Surgical robotics systems and devices with sterile restart units and methods thereof

Abstract

The present disclosure relates to a surgical robotic system having a master console and slave manipulators with components and features for enabling restart without compromising sterility of the surgical robotic system. In some embodiments, the apparatus can include a restart unit for the surgical robotic system configured to be activated by a sterile user from within the sterile field without compromising the sterile field, and a controller operably coupled to the restart unit, the controller configured to detect that the restart unit has been activated and to restart the surgical robotic system in response to detecting that the restart unit has been activated.

Description

[Technical Field]

[0001] This application relates generally to surgical robotic systems, and more particularly to systems, devices, and methods for reactivating surgical robotic systems without involving sterility. [Background technology]

[0002] In a robotic-assisted or teleoperated surgical robotic system, a surgeon operates a master console to remotely control one or more slave devices or surgical instruments at a surgical site. During operation of the surgical robotic system, an event or factor may occur that causes unexpected movement and / or behavior of one or more components of the system. In such cases, the surgical robotic system may transition to a safe operating mode, thereby disabling one or more functions of the surgical robotic system. To restart the surgical robotic device, a surgeon or other user in the operating room may need to perform one or more actions that may compromise the sterile field. In some cases, the surgeon or other user may also need to release one or more surgical instruments from the patient before initiating the restart. If the sterile field is compromised during instrument release or during restart of the surgical robotic system, significant delays to the surgical procedure may occur. Therefore, it may be desirable to have a method for restarting a surgical robotic system without involving the sterile field. Summary of the Invention

[0003] The present disclosure overcomes the shortcomings of previously known surgical robotic systems by providing systems, devices, and methods for restarting a surgical robotic system without involving sterility of the surgical site.

[0004] In some embodiments, the apparatus can include a restart unit for the surgical robotic system configured to be activated by a sterile user from within the sterile field without compromising the sterile field, and a controller operably coupled to the restart unit, the controller configured to detect that the restart unit has been activated and to restart the surgical robotic system in response to detecting that the restart unit has been activated.

[0005] In some embodiments, the apparatus can include a restart unit of the surgical robotic system configured to be activated by a sterile user from within the sterile field without compromising the sterile field; and a controller operably coupled to the restart unit, the controller configured to: detect that the restart unit is activated; determine if an instrument is coupled to a slave manipulator of the surgical robotic system in response to detecting that the restart unit is activated; and enable teleoperation of the instrument in a predetermined set of degrees of freedom (DOF) that allows the instrument to further engage or disengage from tissue or other components within the patient's body without compromising the sterile field.

[0006] In some embodiments, the system includes at least one slave manipulator isolated from the sterile field by a first sterile barrier, the at least one slave manipulator including a plurality of slave links and a plurality of drive units; at least one sterile instrument configured to be removably coupled to the at least one slave manipulator, the at least one sterile instrument configured to be positioned via movement of the plurality of slave links and manipulated with multiple degrees of freedom (DOF) via activation of the plurality of drive units; a master console disposed separately from the slave manipulator and isolated from the sterile field by a second sterile barrier, the master console including a plurality of master links operably coupled to the plurality of slave links such that movement of the plurality of master links causes corresponding movement of the plurality of slave links; and the at least one sterile handle gripper configured to be removably coupled to the master console, the at least one sterile handle gripper configured to control activation of a plurality of drive units to manipulate at least one instrument with a plurality of DOFs when coupled to the master console; a restart unit configured to be activated by a sterile user from within the sterile field without compromising the sterile field; and a controller operably coupled to the at least one slave manipulator and the master console, wherein the controller is configured to: deactivate the controlled movement of the plurality of slave links and the manipulation of the at least one instrument during the surgical procedure in response to detecting an abnormal event, detect that the restart unit has been activated, and restart the surgical robotic system after detecting that the restart unit has been activated.

[0007] In some embodiments, a method for maintaining sterility of a surgical robotic system during restart during a surgical procedure can include detecting activation of a restart unit of the surgical robotic system after an interruption and with movement of a slave manipulator of the surgical robotic system deactivated without compromising sterility from within a sterile field, and restarting the surgical robotic system after detecting activation of the restart unit.

[0008] In some embodiments, the apparatus may include a restart unit for the surgical robotic system, the restart unit including an actuator configured to be physically activated by a sterilization user from within a filed sterilization without compromising the sterile field; and a controller operably coupled to the restart unit, wherein the controller is configured to: in response to detecting an abnormal event, deactivate remote control of a slave manipulator of the surgical robotic system or an instrument coupled to the slave manipulator by a user-operated device at a master console of the surgical robotic system; detect that the actuator has been physically activated; and restart the surgical robotic system after detecting that the actuator has been physically activated.

[0009] In some embodiments, the actuator includes one or more buttons, switches, or sliders. In some embodiments, the controller is configured to detect that the restart unit is physically activated when the one or more buttons, switches, or sliders are physically activated for a predetermined period of time. In some embodiments, the controller is configured to detect that the restart unit is physically activated when the one or more buttons, switches, or sliders are physically activated according to a predetermined sequence. In some embodiments, the controller is further configured to provide tactile, audible, or visual feedback during or after the actuator is physically activated. In some embodiments, the apparatus further includes a master console, wherein the user-operated device of the master console includes a first plurality of links operably coupled to a second plurality of links of the slave manipulator such that movement of the first plurality of links causes corresponding movement of the second plurality of links. In some embodiments, the actuator is located on the master console proximate to the plurality of links.

[0010] In some embodiments, the controller is further configured to determine whether the instrument is coupled to the slave manipulator and, in response to determining that the instrument is coupled to the slave manipulator, enable teleoperation of the instrument in a predetermined set of degrees of freedom (DOF) that allows the instrument to further engage or disengage from tissue or other components within the patient's body without compromising the sterile field, and the controller is configured to restart the surgical robotic system after the instrument has disengaged from the tissue or other component. In some embodiments, the instrument includes a set of jaws, and the predetermined set of DOFs that allow the instrument to further engage or disengage from tissue or other components are one or more DOFs that allow the set of jaws to open or close. In some embodiments, the instrument includes a hook, scalpel, spatula, needle holder, dissector, scissors, or grasper, and the predetermined set of DOFs that allow the instrument to further engage or disengage from tissue or other components are DOFs associated with rotational movement of the hook, scalpel, spatula, needle holder, dissector, scissors, or grasper. In some embodiments, the controller is further configured to return the slave manipulator to a home position after restarting the robotic system. In some embodiments, the abnormal event includes at least one of an unexpected movement of at least one of the slave manipulators or instruments, an input anomaly associated with the master console, a collision between (1) at least one of the slave manipulators or instruments and (2) an external object, or a failure of a sensor, actuator, or controller of the surgical robotic system.

[0011] In some embodiments, the apparatus includes a restart unit for the surgical robotic system disposed on a master console of the surgical robotic system at a location behind a sterile barrier isolating the master console from the sterile field, the restart unit configured to be activated by a sterile user from within the sterile field without breaching the sterile barrier; and a controller operably coupled to the restart unit, wherein the controller is configured to: deactivate, by a user-operated device on the master console, remote control of a slave manipulator of the surgical robotic system or an instrument coupled to the slave manipulator, in response to detecting an abnormal event; detect that an actuator has been physically activated; and restart the surgical robotic system after detecting that the actuator has been physically activated.

[0012] In some embodiments, the restart unit includes one or more physical or virtual buttons, switches, or sliders. In some embodiments, the controller is configured to detect that the restart unit is activated when the one or more physical or virtual buttons, switches, or sliders are activated for a predetermined period of time. In some embodiments, the controller is configured to detect that the restart unit is activated when the one or more physical or virtual buttons, switches, or sliders are activated according to a predetermined sequence. In some embodiments, the apparatus further includes a master console, wherein the user-operated device of the master console includes a first plurality of links operably coupled to a second plurality of links of the slave manipulator such that movement of the first plurality of links causes corresponding movement of the second plurality of links. In some embodiments, the restart unit is located on the master console proximate to the first plurality of links.

