localization module 95 may rely more heavily on the vision data 92 and / or the robot command and kinematics data 94.

[0130] As discussed above, the robotic systems discussed herein can be designed to incorporate one or a combination of two or more of the above-mentioned technologies. The computer-based control system of the tower, bed, and / or cart-based robotic system may store, for example, in a non-transitory computer-readable storage medium, such as a persistent magnetic storage drive, solid-state drive, etc., computer program instructions that, when executed, cause the system to receive and analyze sensor data and user commands, generate system-wide control signals, and display navigation and localization data, such as instrument position within a global coordinate system, anatomical maps, etc.

[0131] 2. Overview of Systems, Devices, and Methods for Real-Time 3D Robot Status The present application discloses a robotic medical system that uses real-time renderings (e.g., three-dimensional (3-D) renderings of images, models, information, etc.) to communicate the status of the robotic medical system to a physician / physician assistant.

[0132] As described herein, the robotic medical system may be configured to execute a pre-programmed workflow corresponding to a procedure to guide a physician / physician assistant through the procedure. In some embodiments, the pre-programmed workflow may include one or more phases, such as a pre-operative phase, an intra-operative phase, and / or a post-operative (e.g., dissection) phase. Each of the phases may include one or more respective steps. 3-D rendering may be used to communicate in real time the real-time status of the robotic medical system during one or more phases, and in particular the positional changes of the robotic medical system.

[0133] As described herein, 3-D rendering can be used to communicate real-time status of a robotic medical system in response to robotic and / or manual control of the robotic medical system.

[0134] In some embodiments, the 3-D rendering can be used to communicate the status of the robotic medical system in response to manual control of the robotic medical system.

[0135] A. Robot System FIG. 21 illustrates an exemplary robotic medical system 200 according to some embodiments. In some embodiments, the robotic medical system 200 is a robotic medical system (e.g., a robotic surgery system). In the example of FIG. 21, the robotic medical system 200 includes a patient support platform 202 (e.g., a patient platform, a table, a bed, etc.). Two ends along the length of the patient support platform 202 are referred to as the "head" and the "foot", respectively. Two sides of the patient support platform 202 are referred to as the "left" and the "right", respectively. The patient support platform 202 includes a support 204 (e.g., a rigid frame) for the patient support platform 202.

[0136] The robotic medical system 200 also comprises a base 206 for supporting the robotic medical system 200. The base 206 includes wheels 208 that allow the robotic medical system 200 to be easily movable or repositionable in a physical environment. In some embodiments, the wheels 208 are omitted from the robotic medical system 200 or can be retracted so that the base 206 can be placed directly on the ground or floor. In some embodiments, the wheels 208 are replaced by feet.

[0137] The robotic medical system 200 includes one or more robotic arms 210. The robotic arms 210 can be configured to perform the robotic medical procedures described above with reference to Figures 1-20. Although Figure 21 shows five robotic arms 210, it should be understood that the robotic medical system 200 can include any number of robotic arms, including less than five, or six or more.

[0138] The robotic medical system 200 also includes one or more bars 220 (e.g., adjustable arm supports or adjustable bars) that support the robotic arms 210. Each of the robotic arms 210 is supported on and movably coupled to the bar 220 by the robotic arm's respective base joint. In some embodiments, the bar 220 can provide several degrees of freedom, including lift, lateral translation, tilt, etc., as described in FIG. 12. In some embodiments, each of the robotic arms 210 and / or adjustable arm supports 220 is also referred to as a respective kinematic chain.

[0139] 21 shows three robotic arms 210 supported by a bar 220 within the field of view of the figure. The remaining two robotic arms are supported by another bar located across the other length of the patient support platform 202.

[0140] In some embodiments, the adjustable arm support 220 can be configured to provide a home position for one or more of the robotic arms 210 for a robotic medical procedure. The robotic arm 210 can be positioned relative to the patient support platform 202 by translating the robotic arm 210 along the length of the underlying bar 220 and / or by adjusting the position and / or orientation of the robotic arm 210 via one or more joints and / or links (see, e.g., FIG. 23 ). In some embodiments, the bar pose can be changed via manual, remote, and / or power-assisted movement.

[0141] In some embodiments, the adjustable arm support 220 can be translated along the length of the patient support platform 202. In some embodiments, translation of the bar 220 along the length of the patient support platform 202 causes one or more of the robotic arms 210 supported by the bar 220 to translate simultaneously with or relative to the bar. In some embodiments, the bar 220 can be translated while one or more of the robotic arms remain stationary relative to the base 206 of the robotic medical system 200.

[0142] 21 , the adjustable arm support 220 is located along the length of the patient support platform 202. In some embodiments, the adjustable arm support 220 may extend across a partial length or the entire length of the patient support platform 202 and / or across a partial width or the entire width of the patient support platform 202.

[0143] According to some embodiments, during a robotic medical procedure, one or more of the robotic arms 210 can also be configured to hold an instrument 212 (e.g., a robotically controlled medical instrument or tool, such as an endoscope and / or any other instrument that may be used during surgery (e.g., a sensor, a lighting instrument, a cutting instrument, etc.)) and / or can be coupled to one or more accessories, including one or more cannulas.

[0144] FIG. 22 illustrates another view of the exemplary robotic medical system 200 of FIG. 21 according to some embodiments. In this example, the robotic medical system 200 includes six robotic arms 210-1, 210-2, 210-3, 210-4, 210-5, and 210-6. The patient platform 202 is supported by columns 214 extending between the base 206 and the patient platform 202. In some embodiments, the patient platform 202 includes a tilt mechanism 216. The tilt mechanism 216 can be positioned between the columns 214 and the patient platform 202 to allow the patient platform 202 to pivot, rotate, or tilt relative to the columns 214. The tilt mechanism 216 can be configured to allow lateral and / or longitudinal tilt of the patient platform 202. In some embodiments, the tilt mechanism 216 allows simultaneous lateral and longitudinal tilt of the patient platform 202.

[0145] FIG. 22 shows the patient platform 202 in a non-tilted state or position. In some embodiments, the non-tilted state or position is the default position of the patient platform 202. In some embodiments, the default position of the patient platform 202 is a substantially horizontal position as shown in FIG. 22. As illustrated, in the non-tilted state, the patient platform 202 can be positioned horizontally or parallel to the surface (e.g., the ground or floor) supporting the robotic medical system 200. In some embodiments, the term "non-tilted" refers to a state in which the angle between the default position and the current position is less than a threshold angle (e.g., less than 5 degrees, or less than an angle that would cause the patient to shift on the patient platform, etc.). In some embodiments, the term "non-tilted" refers to a state in which the patient platform is substantially perpendicular to the direction of gravity, regardless of the angle formed with respect to gravity by the surface supporting the robotic medical system.

[0146] 22 , in the illustrated example of the robotic medical system 200, the patient platform 202 includes a support 204. In some embodiments, the support 204 includes a rigid support structure or frame and can support one or more surfaces, pads, or cushions 222. The upper surface of the patient platform 202 can include a support surface 224. A patient can be placed on the support surface 224 during a medical procedure.

[0147] 22 shows the robotic arm 210 and adjustable arm support 220 in an exemplary deployed configuration, where the robotic arm 210 reaches above the patient platform 202. In some embodiments, the configuration of the robotic medical system 200 allows for storage of different components below the patient platform 202, allowing the robotic arm 210 and arm support 220 to occupy space below the patient platform 202. Thus, in some embodiments, the tilt mechanism 216 has a low profile and / or low volume to increase the space available for storage below.

[0148] FIG. 22 also illustrates an exemplary x, y, and z coordinate system that may be used to describe certain features of the embodiments disclosed herein. It is understood that this coordinate system is provided for purposes of illustration and explanation only, and other coordinate systems may be used. In the illustrated example, the x-direction or x-axis extends laterally across the patient platform 202 when the patient platform 202 is in a non-tilted state. In some configurations, the x-direction extends across the patient platform 202 from one lateral side (e.g., right side) to the other lateral side (e.g., left side) when the patient platform 202 is in a non-tilted state. The y-direction or y-axis extends longitudinally along the patient platform 202 when the patient platform 202 is in a non-tilted state. That is, the y-direction extends along the patient platform 202 from one longitudinal end (e.g., head end) to the other longitudinal end (e.g., foot end) when the patient platform 202 is in a non-tilted state. In the non-tilted state, the patient platform 202 can be in or parallel to an xy plane, which can be parallel to a floor or ground. In the illustrated example, the z direction or z axis extends vertically along the column 214. In some embodiments, the tilt mechanism 216 is configured to laterally tilt the patient platform 202 by rotating the patient platform 202 about a lateral tilt axis parallel to the y axis. The tilt mechanism 216 can also be configured to longitudinally tilt the patient platform 202 by rotating the patient platform 202 about a longitudinal tilt axis parallel to the x axis.

[0149] B. Robot arm 23A-23C illustrate different views of an exemplary robotic arm 210, according to some embodiments.

[0150] 23A illustrates that the robotic arm 210 includes multiple links (e.g., linkages) 302. The links 302 are connected by one or more joints 304. Each of the joints 304 includes one or more degrees of freedom (DoF).

[0151] In FIG. 23A, the joint 304 includes a first joint 304-1 (e.g., a base joint or A0 joint) located at or near the base 306 of the robot arm 210. In some embodiments, the base joint 304-1 comprises a prism joint that allows the robot arm 210 to translate along the bar 220 (e.g., along the y-axis). The joint 304 also includes a second joint 304-2. In some embodiments, the second joint 304-2 rotates relative to the base joint 304-1. The joint 304 also includes a third joint 304-3 connected to one end of the link 302-2. In some embodiments, the joint 304-3 includes multiple DoFs to facilitate both tilt and rotation of the link 302-2 tilt relative to the joint 304-3.

[0152] 23A also shows a fourth joint 304-4 connected to the other end of link 302-2. In some embodiments, joint 304-4 includes an elbow joint connecting link 302-2 and link 302-3. Joint 304 further includes a pair of joints 304-5 (e.g., a wrist roll joint) and 304-6 (e.g., a wrist pitch joint) located at a distal portion of robot arm 210.

[0153] A proximal end of the robotic arm 210 may be connected to a base 306, and a distal end of the robotic arm 210 may be connected to an advanced device manipulator (ADM) 308 (e.g., a tool driver, an instrument driver, or a robotic end effector, etc.). The ADM 308 may be configured to control the positioning and manipulation of a medical instrument 212 (e.g., a tool, a scope, etc.).

[0154] The robotic arm 210 may also include a cannula sensor 310 for detecting the presence of a cannula or the proximity of a cannula to the robotic arm 210. In some embodiments, when the cannula sensor 310 detects the presence of a cannula (e.g., via one or more processors of the robotic medical system 200), the robotic arm 210 is placed in a docked state (e.g., a docked position). In some embodiments, when the robotic arm 210 is in the docked position, the robotic arm 210 may perform null space motion to maintain the position and / or orientation of the cannula, as discussed in more detail below. Conversely, when a cannula is not detected by the cannula sensor 310, the robotic arm 210 is placed in an undocked state (e.g., an undocked position).

[0155] In some embodiments, as illustrated in FIG. 23A , the robotic arm 210 includes an input or button 312 (e.g., a donut-shaped button, or other type of control, etc.) that can be used to put the robotic arm 210 into admittance mode (e.g., by pressing the button 312). The admittance mode is also referred to as an admittance scheme or admittance control. In the admittance mode, the robotic system 210 measures forces and / or torques (e.g., applied to the robotic arm 210) and outputs a corresponding velocity and / or position. In some embodiments, the robotic arm 210 can be manually manipulated by a user in the admittance mode (e.g., during a setup procedure, or between procedures, etc.). In some examples, by using admittance control, an operator does not need to overcome all of the inertia in the robotic medical system 200 to move the robotic arm 210. For example, under admittance control, when an operator applies a force to the arm, the robotic medical system 200 can assist the operator in moving the robotic arm 210 by measuring the force and driving one or more motors associated with the robotic arm 210, thereby resulting in a desired velocity and / or position of the robotic arm 210.

