Surgical robotic system for real-time user feedback instrument alignment

Abstract

A surgical robotic system provides real-time feedback to users regarding the alignment between a surgical instrument's end effector and a control input device. The system includes a robotic arm with an instrument with an end effector that has multiple degrees of freedom, such as pitch, roll, yaw, and jaw angle, and a control input device that has multiple degrees of freedom that correspond to the degrees of freedom of the end effector. The system determines the orientation of both the end effector and the control input device and calculates any misalignment between them. A feedback indicator, which may be visual, auditory, or haptic, informs the user of the degree of misalignment. This feedback assists in training and clinical applications by enhancing the predictability of instrument movements and ensuring accurate alignment during surgical procedures.

Description

Attorney Docket No.: A0012113W001SURGICAL ROBOTIC SYSTEM AND METHOD FOR REAL-TIME USER FEEDBACK INSTRUMENT ALIGNMENTCROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63 / 703,492, filed October 4, 2024, the entire content of which is incorporated herein by reference.BACKGROUND

[0002] Surgical robotic systems are currently being used in a variety of surgical procedures, including laparoscopic and endoluminal minimally invasive procedures. Laparoscopic surgical robotic systems include a surgeon console for controlling a surgical robotic arm and a surgical instrument having an end effector (e.g., forceps or grasping instrument coupled to and actuated by the robotic arm). In operation, the robotic arm is moved to a position over a patient and then guides the surgical instrument into a small incision via a surgical port to position the end effector at a work site within the patient’s body. The robotic arm and the instrument are actuated using motors, which may be controlled using various parameters. Such instruments generally have rigid shafts with optionally articulating end effectors. As a result of mechanical constraints, positioning the instruments within the patient may be accomplished by moving one or more links of the arm. Users of surgical robotic systems may struggle to understand instrument orientation alignment. Misunderstanding or lack of knowledge on the part of the user of orientation alignment can lead to unexpected system behavior.

[0003] In a surgical robotic system, the input controller is designed to mimic or represent the degrees of freedom of the robotic instrument. These include movements like pitch, yaw, roll, and others specific to how the surgical tool is actuated. Alignment, in this context, means that the movement and orientation of an input device, e.g., joystick, handle controller, etc. should correspond to the movement and orientation of the instrument. Misalignment occurs when there is a disconnect between the orientation of the tool and the corresponding input from the surgeon’s input controller.

[0004] Thus, being “aligned” means that when the surgeon moves the input controller in a particular way, the instrument inside the patient’s body moves in the expected corresponding way. Conversely, being “misaligned” would occur if the instrument does not reflect the movement or orientation of the input controller accurately — this could lead to unexpected behavior, such as the instrument moving in a direction or manner different from what the surgeon intends.Attorney Docket No.: A0012113W001

[0005] The difficulty users face comes from the fact that during complex surgical procedures, the robot’s tool can become spatially misaligned with the surgeon’s hand movements, especially due to factors such as the surgical space constraints, tool articulation, or camera angles. Misalignment makes it harder for the user to predict how the tool will behave in response to the input, potentially compromising precision and control during surgery.

[0006] Misunderstanding or lack of knowledge regarding instrument orientation alignment in surgical robotic systems can result in unexpected system behavior, leading to several potential issues during surgery. For instance, a surgeon might intend to adjust the pitch of the surgical instrument for a precise task, such as dissecting tissue. However, if there is a misalignment between the controller and the instrument, the robotic arm could perform an unintended roll, causing the tool to rotate unexpectedly and potentially leading to imprecise tool placement or damage to nearby tissue. This lack of control is particularly problematic when navigating around critical anatomical structures like blood vessels or nerves, as an incorrect movement could result in serious complications.

[0007] Furthermore, without adequate feedback, the surgeon may not immediately recognize that the instrument is misaligned, which could delay corrective action and prolong the procedure. This not only affects the efficiency of the surgery but also increases the risk of unintended movements as the surgeon attempts to realign the instrument. For complex surgical tasks, such as suturing or stapling, there is a need for precise coordination of movements. Misalignment can lead to an unintended twist or inaccurate placement of a suture or staple, potentially compromising the success of the repair. Thus, there is a need to maintain proper instrument alignment and for providing real-time feedback to alert the user to any misalignment, ensuring that the surgical procedure is both safe and efficient.SUMMARY

[0008] The present disclosure provides a real-time visual, auditory, and / or haptic feedback to alert surgeons to the status and magnitude of orientation misalignment between an instrument and an input (e.g., handle) controller.