[0013] In some embodiments, the controller is further configured to determine whether the instrument is coupled to the slave manipulator and, in response to determining that the instrument is coupled to the slave manipulator, enable teleoperation of the instrument in a predetermined set of degrees of freedom (DOF) that allows the instrument to further engage or disengage from tissue or other components within the patient's body without compromising the sterile field, and the controller is configured to restart the surgical robotic system after the instrument has disengaged from the tissue or other component. In some embodiments, the instrument includes a set of jaws, and the predetermined set of DOFs that allow the instrument to further engage or disengage from tissue or other components are one or more DOFs that allow the set of jaws to open or close. In some embodiments, the instrument includes a hook, scalpel, spatula, needle holder, dissector, scissors, or grasper, and the predetermined set of DOFs that allow the instrument to further engage or disengage from tissue or other components are DOFs associated with rotational movement of the hook, scalpel, spatula, needle holder, dissector, scissors, or grasper. In some embodiments, the controller is further configured to return the slave manipulator to a home position after restarting the robotic system. In some embodiments, the abnormal event includes at least one of an unexpected movement of at least one of the slave manipulators or instruments, an input anomaly associated with the master console, a collision between (1) at least one of the slave manipulators or instruments and (2) an external object, or a failure of a sensor, actuator, or controller of the surgical robotic system.

[0014] In some embodiments, the apparatus can include a restart unit of the surgical robotic system configured to be activated by a sterile user from within the sterile field without compromising the sterile field; and a controller operably coupled to the restart unit, the controller configured to: detect activation of the restart unit; determine if an instrument is coupled to a slave manipulator of the surgical robotic system in response to detecting activation of the restart unit; and, in response to determining that the instrument is coupled to the instrument, enable teleoperation of the instrument in a predetermined set of degrees of freedom (DOF) that allows the instrument to further engage or disengage from tissue or other components within the patient's body without compromising the sterile field.

[0015] In some embodiments, the restart unit includes one or more physical or virtual buttons, switches, or sliders. In some embodiments, the controller is configured to detect that the restart unit has been activated when the one or more physical or virtual buttons, switches, or sliders are activated for a predetermined period of time. In some embodiments, the controller is configured to provide tactile, audible, or visual feedback during or after the one or more physical or virtual buttons, switches, or sliders are activated. In some embodiments, the restart unit includes multiple buttons, switches, or sliders. In some embodiments, the controller is configured to detect that the restart unit has been activated when the multiple buttons, switches, or sliders are activated according to a predetermined sequence. In some embodiments, the instrument includes a set of jaws, and the predetermined set of DOFs that allow the instrument to further engage or disengage from tissue or other components are one or more DOFs that allow the set of jaws to open or close. In some embodiments, the instrument includes a hook, scalpel, spatula, needle holder, dissector, scissors, or grasper, and the predetermined set of DOFs that allow the instrument to further engage or disengage from tissue or other components are DOFs associated with rotational movement of the hook, scalpel, spatula, needle holder, dissector, scissors, or grasper. In some embodiments, the restart unit is located on a master console of the surgical robotic system. In some embodiments, the restart unit is located on a slave manipulator. In some embodiments, the controller is further configured to restart the robotic system after the instrument disengages from tissue or other component. In some embodiments, the controller is further configured to return the slave manipulator to a home position after restarting the robotic system.

[0016] In some embodiments, the controller is further configured to detect an abnormal event during the surgical procedure and, in response to detecting the abnormal event, deactivate movement of the slave manipulator. In some embodiments, the controller is further configured to, in response to detecting the abnormal event, deactivate remote control of the slave manipulator and an instrument coupled to the slave manipulator by a user-operated device at the master console of the surgical robotic system. In some embodiments, the abnormal event includes at least one of unexpected movement of at least one of the slave manipulator or instrument, an input anomaly associated with the master console, a collision between (1) at least one of the slave manipulator or instrument and (2) an external object, or a failure of a sensor, actuator, or controller of the surgical robotic system.

[0017] In some embodiments, the apparatus further includes a master console disposed separately from the slave manipulator, the master console including a first plurality of links operably coupled to a second plurality of links of the slave manipulator such that movement of the first plurality of links causes corresponding movement of the second plurality of links, and the restart unit is located on the master console proximate to the first plurality of links. In some embodiments, the apparatus further includes a sterile handle configured to be removably coupled to the master console, the sterile handle configured to control remote manipulation of the instrument with a predetermined set of degrees of freedom when coupled to the master console. In some embodiments, the apparatus further includes a sterile barrier configured to isolate the master console from the sterile field, and the restart unit is located on the master console behind the sterile barrier. In some embodiments, the slave manipulator is a first slave manipulator, the instrument is a first instrument, and the controller is further configured to: determine whether a second instrument is coupled to the second slave manipulator of the surgical robotic system in response to detecting that the restart unit is activated, and enable teleoperation of the second instrument at a predetermined set of DOFs after enabling teleoperation of the first instrument in response to determining that the second instrument is coupled to the second slave manipulator. In some embodiments, the controller is configured to enable teleoperation of the instrument at a predetermined set of DOFs by enabling teleoperation of the instrument open before enabling teleoperation of the instrument at any other DOFs. [Brief explanation of the drawings]

[0018] [Figure 1] 1 illustrates a schematic diagram of a surgical robotic system, according to an embodiment. [Figure 2] 1A and 1B illustrate schematic diagrams of a surgical robotic system in an environment surrounding a sterile field, according to an embodiment. [Figure 3]1 illustrates an exemplary surgical robotic system including a master console and multiple slave manipulators, according to an embodiment. [Figure 4] 4 illustrates a sterile zone around the exemplary surgical robotic system of FIG. 3, according to an embodiment. [Figure 5] 1 shows a detailed view of an instrument coupling of a surgical robotic system, according to an embodiment. [Figure 6] 1 illustrates a sterile boundary around an instrument interface of a surgical robotic system, according to an embodiment. [Figure 7] 1 illustrates an emergency release tool for releasing instruments of a surgical robotic system, according to an embodiment. [Figure 8] 10 illustrates a power switch for a slave manipulator of a surgical robotic system, according to an embodiment. [Figure 9] 1 illustrates sterile and non-sterile zones around a master console of a surgical robotic system, according to an embodiment. [Figure 10] 1 illustrates an exemplary restart unit for a surgical robotic system, according to an embodiment. [Figure 11] 10 is a flowchart of an exemplary method for restarting a surgical robotic system with instrument release, according to an embodiment. [Figure 12] 10 is a flowchart of an exemplary method for restarting a surgical robotic system with instrument release, according to an embodiment. [Figure 13] 1 is a flowchart of an exemplary method for restarting a surgical robotic system, according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0019] The present disclosure relates to a surgical robotic system having a master console and slave manipulators with components and features for enabling restart without involving sterility of the surgical robotic system. The systems, devices, and methods described herein allow the surgical robotic system to be restarted and instruments released (or perform other functions) after a temporary interruption while maintaining a sterile environment.

[0020] During a surgical procedure, a surgical robotic system can be used to minimally perform certain minimally invasive procedures. In some embodiments, the surgical robotic system may include one or more patient side carts and a surgeon or master console. The patient side cart may include manipulators (e.g., robotic arms) that support one or more sterile instruments, which may be used to engage the patient's anatomy during a surgical procedure. At times, it may be necessary to restart the surgical robotic system. For example, the surgical robotic system may experience a temporary interruption if certain events and / or conditions occur (e.g., unexpected movement, collision, component failure). When there is a temporary interruption, the surgical robotic system may disable certain functions (e.g., deactivate the movement of slave manipulators and / or sterile instruments). The surgical robotic system may then need to be restarted and / or any instruments coupled to the surgical robotic system may need to be released from the patient's anatomy to resume surgical robotic operation.

[0021] 1 schematically illustrates a surgical robotic system 100, according to an embodiment. The system 100 can include a master console 110 and one or more slave consoles 120. Optionally, the system 100 can also include an imaging device 130, such as, for example, an endoscopic camera.

