Instrument tip vibration damping for a master-slave laparoscopic robotic surgical system

Abstract

The robotic medical system can control vibrations of the instrument tip. The robotic medical system can include a robotic arm, a sensor positioned on the robotic arm, and one or more processors. The robotic medical system can be configured to receive an input specifying a target position of the robotic arm. According to the input, the robotic medical system can provide a first actuation signal to cause movement of at least a portion of the robotic arm. During the movement, the robotic medical system can receive a sensor signal from the sensor. The robotic medical system can generate a processed signal based on the received sensor signal and generate a control signal according to the processed signal. The robotic medical system can provide a second actuation signal based on the first actuation signal and the control signal such that vibrations of the robotic arm are suppressed.

Description

[Technical field]

[0001] The systems and methods disclosed herein are directed to controlling robotic medical systems, and more specifically, robotically controlled arms of robotic medical systems for medical procedures. [Background technology]

[0002] Robot-enabled medical systems (e.g., robotic surgical 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] In a master-slave robotic medical system, such as a laparoscopic system, a surgeon can operate a surgical instrument attached to a slave device (e.g., a robotic arm) by manipulating a controller on a master device (e.g., a surgeon console). In such a system, it is highly desirable that the surgical instrument be precisely controlled by the surgeon without vibration. In some situations, vibration of the surgical instrument can impede the surgeon's ability to perform surgical tasks that require high precision.

[0005] In a typical laparoscopic robotic surgery, given the frequency content of a user input, such as hand motion, there are at least two approaches to building a robotic medical system that minimizes vibrations from other frequencies at the instrument tip. The first approach involves building a "soft" robotic arm (e.g., a soft robot) with a low natural frequency and high damping ratio. The second approach is to build a rigid robotic arm with a high natural frequency. However, both approaches may face significant engineering challenges. In addition, such approaches may limit other performance characteristics of the robotic medical system.

[0006] Therefore, there is a need for a robotic medical system that can actively control vibrations at (or of) the instrument tip, which can reduce the need for high damping ratios or high natural frequencies in the robotic arm hardware.

[0007] As disclosed herein, the robotic medical system can be configured to actively control the instrument tip vibration using sensors and actuators within the robotic medical system. The sensors may be force and / or moment sensors (e.g., 6-axis force torque sensors), accelerometers, or inertial measurement units (IMUs) and may be located at the distal end of the robotic arm (e.g., proximate to the instrument tip).

[0008] As disclosed herein, the robotic medical system can receive an input specifying a desired motion of the robotic arm. In accordance with the input, the robotic medical system can control an actuator to cause movement of at least a portion of the robotic arm. During the movement, a sensor measures (e.g., in real time) one or more parameters, such as forces, moments, accelerations, velocities, and / or displacements acting on a distal end of the robotic arm (e.g., a robotic manipulator), and provides a sensor signal corresponding to the measured parameters. The robotic medical system processes the sensor signal, for example, by filtering the sensor signal for frequency components around a first natural frequency of the robotic arm across typical robotic arm configurations. The processed signal can include a signal associated with vibrations at the instrument tip. The robotic medical system generates one or more control signals in accordance with the processed signal to reduce or suppress (e.g., counteract) vibration effects.

[0009] As disclosed herein, after generating the control signal, the robotic medical system can combine the control signal with the received input, causing the robotic arm to maintain tracking of a desired position for laparoscopic surgery while dampening vibrations at the instrument tip.

[0010] As disclosed herein, the robotic medical system can use past vibration measurements (e.g., detected by a sensor) to predict the next vibration cycle during the next movement. This prediction can be used in a feedforward control model in addition to a processed signal (e.g., a filtered signal) to reduce latency in the control signal. Modeling of the sensed vibrations can be combined with a filtered signal based on the tip vibrations to suppress undesired tip vibrations.

[0011] Thus, the systems and / or methods disclosed herein suppress vibrations on the robotic arm's payload by using a robotic arm and sensors. The disclosed systems and / or methods advantageously improve patient safety and / or user experience during surgery by reducing or eliminating vibrations at the instrument tip without the need to redesign the robotic arm with modified stiffness and / or damping ratios. The disclosed systems and / or methods damp vibrations near the robotic arm's natural frequency without affecting its performance at other frequencies.

[0012] 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.

[0013] According to some embodiments of the present disclosure, a robotic medical system includes a robotic arm and a sensor positioned on the robotic arm. 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 receive inputs specifying a desired motion of the robotic arm and provide a first actuation signal corresponding to the inputs to cause movement of at least a portion of the robotic arm. During movement, the one or more processors receive one or more sensor signals from sensors of the robotic arm, generate one or more processed signals based on the one or more received sensor signals, generate one or more control signals according to the one or more processed signals, and provide a second actuation signal based on the first actuation signal and the one or more control signals such that vibrations of the robotic arm are suppressed.

[0014] In some embodiments, the first actuation signal corresponds to a first force, such that by providing the first actuation signal, the first force is applied to at least a portion of the robotic arm to initiate movement of at least a portion of the robotic arm.

[0015] In some embodiments, the second actuation signal corresponds to a combination of the first actuation signal and one or more control signals.

[0016] In some embodiments, the memory includes instructions that, when executed by the one or more processors, cause the one or more processors to determine movement of one or more joints of the robotic arm, and the first actuation signal is further based on the movement of the one or more joints.

[0017] In some embodiments, the memory includes instructions that, when executed by the one or more processors, cause the one or more processors to determine positions of one or more joints of the robotic arm, and the one or more control signals are further based on the positions of the one or more joints.

[0018] In some embodiments, the memory includes instructions that, when executed by the one or more processors, cause the one or more processors to generate one or more processed signals by filtering the one or more received sensor signals based on frequency content.

[0019] In some embodiments, filtering the one or more received sensor signals includes filtering the one or more received sensor signals for frequency components at a first frequency associated with the robotic arm.

[0020] In some embodiments, the first frequency comprises a natural frequency of the robot arm.

[0021] In some embodiments, the first frequency is higher than a frequency associated with motion movements from a human operator.

[0022] In some embodiments, the robotic arm includes one or more vibration modes. The memory includes instructions that, when executed by the one or more processors, cause the one or more processors to generate one or more processed signals by filtering the received sensor signals for frequency components in each of the vibration modes of the robotic arm.

[0023] In some embodiments, the one or more received sensor signals include a time-domain parameter. The memory includes instructions that, when executed by the one or more processors, cause the one or more processors to generate the one or more processed signals by determining one or more frequency components of each received sensor signal of the one or more received sensor signals, adjusting at least one of an amplitude or a phase of each frequency component of the one or more frequency components to obtain one or more adjusted frequency components, and determining a time-domain signal from the one or more adjusted frequency components.

[0024] In some embodiments, the memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to generate one or more processed signals using fixed filtering.

[0025] In some embodiments, the memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to generate one or more processed signals using adaptive filtering.

[0026] In some embodiments, the memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to generate a compensating movement based on the one or more control signals and adjust the target motion based on the compensating movement.

[0027] In some embodiments, the sensor is positioned at a distal portion of the robotic arm.

[0028] In some embodiments, the sensor is positioned between a pair of joints of the robotic arm.

[0029] In some embodiments, the sensor includes a force sensor, a torque sensor, a combined force-torque sensor, an accelerometer, or an inertial measurement unit (IMU).

[0030] In some embodiments, the memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to determine positions of one or more joints of the robotic arm and estimate one or more vibration modes based on the positions of the one or more joints and / or the one or more sensor signals. One or more control signals are also generated based on the one or more vibration modes.