[0009] According to one embodiment of the present disclosure, a surgical robotic system is disclosed. The surgical robotic system includes a robotic arm coupled to an instrument having an end effector with a first plurality of degrees of freedom. The system also includes an input device for receiving user input for actuating the end effector. The input device has a second plurality of degrees of freedom corresponding to the first plurality of degrees of freedom. The system further includes one or more processors, each configured to perform one or more of theAttorney Docket No.: A0012113W001 following: determine orientation of the end effector and orientation of the input device, determine a degree of misalignment between the orientation of the end effector and the orientation of the input device, and output a feedback indicator indicating the degree of misalignment between each degree of freedom of the first plurality of degrees of freedom of the end effector and the second plurality of degrees of freedom of the input device.

[0010] Implementations of the above embodiment may include one or more of the following features. According to one aspect of the above embodiment, the end effector may be a wristed jaw instrument and the first plurality of degrees of freedom may include pitch, roll, yaw, and jaw angle. The input device may be a handle controller, which may include a gimbal assembly. The surgical robotic system may also include a screen configured to output a graphical user interface having the feedback indicator. The feedback indicator may include a first alignment shape representing target alignment and a second alignment shape representing the orientation of the end effector. Alignment of the orientation of the end effector and the orientation of the input device may be displayed by overlapping the first and second alignment shapes. Misalignment of the orientation of the end effector and the orientation of the input device may be displayed by misalignment of the first and second alignment shapes. The displayed misalignment of the first and second alignment shapes may include a plurality of elements each of which represents a misalignment in a degree of freedom of the first plurality of degrees of freedom of the end effector and the second plurality of degrees of freedom of the input device. The plurality of elements may include a rotational misalignment element, a size misalignment element, a horizontal misalignment element, and a vertical misalignment element. The surgical robotic system may include a sound output device configured to output a plurality of tones. The feedback indicator may include the plurality of tones each of which represents a misalignment in a degree of freedom of the first plurality of degrees of freedom of the end effector and the second plurality of degrees of freedom of the input device. Each tone of the plurality of tones may have a unique sound frequency. Amplitude of each tone of the plurality of tones may be adjusted based on the degree of misalignment. The plurality of tones may be output simultaneously. Each tone of the plurality of tones may be silenced when the orientation of the end effector and the orientation of the input device are aligned.

[0011] According to another embodiment of the present disclosure, a method for providing real-time user feedback instrument alignment in a surgical robotic system is disclosed. The method includes receiving user input at an input device for actuating an end effector of an instrument coupled to a robotic arm. The end effector has a first plurality of degrees of freedom which may include pitch, roll, yaw, and jaw angle and the input device has a second pluralityAttorney Docket No.: A0012113W001 of degrees of freedom corresponding to the first plurality of degrees of freedom. The method includes determining orientation of the end effector and orientation of the input device. The method may further include determining a degree of misalignment between the orientation of the end effector and the orientation of the input device. The method may also include outputting a feedback indicator indicating the degree of misalignment between each degree of freedom of the first plurality of degrees of freedom of the end effector and each corresponding degree of freedom of the second plurality of degrees of freedom of the input device.

[0012] Implementations of the above embodiment may include one or more of the following features. According to one aspect of the above embodiment, the method may include outputting on a screen of a graphical user interface a first alignment shape representing a target alignment based on orientation of the input device and a second alignment shape representing the orientation of the end effector. The method may include displaying alignment of the orientation of the end effector and the orientation of the input device by overlapping the first and second alignment shapes. Any displayed misalignment of the first and second alignment shapes may include a plurality of elements each of which represents to a misalignment in a degree of freedom of the first plurality of degrees of freedom of the end effector and the corresponding degree of freedom of the second plurality of degrees of freedom of the input device. The feedback indicator may include the plurality of tones each of which represents a misalignment in a degree of freedom of the first plurality of degrees of freedom of the end effector and the corresponding degree of freedom of the second plurality of degrees of freedom of the input device.BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Various embodiments of the present disclosure are described herein with reference to the drawings wherein:

