Application of torque limits to surgical robots

Abstract

The surgical robot includes an end effector driven by a plurality of joints located along the robotic arm of the surgical robot. In addition, the surgical robot includes a processor communicatively coupled to the robotic arm, the processor being configured to apply a first torque limit to at least one of the plurality of joints when the robotic arm is actively moving, and a second torque limit to at least one of the plurality of joints when the robotic arm is stationary, the second torque limit being different from the first torque limit.

Description

[Technical Field]

[0001] (Priority) This application claims priority to U.S. Provisional Patent Application No. 63 / 513,189, filed July 12, 2023, and to U.S. Non-Provisional Patent Application No. 18 / 746,443, filed June 18, 2024, also entitled "APPLICATION OF TORQUE LIMITS TO SURGICAL ROBOTS," the disclosures of each of these applications are incorporated herein by reference in their entirety.

[0002] (Field of Invention) The systems and methods disclosed herein relate to devices and methods for indicating the position or orientation of surgical tools, and in particular to surgical robotic systems for indicating the position or orientation of surgical tools. [Background technology]

[0003] Robot-enabled medical systems can perform a variety of medical procedures, including both minimally invasive procedures such as laparoscopy and non-invasive procedures such as endoscopy (e.g., bronchoscopy, ureteroscopy, gastroscopy, etc.). In at least some cases, such robot-enabled medical systems may include a robotic arm configured to control the movement of an end effector in the form of a surgical tool during a given medical procedure. To achieve a desired posture of the surgical tool, the robotic arm may be positioned in a specific posture during remote operation. In addition, some robot-enabled medical systems may include arm supports connected to the base of each robotic arm and supporting the robotic arm. [Overview of the project] [Means for solving the problem]

[0004] One embodiment of a surgical robot comprises an end effector driven by a plurality of joints located along a robotic arm of the surgical robot, and a processor communicatively coupled to the robotic arm, the processor configured to apply a first torque limit to at least one of the plurality of joints when the robotic arm is actively moving, and a second torque limit to at least one of the plurality of joints when the robotic arm is stationary, wherein the second torque limit is different from the first torque limit. In some embodiments, the processor is configured to determine the first torque limit using a dynamic model of the robotic arm. In some embodiments, the processor is configured to estimate an expected torque that can be generated by the plurality of joints to satisfy control inputs applied to the robotic arm, the expected torque is based on a predetermined dynamic model of the robotic arm. In certain embodiments, the expected torque includes the sum of a plurality of torques required to overcome gravitational loads applied to the robotic arm, frictional loads applied to one or more of the plurality of joints, and dynamic loads resulting from the movement of one or more joints of the robotic arm. In certain embodiments, the expected torque includes an estimate of the error of a predetermined dynamic model on which the expected torque is based. In some embodiments, the expected torque includes an estimated expected tissue load applied to the robotic arm during the performance of a clinical task. In some embodiments, the expected torque includes an initial expected torque, and the processor is configured to determine a final expected torque range limited between an upper limit and a lower limit below the upper limit. In certain embodiments, the first torque limit corresponds to the maximum allowable force that the robotic arm can apply to an object outside the robotic arm. In certain embodiments, the processor is configured to determine when the robotic arm is actively moving and when the robotic arm is stationary. In some embodiments, the second torque limit is greater than the first torque limit.

[0005] One embodiment of a surgical robot includes an end effector driven by a plurality of joints of a robotic arm of the surgical robot, and a processor communicatively coupled to the robotic arm, the processor configured to estimate an expected torque that can be generated by the plurality of joints to satisfy control inputs applied to the robotic arm, wherein the expected torque is based on a predetermined dynamic model of the robotic arm, and based on the expected torque, and greater than the expected torque, to at least one of the plurality of joints. In some embodiments, the expected torque includes the sum of a plurality of torques required to overcome gravitational loads applied to the robotic arm, frictional loads applied to the plurality of joints, and dynamic loads resulting from the movement of one or more joints of the robotic arm. In certain embodiments, the expected torque includes an estimate of the model error caused by a predetermined dynamic model on which the expected torque is based. In certain embodiments, the expected torque includes an external interference parameter corresponding to an estimated drag force applied to the robotic arm by an external object. In some embodiments, the expected torque includes an initial expected torque, and the processor is configured to determine a final expected torque limited between an upper limit and a lower limit below the upper limit. In some embodiments, the upper limit includes the sum of the initial expected torque and an external interference parameter corresponding to the estimated drag force applied to the robot arm by an object outside the robot arm, and the lower limit includes the difference between the initial expected torque and the external interference parameter. In certain embodiments, the upper limit includes the sum of the initial expected torque, an external interference parameter corresponding to the estimated drag force applied to the robot arm by an object outside the robot arm, and an estimate of the model error caused by a predetermined dynamic model on which the expected torque is based, and the lower limit includes the difference between the initial expected torque and the sum of the external interference parameter and the model error.

[0006] One embodiment of a surgical robot comprises: a first end effector driven by a plurality of first joints of a first robot arm of the surgical robot; a second end effector driven by a plurality of second joints of a second robot arm of the surgical robot; and a processor communicatively coupled to the first and second robot arms, the processor configured to: apply a first torque limit to at least one of the plurality of first joints and / or at least one of the plurality of second joints in response to the processor determining that the first and / or second robot arms are actively moving; and apply a second torque limit to at least one of the plurality of first joints and / or at least one of the plurality of second joints in response to the processor determining that the first and / or second robot arms are stationary, wherein the second torque limit is different from the first torque limit. In certain embodiments, the first torque limit corresponds to the maximum allowable force that can be applied by either the first or second robotic arm to an object outside each of the first and second robotic arms. In some embodiments, the processor is configured to determine the first torque limit using a dynamic model of at least one of the first and second robotic arms. In some embodiments, the first and second robotic arms are held stationary against a support structure that physically supports them when stationary. In certain embodiments, the second torque limit is greater than the first torque limit.

[0007] The various embodiments described above can be combined with any other embodiment described herein. The features and advantages described herein are not all-inclusive, and in particular, many additional features and advantages will be apparent to those of ordinary skill in the art upon consideration of the drawings, specification, and claims. Moreover, the language used herein has been selected primarily for readability and for the purpose of illustration, and may not have been selected to delineate or limit the subject matter of the invention.

Brief Description of the Drawings

[0008] The disclosed aspects will be described below in conjunction with the accompanying drawings, which illustrate, but do not limit, the disclosed aspects, and like reference numerals represent like elements. [Figure 1] An exemplary robotic medical system according to some embodiments is illustrated. [Figure 2] Another view of an exemplary robotic medical system according to some embodiments is illustrated. [Figure 3A] Different views of an exemplary robotic medical system according to some embodiments are illustrated. [Figure 3B] Different views of an exemplary robotic medical system according to some embodiments are illustrated. [Figure 4] An exemplary view of a robotic medical system with the robotic arm in the stowed position according to some embodiments is illustrated. [Figure 5] The components of a robotic medical system according to some embodiments are illustrated. [Figure 6A] Different views of an exemplary robotic arm according to some embodiments are illustrated. [Figure 6B] Different views of an exemplary robotic arm according to some embodiments are illustrated. [Figure 6C] Different views of an exemplary robotic arm according to some embodiments are illustrated. [Figure 7A] Different views of an exemplary robotic arm according to some embodiments are illustrated. [Figure 7B]Several different diagrams illustrating exemplary robotic arms in various embodiments are provided. [Figure 8] Several embodiments illustrating parts of a robotic arm and surgical tools are described. [Figure 9] This is a perspective view of a robotic medical system in several embodiments. [Figure 10] The components of another exemplary robotic medical system in several embodiments are illustrated below. [Figure 11] The components of another exemplary robotic medical system in several embodiments are illustrated below. [Figure 12] The components of another exemplary robotic medical system in several embodiments are illustrated below. [Figure 13] The components of another exemplary robotic medical system in several embodiments are illustrated below. [Figure 14] This is a schematic diagram illustrating electronic components of a robotic medical system according to several embodiments. [Modes for carrying out the invention]

[0009] 1. Overview. Aspects of this disclosure may be integrated into a robot-enabled medical system capable of performing a variety of medical procedures, including both minimally invasive procedures such as laparoscopy and non-invasive procedures such as endoscopy. This system may be capable of performing endoscopic procedures such as bronchoscopy, ureteroscopy, and gastroscopy.

[0010] In addition to performing a wide range of procedures, the system can offer additional benefits such as enhanced imaging and guidance to assist physicians. Furthermore, the system can provide physicians with the ability to perform procedures from an ergonomic position without the need for cumbersome arm movements and positioning. Moreover, the system can provide physicians with improved ease of use, allowing one or more of the system's instruments to be controlled by a single user.

[0011] Hereinafter, various embodiments will be described, accompanied by drawings, for illustrative purposes. It should be understood that many other embodiments of the disclosed concepts are possible, and various advantages may be achieved in the disclosed embodiments. This specification includes headings for reference and to help locate various sections. These headings are not intended to limit the scope of the concepts described therein. Such concepts may be applicable throughout this specification.

[0012] 2. Limiting the contact force applied by the robotic arm of a surgical robot. This application discloses a system and method for selectively limiting the contact forces applied by the robotic arm of a surgical robot. As further described herein, during the performance of remote manipulation facilitated by a surgical robot, the robotic arm (together with its coupled end effector) may apply contact forces to one or more external objects, including, for example, the patient's body, the user of the surgical robot, and / or other components of the surgical robot (e.g., other robotic arms of the surgical robot). These contact forces may be an expected routine part of performing a clinical task (e.g., grasping tissue from a patient's body), or they may be unexpected, such as collisions between each robotic arm of the surgical robot and another robotic arm.

