Reusable containment cover for a robotic surgical system - Patents.com

Abstract

The robotic surgical system includes a plurality of robotic arms, an arm support, and a storage cover. The plurality of robotic arms includes a first independently adjustable arm and a second independently movable robotic arm. The plurality of robotic arms are operable to transition between a stored configuration and a deployed configuration. The arm support is operably coupled to the plurality of robotic arms. The storage cover includes a flexible body defining a first compartment and a second compartment. The first compartment is configured to simultaneously cover the first independently adjustable arm and the second independently movable robotic arm in the stored configuration, and the second compartment is configured to cover the arm support in the stored configuration.

Description

[Technical field]

[0001] (Priority) This application claims priority to U.S. Provisional Patent Application No. 63 / 317,289, filed March 7, 2022, entitled "Reusable Stowage Cover for Robotic Surgical System," the disclosure of which is incorporated herein by reference. [Background technology]

[0002] Various surgical instruments include end effectors for use in traditional medical treatments and procedures performed by medical personnel, as well as applications in robotic-assisted surgery. Such surgical instruments may be directly grasped and manipulated by the surgeon, or may be incorporated into robotic-assisted surgery. In the case of robotic-assisted surgery, the surgeon may operate a master controller to remotely control the movement of such surgical instruments at the surgical site. The controller may be spaced a significant distance from the patient (e.g., across the operating room, in a different room, or in a completely different building than the patient). Alternatively, the controller may be located very close to the patient in the operating room. In either case, the controller may include one or more hand input devices (joysticks, exoskeleton gloves, master manipulators, etc.) that are coupled to the surgical instruments by servo mechanisms. In one example, the servo motors move a manipulator that supports the surgical instruments based on the manipulation of the hand input devices by the surgeon. During surgery, the surgeon may employ a variety of surgical instruments via the robotic surgical system, including ultrasonic blades, surgical staplers, tissue graspers, needle holders, electrosurgical cauterization probes, etc. Each of these structures performs a function for the surgeon, such as cutting tissue, coagulating tissue, holding or driving a needle, grasping a blood vessel, cutting tissue, or cauterizing tissue.

[0003] While a number of robotic surgical systems and associated components have been made and used, it is believed that no one prior to the present inventors has made or used the invention as set forth in the appended claims. [Brief description of the drawings]

[0004] While this specification concludes with claims, which particularly point out and distinctly claim the present technology, the present technology will be better understood from the following description of certain embodiments taken in conjunction with the accompanying drawings, in which like reference numerals identify the same elements and in which: [Figure 1] FIG. 1 illustrates a perspective view of a first embodiment of a table-based robotic system configured for laparoscopic procedures. [Diagram 2] FIG. 1 illustrates a perspective view of a second embodiment of a table-based robotic system configured to house one or more robotic arms. [Diagram 3] FIG. 13 shows a perspective view of a third embodiment of a table-based robot system. [Figure 4] FIG. 4 illustrates an end view of the table-based robotic system of FIG. [Diagram 5] FIG. 5 illustrates an end view of the table-based robotic system of FIG. 4, including a pair of robotic arms. [Figure 6] FIG. 5 illustrates a partial exploded perspective view of one of the robotic arms of FIG. 4 having an instrument driver and a surgical instrument. [Figure 7A] FIG. 1 illustrates a side view of another embodiment of a table-based robotic system including a storage cover with the system's robotic arm in a stowed configuration and adjustable arm supports in a lowered position, with the storage cover shown in phantom. [Figure 7B] FIG. 7B illustrates a side view of the table-based robotic system of FIG. 7A with the adjustable arm support moved to a higher position and the storage cover shown in phantom. [Figure 8]FIG. 7B shows an enlarged perspective view of a portion of the table-based robotic system of FIG. 7A, with a first flexible body of the containment cover covering a first portion of the system and a second flexible body of the containment cover shown in phantom covering a second portion of the system. [Figure 9] FIG. 7B shows an enlarged side view of a portion of the table-based robotic system of FIG. 7A, including the first flexible body and the second flexible body. [Figure 10] FIG. 7B shows an enlarged end view of a portion of a first bar of the table-based robotic system of FIG. [Figure 11] FIG. 7B shows an enlarged end view of the adjustable arm support of the table-based robotic system of FIG. 7A and a portion of the containment cover of FIG. 7A. [Figure 12] FIG. 7B shows a schematic diagram of one embodiment of a sensing assembly for use with the table-based robotic system of FIG. [Figure 13] FIG. 7B shows a schematic diagram of one embodiment of a method for operating the table-based robotic system of FIG.

[0005] The drawings are not intended to be limiting in any manner, and it is contemplated that various embodiments of the technology may be embodied in other various ways, including those not necessarily depicted in the drawings. The accompanying drawings, which are incorporated in and form a part of this specification, illustrate several aspects of the technology and, together with the description, serve to explain the principles of the technology, with the understanding that the technology is not limited to the precise arrangements shown. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0006] The following description of a specific example of the present technology should not be used to limit its scope. Other examples, features, aspects, embodiments, and advantages of the present technology will become apparent to those skilled in the art from the following description, which is illustrative and is one of the best modes contemplated for carrying out the present technology. As will be understood, the technology described herein is capable of other different and obvious aspects, all without departing from the technology. Thus, the drawings and description should be regarded as illustrative in nature, and not restrictive.

[0007] It should be further understood that any one or more of the teachings, expressions, embodiments, examples, etc. described herein may be combined with any one or more of the other teachings, expressions, embodiments, examples, etc. described herein. Thus, the teachings, expressions, embodiments, examples, etc. described below should not be considered in isolation from one another. Various suitable ways in which the teachings herein may be combined will be readily apparent to those skilled in the art in light of the teachings herein. Such modifications and variations are intended to be included within the scope of the claims.

[0008] For clarity of this disclosure, the terms "proximal" and "distal" are defined herein relative to a human or robotic surgical instrument operator. The term "proximal" refers to a location of an element closer to a human or robotic surgical instrument operator and further away from a surgical end effector of the surgical instrument. The term "distal" refers to a location of an element closer to a surgical end effector of the surgical instrument and further away from a human or robotic surgical instrument operator. It will be further appreciated that for convenience and clarity of exposition, spatial terms such as "upper" and "lower" are used herein to refer to relative positions and orientations. Such terms are used hereinafter with reference to the figures as illustrated for clarity and are not intended to limit the invention described herein.

[0009] Aspects of the present embodiments described herein may be integrated into robot-enabled medical systems, including robotic surgical systems capable of performing a variety of medical procedures, including both minimally invasive procedures such as laparoscopy and non-invasive procedures such as endoscopy. Bronchoscopy, ureteroscopy, gastroscopy, among other endoscopies, may be performed.

[0010] In addition to performing a wide range of procedures, robot-enabled medical systems may provide additional benefits, such as enhanced imaging and guidance to assist medical personnel. Additionally, robot-enabled medical systems may provide medical personnel with the ability to perform procedures from an ergonomic position without requiring awkward arm movements or postures. Still further, robot-enabled medical systems may provide medical personnel with the ability to perform procedures with improved ease of use, such as where one or more instruments of the robot-enabled medical system are controlled by a single operator.

[0011] I. Examples of robot-enabled medical systems FIG. 1 illustrates an embodiment of a robot-enabled medical system, including a first embodiment of a table-based robotic system (10). The table-based robotic system (10) of this embodiment includes a table system (12) operatively connected to a surgical instrument (14) for diagnostic and / or therapeutic procedures in the course of treating a patient. Such procedures may include, but are not limited to, bronchoscopy, ureteroscopy, vascular procedures, and laparoscopic procedures. For purposes herein, the surgical instrument (14) is configured for a laparoscopic procedure, but it should be understood that any instrument for treating a patient may be used as well. At least a portion of the table-based robotic system (10) may be constructed and operative in accordance with at least some of the teachings of any of the various patents, patent application publications, and patent applications cited herein.

[0012] A. Example of a Table-Based Robot System with a Circular Carriage With reference to FIG. 1 , the table-based robotic system (10) includes a table system (12) having a platform, such as a table (16), with multiple carriages (18), which may also be referred to herein as “arm supports,” that each support the deployment of multiple robotic arms (20). The table-based robotic system (10) further includes a support structure, such as a column (22), for supporting the table (16) above a floor. The table (16) may also be configured to tilt to a desired angle during use, such as during a laparoscopic procedure. Each robotic arm (20) includes an instrument driver (24) configured to removably connect to and manipulate a surgical instrument (14) for use. In an alternative embodiment, the instrument drivers (24) may be collectively positioned in a linear arrangement to support instruments extending therebetween along a “virtual rail” that may be repositioned in space by manipulating one or more robotic arms (20) to one or more angles and / or positions. In practice, a C-arm (not shown) may be positioned above the patient to provide fluoroscopic imaging.

[0013] In this embodiment, the support (22) includes carriages (18) arranged in a ring shape to respectively support one or more robotic arms (20) for use. The carriages (18) may translate along and / or rotate about the support (22) when driven by mechanical motors (not shown) positioned within the support (22) to provide the robotic arms (20) with access to multiple sides of the table (16), such as both sides of a patient. The rotation and translation of the carriages (18) allows for alignment of instruments, such as the surgical instruments (14), to different access points on the patient. In an alternative example, as described in more detail below, the table-based robotic system (10) may include a surgical table having an adjustable arm support including a laterally extending bar (26) (see FIG. 2). The one or more robotic arms (20) may be attached to the carriages (18) (e.g., via shoulders having elbow joints). The robotic arm (20) is vertically adjustable for compact storage beneath the table (16) and then elevated during use.

[0014] The table-based robotic system 10 may also include a tower (not shown) that divides the functionality of the table-based robotic system 10 between the table 16 and the tower, reducing the form factor and bulk of the table 16. To this end, the tower may provide various support functions to the table 16, such as computing and control functions, power, fluidics, optical processing, and / or sensor data processing. The tower may also be mobile so that it can be positioned away from the patient to improve medical personnel access and organize the operating room. The tower may also include a master controller or console that provides both a user interface for operator input, such as a keyboard and / or pendant, and a display screen, including a touch screen, for pre-operative and intra-operative information, including but not limited to real-time image, navigation, and tracking information. In some variations, the tower may include a gas tank used for ventilation.

[0015] B. Example of a Table-Based Robot System with Integrated Arm Covers As mentioned above, the table-based robotic system (10) may store the robot arm (20) under the table (16) when the robot arm (20) is not in use. In some variations, the table-based robotic system may provide some sort of cover to cover the stored robot arm when not in use. FIG. 2 shows one embodiment of such a table-based robotic system (21) operable to store and cover the robot arm (27). In this embodiment of the table-based robotic system (21), the robot arm (27) is supported by the carriage (23) via the arm mount (29). The carriage (23) may be vertically translated along the support (33). As shown, the carriage (23) may be vertically translated below the base (25) to store the robot arm (27), the arm mount (29), and the carriage (23) within the base (25).

[0016] The table-based robotic system (21) of this embodiment further includes a base cover panel (31) as part of the base (25). Thus, the base cover panel (31) is an integral component of the table-based robotic system (21) in this embodiment. The base cover panel (31) may be moved between an open configuration (e.g., as shown in the left region of FIG. 2) and a closed configuration (e.g., as shown in the right region of FIG. 2). When the base cover panel (31) is in the open configuration, the base cover panel (31) allows the robot arm (27), the arm mount (29), and the carriage (23) to translate vertically in and out of the lowered, stored position. When the base cover panel (31) is in the closed configuration, the base cover panel (31) may cover the robot arm (27), the arm mount (29), and the carriage (23), and the robot arm (27), the arm mount (29), and the carriage (23) remain in the lowered, stored position. When the base cover panels (31) are in the closed configuration, the base cover (310) may protect the retracted robotic arm (27), arm attachment (29), and carriage (23). Each base cover panel (31) further includes a membrane (35) along the edge of its opening, which may prevent the ingress of dirt and fluids when the base cover panels (31) are in the closed configuration. In some variations, the base cover panels (31) are manually actuated, and in other variations, the base cover panels (31) are automatically actuated.