[0014] FIG. 1 is a perspective view of a surgical robotic system including a control tower, a console, and one or more surgical robotic arms each disposed on a mobile cart according to an embodiment of the present disclosure;

[0015] FIG. 2 is a perspective view of a surgical robotic arm of the surgical robotic system of FIG. 1 according to an embodiment of the present disclosure;

[0016] FIG. 3 is a perspective view of a mobile cart having a setup arm with the surgical robotic arm of the surgical robotic system of FIG. 1 according to an embodiment of the present disclosure;Attorney Docket No.: A0012113W001

[0017] FIG. 4 is a schematic diagram of a computer architecture of the surgical robotic system of FIG. 1 according to an embodiment of the present disclosure;

[0018] FIG. 5 is a plan schematic view of the surgical robotic system of FIG. 1 positioned about a surgical table according to an embodiment of the present disclosure;

[0019] FIG. 6 is a schematic diagram of a system for determining phases of a surgical procedure according to an embodiment of the present disclosure;

[0020] FIG. 7 is a perspective view of a control input device (CID) according to one embodiment of the present disclosure;

[0021] FIG. 8A is a schematic diagram illustrating translation and orientation alignment between a tool center point (TCP) of an instrument end effector and the CID in the surgeon’s frame of reference according to one embodiment of the present disclosure;

[0022] FIG. 8B is a schematic diagram illustrating translation and orientation misalignment between the TCP of an instrument end effector and the CID in the surgeon’s frame of reference according to one embodiment of the present disclosure;

[0023] FIG. 9 is a schematic diagram of a realignment algorithm for aligning translation and orientation between the TCP and the CID according to one embodiment of the present disclosure;

[0024] FIG. 10 is a flow chart of a method for providing feedback to the user based on the alignment performed by the realignment algorithm according to one embodiment of the present disclosure;

[0025] FIG. 11 is a visual alignment indicator according to one embodiment of the present disclosure;

[0026] FIG. 12 is a visual alignment indicator according to another embodiment of the present disclosure; and

[0027] FIG. 13 is a table illustrating various embodiments of visual alignment indicator of FIGS. 11 and 12; and

[0028] FIG. 14 is a table illustrating combinations of audio alignment indicators according to one embodiment of the present disclosure.DETAILED DESCRIPTION

[0029] Embodiments of the presently disclosed surgical robotic system are described in detail with reference to the drawings, in which like reference numerals designate identical or corresponding elements in each of the several views. As used herein the term “coupled to”Attorney Docket No.: A0012113W001 denotes a connection between components, which may be direct or indirect (i.e., through one or more components) and may be electronic, electrical, mechanical, or combinations thereof.

[0030] With reference to FIG. 1, a surgical robotic system 10 includes a control tower 20, which is connected to all the components of the surgical robotic system 10 including a surgeon console 30 and one or more mobile carts 60. Each of the mobile carts 60 includes a robotic arm 40 having a surgical instrument 50 removably coupled thereto. The robotic arms 40 also couple to the mobile carts 60. The robotic system 10 may include any number of mobile carts 60 and / or robotic arms 40.

[0031] The surgical instrument 50 is configured for use during minimally invasive surgical procedures. In embodiments, the surgical instrument 50 may be configured for open surgical procedures. In further embodiments, the surgical instrument 50 may be an electrosurgical or ultrasonic instrument, such as a forceps configured to seal tissue by compressing tissue between jaw members and applying electrosurgical current or ultrasonic vibrations via an ultrasonic transducer to the tissue. In yet further embodiments, the surgical instrument 50 may be a surgical stapler including a pair of jaws configured to grasp and clamp tissue while deploying a plurality of tissue fasteners, e.g., staples, and cutting stapled tissue. In yet further embodiments, the surgical instrument 50 may be a surgical clip applier including a pair of jaws configured apply a surgical clip onto tissue. The system also includes an electrosurgical generator configured to output electrosurgical (e.g., monopolar or bipolar) or ultrasonic energy in a variety of operating modes, such as coagulation, cutting, sealing, etc. Suitable generators include a Valleylab™ FT10 Energy Platform available from Medtronic of Minneapolis, MN.