[0156] In some embodiments, the link 302 may be removably coupled to the medical tool 212 (e.g., to facilitate attachment and detachment of the medical tool 212 from the robotic arm 210). The joint 304 provides the robotic arm 210 with multiple degrees of freedom (DoF) that facilitates control of the medical tool 212 via the ADM 308. In one embodiment, such as shown in FIG. 23, that includes multiple robotic arms, each robotic arm can hold its own respective medical tool and pivot the medical tool about a remote center of motion.

[0157] FIG. 23B illustrates a front view of the robot arm 210. FIG. 23C illustrates a perspective view of the robot arm 210. In some embodiments, the robot arm 210 includes a second input or button 314 (e.g., a push button) different from the button 312 of FIG. 23A to put the robot arm 210 into impedance mode (e.g., by pressing the button 314 once or continuously). In this example, the button 314 is located between the joints 304-5 and 304-6. The impedance mode is also referred to as impedance scheme or impedance control. In the impedance mode, the robotic medical system 200 measures displacements (e.g., changes in position and velocity) and outputs forces and / or torques to facilitate manual movement of the robot arm. In some embodiments, the robot arm 210 can be manually operated by a user in the impedance mode (e.g., during a set-up procedure). In some embodiments, under impedance mode, operator movement of a portion of the robotic arm 210 can cause movement of one or more joints and / or links of the entire robotic arm 210.

[0158] In some embodiments, for admittance control, force sensors or load cells can measure the force an operator is applying to the robotic arm 210 and move the robotic arm 210 in a way that feels lighter. Under admittance control, motors in the controller can help accelerate the mass, thus hiding the perceived inertia of the robotic arm 210, so admittance control can feel lighter than impedance control. In contrast, with impedance control, according to some embodiments, the user is involved in most, if not all, of the mass acceleration.

[0159] In some situations, depending on the position of the robotic arm 210 relative to the operator, it may be inconvenient to reach for button 312 and / or button 314 to activate a manual operation mode (e.g., admittance mode and / or impedance mode). Thus, under these circumstances, it may be convenient for the operator to trigger the manual operation mode other than by a button.

[0160] In some embodiments, the robotic arm 210 includes a single button (e.g., button 312 or 314) that can be used to put the robotic arm 210 into admittance mode and / or impedance mode (e.g., by using different presses such as long press, short press, press and hold, etc.). In some embodiments, the robotic arm 210 can be put into impedance mode by a user pressing the arm linkage (e.g., link 302) and / or joints (e.g., joint 304) and overcoming a force threshold. In some embodiments, the admittance mode and impedance mode are common in that they both allow a user to command movement by gripping the robotic arm 210 and interfacing directly with it.

[0161] In some embodiments, the robot arm 210 includes an input control for activating the arm following mode. For example, in some embodiments, the robot arm 210 may include designated touch points located on the links 302 or joints 304 (e.g., the outer shell of the links 302 or the buttons 316) of the robot arm. User interaction (e.g., user touch, contact, etc.) with the designated touch points activates the arm following mode. In some embodiments, the robot arm 210 includes multiple touch points. User interaction with any of the touch points (e.g., one or more) activates the arm following mode.

[0162] During a medical procedure, it may be desirable to maintain a remote center of motion (RCM) of the ADM 308 of the robotic arm 210 and / or the tool 212 coupled thereto in a static attitude (e.g., position and / or orientation). The RCM may refer to a point in space where the motion of a cannula or other access port through which the medical tool 212 is inserted is constrained. In some embodiments, the medical tool 212 includes an end effector that is inserted through an incision or natural orifice in a patient while maintaining the RCM. In some embodiments, the medical tool 212 includes an end effector that is in a retracted state during a setup process of the robotic medical system.

[0163] In some circumstances, the robotic medical system 200 can be configured to move one or more links 302 of the robotic arm 210 in a "null space" to avoid collisions with nearby objects (e.g., other robotic arms) while the ADM 308 and / or RCM of the robotic arm 210 are maintained in their respective poses (e.g., positions and / or orientations). The null space can be considered as a set of joint states that the robotic arm 210 can move into that does not result in movement of the ADM 308 and / or RCM, thereby maintaining the position and / or orientation of the medical tool 212 (e.g., within the patient). In some embodiments, the robotic arm 210 can have multiple positions and / or configurations available for each pose of the ADM 308.

[0164] In order for the robotic arm 210 to move the instrument to a desired pose in space, in certain embodiments, the robotic arm 210 may have at least six DoFs, i.e., three DoFs for translation (e.g., X-position, Y-position, and Z-position) and three DoFs for rotation (e.g., yaw, pitch, and roll). In some embodiments, each joint 304 may provide the robotic arm 210 with a single DoF, and thus the robotic arm 210 may have at least six joints to achieve degrees of freedom of movement to position the ADM 308 at any pose in space. To further maintain the ADM 308 and / or remote center or movement of the robotic arm 210 at a desired pose, the robotic arm 210 may further have at least one additional "redundant joint." Thus, in certain embodiments, the system may include a robotic arm 210 with at least seven joints 304, providing the robotic arm 210 with at least seven DoFs. In some embodiments, the robotic arm 210 may include a subset of the joints 304 each having two or more degrees of freedom, thereby achieving additional DoF for null space motion, however, depending on the embodiment, the robotic arm 210 may have a greater or lesser number of DoF.

[0165] 12, the bar 220 (e.g., an adjustable arm support) can provide several degrees of freedom including lift, lateral translation, tilt, etc. Thus, depending on the embodiment, the robotic medical system can have many more robotically controlled degrees of freedom beyond those in the robotic arm 210 to provide zero space movement and collision avoidance. In each of these embodiments, the end effector (and any tools or instruments coupled thereto) of one or more robotic arms, as well as remote centers along the axes of the tools, can advantageously maintain their orientation and / or position within the patient.

[0166] A robotic arm 210 with at least one redundant DoF has at least one more DoF than the minimum number of DoFs to perform a given task. For example, the robotic arm 210 may have at least seven DoFs, and according to some embodiments, one of the joints 304 of the robotic arm 210 may be considered a redundant joint. The one or more redundant joints may enable the robotic arm 210 to move in null space to maintain the attitude of the ADM 308 and the position of the RCM, and to avoid collisions with other robotic arms or objects.

[0167] In some embodiments, the robotic medical system 200 can be configured to perform collision avoidance, for example, to avoid collisions between adjacent robotic arms 210, by utilizing movement of one or more redundant joints in the null space. For example, when a robotic arm 210 collides or approaches (e.g., within a defined distance of) another robotic arm 210, one or more processors of the robotic medical system 200 can be configured to detect the collision or impending collision (e.g., via kinematics). Thus, the robotic medical system 200 can control one or both of the robotic arms 210 to adjust their respective joints in the null space to avoid the collision or impending collision. In embodiments including at least a pair of robotic arms, the base of one of the robotic arms and its end effector can remain in its pose while the link or joint between them moves in the null space to avoid collision with the adjacent robotic arm.

[0168] C. Real-time 3-D rendering of the status of the robotic medical system i. Guide and / or control the position changes of the robot 24A-24C illustrate 3-D renderings (e.g., 3-D models, visual representations, etc.) of a robotic medical system (e.g., the robotic medical system 200 as depicted in FIGS. 21 and 22) during the setup phase of a procedure, according to some embodiments.

[0169] As used herein, a "3-D rendering" may include a 3-D graphic, 3-D representation, or computer-generated 3-D model (e.g., to scale or not) of the robotic medical system 200 or a portion thereof, such as one or more robotic arms, links and / or joints of the robotic arm, arm supports, and / or patient support platform of the robotic medical system 200. In some embodiments, the 3-D rendering includes an isometric view and / or a perspective view of the robotic medical system 200. In some embodiments, the 3-D rendering corresponds to a live (e.g., real-time) 3-D animated scene of the robotic medical system 200, including the robotic arm 210, the adjustable arm support (e.g., bar) 220, and / or the patient support platform 204. In some embodiments, the 3-D scene includes a view (e.g., from a virtual camera) that is dynamically updated in response to a stage (or step) of a preprogrammed workflow. In some embodiments, the 3-D rendering may include an image (e.g., a two-dimensional (2-D) image) that is rendered to provide a perception of depth to a user. For example, the 3-D rendering may be a 2-D image that is color rendered (e.g., using different color tones) to show the depth of the robotic arms and patient support platform (thus providing a sense of depth or distance). Additionally or alternatively, the 3-D rendering may include occlusion of one or more portions of the robotic arms and patient support platform to show the depth of the robotic arms and patient support platform. In some embodiments, the 3-D rendering may include images (e.g., 2-D images) that are shaded to show characteristics and / or contours of different surfaces of the robotic system (e.g., surfaces of the robotic arms, surfaces of the bar, surfaces of the patient support platform, etc.).

[0170] 24A shows a 3-D rendering 400 including a visual representation 402 corresponding to the patient support 202, a visual representation 410 corresponding to the robotic arm 210, and a visual representation 420 corresponding to the adjustable arm support 220. The 3-D rendering 400 reflects a real-time status of the robotic medical system 200, with the robotic arm 210 and the adjustable arm support 220 in a stowed configuration prior to setup. In FIG. 24A, the 3-D rendering 400 also includes a visual representation corresponding to the patient.

[0171] In some embodiments, the robotic medical system 200 generates 3-D renderings in real time (e.g., on the fly) according to a determination of a status of the robotic medical system 200. For example, the robotic medical system 200 can use data determined by sensors and / or encoders included in the robotic medical system 200 to determine corresponding positions and / or orientations of the joints and / or links of the robotic arm 210, the pose (e.g., position and / or orientation) of the arm support 220, and / or the position and / or orientation of the patient support platform 202. In some embodiments, the robotic medical system 200 uses the sensor data to generate (e.g., build) a 3-D representation of the robotic medical system and displays the 3-D representation. In some embodiments, the robotic medical system 200 also determines changes in the position and / or orientation of the robotic arm, arm support, and / or patient support platform (e.g., in real time, continuously, constantly, such as every 5 seconds, every 10 seconds, every 30 seconds, etc.) and updates the 3-D rendering according to the changes in the position and / or orientation of the robotic arm, arm support, and / or patient support platform to reflect the changing state of the robotic medical system 200.

[0172] Additionally or alternatively, in some embodiments, the robotic medical system 200 stores (e.g., locally, on a remote computer system, etc.) a library (e.g., database, stock, etc.) of images corresponding to different configurations (e.g., positions and / or orientations) of the robotic medical system. Using sensors and / or encoders attached thereto, the robotic medical system 200 can determine in real time the positions and / or orientations of the joints and / or links of the robotic arm 210, the pose of the arm support 220, and / or the position of the patient support platform 202, and select from the stored images the image that most closely matches the determined configuration for display as a 3-D rendering.

[0173] In some embodiments, the 3-D rendering is displayed on one or more displays of the robotic medical system 200. The one or more displays can be located on a tower viewer, surgeon viewer, bed / tower pendant of the robotic medical system 200. In some embodiments, the one or more displays can be located on any pendant (e.g., a remote pendant) that is communicatively connected to and used as part of the robotic medical system 200.