[0017] C. Example of a Table-Based Robotic System with a Bar Carriage 3-5 show another embodiment of a table-based robotic system (28). The table-based robotic system (28) of this embodiment includes one or more adjustable arm supports (30) including a bar (26) configured to support one or more robotic arms (32) relative to a table (34). Although a single adjustable arm support (30) (FIGS. 3-4) and a pair of adjustable arm supports (30) (FIG. 5) are shown in this embodiment, additional arm supports (30) may be provided around the table (34). Each adjustable arm support (30) is configured to selectively move relative to the table (34) to change the position of the adjustable arm support (30) and / or any robotic arms (32) attached thereto relative to the table (34) as desired. Such adjustable arm supports (30) may provide the table-based robotic system (28) with great versatility, including the ability to easily store one or more adjustable arm supports (30) along with the robotic arms (32) under the table (34).

[0018] Each adjustable arm support (30) provides several degrees of freedom, including lift, lateral translation, tilt, etc. In this embodiment shown in Figures 3-5, the arm support (30) is configured to have four degrees of freedom, indicated by the arrows. A first degree of freedom allows the adjustable arm support (30) to move in the Z direction ("Z-lift"). For example, the adjustable arm support (30) includes a vertical carriage (36). The vertical carriage (36) is configured to move up and down along or relative to a post (38) and a base (40), both of which support a table (34). A second degree of freedom allows the adjustable arm support (30) to tilt about an axis extending in the y direction. For example, the adjustable arm support 30 includes a rotational joint that allows the adjustable arm support 30 to align with the table 34 when the table 34 is in a Trendelenburg position or other tilted position. A third degree of freedom allows the adjustable arm support 30 to "pivot up" about an axis that extends in the x-direction, which may be useful for adjusting the distance between the side of the table 34 and the adjustable arm support 30. A fourth degree of freedom allows translation of the adjustable arm support 30 along the longitudinal length of the table 34, which extends along the x-direction. The base 40 and the support column 38 together support the table 34 against a support surface, which in this example is shown along a support axis 42 above a floor axis 44. Although this embodiment shows the adjustable arm support (30) mounted to a post (38), the arm support (30) may alternatively be mounted to a table (34) or a base (40).

[0019] As shown in this embodiment, the adjustable arm support (30) includes a vertical carriage (36), a bar connector (46), and a bar (26). To this end, the vertical carriage (36) is attached to the post (38) by a first joint (48) that allows the vertical carriage (36) to move relative to the post (38) (e.g., up and down a first vertical axis (50) extending in the z-direction). The first joint (48) provides the adjustable arm support (30) with a first degree of freedom ("Z-lift"). The adjustable arm support (30) further includes a second joint (52) that provides a second degree of freedom (tilt) for the adjustable arm support (30) to pivot about a second axis (53) extending in the y-direction. The adjustable arm support (30) also includes a third joint (54) that provides the adjustable arm support (30) with a third degree of freedom (pivot up) about a third axis (58) that extends in the x-direction. Additionally, an additional joint (56) may maintain a desired orientation of the bar (26) as the bar connector (46) rotates about the third axis (58). The adjustable arm support (30) includes a fourth joint (60) to provide the adjustable arm support (30) with a fourth degree of freedom (translation) along a fourth axis (62) that extends in the x-direction.

[0020] FIG. 5 shows a variation of a table-based robotic system (28) having two adjustable arm supports (30) mounted on opposite sides of a table (34). A first robotic arm (32) is attached to one such bar (26) of the first adjustable arm support (30). This first robotic arm (32) includes a connection (64) attached to the first bar (26). Similarly, the second robotic arm (32) includes a connection (64) attached to the other bar (26). As shown in FIG. 5, the vertical carriages (36) are separated by a first height (H1) and the bars (26) are disposed at a second height (H2) from the base (40). The first bar (26) is disposed at a first distance (D1) from the vertical axis (50) and the other bar (26) is disposed at a second distance (D2) from the vertical axis (50). The distal ends of the first and second robotic arms (32) each include an instrument driver (66) configured to attach to one or more instruments as described in more detail below.

[0021] In some variations, one or more of the robotic arms (32) have seven or more degrees of freedom. In some other variations, the one or more of the robotic arms (32) include eight degrees of freedom, including an insertion axis (one degree of freedom including insertion), a wrist (three degrees of freedom including wrist pitch, yaw, and roll), an elbow (one degree of freedom including elbow pitch), a shoulder (two degrees of freedom including shoulder pitch and yaw), and a joint (64) (one degree of freedom including translation). In some variations, the insertion degree of freedom is provided by the robotic arm (32), and in some other variations, an instrument, such as a surgical instrument, includes an instrument-based insertion architecture.

[0022] FIG. 6 illustrates in more detail one embodiment of the instrument driver (66) with the surgical instrument (14) removed. Given the present instrument-based insertion architecture shown with reference to the surgical instrument (14), the instrument driver (66) further includes a clearance bore (67) extending completely through the instrument driver (66) for movably receiving a portion of the surgical instrument (14), as described in more detail below. The instrument driver (66) may also be referred to herein as an "Instrument Drive Mechanism," "Instrument Device Manipulator," or "Advanced Device Manipulator" (ADM). The instruments may be configured to be detached, removed, and replaced from the instrument driver (66) for individual sterilization or disposal by medical personnel or associated staff. In some scenarios, the instrument driver (66) may be draped for protection and therefore may not need to be modified or sterilized.

[0023] Each tool driver (66) operates independently of the other tool drivers (66) and includes a plurality of rotary drive outputs (68), such as four drive outputs (68) that are similarly driven independently relative to one another to direct the movement of the surgical tool (14). The tool driver (66) and surgical tool (14) in this example are aligned such that the axis of each drive output (68) is parallel to the axis of the surgical tool (14). In use, a control circuit (not shown) receives the control signal, transmits a motor signal to a desired motor (not shown), compares the resulting motor speeds as measured by respective encoders (not shown) to a desired speed, and modulates the motor signal to produce a desired torque at one or more drive outputs (68).

[0024] In this embodiment, the instrument driver (66) is circular, with each drive output (68) housed within a rotating assembly (70). In response to torque, the rotating assembly (70) rotates along a circular bearing (not shown) that connects the rotating assembly (70) to a non-rotating portion (72) of the instrument driver (66). Power and control signals may be transferred from the non-rotating portion (72) of the instrument driver (66) to the rotating assembly (70) via electrical contact therebetween, such as a brushed slip ring connection (not shown). In one embodiment, the rotating assembly (70) may be responsive to a separate drive output (not shown) that is integrated into the non-rotatable portion (72) and is therefore not in parallel with the other drive outputs (68). In any event, the rotating assembly (70) enables the instrument driver (66) to rotate the rotating assembly (70) and drive output (68) together with the surgical instrument (14) as a single unit about the instrument driver axis (74).

[0025] As also shown in FIG. 6, the surgical instrument (14) includes an elongated shaft assembly (82) and an instrument base (76) with a mounting interface (78) having a plurality of drive inputs (80) each configured to couple with a corresponding drive output (68). The shaft assembly (82) of the instrument (14) extends from the center of the instrument base (76) with an axis substantially parallel to the axis of the drive inputs (80), as briefly described above. With the shaft assembly (82) positioned at the center of the instrument base (76), the shaft assembly (82) is coaxial with the instrument driver axis (74) when mounted and movably received within the clearance bore (67). Thus, rotation of the rotation assembly (70) rotates the shaft assembly (82) of the surgical instrument (14) about its own longitudinal axis, while the clearance bore (67) provides space for translation of the shaft assembly (82) during use.

[0026] The above-described embodiments of surgical instrument 14 and instrument driver 66 are merely exemplary embodiments. Robotic arm 32 may interface with different types of instruments using any other suitable types of interface features and in any other suitable variations. Similarly, different types of instruments may be used with robotic arm 32, and such alternative instruments may be configured and operable differently than surgical instrument 14.

[0027] Although not shown in Figures 3-5, the table-based robotic system (28) may be configured to store the robotic arm (32) under the table (34) when the robotic arm (32) is not in use. In some such variations, the base (40) may include an integral cover feature, such as a base cover panel (31), for covering one or more features of the robotic arm (32) and the arm support (30) when the robotic arm (32) is stored. In some other variations, a removable cover may be used to cover one or more features of the robotic arm (32) and the arm support (30) when the robotic arm (32) is stored.

[0028] II. TABLE-BASED ROBOTIC SYSTEM AND METHOD WITH REMOVABLE AND REUSABLE COVER EMBODIMENTS As mentioned above, different types of table-based robotic systems (10, 21, 28) may allow the robotic arms (20, 27, 32) to be stored under the table (16, 34) when the robotic arms (20, 27, 32) are not in use. As merely one example, such a scenario may arise during a robotic surgical procedure and / or during a manual laparoscopic procedure. During a manual laparoscopic procedure, debris (D) (see FIG. 7A ) may tend to fall from the table (16, 34) onto a lower portion of the table-based robotic system (10, 21, 28). The debris (D) may include solids and / or liquids (e.g., bodily fluids and blood). For example, this debris (D) may fall onto the robotic arms (20, 27, 32), the support column (22), the base (25, 40), the carriage (18, 23), and / or the adjustable arm support (30). In the case of table-based robotic systems (10, 21, 28), this debris (D) can contribute to deterioration of capital equipment, can make cleaning procedures more difficult, and / or present a potential risk of cross-contamination between patients. Additionally, the lower portions of the table-based robotic systems (10, 21, 28) may become wet if fluids are splashed up between robotic surgical procedures (e.g., when a user mops or otherwise cleans the floor).

[0029] As a result, it may be beneficial to protect the table-based robotic system (10, 21, 28) from contamination or damage from debris (D) falling from above and / or fluids splashing up from below. It may be beneficial to cover at least some portions of the table-based robotic system (10, 21, 28) to prevent this contamination from occurring between procedures on different patients (P) and at any time during port placement or manual laparoscopy. Although at least a portion of each robotic arm (20, 27, 32) may be non-sterile during a surgical procedure, it may still be desirable to keep the components of the table-based robotic system (10, 21, 28), including the robotic arms (20, 27, 32), clean from debris (D).

[0030] To the extent that the base cover panel 31 may provide some coverage and protection in the context of a table-based robotic system 21, it may be desirable to instead provide a removable cover rather than making the cover an integral component of the table-based robotic system. In some cases, a removable cover may be easier to clean and / or replace as needed. A removable cover may also minimize the cost and / or complexity of the table-based robotic system.

[0031] Although disposable single-use covers may protect the table-based robotic system (10, 21, 28) from liquids, the single-use covers may need to be replaced or removed (even if not soiled) when soiled. This may result in additional work for the user, as the user would remove the single-use cover, dispose of the single-use cover, and apply a new single-use cover. A reusable storage cover may offer simplified cleaning, as the user would not need to remove the single-use cover, clean the equipment underneath, and reinstall a new single-use cover.

[0032] Additionally, in some medical facilities, untrained users are not permitted to directly touch capital equipment (e.g., the table-based robotic systems (10, 21, 28) and their integral components). In such facilities, a reusable containment cover may allow these robotics-untrained users to perform their tasks without deviation. For example, hospital cleaning protocols may prevent a robotics-untrained user from replacing a disposable single-use cover from a table-based robotic system (10, 21, 28). A reusable containment cover may allow a robotics-untrained user to simply wipe down the exterior surface of the containment cover, thus allowing the containment cover to be treated like a hospital bed in an operating room.

[0033] Also, single-use covers tend not to function as well as reusable covers in protecting capital equipment and may not fit as snugly as reusable storage covers. Additionally, single-use covers may tend to be less environmentally friendly than reusable covers, since in some scenarios, two single-use covers (e.g., one single-use cover per bar 26) may be used during each procedure. Similarly, single-use covers may increase the waste burden generated by hospitals. Disposable covers may also tend to be costly (when considered cumulatively). To the extent that hard-shell cases may be used to cover capital equipment, it may be difficult to conveniently store the hard-shell cases in the operating room when not in use.

[0034] One embodiment of a removable and reusable cover that provides the protection described above while also offering the potential benefits of removability, reusability, and storage is described in more detail below.