[0032] One of the robotic arms 40 may include a laparoscopic camera 51 configured to capture video of the surgical site. The laparoscopic camera 51 may be a stereoscopic camera configured to capture two side-by-side (i.e., left and right) images of the surgical site to produce a video stream of the surgical scene. The laparoscopic camera 51 is coupled to an image processing device 56, which may be disposed within the control tower 20. The image processing device 56 may be any computing device configured to receive the video feed from the laparoscopic camera 51 and output the processed video stream.

[0033] The surgeon console 30 includes a first, i.e., surgeon, screen 32, which displays a video feed of the surgical site provided by camera 51 of the surgical instrument 50 disposed on the robotic arm 40, and a second screen 34, which displays a user interface for controlling the surgical robotic system 10. The first screen 32 and second screen 34 may be touchscreens allowing for displaying various graphical user inputs. The first screen 32 may be a 3D screen.Attorney Docket No.: A0012113W001

[0034] The surgeon console 30 also includes a plurality of user interface devices, such as foot pedals 36 and a pair of control input devices 38a and 38b which are used by a user to remotely control robotic arms 40. The surgeon console further includes an armrest 33 used to support clinician’s arms while operating the control input devices 38a and 38b.

[0035] The control tower 20 includes a screen 23, which may be a touchscreen, and outputs on the graphical user interfaces (GUIs). The control tower 20 also acts as an interface between the surgeon console 30 and one or more robotic arms 40. In particular, the control tower 20 is configured to control the robotic arms 40, such as to move the robotic arms 40 and the corresponding surgical instrument 50, based on a set of programmable instructions and / or input commands from the surgeon console 30, in such a way that robotic arms 40 and the surgical instrument 50 execute a desired movement sequence in response to input from the foot pedals 36 and the control input devices 38a and 38b. The foot pedals 36 may be used to enable and lock the control input devices 38a and 38b, repositioning camera movement and electrosurgical activation / deactivation. In particular, the foot pedals 36 may be used to perform a clutching action on the control input devices 38a and 38b. Clutching is initiated by pressing one of the foot pedals 36, which disconnects (i.e., prevents movement inputs) the control input devices 38a and / or 38b from the robotic arm 40 and corresponding instrument 50 or camera 51 attached thereto. This allows the user to reposition the control input devices 38a and 38b without moving the robotic arm(s) 40 and the instrument 50 and / or camera 51. This is useful when reaching control boundaries of the surgical space.

[0036] Each of the control tower 20, the surgeon console 30, and the robotic arm 40 includes a respective computer 21, 31, 41. The computers 21, 31, 41 are interconnected to each other using any suitable communication network based on wired or wireless communication protocols. The term “network,” whether plural or singular, as used herein, denotes a data network, including, but not limited to, the Internet, Intranet, a wide area network, or a local area network, and without limitation as to the full scope of the definition of communication networks as encompassed by the present disclosure. Suitable protocols include, but are not limited to, transmission control protocol / internet protocol, datagram protocol / internet protocol, and / or datagram congestion control protocol. Wireless communication may be achieved via one or more wireless configurations, e.g., radio frequency, optical, Wi-Fi, Bluetooth (an open wireless protocol for exchanging data over short distances, using short length radio waves, from fixed and mobile devices, creating personal area networks (PANs), ZigBee® (a specification for a suite of high level communication protocols using small, low-power digitalAttorney Docket No.: A0012113W001 radios based on the IEEE 122.15.4-1203 standard for wireless personal area networks (WPANs)).

[0037] The computers 21, 31, 41 may include any suitable processor (not shown) operably connected to a memory (not shown), which may include one or more of volatile, non-volatile, magnetic, optical, or electrical media, such as read-only memory (ROM), random access memory (RAM), electrically erasable programmable ROM (EEPROM), non-volatile RAM (NVRAM), or flash memory. The processor may be any suitable processor (e.g., control circuit) adapted to perform the operations, calculations, and / or set of instructions described in the present disclosure including, but not limited to, a hardware processor, a field programmable gate array (FPGA), a digital signal processor (DSP), a central processing unit (CPU), a microprocessor, and combinations thereof. Those skilled in the art will appreciate that the processor may be substituted for by using any logic processor (e.g., control circuit) adapted to execute algorithms, calculations, and / or set of instructions described herein.