[0174] In some embodiments, the workflow includes a setup phase, an intraoperative phase, and a postoperative phase. Each of the phases can include one or more respective steps. For example, the setup phase can include steps such as deploying the robotic arm 210 and the arm support 220 (e.g., rails, bars, etc.) from a stowed state to a deployed state, draping the robotic arm 210 and the arm support 220, positioning the robotic arm 210 and the arm support 220 in a pre-docking position, manually adjusting the bar 220 and / or the arm 210, establishing boundary conditions specific to a particular surgery and / or based on accessories utilized in the procedure, docking the robotic arm 210, attaching instruments to the robotic arm 210, and optimizing the position of the arm support 220.

[0175] In some embodiments, for each step of the workflow, the robotic medical system 200 defines a particular view (e.g., viewpoint). In some embodiments, a particular view is selected that may be most useful / informative to a user with respect to monitoring or completing a step. In some embodiments, the robotic medical system 200 stores information representing the selected (or associated) view for each step of the workflow. In some embodiments, a step of the workflow may include (or be associated with) multiple (e.g., different) viewpoints (e.g., different fields of view). One or more displays may include a user interface that provides a toggle element that, when selected, allows a user to toggle between different viewpoints to better visualize the positions of components of the robotic medical system. In some embodiments, one or more displays simultaneously present renderings of multiple viewpoints.

[0176] In some embodiments, the 3-D rendering includes visual indicators to communicate the status of the robotic medical system 200 during the setup phase of the procedure. For example, in Figure 24A, a text field 412 ("Deploy arms and rails to drape position") is displayed simultaneously with the 3-D rendering 400. In some implementations, the text field 412 guides the user through the next step of the procedure.

[0177] 24B illustrates an updated 3-D rendering 430 displayed in response to a user selection of visual representations 410 and / or 420. In some embodiments, user selection of visual representations 410 and / or 420 corresponds to a user command for controlling the robotic arm 210 and / or arm support 220 (e.g., using the tower pendant). In some embodiments, in response to the user selection, the robotic medical system 200 renders the visual representations 410 and 420 in a manner visually different from other portions of the robotic system in the rendering (e.g., displaying in different colors, including visual effects or animations such as highlighting, shading, pulsing, and / or other visual enhancements). For example, in response to a user selection of one or more portions of the 3-D rendering, the selected portions of the 3-D rendered model are highlighted (e.g., using a color such as blue, yellow, red, orange, or any other color different from the remainder of the rendering) to indicate the user selection (e.g., selection of one or more components or portions of the robotic medical system 200 for control from the tower pendant).

[0178] In some embodiments, the user selection of a portion of the 3-D rendering comprises a direct user selection, such as a user tap and / or touch on a touch screen display, a user click of a portion of the 3-D rendering using a mouse, etc. The user selection is interpreted by the robotic medical system 200 (e.g., one or more processors) as a portion to be robotically controlled by the robotic medical system 200.

[0179] In some embodiments, user selection of a portion of the 3-D rendering includes an indirect selection. For example, the 3-D rendering may be displayed with a list of steps (e.g., text fields) of a procedure workflow. A user may indirectly select a portion of the 3-D rendering by selecting a text field that corresponds to a particular workflow step. In response, the robotic medical system 200 identifies one or more portions of the robotic medical system that correspond to the selected workflow step and causes (e.g., performs) a robotic movement relative to the identified portions.

[0180] In some embodiments, following user selection of one or more parts of the robotic medical system in the 3-D rendering, the robotic medical system 200 causes (e.g., executes) robotic movement of the selected parts according to pre-programmed workflow steps.

[0181] 24B also shows a progress bar 422 that is displayed simultaneously with the 3-D rendering 430 as the robotic movement is performed on the robotic medical system 200 to indicate progress toward completion of the controlled movement. In some embodiments, a text field 424 (e.g., "Deploying arms and rails") is displayed along with the 3-D rendering 430. The text field 424 describes the current step of the workflow being performed by the robotic medical system 200.

[0182] 24C shows a 3-D rendering 432 in which the visual representation 410 corresponding to the robotic arm 210 is in a substantially vertical position. The 3-D rendering 432 matches (e.g., substantially matches or corresponds to) a real-time status of the robotic medical system 200 in which the robotically controlled movement to the drape position is completed and the robotic arm 210 is straightened. In some embodiments, the visual representation 410 corresponding to the robotic arm is displayed in a visually different manner (e.g., highlighted, shaded, displayed in a different color, including visual effects such as pulsing and / or other visual enhancements) than that used to depict the 3-D rendering 420 of FIG. 24B and / or the 3-D rendering 410 to indicate completion of the step. For example, a portion of the 3-D rendering can change from a first color to a second color (e.g., from white to blue) in response to a user selection and change from the second color to a third color (e.g., from blue to green) upon completion of the movement or step to communicate the status to the user. 24C, the 3-D rendering 432 includes a checkmark badge 434 (or other visual indicator), such as 434-1 and 434-2, to indicate completion of a movement (e.g., robotic movement) of the robotic arm 210 and / or adjustable arm support 220. In some embodiments, the 3-D rendering 432 is accompanied by (e.g., displayed with) text 436 (e.g., "exercise completed") indicating completion of the step. In some embodiments, the robotic medical system 200 also synchronizes the movement and / or completion status with an audio tone (e.g., the robotic medical system 200 may output one or more audio tones to indicate a particular status of the robotic medical system 200).

[0183] 25A and 25B illustrate 3-D renderings of the robotic medical system 200 during the post-operative (e.g., demolition) stage of a procedure, according to some embodiments.

[0184] In some embodiments, the post-operative phase includes steps such as removing surgical tools attached to the robotic arm, undocking the robotic arm, leveling the patient support platform and / or arm supports, adjusting the robotic arm for stowage, undraping the robotic arm and / or bar, and / or stowing the robotic arm and bar, etc. The undraping step can include straightening the robotic arm back to a "known position" before removing the drape.

[0185] 25A shows a 3-D rendering 500 of the robotic medical system 200, where the actual position of the robotic arm 210 is visually represented by elements 502 (e.g., 502-1 through 502-6) in the rendering 500. The 3-D rendering 500 includes visual representations 504 (e.g., 504-1 through 504-6) of "target positions" of the robotic arm 210, corresponding to where the robotic arm 210 needs to be manually moved to at the bedside. In some embodiments, the visual representations 504 of the "target positions" are rendered as a "ghosted" view (e.g., semi-transparent with a transparency of at least 10%, such as 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, or 95%, or any range between two of the aforementioned values).

[0186] FIG. 25B shows that upon completion of movement (e.g., robotic movement and / or manual movement) of the robotic arm 210 to the target position (e.g., known straightened position), the robotic medical system 200 displays an updated 3-D rendering 510 in which the element 502 is located at the visual representation 504 of the target position, indicating that the robotic arm 210 has moved to the target position. In some embodiments, the robotic medical system 200 ceases to display either the visual representation 504 of the target position or the element 502 (in part because the visual representation 504 overlaps with the element 502). In some embodiments, once the step is completed, the robotic arm in the 3-D rendering 510 is represented in a different manner (e.g., as a different color, a different line thickness, highlighting, outline, shading, etc.) than the rest of the 3-D rendering 510. In some embodiments, the 3-D rendering 510 also includes one or more check marks 506 (e.g., 506-1 through 506-6) to reflect the successful completion of this step. For example, each check mark 506 may indicate that movement of a particular component of the robotic medical system 200 has been successfully completed (e.g., check mark 506-1 indicates that movement of the robotic arm corresponding to visual representation 504-1 has been successfully completed, check mark 506-2 indicates that movement of the robotic arm corresponding to visual representation 504-2 has been successfully completed, etc.). In contrast, the absence of a check mark may indicate that movement of a particular component of the robotic medical system 200 is not complete (e.g., movement may be in progress), as shown in FIG. 25A (e.g., the absence of check mark 506-1 in FIG. 25A indicates that movement of the robotic arm corresponding to visual representation 504-1 has not been completed, and the absence of check mark 506-2 in FIG. 25A indicates that movement of the robotic arm corresponding to visual representation 504-2 has not been completed).

[0187] ii. 3-D rendering reflecting robot state changes resulting from manual interactions In some embodiments, real-time rendering is used to provide status updates based on manual interactions between a user and portions of the robotic medical system. Real-time rendering can also be used to communicate the completion of manual actions, such as docking the robotic arm 210 to a respective cannula and / or attaching an instrument to the robotic arm 210.

[0188] In some embodiments, in accordance with a determination that the robotic medical system 200 is performing a particular step of the workflow, the robotic medical system 200 adjusts the field of view (e.g., viewpoint, perspective, angle, etc.) of the virtual camera to focus on a particular portion of the robotic medical system (e.g., a subset of the robotic arm, a particular joint and / or link of the robotic arm, an advanced device manipulator (ADM), a tool driver, an instrument driver, or a robot end effector, a tool or medical instrument attached to the robotic arm, etc.). As a result, the robotic medical system 200 updates the 3-D rendering to display the particular portion of the robotic medical system from the adjusted field of view. In some embodiments, the robotic medical system stores (and / or updates) information indicative of the adjusted field of view (e.g., camera orientation) (e.g., in the computer-readable storage medium 382).

[0189] 26A-26D illustrate 3-D renderings reflecting the real-time status of a robotic medical system resulting from manual interaction, according to some embodiments.

[0190] 26A and 26B illustrate the process by which the robotic arm 210 is manually docked to the respective cannula. In some embodiments, during the docking step, the robotic medical system 200 dynamically changes the camera view (e.g., from an isometric view to a plan view) to display a rendering 600 that focuses on a visual representation 602 corresponding to the ADM 308, as illustrated in FIG. 26A. In some embodiments, the rendering 600 is displayed with (or includes) text 604 (e.g., "Manually latch the arm to the cannula") that describes the manual action to be performed by the user. In some embodiments, the rendering 600 is displayed with (or includes) an affordance 606 (e.g., a "Help" / "Teach me how" button) that, when selected by the user (e.g., based on user interaction with a touch-sensitive display or any other input device), provides guidance (e.g., in the form of video, audio, and / or text, etc.) that guides the user through the completion of the step.

[0191] 26B illustrates an updated rendering 610 that is displayed (e.g., automatically, in real-time, etc.) upon successful completion of a manual docking step. In this example, representations 608 (e.g., 608-1 through 608-5) in rendering 610 reflect the actual position of robotic arm 210, as it typically moves during the manual step that causes robotic arm 210 to latch to its respective cannula. In some embodiments, representations 608 are displayed in a different color to reflect that the manual step was successfully completed. The updated rendering 610 may be displayed with (or include) text 612 and / or a checkmark badge 614 to indicate that the manual step was successfully completed.

[0192] 26C and 26D illustrate renderings depicting the manual attachment of an instrument (e.g., a medical instrument or tool) to the robotic arm 210, according to some embodiments. FIG. 26C shows a rendering 620 (e.g., instrument model, view, etc.) that includes an identification of the instruments 622 (e.g., 622-1 through 622-5) to be attached to the robotic arm 210. In some embodiments, the rendering also includes or indicates the order 624 in which the instruments are attached (e.g., a sequence such as "laparoscopy-attach first"). In some embodiments, each of the instruments includes a unique identifier that can be tracked via an RFID tag. After the instrument is fully connected and latched to the robotic arm 210, the robotic medical system 200 (e.g., via one or more processors) can identify the presence of the instrument on the robotic arm 210, as well as the instrument type it corresponds to. FIG. 26D shows that upon successful completion of the manual step, the robotic medical system 200 displays an updated view 630 (e.g., updated instrument model) in which each of the robotic arms with an instrument loaded is displayed with a check mark 632 along with the respective robotic arm indicating successful completion of the manual step.

[0193] iii. 3-D rendering to indicate error conditions 27A and 27B illustrate the use of 3-D rendering to communicate an error condition of the robotic medical system 200, according to some embodiments.