[0031] According to some embodiments of the present disclosure, a method is performed by a medical robotic system. The robotic medical system includes a robotic arm and a sensor positioned on the robotic arm. The method includes receiving an input specifying a desired motion of the robotic arm. The method further includes providing a first actuation signal corresponding to the input in accordance with the input to cause movement of at least a portion of the robotic arm. The method further includes receiving one or more sensor signals of the robotic arm from a sensor of the robotic arm during movement, generating one or more processed signals based on the one or more received sensor signals, generating one or more control signals according to the one or more processed signals, and providing a second actuation signal based on the first actuation signal and the one or more control signals such that vibrations of the robotic arm are suppressed.

[0032] In some embodiments, the first actuation signal corresponds to a first force. By providing the first actuation signal, the first force is applied to at least a portion of the robotic arm to initiate movement of at least a portion of the robotic arm.

[0033] In some embodiments, the second actuation signal corresponds to a combination of the first actuation signal and one or more control signals.

[0034] In some embodiments, the method further includes determining a position of one or more joints of the robot arm. The first actuation signal is further based on the position of the one or more joints.

[0035] In some embodiments, the method further includes determining a position of one or more joints of the robot arm. The one or more control signals are further based on the position of the one or more joints.

[0036] In some embodiments, the method further includes generating one or more processed signals by filtering the one or more received sensor signals based on frequency content.

[0037] In some embodiments, filtering the one or more received sensor signals includes filtering the one or more received sensor signals for frequency components at a first frequency associated with the robotic arm.

[0038] In some embodiments, the first frequency comprises a natural frequency of the robot arm.

[0039] In some embodiments, the first frequency is higher than a frequency associated with motion movements from a human operator.

[0040] In some embodiments, the robot arm includes one or more vibration modes. Generating one or more processed signals by filtering the received sensor signals for frequency components in each of the vibration modes of the robot arm.

[0041] In some embodiments, the one or more received sensor signals include a time domain parameter. The method further includes determining one or more frequency components of each received sensor signal of the one or more received sensor signals. The method further includes adjusting at least one of an amplitude or a phase of each frequency component of the one or more frequency components to obtain one or more adjusted frequency components. The method further includes generating the one or more processed signals by determining a time domain signal from the one or more adjusted frequency components.

[0042] In some embodiments, the method further includes generating the one or more processed signals using fixed filtering.

[0043] In some embodiments, the method further includes generating the one or more processed signals using adaptive filtering.

[0044] In some embodiments, the method further includes generating a compensating movement based on the one or more control signals, and adjusting the desired motion based on the compensating movement.

[0045] In some embodiments, the sensor is positioned at a distal portion of the robotic arm.

[0046] In some embodiments, the sensor is positioned between a pair of joints of the robotic arm.

[0047] In some embodiments, the sensor includes a force sensor, a torque sensor, a combined force-torque sensor, an accelerometer, or an inertial measurement unit (IMU).

[0048] In some embodiments, the method further includes determining positions of one or more joints of the robot arm and estimating one or more vibration modes based on the positions of the one or more joints and the one or more sensor signals. The one or more control signals are also generated based on the one or more vibration modes.

[0049] According to some embodiments of the present disclosure, a robotic medical system includes a robotic arm, a sensor positioned on the robotic arm, one or more processors, and a memory that stores instructions that, when executed by the one or more processors, cause the one or more processors to perform any of the methods described herein.

[0050] According to some embodiments of the present disclosure, a non-transitory computer-readable storage medium stores one or more programs configured to be executed by a robotic medical system including a robotic arm, a sensor positioned on the robotic arm, one or more processors, and a memory, The one or more programs include instructions for performing any of the methods described herein.

[0051] 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]

[0052] 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 sensor for a robotic arm, according to some embodiments. [Figure 24B] 1 illustrates a sensor for a robotic arm, according to some embodiments. [Figure 24C] 1 illustrates a sensor for a robotic arm, according to some embodiments. [Figure 24D] 1 illustrates a sensor for a robotic arm, according to some embodiments. [Diagram 25] 1 illustrates a vibration damping model implemented as part of a robotic medical system, according to some embodiments. [Figure 26A]FIG. 1 illustrates a flowchart diagram of a method implemented by one or more processors of a robotic medical system, according to some embodiments. [Figure 26B] FIG. 1 illustrates a flowchart diagram of a method implemented by one or more processors of a robotic medical system, according to some embodiments. [Figure 26C] FIG. 1 illustrates a flowchart diagram of a method implemented by one or more processors of a robotic medical system, according to some embodiments. [Figure 27] FIG. 1 is a schematic diagram illustrating electronic components of a robotic medical system, according to some embodiments. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0053] 1. Overview.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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 robotic arms 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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).

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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 .

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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).

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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 thread 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 thread and / or spacing between them may be modified or engineered for specific purposes, with narrower threads exhibiting poor shaft compression under load forces, while lesser threads 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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 .

[0108] 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.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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).

[0121] 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.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] 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.

[0126] 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.

[0127] 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.

[0128] 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.

[0129] 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.

[0130] 2. Instrument tip vibration damping for master-slave robotic surgical systems. The present application discloses a robotic medical system capable of reducing or eliminating undesirable instrument tip vibrations through the use of active control.

[0131] As disclosed herein, the robotic medical system includes a robotic arm (e.g., a robotic manipulator). The robotic arm includes a sensor disposed on the robotic arm (e.g., at a distal end of the robotic arm). A surgical instrument can be coupled to the robotic arm.

[0132] As disclosed herein, the robotic medical system receives an input (e.g., an input signal). In some embodiments, the input specifies a target position of the robotic arm (e.g., a desired position of the robotic arm, or one or more joints of the robotic arm). For example, the robotic medical system receives an input from a master device (e.g., a surgeon console) controlled by a surgeon to control movement of a surgical instrument coupled to a slave device (e.g., the robotic arm). In some embodiments, the input specifies a direction and / or speed of movement of the robotic arm (e.g., or a distal end thereof). In accordance with the input, the robotic medical system generates a torque and / or force corresponding to the input to cause movement of at least a portion of the robotic arm (e.g., one or more joints and / or links of the robotic arm).

[0133] As described herein, during movement, the sensors measure (e.g., in real time) one or more parameters, such as forces, moments, accelerations, velocities, and / or displacements of the robot arm, and provide sensor signals corresponding to the one or more measured parameters.

[0134] As described herein, the robotic medical system can process the sensor signal to obtain a processed signal. For example, the robotic medical system can filter the sensor signal for frequency components at or near one or more frequencies, such as a natural frequency of the robotic arm and / or a vibration frequency induced at the instrument tip.

[0135] As described herein, the robotic medical system generates a control signal (e.g., a feedforward signal, a feedback signal, etc.) according to one or more processed signals, according to some embodiments. In some embodiments, the control signal can be combined with the first actuation signal such that vibrations of the robot arm are suppressed.

[0136] A. Robotic systems. FIG. 21 illustrates an exemplary robotic medical system 200 according to some embodiments. In some embodiments, the robotic medical system 200 is 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.

[0137] 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.

[0138] 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.

[0139] 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.

[0140] 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.

[0141] 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.

[0142] 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.

[0143] 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.

[0144] 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.

[0145] 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.

[0146] 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.

[0147] 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.

[0148] 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.

[0149] 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.

[0150] B. Robotic arm. 23A-23C illustrate different views of an exemplary robotic arm 210, according to some embodiments.

