System and method for acquiring kinematics of a robotic cart in a multi-arm robotic surgical system

Abstract

The present application provides a multi-arm robotic surgical system (100) and method (500) for acquiring kinematics of a plurality of robotic carts (SL, PL, PR, SR) with respect to a coordinate system (F). The system includes laser modules (122, 124, 126, 128) and transmitters (130, 132, 134, 136) coupled to each of the plurality of robotic carts (SL, PL, PR, SR). A master controller (106) is operatively coupled to the plurality of robotic carts (SL, PL, PR, SR) and is configured to calculate the kinematics of the plurality of robotic carts (SL, PL, PR, SR) with respect to the coordinate system (F) based on the encoded values ​​of the angles.

Description

[Technical Field]

[0001] The present disclosure relates generally to multi-arm robotic surgical systems for minimally invasive surgery, and more particularly, the present disclosure relates to systems and methods for acquiring kinematics of a robotic cart in a multi-arm robotic surgical system. [Background technology]

[0002] This section is intended to introduce the reader to various aspects of the art, which may be related to various aspects of the present disclosure that are described below. This disclosure is believed to be helpful in providing the reader with background information to facilitate a better understanding of the various aspects of the present disclosure. As such, it should be understood that these statements are to be read in this light, and not merely as admissions of prior art.

[0003] Robotic-assisted surgical systems have been adopted worldwide, replacing traditional surgical procedures and reducing patient recovery times, patient discomfort, extended hospital stays, and particularly adverse side effects by reducing the amount of extraneous tissue that can be damaged during a surgical or diagnostic procedure. In robotic-assisted surgery, the surgeon typically operates manual controls / master controls / surgeon input devices at a surgeon console to seamlessly capture and transmit the complex actions performed by the surgeon, giving the feeling that the surgeon is directly integrating surgical tools / instruments to perform the surgery. The surgeon operating on the surgeon console may be located remotely from the surgical site or may be located in the operating room where the patient is undergoing surgery.

[0004] Robotic-assisted surgery is revolutionizing the medical field and is one of the fastest growing segments in the medical device industry. One key area of ​​robotic-assisted surgery is the development of surgical robots for minimally invasive surgery. Over the past few decades, surgical robots have evolved at an accelerating pace and have become a major area of ​​innovation in the medical device industry.

[0005] In robotic surgery, and more specifically in modular robotic systems, one of the challenges is optimally positioning a surgical cart around the operating table. A major challenge with existing robotic surgery systems is that traditional positioning systems are ineffective when the operating room is an indoor environment. Traditional positioning systems utilize several types of beacons that must be placed within the operating room. This is undesirable due to medical regulatory restrictions and the possibility that patients may be moved between operating rooms due to emergencies. Furthermore, operating rooms can vary in size. Another challenge is that existing multi-arm robotic surgical systems are modular, making it very difficult to determine the orientation of the robotic cart relative to a coordinate system. Furthermore, this insufficient information about the orientation of the robotic cart relative to the coordinate system can lead to collisions between the robotic arms and the surgeon's hands, which cannot be mapped to the surgical instrument tips.

[0006] In view of the foregoing challenges, there is a need for a system and method for acquiring the kinematics of a robotic cart in a multi-arm robotic surgical system that solves the above-mentioned problems associated with robotic-assisted surgery. Summary of the Invention

[0007] Some or all of the above-mentioned problems related to acquiring the kinematics of a robotic cart in a multi-arm robotic surgical system are proposed to be addressed by some embodiments of the present disclosure.

[0008] In one aspect, an embodiment of the present disclosure provides a multi-arm robotic surgical system for acquiring kinematics of a plurality of robotic carts with respect to a coordinate system, the multi-arm robotic surgical system comprising: a plurality of robotic arms each mounted on one of the plurality of robotic carts; an endoscopic camera coupled to a robotic arm of the plurality of robotic arms; a plurality of surgical instruments each detachably coupled to a distal end of one of the remaining robotic arms; an operating table; and a patient on the operating table, the plurality of robotic carts being arranged along the operating table, the system comprising: a laser module provided on each of the plurality of robotic carts, the laser module configured to generate a laser line associated with each of the plurality of robotic carts; a transmitter coupled to each of the plurality of robotic carts, the transmitter configured to encode an angle value between the generated laser line associated with each of the plurality of robotic carts and the coordinate system; and a master controller operably coupled to the plurality of robotic carts, the master controller configured to calculate the kinematics of the plurality of robotic carts with respect to the coordinate system based on the encoded angle value.