[0194] 27A depicts a 3-D rendering 700 corresponding to a workflow step of manually attaching an instrument (e.g., a medical tool) to a robotic arm. In some embodiments, following a determination that a user has not completed a workflow step (e.g., the user skipped a workflow step), the robotic medical system 200 can display the rendering 700 with error information (e.g., the rendering 700 shows an error state 702 or error indicator, a location within the robotic medical system where the error was detected (e.g., an identification of the robotic arm), and / or information 704 describing details of the error, such as the cause of the error). In some embodiments, the rendering 700 also includes a user-selectable affordance 706 (e.g., a button) that, when selected by the user, provides guidance (e.g., in the form of video, audio, and / or text, etc.) to guide the user through completion of the tool attachment step.

[0195] FIG. 27B illustrates a view 710 displayed (e.g., on a user interface, tower pendant, etc.) by the robotic medical system 200 during a medical procedure (e.g., during an intraoperative phase), according to some embodiments. In some embodiments, the view 710 corresponds to a live view 712 of the medical procedure (e.g., captured by a camera attached to the robotic arm 210). In some embodiments, the view 710 includes a rendering 714 that depicts the intraoperative status of the robotic medical system 200 in real time to communicate faults, errors, and / or status during the procedure. In the example of FIG. 27B, the rendering 714 includes a warning symbol 716 next to the robotic arm 4 and an accompanying description 718 indicating that the robotic arm 4 has an unresolved fault.

[0196] iv. Support for graphics overlaid on 3-D renderings for additional guidance / target location According to some embodiments of the present disclosure, a graphic (e.g., a graphical representation) can be generated and overlaid on the 3-D rendering to help guide the user to understand what needs to be done to the robotic medical system to complete the workflow. In some embodiments, the graphic can include 0-D objects such as points, 1-D objects such as lines, and / or 2-D objects such as areas or regions of interest. In some embodiments, the graphic can represent a "target position" that indicates where one or more robotic arms need to be moved to at the end of a workflow step.

[0197] 28A and 28B illustrate 3-D renderings depicting the real-time status of the robotic medical system 200 during an intraoperative (e.g., surgical) phase in which the patient support platform and / or arm support are leveled from an inclined position to a horizontal position (e.g., to facilitate surgery).

[0198] 28A shows a 3-D rendering 800 corresponding to a real-time status of the robotic medical system 200 in which the patient support platform 202 (represented in the rendering as element 802) is tilted (e.g., rotated) relative to the longitudinal axis. Superimposed on the 3-D rendering are guide lines 804 (e.g., graphics, level lines, horizon lines, etc.) that indicate the horizontal position of the patient support platform (e.g., table) and guide the user to complete the leveling step. For example, the user can see the relative angle between the representation 802 and the guide lines 804 and then attempt to adjust the patient support platform 202 in the correct direction (e.g., by holding a user interface control on the display or activating a button on the robotic medical system 200) so that the representation 802 aligns with the guide lines 804 (which corresponds to the patient support platform 202 being level (also referred to as having a horizontal position)).

[0199] In some embodiments, while the patient support platform 202 is adjusted toward a horizontal position, the representation 804 is continuously updated to reflect the change in the tilt angle of the patient support platform 202. In some embodiments, as the user adjusts the patient support platform 202, the guide lines 804 remain stationary (e.g., fixed), but the representation 802 is continuously updated. In some embodiments, as the user adjusts the patient support platform 202, the guide lines 804 remain level (e.g., horizontal), but change height (e.g., vertical position) to match the height of the representation 802, which changes with the change in the tilt angle of the patient support platform 202.

[0200] FIG. 28B illustrates a 3-D rendering 810 depicting the completion of a step of leveling the patient support platform and arm support (e.g., rail). FIG. 28B shows that when the step is completed, the rendering 810 is updated to include a check mark 814 (e.g., a green check mark, check mark badge, etc.) adjacent the guide line 804 to indicate completion of leveling the patient support. FIG. 28B also shows that the rendering 810 is updated to include a check mark 816 adjacent the guide line 812 that corresponds to the arm support (e.g., rail) to indicate completion of leveling the arm support. In this example, there are two check marks 816, each corresponding to a respective arm support 220 (e.g., left art support and right arm support).

[0201] v. Pre-rendered footage to communicate robot status In some situations, a series of pre-rendered images (e.g., 2-D video or pre-rendered 3-D images) of the robotic medical system, including the patient support platform and / or the robotic arm, can be used to communicate robot status / selection / completion / failures. The images of the robotic medical system are updated upon completion of movement to a new position. This may consume less computing power than generating 3-D renderings in real time, thus enabling the presentation of a graphical representation of the robotic medical system in an electronic component with limited graphical computing resources (e.g., on the pendant hardware).

[0202] 29A-29C illustrate the use of pre-rendered images to communicate the status of a robotic medical system, according to some embodiments.

[0203] 29A illustrates a pre-rendered 2-D image 900 of a treatment position and a prompt 902 for the user to select the side of the robotic medical system that the user wants to control. In this example, the user selects a representation 904 of the robotic arms on either side of the patient support platform in the image 900 (e.g., by tapping the robotic arms on either side of the patient support platform, by tapping labels 914 (e.g., "A" and "B"), or by tapping a label 915 (e.g., "Select All") in the image 900).

[0204] 29B illustrates that in accordance with a user selection, the robotic medical system 200 displays a pre-rendered image 910 in which a representation 912 of the robotic arm is rendered differently (e.g., different color, different line thickness, highlighted, visually emphasized, etc.) than the representation 904 in image 900 to indicate (and reflect) the user selection. In some embodiments, the labels 914 (e.g., "A" and "B") and / or text 916 (e.g., "Both Sides") in image 900 are rendered differently (e.g., visually emphasized, e.g., using color, font, size, and / or style, for example) than the labels and / or text in image 910 to reflect the user selection of the robotic arm and / or the movement of the robotic arm 210 in accordance with the user selection.

[0205] 29C illustrates a pre-rendered image 920 displayed after the robotic medical system 200 has moved the robotic arm 210 to a treatment position. In image 920, a representation 922 of the robotic arm is rendered differently (e.g., different color, different line thickness, emphasis, visually emphasized, etc.) from other portions of the robotic medical system depicted in the image (and / or from representation 912 in image 910 and / or representation 904 in image 900) to visually emphasize the new position of the robotic arm.

[0206] In some embodiments, the pre-rendered images (such as images 900, 910, and 920) are stored locally on the robotic medical system 200 and / or remotely on a computer system communicatively connected to the robotic medical system 200. The images are retrieved on-the-fly by the robotic medical system 200 according to a determination of a real-time status of the robotic medical system. Using the transition from FIG. 29A to FIG. 29B as an example, the robotic medical system 200 can detect a user selection of a representation of the robotic arms on both sides of the patient support platform. Following the detection, the robotic medical system 200 retrieves the pre-rendered image 910 including the representation 912, the label 914, and / or the text 916. When the movement of the robotic arm 210 is completed, the robotic medical system 200 retrieves (e.g., selects) the image 920, which is an image corresponding to the completion of the movement of the robotic arms on both sides of the patient support platform, and displays the image 920.

[0207] D. Exemplary Process for Real-Time 3-D Robot Status 30A-30E illustrate a flowchart diagram of a method 1000 implemented by one or more processors (e.g., one or more processors 380) of a robotic medical system (such as the robotic medical system 200 or a robotic surgical platform as illustrated in FIGS. 21 and 22), according to some embodiments. The robotic medical system comprises one or more processors and a memory that stores instructions for execution by the one or more processors.

[0208] The robotic medical system includes one or more robotic arms (e.g., robotic arm 210 of FIGS. 21, 22, 23A, 23B, and 23C). In some embodiments, the one or more robotic arms are used to perform a medical procedure. Each of the robotic arms can hold a respective instrument. In some embodiments, the one or more robotic arms are coupled to an adjustable arm support (e.g., adjustable arm support or bar 220).

[0209] The robotic medical system includes one or more displays (e.g., an interactive display, a touch screen display, a display including a user interface, etc.). In some embodiments, the one or more displays include one or more interactive viewers for displaying 3-D renderings of the one or more robotic arms. In some embodiments, the one or more displays are located on a tower viewer, surgeon viewer, bed / tower pendant of the robotic medical system. In some embodiments, the one or more displays are located on any pendant (e.g., a remote pendant) used as part of the robotic medical system.

[0210] The robotic medical system displays (1002) (e.g., generates and displays) a three-dimensional (3-D) rendering (e.g., on one or more displays) that includes a graphical representation of one or more robotic arms.

[0211] The robotic medical system updates (e.g., changes, refreshes, etc.) the 3-D rendering (e.g., automatically, in real-time, once every 10 seconds, 30 seconds, 60 seconds, etc., without a user, without user intervention, etc.) according to a pre-programmed (e.g., pre-defined) workflow corresponding to the procedure (e.g., medical procedure) to guide a user (e.g., surgeon, surgeon's assistant, patient care staff, etc.) through the procedure (e.g., medical procedure, one or more phases of the procedure, etc.) (1004).

[0212] In some embodiments, updating the 3-D rendering includes rotating the 3-D rendering in space (e.g., around a vertical axis) and thus presenting views of the robotic medical system at various angles (e.g., viewpoints) (e.g., updating the 3-D rendering includes presenting a first view of the robotic medical system from a first viewpoint and then replacing the first view of the robotic medical system with a second view of the robotic medical system from a second viewpoint different from the first viewpoint). In some embodiments, updating the 3-D rendering includes rotating the 3-D rendering and pausing on a scene (e.g., field of view, viewpoint, etc.) that includes a particular element to accomplish a step of a workflow process. In some embodiments, updating the 3-D rendering includes changing (e.g., modifying, adjusting, etc.) the field of view (e.g., angle) of the robotic medical system (e.g., the view seen by a virtual camera of the robotic medical system).

[0213] In some embodiments, the 3-D rendering includes an isometric view of the robotic medical system. In some embodiments, updating the 3-D rendering includes panning (e.g., dynamically, automatically, in real-time) the 3-D rendering from an isometric view to a plan view to focus on a particular element of the robotic arm (e.g., a particular joint, a particular link, a device manipulator, a tool mounted on the robotic arm, etc.) or a portion of the adjustable arm support and / or patient support platform.

[0214] In some embodiments, the robotic medical system includes a patient support platform (e.g., patient support platform 202, such as a table, bed, etc.). The robotic medical system performs (1006) spatial configuration adjustments of one or more robotic arms relative to the patient support platform (e.g., adjusting or changing the positions and / or orientations of the joints and / or links of the robotic arms) according to a workflow. The robotic medical system updates (1008) (e.g., automatically, in real-time, etc.) the 3-D rendering to reflect the positional changes of the one or more robotic arms (e.g., to accurately reflect the actual system state of the robotic arms and / or underlying bar relative to the patient support platform) according to the spatial configuration adjustments.

[0215] In some embodiments, the robotic medical system causes (e.g., performs) (1010) a movement of the patient support platform from a first position to a second position according to a workflow. For example, the movement can include a translational movement, a rotational movement, and / or a tilting movement. The robotic medical system updates (1012) the 3-D rendering (e.g., automatically, in real-time, etc.) to reflect the movement of the patient support platform.

[0216] In some embodiments, the robotic medical system includes one or more adjustable arm supports (e.g., arm support 220, underlying bar, etc.) movably coupled to one or more robotic arms. Each of the adjustable arm supports is capable of tilting, rotating, and / or translating. The robotic medical system causes (e.g., executes) (1014) movement of the one or more adjustable arm supports relative to the one or more robotic arms according to a workflow. For example, the movement can include translational, rotational, and / or tilting movements, and the robotic medical system updates (1016) the 3-D rendering (e.g., automatically, in real-time, etc.) to reflect the positional changes of the one or more adjustable arms (e.g., positional changes relative to the one or more robotic arms).