[0022] The master console 110 can be operably coupled to the slave consoles 120. For example, the master console 110 can be coupled to the slave consoles 120 via wired and / or wireless connections. The master console 110 can include one or more master manipulators 112 and one or more master controllers 114. The master manipulator 112 can include multiple master links interconnected by multiple joints. Movements can be applied to the master manipulator 112 by a sterile handle, which can be actuated by a sterile user (e.g., a surgeon). Movements of the master manipulator 112 and one or more actuators of the handle can be sensed, for example, using multiple sensors, and transmitted to the master controller 114. In operation, the master controller 114 can send instructions to one or more slave consoles 120 to cause one or more drive units and / or actuators in the slave consoles 120 to move based on the movements applied to the master console 110.

[0023] Each slave console 120 can include a slave manipulator 122 and / or an instrument 128 coupled to the slave manipulator 122. The slave manipulator 122 can include multiple links interconnected by multiple joints, and the instrument 128 can include one or more components that can be actuated with multiple degrees of freedom (DOF). The slave console 120 can include one or more drive units and / or actuators that control the movement of the multiple links and joints of the slave manipulator 122 and the movement of the components of the instrument 128. According to aspects of the present disclosure, the slave manipulator 112 and instrument 128 of the slave console 120 can be configured to move in response to movements applied to the handle of the master console 110, such that the slave manipulator 112 and instrument 128 replicate the movements applied to the handle of the master console 110. In particular, the master console 110 can generate instructions or commands based on the movements applied to the handle and send those instructions or commands to the slave console 120 to cause movement of the slave manipulator 112 and / or instrument 128. The slave console 120 may include a slave controller 124, which may be configured to interpret commands or other signals from the master console 110 and control the movement of the slave manipulator 112 and / or the instrument 128.

[0024] Although the slave console 120 is described as having a slave manipulator 122 and an instrument 128, it can be understood that a single slave console 120 can include two or more slave manipulators 122 and / or two or more instruments 128. For example, the slave console 120 can include two slave manipulators 122, each supporting one or more instruments 128.

[0025] As described herein, the master controller 114 and the slave controllers 124 may include one or more of a memory, a processor, a communication interface, and / or an input / output device. The memory may include any type of suitable non-transitory computer-readable medium capable of storing instructions that may be executed by one or more processors. The memory may be, for example, a random access memory (RAM), a memory buffer, a hard drive, a database, an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), a read-only memory (ROM), etc. The processor may be any suitable processing device configured to perform and / or execute functions associated with the surgical robotic system 100. The processor may be a general-purpose processor, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a digital signal processor (DSP), etc. The communications interface may include a wired and / or wireless interface for receiving information and / or transmitting information to other devices. The input / output devices may include one or more displays, audio devices, touchscreens, keyboards, or other input or output devices for presenting information to and / or receiving information from a user.

[0026] Further examples of surgical robotic systems are described in PCT Patent Application No. IB2020 / 050039, filed January 4, 2020, entitled "Surgical Robot Systems Comprising Robotic Telemanipulators and Integrated Laparoscopy," and U.S. Patent Application No. 16 / 269,383, filed February 6, 2019, entitled "Surgical Robot Systems Comprising Robotic Telemanipulators and Integrated Laparoscopy," the disclosures of each of which are incorporated herein by reference.

[0027] 2 shows a master console 110, a slave console 120, and an imaging device 130 in an operating room 104, including a sterile field 103, according to an embodiment. The master console 110, the slave console 120, and the imaging device 130 can be designed to remain sterile during a surgical procedure.

[0028] As shown, the master console 110 can be located within the operating room 104. The master console 110 can include portions covered by one or more sterile drapes 111, allowing that portion of the master console 110 to remain sterile during a surgical procedure. In some embodiments, the master manipulator 112 and master controller 114 can be covered by one or more sterile drapes 111, while certain sterile components (e.g., handles) can be removably coupled to the master manipulator at a sterile coupling interface.

[0029] The slave consoles 120 may be located within the operating room 104 and distributed around the patient P. Each slave console 120 may include a portion that is covered by one or more sterile drapes 121, allowing that portion of the respective slave console 120 to remain sterile during the surgical procedure. The slave consoles 120 may be configured to support and manipulate one or more surgical instruments. The surgical instruments may be sterile and may be removably coupled to the slave console 120 via a sterile coupling interface.

[0030] If the system 100 includes an imaging device 130, the imaging device 130 may also include a portion that is covered by one or more sterile drapes 131, thereby allowing that portion of the imaging device 130 to remain sterile during the surgical procedure.

[0031] Although one or more controllers are described with reference to Figures 1 and 2, it can be understood that any functionality implemented by one controller can be implemented by one or more controllers, and that reference to a "controller" is not limited to reference to a single controller but can encompass one or more controllers.

[0032] 3 shows an example of a surgical robotic system 200, according to an embodiment. Surgical robotic system 200 can be structurally and / or functionally similar to other surgical robotic systems described herein, including, for example, surgical robotic system 100, and thus can include components that are structurally and / or functionally similar to components of such other systems. For example, surgical robotic system 200 can include a master console 210 including two master manipulators 212a and 212b (e.g., left and right manipulators) and a master controller 214, two slave consoles 220a, 220b (e.g., left and right slave consoles), and an imaging device implemented as an endoscopic device 230.

[0033] In operation, movement of the first slave manipulator 212a (and its coupled handle) can be sensed and transmitted to the master controller 214, which can then send commands to the first slave console 220a to control the movement of the first slave console 220a. Similarly, movement of the second slave manipulator 212b (and its coupled handle) can be sensed and transmitted to the master controller 214, which can then send commands to the second slave console 220b to control the movement of the second slave console 220b. In some embodiments, the master console 210 can also include one or more foot pedals or other actuators that can be depressed to engage or release a clutch. When the clutch is engaged (e.g., by depressing one or more foot pedals), the master controller 214 can be configured to send commands to the slave consoles 220a, 220b to replicate the movement of the master manipulators 212a, 212b. And, when the clutch is disengaged, the master controller 214 may suspend sending commands to the slave consoles 220a, 220b and / or deactivate the movements of the slave consoles 220a, 220b in some other manner so that the slave consoles 220a, 220b do not replicate the movements of the master manipulators 212a, 212b.

[0034] 4 illustrates sterile zones or areas of a surgical robotic system 200, according to an embodiment. As shown, the master console can include a first sterile zone 211a, a second sterile zone 211b, and a third sterile zone 215. The first sterile zone 211a can cover a first master manipulator 212a (e.g., the left master manipulator), and the second sterile zone 211b can cover a second master manipulator 212b (e.g., the right master manipulator). The first sterile handle 216a can be removably coupled to the first master manipulator 212a at a first sterile coupling interface 213a, and the second sterile handle 216b can be removably coupled to the second master manipulator 212b at a second sterile coupling interface 213b. The third sterile zone 215 can cover the master controller and / or the display unit. The master console 210 may also include components or surfaces 219 outside the first sterilization zone 211 a, second sterilization zone 211 b, and third sterilization zone 215, which are disposed within the non-sterile zone 204. For example, the master console 210 may include one or more transport elements (e.g., wheels) and foot pedals 218 disposed outside the sterilization zones 211 a, 211 b, 215.

[0035] The first slave console 220a (e.g., the left slave console) may include a sterile zone 221a (e.g., the fourth sterilization zone). A sterile instrument 228a may be removably coupleable to the first slave console 220a (and specifically, the slave manipulator of the first slave console 220a) at a sterile coupling interface 223a. The sterile coupling interface 223a may allow the sterile instrument 228a to be coupled to and uncoupled from the first slave console 220a without compromising the sterile zone 221a of the first slave console 220a. The second slave console 220b (e.g., the right slave console) may include a sterile zone 220b (e.g., the fifth sterilization zone). A sterile instrument 228b may be removably coupleable to the second slave console 220b (and specifically, the slave manipulator of the second slave console 220b) at a sterile coupling interface 223b. The sterile coupling interface 228b can allow sterile instruments 228b to be coupled to and uncoupled from the second slave console 220b without compromising the sterile zone 221b of the second slave console 220b. The first slave console 220a and the second slave console 220b can also include components or surfaces 229a, 229b disposed outside the sterile zones 221a, 221b, respectively. For example, the slave consoles 220a, 220b can include one or more transport elements 229a, 229b (e.g., wheels) disposed outside the sterile zones 221a, 221b.