[0038] With reference to FIG. 2, each of the robotic arms 40 may include a plurality of links 42a, 42b, 42c, which are interconnected at joints 44a, 44b, 44c, respectively. Other configurations of links and joints may be utilized as known by those skilled in the art. The joint 44a is configured to secure the robotic arm 40 to the mobile cart 60 and defines a first longitudinal axis. With reference to FIG. 3, the mobile cart 60 includes a lift 67 and a setup arm 61, which provides a base for mounting the robotic arm 40. The lift 67 allows for vertical movement of the setup arm 61. The mobile cart 60 also includes a screen 69 for displaying information pertaining to the robotic arm 40. In embodiments, the robotic arm 40 may include any type and / or number of joints.

[0039] The setup arm 61 includes a first link 62a, a second link 62b, and a third link 62c, which provide for lateral maneuverability of the robotic arm 40. The links 62a, 62b, 62c are interconnected at joints 63a and 63b, each of which may include an actuator (not shown) for rotating the links 62b and 62b relative to each other and the link 62c. In particular, the links 62a, 62b, 62c are movable in their corresponding lateral planes that are parallel to each other, thereby allowing for extension of the robotic arm 40 relative to the patient (e.g., surgical table). In embodiments, the robotic arm 40 may be coupled to the surgical table (not shown). The setup arm 61 includes controls 65 for adjusting movement of the links 62a, 62b, 62c as well as the lift 67. In embodiments, the setup arm 61 may include any type and / or number of joints.

[0040] The third link 62c may include a rotatable base 64 having two degrees of freedom. In particular, the rotatable base 64 includes a first actuator 64a and a second actuator 64b. The first actuator 64a is rotatable about a first stationary arm axis which is perpendicular to a planeAttorney Docket No.: A0012113W001 defined by the third link 62c and the second actuator 64b is rotatable about a second stationary arm axis which is transverse to the first stationary arm axis. The first and second actuators 64a and 64b allow for full three-dimensional orientation of the robotic arm 40.

[0041] The actuator 48b of the joint 44b is coupled to the joint 44c via the belt 45a, and the joint 44c is in turn coupled to the joint 46b via the belt 45b. Joint 44c may include a transfer case coupling the belts 45a and 45b, such that the actuator 48b is configured to rotate each of the links 42b, 42c and a holder 46 relative to each other. More specifically, links 42b, 42c, and the holder 46 are passively coupled to the actuator 48b which enforces rotation about a pivot point “P” which lies at an intersection of the first axis defined by the link 42a and the second axis defined by the holder 46. In other words, the pivot point “P” is a remote center of motion (RCM) for the robotic arm 40. Thus, the actuator 48b controls the angle 9 between the first and second axes allowing for orientation of the surgical instrument 50. Due to the interlinking of the links 42a, 42b, 42c, and the holder 46 via the belts 45a and 45b, the angles between the links 42a, 42b, 42c, and the holder 46 are also adjusted to achieve the desired angle 9. In embodiments, some or all of the joints 44a, 44b, 44c may include an actuator to obviate the need for mechanical linkages.

[0042] The joints 44a and 44b include an actuator 48a and 48b configured to drive the joints 44a, 44b, 44c relative to each other through a series of belts 45a and 45b or other mechanical linkages such as a drive rod, a cable, or a lever and the like. In particular, the actuator 48a is configured to rotate the robotic arm 40 about a longitudinal axis defined by the link 42a.

[0043] With reference to FIG. 2, the holder 46 defines a second longitudinal axis and configured to receive an instrument drive unit (IDU) 52 (FIG. 1). The IDU 52 is configured to couple to an actuation mechanism of the surgical instrument 50 and the camera 51 and is configured to move (e.g., rotate) and actuate the instrument 50 and / or the camera 51. IDU 52 transfers actuation forces from its actuators to the surgical instrument 50 to actuate components an end effector 49 of the surgical instrument 50. The holder 46 includes a sliding mechanism 46a, which is configured to move the IDU 52 along the second longitudinal axis defined by the holder 46. The holder 46 also includes a joint 46b, which rotates the holder 46 relative to the link 42c. During laparoscopic procedures, the instrument 50 may be inserted through a laparoscopic access port 55 (FIG. 3) held by the holder 46. The holder 46 also includes a port latch 46c for securing the access port 55 to the holder 46 (FIG. 2).