[0035] A. Example of a removable and reusable cover for a table-based robotic system 7A-10 show one embodiment of a table-based robotic system (110). As shown, the table-based robotic system (110) includes a support structure (112), a surgical table (114), a plurality of robotic arms (116), at least one adjustable arm support (shown as a first adjustable arm support and a second adjustable arm support (118a-118b)), and a containment cover (120). As shown in FIGS. 7A-8, the support structure (112) includes a base (122) and a column (124) for supporting the surgical table (114). The surgical table (114) includes a table (126) configured to receive a patient (P). The table (126) may be configured to tilt to a desired angle during use, such as during a laparoscopic procedure. The operating table (114) defines a first side (128) and a second side (not shown) disposed opposite the first side (128).

[0036] The robotic arms (116) may be configured and operable similarly to the robotic arms (32) described above. The robotic arms (116) may be independently movable relative to one another. The robotic arms (116) are operable to transition between a stored configuration (see FIGS. 7A-9) and a deployed configuration (see FIG. 5 for the robotic arms (32)). In the stored configuration, the robotic arms (116) are positioned below a table (126) of the operating table (114). In the deployed configuration, the robotic arms (116) are configured to move relative to the operating table (114) (e.g., for use in a robotic surgical procedure on a patient (P)). Although FIGS. 7A-7B show three robotic arms (116) attached to a first side (128) of the operating table (114), more or fewer robotic arms (116) may be attached to the first side (128) of the operating table (114). In the embodiment shown in Figures 8-9, the table-based robotic system (110) includes a total of six robotic arms, with three robotic arms (116) mounted on a first side (128) and three robotic arms (116) mounted on a second side of the operating table (114).

[0037] The first and second adjustable arm supports (118a-b) may be configured and operable similarly to the adjustable arm support (30). The first adjustable arm support (118a) is mounted on a first side (128) and the second adjustable arm support (118b) is mounted on a second side (not shown). The first and second adjustable arm supports (118a-b) may move independently of one another. As shown in FIGS. 7A-7B, the first adjustable arm support (118a) includes a first vertical carriage (132a), a first bar connector (134a), and a first bar (136a). Similarly, as shown in FIG. 8, the second adjustable arm support (118b) includes a second vertical carriage (132b), a second bar connector (132b), and a second bar (136b). The connector (138) of each robot arm (116) couples to either the first bar (136a) or the second bar (136b). It is also contemplated that the adjustable arm supports (118a-118b) may include a variety of other suitable support structures, including, but not limited to, a ring-shaped carriage (e.g., similar to carriage (18) described above). Although two adjustable arm supports (118a-118b) are shown, more or fewer adjustable arm supports (118a-118b) may be provided. As shown in FIG. 8, the first and second bars (136a) extend parallel to the table (126), although the table (126) may be angled as discussed above.

[0038] The adjustable arm supports (118a-118b) are configured to transition between at least a lower position (see FIG. 7A) and an upper position (see FIG. 7B). The lower position may be referred to as a "low stow" position. Similarly, the upper position may be referred to as a "high stow" position. An intermediate position, also referred to as an "intermediate stow" position, may be located between the upper "high stow" position and the lower "low stow" position. In some variations, the intermediate stow position may be used when transporting the table-based robotic system (110) between operating rooms, the high stow position may be used when a user is cleaning the floor around the table-based robotic system (110), and the low stow position may be used in other scenarios.

[0039] The storage cover (120) is configured to cover at least a portion of the table-based robotic system (110). For example, the storage cover (120) may selectively cover at least a portion of the at least one robotic arm (116) and at least one adjustable arm support (118a-118b). The storage cover (120) is configured to allow a full robotic range of motion of the operating table (114) while the storage cover (120) remains actively covering a desired portion of the table-based robotic system (110). For example, the storage cover (120) does not prevent the table (126) of the operating table (114) from tilting or lowering. In particular, the adjustable arm support (118) and the first and second bars (136a-136b) of the robotic arm (116) may move between a lowered position and an upper position without impeding or otherwise affecting the storage cover (120).

[0040] The containment cover (120) may include at least one flexible body. As shown in Figures 8-9, the containment cover (120) of this embodiment includes a first flexible body and a second flexible body (140a-140b). The second flexible body (140b) is shown in phantom lines in Figures 8-9. Although the first flexible body and the second flexible body (140a-140b) are shown as being completely separable from each other, the first flexible body and the second flexible body (140a-140b) may be at least partially connected to each other in some variations. The first flexible body and the second flexible body (140a-140b) may operate in combination to cover each adjustable arm support (118a-118b) and each robot arm (116). Although the first and second flexible bodies (140a-140b) are described below as being used in combination with one another, it is envisioned that the first and second flexible bodies (140a-140b) may be used individually if a portion of the robotic arm (116) is intended to remain uncovered.

[0041] The first flexible body (140a) may cover the first adjustable arm support (118a) and a portion of the robot arm (116) coupled to the first adjustable arm support (118a). Similarly, the second flexible body (140b) may cover the second adjustable arm support (118b) and a portion of the robot arm (116) coupled to the second adjustable arm support (118b). In some variations, the first and second flexible bodies (140a-140b) are configured to simultaneously cover the robot arm (116) in a stored configuration and the first and second bars (136a-136b) in an upper position, a lower position, and in transition between the upper and lower positions. In particular, the first and second flexible bodies (140a-140b) may collectively cover the first and second bars (136a-136b) and the robotic arm (116) in the upper position, in the lower position, and during transitions between the upper and lower positions. It is also envisioned that a single flexible body (not shown) may cover each adjustable arm support (118a-118b) and each robotic arm (116). The first and second flexible bodies (140a-140b) are configured to closely fit the robotic arm (116).

[0042] The first and second flexible bodies (140a-b) each define a plurality of compartments. For example, the first flexible body (140a) includes a first compartment and a second compartment (142, 144). Similarly, as shown in FIG. 8, the second flexible body (140b) includes a first compartment and a second compartment (146, 148). As shown, the first compartments (142, 146) are configured to simultaneously cover respective sets of the robotic arms (116) in a stored configuration. The second compartments (144, 148) are configured to cover respective adjustable arm supports (118a-b) in a stored configuration. For example, the second section (144) of the first flexible body (140a) may include a first portion (150) for receiving the first vertical carriage (132a), a second portion (152) for receiving the first bar connector (134a), and a third portion (154) for receiving the first bar (136a). Similarly, the second section (148) of the second flexible body (140b) may include a first portion for receiving the first vertical carriage (132b), a second portion for receiving the first bar connector (134b), and a third portion for receiving the second bar (136b).

[0043] The sections (142, 144) of the first flexible body (140a) may be joined together at a seam (162). Although not shown, the sections (146, 148) of the second flexible body (140b) may be joined together at a seam. In some variations, the seam (162) may be sufficient to hold the first and second flexible bodies (140a-140b) of the containment cover (120) in place without additional interlocking features. The seam (162) may ensure that the containment cover (120) generally retains its shape when removed from the table-based robotic system (110) and folded off the robot or placed on the table-based robotic system (110). The seam (162) may be formed using a variety of methods, including, but not limited to, ultrasonic welding and heat sealing. In some variations, seam portion (162) may be covered with seam tape (164). The snug fit of first and second flexible bodies (118a-118b) may prevent first and second flexible bodies (140a-140b) from wrinkling, preventing the formation of crevices or cavities in which debris (D) may accumulate.

[0044] The first and second flexible bodies (140a-140b) may be formed using a liquid-impermeable material. The liquid-impermeable material may allow a user to wipe the outer surfaces (166) of the first and second flexible bodies (118a-118b) without removing the first and second flexible bodies (140a-140b) from the table-based robotic system (110). The first and second flexible bodies (140a-140b) of the containment cover (120) may withstand heavy contaminants from above and below, allowing cleaning and disinfection. In other words, the containment cover (120) may allow repeated removal and installation, as well as multiple cycles of cleaning when soiled using operating room chemicals. One such suitable flexible fabric may include Sure-Chek® fabric available from Herculite, Inc., Emigsville, Pennsylvania, or any other suitable material or combination of materials may be used.

[0045] The storage cover (120) may have an opaque, semi-opaque, translucent, or transparent material to allow logos, instructions, and / or warnings to be printed on the storage cover (120). For example, the storage cover (120) may include a marking surface (168) to facilitate a user positioning the storage cover (120) over the robotic arm (116). The markings (168) may be positioned on each of the compartments (142, 144, 146, 148). For example, the markings (168) positioned on the first compartments (142, 146) may include graphics or text indicating that the robotic arm (116) is positioned underneath. The pattern of the markings (168) may help a user distinguish between different sides of the storage cover (120) as the user prepares to install the storage cover (120). In some variations, the tablet shape may define the edges of the enclosed graphics. The subtle directional nature of the indicia (168) may enhance a user's intuitive feel for how to apply and remove the containment cover (120).

[0046] The first and second flexible bodies (140a-b) of the containment cover (120) may be completely flexible or may include selected portions that are generally rigid. For example, the containment cover (120) may include at least one reinforcing member (170) configured to provide rigidity to predetermined portions of the containment cover (120). The stiffening member (170), also referred to as a spine, may provide rigidity to selected portions of the first and second flexible bodies (140a-b). The stiffening member (170) may be integrated along the seam (162) and / or along areas that are generally planar (e.g., along horizontal areas) to facilitate installation. The stiffening member (170) may include flat and / or tubular members, such as strips or rods, etc. The stiffening member (170) may be formed from a generally rigid, semi-rigid, or resilient material, such as metal or plastic. The stiffening members (170) and / or joints (162) may provide a structured shape and size for the containment cover (120) to match the shape of the placement of the robotic arm (116) in the stored configuration. The containment cover (120) may include one or more optional pull tabs (172) configured to assist a user in positioning the containment cover (120) relative to the robotic arm (116) and the first and second bars (136a-b). The pull tabs (172) may allow for quicker insertion and removal of the containment cover (120).

[0047] Although not shown, the table-based robotic system 110 may include a receptacle or other feature to provide storage for the storage cover 120 when it is removed from the robotic arm 160 and arm supports 118a-118b. Alternatively, the storage cover 120 may be stored on a separate cart or storage shelf disposed within the tower 220, as described below with reference to FIG. 12. Some variations of the storage cover 120 may be folded and disposed within such a receptacle during a robotic surgical procedure, such that the storage cover 120 may be easily accessed and disposed over the robotic arm 160 and arm supports 118a-118b after the robotic surgical procedure is completed and the robotic arm 160 and arm supports 118a-118b have been suitably cleaned.

[0048] Although the containment cover (120) is described above in connection with the table-based robotic system (110), the containment cover (120) may be easily modified for use with other types of table-based robotic systems, including, but not limited to, the above-mentioned table-based robotic systems (10, 21, 28). Thus, the functionality and utility of the containment cover (120) described herein is not limited to the specific context of the table-based robotic system (110).

[0049] B. Enclosure Cover Sensing Example In some variations, the table-based robotic system (110) includes an additional component configured to determine the state of the containment cover (120). This sensing may determine whether the containment cover (120) is positioned on the robotic arm (116) and / or the adjustable arm supports (118a-118b). To that end, as shown in FIG. 12, the system (110) may optionally include a sensing assembly (174). In some scenarios, the sensing assembly (174) may prevent a manual laparoscopic procedure from starting without the containment cover (120) covering a desired portion of the table-based robotic system (110) or may prevent a robotic surgical procedure from starting with the containment cover (120) covering a portion of the table-based robotic system (110). The sensing assembly (174) may prevent a user from misplacing the containment cover (120) or leaving the containment cover (120) on the table-based robotic system (110) after a robotic procedure.