[0036] The endoscopic device 230 can include a sterile zone 231 (eg, a sixth sterile zone) and one or more non-sterile components or surfaces 239 .

[0037] 5 provides a more detailed view of instrument 328 and instrument coupling interface 323 of a surgical robotic system, according to an embodiment. Instrument 328 can be structurally and / or functionally similar to other instruments described herein (e.g., instruments 228a, 228b), and coupling interface 323 can be structurally and / or functionally similar to other coupling interfaces described herein (e.g., coupling interfaces 223a, 223b).

[0038] As shown in FIG. 5 , an instrument 328 can be coupled to a slave manipulator 322 of the slave console. The slave manipulator 322 can include multiple links interconnected by multiple joints. The slave manipulator 322 can terminate in an instrument hub 325, which can define an opening through which the instrument 328 can be received. The slave manipulator 322 and the instrument hub 325 can be non-sterile components of the surgical robotic system and, therefore, can be covered by sterile drapes during a surgical procedure. To maintain sterility while coupling and separating a sterile instrument from the slave manipulator 322, a sterile coupling interface 323 can be coupled to the instrument hub 325. In particular, the sterile coupling interface 323 can be inserted into the opening in the instrument hub 325 to provide an interface for engaging the instrument 328. The sterile coupling interface 323 can define a lumen or opening for receiving the instrument 328.

[0039] The instrument 328 may include a head 327 at a proximal section of the instrument 328, an end effector 329 at a distal section of the instrument, and a shaft 326 extending therebetween. The head 327 and / or shaft 326 may define one or more lumens, for example, for receiving one or more other components, such as, for example, an electrical cable for coupling an electrosurgical generator to the end effector 329 and / or a cable for actuating the end effector 329. The instrument 328 may be sized and shaped to be inserted through a lumen or opening in the sterile mating interface 323. Further examples of instruments and mating interfaces are described in U.S. Patent Application No. 15 / 976,812, filed May 10, 2018, entitled "Translational Instrument Interface for Surgical Robot and Surgical Robot Systems Comprising the Same," the disclosure of which is incorporated herein by reference.

[0040] 6 provides a detailed view of the proximal side of instrument 328 when inserted into sterile mating interface 323, according to an embodiment. When instrument 328 is received within sterile mating interface 323, instrument 328 can be coupled to one or more drive units and / or actuators of the slave console. The one or more drive units and / or actuators of the slave console can then control the movement of end effector 329 in one or more DOF. In some embodiments, the one or more actuators can include linear actuators that can translate to actuate movement of end effector 329 in multiple DOF.

[0041] During a surgical procedure, one or more drive units and / or actuators of the slave console can drive the movement of the end effector 329 of the instrument 328 to perform surgical tasks, such as grasping tissue and / or gripping a needle, suture, or other object. For example, when a surgical procedure is paused due to a non-critical, temporary interruption, the surgical robotic system may not be easily restarted if the instrument 328 (or other instrument coupled to the surgical robotic system) is blocked inside the patient (e.g., grasped on patient tissue and / or grasped on a needle, suture, or other object). In these cases, the instrument 328 may first need to be released under controlled conditions (e.g., released from the tissue, needle, or suture) before the surgical robotic system can be restarted. If the instrument 328 is blocked inside the patient while tissue is being grasped, uncontrolled movement to release the instrument may cause injury to the patient.

[0042] In some embodiments, the surgical robotic system may include one or more emergency release mechanisms 351. The emergency release mechanism 351 may be a cavity that can receive an emergency release tool, such as the tool 350 shown in FIG. 7. The tool 350 may be inserted into the cavity to allow one or more actuators of the instrument 328 to move to release the end effector 329. As shown in FIG. 7, the emergency release tool 350 may be a screwdriver having a tip sized and shaped for insertion into the cavity. While a screwdriver is shown, it may be understood that any elongated member or shaft having an end shaped for insertion into the cavity may be used to release the instrument 328. While the emergency release tool 350 may provide a way to release the instrument 328, use of the emergency release tool 350 may compromise the sterility of the surgical robotic system. Notably, the emergency release mechanism 351 may be disposed on the slave manipulator 322 and / or on the sterile interface 323 behind the surgical drape. Thus, when the emergency release tool 350 is inserted into the cavity, the tool 350 may breach the sterile barrier and compromise the sterility of the surgical robotic system. To resume the surgical procedure, sterility must then be restored by replacing the sterile coupling interface 323 and sterile drapes, which can lead to significant delays. In some examples, when multiple instruments 328 coupled to multiple slave consoles are locked within a patient, use of the emergency release tool 350 at each of the slave consoles requires that sterility be restored at each of the slave consoles before the surgical procedure can resume. Therefore, as described further below, an improved instrument release procedure that does not compromise the sterility of the surgical robotic system may be desirable.

[0043] After an unexpected interruption, it may also be necessary to restart various components of the surgical robotic system before resuming the surgical procedure. For example, each slave console in use may need to be restarted before the surgical procedure can be resumed. In some embodiments, the slave console may include a restart switch or other actuator. For example, as shown in FIG. 8 , the slave console 420 may include a power switch 422 that can be manually activated, e.g., by a user, to restart the slave console 420. In particular, activating the power switch 422 can cycle power to the slave console 420. However, the switch 422 may be difficult for a user to access. Due to space constraints within the operating room and / or to avoid accidental activation of the switch, the switch 422 may need to be located in a more hidden or isolated location. In some embodiments, the switch 422 may also be located in a non-sterile location, e.g., near the bottom of the slave console 420. While switch 422 in this location is less likely to be accidentally activated and does not interfere with other moving components of the slave console 420, activation of switch 422 may compromise the user's sterility and require a new sterilization setup. This can lead to a significant delay before the surgical procedure can be resumed. Therefore, as described further below, an improved restart procedure that is easier to initiate and does not compromise the sterility of the surgical robotic system may be desirable.

[0044] The systems, devices, and methods described herein provide mechanisms for restarting a surgical robotic system and / or releasing one or more surgical instruments without compromising sterility. The restart procedure can be initiated or performed from a sterile field of the surgical robotic system. If any instruments are blocked within the patient, the restart procedure can include or be followed by an instrument release procedure, which can actuate the instruments to release them from the patient's tissue and / or other objects within the patient without compromising the sterility of the surgical robotic system and / or its components and accessories, or the sterility of the user in the operating room.

[0045] FIG. 9 illustrates an exemplary master console 510 of a surgical robotic system, according to an embodiment, where the master console 510 includes functionality for implementing a restart procedure. The master console 510 can be structurally and / or functionally similar to other master consoles described herein, including, for example, the master consoles 110 and 210. For example, the master console 510 can include a first master manipulator 512a (e.g., a left master manipulator), a second master manipulator 512b (e.g., a right master manipulator), and a display 519. The master console 510 can also include a restart unit. The restart unit can be implemented as one or more physical actuators, such as one or more buttons, switches, sliders, pedals, knobs, wheels, etc. As shown in FIG. 9 and in more detail in FIG. 10 , the master console 510 can include two button sets 516, 517. The button set 516 can include two buttons 516a, 516b, and the button set 517 can include a single button. Alternatively or additionally, the restarter may be implemented as a virtual element, such as, for example, a virtual button, a virtual slider, a virtual switch, etc. The virtual element may be presented to the user via a display, such as display 519. Further alternatively or additionally, the restarter may be implemented via voice recognition (e.g., by a user speaking a particular command into a microphone), gesture recognition (e.g., by a user making a gesture to an image capture device), etc.