[0217] In some embodiments, the robotic medical system includes multiple robotic arms movably coupled to an adjustable arm support.

[0218] In some embodiments, the robotic medical system includes a plurality of robotic arms and at least two adjustable arm supports, each of the robotic arms movably coupled to a respective arm support.

[0219] In some embodiments, the robotic medical system receives a user selection (1018, FIG. 30B) of a portion of the 3-D rendering (e.g., via one or more displays). For example, as discussed with respect to FIG. 24A, the user selection can include direct user selection and / or indirect user selection. In accordance with the user selection, the robotic medical system displays (1020) the user-selected portion in a manner visually different from other portions of the 3-D rendering (e.g., visual effects such as highlighting, shading, different colors, pulsing and / or other visual enhancements, different font sizes and / or font colors, etc.).

[0220] In some embodiments, the pre-programmed workflow includes one or more stages (1022), including a pre-operative stage (e.g., a setup stage), an intra-operative stage (e.g., an intraoperative stage), and / or a post-operative stage (e.g., a dismantling stage).

[0221] In some embodiments, the updated 3-D rendering communicates the status of the robotic medical system, such as the posture (e.g., position and / or orientation) of the arm and / or arm support, instruments attached to the arm and / or arm support, warning / error messages, etc., during various stages of the medical procedure.

[0222] In some embodiments, a step of the pre-operative phase includes deploying (1024) one or more robotic arms from a stowed position to a deployed position.

[0223] In some embodiments, the pre-operative phase step includes moving (1026) one or more robotic arms to a draping position.

[0224] In some embodiments, a step of the pre-operative phase includes placing one or more robotic arms in a docked state (1028). For example, in some embodiments, the robotic arms are docked to one or more cannulas so that they can then be coupled to one or more corresponding instruments (e.g., robotically controlled medical instruments or tools, such as an endoscope, laparoscope, and / or any other instrument that may be used during surgery). In some embodiments, with the robotic arms docked to the corresponding cannulas, the robotic system determines the remote center of motion (RCM) and / or entry port for each of the robotic arms.

[0225] In some embodiments, the robotic medical system includes an adjustable arm support (e.g., an underlying bar) movably coupled to one or more robotic arms. The robotic medical system includes a patient support platform (e.g., a bed, a table, etc.). A step of the intraoperative procedure includes leveling (1030) the adjustable arm support and the patient support platform (e.g., moving the adjustable arm support and the patient support platform to a horizontal position, a non-inclined position, etc.). In some embodiments, leveling the adjustable arm support and / or the patient support platform occurs during dismantling from the procedure (e.g., as a step in a post-operative phase).

[0226] In some embodiments, each of the one or more phases of the preprogrammed workflow includes one or more respective (e.g., separate) steps. For example, as discussed above, the setup phase can include steps such as deploying the robotic arm and arm support from a stowed state to a deployed state, draping the robotic arm and arm support, and docking the robotic arm. The post-operative (e.g., teardown) phase can include steps such as removing tools attached to the robotic arm, undocking the robotic arm, and leveling the patient support platform and arm support (e.g., bar, rail, etc.).

[0227] In some embodiments, the robotic medical system updates the 3-D rendering according to a determination (e.g., identification) of the step being performed by the robotic medical system.

[0228] In some embodiments, the robotic medical system identifies (1032, FIG. 30C ) (e.g., determines) a step of a (medical) procedure to which the robotic medical system responds. The robotic medical system causes (1034) a movement (e.g., a robotic movement, an automatic movement, a movement without user intervention, etc.) of a portion (e.g., a link, a joint, etc.) of a first robotic arm of the one or more robotic arms according to the identified step. During the movement (1036), the robotic medical system updates (e.g., generates and displays an updated 3-D rendering) (1038) (e.g., continuously, periodically, every 5 seconds, every 10 seconds, etc.) to display (e.g., shows, illustrates, etc.) the portion of the first robotic arm in a first visual representation that is visually distinct from other portions of the first robotic arm (e.g., and / or from other robotic arms). In some embodiments, the robotic medical system can display a portion of the first robotic arm in a first visual representation that includes visual effects such as highlighting, shading, different colors, and / or pulsing and / or other visual enhancements. In some embodiments, displaying the portion of the first robotic arm in the first visual representation includes displaying (1040) the portion in a first color that is different from colors corresponding to other portions of the first robotic arm (e.g., different from other robotic arms). During the movement, the robotic medical system updates (1042) the 3-D rendering to display (e.g., show, illustrate, reflect, etc.) positional changes of the portion of the first robotic arm in accordance with the movement.

[0229] For example, in some embodiments, the robotic medical system continuously (e.g., every second, every 3 seconds, every 10 seconds, etc.) determines the positions of the robotic arm's joints and / or links and / or underlying bars while performing robotic arm movements, and generates and displays 3-D renderings according to the determinations.

[0230] In some embodiments, when computing power is limited (e.g., on tower pendant hardware), the robotic medical system can communicate robot status / selection / completion using a series of layered, pre-rendered 2-D images of the patient support platform and robotic arm. For example, the robotic medical system can store a 2-D image of the robotic system (e.g., either locally or remotely) and update the image upon completion of movement to a new position.

[0231] In some embodiments, following the movements performed, the robotic medical system displays (1044) (e.g., in parallel with, simultaneously with the 3-D rendering) a progress bar (e.g., a status bar, a progress indicator, a graphical control element, etc.) to visualize the progress of the identified step being performed, as illustrated in FIG. 24B.

[0232] In some embodiments, following the movements, the robotic medical system generates (e.g., activates, generates, outputs, etc.) (1046) an audio signal (e.g., an audio output) (e.g., via a tower viewer, pendant, etc.). In some embodiments, the audio output is synchronized with the movements performed.

[0233] In some embodiments, the robotic medical system determines (e.g., detects) whether the step is complete (1048, FIG. 30D) (e.g., using one or more sensors and / or encoders). Pursuant to a determination that the step is complete, the robotic medical system updates (1050) the 3-D rendering to display a portion of the first robotic arm in a second visual representation that is different from the first visual representation. For example, in some embodiments, the second visual representation may have a different color and may cancel (e.g., remove) any highlighting, shading, and / or emphasis found in the first visual representation. In some embodiments, the second visual representation includes adding a checkmark badge to reflect the completion of the step.

[0234] In some embodiments, the first visual representation corresponds to a first color and the second visual representation corresponds to a second color, different from the first color (1052).

[0235] In some embodiments, the robotic medical system stores the start and end positions of each of the joints of the robotic arm for each step of the workflow. The robotic medical system determines the actual positions of the joints (e.g., using sensors and encoders located on the arm) and compares the actual positions to the stored positions to determine if the step is complete.

[0236] In some embodiments, after determining that a step in the workflow process is complete, the robotic system proceeds (e.g., automatically) to a subsequent step in the workflow process. Following the subsequent step, the virtual camera can automatically pan around the scene (e.g., having an angle, field of view, viewpoint, etc.) to focus on a particular element that is important to the subsequent step.

[0237] In some embodiments, the robotic medical system includes an interactive display. After a step in a workflow process is completed, a user can select a user-selectable option (e.g., an icon) on the interactive display that instructs (e.g., causes) the robotic medical system to proceed to the next step in the workflow.

[0238] Referring again to FIG. 30D , in some embodiments, the robotic medical system includes an adjustable arm support movably coupled to one or more robotic arms. The robotic medical system identifies (1054) a procedure step to which the robotic medical system corresponds. The robotic medical system causes (e.g., performs, activates) (1056) movement of the adjustable arm support according to the identified step. During movement (1058), the robotic medical system updates (1060) the 3-D rendering (e.g., continuously, periodically, etc.) to display the adjustable arm support in a first visual representation that is visually distinct from the one or more robotic arms.

[0239] In some embodiments, displaying the adjustable arm support in a first visual representation includes displaying the adjustable arm support in a first color (1062) that is different from a color corresponding to the one or more robotic arms.

[0240] In some embodiments, the robotic medical system displays (1064) the position change of the adjustable arm support (eg, relative to one or more robotic arms) according to the movements performed.

[0241] Referring to Figure 30E, in some embodiments, a robotic medical system includes a patient support. The robotic medical system identifies (1066) a procedure step to which the robotic medical system responds. The robotic medical system causes (1068) (e.g., executes, activates, etc.) movement of at least a portion of the patient support platform. During movement (1070), the robotic medical system updates (1072) the 3-D rendering to display at least a portion of the patient support platform in a first visual representation that is distinct from one or more robotic arms and / or other portions of the patient support platform.

[0242] In some embodiments, displaying at least a portion of the patient support platform in a first visual representation and displaying the adjustable arm support in a first color that is different from a color corresponding to the one or more robotic arms (1074).

[0243] In some embodiments, the robotic medical system displays (1076) a position change of at least a portion of the patient support platform according to the movement performed.

[0244] In some embodiments, in accordance with a determination that the robotic medical system is performing a particular step of the workflow, the robotic medical system adjusts (1078) the field of view (e.g., perspective, view, angle, etc.) of the robotic medical system's virtual camera to include (e.g., to focus on) a particular portion of one or more robotic arms (e.g., a particular joint, a particular link, an advanced device manipulator (ADM), a tool driver, an instrument driver, or a robotic end effector, tool, or medical instrument attached to the robotic arm, etc.) (e.g., the field of view of the virtual camera corresponds to the view of the robotic medical system that a user sees on a display).

[0245] In some embodiments, a particular step of the workflow may include placing the robot arm in a docked state, attaching one or more tools to the robot arm, optimizing the pose (e.g., position and / or orientation) of the robot arm or the underlying bar, and / or steps requiring manual action by a user, etc. As an example, a particular step may be a docking step where the robot arm is placed in a docked state. During docking, the virtual camera dynamically changes to focus on the ADM. The robot arm in the 3-D rendering (e.g., model) updates its position and status from white to green with a checkmark badge to reflect the successful completion of this manual step.

[0246] In some embodiments, following a determination (1080) that the robotic medical system is performing a particular step of the workflow, the robotic medical system generates (1082) a graphic (e.g., a visual indicator, a visual marker, different from the 3-D rendering). The robotic medical system displays (1084) the graphic as an overlay on (e.g., on top of) the 3-D rendering. For example, as discussed in FIGS. 28A and 28B, in some embodiments, the graphic can include 0-D objects such as points, 1-D objects such as lines, and / or 2-D objects such as areas of interest. In some embodiments, the graphic can represent a "target location" that indicates where one or more robotic arms need to be moved to at the end of the step.

[0247] 31A-31C illustrate a flowchart diagram of a method 1100 implemented by one or more processors of a robotic medical system (such as the robotic medical system 200 illustrated in FIGS. 21 and 22, or a robotic surgery platform), according to some embodiments. The robotic medical system comprises one or more processors and a memory that stores instructions for execution by the one or more processors.

[0248] The robotic medical system includes one or more robotic arms (e.g., robotic arm 210 of FIGS. 21, 22, 23A, 23B, 23C, 24A, 24B, 24C, 26A, 26B, 26C, and 26D). In some embodiments, the one or more robotic arms are used to perform a medical procedure. Each of the robotic arms can hold a respective instrument. In some embodiments, the one or more robotic arms are coupled to an adjustable arm support (e.g., adjustable arm support or bar 220).

[0249] The robotic medical system includes one or more displays (e.g., an interactive display, a touch screen display, a display including a user interface, etc.). In some embodiments, the one or more displays include one or more interactive viewers for displaying 3-D renderings of the one or more robotic arms. In some embodiments, the one or more displays are located on a tower viewer, surgeon viewer, bed / tower pendant of the robotic medical system. In some embodiments, the one or more displays are located on any pendant (e.g., a remote pendant) used as part of the robotic medical system.