[0013] The application of excessive contact force by a robotic arm can pose safety risks to both the patient and the clinician operating the surgical robot. For example, excessive contact force applied to a patient's body could injure the patient. In addition, collisions between an actively moving robotic arm and a stationary robotic arm can result in undesirable movement of the previously stationary robotic arm. For example, a stationary robotic arm may be used to statically grasp selected tissue from a patient if inadvertent movement of the stationary robotic arm could cause damage to the grasped tissue. Furthermore, collisions between an actively moving robotic arm and a stationary robotic arm can cause damage to one or both robotic arms or other components of the surgical robot.

[0014] Exemplary systems and methods for selectively limiting the contact force applied by the robotic arm of a surgical robot address the safety risks posed by the contact force applied to an external object by the robotic arm, regardless of whether the external object is a patient's body, a user of the surgical robot, and / or another object such as another robotic arm of the surgical robot. In particular, in some embodiments, the surgical robot's processor applies a first torque limit to one or more joints of the robotic arm when the robotic arm is actively moving, and a second torque limit to one or more joints of the robotic arm when the robotic arm is stationary, wherein the second torque limit is greater than the first torque limit. As further described herein, by applying a torque limit to the stationary robotic arm that is greater than the torque limit applied to the moving robotic arm, the stationary robotic arm successfully resists moving in response to contact (e.g., collision) between the moving robotic arm and the stationary robotic arm.

[0015] The processor can determine (for example, continuously or in predetermined time increments) when each of the multiple robotic arms of a surgical robot is actively moving and when each is stationary. In some embodiments, the processor of a surgical robot to which a first torque limit is applied to an actively moving robotic arm is based on the expected torque applied by one or more joints of the robotic arm required to satisfy the control input applied to the robotic arm as estimated by the processor. For example, the processor can estimate the expected torque based on a dynamic model of the robotic arm, thereby enabling the processor to estimate the required torque required to perform the control input applied to the robotic arm. In this way, a user of the surgical robot can move a given robotic arm as needed to perform a clinical task without applying contact forces from the robotic arm to external objects that exceed the relevant safety standards.

[0016] A. Robot system. Referring here to Figure 1, exemplary robotic surgical or medical systems 200 according to several embodiments are shown. In some embodiments, the robotic medical system 200 is a robotic surgical system. In this exemplary embodiment, the robotic medical system 200 comprises a patient platform 202 (e.g., patient platform, table, bed) including a support 204 (e.g., rigid frame). Two ends along the longitudinal length of the patient platform 202 are referred to herein as the “head” and “legs,” respectively. In addition, two lateral sides of the patient platform 202 are referred herein as the “left” and “right,” respectively.

[0017] In addition to the patient platform 202, in this exemplary embodiment, the robotic medical system 200 also includes a base 206 for supporting the robotic medical system 200. The base 206 includes wheels 208 that enable the robotic medical system 200 to be easily moved or repositioned in the physical environment. In some embodiments, the wheels 208 may be retractable and replace feet, or may be completely omitted from the robotic medical system 200 with the base 206 resting directly on the ground.

[0018] The robotic medical system 200 includes one or more robotic arms 210. In some embodiments, the robotic arms 210 may be configured to perform robotic medical procedures, including minimally invasive procedures such as laparoscopy. In addition, although Figure 1 shows five robotic arms 210, it should be understood that the robotic medical system 200 may include any number of robotic arms 210, including fewer than five, six, or more.

[0019] The robotic medical system 200 also includes one or more support rails 220 (e.g., adjustable arm supports or adjustable bars) that support the robotic arms 210. Each of the robotic arms 210 is supported and movably coupled to the support rails 220 by its respective base joint or actuator. As used herein with respect to the robotic arms, the term “joint” refers to a joint having an actuator or motor for powering or driving the rotation of the respective joint. In some embodiments, the support rails 220 can provide several degrees of freedom (DoF), including upward, lateral translation, and tilting. Each of the robotic arms 210 and / or support rails 220 may also be referred to as its respective kinematic chain. In addition, in this exemplary embodiment, as shown in Figure 1, three robotic arms 210 are supported by support rails 220 located along the left side of the patient support platform and within the field of view of the figure. The remaining two robotic arms 210 are supported by another support rail 220 located along the opposite lateral side of the patient platform 202.

[0020] In some embodiments, the support rail 220 provides a base position for one or more robotic arms 210 for robotic medical procedures. The robotic arms 210 can be positioned relative to the patient platform 202 by translating the robotic arms 210 along the length of the support rail 220 beneath them, and / or by adjusting the position and / or orientation of the robotic arms 210 via one or more joints and / or links. In some embodiments, the orientation of a given support rail 220 can be changed by manual operation, remote operation, and / or power-assisted movement. For example, in some embodiments, the support rail 220 can be translated along the length of the patient platform 202. In certain embodiments, when the support rail 220 is translated along the length of the patient platform 202, one or more of the robotic arms 210 supported by the support rail 220 are translated simultaneously with or relative to each support rail 220. In certain embodiments, the support rail 220 can be translated while one or more of the robotic arms remain stationary relative to the base 206 of the robotic medical system 200. In addition, in this exemplary embodiment, the support rail 220 is located along the length of the patient platform 202. In some embodiments, the support rail 220 may extend over part or the entire length of the patient platform 202 and / or over part or the entire width of the patient platform 202.

[0021] According to some embodiments, during a robotic medical procedure, one or more of the robotic arms 210 can also be configured to hold an end effector (for example, a robot-controlled medical instrument or tool such as an endoscope and / or any other instrument such as a sensor, illuminator, cutting instrument, etc. that may be used during surgery) and / or be coupled to one or more accessories including one or more cannulas.

[0022] Referring to Figure 2, another exemplary robotic medical system 250 in several embodiments is shown. First, the robotic medical system 250 includes features common to the robotic medical system 200 shown in Figure 1, and the shared features are similarly labeled. In this exemplary embodiment, the robotic medical system 250 includes six robotic arms, shown in Figure 2 as 210-1, 210-2, 210-3, 210-4, 210-5, and 210-6. In addition, the patient platform 202 is supported by a column 264 extending between the base 206 and the patient platform 202. In this exemplary embodiment, the patient platform 202 includes a tilting mechanism 266 positioned between the column 264 and the patient platform 202 to allow the patient platform 202 to pivot, rotate, or tilt relative to the column 264. The tilting mechanism 266 can be configured to allow lateral and / or longitudinal tilting of the patient platform 202. In some embodiments, the tilting mechanism 266 enables simultaneous tilting of the patient platform 202 in the lateral and longitudinal directions.

[0023] Figure 2 shows the patient platform 202 in a non-inclined position. In some embodiments, the non-inclined position is the default position of the patient platform 202. In some embodiments, the default position of the patient platform 202 is a substantially horizontal position as shown in Figure 2. As illustrated, in the non-inclined position, the patient platform 202 can be positioned horizontally or parallel to the surface supporting the robotic medical system 250 (e.g., the ground or floor). In some embodiments, the term “non-inclined” refers to a state where the angle between the default position and the current position is less than a threshold angle (e.g., less than 5 degrees, or less than an angle that would shift the patient on the patient platform). In some embodiments, the term “non-inclined” refers to a state where the patient platform is substantially perpendicular to the direction of gravity, regardless of the angle formed with respect to gravity by the surface supporting the robotic medical system.

[0024] Figure 2 shows the robotic arms 210-1, 210-2, 210-3, 210-4, 210-5, and 210-6, as well as the support rail 220, in an exemplary deployment configuration in which the robotic arms 210-1, 210-2, 210-3, 210-4, 210-5, and 210-6 reach above the patient platform 202. In some embodiments, the configuration of the robotic medical system 250 allows for the accommodation of different components below the patient platform 202, so the robotic arms 210-1, 210-2, 210-3, 210-4, 210-5, and 210-6, as well as the support rail 220, can occupy space below the patient platform 202. Therefore, in some embodiments, the tilting mechanism 266 has a low profile and / or low volume in order to increase the space available for lower storage.

[0025] Figure 2 also illustrates exemplary x, y, and z coordinate systems that may be used to illustrate certain features of embodiments disclosed herein. These coordinate systems are provided for illustrative and illustrative purposes only, and it will be understood that other coordinate systems may be used. In these exemplary embodiments, the x-direction extends laterally across the patient platform 202 when the patient platform 202 is in a non-tilted position. In some configurations, the x-direction extends across the patient platform 202 from one lateral side (e.g., the right side) to the other lateral side (e.g., the left side) when the patient platform 202 is in a non-tilted position. The y-direction extends longitudinally along the patient platform 202 when the patient platform 202 is in a non-tilted position. That is, the y-direction extends along the patient platform 202 from one longitudinal end (e.g., the head end) to the other longitudinal end (e.g., the leg end) when the patient platform 202 is in a non-tilted position. In addition, in the non-tilted position, the patient platform 202 is in or parallel to the xy plane, which may be parallel to the ground. The z direction extends vertically along the column 264. In some embodiments, the tilting mechanism 266 is configured to tilt the patient platform 202 laterally by rotating the patient platform 202 about a lateral tilting axis which is parallel to the y-axis. The tilting mechanism 266 can be further configured to tilt the patient platform 202 longitudinally by rotating the patient platform 202 about a longitudinal tilting axis which is parallel to the x-axis.

[0026] Referring to Figures 3A, 3B, and 4, another exemplary robotic surgical or medical system 400 according to several embodiments is shown. In this exemplary embodiment, the robotic medical system 400 includes an operating table having a tabletop 402 on which a patient can be positioned and which is supported by a table adapter 404. In addition, the robotic medical system 400 includes a support 406 (e.g., a support mechanism, table column, or pedestal) and a base 408. The support 406 may be attached to the base 408, which may be fixed to the ground (e.g., the floor of the operating room) or may be movable relative to the ground by the use of wheels on the base 408, for example. In some embodiments, different sections of the tabletop 402 may be movable relative to each other (e.g., they may be tilted or angled relative to each other), and / or the tabletop 402 may be movable relative to the support 406 and / or base 408 of the operating table (e.g., tilt, angle).