[0050] In some variations, the containment cover (120) includes at least one sensor target. In this embodiment, the containment cover (120) includes a plurality of sensor targets detectable by the table-based robotic system (110) when the table-based robotic system (110) is powered on. As shown in FIG. 12, the first flexible body (140a) includes a first sensor target and a second sensor target (176, 178). The first flexible body (140a) includes opposing first and second ends (180, 182). The first sensor target (176) is operably coupled to the first end (180) of the first flexible body (140a), and the second sensor target (178) is operably coupled to the second end (182) of the first flexible body (140a). Similarly, the second flexible body (140b) includes a first sensor target (184) and a second sensor target (186). The second flexible body (140b) includes a first end (not shown) and a second end (190). The first sensor target (184) is operably coupled to the first end of the second flexible body (140b), and the second sensor target (186) is operably coupled to the second end (190) of the second flexible body (140b). Magnets, zippers, and / or other fastening structures may be incorporated into the first and second flexible bodies (140a-140b) of the containment cover (120) to fasten the containment cover (120) to itself and to selected portions of the table-based robotic system (110). The magnets may allow an airtight seal to be maintained.

[0051] The table-based robotic system (110) may include at least one sensor and a controller (192), which may be disposed in a tower (220). As shown, the sensing assembly (174) includes first and second sensors (194, 196) disposed on opposing first and second ends (198, 200) of the first bar (136a) and first and second sensors (202, 204) disposed on opposing ends (208) of the second bar (136b). The sensors (194, 196) may be disposed on the first and second ends (198, 200) of the first bar (136a) to ensure that the first flexible body (140a) is accurately positioned. Similarly, sensors (202, 204) may be disposed at end (208) of second bar (136b) to ensure that second flexible body (140b) is accurately positioned. The first and second ends (198, 200, 208) of first and second bars (136a-136b) may be the final portions covered by first and second flexible bodies (140a-140b) of containment cover (120). The first sensor (194) of first bar (136a) is configured to generate a first signal (222) in response to the first sensor (194) sensing the presence of the first sensor target (176) of containment cover (120). Similarly, the first sensor (202) of the second bar (136b) is configured to generate a first signal (224) in response to the first sensor (202) sensing the presence of the first sensor target (184) on the storage cover (120).

[0052] In some variations, the first sensor (194, 202) includes a proximity sensor and the first sensor target (176, 184) includes a proximity sensor target configured to be sensed by the proximity sensor. For example, the first sensor (194, 202) may include a Hall effect sensor configured to respond to the presence of a magnet. Similarly, the second sensor (196, 204) is configured to sense the presence of the second sensor target (178, 186). In some variations, the second sensor (196, 204) includes a proximity sensor and the second sensor target (178, 186) includes a proximity sensor target configured to be sensed by the proximity sensor. For example, the second sensor (196, 204) may include a Hall effect sensor configured to respond to the presence of a magnet. Various other sensors may be incorporated, including optical sensors, etc.

[0053] In some variations, the first and second adjustable arm supports (118a-118b) may include at least one linking feature configured to link with a linking feature of the containment cover (120) to link the containment cover (120) with the adjustable arm support (118) and / or the robot arm (116). For example, linking features (210, 212) may be disposed at the first and second ends (198, 200) of the first bar (136a) to ensure that the first flexible body (140a) is properly positioned. Similarly, linking features (214, 216) may be disposed at the first and second ends (208) of the second bar (136b) to ensure that the second flexible body (140b) is properly positioned. As shown in FIG. 11, the coupling features (210, 212, 214, 216) may include at least one ferromagnetic feature (shown in FIG. 11 as a ferromagnetic plate (218)) that magnetically couples with the sensor targets (176, 178, 184, 186) and couples the first and second flexible bodies (140a-140b) with their respective first and second bars (136a-136b).

[0054] The controller (192) is configured to receive the first signals (222, 224) from the first sensors (194, 202) and determine that the containment cover (120) is positioned over the robotic arm (116). The controller (192) is configured to prevent movement of the robotic arm (116) in response to determining that the containment cover (120) is in the covered configuration. For example, the controller (192) is configured to determine that the first and second flexible bodies (140a-140b) of the containment cover (120) are positioned over the robotic arm (116) based on a combination of the first sensors (194, 202) sensing the presence of the first sensor targets (176, 184) and the second sensors (196, 204) sensing the presence of the second sensor targets (178, 186). The controller (192) is configured to provide a warning to a user in response to either the first sensors (194, 202) not sensing the presence of the first sensor targets (176, 184) or the second sensors (196, 204) not sensing the presence of the second sensor targets (178, 186). If the controller (192) receives a signal from the sensors (194, 196, 202, 204) that the containment cover (120) is in the covered configuration, the controller (192) may respond with a warning when an operator inputs commands via a user input device (e.g., a joystick, an exoskeleton glove, a master manipulator, etc.) to drive movement of the robotic arm (116) or may otherwise prevent any robotic arm (116) from moving in response to an operator command until the containment cover (120) is properly removed.

[0055] C. One Example of a Method of Operation 12 illustrates one embodiment of a method (310) for using a containment cover (120) on a table-based robotic system (110). The method (310) begins after a robotic surgical procedure using the robotic arm (116) is completed, after the robotic arm (116) has been cleaned if necessary, and after the robotic arm (116) has been moved from a deployed configuration to a stored configuration. In step (312), the method (310) includes receiving the containment cover (120) over the robotic arm (116) when the robotic arm (116) is in the stored configuration. For example, one or more users may manually position the containment cover (120) on the table-based robotic system (110). The first compartments (142, 146) of the first and second flexible bodies (140a-140b) may receive the robotic arm (116) when the robotic arm (116) is beneath the table (126) of the table-based robotic system (110) in a stored configuration. The second sections (144, 148) of the first and second flexible bodies (140a-140b) may receive the first adjustable arm support (118a-118b), as described above. It is envisioned that the first and second flexible bodies (140a-140b) of the storage cover (120) may be applied when the arm supports (118a-118b) are in an upper position, when the arm supports (118a-118b) are in an intermediate position, or when the arm supports (118a-118b) are in a lower position.

[0056] At step (314), the method (310) includes sensing the presence of any applicable sensor targets (176, 178, 184, 188) via any applicable corresponding sensors (194, 196, 202, 204). This step (314) may be performed via the controller (192) based on signals (222, 224, 226, 228) (or the absence of signals (222, 224, 226, 228)) from the sensors (194, 196, 202, 204).

[0057] In a scenario where an applicable sensor target (176, 178, 184, 188) is not sensed at step (314), the method (310) proceeds to step (316). At step (316), the method (310) includes determining, via the controller (192), that the containment cover (120) is not in a full coverage configuration based on an absence of signals (222, 224, 226, 228) from the sensors (194, 196, 202, 204). In some variations, the absence of both the first signal (222) and the second signal (226) for the first flexible body (140a) indicates improper placement of the first flexible body (140a). Similarly, the absence of both the first and second signals (224, 228) for the second flexible body (140b) indicates improper placement of the second flexible body (140b). If a user incorrectly places the containment cover (120) on the table-based robotic system (110), the sensors (194, 196, 202, 204) in the first and second bars (136a-136b) of the first adjustable arm support (and second adjustable arm support (118a-118b)) may detect the incomplete or improper placement of the containment cover (120).

[0058] Upon determining that the containment cover (120) is not in the fully covered configuration, the method (310) may proceed to step (318). In step (318), the method (310) includes prompting a user to reposition the containment cover (120) over the robotic arm (116) of the table-based robotic system (110) in response to determining that the containment cover (120) is in the non-covered configuration. In some variations, the method (310) includes the controller (192) providing at least one of an audible or visual alert to the user in response to the presence of the first sensor target (176, 184) and the absence of the second sensor target (178, 186). Note that the first sensor (194, 202) may continue to sense the first sensor target (176, 184) to determine whether the containment cover (120) is properly positioned over the table-based robotic system (110). The aforementioned steps (314, 316, 318) may be repeated until the user successfully positions the containment cover (120) in a full coverage configuration on the table-based robotic system (110).

[0059] In a scenario where the applicable sensor targets (176, 178, 184, 188) are sensed in step (314), the method proceeds to step (320). In step (320), the method (310) includes generating applicable signals (222, 224, 226, 228) from the applicable sensors (194, 196, 202, 204) in response to sensing the presence of the applicable sensor targets (176, 178, 184, 188) on the containment cover (120) via the applicable sensors (194, 196, 202, 204) of the table-based robotic system (110). Next, in step (322), the method (310) includes transmitting the applicable signals (222, 224, 226, 228) from the applicable sensors (194, 196, 202, 204) to the controller (192).

[0060] At step (324), the method (310) includes determining, via the controller (192), that the containment cover (120) is in the covered configuration based on the signal(s) (222, 224, 226, 228). For two or more position sensors, the controller (196) may determine that the containment cover (120) is in the covered configuration based on a combination of the signals. When a user properly places the containment cover (120) on the table-based robotic system (110), the controller (192) detects the presence of the containment cover (120) and communicates to the table-based robotic system (110) that the containment cover (120) is present.

[0061] At step (326), the method (310) includes preventing, via the controller (192), movement of at least one movable robotic arm (116) in response to determining that the containment cover (120) is in the covered configuration. For example, if a user at the tower (220) attempts to move the robotic arm (116), the controller (192) prevents the robotic arm (116) from moving. The first and second bars (136a-136b) may sense the presence of sensor targets (176, 178, 184, 186) (e.g., magnets) at any of the four bar positions (e.g., first and second ends (198, 200, 206, 208)) via triggered sensors (194, 196, 202, 204) (e.g., Hall effect sensors).

[0062] Instructions or a warning may be provided to the user at step (328). For example, an error message on the tower (220) may prompt the user to check if the containment cover (120) has been removed. In some variations, the controller (192) may continue to prevent movement of the robotic arm (116) until the warning is manually cleared by the user at step (330). In some variations, the tower (220) may issue an error signal, and the user may clear the error signal or otherwise resolve the issue. For example, the user may attempt to remove one of the first and second flexible bodies (140a-140b) while leaving the other of the first and second flexible bodies (140a-140b) in the covered configuration.

[0063] At step (332), the method (310) includes a user removing the containment cover (120) from the table-based robotic system (110). The first and second flexible bodies (140a-140b) of the containment cover (120) may be folded when the containment cover (120) is not disposed on the table-based robotic system (110), thereby allowing a user to fold the containment cover (120) and store it in a surgical room. For example, the containment cover (120) may be stored in the tower (220) or elsewhere. In the folded state, the containment cover (120) occupies a smaller volume than in the unfolded state.

[0064] As a result of removing the containment cover (120), the sensors (194, 196, 202, 204) no longer detect the presence of the containment cover (120) and communicate the absence of the containment cover (120) to the table-based robotic system (110). The controller (192) may then allow the user to operate the robotic arm (116) in its normal course, such as during a robotic surgical procedure. After the robotic surgical procedure is completed, the controller (192) may activate an alarm to remind the user to replace the containment cover (120).

[0065] In some variations, when a user attempts to physically move the table-based robotic system (110) (e.g., from one room to another after completion of a robotic surgical procedure), the controller (192) checks whether signals (222, 224, 226, 228) from the sensors (194, 196, 202, 204) are present on the containment cover (120). The controller (192) may notify the user to place the containment cover (120) before physically moving the table-based robotic system (110). In some such variations, the controller (192) may prevent movement of the table-based robotic system (110) until the containment cover (120) is detected. For example, the controller (192) may activate brakes or other locking mechanisms on the wheels of the support structure (112) until the containment cover (120) is detected.