[0009] In another aspect, an embodiment of the present disclosure provides a method for obtaining kinematics of multiple robotic carts with respect to a coordinate system in a multi-arm robotic surgical system, the system comprising: multiple robotic arms each mounted on one of the multiple robotic carts; an endoscopic camera coupled to a robotic arm of the multiple robotic arms; multiple surgical instruments each detachably coupled to a distal end of one of the remaining robotic arms; an operating table; and a patient on the operating table, wherein the multiple robotic carts are arranged along the operating table, the method including the steps of: by an operator positioning the multiple robotic carts near the operating table based on a surgical procedure to be performed; adjusting a laser line associated with each of the multiple robotic carts with respect to the coordinate system using a laser module provided on each of the multiple robotic carts; transmitting, using a transmitter, an encoded value of an angle between the laser line associated with each of the multiple robotic carts and the coordinate system to a master controller; and using the master controller calculating the kinematics of the multiple robotic carts with respect to the coordinate system based on the encoded value of the angle.

[0010] Optionally, the coordinate system may be the robotic cart with the camera, or any other robotic cart from a plurality of robotic carts.

[0011] Optionally, a laser line associated with each of the plurality of robotic carts is maintained perpendicular to the plurality of robotic carts.

[0012] Optionally, the encoded values ​​of the angles between the laser lines associated with each of the plurality of robotic carts and the coordinate system are transmitted to a master controller using either wired or wireless communication.

[0013] Optionally, the kinematics of the multiple robotic carts relative to the coordinate system are independent of the type of operating room.

[0014] Optionally, the arrangement of multiple robotic carts in the operating room can be made according to the requirements of the surgical procedure to be performed.

[0015] Optionally, the maximum rotation of each of the plurality of robotic carts is within the range of ±160°.

[0016] Optionally, a laser module on each of the plurality of robotic carts is held at an oblique angle to provide improved visualization.

[0017] Optionally, the laser line length may be up to 2 m.

[0018] Optionally, the laser module provided on each of the plurality of robotic carts is a Class C laser module that complies with medical standards.

[0019] Optionally, the kinematics of the multiple robot carts relative to a coordinate system are obtained by visualization.

[0020] Optionally, each of the laser modules comprises a knob gear, a laser gear, an encoder gear, an encoder, and a stop.

[0021] Optionally, the laser module has a base cover and a top cover.

[0022] Optionally, there is a 3:1 gear ratio between the knob gear and the laser gear.

[0023] Optionally, there is a 1:1 gear ratio between the laser gear and the encoder gear.

[0024] Other embodiments, systems, methods, device aspects, and features of the present invention will become apparent to those skilled in the art from the following detailed description, the accompanying drawings, and the appended claims. It will be apparent that features of the present disclosure are susceptible to being combined in various combinations without departing from the scope of the present disclosure, as defined in the appended claims. [Brief explanation of the drawings]

[0025] The foregoing summary, as well as the following detailed description of the present disclosure, will be better understood when read in conjunction with the accompanying drawings. For the purpose of illustrating the disclosure, exemplary structures of the disclosure are shown in the drawings. However, the disclosure is not limited to the particular methods and instrumentalities disclosed herein. Moreover, those skilled in the art will understand that the drawings are not to scale. Wherever possible, similar elements are designated by the same numerals.

[0026] Embodiments of the present disclosure will now be described, by way of example only, with reference to the following drawings, in which:

[0027] [Figure 1] FIG. 1 illustrates an exemplary implementation of a multi-arm teleoperated surgical system that may be used with one or more features according to an embodiment of the present disclosure. [Figure 2] FIG. 1 illustrates a five-arm configuration of a robotic cart positioned around an operating table in a multi-arm teleoperated surgical system according to an embodiment of the present disclosure. [Figure 3] FIG. 1 illustrates an implementation of a system for acquiring kinematics of a robotic cart in a multi-arm robotic surgical system according to an embodiment of the present disclosure. [Figure 4-1] FIG. 1 illustrates a laser module according to an embodiment of the present disclosure. [Figure 4-2] FIG. 1 illustrates a laser module according to an embodiment of the present disclosure. [Figure 4-3] FIG. 1 illustrates a laser module according to an embodiment of the present disclosure. [Figure 5] 1 is a flowchart with steps of a method for calculating the kinematics of multiple robotic carts relative to a coordinate system, according to one embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0028] For the purposes of promoting an understanding of the principles of the present disclosure, reference will now be made to the embodiments illustrated in the drawings, and specific language will be used to describe the same, it being understood, however, that no limitation of the scope of the disclosure is thereby intended, and that such variations and further modifications in the illustrated systems, and such further applications of the principles of the present disclosure as shown therein, are contemplated as would normally occur to one skilled in the art to which the present disclosure relates.