[0027] In some embodiments, the robotic medical system 400 includes a robotic arm 350 that is coupled to or can be coupled to an operating table. The robotic arm 350 can move between several different positions relative to the operating table, such as an operating position, a standby position, or a stowed position (for example, as shown in Figure 4). A given robotic arm 350 can support end effectors such as medical instruments or tools, including surgical instruments, tool drivers, and / or imaging devices. Further details of the robotic arm 350 are shown in Figures 7A, 7B, and 8 of this specification. In certain embodiments, the robotic medical system 400 includes one or more input devices (e.g., buttons, switches, touch-sensitive surfaces, etc.), such as a pivoting and retractable keypad 416 and a table keypad 418.

[0028] In some embodiments, the proximal portion of each robot arm 350 may be implemented as an adapter 410 that can be fixedly coupled to an operating table. The adapter 410 may include an interface mechanism 412 (e.g., a table interface structure) and a first link member (e.g., link 351-1) which is pivotably coupled to the interface mechanism 412 at a first joint (e.g., joint J0) and coupled to a second link member (e.g., link 414) at a second joint (e.g., joint J1). In some embodiments, the second link member 351-1 may be pivotably coupled to the first link member 414 at the second joint J1. In some embodiments, the second link member 351-1 is slidably coupled to the first link member 414 at the second joint J1. The second link member 351-1 is also configured to be connected to the robot arm 350 at a connection portion that includes a coupling portion of the second link member 351-1 and a coupling portion at the proximal end portion or mounting end portion of the robot arm 350. The robot arm 350 also includes a target joint at the mounting end portion of the robot arm 350. In some embodiments, the target joint is included together with the coupling portion at the mounting end portion of the robot arm 350.

[0029] In some embodiments, the distinction between the adapter 410 and the robotic arm 350 may be ignored, but the connection between the operating table and the distal end of the robotic arm 350 may be conceptualized and implemented as a series of links and joints that provide the desired DoF for the movement of medical instruments. Details of the links and joints of the robotic arm 350 are described with reference to Figures 7A, 7B, and 9 of this specification.

[0030] Referring to Figure 5, in some embodiments, the robotic medical systems described herein (e.g., robotic medical systems 200, 250, and / or 400) include a tower 230 (e.g., a tower viewer) and / or a physician console 240 (or both). The tower 230 may provide support for control units, electronics, fluid systems, optics, sensors, and / or power for the patient platform 202 and the physician console 240. In some embodiments, the tower 230 includes a display device 232 that includes a user interface for displaying surgical views obtained by one or more cameras of the robotic medical system and / or one or more notifications to the operator of the robotic medical system. In some embodiments, the physician console 240 includes a display device 242 that has a user interface usable by the physician operator to operate the patient platform 202. For example, the display device 242 may include a user interface for displaying surgical views obtained by one or more cameras of the robotic medical system and / or one or more notifications to the operator of the robotic medical system. The physician console 240 can provide the physician operator with both robotic control and pre-operative and real-time information on medical procedures. In some embodiments, the physician console 240 includes one or more input devices (e.g., buttons, switches, touch-sensitive surfaces, gimbals, etc.), such as a foot pedal 244. In addition, in some embodiments, the physician console 240 includes one or more haptic interface devices (HIDs) that provide force and tactile feedback to the user when the user interacts with the physician console 240.

[0031] B. Robot arm. Referring now to Figures 6A to 6C, different diagrams of exemplary robotic arm 210 according to several embodiments are shown. In particular, in this exemplary embodiment, the robotic arm 210 includes a plurality of links 302 (e.g., a linkage mechanism) shown as 302-1 to 302-4 in Figures 6A to 6C, connected by one or more joints 304 (shown as 304-1 to 304-6 in Figures 6A to 6C). Each of the joints 304 includes one or more degrees of freedom (DoF).

[0032] In Figure 6A, joint 304 includes a first joint 304-1 (e.g., base joint or A0 joint) located on or near the base 306 of the robot arm 210. In some embodiments, the base joint 304-1 includes a linear joint that allows the robot arm 210 to translate along the support rail 220 (e.g., along the y-direction shown in Figure 2). Joint 304 also includes a second joint 304-2 that rotates relative to the base joint 304-1 in some embodiments. Joint 304 also includes a third joint 304-3 connected to the first end of link 302-2, and in some embodiments, the third joint 304-3 includes multiple degrees of freedom (DoF) to facilitate both tilting and rotation of link 302-2 relative to the third joint 304-3. In addition, joint 304 includes a fourth joint 304-4 connected to the second end of link 302-2. In some embodiments, joint 304-4 includes an elbow joint connecting link 302-2 and link 302-3. In this exemplary embodiment, joint 304 further includes a pair of joints 304-5 (e.g., a wrist roll joint) and 304-6 (e.g., a wrist pitch joint) located in the distal portion of the robot arm 210.

[0033] In this exemplary embodiment, the proximal end of the robot arm 210 is connected to the base 306, and the distal end of the robot arm 210 is connected to a device manipulator or driver, such as an advanced device manipulator (ADM) 308 (e.g., a tool driver, instrument driver). The ADM 308 may be configured to control the positioning and manipulation of a medical instrument (e.g., a tool, scope, etc.). For example, in some embodiments, the link 302 may be detachably coupled to the medical tool 212 carried by the ADM 308 (for example, to facilitate the attachment and detachment of the medical tool 212 to the robot arm 210). The joint 304 provides the robot arm 210 with multiple degrees of field (DoF) necessary to facilitate the control of the medical tool 212 via the ADM 308.

[0034] The robotic arm 210 may also include a cannula sensor 310 for detecting the presence of a cannula or the proximity of a cannula to the robotic arm 210. In some embodiments, the robotic arm 210 is placed in a docked state (e.g., docked position) when the cannula sensor 310 detects the presence of a cannula (e.g., via one or more processors of the robotic medical system 200). Conversely, when the cannula sensor 310 does not detect a cannula, the robotic arm 210 is placed in an undocked state (e.g., undocked position).

[0035] In some embodiments, particularly as shown in Figure 6A, the robotic arm 210 includes a control input or button 312 (e.g., an annular button, or other type of control device) that can be used to put the robotic arm 210 into admittance mode (e.g., by pressing button 312). The admittance mode is also referred to as admittance scheme or admittance control. In admittance mode, the robotic medical system 200 measures force and / or torque (e.g., that applied to the robotic arm 210) and outputs the corresponding velocity and / or position. In some embodiments, the robotic arm 210 can be manually operated by the user in admittance mode (e.g., during or between setup procedures). In some cases, by using admittance mode, the user of the robotic arm 210 does not need to overcome all of the inertia of the robotic medical system 200 to move the robotic arm 210. For example, in admittance mode, the robotic medical system 200 can assist the operator in moving the robotic arm 210 by measuring force and driving one or more motors associated with the robotic arm 210 when the operator applies force to the robotic arm 210, thereby generating a desired speed and / or position of the robotic arm.

[0036] In some embodiments, the robotic arm 210 includes a second input or button 314 (e.g., a push button) distinct from the button 312 (hereinafter referred to as the first button 312) shown in Figure 6A, in order to place the robotic arm 210 into impedance mode (e.g., by pressing the second button 314 once or by holding it down continuously). Impedance mode is also referred to as impedance scheme or impedance control. In impedance mode, the robotic medical system 200 measures displacement (e.g., changes in position and velocity) and outputs force and / or torque to facilitate manual movement of the robotic arm 210. In some embodiments, the robotic arm 210 can be manually operated by a user in impedance mode (e.g., during setup procedures). In some embodiments, under impedance mode, movement of some operator of the robotic arm 210 may cause movement of one or more joints and / or links of the entire robotic arm 210.

[0037] In some embodiments, for admittance control, a force sensor or load cell measures the force the operator is applying to the robot arm 210 and moves the robot arm 210 to feel lighter. Under admittance control, the perceived inertia of the robot arm 304 can be masked by the electric actuation of the joints of the robot arm 210, so admittance control can feel lighter than impedance control. Conversely, in some embodiments, the user uses impedance control to engage most, if not all, of the mass acceleration.

[0038] In some situations, depending on the position of the robot arm 210 relative to the user, it may be inconvenient to reach for buttons 312 and / or 314 to activate manual operation modes (e.g., admittance mode and / or impedance mode). Therefore, in these situations, it may be convenient for the operator to trigger the manual operation mode by means other than a button. In addition, in some embodiments, the robot arm 210 includes a single button (e.g., button 312 or 314) that can be used to put the robot arm 210 into admittance mode and / or impedance mode (e.g., by using different presses such as long press, short press, and hold). In some embodiments, the robot arm 210 can be put into impedance mode by the user pushing on an arm linkage mechanism (e.g., link 302) and / or joint (e.g., joint 304) and overcoming a force threshold. In some embodiments, both admittance mode and impedance mode are common in that they allow the user to command the movement of the robot arm by grasping the robot arm 210 and directly physically interfaceing with the robot arm 210.

[0039] In some embodiments, the robot arm 210 includes an input control unit for initiating an arm-following mode. For example, in some embodiments, the robot arm 210 includes a designated touch point located on a link 302 or joint 304 of the robot arm 210 (e.g., the outer shell of the link 302 or a button 316). User interaction with the designated touch point (e.g., user touch) initiates the arm-following mode. In some embodiments, the robot arm 210 includes multiple touch points, and user interaction with any (e.g., one or more) of the touch points initiates the arm-following mode of the robot arm 210.

[0040] During medical procedures, it may be desirable to maintain the remote center of motion (RCM) of the robotic arm 210's ADM 308 and / or the medical tool 212 coupled thereto in a static position (e.g., position and / or orientation). The RCM may refer to a point in space where the movement of the cannula or other access port into which the medical tool 212 is inserted is constrained. In some embodiments, the medical tool 212 includes an end effector that is inserted through the patient's incision or natural orifice while maintaining the RCM. In some embodiments, the medical tool 212 includes an end effector that is in a retracted position during the setup process of the robotic medical system.