[0250] The robotic medical system displays (1102) (e.g., on one or more displays) a three-dimensional (3-D) rendering that includes one or more robotic arms.

[0251] The robotic medical system determines (e.g., detects) (1104) whether a manual action by a user is completed (e.g., automatically, in real-time, etc.).

[0252] In some embodiments, the manual action corresponds to a step in a workflow for a medical procedure.

[0253] In some embodiments, the workflow includes one or more stages, including a pre-operative stage (e.g., a setup stage), an intra-operative stage (e.g., an intraoperative stage), and / or a post-operative stage (e.g., a disassembly stage).

[0254] In some embodiments, the manual action includes docking (1106) each of the robotic arms to a respective cannula corresponding to the robotic arm.

[0255] In some embodiments, a possible action in parallel with docking a robotic arm is to "stow" one or more robotic arms that are deployed but not required for the procedure (i.e., undocked but deployed arms). If a robotic arm needs to be stowed, it will be manually "twisted and shoved" into a position that is less disruptive to a bedside user during the procedure. In some embodiments, updating the 3-D rendering includes updating the 3-D rendering to reflect the respective position of the stowed one or more robotic arms or updating the 3-D rendering to exclude the stowed robotic arms.

[0256] In some embodiments, the manual operation includes attaching (1108) at least one of the robotic arms with a first medical tool (e.g., a medical instrument). In some embodiments, the first medical tool (e.g., or each of the medical tools attached to the respective robotic arms) includes a unique identifier that can be tracked via an RFID tag. When the first medical tool is fully connected and latched to the robotic arm, the one or more processors can identify the presence of the first medical tool and a tool type corresponding to the first medical tool.

[0257] In some embodiments, the manual operations include attaching (1110) each of the robotic arms with a respective medical tool.

[0258] In some embodiments, following a determination that the manual action is complete, the robotic medical system updates (e.g., modifies, refreshes, etc.) the 3-D rendering (e.g., automatically, in real-time, without user interaction, without user intervention, etc.) (1112).

[0259] In some embodiments, the 3-D rendering includes one or more visual indicators, each corresponding to a respective one of the robotic arms (1114). For example, the visual indicators may indicate the instruments attached to each arm, the order in which the tools are attached to the robotic arms, the status of the robotic arms (e.g., whether the robotic arms are deployed, whether they are docked, etc.). Following a determination that the manual operation is complete, the robotic medical system updates (1116) each of the visual indicators to indicate completion of the manual operation (e.g., in real-time, automatically, without user intervention, etc.).

[0260] In some embodiments, updating each of the visual indicators includes adding a check mark (e.g., having a predetermined color) to each of the visual indicators to indicate completion of the manual action. In some embodiments, updating each of the visual indicators includes updating text corresponding to each of the visual indicators to indicate a status of the robotic arm (e.g., whether the robotic arm is docked or whether an instrument is loaded on the robotic arm, etc.).

[0261] In some embodiments, the manual operation includes attaching each of the robotic arms with a respective medical tool. The robotic medical system detects (e.g., determines) (e.g., automatically, in real-time, without user intervention, etc.) the removal of the medical tool from a first one of the robotic arms (e.g., manually removed, unattached, etc.) (1118). Pursuant to the detection, the robotic medical system updates (1120) a first visual indicator corresponding to the first robotic arm (e.g., by removing a check mark corresponding to the robotic arm) to indicate that the medical tool has been removed from the first robotic arm.

[0262] In some embodiments, the manual action includes manual movement (1122, FIG. 31B) of a portion of a first robotic arm (e.g., one or more joints and / or links of the first robotic arm) of the one or more robotic arms from a first position to a second position.

[0263] In some embodiments, updating the 3-D rendering includes updating (1124) a position of the first robot arm in the 3-D rendering from a first position to a second position.

[0264] In some embodiments, the robotic medical system stores position information (e.g., configuration information) of the robotic arm for each of the workflow steps. The robotic medical system may determine the current workflow step of the robotic medical system or may receive user input that the robotic medical system is at a particular workflow step. As an example, following a determination or user input that the robotic medical system is at an arm docking step of the workflow, the system checks for completion of the cannula being attached to the robotic arm. When the system detects that the manual operation is complete, the check box next to the arm turns green when the system detects that the step is complete.

[0265] In some embodiments, updating the 3-D rendering includes displaying (1126) a portion of the first robotic arm in a first visual representation that is visually distinct from other portions of the first robotic arm.

[0266] In some embodiments, displaying the portion of the first robotic arm in the first visual representation includes displaying (1128) the portion in a first color that is different from a color corresponding to another portion of the first robotic arm.

[0267] In some embodiments, the robotic medical system detects (1130) a change in position of a portion of the first robotic arm as the manual movement is performed. The robotic medical system continuously updates (1132) the 3-D rendering to reflect the change in position.

[0268] In some embodiments, the robotic medical system detects (1134) changes in the position of a portion of the first robotic arm as the manual movements are performed. In accordance with the movements performed, the robotic medical system displays (1136) (e.g., alongside and simultaneously with the 3-D rendering) a progress bar (e.g., a status bar, a progress indicator, a graphical control element, etc.) to visualize the progress of the manual operation.

[0269] In some embodiments, the robotic medical system generates (1138, FIG. 31C) and outputs an audio signal when a manual action is performed.

[0270] In some embodiments, following a determination that the manual operation is not completed, the robotic medical system displays 1140 an error condition and information for correcting the error. For example, following a determination that the user skipped a workflow step prior to successful completion, the robotic medical system can display a 3-D rendering to show the error condition, where the error occurred, and / or information about what went wrong.

[0271] In some embodiments, the robotic medical system includes one or more adjustable arm supports movably coupled to the one or more robotic arms, and the 3-D rendering includes a rendering (e.g., a representation, a graphic, etc.) of the one or more adjustable arm supports.

[0272] In some embodiments, the manual actions include moving (1142) one or more adjustable arm supports relative to the one or more robotic arms. Updating the 3-D rendering includes updating (1144) positions of the one or more adjustable arm supports in the rendering relative to the one or more robotic arms.

[0273] In some embodiments, the robotic medical system includes a patient support platform. The 3-D rendering includes a rendering of the patient support platform.

[0274] In some embodiments, the manual action includes moving (1146) at least a portion of the patient support platform from a first position to a second position. Updating the 3-D rendering includes updating (1148) a position of the at least a portion of the patient support platform in the rendering from the first position to the second position.

[0275] 3. Implementation Systems and Terminology. FIG. 32 is a schematic diagram illustrating electronic components of a robotic medical system, according to some embodiments.

[0276] The robotic medical system includes one or more processors 380 in communication with a computer-readable storage medium 382 (e.g., computer memory devices such as random access memory, read-only memory, static random access memory, and non-volatile memory, as well as other storage devices such as hard drives, optical disks, magnetic tape recordings, or any combination thereof) that stores instructions for performing any of the methods described herein (e.g., operations described with respect to FIGS. 30A-30E and 31A-31C). The one or more processors 380 also communicate (via a system bus or any suitable electrical circuitry) with an input / output controller 384. The input / output controller 384 receives sensor data from one or more sensors 388-1, 388-2, etc., and relays the sensor data to the one or more processors 380. The input / output controller 384 also receives instructions and / or data from the one or more processors 380 and relays the instructions and / or data to one or more actuators, such as the first motors 387-1 and 387-2. In some embodiments, the input / output controller 384 is coupled to one or more actuator controllers 386 and provides instructions and / or data to at least a subset of the one or more actuator controllers 386, which in turn provide control signals to selected actuators. In some embodiments, the one or more actuator controllers 386 are integrated with the input / output controller 384, which provides control signals directly to the one or more actuators 387 (without a separate actuator controller). Although FIG. 32 shows that there is one actuator controller 386 (e.g., one actuator controller for the entire mobile medical platform), in some embodiments, additional actuator controllers (e.g., one actuator controller for each actuator, etc.) may be used.In some embodiments, the one or more processors 380 are in communication with one or more displays 381 for displaying information (e.g., three-dimensional renderings) as described herein.

[0277] It should be noted that, as used herein, the terms "couple," "coupled," "coupled," or other variations of the word coupled, may indicate either an indirect connection or a direct connection. For example, when a first component is "coupled" to a second component, the first component may be either indirectly connected to the second component through another component, or directly connected to the second component.

[0278] The functionality for transitioning to a manual operating mode described herein may be stored as one or more instructions on a processor-readable medium or computer-readable medium. The term "computer-readable medium" refers to any available medium that can be accessed by a computer or processor. By way of example, and not limitation, such media may include random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory, compact disc read-only memory (CD-ROM), or other optical disk storage, magnetic disk storage, or other magnetic storage devices, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer. It should be noted that computer-readable media may be tangible and non-transitory. As used herein, the term "code" may refer to software, instructions, code, or data that is executable by a computing device or processor.

[0279] The methods disclosed herein include one or more steps or actions for achieving the described method. The method steps and / or actions may be interchanged with one another without departing from the scope of the claims. In other words, unless a specific order of steps or actions is required for the proper operation of the described method, the order and / or use of specific steps and / or actions may be modified without departing from the scope of the claims.

[0280] As used herein, the term "plurality" refers to two or more. For example, a plurality of components refers to two or more components. The term "determining" covers a wide variety of acts, and thus "determining" can include calculating, computing, processing, deriving, investigating, looking up (e.g., consulting a table, database, or another data structure), ascertaining, and the like. Also, "determining" can include receiving (e.g., receiving information), accessing (e.g., accessing data in a memory), and the like. Also, "determining" can include resolving, selecting, electing, establishing, and the like.

[0281] The phrase "based on" does not mean "based only on," unless expressly specified otherwise. In other words, the phrase "based on" refers to both "based only on" and "based at least on."

[0282] The foregoing description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments without departing from the scope of the present invention. For example, those skilled in the art will recognize that many corresponding alternatives, equivalent structural details, such as similar manners of fastening, mounting, coupling, or engaging tool components, equivalent mechanisms for producing specific actuation motions, and equivalent mechanisms for delivering electrical energy, can be employed. In addition, although some embodiments are described with respect to 3-D renderings, those skilled in the art will understand that the disclosed systems, devices, apparatus, and methods may also function with non-3-D renderings. Thus, the present invention is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0283] The following clauses describe several embodiments or implementations.

[0284] Article 1. A robotic medical system comprising: one or more robotic arms; one or more displays; one or more processors; and a memory for storing instructions, the instructions, when executed by the one or more processors, for causing the one or more processors to: displaying a three-dimensional (3-D) rendering including a graphical representation of the one or more robotic arms; A robotic medical system that guides a user through a procedure by updating the 3-D rendering according to a pre-programmed workflow corresponding to the procedure.

[0285] Article 2. a patient support platform; The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to: performing a spatial configuration adjustment of one or more robotic arms relative to a patient support platform according to a workflow; and updating the 3-D rendering to reflect positional changes of one or more robotic arms in accordance with spatial configuration adjustments.

[0286] Clause 3. The memory further includes instructions, the instructions, when executed by the one or more processors, causing the one or more processors to: causing movement of the patient support platform from a first position to a second position according to a workflow; and updating the 3-D rendering to reflect movement of the patient support platform.

[0287] Article 4. one or more adjustable arm supports movably coupled to the one or more robotic arms; The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to: causing movement of one or more adjustable arm supports relative to one or more robotic arms according to a workflow; and updating the 3-D rendering to reflect positional changes of the one or more adjustable arm supports.