[0029] Those skilled in the art will understand that the foregoing general description and the following detailed description are exemplary and explanatory of the present disclosure and are not intended to be limiting thereof. Throughout this patent specification, the convention has been adopted that like numerals refer to like elements in the accompanying drawings.

[0030] The use of "one embodiment," "another embodiment," "one implementation," "another implementation," or similar terminology throughout this specification means that a particular feature, structure, or characteristic described in connection with an embodiment is included in at least one embodiment of the present disclosure. Thus, appearances of "one embodiment," "another embodiment," "in one implementation," "in another implementation," and similar terminology throughout this specification may, but need not, all refer to the same embodiment.

[0031] The term "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process or method comprising a list of steps may not include only that step, but may also include other steps not expressly listed or inherent in such process or method. Similarly, one or more devices or subsystems or elements or structures followed by "comprising" does not, without further constraints, exclude the presence of other devices or subsystems or elements or structures or additional devices or subsystems or elements or structures.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The devices, systems, and examples provided herein are illustrative only and are not intended to be limiting.

[0033] The terms "a" and "an" as used herein do not denote a limitation of quantity, but rather denote the presence of at least one of the referenced item. Furthermore, the terms sterile barrier and sterile adapter denote the same meaning and may be used interchangeably throughout the description.

[0034] Embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0035] Figure 1 illustrates an exemplary implementation of a multi-arm teleoperated surgical system that can be used with one or more features according to an embodiment of the present disclosure. Specifically, Figure 1 illustrates a multi-arm teleoperated surgical system (100) having five robotic arms (102a), (102b), (102c), (102d), and (102e) mounted on five robotic arm carts around an operating table (104). The five robotic arms (102a), (102b), (102c), (102d), and (102e) illustrated in Figure 1 are for illustrative purposes, and the number of robotic arms may vary depending on the type of surgical procedure. The five exemplary robotic arms (102a), (102b), (102c), (102d), and (102e) are positioned along the operating table (104) and may be positioned differently, including but not limited to, robotic arms (102a), (102b), (102c), (102d), and (102e) positioned along the operating table (104). The robotic arms (102a), (102b), (102c), (102d), and (102e) may be separately mounted on five robotic arm carts, or the robotic arms (102a), (102b), (102c), (102d), and (102e) may be mechanically and / or operatively connected to one another, or the robotic arms (102a), (102b), (102c), (102d), and (102e) may be connected to a central body (not shown) such that the robotic arms (102a), (102b), (102c), (102d), and (102e) branch off from the central body (not shown). Additionally, the multi-arm teleoperated surgical system (100) includes a main controller (106), a vision cart (108), and a surgical instrument and accessory table.

[0036] FIG. 2 illustrates a five-arm configuration of robotic carts arranged around an operating table in a multi-arm teleoperated surgical system according to one embodiment of the present disclosure. According to one embodiment, the patient side arm carts are shown as a camera arm cart (CA), a primary right robotic arm cart (PR), a secondary right robotic arm cart (SR), a primary left robotic arm cart (PL), and a secondary left robotic arm cart (SL). The right and left positions of the patient side arm cart (PSAC) are designated relative to the surgeon's endoscopic field of view and not the cart's physical location. This is for identification purposes only. An endoscopic camera (C) is coupled to a robotic arm (102a) attached to the camera arm cart (CA). During robotic surgery, the surgeon sometimes needs to hold tissue or organs while performing procedures such as suturing, cutting, severing, sealing, and coagulating. One of the remaining robotic arms (102b, 102c, 102d, 102e) can then be utilized to hold the tissue or organs mentioned above. Two of the remaining robotic arms (102b, 102c, 102d, 102e) can be used for other surgical procedures. Each of the surgical instruments (110, 112, 114, 116) is detachably coupled to one of the remaining robotic arms (102b, 102c, 102d, 102e), which is connected to one of the patient-side arm carts (SL, PL, PR, SR).