[0151] 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).

[0152] 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 (e.g., an A1 joint). 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 (e.g., an A2 joint) 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.

[0153] 23A also shows a fourth joint 304-4 (e.g., A3 joint) 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., wrist roll joint) (e.g., A4 joint) and 304-6 (e.g., wrist pitch joint) (e.g., A5 joint) located at a distal portion of robot arm 210.

[0154] 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.).

[0155] In some embodiments, each of the joints 304 includes one or more actuators for causing movement of adjacent links. For example, the third joint 304-3 may include an actuator for causing rotation of link 302-2 relative to link 302-1.

[0156] 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).

[0157] 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.

[0158] 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.

[0159] 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.

[0160] 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.

[0161] 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.

[0162] 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.

[0163] 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.

[0164] 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.

[0165] 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.

[0166] 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.

[0167] 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.

[0168] 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.

[0169] 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.

[0170] C. Sensor. 24A-24D show sensors of the robotic arms 210, according to some embodiments. In some embodiments, each of the robotic arms 210 includes different sensors that can be used to detect certain parameters (e.g., force, contact, moment, displacement, movement, position, acceleration, etc. of the robotic arms 210) during movement of the robotic arms 210.

[0171] In some embodiments, the sensors are part of a sensor architecture, which, according to some embodiments, may include sensor data, such as sensor signals, attributes or measured parameters (e.g., force, contact, moment, displacement, movement, position, acceleration, etc.), and other components for communicating values ​​(e.g., location, magnitude, timing, duration, etc.) from the sensors to one or more processors 380 of the robotic medical system 200.

[0172] In some embodiments, the sensor includes one or more joint sensors (e.g., joint-based sensors). FIG. 24A shows a joint sensor 402 (e.g., A0 joint sensor) located on a joint 304-1 (e.g., base joint or A0 joint) near the base 306 of the robotic arm 210. In some embodiments, the A0 joint sensor 402 comprises a force sensor that allows an interaction force to be detected on the proximal end of the robotic arm 210. In some embodiments, the A0 joint sensor 402 serves as an actuation detection to transition the robotic arm 210 from a position control mode to a manual operation mode (e.g., impedance mode, admittance mode, grab-and-go mode, etc.).

[0173] In some embodiments, the sensors include other joint-based sensors located on other joints of the robot arm 210, such as joint 304-2 (e.g., the A1 joint), joint 304-3 (e.g., the A2 joint), and / or joint 304-4 (e.g., the A3 joint).

[0174] In some embodiments, the sensors can include one or more non-articulation based sensors. The non-articulation based sensors can be located along the length of the links 302 of the robotic arm 210 and / or on the ADM 308. The sensors (both articulation and non-articulation based) can detect interactions between the robotic arm 210 and external objects (e.g., an operator, another robotic arm on the patient, a surgical tool, and / or the underlying bar 220).

[0175] In some embodiments, the sensor may comprise a load cell 404, as illustrated in FIG. 24A. In some embodiments, the load cell 404 is a force sensor, a moment sensor, or a combined force-torque sensor. In some embodiments, the load cell 404 is a multi-axis load cell, such as a three-axis load cell that can sense (e.g., detect, measure) forces in the x-, y-, and z-directions. In some embodiments, the load cell 404 is a six-axis load cell that can sense (e.g., detect, measure) forces along the x-, y-, and z-axes, as well as torque (e.g., moment) about each axis.

[0176] 24A, the load cell 404 is located between a pair of joints (e.g., between the A4 joint 304-5 and the A5 joint 304-6) on a distal portion of the arm 210. The load cell 404 can act as a support mount for a tool driver (e.g., ADM 308) while measuring forces and / or moments sensed (e.g., by the tool driver) distal to the robotic arm 210.

[0177] In some embodiments, the robot arm 210 includes a structural gap located between joint 304-5 (e.g., the A4 joint) and joint 304-6 (e.g., the A5 joint) (e.g., the robot arm 210 does not include link 302-4), and the load cell 404 is located directly between joint 304-5 and joint 304-6, thereby filling the gap.

[0178] 24B illustrates a load cell 404 according to some embodiments. The load cell 404 includes a first plate 406-1 and a second plate 406-2 with one or more flexures therebetween.

[0179] 24C illustrates an accelerometer 410 according to some embodiments. The accelerometer 410 measures acceleration in one or more axes, such as the x-axis, the y-axis, and / or the z-axis. In some embodiments, the robotic arm 210 includes an accelerometer positioned at a distal portion of the arm 210 (e.g., between joints 304-5 and 304-6).

[0180] FIG. 24D illustrates an inertial measurement unit (IMU) 420 according to some embodiments. The IMU 420 measures acceleration, angular velocity (e.g., velocity in the roll pitch and / or yaw axes), and magnetic fields. When combined (e.g., using sensor software), the acceleration, angular velocity, and magnetic fields can be used to determine motion and orientation information. In some embodiments, the robotic arm 210 includes an IMU positioned at a distal portion of the arm 210 (e.g., between joints 304-5 and 304-6).

[0181] In some embodiments, the robotic arm 210 includes a contact sensor (e.g., a shell sensor). The contact sensor may be a force and / or moment sensor and can detect (e.g., sense and / or measure) forces and / or moments in multiple directions. In some embodiments, the contact sensor is positioned at a joint 304 of the robotic arm. In some embodiments, the contact sensor is located along the length of a link 302, such as a link on a proximal portion and / or a link on a distal portion of the robotic arm 210. In some embodiments, the contact sensor is located in an area of ​​the robotic arm 210 that is known to regularly collide with patients or medical personnel during surgery.

[0182] D. Vibration damping model. 25 is a block diagram illustrating a vibration damping model 500 implemented as part of the robotic medical system 200, according to some embodiments. In some embodiments, the vibration damping model 500 is implemented using one or more processors 380 (e.g., microprocessors). In some embodiments, the vibration damping model 500 is implemented as a processor separate from a general-purpose processor. For example, the vibration damping model 500 may be implemented as an application specific integrated circuit (ASIC). In some embodiments, the vibration damping model 500 is implemented using a combination of a processor and a memory that stores instructions for execution by the processor.

[0183] According to some embodiments of the present disclosure, the robotic medical system 200 receives (e.g., via the processor 380) one or more instructions (e.g., input, input command, input signal, etc., via an input device such as the controller 182) to move at least a portion of the robotic arm 210. For example, in some embodiments, the robotic medical system 200 includes a master-slave system. The robotic medical system 200 receives instructions from a master device (e.g., controlled by a surgeon) communicatively connected to the robotic medical system 200 to manipulate an instrument (e.g., a surgical tool) attached to the robotic arm (e.g., a slave device). For example, as illustrated in FIG. 25 , the instructions may include a displacement command (e.g., q ) received by a joint position controller (JPC) 502 (e.g., a motor controller controlling motors 387-1 and 387-2, etc.) of the robotic medical system. d 522) can include a displacement command (e.g., q d 522) can specify a target position for the robotic arm 210. Alternatively or additionally, the displacement command can specify a target movement (e.g., direction and / or velocity) of at least a portion (e.g., the distal end) of the robotic arm 210.

[0184] In some embodiments, in response to receiving the command, the JPC 502 generates a first actuation signal to initiate movement of at least a portion of the robot arm. For example, the first actuation signal may be a torque signal (e.g., τ C 524) or force signal. In some configurations, the torque signal is provided to an actuator (e.g., a motor) that provides the torque. In some configurations, the force signal is provided to two or more motors such that the combined movement caused by the two or more motors results in a force.