[0041] In some scenarios, the robotic medical system 200 may be configured to move one or more links 302 of the robotic arm 210 in "zero space" while the ADM 308 and / or RCM of the robotic arm 210 are maintained in their respective poses, thereby avoiding collisions with nearby objects (e.g., other robotic arms). Zero space can be considered a set of joint states in which the robotic arm 210 is permitted to move without resulting in movement of the ADM 308 and / or RCM, thereby maintaining the position and / or orientation of the medical tool 212 (e.g., within a patient). In some embodiments, the robotic arm 210 may have multiple positions and / or configurations available for each pose of the ADM 308.

[0042] In certain embodiments, the robot arm 210 is supplied with at least six degrees of freedom (DoFs) to move the medical tool 212 to a desired position in space, namely three DoFs for translation (e.g., X, Y, and Z positions) and three DoFs for rotation (e.g., yaw, pitch, and roll). In some embodiments, each joint 304 can provide the robot arm 210 with a single DoF, so the robot arm 210 may have at least six joints to achieve degrees of freedom of motion to position the ADM 308 in any position in space. To further maintain the ADM 308 or RCM of the robot arm 210 in a desired position, the robot arm 210 may be further supplied with at least one additional “redundant joint”. Thus, in certain embodiments, the system may include a robot arm 210 having at least seven joints 304, providing the robot arm 210 with at least seven DoFs. In some embodiments, the robotic arm 210 may include a subset of joints 304, each having two or more DoFs, thereby achieving additional DoFs for zero-space motion. Depending on the embodiment, the robotic arm 210 may have more or fewer DoFs.

[0043] Furthermore, in some embodiments, the support rail 220 can provide several additional DoFs, including upward, lateral translation, and tilting. Thus, depending on the embodiment, the robotic medical system can have more robot-controlled DoFs, not just DoFs within the robotic arm 210, to provide zero-space movement and / or collision avoidance. In each of these embodiments, one or more end effectors of the robotic arm (and any tools or instruments coupled thereto), as well as remote centers along the axis of the tool, can advantageously maintain posture and / or position within the patient. In addition, a robotic arm 210 having at least one redundant DoF has at least one more DoF than the minimum number of DoFs required to perform a given task. For example, a robotic arm 210 can have at least seven DoFs, and according to some embodiments, one of the joints 304 of the robotic arm 210 can be considered a redundant joint. One or more redundant joints can allow the robotic arm 210 to move in zero space to maintain the posture and position of the ADM 308 and to avoid collisions with other robotic arms or objects.

[0044] Referring here to Figures 7A and 7B, exemplary robotic arm 350 according to several embodiments are shown. In this exemplary embodiment, the robotic arm 350 includes a tool drive 352 and a cannula 362 loaded with a robotic surgical tool. In addition, the robotic arm 350 includes links 351 (e.g., link 351-1, link 351-2, link 351-3, link 351-4, and / or link 351-5) and actuating joint modules for actinguating the multiple links 351 toward each other (e.g., joint 353, also see joints J1, J2, J3, J4, J5, J6, J7, and J8). The joint modules may include various types such as pitch joints or roll joints, which may substantially restrict the movement of adjacent links toward others around a particular axis. In this exemplary embodiment, the tool drive 352 is mounted on the distal end of the robotic arm 350, and the tool drive 352 includes a carriage 354 and a stage 356.

[0045] In some embodiments, particularly as shown in Figure 7A, the tool drive 352 includes a cannula 362 coupled to its end for receiving and guiding a surgical instrument 360 (e.g., an endoscope, stapler, scalpel, scissors, clamp, retractor, etc.). The surgical instrument (or “tool”) 360 may include an end effector 364 at the distal end of the tool 360. Multiple joint modules of the robotic arm 350 can be actuated to position and orient the tool drive 352 to actuate the end effector 364 for robotic surgery. The end effector 364 is located at the end of the tool shaft of the tool 360 or the “tool tip” 365. In other embodiments, the tool shaft end 365 is the tip of a needle or other object. In addition, in this exemplary embodiment, the tool drive 352 includes a cannula release lever 358 for releasing the cannula 362 from the tool drive 352.

[0046] In some embodiments, the robot arm 350 includes input devices (e.g., buttons, touch points, etc.). For example, as shown particularly in Figure 7B, the robot arm 350 includes a clearance adjustment touch point 366, an instrument clutch 368, a port clutch 370, a forearm pivot touch point 372, and a forearm multipoint touch point 374.

[0047] Referring to Figures 7A, 7B, and 8, link 351-1 includes a first end connected to joint J1. In some embodiments, the robotic arm 350 includes joint J0 which actsuates the second end of link 351-1. In certain embodiments, joint J0 is a table pivot joint located beneath the operating table top 402 (shown in Figures 3A and 3B). In this exemplary embodiment, joint J0 is nominally held in place during surgery, while joints J1-J5 form a setup or Cartesian arm and are nominally held in place during surgery. In addition, joints J6 and J7 (shown in Figure 8) form a spherical arm that can be actively moved during surgery or remote operation. It can be understood that joint J8, as part of a tool driver, translates a tool 360 such as an end effector 364, and joint J8 can be actively moved during surgery. Furthermore, joints J6, J7, and J8 actively position the tool tip 365 and end effector 364 during surgery while maintaining the entry point into the patient in a fixed or stable position (e.g., RCM) to avoid stress on the patient's body wall.

[0048] During the setup of the robotic arm 350, any of the joints J0-J8 are permitted to move. However, during surgery, joints J6, J7, and J8 may move, subject to hardware or safety limitations regarding position, velocity, acceleration, and / or torque. In addition, the surgical tool 360 may have no joints or one or more joints (e.g., three), such as a joint for tool rotation, plus any number of additional joints (e.g., wrist, rotation around the longitudinal axis, or other types of movement). Thus, any number of degrees of freedom (DoF) may be provided, such as three degrees of freedom from joints J6, J7, and J8, and none, one, or more degrees of freedom from the surgical tool 360.

[0049] Figure 8 shows a portion of the robotic arm 350 and surgical tool 360 that provide six DoFs. The six DoFs correspond to the movement of six active joints during remote operation. In some embodiments, the active joints include three joints on the surgical tool 360, namely rotation at joint J9, pitch at wrist joint J10, and yaw at wrist joint J11. The active joints may include three joints on the robotic arm 350, namely a spherical roll joint J6, a spherical pitch joint J7, and a tool translation joint J8. In some embodiments, other joints may be used to provide six DoFs.

[0050] In some embodiments, the user may command movement with fewer than six degrees of freedom (DoF). For example, in some embodiments, five, four, or even fewer active joints may be provided. In the example of five degrees of freedom (DoF), the active joints include three joints on the robot arm 350, namely the spherical roll joint J6, the spherical pitch A joint J7, and the tool translation joint J8, and two active joints on the surgical tool, namely rotation at joint J9 and joint movement as another joint. In some embodiments, active joint configurations may be used, such as providing two or fewer DOF on the robot arm during remote operation.

[0051] C. Exemplary surgical setup. Referring here to Figure 9, a perspective view of one embodiment of a robotic medical system 450 is shown, which includes a pair of support rails 220-1 and 220-2 and four robotic arms 210-1, 210-2, 210-3, and 210-4. In this exemplary embodiment, each of the robotic arms 210-1, 210-2, 210-3, and 210-4 is coupled to a respective surgical tool 452 (e.g., 452-1 to 452-4, which may correspond to a medical tool 212) via a respective ADM 308 (e.g., a tool driver), such as ADM 308-1 to 308-4. One or more of the surgical tools 452-1, 452-2, 452-3, and 452-4 can be inserted into the patient via one or more corresponding ports 458 (e.g., 458-1, 458-2, 458-3, 458-4, and 458-4) located on the patient. As used herein, a port (e.g., port location, inlet port, inlet point, port region, port area, or port position) refers to a location on the patient's body through which a medical tool / instrument (e.g., held by a robotic arm) is inserted and whose movement may be restricted. In some embodiments, a port corresponds to an incision point or incision region made through the patient's skin to facilitate a medical surgery or procedure. In some embodiments, a port corresponds to a natural opening, such as the patient's mouth (e.g., for a bronchoscopy procedure). In some embodiments, a port corresponds to a medical device with an opening, positioned at the incision point or natural opening to allow access to the surgical space through the opening. To enhance the visibility of the robotic arms 210-1, 210-2, 210-3, and 210-4, and the surgical tools 452-1, 452-2, 452-3, and 452-4, the patient figure has been removed from Figure 9.

[0052] In this exemplary embodiment, the robotic arm 210-2 is coupled to a camera or scope 456 via a medical instrument 452-2 (e.g., an endoscope). In some embodiments, the camera 456 is part of the medical instrument 452-2. In some embodiments, the camera 456 may be a standalone device (e.g., not part of the medical instrument) coupled to the robotic arm. In some embodiments, the camera 456 defines an axis 454 (e.g., an optical axis) that determines the orientation of the camera 456. The camera 456 (or scope) provides images of the surgical site to facilitate the control of surgical tools for performing robotic medical procedures. For example, a robot-controllable endoscope in a robotic medical system 450 may include a camera positioned at its distal tip. The user can view images from the endoscope's camera in a viewer to facilitate the control of the endoscope and / or other components of the robotic medical system 450. As another example, the robotic medical system 450 may include one or more cameras or other sensors inserted laparoscopically or endoscopically into the patient. Users of the robotic medical system 450 can view images from an inserted camera to facilitate the control of one or more additional robot-controlled medical devices, such as one or more additional medical devices inserted laparoscopically.

[0053] In some embodiments, the robotic medical systems disclosed herein (e.g., robotic medical systems 200, 250, 400, 450) include a coordinate system (e.g., a robotic coordinate system, coordinate frame, system frame, etc., which may be a Cartesian or non-Cartesian coordinate system), and the positions of the patient platform 202, tabletop 402, robotic arm 210, robotic arm 350, support rail 220, and / or medical tool 212 are represented as coordinates on the coordinate system (e.g., x-coordinate, y-coordinate, and z-coordinate). For example, one or more processors 380 of the robotic medical systems disclosed herein (e.g., robotic medical system 200 or robotic medical system 400) may be configured to determine the position and orientation of the patient platform 202, tabletop 402, robotic arm 210, support rail 220, and / or medical tool 212 based on the coordinates in the coordinate system.