[0066] III. Combination Examples The following examples relate to various non-exhaustive ways in which the teachings herein may be combined or applied. It should be understood that the following examples are not intended to limit the scope of any claims that may be presented at any time in this application or any subsequent application of this application. No disclaimer is intended. The following examples are provided merely for illustrative purposes. It is contemplated that the various teachings herein may be configured and applied in many other ways. It is also contemplated that in some variations, certain features mentioned in the following examples may be omitted. Thus, none of the aspects or features mentioned below should be considered critical unless later expressly so indicated by the inventors or their successors. If a claim presented in this application or any subsequent application related to this application includes additional features other than those mentioned below, those additional features should not be considered added for any reason regarding patentability. EXAMPLES

[0067] 1. A robotic surgical system comprising: (a) a plurality of robotic arms, including a first independently movable robotic arm and a second independently movable robotic arm, wherein the plurality of robotic arms are operable to transition between a stored configuration and a deployed configuration; (b) an arm support operatively coupled to the plurality of robotic arms; and (c) a storage cover including a flexible body defining a first compartment and a second compartment, wherein the first compartment is configured to simultaneously cover the first independently movable robotic arm and the second independently movable robotic arm in the stored configuration, and the second compartment is configured to cover the arm support in the stored configuration. EXAMPLES

[0068] The robotic surgical system of Example 1, further comprising an operating table including a table configured to receive a patient, the arm support further coupled to the operating table, the first independently movable robotic arm and the second independently movable robotic arm positioned below the table in the stored configuration, and the first independently movable robotic arm and the second independently movable robotic arm configured to move relative to the table in the deployed configuration. EXAMPLES

[0069] The robotic surgical system of Example 2, wherein the multiple robotic arms further include a third independently movable robotic arm, the first independently movable robotic arm, the second independently movable robotic arm, and the third independently movable robotic arm being positioned under the table in the stored configuration, the first independently movable robotic arm, the second independently movable robotic arm, and the third independently movable robotic arm being configured to move relative to the table in the deployed configuration, and the first compartment being configured to simultaneously cover the first independently movable robotic arm, the second independently movable robotic arm, and the third independently movable robotic arm in the stored configuration. EXAMPLES

[0070] The robotic surgical system of any one of Examples 2 to 3, wherein the arm support includes a bar extending parallel to the table. EXAMPLES

[0071] The robotic surgical system of any one of Examples 1 to 4, wherein the first compartment of the containment cover is configured to closely fit multiple robotic arms. EXAMPLES

[0072] The robotic surgical system of any one of Examples 1 to 5, wherein the containment cover includes at least one stiffening member configured to provide rigidity to a predetermined portion of the flexible body. EXAMPLES

[0073] A robotic surgical system as described in any one of Examples 1 to 6, wherein the first section of the storage cover includes a marking surface for facilitating positioning of the storage cover over the first independently movable robotic arm and the second independently movable robotic arm. EXAMPLES

[0074] The robotic surgical system of Example 7, further comprising a second arm support, wherein the plurality of robotic arms includes a third independently movable robotic arm and a fourth independently movable robotic arm operably coupled to the second arm support, and wherein the storage cover further comprises a second flexible body defining a first compartment and a second compartment, wherein the first compartment of the second flexible body is configured to simultaneously cover the third independently movable robotic arm and the fourth independently movable robotic arm in the storage configuration, and wherein the second compartment of the second flexible body is configured to cover the second arm support in the storage configuration. EXAMPLES

[0075] The robotic surgical system of any one of Examples 1 to 8, wherein the containment cover includes at least one pull tab configured to be interacted with by a user to position the containment cover relative to the first independently movable robotic arm and the second independently movable robotic arm. EXAMPLES

[0076] The robotic surgical system of any one of Examples 1 to 9, wherein the first section and the second section are joined to one another at a seam. EXAMPLES

[0077] The robotic surgical system of any one of Examples 1 to 10, wherein the flexible body comprises a liquid impermeable material. EXAMPLES

[0078] The robotic surgical system of any one of Examples 1 to 11, wherein the storage cover includes a first sensor target operably connected to the flexible body, and the robotic surgical system further comprises: (a) a first sensor, the first sensor configured to generate a first signal in response to the first sensor sensing the presence of the first sensor target; and (b) a controller configured to receive the first signal from the first sensor and determine that the storage cover is positioned over the first independently movable robotic arm and the second independently movable robotic arm. EXAMPLES

[0079] The robotic surgical system of Example 12, wherein the controller is configured to prevent the first independently movable robotic arm and the second independently movable robotic arm from transitioning to the deployed configuration in response to determining that the storage cover is in the covered configuration. EXAMPLES

[0080] A robotic surgical system described in any one of Examples 12 to 13, wherein the first sensor includes a proximity sensor and the first sensor target includes a proximity sensor target configured to be sensed by the proximity sensor. EXAMPLES

[0081] A robotic surgical system described in any one of Examples 12 to 13, wherein the first sensor includes a Hall effect sensor and the first sensor target includes a magnet configured to be sensed by the Hall effect sensor. EXAMPLES

[0082] The robotic surgical system of Example 15, wherein the arm support includes a ferromagnetic feature configured to magnetically couple with the magnet to couple the storage cover with the arm support. EXAMPLES

[0083] 1. A method of operating a robotic surgical system including a first and a second independently movable robotic arm and an arm support operably coupled to the first and the second independently movable robotic arms, the method including: (a) receiving a first compartment of a containment cover over the first and the second independently movable robotic arms when the first and the second independently movable robotic arms are in a stored configuration; and (b) receiving the arm support within a second compartment of the containment cover. EXAMPLES

[0084] 18. The method of example 17, further comprising moving the arm support between an upper position and a lower position while the first section of the containment cover is positioned over the first independently movable robotic arm and the second independently movable robotic arm and the second section is positioned over the arm support. EXAMPLES

[0085] 20. The method of example 18, wherein the act of receiving the arm support further includes positioning a storage cover over the arm support and the first and second independently movable robotic arms when the first and second independently movable robotic arms are in a stored configuration, and the act of moving further includes moving the arm support between an upper position and a lower position while the storage cover is positioned over the arm support and the first and second independently movable robotic arms. EXAMPLES

[0086] The method of any one of Examples 17 to 19, wherein the act of receiving a first compartment of a storage cover over the first independently movable robotic arm and the second independently movable robotic arm and receiving the arm support in the second compartment of the storage cover includes positioning the storage cover under a table of an operating table of a robotic surgical system, the table being configured to receive a patient. EXAMPLES

[0087] The method of any one of Examples 17-20, further comprising performing a manual procedure on the patient while the patient is on an operating table and the first independently movable robotic arm and the second independently movable robotic arm and the containment cover are positioned below the operating table. EXAMPLES

[0088] The method of any one of Examples 17 to 21, wherein the robotic surgical system further comprises a third independently movable robotic arm, and in the stored configuration, the first independently movable robotic arm, the second independently movable robotic arm, and the third independently movable robotic arm are positioned below the table. EXAMPLES

[0089] The method of any one of Examples 17 to 22, further comprising, in response to an operation of receiving the first compartment of the storage cover onto the first independently movable robotic arm and the second independently movable robotic arm, preventing movement of the first independently movable robotic arm and the second independently movable robotic arm using a controller. EXAMPLES

[0090] The method of any one of Examples 17 to 23, further comprising: (a) sensing the presence of a first sensor target on the storage cover via a first sensor of the robotic surgical system; and (b) generating a first signal from the first sensor, the first signal indicating the sensing of the presence of the first sensor target. EXAMPLES

[0091] 25. The method of example 24, wherein the arm support comprises a bar, the bar comprising the first sensor. EXAMPLES

[0092] A robotic surgical system, the robotic surgical system comprising: (a) an operating table including a table configured to receive a patient; (b) a first movable robotic arm coupled to the operating table and movable between a stored configuration and a deployed configuration, the first movable robotic arm being positioned below the table in the stored configuration and configured to interact with the patient in the deployed configuration; and (c) a storage cover, the storage cover comprising: (i) a flexible body configured to selectively cover the first movable robotic arm in the stored configuration, the flexible body being configured to selectively cover the first movable robotic arm in the stored configuration. A robotic surgical system comprising: (i) a flexible body that is removable from the operating table to enable a first movable robotic arm to transition from a stored configuration to a deployed configuration; (ii) a storage cover comprising a first sensor target operably coupled to the flexible body; (d) a first sensor configured to generate a first signal in response to sensing a presence of the first sensor target; and (e) a controller configured to receive the first signal from the first sensor and determine that the storage cover is positioned over the first movable robotic arm in the stored configuration. EXAMPLES

[0093] A robotic surgical system as described in Example 26, wherein the controller is configured to provide a warning to a user in response to the first sensor not sensing the presence of the first sensor target. EXAMPLES

[0094] A robotic surgical system described in any one of Examples 26 to 27, wherein the first sensor includes a proximity sensor and the first sensor target includes a proximity sensor target configured to be sensed by the proximity sensor. EXAMPLES

[0095] The robotic surgical system of Example 28, wherein the proximity sensor includes a Hall effect sensor and the proximity sensor target includes a magnet configured to be sensed by the Hall effect sensor. EXAMPLES

[0096] The robotic surgical system of Example 29 further comprises an arm support operably connected to the first movable robotic arm, the arm support including a magnetic feature configured to magnetically couple with the magnet to couple the storage cover to the arm support. EXAMPLES

[0097] A robotic surgical system as described in any one of Examples 26 to 30, further comprising a second sensor, wherein the storage cover includes a second sensor target operably connected to the flexible body, the second sensor configured to sense the presence of the second sensor target, and the controller configured to determine that the storage cover is positioned on the first moveable robotic arm based on a combination of the first sensor sensing the presence of the first sensor target and the second sensor sensing the presence of the second sensor target. EXAMPLES

[0098] The robotic surgical system of Example 31, wherein the controller is configured to provide a warning to a user in response to either the first sensor not sensing the presence of the first sensor target or the second sensor not sensing the presence of the second sensor target. EXAMPLES

[0099] The robotic surgical system of any one of Examples 31 to 32, wherein the first sensor includes a first Hall effect sensor, the second sensor includes a second Hall effect sensor, the first sensor target includes a first magnet, and the second sensor target includes a second magnet, and the controller is configured to determine that the storage cover is positioned on the first moveable robotic arm based on a combination of the first Hall effect sensor sensing the presence of the first magnet and the second Hall effect sensor sensing the presence of the second magnet. EXAMPLES

[0100] The robotic surgical system of Example 33, wherein the flexible body includes opposing first and second ends, a first magnet positioned at the first end, and a second magnet positioned at the second end. EXAMPLES

[0101] A robotic surgical system described in any one of Examples 33 to 34, wherein the arm support includes opposing first and second magnetic features configured to magnetically couple with the first and second magnets to couple the storage cover to the base. EXAMPLES

[0102] A robotic surgical system described in any one of Examples 26 to 35, wherein the storage cover includes at least one pull tab configured to be interacted with by a user to position the cover relative to the first movable robotic arm. EXAMPLES

[0103] A robotic surgical system described in any one of Examples 26 to 36, wherein the containment cover includes at least one stiffening member configured to provide rigidity to a predetermined portion of the flexible body. EXAMPLES

[0104] The robotic surgical system of any one of Examples 26 to 37, further comprising a second movable robotic arm that is independently movable relative to the first movable robotic arm, and the storage cover is configured to simultaneously cover each of the first movable robotic arm and the second movable robotic arm. EXAMPLES

[0105] The robotic surgical system of Example 38, wherein the flexible body defines a first compartment and a second compartment, the first compartment configured to simultaneously cover the first movable robotic arm and the second movable robotic arm in the stored configuration, and the second compartment configured to cover the arm support in the stored configuration. EXAMPLES

[0106] The robotic surgical system of any one of Examples 26 to 39, wherein the flexible body comprises a liquid-impermeable material. EXAMPLES

[0107] A robotic surgical system described in any one of Examples 39 to 40, wherein the first movable robotic arm and the second movable robotic arm are operable to transition between a stored configuration and a deployed configuration, and a storage cover is configured to cover the first movable robotic arm and the second movable robotic arm at least in the stored configuration. EXAMPLES

[0108] The robotic surgical system of any one of Examples 40 to 41, further comprising a bar coupled to the first and second movable robotic arms, the bar configured to transition between an upper position and a lower position, and a storage cover configured to cover the first and second movable robotic arms and the bar in the upper position, in the lower position, and during the transition between the upper and lower positions. EXAMPLES

[0109] A robotic surgical system as described in any one of Examples 38 to 42, wherein the flexible body includes a marking surface for facilitating positioning of the storage cover onto the first movable robotic arm and the second movable robotic arm. EXAMPLES

[0110] The robotic surgical system of Example 43, wherein markings are positioned on each of the first and second compartments and configured to assist a user in installing a storage cover over the first and second movable robotic arms. EXAMPLES