[0185] In some embodiments, the robotic medical system 200 includes robotic joint hardware 504 for causing movement of at least a portion of the robotic arm 210 (e.g., movement of one or more joints and / or links of the robotic arm). For example, the robotic joint hardware 504 includes actuators such as those described with respect to FIGS. 23A-23C to move the robotic arm 210. FIG. 25 illustrates that in some embodiments, the robotic joint hardware 504 includes actuators such as those described with respect to FIGS. 23A-23C to move the robotic arm 210. C 524) or force signals and measures the joint position (e.g., q m 526). The robotic arm 210 includes or is coupled to robotic manipulator hardware 506 (e.g., an end effector) such that movement of the robotic arm 210 causes movement of the robotic manipulator hardware 506 (and a surgical instrument held by the robotic manipulator hardware 506).

[0186] In an ideal system (e.g., a system that does not induce additional vibrations), the generated actuation signal (e.g., the torque signal τ C524) moves the robotic arm 210 to the target position without vibration. However, in practice, based on the stiffness and damping coefficients of the robotic arm, the movement of the robotic arm may induce vibrations. In some circumstances, these induced vibrations may interfere with the surgeon's ability to perform delicate surgical tasks. Therefore, a robotic system that can minimize additional vibrations is desirable.

[0187] In some embodiments, the robotic medical system actively controls instrument tip vibration using one or more sensors (e.g., as described with respect to Figures 24A-24D) provided on the robotic arm, as described in more detail below.

[0188] As illustrated in FIG. 25 , in some embodiments, the robotic arm 210 includes a distal sensor 510 (e.g., sensors 404, 410, 420, 388-1, 388-2, etc.) positioned at a distal end of the robotic arm. In some embodiments, the distal sensor 510 is integrated with the distal end of the robotic arm 210. In some embodiments, the distal sensor 510 is integrated with the robot manipulator hardware 506 (e.g., end effector). During movement of the robotic arm 210, the distal sensor 510 measures one or more parameters 528 at (or near) the end effector (e.g., ADM 308) of the robotic arm 210. The parameter 528 may be a function of the displacement of the end effector.

[0189]

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[0195] may include.

[0196] In some embodiments, the robotic medical system 200 includes a signal processing module 512 for processing a sensor signal 529 (e.g., a sensor signal) from the distal sensor 510 to generate one or more processed signals 530 (e.g., a filtered signal).

[0197]

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[0199] In some embodiments, the signal processing module 512 generates the processed signal 530 by filtering the sensor signal 529 based on frequency content. In some embodiments, the processed signal 530 may correspond to the sensor signal 529 within a certain frequency range. In some embodiments, the processed signal 530 may correspond to the sensor signal 529 excluding a certain frequency range.

[0200] In some embodiments, the frequency component is at (e.g., near) a first frequency associated with the robot arm 210, such as a natural frequency of the robot arm 210 (e.g., the signal processing module 512 can select a frequency component near the first frequency). In some embodiments, the second frequency is considered to be close to the first frequency if the difference between the first frequency and the second frequency is within 10%, 9%, 8%, 7%, 6%, 5%, 4%, 3%, 2%, or 1% of the first frequency. In some embodiments, the second frequency is considered to be close to the first frequency when the difference between the first frequency and the second frequency is within 3 Hz, 2.5 Hz, 2 Hz, 1.5 Hz, or 1 Hz.

[0201] In some configurations, the robot arm 210 may have different natural frequencies corresponding to different poses of the robot arm. Thus, in some embodiments, the signal processing module 512 selects the frequency components based on a reference frequency (e.g., a natural frequency) provided to the signal processing module 512 (e.g., from the vibration mode estimator 508).

[0202] In some embodiments, the robot arm 210 includes one or more vibration modes. The signal processing module 512 generates a processed signal 530 by filtering the sensor signal 529 for frequency components in each of the vibration modes (e.g., and mode shapes) of the robot arm.

[0203] In some embodiments, the signal processing module 512 generates a processed signal using fixed filtering to separate the vibration signal from the sensor signal 529. In some embodiments, the fixed filtering is implemented using an anti-notch filter or a bandpass filter that includes fixed (e.g., predetermined) filter characteristics that can cover the variations of the robot arm vibration modes.

[0204] In some embodiments, the signal processing module 512 generates the processed signal using adaptive filtering that separates the vibration signal from the sensor signal 529. In adaptive filtering, the characteristics of the filter adapt to variations in the robot arm (e.g., robot) vibration modes. The characteristics may include, but are not limited to, a center frequency, a passband width, a roll-off slope, and / or a number of passbands.

[0205] In some embodiments, the robotic medical system 200 (e.g., the signal processing module 512) selects the type of filtering based on the modes and mode shapes of the robotic arm 210. For example, the robotic medical system may select one or more natural frequencies of the robotic arm.

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[0208] As further illustrated in FIG. 25, in some embodiments, the robotic medical system may further include a processor that receives the processed signal 530 and / or a natural frequency 532.

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[0212] In some embodiments, the robotic medical system 200 controls the feedforward torque (τ ff 536) and the torque signal (τ C 524) to generate an updated actuation signal 538 (e.g., a second actuation signal).

[0213] In some embodiments, the robotic medical system 200 calculates the cancellation torque (τ FF 536) (e.g., qff 534). The RJM 516 estimates the joint positions (q m 536) to the cancellation torque (τ FF In order to counteract the over-reaction of JPC502 due to the influence of the d 522) to generate a compensating movement (e.g., add or subtract) that is combined (518) with the

[0214] In some embodiments, the robotic medical system 200 includes two or more robotic arms (e.g., 210-1, 210-3, etc.), each coupled to a respective surgical instrument. The vibration damping model 500 of FIG. 25 can be implemented in each of the robotic arms 210 to actively suppress vibrations at the corresponding end effector of the robotic arm.

[0215] E. An exemplary process for master-slave control of a robotic arm. 26A-26C illustrate a flowchart diagram of a method 600 implemented by one or more processors (e.g., processor 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 includes a memory that stores instructions for execution by the one or more processors.

[0216] The robotic medical system includes a robotic arm (e.g., robotic arm 210 of FIGS. 21, 22, 23A, 23B, 23C, and 24A). In some embodiments, the robotic arm is coupled to an instrument (e.g., a medical tool) for performing a medical procedure on a patient. In some embodiments, the robotic medical system includes an adjustable arm support (e.g., arm support or bar 220) to which the robotic arm is coupled.

[0217] The robotic medical system includes sensors (e.g., force sensors, torque sensors, and / or combined force-torque sensors illustrated by the load cell 404 in FIGS. 24A and 24B, the accelerometer 410 in FIG. 24C, the IMU 420 in FIG. 24D, etc.) positioned on the robotic arm (e.g., at the robotic arm, within the robotic arm, etc.).

[0218] The robotic medical system may calculate the desired motion of the robot arm (e.g., for the joints of the robot arm) (e.g., the desired joint positions, q d An input (e.g., an input signal) is received (602) specifying a desired position (e.g., a velocity based drive, such as 522). In some embodiments, the input includes a displacement command to a motor controller (e.g., JPC 502) of the robot arm. In some embodiments, the input is received from an input device (e.g., controller 182 or part thereof).

[0219] In accordance with the input, the robotic medical system generates a first actuation signal (e.g., τ 1 , τ 2 ) corresponding to the input to cause (e.g., execute, generate) a movement of at least a portion (e.g., one or more joints, one or more links, etc.) of the robotic arm. C 524 ).