[0054] D. Contact force applied by the robotic arm of a surgical robot. The robotic arms of a surgical robot (e.g., a robotic medical system) can make contact with or apply contact forces to different objects that each robotic arm encounters during the process of facilitating remote operation. For example, a robotic arm can apply a contact force to the patient's body wall when the medical tool of the robotic arm (e.g., medical tool 212) is inserted into the patient's body, and the contact force may arise from the relative motion between the robotic arm and the patient's body. As another example, a first robotic arm of a surgical robot may apply a contact force to a second robotic arm of the surgical robot in response to a collision between the first and second robotic arms.

[0055] Referring here to Figures 10 and 11, a robotic arm 510 of a surgical robot 500 is partially shown, in several embodiments, inserted into the body 522 of a patient 520 via a cannula 530 inserted into the body wall 524 of the patient 520. In particular, the robotic arm 510 includes an ADM 512 at its distal end and a medical tool or shaft 514. The medical tool 514 extends from the ADM 512 through the cannula 530, which is positioned along the body wall 524 of the patient 520, to the distal end of the medical tool 514 where the end effector 516 of the medical tool 514 is located.

[0056] In this example, the RCM 532 of the robotic arm 510 (shown in Figure 11) is defined by and positioned along the cannula 530 to minimize relative motion between the medical tool 514 of the robotic arm 510 and the body 522 of the patient 520. In this configuration, where the RCM 532 is positioned along the cannula 530, the medical tool 514 of the robotic arm 510 is allowed to move bidirectionally along the linear or straight insertion axis 515 (shown in Figure 10) of the robotic arm 510 in response to the operation of one or more actuators or joints of the robotic arm 510. In addition, the medical tool 514 is allowed to pitch (indicated by arrow 517 in Figure 10) and yaw (indicated by arrow 519 in Figure 10) relative to the body 522 of the patient 520, while maintaining the RCM 532 positioned along the cannula 530. In other embodiments, the medical tool 514 may be further restricted, for example, to prevent pitching 517 or yawing 519 against the patient's body 522. In addition, in other embodiments, an additional degree of freedom (DoF) may be permitted between the medical tool 514 and the patient's body 522. For example, in some embodiments, the medical tool 514 may be permitted to rotate around the insertion axis 515.

[0057] The robotic arm 510 applies a contact force (e.g., indicated by arrow 521 in Figure 11) to the patient's body 522 (e.g., body tissue 526 schematically shown in Figure 11) in response to the relative motion (indicated by arrow 523 in Figure 11) between the end effector 516 of the medical tool 514 and the patient's body 522 that occurs when the robotic arm 510 performs a clinical task. In addition, the robotic arm 510 can apply a contact force to the patient's body 522 via the cannula 530 when the robotic arm 510 performs a clinical task. External loads applied to the robot arm 510 resulting from contact between the robot arm 510 and the patient's body 522 (e.g., between the end effector 516 and the body tissue 526 of the body 522) (e.g., reaction loads resulting from a contact force 521), as well as loads applied to the robot arm 510 through the cannula 530 from the body wall 524, include the expected clinical loads or forces that the robot arm 510 may encounter as part of performing a clinical task.

[0058] In addition to the clinical loads described above, the robotic arm 510 may also encounter other external loads or forces during remote operation, such as unexpected external loads resulting from collisions between the robotic arm 510 and external objects. For example, referring to Figure 12, the robotic arm 510 in Figure 10 is shown in contact with an external object 540 (circularly shown in Figure 12) that is outside and separate from the body 522 of the patient 520, thereby applying a contact force (indicated by arrow 542 in Figure 12) to the external object 540. For example, during remote operation, the robotic arm 510 may inadvertently collide with another or second robotic arm 510 (or other component of the surgical robot 500) of the surgical robot 500, thereby applying a contact force 542 to the second robotic arm 510. As another example, during remote operation, the robotic arm 510 may inadvertently collide with a clinician.

[0059] As outlined above, the robotic arm 510 may apply both expected contact forces to external objects (e.g., to body tissue 526 as part of performing a clinical task) and unexpected contact forces (e.g., as a result of a collision) while performing remote operation. The robotic arm 510 may apply such contact forces both when it is actively moving (e.g., moving the end effector 516 through the body 522 of the patient 520) and when it is stationary, intended to remain stationary relative to the proximal end of the robotic arm 510 coupled to a base or other support structure (e.g., as a result of an external object colliding with the stationary robotic arm 510).

[0060] Excessive contact force applied by the robotic arm 510 to external objects (e.g., body tissue 526 of body 522, other components of the surgical robot 500) during remote operation facilitated by the surgical robot 500 may pose a safety risk to the patient 520 and the clinician operating the surgical robot 500, and may also pose a risk of damaging the equipment of the surgical robot 500.

[0061] In addition to the risks posed by excessive contact force applied by the robotic arm 510, if the robotic arm 510 is inadvertently moved in response to a collision between the stationary robotic arm 510 and an external object (e.g., another robotic arm 510 of the surgical robot 500, or the user of the surgical robot 500) while stationary, a safety risk may be posed to the patient 520 and / or the clinician operating the surgical robot 500. For example, an end effector 516 coupled to the robotic arm 510 may perform a clinical task by precisely grasping and statically positioning a specific body tissue 526 of the patient 520's body 522. In this example, if the stationary robotic arm 510 is inadvertently moved in response to a collision between the robotic arm 510 and an external object 540 (resulting in undesirable movement of the end effector 516 grasping the patient 520's body tissue 526, and / or the end effector 516 inadvertently penetrating or cutting the body tissue 526), ​​a safety risk may be posed to the patient 520.

[0062] E. A system for applying torque limits to the robotic arm of a surgical robot. Embodiments of surgical robots are disclosed herein that apply torque limits to the robot arms (e.g., robot arms 210, 350) in order to limit the contact forces that can be applied by the robot arms and to prevent accidental movement of the stationary robot arms in response to collisions between the stationary robot arms and external objects, in order to address safety risks posed by excessive contact forces applied by the robot arms of the surgical robots (e.g., robotic medical systems such as robotic medical systems 200, 250, 400, and / or 450) to external objects, and to prevent accidental movement of the stationary robot arms in response to collisions between the stationary robot arms and external objects.

[0063] In some embodiments, a surgical robot comprising multiple robotic arms (e.g., multiple robotic arms 210 and / or 350) applies a first or dynamic torque limit to one or more joints of each robotic arm when the robotic arms are actively moving, and a second or static torque limit, independent of the dynamic torque limit, applies to one or more joints of each robotic arm when the robotic arms are stationary. In particular, the dynamic torque limit is intended to allocate relatively more torque to the stationary robotic arms than to the actively moving robotic arms in order to resist unexpected external loads applied to the stationary robotic arms. Thus, while the static torque limit may exceed the dynamic torque limit in many cases, there may be some cases in which the static torque limit is less than or equal to the dynamic torque limit when the expected external loads applied to the actively moving robotic arms (e.g., gravitational external loads depending on the respective postures of the stationary and actively moving robotic arms) exceed the expected external loads applied to the stationary robotic arms.

[0064] In this way, the first robotic arm of a stationary surgical robot may remain stationary despite being struck by the second robotic arm of the actively moving surgical robot (for example, an end effector coupled to a stationary robotic arm may remain stationary). As used herein, the term “actively moving” refers to a robotic arm that is currently or actively moving relative to a support structure that physically supports the proximal end of the robotic arm, such as a patient platform (e.g., patient platform 202), a table, or a bed. A robotic arm is actively moving when any component of the robotic arm is actively moving relative to a support structure. In addition, a robotic arm is actively moving when an end effector coupled to the robotic arm is actively moving relative to a support structure.

[0065] As an example, referring here to Figure 13, the surgical robot 500 is shown with its first robotic arm 510-1 which is actively moving and its second robotic arm 510-2 which is stationary. In this example, each robotic arm 510-1 and 510-2 includes an actuator or joint 511 and a link 513 coupled between the joint 511 and the ADM 512, the link 513 being driven by the joint 511. In particular, the joint 511-1 of robotic arm 510-1 applies torque (indicated by arrow 515-1 in Figure 13) to the link 513-1 and its ADM 512, resulting in a collision (indicated by arrow 550 in Figure 13) between the ADM 512 of robotic arm 510-1 and the ADM 512 of robotic arm 510-2. The collision between robot arms 510-1 and 510-2 results in the application of a contact force by robot arm 510-1 to robot arm 510-2 (indicated by arrow 550 in Figure 13).

[0066] In addition, in this example, the joint 511-2 of the robot arm 510-2 automatically applies a counter- or resistive torque (indicated by arrow 515-2 in Figure 13) to the link 513-2 in order to resist the contact force 550 applied to the robot arm 510-2 by the robot arm 510-2. In some embodiments, the processor of the surgical robot 500 (e.g., processor 380) automatically applies a resistive torque 515-2 to the link 513-2 of the robot arm 510-2 in response to detecting the contact force 550, in order to maintain the robot arm 510-2 in a previously established stationary state. In other words, the processor of the surgical robot 500 is configured, in this example, to automatically apply a resistive torque to the joint 511 of each robot arm 510 when the robot arm 510 is stationary, in order to prevent each robot arm 510 from moving in response to the application of a contact force to it.