[0111] A method of operating a robotic surgical system, the method including: (a) receiving a storage cover onto at least one moveable robotic arm of the robotic surgical system; (b) sensing a presence of a first sensor target on the storage cover via a first sensor of the robotic surgical system; and (c) generating a first signal from the first sensor, the first signal indicating the sensing of the presence of the first sensor target. EXAMPLES

[0112] The method of example 45, further comprising: (a) transmitting a first signal from the first sensor to a controller; and (b) determining, via the controller, that the containment cover is in a covered configuration based on the first signal. EXAMPLES

[0113] The method of example 46, further comprising alerting a user to remove the containment cover from the at least one moveable arm in response to both determining that the containment cover is in a covering configuration and receiving a signal to the robotic surgical system to move the at least one moveable robotic arm. EXAMPLES

[0114] The method of example 45, further comprising sensing the absence of a first sensor target on the storage cover via a first sensor of the robotic surgical system, the absence being sensed in response to the storage cover being removed from at least one moveable robotic arm of the robotic surgical system. EXAMPLES

[0115] The method of example 48, further comprising: (a) transmitting a second signal from the first sensor to the controller in response to sensing the absence of the first sensor target; and (b) determining, via the controller, that the storage cover is in an uncovered configuration based on the first signal from the first sensor. EXAMPLES

[0116] 50. The method of example 49, further comprising, in response to determining that the containment cover is in the covering configuration, preventing, via the controller, movement of the at least one movable robotic arm. EXAMPLES

[0117] The method described in any one of Examples 47 to 50, further comprising instructing a user to reposition a storage cover over at least one movable arm of the robotic surgical system in response to detecting the absence of the first sensor target. EXAMPLES

[0118] The method of any one of Examples 45 to 50, wherein the first sensor includes a first Hall effect sensor, the first sensor target includes a first magnet, and the sensing operation further includes sensing the presence of the first magnet on the storage cover via the first Hall effect sensor. EXAMPLES

[0119] The method of any one of Examples 45 to 52, further comprising: (a) sensing the presence of a second sensor target on the storage cover via a second sensor of the robotic surgical system; and (b) generating a second signal from the second sensor, the second signal indicating the sensing of the presence of the second sensor target. EXAMPLES

[0120] The method of example 53, further comprising: (a) transmitting a first signal from a first sensor to a controller; (b) transmitting a second signal from a second sensor to the controller; and (c) determining, via the controller, that the storage cover is in a covered configuration based on a combination of the first signal and the second signal. EXAMPLES

[0121] 55. The method of example 54, wherein the first sensor includes a first Hall effect sensor, the second sensor includes a second Hall effect sensor, the first sensor target includes a first magnet, and the second sensor target includes a second magnet, and the sensing operation further includes (i) sensing the presence of the first magnet of the storage cover via the first Hall effect sensor, and (ii) sensing the presence of the second magnet of the storage cover via the second Hall effect sensor. EXAMPLES

[0122] The method of Example 45, further comprising: (a) sensing the absence of a second sensor target on the storage cover via a second sensor of the robotic surgical system; and (b) providing an alert to a user in response to the presence of the first sensor target and the absence of the second sensor target. EXAMPLES

[0123] 57. The method of example 56, further comprising locking out movement of at least one movable robotic arm until the alert is manually cleared by a user. EXAMPLES

[0124] The method of any one of Examples 45 to 57, wherein the act of positioning the storage cover further includes positioning the storage cover under a table of a robotic surgical system, the table being configured to receive a patient. EXAMPLES

[0125] A containment cover comprising: (a) a flexible body configured to cover a portion of a robotic surgical system, the body including opposing first and second ends; (b) at least one stiffening member configured to provide rigidity to a predetermined portion of the flexible body; (c) a first magnet disposed at the first end and configured to be sensed by a first Hall effect sensor of the robotic surgical system; and (d) a second magnet disposed at the second end and configured to be sensed by a second Hall effect sensor of the robotic surgical system. EXAMPLES

[0126] 60. The storage cover of example 59, further comprising at least one pull tab configured to be interacted with by a user to position the storage cover relative to the at least one movable robotic arm.

[0127] IV.Other It is understood that all or part of any patent, publication, or other disclosure referred to as being incorporated herein by reference is incorporated herein only to the extent that the incorporated content does not conflict with existing definitions, opinions, or other disclosures set forth in this disclosure. As such, and to the extent necessary, the disclosure explicitly set forth herein shall prevail over any conflicting statements incorporated herein by reference. Any content, or portions thereof, that is referred to as being incorporated herein by reference but that conflicts with current definitions, opinions, or other disclosures set forth herein shall be incorporated only to the extent that no conflict arises between the incorporated content and the current disclosures.

[0128] The above variants may be designed to be disposed of after a single use, or they may be designed to be used multiple times. The variants may, in either or both cases, be reconditioned for reuse after at least one use. Reconditioning may include any combination of the steps of disassembly of the system, instrument, and / or portions thereof, followed by cleaning or replacement of the particular parts, and subsequent reassembly. In particular, some variants of the system, instrument, and / or portions thereof may be disassembled, and any number of the particular parts or components of the system, instrument, and / or portions thereof may be selectively replaced or removed in any combination. Upon cleaning and / or replacement of the particular parts, some variants of the system, instrument, and / or portions thereof may be reassembled for subsequent use either at a reconditioning facility or by an operator immediately prior to a procedure. Those skilled in the art will appreciate that a variety of techniques for disassembly, cleaning / replacement, and reassembly may be utilized to recondition the system, instrument, and / or portions thereof. Use of such techniques, and any systems, instruments and / or portions thereof reconditioned thereby, are all within the scope of the present application.

[0129] By way of example only, the variations described herein may be sterilized before and / or after the procedure. In one sterilization technique, the system, instruments and / or parts thereof are placed in a closed and sealed container, such as a plastic or TYVEK bag. The container, system, instruments and / or parts thereof may then be placed in a radiation field that can penetrate the container, such as gamma radiation, x-rays, or high-energy electrons. The radiation may kill bacteria on the system, instruments and / or parts thereof and within the container. The sterilized system, instruments and / or parts thereof may be stored in the sterile container for later use. The system, instruments and / or parts thereof may also be sterilized using any other technique known in the art, including but not limited to beta or gamma radiation, ethylene oxide, or steam.

[0130] Although various embodiments of the present invention have been shown and described, further adaptations of the methods and systems described herein may be realized by those skilled in the art through appropriate modifications without departing from the scope of the present invention. Although some of such possible modifications have been mentioned, other modifications will be apparent to those skilled in the art. For example, the examples, embodiments, geometries, materials, dimensions, proportions, steps, etc. discussed above are illustrative and not required. Thus, it is understood that the scope of the present invention should be considered in terms of the following claims and is not limited to the details of construction and operation shown and described in the specification and drawings.

[0131] [Embodiment] (1) A robotic surgical system, comprising: (a) a plurality of robotic arms, including a first independently movable robotic arm and a second independently movable robotic arm, the plurality of robotic arms operable to transition between a stowed configuration and a deployed configuration; (b) an arm support operatively coupled to the plurality of robotic arms; (c) a containment cover including a flexible body defining a first compartment and a second compartment, the first compartment configured to simultaneously cover the first independently movable robotic arm and the second independently movable robotic arm in the stored configuration, and the second compartment configured to cover the arm support in the stored configuration. (2) The robotic surgical system of embodiment 1, further comprising an operating table including a table configured to receive a patient, the arm support further coupled to the operating table, the first independently movable robotic arm and the second independently movable robotic arm positioned below the table in the stored configuration, and the first independently movable robotic arm and the second independently movable robotic arm configured to move relative to the table in the deployed configuration. (3) The robotic surgical system of embodiment 2, wherein the plurality of robotic arms further comprises a third independently movable robotic arm, the first independently movable robotic arm, the second independently movable robotic arm, and the third independently movable robotic arm being positioned below the table in the stored configuration, the first independently movable robotic arm, the second independently movable robotic arm, and the third independently movable robotic arm being configured to move relative to the table in the deployed configuration, and the first compartment being configured to simultaneously cover the first independently movable robotic arm, the second independently movable robotic arm, and the third independently movable robotic arm in the stored configuration. (4) A robotic surgical system according to any one of embodiments 2 to 3, wherein the arm support includes a bar extending parallel to the table. (5) A robotic surgical system according to any one of embodiments 1 to 4, wherein the first compartment of the storage cover is configured to closely fit the multiple robot arms.

[0132] (6) The robotic surgical system of any one of embodiments 1 to 5, wherein the containment cover includes at least one stiffening member configured to provide rigidity to a predetermined portion of the flexible body. (7) A robotic surgical system according to any one of claims 1 to 6, wherein the first section of the storage cover includes a marking surface for facilitating positioning of the storage cover over the first independently movable robotic arm and the second independently movable robotic arm. (8) The robotic surgical system of embodiment 7, further comprising a second arm support, the plurality of robotic arms including a third independently movable robotic arm and a fourth independently movable robotic arm operably coupled to the second arm support, the storage cover further comprising a second flexible body defining a first compartment and a second compartment, the first compartment of the second flexible body configured to simultaneously cover the third independently movable robotic arm and the fourth independently movable robotic arm in the storage configuration, and the second compartment of the second flexible body configured to cover the second arm support in the storage configuration. (9) The robotic surgical system of any of embodiments 1 to 8, wherein the containment cover includes at least one pull tab configured to be interacted with by a user to position the containment cover relative to the first independently movable robotic arm and the second independently movable robotic arm. (10) A robotic surgical system according to any one of embodiments 1 to 9, wherein the first section and the second section are joined to each other at a joint.

[0133] (11) The robotic surgical system of any one of embodiments 1 to 10, wherein the flexible body comprises a liquid-impermeable material. (12) The containment cover includes a first sensor target operably coupled to the flexible body, and the robotic surgical system further comprises: (a) a first sensor configured to generate a first signal in response to the first sensor sensing a presence of the first sensor target; (b) a controller configured to receive the first signal from the first sensor and determine that the storage cover is positioned over the first independently movable robotic arm and the second independently movable robotic arm. The robotic surgical system of any of the preceding claims, further comprising: (13) The robotic surgical system of embodiment 12, wherein the controller is configured to prevent the first independently movable robotic arm and the second independently movable robotic arm from transitioning to the deployed configuration in response to determining that the storage cover is in the covered configuration. (14) A robotic surgical system described in any of embodiments 12 to 13, wherein the first sensor includes a proximity sensor and the first sensor target includes a proximity sensor target configured to be sensed by the proximity sensor. (15) A robotic surgical system described in any of embodiments 12 to 13, wherein the first sensor includes a Hall effect sensor and the first sensor target includes a magnet configured to be sensed by the Hall effect sensor.

[0134] (16) The robotic surgical system of claim 15, wherein the arm support includes a ferromagnetic feature configured to magnetically couple with the magnet to couple the containment cover with the arm support. (17) A method of operating a robotic surgical system including a first independently movable robotic arm and a second independently movable robotic arm, and an arm support operatively coupled to the first independently movable robotic arm and the second independently movable robotic arm, the method comprising: (a) receiving a first section of a containment cover over the first independently movable robotic arm and the second independently movable robotic arm when the first independently movable robotic arm and the second independently movable robotic arm are in a stored configuration; (b) receiving the arm support within a second compartment of the containment cover. (18) The method of claim 17, further comprising moving the arm support between an upper position and a lower position while the first section of the containment cover is positioned over the first independently movable robotic arm and the second independently movable robotic arm and the second section is positioned over the arm support. (19) The method of embodiment 18, wherein the act of receiving the arm support further includes positioning the storage cover over the arm support and the first and second independently movable robot arms when the first and second independently movable robot arms are in the stored configuration, and the act of moving further includes moving the arm support between the upper position and the lower position while the storage cover is positioned over the arm support and the first and second independently movable robot arms. (20) A method according to any of embodiments 17 to 19, wherein the operation of receiving the first compartment of the storage cover over the first independently movable robotic arm and the second independently movable robotic arm and the operation of receiving the arm support within the second compartment of the storage cover include positioning the storage cover under a table of an operating table of the robotic surgical system, the table being configured to receive a patient.