[0288] Clause 5. The memory further includes instructions, the instructions, when executed by the one or more processors, causing the one or more processors to: receiving a user selection of a portion of the 3-D rendering; The robotic medical system of any one of clauses 1 to 4, further comprising: displaying, in accordance with the user selection, the user-selected portion in a manner visually different from other portions of the 3-D rendering.

[0289] Clause 6. The robotic medical system of any one of clauses 1 to 5, wherein the pre-programmed workflow includes one or more stages, including a pre-operative stage, an intra-operative stage, and / or a post-operative stage.

[0290] Clause 7. The robotic medical system of clause 6, wherein the preoperative step includes deploying one or more robotic arms from a stowed position to a deployed position.

[0291] Clause 8. A robotic medical system as described in clause 6 or 7, wherein the preoperative phase step includes moving one or more robotic arms into a draping position.

[0292] Clause 9. A robotic medical system described in any one of clauses 6 to 8, wherein the preoperative step includes placing one or more robotic arms in a docked state.

[0293] Article 10. an adjustable arm support movably coupled to one or more robotic arms; a patient support platform, The robotic medical system of any one of clauses 6 to 9, wherein the intraoperative procedure step includes leveling the adjustable arm support and the patient support platform.

[0294] Clause 11. A robotic medical system according to any one of clauses 6 to 10, wherein each of the one or more stages of the pre-programmed workflow includes one or more respective steps.

[0295] Clause 12. The memory further includes instructions, the instructions, when executed by the one or more processors, causing the one or more processors to: Identifying a procedure step that the robotic medical system corresponds to; causing movement of a portion of a first robotic arm of the one or more robotic arms according to the identified steps; Update the 3-D rendering during the move Displaying a portion of the first robotic arm in a first visual representation that is visually distinct from other portions of the first robotic arm; and displaying a change in position of a portion of the first robot arm according to the movement performed.

[0296] Clause 13. The robotic medical system of clause 12, wherein displaying a portion of the first robotic arm in a first visual representation includes displaying the portion in a first color that is different from a color corresponding to another portion of the first robotic arm.

[0297] Clause 14. The robotic medical system of clause 12 or 13, wherein the memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to display a progress bar to visualize the progress of an identified step being performed during movement.

[0298] Clause 15. The memory further includes instructions, which when executed by the one or more processors, cause the one or more processors to: The robotic medical system according to any one of clauses 12 to 14, wherein an audio signal is generated in accordance with the movement.

[0299] Clause 16. The memory further includes instructions, which when executed by the one or more processors, cause the one or more processors to: determining whether the step is completed; The robotic medical system of any one of clauses 12 to 15, further comprising: updating the 3-D rendering to display a portion of the first robotic arm in a second visual representation different from the first visual representation in accordance with a determination that the step is completed.

[0300] Clause 17. The robotic medical system of clause 16, wherein the first visual representation corresponds to a first color and the second visual representation corresponds to a second color different from the first color.

[0301] Article 18. an adjustable arm support movably coupled to the one or more robotic arms; The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to: Identifying a procedure step that the robotic medical system corresponds to; causing movement of the adjustable arm support according to the identified steps; Update the 3-D rendering during the move displaying the adjustable arm support in a first visual representation that is visually distinct from the one or more robotic arms; and indicating a change in position of the adjustable arm support according to the movement.

[0302] Clause 19. The robotic medical system of clause 18, wherein displaying the adjustable arm support in a first visual representation includes displaying the adjustable arm support in a first color different from a color corresponding to the one or more robotic arms.

[0303] Article 20. a patient support platform; The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to: Identifying a procedure step that the robotic medical system corresponds to; causing movement of at least a portion of a patient support platform; Update the 3-D rendering during the move displaying at least a portion of the patient support platform in a first visual representation that is visually distinct from other portions of the one or more robotic arms and / or the patient support platform; and displaying a change in position of at least a portion of the patient support platform in accordance with the movement.

[0304] Clause 21. The robotic medical system of clause 20, wherein displaying at least a portion of the patient support platform in a first visual representation includes displaying at least a portion of the patient support platform in a first color different from a color corresponding to one or more robotic arms.

[0305] Clause 22. The memory further includes instructions, the instructions, when executed by the one or more processors, causing the one or more processors to: The robotic medical system of any one of clauses 1 to 21, wherein the field of view of a virtual camera of the robotic medical system is adjusted to include a particular portion of one or more robotic arms in accordance with a determination that the robotic medical system is performing a particular step of a workflow.

[0306] Clause 23. The memory further includes instructions, the instructions, when executed by the one or more processors, to cause the one or more processors to: In response to a determination that the robotic medical system is performing a particular step of the workflow, Generating a graphic; and displaying the graphic as an overlay on the 3-D rendering.

[0307] Article 24. A robotic medical system comprising: one or more robotic arms; one or more displays; one or more processors; and a memory storing instructions that, when executed by the one or more processors, cause the one or more processors to: Displaying a three-dimensional (3-D) rendering including one or more robotic arms; determining whether a manual action by a user is completed; and updating the 3-D rendering according to a determination that the manual action is completed.

[0308] Clause 25. The robotic medical system of clause 24, wherein the manual actions correspond to steps in a workflow for a medical procedure.

[0309] Clause 26. The robotic medical system of clause 25, wherein the workflow includes one or more stages, including a pre-operative stage, an intra-operative stage, and / or a post-operative stage.

[0310] Clause 27. A robotic medical system according to any one of clauses 24 to 26, wherein the manual action includes docking each of the robotic arms with a respective cannula corresponding to the robotic arm.

[0311] Clause 28. A robotic medical system according to any one of clauses 24 to 27, wherein the manual action includes attaching at least one of the robotic arms with a first medical tool.

[0312] Clause 29. A robotic medical system according to any one of clauses 24 to 28, wherein the manual operation includes attaching each of the robotic arms with a respective medical tool.

[0313] Article 30. the 3-D rendering includes one or more visual indicators, each of the visual indicators corresponding to a respective one of the robotic arms; The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to: 30. The robotic medical system of any one of clauses 24-29, wherein, in accordance with a determination that the manual action is completed, each of the visual indicators is updated to indicate completion of the manual action.

[0314] Article 31. The manual operation includes attaching each of the robotic arms with a respective medical tool; The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to: Detecting a removal of the medical tool from a first one of the robotic arms; and updating a first visual indicator corresponding to the first robotic arm to indicate that the medical tool has been removed from the first robotic arm in accordance with the detection.

[0315] Article 32. The robotic medical system of any one of clauses 24 to 31, wherein the manual action includes manual movement of a portion of a first robotic arm of the one or more robotic arms from a first position to a second position.

[0316] Clause 33. The robotic medical system of clause 32, wherein updating the 3-D rendering includes updating a position of the first robotic arm in the 3-D rendering from a first position to a second position.

[0317] Clause 34. The robotic medical system of clause 32 or 33, wherein updating the 3-D rendering includes displaying a portion of the first robotic arm in a first visual representation that is visually distinct from other portions of the first robotic arm.

[0318] Clause 35. The robotic medical system of clause 34, wherein displaying a portion of the first robotic arm in a first visual representation includes displaying the portion in a first color that is different from a color corresponding to another portion of the first robotic arm.

[0319] Clause 36. The memory further includes instructions, which when executed by the one or more processors, cause the one or more processors to: Detecting a change in position of a portion of the first robotic arm when a manual movement is performed; and continuously updating the 3-D rendering to reflect changes in position.

[0320] Clause 37. The memory further includes instructions, the instructions, when executed by the one or more processors, causing the one or more processors to: Detecting a change in position of a portion of the first robotic arm when a manual movement is performed; and displaying a progress bar for visualizing the progress of the manual operation according to the performed movements.

[0321] Clause 38. A robotic medical system described in any one of clauses 24 to 37, wherein the memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to generate and output an audio signal when a manual action is performed.

[0322] Clause 39. The memory further includes instructions, the instructions, when executed by the one or more processors, causing the one or more processors to: The robotic medical system of any one of clauses 24 to 38, wherein, upon determining that the manual operation is not completed, an error condition and information for correcting the error are displayed.

[0323] Article 40. one or more adjustable arm supports movably coupled to the one or more robotic arms; 40. The robotic medical system of any one of clauses 24-39, wherein the 3-D rendering includes a rendering of one or more adjustable arm supports.

[0324] Clause 41. The manual operation includes moving one or more adjustable arm supports relative to one or more robotic arms; The robotic medical system of clause 40, wherein updating the 3-D rendering includes updating the position of one or more adjustable arm supports in the rendering for one or more robotic arms.

[0325] Article 42. a patient support platform; 42. The robotic medical system of any one of clauses 24-41, wherein the 3-D rendering includes a rendering of a patient support platform.

[0326] Clause 43. The manual operation includes moving at least a portion of the patient support platform from a first position to a second position; The robotic medical system of clause 42, wherein updating the 3-D rendering includes updating a position of at least a portion of the patient support platform in the rendering from a first position to a second position.

[0327] [Embodiment] (1) A robotic medical system, comprising: one or more robotic arms; one or more displays; one or more processors; and a memory storing instructions that, when executed by the one or more processors, cause the one or more processors to: displaying a three-dimensional (3-D) rendering including a graphical representation of the one or more robotic arms; and updating the 3-D rendering according to a pre-programmed workflow corresponding to the procedure to guide a user through the procedure. (2) further comprising a patient support platform; The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to: performing a spatial configuration adjustment of the one or more robotic arms relative to the patient support platform in accordance with the workflow; A robotic medical system as described in embodiment 1, which updates the 3-D rendering to reflect positional changes of the one or more robotic arms in accordance with the spatial configuration adjustment. (3) the memory further includes instructions, the instructions, when executed by the one or more processors, causing the one or more processors to: causing movement of the patient support platform from a first position to a second position in accordance with the workflow; and updating the 3-D rendering to reflect the movement of the patient support platform. (4) further comprising one or more adjustable arm supports movably coupled to the one or more robotic arms; The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to: causing movement of the one or more adjustable arm supports relative to the one or more robotic arms in accordance with the workflow; and updating the 3-D rendering to reflect positional changes of the one or more adjustable arm supports. (5) The memory further includes instructions, the instructions, when executed by the one or more processors, causing the one or more processors to: receiving a user selection of a portion of the 3-D rendering; The robotic medical system of embodiment 1, further comprising: displaying the user-selected portion in a manner visually different from other portions of the 3-D rendering in accordance with the user selection.

[0328] (6) The robotic medical system of embodiment 1, wherein the preprogrammed workflow includes one or more stages, including a preoperative stage, an intraoperative stage, and / or a postoperative stage. (7) The robotic medical system of embodiment 6, wherein the preoperative step includes deploying the one or more robotic arms from a stowed position to a deployed position. (8) The robotic medical system of embodiment 6, wherein the preoperative step includes moving the one or more robotic arms to a draping position. (9) The robotic medical system of embodiment 6, wherein the preoperative step includes placing the one or more robotic arms in a docked state. (10) an adjustable arm support movably coupled to the one or more robotic arms; a patient support platform, The robotic medical system of embodiment 6, wherein the intraoperative treatment step includes leveling the adjustable arm support and the patient support platform.

[0329] (11) The robotic medical system of embodiment 6, wherein each of the one or more stages of the preprogrammed workflow includes one or more respective steps. (12) The memory further includes instructions, the instructions, when executed by the one or more processors, causing the one or more processors to: identifying a step of the procedure to which the robotic medical system corresponds; and causing movement of a portion of a first robotic arm of the one or more robotic arms in accordance with the identified step; updating the 3-D rendering during the movement; displaying the portion of the first robotic arm in a first visual representation that is visually distinct from other portions of the first robotic arm; A robotic medical system as described in embodiment 11, which is configured to display a position change of the portion of the first robotic arm according to the executed movement. (13) The robotic medical system of embodiment 12, wherein displaying the portion of the first robotic arm in the first visual representation includes displaying the portion in a first color that is different from a color corresponding to the other portion of the first robotic arm. (14) The robotic medical system of embodiment 12, wherein the memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to display a progress bar to visualize progress of the identified step being performed during the movement. (15) The memory further includes instructions, the instructions, when executed by the one or more processors, causing the one or more processors to: 13. The robotic medical system of embodiment 12, wherein an audio signal is generated in accordance with the movement.