[0220] In some embodiments, the first actuation signal is a first force (e.g., τ C 524) (606), such that a first force is applied to at least a portion of the robot arm to initiate movement of at least a portion of the robot arm by providing a first actuation signal.

[0221] In some embodiments, during movement (608), the robotic medical system receives (e.g., determines, measures, etc.) (610) one or more sensor signals from sensors in the robotic arm (e.g., sensor signals 529 or parameters 528, such as force, torque, force-torque, position, distance traveled, velocity, acceleration, etc.). In some embodiments, the one or more sensor signals are derived from measurements at (or near) the end effector of the robotic arm (e.g., ADM 308).

[0222] The robotic medical system generates (612) one or more processed signals (e.g., filtered signals, processed signals 530, etc.) (e.g., processed acceleration, force, moment, force-torque, etc.) based on the one or more received sensor signals (e.g., by applying one or more signal filters).

[0223] In some embodiments, the robotic medical system generates (614) one or more processed signals by filtering the one or more received sensor signals based on frequency content.

[0224] In some embodiments, filtering the one or more received sensor signals includes filtering the one or more received sensor signals for frequency components at (e.g., near) a first frequency associated with the robotic arm (616).

[0225] In some embodiments, the first frequency includes a natural frequency of the robot arm (618).

[0226] In some embodiments, the first frequency is higher than a frequency associated with motion motion from a human operator (620) (eg, the first frequency is a frequency not associated with human motion).

[0227] For example, in some embodiments, the robotic arm, in a typical posture (e.g., position and / or orientation) with good support at its base, has a first natural frequency (first mode) of 12 Hz or thereabouts (e.g., 11.5 Hz, 11.7 Hz, 12 Hz, 12.5 Hz, etc.) and a second natural frequency (second mode) of 15 Hz or thereabouts (e.g., 14.8 Hz, 15.3 Hz, etc.). By comparison, frequencies associated with human motion are typically up to about 5 Hz. In some embodiments, the robotic arm is configured to respond down to at least 4 Hz, meaning that a robotic arm having a natural frequency above 4-5 Hz is readily usable for teleoperation. In some embodiments, if the robotic medical system is designated for use in a small subset of procedures (e.g., only thoracoscopic procedures), the robotic arm 210 can be configured to respond down to lower frequencies.

[0228] In some embodiments, the robotic arm includes one or more (e.g., multiple) vibration modes. The robotic medical system generates one or more processed signals by filtering (622) the received sensor signals for frequency components in each of the vibration modes (e.g., and mode shapes) of the robotic arm.

[0229] In some embodiments, the robotic medical system generates one or more processed signals using fixed filtering (e.g., to separate vibration signals from sensor measurements) 624. In some embodiments, the fixed filtering is implemented using an anti-notch filter or a bandpass filter that includes fixed (e.g., predetermined) filter characteristics that can cover the variations of the robot arm vibration modes.

[0230] In some embodiments, the robotic medical system generates (626) one or more processed signals using adaptive filtering (e.g., to separate the vibration signal from the sensor measurements).

[0231] In adaptive filtering, the filter characteristics adapt to variations in the robot arm (e.g., robot) vibration modes. The characteristics can include (but are not limited to) center frequency, passband width, roll-off slope, and / or number of passbands. This makes adaptation in both the signal processing module 512 and the FFM 514 very beneficial since the natural frequencies and mode shapes of the robot arm are pose dependent. In some embodiments, the natural frequencies of the robot arm control how the filter passband center frequencies adapt. For example, in some embodiments, the width (e.g., Q factor) of the passbands can be adaptive based on estimated mode shapes and / or input sensor measurements. In some embodiments, optional characteristics that can be used for adaptive filtering include amplitude, phase, and / or Q factor.

[0232] The robotic medical system generates one or more control signals (e.g., a feedforward signal, a feedback signal, a control signal corresponding to a feedforward torque or a feedback torque, etc.) according to the one or more processed signals (e.g., τ ff 536) (628). For example, as illustrated in FIG. 25, the robotic medical system (e.g., via the FFM 514) generates a control signal (e.g., τ ff 536 ) is generated according to the processed signal 530 .

[0233] The robotic medical system provides (630) a second actuation signal based on (e.g., corresponding to a combination of) the first actuation signal and the one or more control signals such that vibrations of the robotic arm (e.g., at an end effector of the robotic arm) are suppressed (e.g., during movement).

[0234] In some embodiments, the second actuation signal is a multiple of the first actuation signal (e.g., τ C 524) and one or more control signals (e.g., τ ff 536) corresponds to the combination (632).

[0235] In some embodiments, the robotic medical system may measure the motion of one or more joints of the robotic arm (e.g., a measured joint position q, such as a single joint position or two or more joint positions). m 526, a measured velocity, acceleration, etc.) is determined (634). C 524) is further based on the movement of one or more joints (636).

[0236] In some embodiments, the robotic medical system measures the position of one or more joints (e.g., a single joint or two or more joints) of the robotic arm (e.g., measured joint positions q m 526) (e.g., a position of a single joint or positions of two or more joints) is determined (e.g., measured) (638). One or more control signals (e.g., τ ff 536) is a joint that is connected to one or more joints (e.g., q m 526) is further based on the location (640).

[0237] In some embodiments, the one or more received sensor signals include time-domain parameters (642). The robotic medical system determines one or more frequency components of each received sensor signal of the one or more received sensor signals (644). The robotic medical system adjusts at least one of the amplitude or phase of each frequency component of the one or more frequency components to obtain one or more adjusted frequency components (646). The robotic medical system generates one or more processed signals by determining a time-domain signal from the one or more adjusted frequency components (648).

[0238] In some embodiments, the robotic medical system performs a compensatory movement (e.g., q ff 534) based on the compensation movement.d 522) to adjust (e.g., modify).

[0239] For example, in some embodiments, the robotic medical system provides a (third) signal corresponding to an input specifying an adjusted desired motion to cause movement of at least a portion of the robotic arm, hi some embodiments, the adjusted desired motion is a combination (e.g., a sum or difference) of the desired motion and the compensation motion.

[0240] In some embodiments, the sensor is positioned (eg, disposed) on a distal portion of the robotic arm (eg, as illustrated in FIG. 24A).

[0241] In some embodiments, the sensor is positioned between a pair of joints of the robot arm. For example, Figure 24A illustrates a sensor (e.g., load cell 404) positioned between joint 304-5 and joint 304-6.

[0242] In some embodiments, the sensor includes a force sensor, a torque sensor (e.g., a moment sensor), a combined force-torque sensor (e.g., a load cell 404, such as a 6-axis load cell), an accelerometer (e.g., accelerometer 410), or an inertial measurement unit (IMU) (e.g., IMU 420).

[0243] In some embodiments, the robotic medical system determines positions of one or more joints of the robotic arm (654). The robotic medical system estimates one or more vibration modes (of the robotic arm) based on the positions of the one or more joints and the one or more sensor signals (656). One or more control signals are generated (658) also based on the one or more vibration modes.

[0244] In some embodiments, the robotic medical system estimates one or more vibration modes (of the robotic arm) based on one or more sensor signals (e.g., independent of the position of one or more joints). One or more control signals are also generated based on the one or more vibration modes.

[0245] In some embodiments, the robotic medical system estimates one or more vibration modes (of the robotic arm) based on the position of one or more joints (e.g., independent of one or more sensor signals). One or more control signals are also generated based on the position of the one or more joints.