[0037] 3 illustrates an implementation of a system for acquiring kinematics of a robotic cart in a multi-arm robotic surgical system according to an embodiment of the present disclosure. Each of the robotic carts (SL, PL, PR, SR) includes a laser module (122, 124, 126, 128). The laser modules (122, 124, 126, 128) are configured to generate a laser line (L) associated with each of the robotic carts (SL, PL, PR, SR). Each of the robotic carts (SL, PL, PR, SR) has an associated orientation system. A coordinate system associated with the robotic cart (CA) having a camera (C) is shown at (F). Transmitters (130, 132, 134, 136) are coupled to each of the robotic carts (SL, PL, PR, SR). The transmitters (130, 132, 134, 136) are configured to encode angle values ​​between a generated laser line (L) associated with each of the plurality of robotic carts (SL, PL, PR, SR) and a coordinate system (F). A master controller (106) is operably coupled to the plurality of robotic carts (SL, PL, PR, SR). The master controller (106) is configured to calculate kinematics of the plurality of robotic carts (SL, PL, PR, SR) relative to the coordinate system (F) based on the encoded angle values. The coordinate system (F) may be the robotic cart (CA) having the camera (C) or any other robotic cart from the plurality of robotic carts (SL, PL, PR, SR).

[0038] The laser line (L) associated with each of the multiple robotic carts (SL, PL, PR, SR) is kept perpendicular to the multiple robotic carts (SL, PL, PR, SR). The encoded value of the angle between the laser line (L) associated with each of the multiple robotic carts (SL, PL, PR, SR) and the coordinate system (F) is transmitted to the main controller (106) using either wired or wireless communication. The kinematics of the multiple robotic carts (SL, PL, PR, SR) relative to the coordinate system (F) is independent of the type of operating room. The arrangement of the multiple robotic carts (SL, PL, PR, SR) in the operating room can be performed according to the requirements of the surgical procedure to be performed.

[0039] The maximum rotation of each of the robot carts (SL, PL, PR, SR) is within a range of ±160°. The laser modules (122, 124, 126, 128) provided on each of the robot carts (SL, PL, PR, SR) are maintained at an inclined angle that improves visualization. The length of the laser line (L) can be up to 2 m. The laser modules (122, 124, 126, 128) provided on each of the robot carts (SL, PL, PR, SR) are Class C laser modules that comply with medical standards. The kinematics of the robot carts (SL, PL, PR, SR) relative to the coordinate system (F) are obtained by visualization. Each of the laser modules (122, 124, 126, 128) includes a knob gear (138), a laser gear (140), an encoder gear (142), an encoder (144), and a stop (146). The laser modules (122, 124, 126, 128) have a base cover (148) and a top cover (150). The base cover (148) holds all components in a fixed position. The top cover (150) keeps the laser modules (122, 124, 126, 128) enclosed and helps mount the laser modules to multiple robotic carts (SL, PL, PR, SR). Stops (146) are used to keep the laser gear (140), knob gear (138), and encoder gear (142) within acceptable limits. Stops (146) also help prevent the laser gear from rotating beyond ±120°.

[0040] Figures 4(a), 4(b), and 4(c) show a laser module for registering a robot cart in a multi-arm robotic surgical system. When an operator (118) turns on the power of the laser module, a laser line (L) associated with each of the multiple robot carts (SL, PL, PR, SR) is generated. To perform a surgical procedure, each of the multiple robot carts (SL, PL, PR, SR) must be aligned with a coordinate system (F) as shown in Figure 3. This helps to obtain the kinematics and orientation of each of the multiple robot carts (SL, PL, PR, SR) relative to system F. The coordinate system can be selected as the system associated with the camera cart (CA). To align the cart, the operator (118) moves a knob gear (138). The movement of the knob gear (138) moves a laser gear (140). A 3:1 gear ratio is provided between the knob gear (138) and the laser gear (140). This 3:1 gear ratio provides a 3:1 reduction to provide fine movement of the laser line (L), resulting in precise rotation of the laser line (L) even when knob gear 138 is moved rapidly. Additionally, a 1:1 gear ratio is provided between laser gear 140 and encoder gear 142.