[0330] (16) The memory further includes instructions, the instructions, when executed by the one or more processors, causing the one or more processors to: determining whether said steps are complete; and The robotic medical system of embodiment 12, further comprising: updating the 3-D rendering to display the portion of the first robotic arm in a second visual representation different from the first visual representation in accordance with a determination that the step is completed. (17) The robotic medical system of embodiment 16, wherein the first visual representation corresponds to a first color and the second visual representation corresponds to a second color different from the first color. (18) A robotic device comprising: a robot arm having a first end and a second end; and a second end that is movably coupled to the first end of the robot arm. The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to: identifying a procedure step that the robotic medical system corresponds to; and causing movement of the adjustable arm support in accordance with the identified steps; and updating the 3-D rendering during the movement; displaying the adjustable arm support in a first visual representation that is visually distinct from the one or more robotic arms; 12. The robotic medical system of claim 11, further comprising: displaying a change in position of the adjustable arm support in accordance with the movement. (19) The robotic medical system of embodiment 18, wherein displaying the adjustable arm support in the first visual representation includes displaying the adjustable arm support in a first color different from a color corresponding to the one or more robotic arms. (20) further comprising a patient support platform; The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to: identifying a procedure step that the robotic medical system corresponds to; and causing movement of at least a portion of the patient support platform; updating the 3-D rendering during the movement; displaying the at least a portion of the patient support platform in a first visual representation that is visually distinct from other portions of the one or more robotic arms and / or the patient support platform; 12. The robotic medical system of claim 11, further comprising: displaying a positional change of at least a portion of the patient support platform in accordance with the movement.

[0331] (21) The robotic medical system of embodiment 20, wherein displaying the at least a portion of the patient support platform in the first visual representation includes displaying the at least a portion of the patient support platform in a first color different from a color corresponding to the one or more robotic arms. (22) The memory further includes instructions, the instructions, when executed by the one or more processors, causing the one or more processors to: The robotic medical system of embodiment 1, wherein the field of view of a virtual camera of the robotic medical system is adjusted to include a particular portion of the one or more robotic arms in accordance with a determination that the robotic medical system is performing a particular step of the workflow. (23) The memory further includes instructions, the instructions, when executed by the one or more processors, causing the one or more processors to: in response to a determination that the robotic medical system is performing a particular step of the workflow, Generating a graphic; The robotic medical system of embodiment 1, further comprising: displaying the graphic as an overlay on the 3-D rendering. (24) A robotic medical system, comprising: one or more robotic arms; one or more displays; one or more processors; and a memory storing instructions that, when executed by the one or more processors, cause the one or more processors to: displaying a three-dimensional (3-D) rendering including the one or more robotic arms; determining whether a manual action by a user is completed; and updating the 3-D rendering according to a determination that the manual action is completed. (25) The robotic medical system of embodiment 24, wherein the manual action corresponds to a step in a workflow for a medical procedure.

[0332] (26) The robotic medical system of embodiment 25, wherein the workflow includes one or more stages, including a preoperative stage, an intraoperative stage, and / or a postoperative stage. (27) The robotic medical system of embodiment 24, wherein the manual action includes docking each of the robotic arms to a respective cannula corresponding to the robotic arm. (28) The robotic medical system of embodiment 24, wherein the manual operation includes attaching at least one of the robotic arms with a first medical tool. (29) The robotic medical system of embodiment 24, wherein the manual operation includes attaching each of the robotic arms with a respective medical tool. (30) The 3-D rendering includes one or more visual indicators, each of the visual indicators corresponding to a respective one of the robotic arms; The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to: A robotic medical system as described in embodiment 24, wherein each of the visual indicators is updated to indicate completion of the manual operation in accordance with a determination that the manual operation is completed.

[0333] (31) The manual operation includes attaching each of the robotic arms with a respective medical tool; The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to: detecting a removal of a medical tool from a first one of the robotic arms; The robotic medical system of embodiment 30, further comprising: updating a first visual indicator corresponding to the first robotic arm to indicate that the medical tool has been removed from the first robotic arm in accordance with the detection. (32) The robotic medical system of embodiment 24, wherein the manual action includes manual movement of a portion of a first robotic arm of the one or more robotic arms from a first position to a second position. (33) The robotic medical system of embodiment 32, wherein updating the 3-D rendering includes updating a position of the first robotic arm in the 3-D rendering from the first position to the second position. (34) The robotic medical system of embodiment 32, wherein updating the 3-D rendering includes displaying the portion of the first robotic arm in a first visual representation that is visually distinct from other portions of the first robotic arm. (35) The robotic medical system of embodiment 34, wherein displaying the portion of the first robotic arm in the first visual representation includes displaying the portion in a first color that is different from a color corresponding to the other portion of the first robotic arm.

[0334] (36) The memory further includes instructions, the instructions, when executed by the one or more processors, causing the one or more processors to: Detecting a change in position of the portion of the first robotic arm as the manual movement is performed; and and continuously updating the 3-D rendering to reflect changes in the position. (37) The memory further includes instructions, the instructions, when executed by the one or more processors, causing the one or more processors to: Detecting a change in position of the portion of the first robotic arm as the manual movement is performed; and The robotic medical system of embodiment 32, further comprising: displaying a progress bar for visualizing the progress of the manual operation according to the performed movements. (38) The robotic medical system of embodiment 24, wherein the memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to generate and output an audio signal when the manual action is performed. (39) The memory further includes instructions, the instructions, when executed by the one or more processors, causing the one or more processors to: A robotic medical system as described in embodiment 24, which displays an error condition and information for correcting the error in accordance with a determination that the manual operation has not been completed. (40) Further comprising one or more adjustable arm supports movably coupled to the one or more robotic arms; The robotic medical system of embodiment 24, wherein the 3-D rendering includes a rendering of the one or more adjustable arm supports.

[0335] (41) The manual operation includes moving the one or more adjustable arm supports relative to the one or more robot arms; The robotic medical system of embodiment 40, wherein updating the 3-D rendering includes updating a position of the one or more adjustable arm supports in the rendering relative to the one or more robotic arms. (42) further comprising a patient support platform; The robotic medical system of embodiment 24, wherein the 3-D rendering includes a rendering of the patient support platform. (43) The manual movement includes moving at least a portion of the patient support platform from a first position to a second position; The robotic medical system of embodiment 42, wherein updating the 3-D rendering includes updating a position of at least the portion of the patient support platform in the rendering from the first position to the second position.

Claims

1. A robotic medical system, comprising: one or more robotic arms; one or more displays; one or more processors; a memory for storing instructions, wherein when the instructions are executed by the one or more processors, the one or more processors are caused to: display a three-dimensional (3-D) rendering including a graphic representation of the one or more robotic arms; update the 3-D rendering according to a pre-programmed workflow corresponding to a procedure to guide a user through the procedure.

2. Further comprising a patient support platform, wherein the memory further includes instructions which, when executed by the one or more processors, cause the one or more processors to: perform spatial configuration adjustment of the one or more robotic arms with respect to the patient support platform according to the workflow; update the 3-D rendering to reflect a change in position of the one or more robotic arms according to the spatial configuration adjustment.

3. wherein the memory further includes instructions which, when executed by the one or more processors, cause the one or more processors to: cause movement of the patient support platform from a first position to a second position according to the workflow; update the 3-D rendering to reflect the movement of the patient support platform.

4. Further comprising one or more adjustable arm supports movably coupled to the one or more robotic arms, wherein the memory further includes instructions which, when executed by the one or more processors, cause the one or more processors to: cause movement of the one or more adjustable arm supports with respect to the one or more robotic arms according to the workflow; Updating the 3-D rendering to reflect a change in position of the one or more adjustable arm supports; the robot medical system according to claim 1, which causes this to be done.

5. The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to Receive a user selection of a portion of the 3-D rendering; Display the user-selected portion in a visually different manner from other portions of the 3-D rendering according to the user selection; the robot medical system according to claim 1, which causes this to be done.

6. The pre-programmed workflow includes a pre-operative stage, and the steps of the pre-operative stage include deploying the one or more robotic arms from a stowed position to a deployed position; the robot medical system according to claim 1.

7. The pre-programmed workflow includes a pre-operative stage, and the steps of the pre-operative stage include moving the one or more robotic arms to a draping posture; the robot medical system according to claim 1.

8. The pre-programmed workflow includes a pre-operative stage, and the steps of the pre-operative stage include placing the one or more robotic arms in a docked state; the robot medical system according to claim 1.

9. An adjustable arm support movably coupled to the one or more robotic arms; And a patient support platform; The pre-programmed workflow includes an intra-operative stage, and the steps of the intra-operative stage include leveling the adjustable arm support and the patient support platform; the robot medical system according to claim 1.

10. The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to Identify steps of a treatment corresponding to the robot medical system; Cause a movement of a portion of a first robotic arm of the one or more robotic arms according to the identified steps; During the movement, update the 3-D rendering to display a part of the first robotic arm in a first visual representation that is visually different from other parts of the first robotic arm; The robotic medical system according to claim 1, causing the position change of the part of the first robotic arm to be displayed according to the movement.

11. The robotic medical system according to claim 10, wherein displaying the part of the first robotic arm in the first visual representation includes displaying the part in a first color different from the color corresponding to the other parts of the first robotic arm.

12. The robotic medical system according to claim 10, wherein the memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to display a progress bar for visualizing the progress of the identified steps being executed during the movement.

13. The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to generate an audio signal according to the movement. The robotic medical system according to claim 10.

14. The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to determine whether the step is completed; update the 3-D rendering to display the part of the first robotic arm in a second visual representation different from the first visual representation according to the determination that the step is completed. The robotic medical system according to claim 10.

15. The robotic medical system according to claim 14, wherein the first visual representation corresponds to a first color and the second visual representation corresponds to a second color different from the first color.

16. further comprising an adjustable arm support movably coupled to the one or more robotic arms, The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to identify the steps of the treatment to which the robotic medical system corresponds; cause the movement of the adjustable arm support according to the identified steps. During the movement, update the 3-D rendering to display the adjustable arm support in a first visual representation that is visually different from the one or more robotic arms, and display a change in position of the adjustable arm support in accordance with the movement. The robotic medical system according to claim 1.

17. Further comprising a patient support platform, wherein the memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to identify steps of a procedure to which the robotic medical system corresponds, cause at least a portion of the patient support platform to move, during the movement, update the 3-D rendering to display the at least a portion of the patient support platform in a first visual representation that is visually different from the one or more robotic arms and / or other portions of the patient support platform, and display a change in position of the at least a portion of the patient support platform in accordance with the movement. The robotic medical system according to claim 1.

18. Displaying the at least a portion of the patient support platform in the first visual representation includes displaying the at least a portion of the patient support platform in a first color that is different from a color corresponding to the one or more robotic arms. The robotic medical system according to claim 17.

19. The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to adjust the field of view of a virtual camera of the robotic medical system to include a particular portion of the one or more robotic arms in accordance with a determination that the robotic medical system is executing a particular step of the workflow. The robotic medical system according to claim 1.

20. The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to in accordance with a determination that the robotic medical system is executing a particular step of the workflow, generate graphics The robot medical system according to claim 1, which causes the graphic to be displayed as an overlay on the 3-D rendering.

Images