[0246] 3. Implementation Systems and Terminology. FIG. 27 is a schematic diagram illustrating electronic components of a medical robotic system, according to some embodiments.

[0247] 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. 24A, 24B, 24C, 25, 26A, 26B, and 26C). 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 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 one or more actuators 387 (without a separate actuator controller). Although FIG. 27 shows that there is one actuator controller 386 (e.g., one actuator controller for the entire robotic 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., velocity, acceleration and / or frequency content of the end effector) as described herein.

[0248] 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.

[0249] 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.

[0250] 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.

[0251] 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.

[0252] 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."

[0253] As used herein, the term "exemplary" means "serving as an example, instance, or illustration" and does not necessarily imply any preference or superiority of the example over any other configurations or implementations.

[0254] The preceding 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, may be employed. 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.

[0255] 4. Illustration of the subject matter technology as a clause. The following clauses describe several embodiments or implementations.

[0256] Article 1. A robotic medical system comprising: A robot arm; a sensor positioned on the robot arm; 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: receiving an input specifying a desired motion of the robot arm; providing a first actuation signal corresponding to the input to cause movement of at least a portion of the robotic arm in accordance with the input; While on the move, receiving one or more sensor signals from a sensor of the robot arm; generating one or more processed signals based on the one or more received sensor signals; generating one or more control signals according to the one or more processed signals; A robotic medical system that provides a second actuation signal based on the first actuation signal and one or more control signals such that vibration of the robot arm is suppressed.

[0257] Clause 2. The robotic medical system of clause 1, wherein the first actuation signal corresponds to a first force, such that by providing the first actuation signal, the first force is applied to at least a portion of the robotic arm to initiate movement of at least a portion of the robotic arm.

[0258] Clause 3. The robotic medical system of clause 1 or 2, wherein the second actuation signal corresponds to a combination of the first actuation signal and one or more control signals.

[0259] Article 4. The memory includes instructions that, when executed by the one or more processors, cause the one or more processors to: determining a position of one or more joints of the robotic arm; The robotic medical system of any one of clauses 1 to 3, wherein the first actuation signal is further based on the position of one or more joints.

[0260] Article 5. The memory includes instructions that, when executed by the one or more processors, cause the one or more processors to: determining a position of one or more joints of the robotic arm; 5. The method of any one of clauses 1-4, wherein the one or more control signals are further based on a position of the one or more joints.

[0261] Article 6. The memory 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 any one of clauses 1 to 5, generating one or more processed signals by filtering one or more received sensor signals based on frequency components.

[0262] Clause 7. The robotic medical system of clause 6, wherein filtering the one or more received sensor signals includes filtering the one or more received sensor signals for frequency components at a first frequency associated with the robotic arm.

[0263] Clause 8. The robotic medical system of claim 7, wherein the first frequency comprises a natural frequency of the robot arm.

[0264] Clause 9. The robotic medical system of clause 7 or 8, wherein the first frequency is higher than a frequency associated with a movement motion from a human operator.

[0265] Article 10. the robot arm includes one or more vibration modes; The memory includes instructions that, when executed by the one or more processors, cause the one or more processors to: A robotic medical system described in any one of clauses 1 to 9, generating one or more processed signals by filtering the received sensor signals for frequency components in each of the vibration modes of the robot arm.

[0266] Article 11. the one or more received sensor signals include a time domain parameter; The memory includes instructions that, when executed by the one or more processors, cause the one or more processors to: determining one or more frequency components of each received sensor signal among the one or more received sensor signals; adjusting at least one of an amplitude or a phase of each frequency component of the one or more frequency components to obtain one or more adjusted frequency components; The robotic medical system of any one of clauses 1 to 10, wherein one or more processed signals are generated by determining a time domain signal from the one or more adjusted frequency components.

[0267] Clause 12. A robotic medical system described in any one of clauses 1 to 11, wherein the memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to generate one or more processed signals using fixed filtering.

[0268] Clause 13. A robotic medical system described in any one of clauses 1 to 12, wherein the memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to generate one or more processed signals using adaptive filtering.

[0269] Article 14. The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to: generating a compensating movement based on the one or more control signals; 14. The robotic medical system according to claim 1, wherein the target motion is adjusted based on the compensation movement.

[0270] Clause 15. A robotic medical system described in any one of clauses 1 to 14, wherein the sensor is positioned at a distal portion of the robot arm.

[0271] Clause 16. A robotic medical system described in any one of clauses 1 to 15, wherein the sensor is positioned between a pair of joints of the robot arm.

[0272] Clause 17. A robotic medical system described in any one of clauses 1 to 16, wherein the sensor includes a force sensor, a torque sensor, a combined force-torque sensor, an accelerometer, or an inertial measurement unit (IMU).

[0273] Article 18. The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to: determining a position of one or more joints of the robotic arm; estimating one or more vibration modes based on one or more joint positions and / or one or more sensor signals; 18. The robotic medical system of any one of clauses 1-17, wherein the one or more control signals are generated based also on the one or more vibration modes.

[0274] Clause 19. A method implemented by a medical robotic system including a robotic arm and a sensor positioned on the robotic arm, comprising: Receiving an input specifying a desired motion of the robot arm; providing a first actuation signal corresponding to the input to cause movement of at least a portion of the robotic arm in accordance with the input; While on the move, receiving one or more robot arm sensor signals from a sensor of the robot arm; generating one or more processed signals based on the one or more received sensor signals; generating one or more control signals according to the one or more processed signals; providing a second actuation signal based on the first actuation signal and the one or more control signals, such that vibration of the robot arm is suppressed.

[0275] Article 20. the first actuation signal corresponds to the first force; 20. The method of claim 19, wherein a first force is applied to at least a portion of the robotic arm by providing a first actuation signal to initiate movement of at least a portion of the robotic arm.

[0276] Clause 21. The method of clause 19 or 20, wherein the second actuation signal corresponds to a combination of the first actuation signal and one or more control signals.

[0277] Article 22. determining a position of one or more joints of the robot arm; 22. The method of any one of clauses 19 to 21, wherein the first actuation signal is further based on a position of one or more joints.

[0278] Article 23. determining a position of one or more joints of the robot arm; 23. The method of any one of clauses 19 to 22, wherein the one or more control signals are further based on a position of the one or more joints.

[0279] Article 24. 24. The method of any one of clauses 19-23, further comprising generating one or more processed signals by filtering the one or more received sensor signals based on frequency content.

[0280] Clause 25. The method of clause 24, wherein filtering the one or more received sensor signals includes filtering the one or more received sensor signals for frequency components at a first frequency associated with the robot arm.

[0281] Clause 26. The method of clause 25, wherein the first frequency comprises a natural frequency of the robot arm.

[0282] Clause 27. The method of clause 25 or 26, wherein the first frequency is higher than a frequency associated with motion movements from a human operator.

[0283] Article 28. the robot arm includes one or more vibration modes; 28. A method according to any one of clauses 19 to 27, generating one or more processed signals by filtering the received sensor signals for frequency components in each of the vibration modes of the robot arm.

[0284] Article 29. the one or more received sensor signals include a time domain parameter; The method is determining one or more frequency components of each received sensor signal among the one or more received sensor signals; adjusting at least one of an amplitude or a phase of each frequency component of the one or more frequency components to obtain one or more adjusted frequency components; 29. The method of any one of clauses 19-28, further comprising generating one or more processed signals by determining a time domain signal from the one or more adjusted frequency components.