[0067] In some embodiments, the processor of the surgical robot 500 applies dynamic torque limits to one or more joints 511 of a given robot arm 510 when each robot arm 510 is actively moving (for example, relative to a support structure that physically supports the proximal end of the robot arm 510). In addition, in some embodiments, the processor applies static torque limits to one or more joints 511 of a given robot arm 510 when the robot arm 510 is stationary. For example, the processor may continuously apply dynamic torque limits to each of the robot arms 510 of the surgical robot 500 that is actively moving, while simultaneously continuously applying static torque limits to each of the robot arms 510 of the surgical robot 500 that is stationary. The processor may automatically switch from applying dynamic torque limits to applying static torque limits to a given robot arm 510 in response to the robot arm 510 entering a stationary state. Conversely, the processor may automatically switch from applying a static torque limit to a given robot arm 510 to applying a dynamic torque limit in response to the robot arm 510 actively beginning to move.

[0068] By applying a different torque limit to the stationary robot arm 510 than that applied to the actively moving robot arm 510, the stationary robot arm 510 can successfully resist moving in response to the application of contact forces from external objects to each robot arm 510. In other words, the enhanced torque limit applied to the robot arm 510 by the processor allows the robot arm 510 to remain stationary even when contact forces are applied to the stationary robot arm 510 from external objects.

[0069] Referring to the example shown in Figure 13, the dynamic torque limit is applied by the processor to joint 511-1 of robot arm 510-1, assuming that robot arm 510-1 is actively moving. In addition, the static torque limit is applied by the processor to joint 511-2 of robot arm 510-2, assuming that robot arm 510-2 is stationary. In this way, the processor can apply as much resistive torque 515-2 to link 513-2 of robot arm 510-2 as is necessary to keep robot arm 510-2 (together with its coupled end effector 516) stationary so that robot arm 510-2 does not move in response to the application of contact force 550 by robot arm 510-1.

[0070] In certain embodiments, the dynamic torque limits applied by the processor of the surgical robot 500 to its actively moving robotic arm 510 are based on expected torques estimated by the processor, such that they are required by one or more of the joints 511 of each robotic arm 510 to satisfy the control inputs applied to the robotic arm 510 (for example, by a user of the surgical robot 500 via the physician console 240 of the surgical robot 500 as part of performing a clinical task using the robotic arm 510). In other words, to satisfy the control inputs applied by the robotic arm 510, one or more of the joints 511 of the robotic arm 510 must apply one or more respective torques in order for the robotic arm 510 to move according to the given control inputs. For example, one or more torques of one or more joints 511 are necessary to overcome gravity applied to the link 513 of the robot arm 510, frictional torque applied to one or more joints 511 of the robot arm 510 in response to their movement, and other resistive forces applied to the robot arm 510, such as tissue contact forces applied to the end effector 516.

[0071] The magnitude of such torque (e.g., torque resulting from gravity, frictional resistance) varies depending on a given posture of the robotic arm 510 and the type of control input applied to the robotic arm 510. For example, the initial posture of the robotic arm 510 before the application of the control input affects the gravity applied to the link 513 of the robotic arm 510. In addition, the movement of the link 513 of the robotic arm 510 following the execution of the control input can also affect the frictional resistance applied to the robotic arm 510.

[0072] In certain embodiments, the predicted torque estimated by the processor is based on a predetermined dynamic model of each robotic arm 510. For example, the dynamic model of a given robotic arm 510 may be stored in the memory of the surgical robot 500 (e.g., memory 382), whereby the process of the surgical robot 500 (e.g., processor 380) can access the dynamic model of the robotic arm 510 and utilize it to estimate the predicted torque required for one or more of the joints 511 of the robotic arm 510 to achieve or satisfy a given control input applied to the robotic arm 510.

[0073] Although not intended to be bound by any particular theory, the following equation (1) represents an exemplary predicted torque (τ , E ) corresponding to the sum of the frictional load (frictional torque, i.e., τ G ), gravitational load (gravitational torque, i.e., τ D ), and dynamic load (dynamic torque, i.e., τ E ) imposed on a given joint during operation, generated by the joint of the robotic arm (e.g., joint 511 of the robotic arm 510). τ E =τ G +τ F +τ D (1)

[0074] The above equation (1) may represent the characteristics or components of the dynamic model of a given joint of the robotic arm (e.g., joint 511 of the robotic arm 51). The predicted torque (τ EThis does not take into account unknown and uncertain external loads, such as loads applied to the robot arm from external objects (e.g., loads resulting from contact between an end effector attached to the robot arm and a given patient's tissue, loads resulting from collisions between the robot arm and an external object).

[0075] In some embodiments, the expected torque of one or more joints 511 of the robot arm 510 is estimated, and the processor of the surgical robot 500 also estimates an error in the expected torque (e.g., expected torque error) which may be at least partially based on the estimation accuracy of the dynamic model. For example, although not intended to be bound by any particular theory, equation (2) below is (τ G The product obtained by multiplying (A) by the gravity precision constant. G ), (τ F The product obtained by multiplying (A) by the friction accuracy constant. F ), (τ D The product obtained by multiplying (A) by the dynamic precision constant. D An example of the expected torque error (E) corresponding to the sum of ) τ ) represents. E τ =A G ×τ G +A F ×τ F +A D ×τ D (2)

[0076] In a particular embodiment, the expected torque (τ E ) and error of the expected torque (E τ The processor of the surgical robot 500 estimates both of the expected torque (τ) provided by the expected external or clinical load applied to the robot arm 510 as it moves in response to the application of a control input. E The contribution to ) is further estimated. As described above, the expected clinical load includes, for example, the load resulting from normal contact between the end effector 516 coupled to the robotic arm 510 and the patient's body tissue 526. In addition, the expected clinical load may be influenced by or conditional on time variables such as the posture of the robotic arm 510.

[0077] By estimating the contribution provided by the expected clinical load, the processor of the surgical robot 500 may, in some embodiments, additionally estimate the expected torque applied to one or more joints 511 of the robot arm 510 (including the end effector 516 coupled thereto) resulting from contact between the robot arm 510 and an external object.

[0078] In some embodiments, the processor of the surgical robot 500 has an upper limit (e.g., E τU ) and lower limit (e.g., E τL The limited expected torque (E) defines both of the above. τB Estimate the expected torque, such as ), and the upper limit (E τU ) is the lower limit (E τL ) is greater than. In some cases, the expected torque may include the nominal or initial expected torque estimated by the processor, while the limited expected torque may include the final expected torque estimated by the processor based on the initial expected torque.

[0079] As an example, although not intended to be bound by any particular theory, equation (3) below illustrates an exemplary limited expected torque (E τB ) represents (τ tissueMax ) is the estimated maximum expected tissue load (e.g., maximum value τ) applied to a given joint of the robot arm. tissue ) represents. E τB =∈[E τ -τ tissueMax ,E τ +τ tissueMax (3)

[0080] The processor of the surgical robot 500 dynamically changes the expected torque in response at least partially to changes in the control input applied to the robot arm 510, and calculates the expected torque for one or more joints 511 of the robot arm 510 (e.g., E τBThis allows for the real-time, continuous estimation of the torque. Therefore, in at least some embodiments, the expected torque estimated by the processor for a given joint 511 can change continuously over time in response to changing conditions.

[0081] In addition to estimating the expected torque or limited expected torque as described above, the processor also calculates the corresponding expected torque (e.g., E) of one or more joints 511 estimated by the processor based on the estimated expected torque. τB A dynamic torque limit is applied to one or more joints 511 of the robot arm 510 based on equation (3) above. For example, based on equation (3) above, the processor applies the current upper limit expected torque (E) of the joint 511 estimated by the processor. τU A dynamic torque limit can be set for each joint 511 above a certain value, and the upper expected torque limit (and therefore the dynamic torque limit) can change continuously over time in response to changing conditions (e.g., changes in control input, changes in the posture of the robot arm 510). In some embodiments, the dynamic torque limit set by the processor includes a limiting torque limit that is restricted between the upper torque limit and the lower torque limit, thereby restricting each joint 511 to a torque that falls between the lower torque limit and the upper torque limit.

[0082] In some embodiments, the dynamic torque limit applied to the joint 511 by the processor is the upper limit expected torque (E) of the joint 511. τU ) is equal to. The processor of the surgical robot 500 uses the correction factor stored in the memory of the surgical robot 500 to determine the upper limit expected torque (E τU The current supplied to the joint 511 (for example, to the actuator or motor of the joint 511) can be determined to match the torque limit (whether dynamic or static) applied to one or more joints 511 of the robot arm 510 by the processor of the surgical robot 500 can first be transferred by the processor to the current supplied to one or more joints 511 based on one or more corresponding correction factors or other information stored in the memory of the surgical robot 500.

[0083] In certain embodiments, the dynamic torque limit applied to the joint 511 by the processor is the upper limit expected torque (E) of the joint 511. τU ) and, in some embodiments, the expected torque error (e.g., E) that is inherent to the dynamic model of the robot arm 510. τ ) is equal to the product of any possible correction factor. In other words, the correction factor (which may be dynamic or predefined) may be correlated with the expected torque error such that an increase in the expected torque error results in a corresponding increase in the correction factor. However, in other embodiments, the correction factor may not be based on or otherwise associated with the expected torque error.

[0084] In certain embodiments, the correction factor is adjustable by the user of the surgical robot 500 according to the user's given needs. For example, the user may increase the correction factor (e.g., continuously or between two or more predetermined settings) to correspondingly increase the dynamic torque limit applied to one or more joints 511 of a given robot arm 510. For example, in some cases, as part of performing a clinical task, the user may want to drive a given robot arm 510 through an external obstacle. In such a scenario, the user may increase the correction factor for each robot arm 510 (e.g., via the physician console 240 or another user interface of the surgical robot 500) to correspondingly increase the dynamic torque limit applied to each robot arm 510 by the processor, thereby allowing, in this example, the user to drive the robot arm 510 through a given external obstacle.