[0041] 5 shows a flowchart with steps of a method (500) for acquiring kinematics of multiple robotic carts (SL, PL, PR, SR) relative to a coordinate system (F) in a multi-arm robotic surgical system (100) according to one embodiment of the present disclosure. In step (502), an operator (118) positions the multiple robotic carts (SL, PL, PR, SR) near the operating table (104) based on the surgical procedure to be performed. In step (504), the operator (118) adjusts a laser line (L) associated with each of the multiple robotic carts (SL, PL, PR, SR) relative to the coordinate system (F) using laser modules (122, 124, 126, 128) provided on each of the multiple robotic carts (SL, PL, PR, SR). Transmitters (130, 132, 134, 136) are provided on each of the multiple robotic carts (SL, PL, PR, SR). In step (506), the transmitters (130, 132, 134, 136) encode angle values ​​between the laser line (L) associated with each of the plurality of robotic carts (SL, PL, PR, SR) and the coordinate system (F). The transmitters (130, 132, 134, 136) transmit these encoded values ​​to the master controller (106) shown in FIG. 3. In step (508), the master controller (106) calculates the kinematics of the plurality of robotic carts (SL, PL, PR, SR) relative to the coordinate system (F) based on the encoded angle values.

[0042] The disclosed multi-arm robotic surgical system (100) for acquiring the kinematics of multiple robot carts (SL, PL, PR, SR) relative to a coordinate system (F) is advantageous if it can be effectively used in an indoor environment such as an operating room. The system is also compliant with medical regulations. Furthermore, the disclosed system does not impose any space limitations and does not vary based on the type of operating room. Thus, in an emergency situation, a patient can be transferred from one operating room to another. Another advantage is that the disclosed system is modular, allowing for more effective mapping of the surgeon's hand movements to the instrument tip.

[0043] The foregoing description of exemplary embodiments of the present disclosure has been presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the disclosure to the precise forms disclosed; obviously, many modifications and variations are possible in light of the above teachings. The exemplary embodiments have been chosen and described in order to best explain the principles of the present disclosure and its practical application, so as to enable others skilled in the art to best utilize the present disclosure and various embodiments, with various modifications. It is understood that various omissions, substitution of equivalents, are contemplated where circumstances may suggest or render expedient, but are intended to cover applications or implementations thereof without departing from the spirit or scope of the present disclosure or claims.

[0044] Benefits, other advantages, and solutions to problems have been described above with respect to specific embodiments. However, the benefits, other advantages, solutions to problems, and any elements that may give rise to or make more apparent any benefits, other advantages, or solutions should not be considered critical, necessary, or essential features or elements of any or all of the claims.

[0045] While specific terminology has been used to describe this disclosure, no limitations are intended to arise therefrom. As will be apparent to those skilled in the art, various practical modifications may be made to the apparatus in order to implement the inventive concepts taught herein. [Explanation of symbols]

[0046] 100 Multi-Arm Robotic Surgical System 102a, 102b, 102c, 102d, 102e robotic arms 110, 112, 114, 116 surgical instruments 104 Operating table 108 Visual Cart 118 Operator 122, 124, 126, 128 laser modules 130, 132, 134, 136 Transmitters 106 Main Controller 138 Knob Gear 140 Laser Gear 142 Encoder gear 144 Encoder 146 Fastener 148 Base Cover 150 Top cover C Endoscope camera F coordinate system L laser line SL, PL, CA, PR, SR Robot Cart

Claims

1. A multi-arm robotic surgical system (100) for acquiring kinematics of a plurality of robot carts (SL, PL, PR, SR) relative to a coordinate system (F), comprising: a plurality of robot arms (102a, 102b, 102c, 102d, 102e) each mounted on one of the plurality of robot carts (SL, PL, CA, PR, SR); an endoscopic camera (C) coupled to one of the remaining robotic arms (102a), a plurality of surgical instruments (110, 112, 114, 116) each detachably coupled to a distal end of one of the remaining robotic arms (102b, 102c, 102d, 102e), an operating table (104), and a patient on the operating table (104), wherein the plurality of robotic carts (SL, PL, CA, PR, SR) are arranged along the operating table (104), and the system comprises: a laser module (122, 124, 126, 128) provided on each of the plurality of robot carts (SL, PL, PR, SR), the laser module (122, 124, 126, 128) configured to generate a laser line (L) associated with each of the plurality of robot carts (SL, PL, PR, SR); a transmitter (130, 132, 134, 136) coupled to each of the plurality of robotic carts (SL, PL, PR, SR), the transmitter (130, 132, 134, 136) configured to encode an angle value between the generated laser line (L) associated with each of the plurality of robotic carts (SL, PL, PR, SR) and the coordinate system (F); a master controller (106) operably coupled to the plurality of robot carts (SL, PL, PR, SR), the master controller (106) being configured to calculate the kinematics of the plurality of robot carts (SL, PL, PR, SR) relative to the coordinate system (F) based on the encoded values ​​of the angles; A multi-arm robotic surgical system (100) comprising:

2. 2. The system of claim 1, wherein the coordinate system (F) may be a robot cart (CA) having a camera (C) or any other robot cart from the plurality of robot carts (SL, PL, PR, SR).