[0044] The robotic arm 40 also includes a plurality of manual override buttons 53 (FIG. 1) disposed on the IDU 52 and the setup arm 61, which may be used in a manual mode. The user may press one or more of the buttons 53 to move the component associated with the button 53.Attorney Docket No.: A0012113W001

[0045] With reference to FIG. 4, each of the computers 21, 31, 41 of the surgical robotic system 10 may include a plurality of controllers, which may be embodied in hardware and / or software. The computer 21 of the control tower 20 includes a controller 21a and safety observer 21b. The controller 21a receives data from the computer 31 of the surgeon console 30 about the current position and / or orientation of the control input devices 38a and 38b and the state of the foot pedals 36 and other buttons. The controller 21a processes these input positions to determine desired drive commands for each joint of the robotic arm 40 and / or the IDU 52 and communicates these to the computer 41 of the robotic arm 40. The controller 21a also receives the actual joint angles measured by encoders of the actuators 48a and 48b and uses this information to determine force feedback commands that are transmitted back to the computer 31 of the surgeon console 30 to provide haptic feedback through the control input devices 38a and 38b. The safety observer 21b performs validity checks on the data going into and out of the controller 21a and notifies a system fault handler if errors in the data transmission are detected to place the computer 21 and / or the surgical robotic system 10 into a safe state.

[0046] The controller 21a is coupled to a storage 22a, which may be non-transitory computer- readable medium configured to store any suitable computer data, such as software instructions executable by the controller 21a. The controller 21a also includes transitory memory 22b for loading instructions and other computer readable data during execution of the instructions. In embodiments, other controllers of the system 10 include similar configurations.

[0047] The computer 41 includes a plurality of controllers, namely, a main cart controller 41a, a setup arm controller 41b, a robotic arm controller 41c, and an instrument drive unit (IDU) controller 4 Id. The main cart controller 41a receives and processes joint commands from the controller 21a of the computer 21 and communicates them to the setup arm controller 41b, the robotic arm controller 41c, and the IDU controller 4 Id. The main cart controller 41a also manages instrument exchanges and the overall state of the mobile cart 60, the robotic arm 40, and the IDU 52. The main cart controller 41a also communicates actual joint angles back to the controller 21a.

[0048] Each of joints 63 a and 63b and the rotatable base 64 of the setup arm 61 are passive joints (i.e., no actuators are present therein) allowing for manual adjustment thereof by a user. The joints 63a and 63b and the rotatable base 64 include brakes that are disengaged by the user to configure the setup arm 61. The setup arm controller 41b monitors slippage of each of joints 63 a and 63b and the rotatable base 64 of the setup arm 61, when brakes are engaged or can be freely moved by the operator when brakes are disengaged, but do not impact controls of other joints. The robotic arm controller 41c controls each joint 44a and 44b of the robotic arm 40 andAttorney Docket No.: A0012113W001 calculates desired motor torques required for gravity compensation, friction compensation, and closed loop position control of the robotic arm 40. The robotic arm controller 41c calculates a movement command based on the calculated torque. The calculated motor commands are then communicated to one or more of the actuators 48a and 48b in the robotic arm 40. The actual joint positions are then transmitted by the actuators 48a and 48b back to the robotic arm controller 41c.

[0049] The IDU controller 41d receives desired joint angles for the surgical instrument 50, such as wrist and jaw angles, and computes desired currents for the motors in the IDU 52. The IDU controller 41d calculates actual angles based on the motor positions and transmits the actual angles back to the main cart controller 41a.