[0046] Importantly, the restart unit can be activated or actuated by a sterile user within the sterile field without compromising sterility. In the example shown in FIG. 9 , the restart unit, implemented as one or more button sets 516, 517, is located within a sterile zone or area 503 of the master console 510. The sterile zone 503 can be established using one or more surgical drapes, for example, similar to those described above with reference to FIG. 4 . However, surgical drapes typically do not extend to the operating room floor, and therefore at least area 504 of the master console 510 remains undraped and, therefore, may be non-sterile. One or more buttons 516, 517 can be located on the master console 510 within the sterile zone 503 such that a user can actuate or activate the button sets 516, 517 without compromising sterility. For example, a user can press or push one or more buttons from button sets 516, 517 through the sterile drape without tearing (e.g., destroying or damaging) the sterile drape. Thus, when the surgical robotic system is temporarily interrupted and requires a restart, a sterile operator (e.g., a surgeon or other user) can restart the surgical robotic system by pressing one or more buttons from button sets 516, 517.

[0047] In some embodiments, the button sets 516, 517 may need to be pressed in a predetermined combination or sequence before activating the restart unit. For example, one or more buttons may need to be pressed simultaneously or sequentially for a predetermined period of time (e.g., about 2 seconds to about 10 seconds, including all subranges and values) to activate the restart unit. In some embodiments, a single button may need to be pressed for a predetermined period of time (e.g., about 2 seconds to about 10 seconds, including all subranges and values) to activate the restart unit. Having a specific combination or sequence can prevent accidental restarts. In some embodiments, activation of the restart unit may not initiate the restart process until certain conditions exist. For example, when the surgical robotic system is not in a suspended state (e.g., when the surgical robotic system is operating normally or when the surgical robotic system is powered off), activation of the restart unit (e.g., pressing buttons 516, 517) may not initiate the restart process.

[0048] In some embodiments, activation of the restart unit can restart the entire surgical robotic system, including, for example, the master console 510, one or more slave consoles, and / or the endoscopic device. In other words, a restart of the entire surgical robotic system can be activated using a single centralized command. Alternatively, or additionally, one or more components of the surgical robotic system can be selectively restarted, for example, based on the activation of different combinations or sequences of one or more restart elements. For example, pressing button 517 located on or near master manipulator 512a may activate the restart unit of the left slave console, while pressing button 516a or 516b located on or near master manipulator 512b may activate the restart of the right slave console. Such selectivity may be useful when a first slave console is temporarily suspended while a second slave console is not.

[0049] Although the restart unit is shown in the exemplary embodiment shown in Figures 9 and 10 as being located on the master console 510, it will be understood that the restart unit can be located anywhere else within the sterile zone of the surgical robotic system (e.g., any one of the sterile zones 211a, 211b, 215, 221a, 221b, 231 shown in Figure 4).

[0050] 11-13 illustrate various methods for restarting a surgical robotic system while maintaining sterility, according to embodiments. FIGS. 11 and 12 illustrate method 600, which involves a restart procedure and an instrument release procedure. FIG. 13 illustrates method 700, which involves only a restart procedure. Methods 600 and 700 may be implemented by any of the surgical robotic systems described herein, including, for example, surgical robotic systems 100, 200, etc. In particular, methods 600 and 700 may be implemented by one or more processors and / or controllers (e.g., master controller 114, slave controller 124, etc.) of a surgical robotic system.

[0051] In some embodiments, a surgeon or other operator in the operating room may control which procedures are performed by the surgical robotic system. When the surgical robotic system is unexpectedly or temporarily interrupted, the surgical robotic system may be in one of three operating states. In the first state, the surgical robotic system may not have any instruments present (i.e., no instruments are coupled to the slave manipulators of the surgical robotic system). In such a case, the user may activate the restart unit, and the surgical robotic system may proceed with restarting according to method 700. In the second state, the surgical robotic system may have one or more instruments present (i.e., one or more instruments are coupled to one or more slave manipulators of the surgical robotic system), but one or more instruments may not be active or blocked within the patient. In such a case, the instruments do not need to be released, and therefore the user may choose to remove the instruments before activating the restart unit. If the restart unit is activated without any instruments, then the surgical robotic system may proceed with restarting according to method 700. If an instrument is still present, then the surgical robotic system can proceed with restarting according to method 600. In a third state, the surgical robotic system may have one or more instruments present, at least one of which may be active or blocked within the patient. In such a case, the user may first remove any inactive instruments and then activate the restart unit. Once the restart unit is activated, the surgical robotic system can proceed with restarting according to method 600 to release one or more active instruments.

[0052] 11 , at 602, the surgical robotic system may detect that a restart has been activated. For example, the surgical robotic system may detect that a user has pressed a restart button or other type of physical actuator. Alternatively, or additionally, the surgical robotic system may detect that the user has actuated or activated a virtual element, such as, for example, a button, slider, switch, etc. Still alternatively, or additionally, the surgical robotic system may detect that the user has spoken a particular command (e.g., as captured by an audio device), performed a particular gesture (e.g., as captured by an image capture device), and / or performed some other type of instruction associated with activating the restart unit.

[0053] At 603, the surgical robotic system may optionally determine whether a restart is authorized in response to detecting that a restart has been activated. For example, the surgical robotic system may determine whether a certain condition exists that requires a restart. In some embodiments, a restart may be authorized only when one or more components of the surgical robotic system experience a temporary interruption. The temporary interruption may be caused by one or more abnormal events or conditions, including, for example, (1) unexpected movement of a slave manipulator (e.g., a joint or link of the slave manipulator), (2) unexpected movement of the master console (e.g., the master manipulator or another portion of the master console), (3) an input anomaly associated with the master console (e.g., master manipulator moving too fast, master manipulator acceleration too high, loss of integrity, sensor failure), (4) a collision between a portion of the surgical robotic system (e.g., one or more links of the slave manipulator and / or instrument) and an external object, or (5) a failure of a sensor, actuator, or controller of the surgical robotic system. When the surgical robotic system is suspended, the surgical robotic system may enter a safe mode, which may deactivate controlled movement of the slave manipulator by the master console (i.e., teleoperation of the slave manipulator). Thus, in some embodiments, the surgical robotic system may determine 603 whether it is operating in a safe mode. If the surgical robotic system determines that at least a portion of the surgical robotic system is temporarily suspended (e.g., operating in a safe mode), method 600 proceeds to 604. Alternatively, if the surgical robotic system determines that the surgical robotic system is operating normally or is not suspended, the surgical robotic system may continue its normal operation at 614.

[0054] At 604, the surgical robotic system may determine whether an instrument is active. In some embodiments, the surgical robotic system may determine whether an instrument is active by determining whether an instrument is coupled to any one of the slave manipulators of the surgical robotic system. For example, when an instrument is coupled to one of the slave manipulators, the surgical robotic system may assume that the instrument is active and may proceed to perform an instrument release procedure at 606. Alternatively, if there is no instrument coupled to the slave manipulator, the surgical robotic system may proceed to restarting the surgical robotic system at 612. In some embodiments, the surgical robotic system may determine whether an instrument is active by determining whether an instrument is disposed within a patient. For example, the surgical robotic system may use one or more sensors to determine that an instrument is located within a patient. Once an instrument is disposed within a patient, the surgical robotic system may proceed to perform an instrument release procedure at 606. If the instrument is not placed within the patient, the surgical robotic system may optionally proceed to unlock the instrument at 610 or restart the surgical robotic system at 612.

[0055] At 606, once there is at least one active instrument, the surgical robotic system can perform instrument release. The surgical robotic system can perform instrument release by enabling controlled movement by a master console or remote manipulation of the instrument with a limited or reduced set of DOFs. In embodiments in which the instrument includes a set of jaws, the surgical robotic system may enable controlled movement of the instrument with one or two DOFs, including, for example, a first DOF that allows the first jaw to move (e.g., pivot or translate) relative to the second jaw and / or a second DOF that allows the second jaw to move relative to the first jaw. In embodiments in which the instrument includes a hook, scalpel, spatula, needle holder, dissector, scissors, or grasper, the surgical robotic system may enable controlled movement of the instrument with one or two DOFs that allow the hook, scalpel, spatula, needle holder, dissector, scissors, or grasper to engage in translational and / or rotational movement. Further details of an exemplary instrument release procedure are described below with reference to FIG. 12.