[0135] (21) The method of any of embodiments 17 to 20, further comprising performing a manual procedure on the patient while the patient is on the operating table and the first independently movable robotic arm and the second independently movable robotic arm and the containment cover are positioned below the operating table. (22) The method of any of embodiments 17 to 21, wherein the robotic surgical system further comprises a third independently movable robotic arm, and in the stored configuration, the first independently movable robotic arm, the second independently movable robotic arm, and the third independently movable robotic arm are positioned below the table. (23) The method of any of embodiments 17 to 22, further comprising, in response to receiving the first compartment of the containment cover onto the first independently movable robotic arm and the second independently movable robotic arm, preventing movement of the first independently movable robotic arm and the second independently movable robotic arm using a controller. (24) (a) sensing, via a first sensor of the robotic surgical system, a presence of a first sensor target of the containment cover; A method as described in any of embodiments 17 to 23, further comprising: (b) generating a first signal from the first sensor, the first signal indicating the sensing of the presence of the first sensor target. (25) The method of claim 24, wherein the arm support includes a bar, the bar including the first sensor.

[0136] (26) A robotic surgical system, comprising: (a) a surgical table including a table configured to receive a patient; (b) a first movable robotic arm coupled to the surgical table and movable between a stored configuration and a deployed configuration, the first movable robotic arm being positioned below the table in the stored configuration and configured to interact with the patient in the deployed configuration; and (c) a containment cover, the containment cover comprising: (i) a flexible body configured to selectively cover the first moveable robotic arm in the stored configuration, the flexible body being removable from the surgical table to allow the first moveable robotic arm to transition from the stored configuration to the deployed configuration; (ii) a first sensor target operably coupled to the flexible body; and (d) a first sensor configured to generate a first signal in response to sensing a presence of the first sensor target; and (e) a controller configured to receive the first signal from the first sensor and determine that the storage cover is positioned over the first moveable robotic arm in the storage configuration. (27) The robotic surgical system of embodiment 26, wherein the controller is configured to provide a warning to a user in response to the first sensor not sensing the presence of the first sensor target. (28) A robotic surgical system described in any of embodiments 26 to 27, wherein the first sensor includes a proximity sensor and the first sensor target includes a proximity sensor target configured to be sensed by the proximity sensor. (29) The robotic surgical system of embodiment 28, wherein the proximity sensor includes a Hall effect sensor and the proximity sensor target includes a magnet configured to be sensed by the Hall effect sensor. (30) The robotic surgical system of claim 29, further comprising an arm support operably coupled to the first movable robotic arm, the arm support including a magnetic feature configured to magnetically couple with the magnet to couple the containment cover to the arm support.

[0137] (31) A robotic surgical system according to any of embodiments 26 to 30, further comprising a second sensor, the storage cover including a second sensor target operably connected to the flexible body, the second sensor configured to sense the presence of the second sensor target, and the controller configured to determine that the storage cover is positioned over the first moveable robot arm based on a combination of the first sensor sensing the presence of the first sensor target and the second sensor sensing the presence of the second sensor target. (32) The robotic surgical system of embodiment 31, wherein the controller is configured to provide a warning to a user in response to either the first sensor not sensing the presence of the first sensor target or the second sensor not sensing the presence of the second sensor target. (33) A robotic surgical system according to any of embodiments 31 to 32, wherein the first sensor includes a first Hall effect sensor, the second sensor includes a second Hall effect sensor, the first sensor target includes a first magnet, and the second sensor target includes a second magnet, and the controller is configured to determine that the storage cover is positioned on the first moveable robotic arm based on a combination of the first Hall effect sensor sensing the presence of the first magnet and the second Hall effect sensor sensing the presence of the second magnet. (34) The robotic surgical system of embodiment 33, wherein the flexible body includes opposing first and second ends, the first magnet being positioned at the first end, and the second magnet being positioned at the second end. (35) The robotic surgical system of any of embodiments 33 to 34, wherein the arm support includes opposing first and second magnetic features configured to magnetically couple with the first and second magnets to couple the containment cover to a base.

[0138] (36) The robotic surgical system of any of embodiments 26 to 35, wherein the storage cover includes at least one pull tab configured to be interacted with by a user to position the cover relative to the first moveable robotic arm. (37) The robotic surgical system of any one of embodiments 26 to 36, wherein the containment cover includes at least one stiffening member configured to provide rigidity to a predetermined portion of the flexible body. (38) A robotic surgical system described in any of embodiments 26 to 37, further comprising a second movable robotic arm that is independently movable relative to the first movable robotic arm, and the storage cover is configured to simultaneously cover each of the first movable robotic arm and the second movable robotic arm. (39) The robotic surgical system of embodiment 38, wherein the flexible body defines a first compartment and a second compartment, the first compartment configured to simultaneously cover the first movable robotic arm and the second movable robotic arm in the stored configuration, and the second compartment configured to cover the arm support in the stored configuration. (40) The robotic surgical system of any one of embodiments 26 to 39, wherein the flexible body comprises a liquid-impermeable material.

[0139] (41) A robotic surgical system described in any of embodiments 38 to 40, wherein the first movable robotic arm and the second movable robotic arm are operable to transition between a stored configuration and a deployed configuration, and the storage cover is configured to cover the first movable robotic arm and the second movable robotic arm at least in the stored configuration. (42) A robotic surgical system according to any of embodiments 40 to 41, further comprising a bar connected to the first movable robotic arm and the second movable robotic arm, the bar configured to transition between an upper position and a lower position, and the storage cover configured to cover the first movable robotic arm and the second movable robotic arm and the bar at the upper position, at the lower position, and during the transition between the upper position and the lower position. (43) The robotic surgical system of any of embodiments 38 to 42, wherein the flexible body includes a marking surface for facilitating positioning of the storage cover onto the first movable robotic arm and the second movable robotic arm. (44) The robotic surgical system of embodiment 43, wherein the markings are positioned on each of the first and second compartments and are configured to assist a user in placing the containment cover onto the first and second movable robotic arms. (45) A method of operating a robotic surgical system, the method comprising: (a) receiving a containment cover over at least one moveable robotic arm of the robotic surgical system; (b) sensing, via a first sensor of the robotic surgical system, a presence of a first sensor target of the containment cover; (c) generating a first signal from the first sensor, the first signal indicative of the sensing of the presence of the first sensor target.

[0140] (46) (a) transmitting the first signal from the first sensor to a controller; 46. ​​The method of claim 45, further comprising: (b) determining, via the controller, that the containment cover is in a covered configuration based on the first signal. (47) The method of embodiment 46, further comprising, in response to both determining that the containment cover is in the covering configuration and receiving a signal to the robotic surgical system to move the at least one moveable robotic arm, alerting the user to remove the containment cover from the at least one moveable arm. (48) The method of embodiment 45, further comprising sensing the absence of the first sensor target of the storage cover via the first sensor of the robotic surgical system, the absence being sensed in response to the storage cover being removed from the at least one moveable robotic arm of the robotic surgical system. (49) (a) transmitting a second signal from the first sensor to a controller in response to sensing the absence of the first sensor target; 49. The method of claim 48, further comprising: (b) determining, via the controller, that the containment cover is in an uncovered configuration based on the first signal from the first sensor. (50) The method of embodiment 49, further comprising, in response to determining that the containment cover is in the covered configuration, preventing movement of the at least one moveable robotic arm via the controller.

[0141] (51) A method according to any of embodiments 48 to 50, further comprising instructing a user to reposition the storage cover over the at least one movable arm of the robotic surgical system in response to sensing the absence of the first sensor target. (52) The method of any of embodiments 45 to 50, wherein the first sensor includes a first Hall effect sensor, the first sensor target includes a first magnet, and the sensing operation further includes sensing the presence of the first magnet in the storage cover via the first Hall effect sensor. (53) (a) sensing, via a second sensor of the robotic surgical system, a presence of a second sensor target on the containment cover; A method as described in any of embodiments 45 to 52, further comprising: (b) generating a second signal from the second sensor, the second signal indicating the sensing of the presence of the second sensor target. (54) (a) transmitting the first signal from the first sensor to a controller; (b) transmitting the second signal from the second sensor to the controller; 54. The method of claim 53, further comprising: (c) determining, via the controller, that the containment cover is in a covering configuration based on the combination of the first signal and the second signal. (55) The first sensor includes a first Hall effect sensor, the second sensor includes a second Hall effect sensor, the first sensor target includes a first magnet, the second sensor target includes a second magnet, and the sensing operation includes: (i) sensing the presence of the first magnet in the containment cover via the first Hall effect sensor; 55. The method of claim 54, further comprising: (ii) sensing the presence of the second magnet in the containment cover via the second Hall effect sensor.

[0142] (56) (a) sensing, via a second sensor of the robotic surgical system, the absence of a second sensor target on the containment cover; 46. ​​The method of embodiment 45, further comprising: (b) providing an alert to a user in response to the presence of the first sensor target and the absence of the second sensor target. (57) The method of embodiment 56, further comprising locking out operation of the at least one movable robotic arm until the alert is manually cleared by the user. (58) The method of any of embodiments 45 to 57, wherein the act of positioning the storage cover further includes positioning the storage cover under a table of the robotic surgical system, the table being configured to receive a patient. (59) A storage cover, comprising: (a) a flexible body configured to cover a portion of a robotic surgical system, the body including opposing first and second ends; (b) at least one stiffening member configured to provide stiffness to a predetermined portion of the flexible body; and (c) a first magnet disposed at the first end and configured to be sensed by a first Hall effect sensor of the robotic surgical system; and (d) a second magnet disposed at the second end and configured to be sensed by a second Hall effect sensor of the robotic surgical system. (60) The containment cover of embodiment 59, further comprising at least one pull tab configured to be interacted with by a user to position the containment cover relative to the at least one movable robotic arm.

Claims

1. 1. A robotic surgical system, comprising: (a) a plurality of robotic arms including a first independently movable robotic arm and a second independently movable robotic arm, the plurality of robotic arms operable to transition between a stowed configuration and a deployed configuration; (b) an arm support operatively coupled to the plurality of robotic arms; (c) a containment cover including a flexible body defining a first compartment and a second compartment, the first compartment configured to simultaneously cover the first independently movable robotic arm and the second independently movable robotic arm in the stored configuration, and the second compartment configured to cover the arm support in the stored configuration.

2. 2. The robotic surgical system of claim 1, further comprising an operating table including a table configured to receive a patient, the arm support further coupled to the operating table, the first and second independently movable robotic arms positioned below the table in the stored configuration, and the first and second independently movable robotic arms configured to move relative to the table in the deployed configuration.

3. 3. The robotic surgical system of claim 2, wherein the plurality of robotic arms further comprises a third independently movable robotic arm, the first independently movable robotic arm, the second independently movable robotic arm, and the third independently movable robotic arm being positioned below the table in the stored configuration, the first independently movable robotic arm, the second independently movable robotic arm, and the third independently movable robotic arm being configured to move relative to the table in the deployed configuration, and the first compartment configured to simultaneously cover the first independently movable robotic arm, the second independently movable robotic arm, and the third independently movable robotic arm in the stored configuration.

4. The robotic surgical system of claim 2, wherein the arm support includes a bar extending parallel to the table.

5. The robotic surgical system of claim 1 , wherein the first compartment of the containment cover is configured to closely fit the multiple robotic arms.

6. The robotic surgical system of claim 1 , wherein the containment cover includes at least one stiffening member configured to provide rigidity to a predetermined portion of the flexible body.

7. 2. The robotic surgical system of claim 1, wherein the first section of the containment cover includes a marking surface to facilitate positioning the containment cover over the first independently movable robotic arm and the second independently movable robotic arm.

8. 8. The robotic surgical system of claim 7, further comprising a second arm support, the plurality of robotic arms including a third independently movable robotic arm and a fourth independently movable robotic arm operatively coupled to the second arm support, the storage cover further comprising a second flexible body defining a first compartment and a second compartment, the first compartment of the second flexible body configured to simultaneously cover the third independently movable robotic arm and the fourth independently movable robotic arm in the stored configuration, and the second compartment of the second flexible body configured to cover the second arm support in the stored configuration.

9. 2. The robotic surgical system of claim 1, wherein the containment cover includes at least one pull tab configured to be interacted with by a user to position the containment cover relative to the first independently movable robotic arm and the second independently movable robotic arm.