[0285] Clause 30. The method of any one of clauses 19 to 29, further comprising generating the one or more processed signals using fixed filtering.

[0286] Clause 31. The method of any one of clauses 19 to 30, further comprising generating one or more processed signals using adaptive filtering.

[0287] Article 32. generating a compensating movement based on the one or more control signals; 32. The method of claim 19, further comprising: adjusting the desired motion based on the compensation movement.

[0288] Clause 33. A method according to any one of clauses 19 to 32, wherein the sensor is positioned at a distal portion of the robot arm.

[0289] Clause 34. A method according to any one of clauses 19 to 33, wherein the sensor is positioned between a pair of joints of the robot arm.

[0290] Clause 35. A method according to any one of clauses 19 to 34, wherein the sensor comprises a force sensor, a torque sensor, a combined force-torque sensor, an accelerometer or an inertial measurement unit (IMU).

[0291] Article 36. Determining the position of one or more joints of the robot arm; and estimating one or more vibration modes based on the one or more joint positions and the one or more sensor signals; 36. The method of any one of clauses 19-35, wherein the one or more control signals are generated based also on the one or more vibration modes.

[0292] [Embodiment] (1) A robotic medical system, comprising: A robot arm; a sensor positioned on the robot arm; 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: receiving an input specifying a desired motion of the robotic arm; providing a first actuation signal corresponding to the input to cause movement of at least a portion of the robotic arm in accordance with the input; During said movement, receiving one or more sensor signals from the sensor of the robot arm; generating one or more processed signals based on the one or more received sensor signals; generating one or more control signals in accordance with the one or more processed signals; A robotic medical system that provides a second actuation signal based on the first actuation signal and the one or more control signals such that vibration of the robot arm is suppressed. (2) The robotic medical system of embodiment 1, wherein the first actuation signal corresponds to a first force, such that by providing the first actuation signal, the first force is applied to the at least a portion of the robotic arm to initiate the movement of the at least a portion of the robotic arm. (3) The robotic medical system of embodiment 1, wherein the second actuation signal corresponds to a combination of the first actuation signal and the one or more control signals. (4) the memory includes instructions that, when executed by the one or more processors, cause the one or more processors to: determining a position of one or more joints of the robotic arm; The robotic medical system of embodiment 1, wherein the first actuation signal is further based on the position of the one or more joints. (5) the memory includes instructions that, when executed by the one or more processors, cause the one or more processors to: determining a position of one or more joints of the robotic arm; The robotic medical system of embodiment 1, wherein the one or more control signals are further based on the position of the one or more joints.

[0293] (6) the memory 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 1, wherein the one or more processed signals are generated by filtering the one or more received sensor signals based on frequency components. (7) The robotic medical system of embodiment 6, wherein filtering the one or more received sensor signals includes filtering the one or more received sensor signals for frequency components at a first frequency associated with the robot arm. (8) The robotic medical system of embodiment 7, wherein the first frequency includes a natural frequency of the robot arm. (9) The robotic medical system of embodiment 7, wherein the first frequency is higher than the frequency associated with a motion movement from the human operator. (10) The robot arm includes one or more vibration modes; The memory 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 1, wherein the one or more processed signals are generated by filtering the received sensor signal for frequency components in each of the vibration modes of the robot arm.

[0294] (11) The one or more received sensor signals include time domain parameters; The memory includes instructions that, when executed by the one or more processors, cause the one or more processors to: determining one or more frequency components of each received sensor signal of the one or more received sensor signals; adjusting at least one of an amplitude or a phase of each frequency component of the one or more frequency components to obtain one or more adjusted frequency components; The robotic medical system of embodiment 1, wherein the one or more processed signals are generated by determining a time domain signal from the one or more adjusted frequency components. (12) 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 fixed filtering is used to generate the one or more processed signals. (13) 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 adaptive filtering is used to generate the one or more processed signals. (14) The memory further includes instructions, the instructions, when executed by the one or more processors, causing the one or more processors to: generating a compensating movement based on the one or more control signals; 2. The robotic medical system of embodiment 1, further comprising: adjusting the target motion based on the compensation movement. (15) The robotic medical system of embodiment 1, wherein the sensor is positioned at a distal portion of the robot arm.

[0295] (16) The robotic medical system of embodiment 1, wherein the sensor is positioned between a pair of joints of the robot arm. (17) The robotic medical system of embodiment 1, wherein the sensor includes a force sensor, a torque sensor, a combined force-torque sensor, an accelerometer, or an inertial measurement unit (IMU). (18) The memory further includes instructions, the instructions, when executed by the one or more processors, causing the one or more processors to: determining a position of one or more joints of the robotic arm; estimating one or more vibration modes based on the positions of the one or more joints and / or the one or more sensor signals; The robotic medical system of embodiment 1, wherein the one or more control signals are also generated based on the one or more vibration modes. (19) A method implemented by a medical robotic system including a robotic arm and a sensor positioned on the robotic arm, comprising: receiving an input specifying a desired motion of the robotic arm; providing a first actuation signal corresponding to the input to cause movement of at least a portion of the robotic arm in accordance with the input; During said movement, receiving one or more sensor signals of the robot arm from the sensor of the robot arm; generating one or more processed signals based on the one or more received sensor signals; generating one or more control signals according to the one or more processed signals; providing a second actuation signal based on the first actuation signal and the one or more control signals, such that vibration of the robot arm is suppressed. (20) The first actuation signal corresponds to a first force; 20. The method of claim 19, wherein by providing the first actuation signal, the first force is applied to the at least a portion of the robotic arm to initiate the movement of the at least a portion of the robotic arm.

[0296] (21) The method of embodiment 19, wherein the second actuation signal corresponds to a combination of the first actuation signal and the one or more control signals. (22) The method further comprises determining a position of one or more joints of the robot arm; 20. The method of claim 19, wherein the first actuation signal is further based on the position of the one or more joints. (23) The method further comprising determining a position of one or more joints of the robot arm; 20. The method of claim 19, wherein the one or more control signals are further based on the position of the one or more joints. (24) The method of embodiment 19, further comprising generating the one or more processed signals by filtering the one or more received sensor signals based on frequency content. (25) The method of embodiment 24, wherein filtering the one or more received sensor signals includes filtering the one or more received sensor signals for frequency components at a first frequency associated with the robot arm.

[0297] (26) The method of embodiment 25, wherein the first frequency comprises a natural frequency of the robot arm. (27) The method of claim 25, wherein the first frequency is higher than the frequency associated with motion movement from the human operator. (28) The robot arm includes one or more vibration modes, 20. The method of claim 19, further comprising generating the one or more processed signals by filtering the received sensor signal for frequency components in each of the vibration modes of the robot arm. (29) The one or more received sensor signals include time domain parameters; The method further comprising: determining one or more frequency components of each received sensor signal of the one or more received sensor signals; adjusting at least one of an amplitude or a phase of each frequency component of the one or more frequency components to obtain one or more adjusted frequency components; 20. The method of claim 19, further comprising generating the one or more processed signals by determining a time domain signal from the one or more adjusted frequency components. (30) The method of embodiment 19, further comprising generating the one or more processed signals using fixed filtering.