[0056] In some embodiments, the surgical robotic system can implement further engagement of the instrument with the patient's tissue or other components within the patient. For example, the surgical robotic system may allow controlled movement by a master console or remote manipulation of the instrument with a limited or reduced set of DOFs that allows the instrument to increase engagement with the patient's tissue and / or other components. This may be desirable when the patient is bleeding or when other emergency procedures may need to be performed within the patient before the instrument is released. For example, the instrument can further engage the patient's tissue to apply pressure to stop bleeding.

[0057] If there are multiple instruments coupled to the surgical robotic system (e.g., coupled to one or more slave manipulators of the surgical robotic system), the surgical robotic system may enable instrument release and / or further engagement of multiple instruments simultaneously and / or sequentially. When all instruments have been released at 608, method 600 can optionally continue to 610 or to 612.

[0058] In some embodiments, one or more instruments coupled to the surgical robotic system may be locked into engagement with the slave manipulator, for example, by one or more locking mechanisms. In such embodiments, one or more instruments may need to be released (e.g., a locking mechanism may need to be released) so that the instruments can be removed from the slave manipulator. In some embodiments, the surgical robotic system may optionally unlock the instruments at 610, thereby allowing a sterile user to remove the instruments from the slave manipulator. Alternatively, or additionally, the instruments can be manually unlocked and removed from the slave manipulator by a user.

[0059] At 612, the surgical robotic system may be automatically rebooted. In some embodiments, rebooting the surgical robotic system may include powering off and on (i.e., power cycling) each component of the surgical robotic system. For example, the master console, each of the slave consoles, and / or the endoscopic device may be powered off and then back on. Optionally, in some embodiments, after powering off and on the surgical robotic system, one or more components of the surgical robotic system may be returned to a start or home position. For example, one or more slave manipulators of the surgical robotic system may be returned to a home position.

[0060] The surgical robotic system may then continue its operation at 614. For example, one or more instruments may be inserted into the slave manipulator, and the surgical procedure can then resume.

[0061] 12 provides a more detailed illustration of an implementation 606 of method 600, according to an embodiment. At 620, the surgical robotic system can initiate one or more predetermined actuation functions associated with one or more instruments. For example, the surgical robotic system can activate controlled movement by the master console of the instruments with a limited or reduced set of DOFs, as described above. After activating the controlled movement, the surgical robotic system can detect actuation of one or more handles on the master console at 622. Optionally, the surgical robotic system can also detect that one or more pedals or other mechanisms for engaging clutches have been released at 624. The surgical robotic system can then control the movement of the instruments based on the detected actuation of the handles at 626.

[0062] In some embodiments, the surgical robotic system may prevent the user from applying unintended force to grasped tissue when controlling instrument actuation. In such embodiments, the user may first need to close the handle at the master console and then release the handle until the handle position (or the command associated with it) matches or corresponds to the current position of the instrument (i.e., the position of the instrument when interrupted). In response to the handle position matching the current position of the instrument, the instrument actuation is activated and the handle movement can be replicated in the instrument. Thus, in such embodiments, only the opening movement may be the first movement replicated. Subsequent movements following the opening of the instrument may then include closing the instrument (e.g., under visual guidance). Alternatively, in some embodiments (e.g., those involving dissection or anastomosis, where a vessel may be held open by one or more jaws), the surgical robotic system may require that the first movement be a closing movement.

[0063] 13 shows a method 700 for performing a sterile restart of a surgical robot without instrument release, according to an embodiment. At 702, the surgical robotic system may detect that the restart unit has been activated, similar to 602 of method 600. Optionally, at 703, the surgical robotic system may determine whether the restart is authorized, similar to 603 of method 600. If the restart is authorized, the surgical robotic system may proceed with the restart, at 712, similar to 612 of method 600. If the restart is not authorized, the surgical robotic system may continue its normal operation, at 714, similar to 614 of method 600.

[0064] While various inventive embodiments have been described and illustrated herein, those skilled in the art will readily envision various other means and / or structures for performing the functions and / or obtaining the results and / or one or more of the advantages described herein, and each such variation and / or modification is deemed to be within the scope of the inventive embodiments described herein. More generally, those skilled in the art will readily appreciate that all parameters, dimensions, materials, and configurations described herein are meant to be exemplary, and that the actual parameters, dimensions, materials, and / or configurations will depend on the specific application(s) for which the teachings of the present invention are used. Those skilled in the art will recognize, or be able to ascertain using no more than routine experimentation, many equivalents to the specific inventive embodiments described herein. Accordingly, the foregoing embodiments are presented by way of example only, and it should be understood that, within the scope of the appended claims and their equivalents, inventive embodiments may be practiced otherwise than as specifically described and claimed. The inventive embodiments of the present disclosure are directed to each individual feature, system, article, material, and / or method described herein. In addition, any combination of two or more such features, systems, articles, materials, and / or methods is included within the inventive scope of the present disclosure, provided that such features, systems, articles, materials, and / or methods are not mutually inconsistent.

[0065] Also, various inventive concepts may be embodied as one or more methods, examples of which are provided. The acts performed as part of a method may be ordered in any suitable manner. Thus, although shown as sequential acts in the illustrative embodiments, embodiments can be constructed in which the acts are performed in a different order than illustrated, which may include performing some acts simultaneously.

[0066] As used herein, the terms "about" and / or "approximately," when used in conjunction with numerical values ​​and / or ranges, generally refer to those numerical values ​​and / or ranges that are close to the recited numerical values ​​and / or ranges. In some cases, the terms "about" and "approximately" can mean within ±10% of the recited value. For example, in some cases, "about 100 units" can mean within ±10% of 100 (e.g., 90 to 110). The terms "about" and "approximately" can be used interchangeably.

[0067] The indefinite articles "a" and "an," as used herein in the specification and claims, unless clearly indicated to the contrary, should be understood to mean "at least one."

Claims

1. 1. An apparatus comprising: a restart unit of the surgical robotic system configured to be activated by a sterile user from within the sterile field without compromising the sterile field; a controller operably coupled to the restarter, the controller comprising: Detecting that the restart unit is activated; and In response to detecting that the restart unit is activated, the apparatus is configured to restart the surgical robotic system.

2. The apparatus of claim 1 , wherein the controller is further configured to return a slave manipulator of the robotic system to a home position after restarting the surgical robotic system.

3. The device of claim 1 or 2, wherein the reboot portion comprises one or more physical or virtual buttons, switches, or sliders.

4. 4. The device of claim 1, wherein the controller is configured to detect that the restart unit is activated when the one or more physical or virtual buttons, switches, or sliders are activated for a predetermined period of time.

5. 5. The device of claim 1, wherein the controller is configured to provide tactile, audible, or visual feedback during or after activation of the one or more physical or virtual buttons, switches, or sliders.

6. The apparatus of any one of claims 1 to 5, wherein the restart unit is located on a master console of the surgical robotic system.

7. The apparatus of any one of claims 1 to 6, wherein the restart unit is located on a slave manipulator of the surgical robot system.

8. 1. An apparatus comprising: a restart unit of the surgical robotic system configured to be activated by a sterile user from within the sterile field without compromising the sterile field; a controller operably coupled to the restarter, the controller comprising: Detecting that the restart unit is activated; In response to detecting that the restart unit is activated, determining whether an instrument is coupled to a slave manipulator of the surgical robotic system; and In response to determining that the instrument is coupled to the instrument, the device is configured to enable remote manipulation of the instrument through a predetermined set of degrees of freedom (DOF) that allows the instrument to further engage or disengage from tissue or other components within the patient's body without compromising the sterile field.

9. The device of any one of claims 1 to 8, wherein the reboot portion comprises one or more physical or virtual buttons, switches, or sliders.

10. 10. The device of claim 1, wherein the controller is configured to detect that the restart unit is activated when the one or more physical or virtual buttons, switches, or sliders are activated for a predetermined period of time.

11. 11. The device of claim 1, wherein the controller is configured to provide tactile, audible, or visual feedback during or after activation of the one or more physical or virtual buttons, switches, or sliders.

12. The device of any one of claims 1 to 11, wherein the restart unit comprises a plurality of buttons, switches, or sliders.

13. 13. The apparatus of claim 1, wherein the controller is configured to detect that the restart unit is activated when the plurality of buttons, switches, or sliders are activated according to a predetermined sequence.