[0085] However, in at least some embodiments, the maximum dynamic torque limit that can be applied to the mobile robot arm 510 by the processor corresponds to a predetermined maximum permissible force that the robot arm 510 is allowed to apply to an object outside the robot arm. In other words, the user of the surgical robot 500 may have some control over the dynamic torque limit (for example, by adjusting a correction factor), but in at least some cases, the processor may not allow the application of torque by one or more joints 511 of the actively moving robot arm 510, which would result in applying a force exceeding a predetermined maximum permissible force to an external object. The maximum permissible force may correspond to relevant safety standards or may be determined by the provider of the surgical robot 500. In some cases, the processor may correlate the torque applied by one or more joints 511 of the robot arm 510 with the contact force that can be applied by the robot arm 510 as a result of the application of torque by one or more joints 511. For example, the processor may use a dynamic model of the robot arm 510 stored in the memory of the surgical robot 500 to correlate the torque generated by the joint 511 with the contact force applied by the robot arm 510.

[0086] 3. Implementation system and terminology. Referring to Figure 14, schematic diagrams are shown illustrating the electronic components of several embodiments of robotic medical systems (e.g., surgical robots).

[0087] A robotic medical system (e.g., a surgical robot) includes one or more processors 380 communicating with a computer-readable storage medium 382 (e.g., computer memory devices such as random access memory, read-only memory, static random access memory, and non-volatile memory, as well as other storage devices such as hard drives, optical disks, magnetic tape recordings, or any combination thereof) that stores instructions for performing any of the methods described herein (e.g., operations described with respect to Figures 1, 2, 3A, 3B, 4, 5, 6A, 6B, 6C, 7A, 7B, 8-13). One or more processors 380 also communicate with an input / output controller 384 (via a system bus or any preferred electrical circuit). The input / output controller 384 receives sensor data from one or more sensors 388-1, 388-2, etc., and relays the sensor data to one or more processors 380. The input / output controller 384 also receives instructions and / or data from one or more processors 380 and relays the instructions and / or data to one or more actuators, such as the first motors 387-1 and 387-2. In some embodiments, the input / output controller 384 is coupled to one or more actuator controllers 386, which provide instructions and / or data to at least a subset of the actuator controllers 386 and then provide control signals to selected actuators. In some embodiments, one or more actuator controllers 386 are integrated with the input / output controller 384, which directly provides control signals to one or more actuators 387-1 and 387-2 (without involving separate actuator controllers). Figure 14 shows one actuator controller 386 (for example, one actuator controller for the entire medical robot system), but in some embodiments, additional actuator controllers (e.g., one actuator controller for each actuator) may be used. In some embodiments, one or more processors 380 communicate with one or more displays 381 for displaying information, as described herein.

[0088] 4. Examples of combinations The following examples relate to various non-exclusive ways in which the teachings herein may be combined or applied. It should be understood that the following examples are not intended to limit any claims that may be presented at any point in this application or any subsequent application. No waiver of rights is intended. The following examples are provided solely for illustrative purposes. Various teachings herein are intended to be arranged and applied in many other ways. Furthermore, some modifications may omit certain features mentioned in the following examples. Therefore, none of the aspects or features mentioned below should be considered important unless they are subsequently explicitly indicated as such by the inventors or their heirs. If claims presented in this application or any subsequent application relating to this application include additional features other than those mentioned below, those additional features should not be considered added for any patentability reason.

[0089] Example 1: A surgical robot may comprise an end effector driven by a plurality of joints located along the robot arm of the surgical robot, and a processor communicatively coupled to the robot arm, the processor configured to apply a first torque limit to at least one of the plurality of joints when the robot arm is actively moving, and to apply a second torque limit to at least one of the plurality of joints when the robot arm is stationary, wherein the second torque limit is different from the first torque limit.

[0090] Example 2: The surgical robot according to Example 1, wherein the processor is configured to determine a first torque limit using a dynamic model of the robot arm.

[0091] Example 3: A surgical robot according to either Example 1 or 2, wherein the processor is configured to estimate the expected torque that can be generated by multiple joints to satisfy the control input applied to the robot arm, and the expected torque is based on a predetermined dynamic model of the robot arm.

[0092] Example 4: The surgical robot according to any one of Examples 1 to 3, wherein the expected torque may include the sum of multiple torques required to overcome the gravitational load applied to the robot arm, the frictional load applied to one or more of the joints, and the dynamic load resulting from the movement of one or more joints of the robot arm.

[0093] Example 5: A surgical robot according to any one of Examples 1 to 4, wherein the expected torque includes an estimate of the error of a predetermined dynamic model on which the expected torque is based.

[0094] Example 6: A surgical robot according to any one of Examples 1 to 5, wherein the expected torque may include the estimated expected tissue load applied to the robot arm during the performance of a clinical task.

[0095] Example 7: The surgical robot according to any one of Examples 1 to 6, wherein the expected torque may include an initial expected torque, and the processor is configured to determine a final expected torque range limited between an upper limit and a lower limit below the upper limit.

[0096] Example 8: The surgical robot according to any one of Examples 1 to 7, wherein the first torque limit corresponds to the maximum allowable force that the robot arm can apply to an object outside the robot arm.

[0097] Example 9: The surgical robot according to any one of Examples 1 to 8, wherein the processor is configured to determine when the robot arm is actively moving and when the robot arm is stationary.

[0098] Example 10: The surgical robot according to any one of Examples 1 to 9, wherein the second torque limit is greater than the first torque limit.

[0099] Example 11: A surgical robot may include an end effector driven by a plurality of joints of a robot arm of the surgical robot, and a processor communicatively coupled to the robot arm, wherein the processor is configured to estimate an expected torque that can be generated by the plurality of joints to satisfy a control input applied to the robot arm, wherein the expected torque is based on a predetermined dynamic model of the robot arm, and to apply a torque limit to at least one of the plurality of joints that is based on the expected torque and greater than the expected torque.

[0100] Example 12: The surgical robot according to Example 11, wherein the expected torque may include the sum of multiple torques required to overcome the gravitational load applied to the robot arm, the frictional load applied to multiple joints, and the dynamic load resulting from the movement of one or more joints of the robot arm.

[0101] Example 13: The surgical robot according to any one of Examples 11 or 12, wherein the expected torque includes an estimate of the model error caused by a predetermined dynamic model on which the expected torque is based.

[0102] Example 14: A surgical robot according to any one of Examples 11 to 13, wherein the expected torque includes an external interference parameter corresponding to an estimated drag force applied to the robot arm by an object outside the robot arm.

[0103] Example 15: The surgical robot according to any one of Examples 11 to 14, wherein the predicted torque may include an initial predicted torque, and the processor is configured to determine a final predicted torque limited between an upper limit and a lower limit below the upper limit.

[0104] Example 16: A surgical robot according to any one of Examples 11 to 15, wherein the upper limit may include the sum of the initial expected torque and an external interference parameter corresponding to the estimated drag force applied to the robot arm by an object outside the robot arm, and the lower limit may include the difference between the initial expected torque and the external interference parameter.

[0105] Example 17: A surgical robot according to any one of Examples 11 to 16, wherein the upper limit may include the sum of the initial expected torque, an external interference parameter corresponding to the estimated drag force applied to the robot arm by an external object, and an estimate of the model error caused by a predetermined dynamic model on which the expected torque is based, and the lower limit may include the difference between the initial expected torque and the sum of the external interference parameter and the model error.

[0106] Example 18: A surgical robot may comprise a first end effector driven by a plurality of first joints of a first robot arm of the surgical robot, a second end effector driven by a plurality of second joints of a second robot arm of the surgical robot, and a processor communicatively coupled to the first and second robot arms, the processor configured to apply a first torque limit to at least one of the plurality of first joints and / or at least one of the plurality of second joints in response to the processor determining that the first and / or second robot arms are actively moving, and to apply a second torque limit to at least one of the plurality of first joints and / or at least one of the plurality of second joints in response to the processor determining that the first and / or second robot arms are stationary, wherein the second torque limit is different from the first torque limit.

[0107] Example 19: The surgical robot according to Example 18, wherein the first torque limit corresponds to the maximum allowable force that can be applied to an object outside the first and second robot arms by either the first or second robot arm.

[0108] Example 20: The surgical robot according to any one of Examples 18 or 19, wherein the processor is configured to determine a first torque limit using a dynamic model of at least one of the first and second robot arms.

[0109] Example 21: The surgical robot according to any one of Examples 18 to 20, wherein the first robot arm and the second robot arm are held stationary with respect to a support structure that physically supports the first robot arm and the second robot arm when they are stationary.

[0110] Example 22: A surgical robot according to any one of Examples 18 to 21, wherein the second torque limit is greater than the first torque limit.

[0111] As used herein, the terms “couple,” “coupling,” “coupled,” or other variations of the word “couple” may indicate either indirect or direct connection. For example, when a first component is “coupled” to a second component, the first component may be indirectly connected to the second component through another component, or it may be directly connected to the second component.

[0112] The function for determining whether a tool is within or outside the surgical field provided by a camera or scope, and for rendering one or more indicators representing the position or orientation of one or more medical tools described herein, may be stored as one or more instructions on a processor-readable medium or computer-readable medium. The term "computer-readable medium" means any available medium that can be accessed by a computer or processor. Examples, but not limited to, such mediums may include random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory, compact disc read-only memory (CD-ROM), or other optical disc storage devices, magnetic disc storage devices, or other magnetic storage devices, or any other medium that can be used to store desired program code in the form of instructions or data structures and can be accessed by a computer. Computer-readable medium may be tangible and non-temporary. As used herein, the term "code" may refer to software, instructions, code, or data that can be executed by a computing device or processor.

[0113] The methods disclosed herein include one or more steps or actions for achieving the described method. The method steps and / or actions may be substituted for one another, as long as they do not deviate from the scope of the claims. In other words, the order and / or use of specific steps and / or actions may be modified without deviation from the scope of the claims, unless a specific sequence of steps or actions is required for the proper operation of the described method.

[0114] As used herein, the term “multiple” refers to two or more. For example, “multiple components” refers to two or more components. The term “determine” encompasses a wide variety of actions, and therefore “determine” can include calculating, computing, processing, deriving, investigating, looking up (e.g., referring to a table, database or another data structure), verifying, etc. “Determine” can also include receiving (e.g., receiving information), accessing (e.g., accessing data in memory), etc. “Determine” can also include resolving, selecting, electing, establishing, etc.