[0298] (31) The method of embodiment 19, further comprising generating the one or more processed signals using adaptive filtering. (32) generating a compensating movement based on the one or more control signals; and 20. The method of claim 19, further comprising adjusting the target motion based on the compensation movement. (33) The method of embodiment 19, wherein the sensor is positioned at a distal portion of the robotic arm. (34) The method of embodiment 19, wherein the sensor is positioned between a pair of joints of the robot arm. (35) The method of embodiment 19, wherein the sensor comprises a force sensor, a torque sensor, a combined force-torque sensor, an accelerometer, or an inertial measurement unit (IMU).

[0299] (36) determining positions of one or more joints of the robot arm; estimating one or more vibration modes based on the positions of the one or more joints and the one or more sensor signals; 20. The method of embodiment 19, wherein the one or more control signals are generated based also on the one or more vibration modes.

Claims

1. A robotic medical system, comprising: A robot arm; a sensor positioned on the robot arm; 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: receiving an input specifying a desired motion of the robotic arm; providing a first actuation signal corresponding to the input to cause movement of at least a portion of the robotic arm in accordance with the input; During said movement, receiving one or more sensor signals from the sensor of the robot arm; generating one or more processed signals based on the one or more received sensor signals; generating one or more control signals in accordance with the one or more processed signals; A robotic medical system that provides a second actuation signal based on the first actuation signal and the one or more control signals such that vibration of the robot arm is suppressed.

2. 2. The robotic medical system of claim 1, wherein the first actuation signal corresponds to a first force, such that providing the first actuation signal causes the first force to be applied to the at least a portion of the robotic arm to initiate the movement of the at least a portion of the robotic arm.

3. The robotic medical system of claim 1 , wherein the second actuation signal corresponds to a combination of the first actuation signal and the one or more control signals.

4. The memory includes instructions that, when executed by the one or more processors, cause the one or more processors to: determining a position of one or more joints of the robot arm; The robotic medical system of claim 1 , wherein the first actuation signal is further based on the position of the one or more joints.

5. The memory includes instructions that, when executed by the one or more processors, cause the one or more processors to: determining a position of one or more joints of the robot arm; The robotic medical system of claim 1 , wherein the one or more control signals are further based on the position of the one or more joints.

6. The memory includes instructions that, when executed by the one or more processors, cause the one or more processors to: The robotic medical system of claim 1 , further comprising: generating the one or more processed signals by filtering the one or more received sensor signals based on frequency content.

7. 7. The robotic medical system of claim 6, wherein filtering the one or more received sensor signals comprises filtering the one or more received sensor signals for frequency components at a first frequency associated with the robotic arm.

8. The robotic medical system of claim 7 , wherein the first frequency comprises a natural frequency of the robotic arm.

9. The robotic medical system of claim 7 , wherein the first frequency is higher than the frequency associated with motion movements from the human operator.

10. the robot arm includes one or more vibration modes; The memory includes instructions that, when executed by the one or more processors, cause the one or more processors to: The robotic medical system of claim 1 , wherein the one or more processed signals are generated by filtering the received sensor signals for frequency components in each of the vibration modes of the robotic arm.

11. the one or more received sensor signals include time domain parameters; The memory includes instructions that, when executed by the one or more processors, cause the one or more processors to: determining one or more frequency components of each received sensor signal of the one or more received sensor signals; adjusting at least one of an amplitude or a phase of each frequency component of the one or more frequency components to obtain one or more adjusted frequency components; The robotic medical system of claim 1 , wherein the one or more processed signals are generated by determining a time domain signal from the one or more conditioned frequency components.

12. The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to: The robotic medical system of claim 1 , wherein fixed filtering is used to generate the one or more processed signals.

13. The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to: The robotic medical system of claim 1 , wherein adaptive filtering is used to generate the one or more processed signals.

14. The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to: generating a compensating movement based on the one or more control signals; The robotic medical system of claim 1 , further comprising: adjusting the desired motion based on the compensation movement.

15. The robotic medical system of claim 1 , wherein the sensor is positioned at a distal portion of the robotic arm.

16. The robotic medical system of claim 1 , wherein the sensor is positioned between a pair of joints of the robotic arm.

17. The robotic medical system of claim 1 , wherein the sensor comprises a force sensor, a torque sensor, a combined force-torque sensor, an accelerometer, or an inertial measurement unit (IMU).

18. The memory further includes instructions that, when executed by the one or more processors, cause the one or more processors to: determining a position of one or more joints of the robot arm; estimating one or more vibration modes based on the positions of the one or more joints and / or the one or more sensor signals; The robotic medical system of claim 1 , wherein the one or more control signals are generated also based on the one or more vibration modes.

19. 1. A method implemented by a medical robotic system including a robotic arm and a sensor positioned on the robotic arm, comprising: receiving an input specifying a desired motion of the robotic arm; providing a first actuation signal corresponding to the input to cause movement of at least a portion of the robotic arm in accordance with the input; During said movement, receiving one or more sensor signals of the robot arm from the sensor of the robot arm; generating one or more processed signals based on the one or more received sensor signals; generating one or more control signals according to the one or more processed signals; providing a second actuation signal based on the first actuation signal and the one or more control signals, such that vibration of the robot arm is suppressed.

20. the first actuation signal corresponds to a first force; 20. The method of claim 19, wherein providing the first actuation signal causes the first force to be applied to the at least a portion of the robotic arm to initiate the movement of the at least a portion of the robotic arm.

21. 20. The method of claim 19, wherein the second actuation signal corresponds to a combination of the first actuation signal and the one or more control signals.

22. determining a position of one or more joints of the robot arm; The method of claim 19 , wherein the first actuation signal is further based on the position of the one or more joints.

23. determining a position of one or more joints of the robot arm; 20. The method of claim 19, wherein the one or more control signals are further based on the position of the one or more joints.

24. 20. The method of claim 19, further comprising generating the one or more processed signals by filtering the one or more received sensor signals based on frequency content.

25. 25. The method of claim 24, wherein filtering the one or more received sensor signals comprises filtering the one or more received sensor signals for frequency components at a first frequency associated with the robotic arm.

26. 26. The method of claim 25, wherein the first frequency comprises a natural frequency of the robotic arm.

27. 26. The method of claim 25, wherein the first frequency is higher than the frequency associated with motion movement from the human operator.

28. the robot arm includes one or more vibration modes; 20. The method of claim 19, further comprising generating the one or more processed signals by filtering the received sensor signals for frequency components in each of the vibration modes of the robot arm.

29. the one or more received sensor signals include time domain parameters; The method further comprising: determining one or more frequency components of each received sensor signal of the one or more received sensor signals; adjusting at least one of an amplitude or a phase of each frequency component of the one or more frequency components to obtain one or more adjusted frequency components; 20. The method of claim 19, further comprising: generating the one or more processed signals by determining a time domain signal from the one or more conditioned frequency components.

30. 20. The method of claim 19, further comprising generating the one or more processed signals using fixed filtering.

31. 20. The method of claim 19, further comprising generating the one or more processed signals using adaptive filtering.

32. generating a compensating movement based on the one or more control signals; The method of claim 19 , further comprising: adjusting the desired motion based on the compensating movement.

33. The method of claim 19 , wherein the sensor is positioned at a distal portion of the robotic arm.

34. The method of claim 19 , wherein the sensor is positioned between a pair of joints of the robotic arm.

35. The method of claim 19 , wherein the sensor comprises a force sensor, a torque sensor, a combined force-torque sensor, an accelerometer, or an inertial measurement unit (IMU).

36. determining a position of one or more joints of the robot arm; and estimating one or more vibration modes based on the positions of the one or more joints and the one or more sensor signals; 20. The method of claim 19, wherein the one or more control signals are generated based also on the one or more vibration modes.

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