14. 14. The apparatus of any one of claims 1 to 13, wherein the instrument includes a set of jaws, and the predetermined set of DOFs that allow the instrument to further engage or disengage from the tissue or other component are one or more DOFs that allow the set of jaws to open or close.

15. 15. The apparatus of any one of claims 1 to 14, wherein the instrument comprises a hook, scalpel, spatula, needle holder, dissector, scissors, or grasper, and the predetermined set of DOFs that allow the instrument to further engage or disengage from the tissue or other component are DOFs associated with rotational movement of the hook, scalpel, spatula, needle holder, dissector, scissors, or grasper.

16. The apparatus of any one of claims 1 to 15, wherein the restart unit is located on a master console of the surgical robotic system.

17. The apparatus according to any one of claims 1 to 16, wherein the restart unit is located on the slave manipulator.

18. The apparatus of any one of claims 1 to 17, wherein the controller is further configured to restart the robotic system after the instrument is disengaged from the tissue or other component.

19. The apparatus of any one of claims 1 to 18, wherein the controller is further configured to return the slave manipulator to a home position after restarting the robotic system.

20. The controller: Detecting abnormal events during a surgical procedure; and 20. The apparatus of claim 1, further configured to deactivate movement of the slave manipulator in response to detecting the abnormal event.

21. 1. A surgical robotic system, comprising: at least one slave manipulator isolated from the sterile field by a first sterile barrier, the at least one slave manipulator including a plurality of slave links and a plurality of drive units; at least one sterilization instrument configured to be removably coupled to the at least one slave manipulator, the at least one sterilization instrument configured to be positioned via movement of the plurality of slave links and manipulated with multiple degrees of freedom (DOF) via activation of the plurality of drive units; a master console disposed separately from the slave manipulator and separated from the sterile field by a second sterile barrier, the master console including a plurality of master links operatively coupled to a plurality of slave links such that movement of the plurality of master links causes corresponding movement of the plurality of slave links; at least one sterile handle grip configured to be removably coupled to the master console, the at least one sterile handle grip configured, when coupled to the master console, to control the activation of the plurality of drive units to operate the at least one instrument at the plurality of DOFs; a restart unit configured to be activated by a sterilization user from within the sterilization field without compromising the sterilization field; a controller operably coupled to the at least one slave manipulator and the master console, the controller comprising: deactivating the controlled movement of the plurality of slave links and the operation of the at least one instrument during the surgical procedure in response to detecting the abnormal event; Detecting that the restart unit is activated; and The surgical robotic system is configured to restart the surgical robotic system after detecting that the restart unit is activated.

22. After detecting that the restart unit is activated, the controller: determining whether at least one instrument is coupled to at least one slave manipulator; and in response to determining that at least one instrument is coupled to the at least one slave manipulator, enabling manipulation of the at least one instrument via the at least one sterile handle grip at a subset of DOFs of the plurality of DOFs that allows the at least one instrument to further engage or disengage tissue or other components within a patient's body; 22. The surgical robotic system of claim 1, wherein the controller is configured to restart the surgical robotic system after the at least one instrument has further engaged with or disengaged from the tissue or other component.

23. the at least one slave manipulator includes two slave manipulators, and the at least one instrument includes two instruments each coupled to one of the two slave manipulators; 23. The surgical robotic system of claim 1, wherein the controller is configured, in response to determining that the two instruments are coupled to the two slave manipulators, to enable operation of a first of the two instruments before enabling operation of a second of the two instruments.

24. the at least one slave manipulator includes two slave manipulators, and the at least one instrument includes two instruments each coupled to one of the two slave manipulators; 24. The surgical robotic system of claim 1, wherein the controller is configured to enable operation of only one of the two instruments in response to determining that the two instruments are coupled to the two slave manipulators.

25. 25. The surgical robotic system of claim 1, wherein the abnormal event comprises at least one of an unexpected movement of at least one of the plurality of slave links or the at least one instrument, an input abnormality associated with the master console, a collision between (1) at least one of the plurality of slave links or the at least one instrument and (2) an external object, or a failure of a sensor, actuator, or control unit of the surgical robotic system.

26. 1. A method for maintaining sterility of a surgical robotic system during restart during a surgical procedure, the method comprising: detecting activation of a restart unit of the surgical robotic system after an interruption and with the movement of a slave manipulator of the surgical robotic system deactivated, the restart unit being configured to be activated from within a sterile field without compromising sterility; restarting the surgical robotic system after detecting that the restart unit is activated.

27. determining whether an instrument is coupled to the slave manipulator after detecting that the restart unit is activated; 27. The method of claim 26, further comprising: in response to determining that the instrument is coupled to the slave manipulator, enabling teleoperation of the instrument in a predetermined set of degrees of freedom (DOF) that allows the instrument to further engage or disengage from tissue or other components within a patient's body.

28. manipulating the instrument at the predetermined set of DOFs such that the instrument can disengage in response to one or more actuation inputs at a master console of the surgical robotic system; 28. The method of claim 26 or 27, wherein the instrument is configured to be unlocked and removed from the slave manipulator after being disengaged without compromising the sterile field.

29. detecting that a handle associated with the one or more actuation inputs corresponds to a current position of the tool; The method according to any one of claims 26 to 28, wherein the instrument is operated after detecting that the handle corresponds to the current position of the instrument.

30. 30. The method of any one of claims 26 to 29, wherein manipulating the instrument at the predetermined DOF comprises manipulating the instrument to open first before manipulating the instrument at any other motion.

31. 1. An apparatus comprising: a restart unit for the surgical robotic system, the restart unit including an actuator configured to be physically activated by a sterilization user from within a filed sterilization field without compromising the sterilization field; a controller operably coupled to the restarter, the controller comprising: deactivating, by a user-operated device at a master console of the surgical robotic system, teleoperation of a slave manipulator of the surgical robotic system or an instrument coupled to the slave manipulator in response to detecting the abnormal event; Detecting that the actuator is physically activated; and and a device configured to restart the surgical robotic system after detecting that the actuator has been physically activated.

32. 32. The device of claim 31, wherein the actuator comprises one or more buttons, switches, or sliders.

33. 33. The apparatus of claim 31 or 32, wherein the controller is configured to detect that the restarter has been physically activated when the one or more buttons, switches, or sliders are physically activated for a predetermined period of time.

34. 34. The apparatus of any one of claims 31 to 33, wherein the controller is configured to detect that the restarter has been physically activated when the one or more buttons, switches, or sliders are physically activated according to a predetermined sequence.

35. 35. The apparatus of any one of claims 31 to 34, wherein the controller is further configured to provide tactile, audible, or visual feedback during or after the actuator is physically activated.

36. The master console is further provided.

36. The apparatus of claim 31, wherein the user-operated device of the master console includes a first plurality of links operatively coupled to the second plurality of links of the slave manipulator such that movement of the first plurality of links causes corresponding movement of a second plurality of links.

37. An apparatus according to any one of claims 31 to 36, wherein the actuator is located on the master console in proximity to the plurality of links.

38. The controller determining whether an instrument is coupled to the slave manipulator; and responsive to determining that an instrument is coupled to the slave manipulator, enable remote manipulation of the instrument through a predetermined set of degrees of freedom (DOF) that allows the instrument to further engage or disengage tissue or other components within the patient's body without compromising the sterile field; 38. The apparatus of any one of claims 31 to 37, wherein the controller is configured to restart the surgical robotic system after the instrument has disengaged from the tissue or other component.

39. 39. The apparatus of any one of claims 31 to 38, wherein the instrument includes a set of jaws, and the predetermined set of DOFs that allow the instrument to further engage or disengage from the tissue or other component are one or more DOFs that allow the set of jaws to open or close.

40. 40. The apparatus of any one of claims 31 to 39, wherein the instrument comprises a hook, scalpel, spatula, needle holder, dissector, scissors, or grasper, and wherein the predetermined set of DOFs that allow the instrument to further engage or disengage from the tissue or other component are DOFs associated with rotational movement of the hook, scalpel, spatula, needle holder, dissector, scissors, or grasper.