10. The robotic surgical system of claim 1 , wherein the first section and the second section are joined together at a seam.

11. The robotic surgical system of claim 1 , wherein the flexible body comprises a liquid impermeable material.

12. the containment cover includes a first sensor target operatively coupled to the flexible body, and the robotic surgical system includes: (a) a first sensor configured to generate a first signal in response to the first sensor sensing a presence of the first sensor target; 2. The robotic surgical system of claim 1, further comprising: (b) a controller configured to receive the first signal from the first sensor and determine that the containment cover is positioned over the first independently movable robotic arm and the second independently movable robotic arm.

13. 13. The robotic surgical system of claim 12, wherein the controller is configured to prevent the first independently movable robotic arm and the second independently movable robotic arm from transitioning to the deployed configuration in response to determining that the containment cover is in the covered configuration.

14. The robotic surgical system of claim 12, wherein the first sensor comprises a proximity sensor and the first sensor target comprises a proximity sensor target configured to be sensed by the proximity sensor.

15. The robotic surgical system of claim 12, wherein the first sensor includes a Hall effect sensor and the first sensor target includes a magnet configured to be sensed by the Hall effect sensor.

16. The robotic surgical system of claim 15 , wherein the arm support includes a ferromagnetic feature configured to magnetically couple with the magnet to couple the containment cover with the arm support.

17. 1. A method of operating a robotic surgical system including a first independently movable robotic arm and a second independently movable robotic arm, and an arm support operatively coupled to the first independently movable robotic arm and the second independently movable robotic arm, the method comprising: (a) receiving a first section of a containment cover over the first independently movable robotic arm and the second independently movable robotic arm when the first independently movable robotic arm and the second independently movable robotic arm are in a stored configuration; (b) receiving the arm support within a second compartment of the containment cover.

18. 20. The method of claim 17, further comprising moving the arm support between an upper position and a lower position while the first section of the containment cover is positioned over the first independently movable robotic arm and the second independently movable robotic arm and the second section is positioned over the arm support.

19. 20. The method of claim 18, wherein the act of receiving the arm support further comprises positioning the storage cover over the arm support and the first and second independently movable robot arms when the first and second independently movable robot arms are in the stored configuration, and the act of moving further comprises moving the arm support between the upper position and the lower position while the storage cover is positioned over the arm support and the first and second independently movable robot arms.

20. 20. The method of any one of claims 17-19, wherein the acts of receiving the first compartment of the containment cover over the first independently movable robotic arm and the second independently movable robotic arm and receiving the arm support in the second compartment of the containment cover include positioning the containment cover under a surgical table of the robotic surgical system, the table being configured to receive a patient.

21. 20. The method of claim 17, further comprising performing a manual procedure on the patient while the patient is on the operating table and the first and second independently movable robotic arms and the containment cover are positioned below the operating table.

22. 18. The method of claim 17, wherein the robotic surgical system further comprises a third independently movable robotic arm, and in the stored configuration, the first independently movable robotic arm, the second independently movable robotic arm, and the third independently movable robotic arm are positioned below the table.

23. 20. The method of claim 17, further comprising: in response to receiving the first compartment of the containment cover onto the first independently movable robotic arm and the second independently movable robotic arm, preventing movement of the first independently movable robotic arm and the second independently movable robotic arm using a controller.

24. (a) sensing a presence of a first sensor target on the containment cover via a first sensor of the robotic surgical system; 20. The method of claim 17, further comprising: (b) generating a first signal from the first sensor, the first signal indicative of the sensing of the presence of the first sensor target.

25. 25. The method of claim 24, wherein the arm support comprises a bar, the bar comprising the first sensor.

26. 1. A robotic surgical system, comprising: (a) a surgical table including a table configured to receive a patient; (b) a first mobile robotic arm coupled to the surgical table and movable between a stored configuration and a deployed configuration, the first mobile robotic arm being positioned below the table in the stored configuration and configured to interact with the patient in the deployed configuration; and (c) a containment cover, the containment cover comprising: (i) a flexible body configured to selectively cover the first moveable robotic arm in the stored configuration, the flexible body being removable from the surgical table to allow the first moveable robotic arm to transition from the stored configuration to the deployed configuration; (ii) a containment cover comprising a first sensor target operatively coupled to the flexible body; (d) a first sensor configured to generate a first signal in response to sensing a presence of the first sensor target; (e) a controller configured to receive the first signal from the first sensor and determine that the storage cover is positioned over the first moveable robotic arm in the stored configuration.

27. 27. The robotic surgical system of claim 26, wherein in response to the first sensor not sensing the presence of the first sensor target, the controller is configured to provide a warning to a user.

28. The robotic surgical system of any one of claims 26 to 27, wherein the first sensor includes a proximity sensor and the first sensor target includes a proximity sensor target configured to be sensed by the proximity sensor.

29. The robotic surgical system of claim 28 , wherein the proximity sensor comprises a Hall effect sensor and the proximity sensor target comprises a magnet configured to be sensed by the Hall effect sensor.

30. 30. The robotic surgical system of claim 29, further comprising an arm support operatively coupled to the first moveable robotic arm, the arm support including a magnetic feature configured to magnetically couple with the magnet to couple the containment cover with the arm support.

31. 27. The robotic surgical system of claim 26, further comprising a second sensor, wherein the containment cover includes a second sensor target operably coupled to the flexible body, the second sensor configured to sense a presence of the second sensor target, and the controller configured to determine that the containment cover is positioned over the first moveable robotic arm based on a combination of the first sensor sensing the presence of the first sensor target and the second sensor sensing the presence of the second sensor target.

32. 32. The robotic surgical system of claim 31, wherein in response to either the first sensor not sensing the presence of the first sensor target or the second sensor not sensing the presence of the second sensor target, the controller is configured to provide a warning to a user.

33. 33. The robotic surgical system of claim 31, wherein the first sensor comprises a first Hall effect sensor, the second sensor comprises a second Hall effect sensor, the first sensor target comprises a first magnet, and the second sensor target comprises a second magnet, and the controller is configured to determine that the containment cover is positioned on the first moveable robotic arm based on a combination of the first Hall effect sensor sensing the presence of the first magnet and the second Hall effect sensor sensing the presence of the second magnet.

34. 34. The robotic surgical system of claim 33, wherein the flexible body includes opposing first and second ends, the first magnet positioned at the first end and the second magnet positioned at the second end.

35. 34. The robotic surgical system of claim 33, wherein the arm support includes opposing first and second magnetic features configured to magnetically couple with the first and second magnets to couple the containment cover with a base.

36. 27. The robotic surgical system of claim 26, wherein the containment cover includes at least one pull tab configured to be interacted with by a user to position the cover relative to the first moveable robotic arm.

37. The robotic surgical system of claim 26 , wherein the containment cover includes at least one stiffening member configured to provide rigidity to a predetermined portion of the flexible body.

38. 27. The robotic surgical system of claim 26, further comprising a second movable robotic arm independently movable relative to the first movable robotic arm, the containment cover configured to simultaneously cover each of the first movable robotic arm and the second movable robotic arm.

39. 39. The robotic surgical system of claim 38, wherein the flexible body defines a first compartment and a second compartment, the first compartment configured to simultaneously cover the first moveable robotic arm and the second moveable robotic arm in the stored configuration, and the second compartment configured to cover the arm support in the stored configuration.

40. The robotic surgical system of claim 26 , wherein the flexible body comprises a liquid impermeable material.

41. 41. The robotic surgical system of claim 38, wherein the first and second mobile robotic arms are operable to transition between a stored configuration and a deployed configuration, and the storage cover is configured to cover the first and second mobile robotic arms at least in the stored configuration.

42. 41. The robotic surgical system of claim 40, further comprising a bar coupled to the first and second movable robotic arms, the bar configured to transition between an upper position and a lower position, and the containment cover configured to cover the first and second movable robotic arms and the bar in the upper position, at the lower position, and during the transition between the upper and lower positions.

43. 40. The robotic surgical system of claim 38, wherein the flexible body includes a marking surface to facilitate positioning the containment cover over the first and second moveable robotic arms.

44. 44. The robotic surgical system of claim 43, wherein the indicia are located on each of the first and second compartments and configured to assist a user in placing the containment cover onto the first and second moveable robotic arms.

45. 1. A method of operating a robotic surgical system, the method comprising: (a) receiving a containment cover over at least one moveable robotic arm of the robotic surgical system; (b) sensing, via a first sensor of the robotic surgical system, a presence of a first sensor target of the containment cover; (c) generating a first signal from the first sensor, the first signal indicative of the sensing of the presence of the first sensor target.

46. (a) transmitting the first signal from the first sensor to a controller; 46. ​​The method of claim 45, further comprising: (b) determining, via the controller, that the containment cover is in a covered configuration based on the first signal.

47. 47. The method of claim 46, further comprising, in response to both determining that the containment cover is in the covering configuration and receiving a signal to the robotic surgical system to move the at least one moveable robotic arm, alerting the user to remove the containment cover from the at least one moveable arm.

48. 46. ​​The method of claim 45, further comprising sensing an absence of the first sensor target of the containment cover via the first sensor of the robotic surgical system, the absence being sensed in response to the containment cover being removed from the at least one moveable robotic arm of the robotic surgical system.

49. (a) transmitting a second signal from the first sensor to a controller in response to sensing the absence of the first sensor target; 50. The method of claim 48, further comprising: (b) determining, via the controller, that the containment cover is in an uncovered configuration based on the first signal from the first sensor.

50. 50. The method of claim 49, further comprising, in response to determining that the containment cover is in the covered configuration, preventing, via the controller, movement of the at least one moveable robotic arm.

51. 51. The method of any one of claims 48-50, further comprising, in response to sensing the absence of the first sensor target, prompting a user to reposition the containment cover over the at least one moveable arm of the robotic surgical system.

52. 51. The method of any one of claims 45-50, wherein the first sensor includes a first Hall effect sensor, the first sensor target includes a first magnet, and the act of sensing further includes sensing the presence of the first magnet in the storage cover via the first Hall effect sensor.

53. (a) sensing a presence of a second sensor target on the containment cover via a second sensor of the robotic surgical system; 46. ​​The method of claim 45, further comprising: (b) generating a second signal from the second sensor, the second signal indicative of the sensing of the presence of the second sensor target.

54. (a) transmitting the first signal from the first sensor to a controller; (b) transmitting the second signal from the second sensor to the controller; 54. The method of claim 53, further comprising: (c) determining, via the controller, that the containment cover is in a covered configuration based on the combination of the first signal and the second signal.

55. the first sensor includes a first Hall effect sensor, the second sensor includes a second Hall effect sensor, the first sensor target includes a first magnet, the second sensor target includes a second magnet, and the act of sensing includes: (i) sensing the presence of the first magnet in the containment cover via the first Hall effect sensor; 55. The method of claim 54, further comprising: (ii) sensing the presence of the second magnet in the containment cover via the second Hall effect sensor.

56. (a) sensing, via a second sensor of the robotic surgical system, the absence of a second sensor target on the containment cover; 46. ​​The method of claim 45, further comprising: (b) in response to the presence of the first sensor target and the absence of the second sensor target, providing an alert to a user.

57. 57. The method of claim 56, further comprising locking out movement of the at least one mobile robotic arm until the alert is manually cleared by the user.

58. 46. ​​The method of claim 45, wherein the act of positioning the containment cover further comprises positioning the containment cover under a table of the robotic surgical system, the table configured to receive a patient.

59. A containment cover, the containment cover comprising: (a) a flexible body configured to cover a portion of a robotic surgical system, the body including opposing first and second ends; (b) at least one stiffening member configured to provide stiffness to a predetermined portion of the flexible body; and (c) a first magnet disposed at the first end and configured to be sensed by a first Hall effect sensor of the robotic surgical system; and (d) a second magnet disposed at the second end and configured to be sensed by a second Hall effect sensor of the robotic surgical system.

60. 60. The containment cover of claim 59, further comprising at least one pull tab configured to be interacted with by a user to position the containment cover relative to the at least one moveable robotic arm.

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