[0115] The phrase "based on" does not mean "based solely on" unless explicitly specified otherwise. In other words, the phrase "based on" describes both "based solely on" and "based at least on."

[0116] As used herein, the term “exemplary” means “serving as an example, case, or illustration,” and does not necessarily imply any preference or superiority of the example over any other configuration or implementation.

[0117] As used herein, the term "and / or" encompasses any combination of the enumerated elements. For example, "A, B, and / or C" includes the following sets of elements: A only, B only, C only, A and B without C, A and C without B, B and C without A, and combinations of all three elements: A, B, and C.

[0118] The foregoing description of the disclosed embodiments is provided to enable any person skilled in the art to manufacture or use the disclosure. Various modifications to these embodiments will be readily apparent to a person skilled in the art, and the general principles defined herein may be applied to other embodiments without departing from the scope of the disclosure. For example, a person skilled in the art will understand that many corresponding alternative and equivalent structural details can be employed, such as fastening, fitting, joining, or engaging tool components in a similar manner, mechanisms equivalent to those that produce specific operating motions, and mechanisms equivalent to those that deliver electrical energy. Thus, the disclosure is not intended to be limited to the embodiments shown herein, but rather to provide the broadest scope that is consistent with the principles and novel features disclosed herein.

[0119] [Implementation Method] (1) A surgical robot, An end effector driven by multiple joints located along the first robotic arm of the surgical robot, A processor that is communicatively coupled to the first robot arm, wherein the processor is When the first robot arm is actively moving, a first torque limit is applied to at least one of the plurality of joints, A surgical robot comprising a processor configured to apply a second torque limit to at least one of the plurality of joints when the first robot arm is stationary, wherein the second torque limit is different from the first torque limit. (2) The processor is configured to estimate the expected torque that can be generated by the plurality of joints to satisfy the control input applied to the first robot arm, the expected torque being based on a predetermined dynamic model of the robot arm, according to Embodiment 1 of the surgical robot. (3) The surgical robot according to Embodiment 1, wherein the processor is configured to determine when the first robot arm is actively moving and when the first robot arm is in the stationary state. (4) A surgical robot, An end effector driven by multiple joints of the first robotic arm of the surgical robot, A processor that is communicatively coupled to the first robot arm, wherein the processor is Estimating the expected torque that can be generated by the plurality of joints to satisfy the control input applied to the first robot arm, wherein the expected torque is based on a predetermined dynamic model of the first robot arm. A surgical robot comprising a processor configured to apply a torque limit greater than the predicted torque to at least one of the plurality of joints based on the predicted torque. (5) The surgical robot according to Embodiment 2 or 4, wherein the predicted torque includes an estimated predicted tissue load applied to the first robotic arm during the performance of a clinical task.

[0120] (6) The surgical robot according to any embodiment 2, 4, or 5, wherein the predicted torque includes the sum of multiple torques required to overcome the gravitational load applied to the first robot arm, the frictional load applied to the plurality of joints, and the dynamic load resulting from the movement of one or more joints of the first robot arm. (7) The surgical robot according to any one embodiment 2 or 4 to 6, wherein the predicted torque includes an estimate of the model error caused by the predetermined dynamic model on which the predicted torque is based. (8) The surgical robot according to any one embodiment 2 or 4 to 7, wherein the predicted torque includes an external interference parameter corresponding to an estimated drag force applied to the first robot arm by an object outside the first robot arm. (9) The surgical robot according to any one embodiment of 2 or 4 to 8, wherein the predicted torque includes an initial predicted torque, and the processor is configured to determine a final predicted torque limited between an upper limit and a lower limit less than the upper limit. (10) The upper limit includes the sum of the initial expected torque and an external interference parameter corresponding to the estimated drag force applied to the first robot arm by an object outside the first robot arm, and the lower limit includes the difference between the initial expected torque and the external interference parameter. Or, The surgical robot according to Embodiment 9, wherein the upper limit includes the sum of the initial expected torque, an external interference parameter corresponding to an estimated drag force applied to the first robot arm by an external object, and an estimate of the model error caused by the predetermined dynamic model on which the expected torque is based, and the lower limit includes the difference between the initial expected torque and the sum of the external interference parameter and the model error.

[0121] (11) A surgical robot, A first end effector driven by a plurality of first joints of the first robotic arm of the surgical robot, A second end effector driven by a plurality of second joints of the second robotic arm of the surgical robot, A processor that is communicatively coupled to the first robot arm and the second robot arm, wherein the processor In response to the processor determining that the first robot arm and / or the second robot arm are actively moving, a first torque limit is applied to at least one of the plurality of first joints and / or at least one of the plurality of second joints, A surgical robot comprising a processor configured to apply a second torque limit to at least one of the plurality of first joints and / or at least one of the plurality of second joints in response to the processor determining that the first robot arm and / or the second robot arm are in a stationary state, wherein the second torque limit is different from the first torque limit. (12) The surgical robot according to any one of embodiments 1 to 3 or 11, wherein the first torque limit corresponds to the maximum allowable force that can be applied by either the first robot arm or the second robot arm to an object outside the respective first robot arm or the second robot arm. (13) The surgical robot according to any one of embodiments 1 to 3, 11, or 12, wherein the processor is configured to determine the first torque limit using a dynamic model of at least one of the first robot arm and the second robot arm. (14) The surgical robot according to any one of embodiments 1 to 3 or 11 to 13, wherein the first robot arm and the second robot arm are held stationary with respect to a support structure that physically supports the first robot arm and the second robot arm when they are in the stationary state. (15) The surgical robot according to any one of embodiments 1 to 3 or 11 to 14, wherein the second torque limit is greater than the first torque limit.

Claims

1. It is a surgical robot, An end effector driven by a plurality of joints located along the first robotic arm of the surgical robot, A processor that is communicatively coupled to the first robot arm, wherein the processor is When the first robot arm is actively moving, a first torque limit is applied to at least one of the plurality of joints, A surgical robot comprising a processor configured to apply a second torque limit to at least one of the plurality of joints when the first robot arm is stationary, wherein the second torque limit is different from the first torque limit.

2. The surgical robot according to claim 1, wherein the processor is configured to estimate the expected torque that can be generated by the plurality of joints to satisfy a control input applied to the first robot arm, the expected torque being based on a predetermined dynamic model of the robot arm.

3. The surgical robot according to claim 1, wherein the processor is configured to determine when the first robot arm is actively moving and when the first robot arm is in the stationary state.

4. It is a surgical robot, An end effector driven by multiple joints of the first robotic arm of the surgical robot, A processor that is communicatively coupled to the first robot arm, wherein the processor is Estimating the expected torque that can be generated by the plurality of joints to satisfy the control input applied to the first robot arm, wherein the expected torque is based on a predetermined dynamic model of the first robot arm. A surgical robot comprising a processor configured to apply a torque limit greater than the predicted torque to at least one of the plurality of joints based on the predicted torque.

5. The surgical robot according to claim 2 or 4, wherein the predicted torque includes an estimated predicted tissue load applied to the first robotic arm during the performance of a clinical task.

6. The surgical robot according to claim 2 or 4, wherein the predicted torque includes the sum of multiple torques required to overcome the gravitational load applied to the first robot arm, the frictional load applied to the plurality of joints, and the dynamic load resulting from the movement of one or more joints of the first robot arm.

7. The surgical robot according to claim 2 or 4, wherein the predicted torque includes an estimate of the model error caused by the predetermined dynamic model on which the predicted torque is based.

8. The surgical robot according to claim 2 or 4, wherein the predicted torque includes an external interference parameter corresponding to an estimated drag force applied to the first robot arm by an object outside the first robot arm.

9. The surgical robot according to claim 2 or 4, wherein the predicted torque includes an initial predicted torque, and the processor is configured to determine a final predicted torque limited between an upper limit and a lower limit less than the upper limit.

10. The upper limit includes the sum of the initial expected torque and an external interference parameter corresponding to the estimated drag force applied to the first robot arm by an object outside the first robot arm, and the lower limit includes the difference between the initial expected torque and the external interference parameter. Or, The surgical robot according to claim 9, wherein the upper limit includes the sum of the initial expected torque, an external interference parameter corresponding to an estimated drag force applied to the first robot arm by an external object, and an estimate of the model error caused by the predetermined dynamic model on which the expected torque is based, and the lower limit includes the difference between the initial expected torque and the sum of the external interference parameter and the model error.

11. It is a surgical robot, A first end effector driven by a plurality of first joints of the first robotic arm of the surgical robot, A second end effector driven by a plurality of second joints of the second robotic arm of the surgical robot, A processor that is communicatively coupled to the first robot arm and the second robot arm, wherein the processor In response to the processor determining that the first robot arm and / or the second robot arm are actively moving, a first torque limit is applied to at least one of the plurality of first joints and / or at least one of the plurality of second joints, A surgical robot comprising a processor configured to apply a second torque limit to at least one of the plurality of first joints and / or at least one of the plurality of second joints in response to the processor determining that the first robot arm and / or the second robot arm are in a stationary state, wherein the second torque limit is different from the first torque limit.

12. The surgical robot according to any one of claims 1 to 3 or 11, wherein the first torque limit corresponds to the maximum allowable force that can be applied by either the first robot arm or the second robot arm to an object outside the respective first robot arm or the second robot arm.

13. The surgical robot according to any one of claims 1 to 3 or 11, wherein the processor is configured to determine the first torque limit using a dynamic model of at least one of the first robot arm and the second robot arm.

14. The surgical robot according to any one of claims 1 to 3 or 11, wherein the first robot arm and the second robot arm are held stationary with respect to a support structure that physically supports the first robot arm and the second robot arm when they are in the stationary state.

15. The surgical robot according to any one of claims 1 to 3 or 11, wherein the second torque limit is greater than the first torque limit.

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