41. The apparatus of any one of claims 31 to 40, wherein the controller is further configured to return the slave manipulator to a home position after restarting the robotic system.

42. 42. The apparatus of any one of claims 31 to 41, wherein the abnormal event comprises at least one of an unexpected movement of at least one of the slave manipulator or the instrument, an input anomaly associated with the master console, a collision between (1) at least one of the slave manipulator or the instrument and (2) an external object, or a failure of a sensor, actuator, or controller of the surgical robotic system.

43. 1. An apparatus comprising: a reboot unit for the surgical robotic system disposed on a master console of the surgical robotic system at a location behind a sterile barrier isolating the master console from a sterile field, the reboot unit configured to be activated by a sterile user from within the sterile field without breaching the sterile barrier; a controller operably coupled to the restarter, the controller comprising: deactivating, by a user-operated device at the master console, teleoperation of a slave manipulator of the surgical robotic system or an instrument coupled to the slave manipulator in response to detecting the abnormal event; Detects when the actuator is physically activated, and and a device configured to restart the surgical robotic system after detecting that the actuator has been physically activated.

44. 44. The device of claim 43, wherein the restart portion comprises one or more physical or virtual buttons, switches, or sliders.

45. 45. The apparatus of claim 43 or 44, wherein the controller is configured to detect that the restart portion is activated when the one or more physical or virtual buttons, switches, or sliders are activated for a predetermined period of time.

46. 46. ​​The apparatus of any one of claims 43 to 45, wherein the controller is configured to detect that the restarter is activated when the one or more physical or virtual buttons, switches, or sliders are activated according to a predetermined sequence.

47. The master console is further provided.

47. The apparatus of any one of claims 43 to 46, wherein the user-operated device of the master console includes a first plurality of links operatively coupled to the second plurality of links of the slave manipulator such that movement of the first plurality of links causes corresponding movement of a second plurality of links.

48. 48. The apparatus of any one of claims 43 to 47, wherein the restart unit is located on the master console proximate to the first plurality of links.

49. The controller determining whether an instrument is coupled to the slave manipulator; and responsive to determining that an instrument is coupled to the slave manipulator, enable remote manipulation of the instrument through a predetermined set of degrees of freedom (DOF) that allows the instrument to further engage or disengage tissue or other components within the patient's body without compromising the sterile field; 49. The apparatus of any one of claims 43 to 48, wherein the controller is configured to restart the surgical robotic system after the instrument has disengaged from the tissue or other component.

50. 50. The apparatus of any one of claims 43 to 49, wherein the instrument includes a set of jaws, and the predetermined set of DOFs that allow the instrument to further engage or disengage from the tissue or other component are one or more DOFs that allow the set of jaws to open or close.

51. 51. The apparatus of any one of claims 43 to 50, wherein the instrument comprises a hook, scalpel, spatula, needle holder, dissector, scissors, or grasper, and the predetermined set of DOFs that allow the instrument to further engage or disengage from the tissue or other component are DOFs associated with rotational movement of the hook, scalpel, spatula, needle holder, dissector, scissors, or grasper.

52. 52. The apparatus of any one of claims 43 to 51, wherein the controller is further configured to return the slave manipulator to a home position after restarting the robotic system.

53. The apparatus of any one of claims 4352, wherein the abnormal event includes at least one of unexpected movement of at least one of the slave manipulator or the instrument, an input abnormality associated with the master console, a collision between (1) at least one of the slave manipulator or the instrument and (2) an external object, or a failure of a sensor, actuator, or controller of the surgical robotic system.

54. 1. An apparatus comprising: a restart unit of the surgical robotic system configured to be activated by a sterile user from within the sterile field without compromising the sterile field; a controller operably coupled to the restarter, the controller comprising: Detecting that the restart unit is activated; In response to detecting that the restart unit is activated, determining whether an instrument is coupled to a slave manipulator of the surgical robotic system; and In response to determining that the instrument is coupled to the instrument, the device is configured to enable remote manipulation of the instrument in a predetermined set of degrees of freedom (DOF) that allows the instrument to further engage or disengage from tissue or other components within the patient's body without compromising the sterile field.

55. 55. The device of claim 54, wherein the restart portion comprises one or more physical or virtual buttons, switches, or sliders.

56. 56. The apparatus of claim 54 or 55, wherein the controller is configured to detect that the restart portion is activated when the one or more physical or virtual buttons, switches, or sliders are activated for a predetermined period of time.

57. 57. The device of any one of claims 54 to 56, wherein the controller is configured to provide tactile, audible, or visual feedback during or after activation of the one or more physical or virtual buttons, switches, or sliders.

58. 58. The device of any one of claims 54 to 57, wherein the restart portion comprises a plurality of buttons, switches, or sliders.

59. 59. The apparatus of any one of claims 54 to 58, wherein the controller is configured to detect that the restarter is activated when the plurality of buttons, switches, or sliders are activated according to a predetermined sequence.

60. 60. The apparatus of any one of claims 54 to 59, wherein the instrument includes a set of jaws, and the set of predetermined DOFs that allow the instrument to further engage or disengage from the tissue or other component are one or more DOFs that allow the set of jaws to open or close.

61. 61. The apparatus of any one of claims 54 to 60, wherein the instrument comprises a hook, scalpel, spatula, needle holder, dissector, scissors, or grasper, and wherein the predetermined set of DOFs that allow the instrument to further engage or disengage from the tissue or other component are DOFs associated with rotational movement of the hook, scalpel, spatula, needle holder, dissector, scissors, or grasper.

62. The apparatus of any one of claims 54 to 61, wherein the restart unit is located on a master console of the surgical robotic system.

63. 63. The apparatus of any one of claims 54 to 62, wherein the restarter is located on the slave manipulator.

64. 64. The apparatus of any one of claims 54 to 63, wherein the controller is further configured to restart the robotic system after the instrument is disengaged from the tissue or other component.

65. 65. The apparatus of any one of claims 54 to 64, wherein the controller is further configured to return the slave manipulator to a home position after restarting the robotic system.

66. The controller: Detecting abnormal events during a surgical procedure; and 66. The apparatus of any one of claims 54 to 65, further configured to deactivate movement of the slave manipulator in response to detecting the abnormal event.

67. The controller:

67. The apparatus of any one of claims 54 to 66, further configured to deactivate, by a user-operated device at a master console of the surgical robotic system, teleoperation of the slave manipulator and the instrument coupled to the slave manipulator in response to detecting an abnormal event.

68. 68. The apparatus of any one of claims 54 to 67, wherein the abnormal event comprises at least one of an unexpected movement of at least one of the slave manipulator or the instrument, an input anomaly associated with the master console, a collision between (1) at least one of the slave manipulator or the instrument and (2) an external object, or a failure of a sensor, actuator, or controller of the surgical robotic system.

69. a master console disposed separately from the slave manipulator, the master console including a first plurality of links operatively coupled to the second plurality of links of the slave manipulator such that movement of the first plurality of links causes corresponding movement of the second plurality of links; 69. The apparatus of any one of claims 54 to 68, wherein the restart unit is located on the master console proximate to the first plurality of links.

70. a sterile handle configured to be removably coupled to the master console; 70. The apparatus of any one of claims 54 to 69, wherein the sterile handle, when coupled to the master console, is configured to control remote operation of the instrument in the predetermined set of degrees of freedom.

71. 71. The apparatus of any one of claims 54 to 70, further comprising a sterile barrier configured to isolate the master console from the sterile field, the restart unit being located on the master console behind the sterile barrier.

72. the slave manipulator is a first slave manipulator, the instrument is a first instrument, and the controller In response to detecting that the restart unit is activated, determining whether a second instrument is coupled to a second slave manipulator of the surgical robotic system; and 72. The apparatus of any one of claims 54 to 71, further configured: in response to determining that the second instrument is coupled to the second slave manipulator, after enabling teleoperation of the first instrument, enable teleoperation of the second instrument at a predetermined set of DOF.

73. 73. The apparatus of any one of claims 54 to 72, wherein the controller is configured to enable remote control of the instrument at a predetermined set of DOF by enabling open remote control of the instrument before enabling remote control of the instrument at any other DOF.

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