3. 2. The system of claim 1, wherein the laser line (L) associated with each of the plurality of robot carts (SL, PL, PR, SR) is maintained perpendicular to the plurality of robot carts (SL, PL, PR, SR).

4. 2. The system of claim 1, wherein the encoded values ​​of the angles between the laser line (L) associated with each of the plurality of robotic carts (SL, PL, PR, SR) and the coordinate system (F) are transmitted to the master controller (106) using either wired or wireless communication.

5. The system of claim 1 , wherein the kinematics of the plurality of robotic carts (SL, PL, PR, SR) relative to the coordinate system (F) are independent of the type of operating room.

6. The system of claim 1 , wherein the arrangement of the plurality of robotic carts (SL, PL, PR, SR) in the operating room can be performed according to the requirements of the surgical procedure to be performed.

7. The system of claim 1 , wherein the maximum rotation of each of the plurality of robot carts (SL, PL, PR, SR) is within a range of ±160°.

8. 2. The system of claim 1, wherein the laser modules (122, 124, 126, 128) on each of the plurality of robotic carts (SL, PL, PR, SR) are maintained at an inclined angle that provides improved visualization.

9. 2. The system according to claim 1, wherein the length of the laser line (L) can be up to 2 m.

10. 2. The system of claim 1, wherein the laser modules (122, 124, 126, 128) provided on each of the plurality of robot carts (SL, PL, PR, SR) are Class C laser modules that comply with medical standards.

11. The system according to claim 1 , wherein the kinematics of the plurality of robot carts (SL, PL, PR, SR) relative to a coordinate system (F) are obtained by visualization.

12. The system of claim 1 , wherein each of the laser modules (122, 124, 126, 128) comprises a knob gear (138), a laser gear (140), an encoder gear (142), an encoder (144), and a stop (146).

13. The system of claim 12, wherein the laser modules (122, 124, 126, 128) have a base cover (148) and a top cover (150).

14. The system of claim 12, wherein a 3:1 gear ratio is provided between the knob gear (138) and the laser gear (140).

15. The system of claim 12, wherein a 1:1 gear ratio is provided between the laser gear (140) and the encoder gear (142).

16. 1. A method for acquiring kinematics of a plurality of robot carts (SL, PL, PR, SR) relative to a coordinate system (F) in a multi-arm robotic surgical system (100), the system comprising: a plurality of robotic arms (102a, 102b, 102c, 102d, 102e) each mounted on one of the plurality of robotic carts (SL, PL, CA, PR, SR); a surgical table (104); and a patient on the surgical table (104). The method includes: an endoscopic camera (C) connected to a robotic arm (102a); a plurality of surgical instruments (110, 112, 114, 116) each detachably connected to a distal end of one of the remaining robotic arms (102b, 102c, 102d, 102e); an operating table (104); and a patient on the operating table (104). The plurality of robotic carts (SL, PL, CA, PR, SR) are arranged along the operating table (104). The method includes: positioning (502) the plurality of robotic carts (SL, PL, PR, SR) near the operating table (104) based on the surgical procedure to be performed by an operator (118); adjusting (504) a laser line (L) associated with each of the plurality of robot carts (SL, PL, PR, SR) with respect to the coordinate system (F) using a laser module (122, 124, 126, 128) provided on each of the plurality of robot carts (SL, PL, PR, SR); transmitting (506) using transmitters (130, 132, 134, 136) to a master controller (106) an encoded value of the angle between the laser line (L) associated with each of the plurality of robotic carts (SL, PL, PR, SR) and the coordinate system (F); calculating (508) the kinematics of the plurality of robot carts (SL, PL, PR, SR) relative to the coordinate system (F) based on the encoded values ​​of the angles using the master controller (106); A method comprising:

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