[0050] The robotic arm 40 is controlled in response to a pose of the input controller controlling the robotic arm 40, e.g., the input controller 38a, which is transformed into a desired pose of the robotic arm 40 through a hand eye transform function executed by the controller 21a. The hand eye function, as well as other functions described herein, is / are embodied in software executable by the controller 21a or any other suitable controller described herein. The pose of one of the input controllers 38a may be embodied as a coordinate position and roll-pitch-yaw (RPY) orientation relative to a coordinate reference frame, which is fixed to the surgeon console 30. The desired pose of the instrument 50 is relative to a fixed frame on the robotic arm 40. The pose of the input controller 38a is then scaled by a scaling function executed by the controller 21a. In embodiments, the coordinate position may be scaled down and the orientation may be scaled up by the scaling function. In addition, the controller 21a may also execute a clutching function, which disengages the input controller 38a from the robotic arm 40. In particular, the controller 21a stops transmitting movement commands from the input controller 38a to the robotic arm 40 if certain movement limits or other thresholds are exceeded and in essence acts like a virtual clutch mechanism, e.g., limits mechanical input from effecting mechanical output.

[0051] The desired pose of the robotic arm 40 is based on the pose of the input controller 38a and is then passed by an inverse kinematics function executed by the controller 21a. The inverse kinematics function calculates angles for the joints 44a, 44b, 44c of the robotic arm 40 that achieve the scaled and adjusted pose input by the input controller 38a. The desired angles are then passed to the robotic arm controller 41c, which includes a joint axis controller having a proportional-derivative (PD) controller, the friction estimator module, the gravity compensator module, and a two-sided saturation block, which is configured to limit the commanded torque of the motors of the joints 44a, 44b, 44c. In aspects, input controller 38aAttorney Docket No.: A0012113W001 may be substituted for and / or employed in conjunction with input controller 38b. While reference is made above to input controller 38a, input controller 38b may also be used in a similar manner.

[0052] With reference to FIG. 5, the surgical robotic system 10 is set up around a surgical table 90. The system 10 includes mobile carts 60a-d, which may be numbered “1” through “4.” During setup, each of the carts 60a-d are positioned around the surgical table 90. Position and orientation of the carts 60a-d depends on a plurality of factors, such as placement of a plurality of access ports 55a-d, which in turn, depends on the surgery being performed. Once the port placement is determined, the access ports 55a-d are inserted into the patient, and carts 60a-d are positioned to insert instruments 50 and the laparoscopic camera 51 into corresponding ports 55a-d.

[0053] During use, each of the robotic arms 40a-d is attached to one of the access ports 55a-d that is inserted into the patient by attaching the latch 46c (FIG. 2) to the access port 55 (FIG. 3). The IDU 52 is attached to the holder 46, followed by the SIM 43 being attached to a distal portion of the IDU 52. Thereafter, the instrument 50 is attached to the SIM 43. The instrument 50 is then inserted through the access port 55 by moving the IDU 52 along the holder 46. The SIM 43 includes a plurality of drive shafts configured to transmit rotation of individual motors of the IDU 52 to the instrument 50 thereby actuating the instrument 50. In addition, the SIM 43 provides a sterile barrier between the instrument 50 and the other components of robotic arm 40, including the IDU 52. The SIM 43 is also configured to secure a sterile drape (not shown) to the IDU 52.

[0054] A surgical procedure may include multiple phases, and each phase may include one or more surgical actions. As used herein, the term “phase” represents a surgical event that is composed of a series of steps (e.g., closure). A “surgical action” may include an incision, a compression, a stapling, a clipping, a suturing, a cauterization, a sealing, or any other such actions performed to complete a phase in the surgical procedure. A “step” refers to the completion of a named surgical objective (e.g., hemostasis). During each step, certain surgical instruments 50 (e.g., forceps) are used to achieve a specific objective by performing one or more surgical actions.

[0055] With reference to FIG. 6, the surgical robotic system 10 may include a machine learning (ML) processing system 310 that processes the surgical data using one or more ML models to identify one or more features, such as surgical phase, instrument, anatomical structure, etc., in the surgical data. The ML processing system 310 includes a ML training system 325, which may be a separate device (e.g., server) that stores its output as one or more trained ML modelsAttorney Docket No.: A0012113W001330. The ML models 330 are accessible by a ML execution system 340. The ML execution system 340 may be separate from the ML training system 325, namely, devices that “train” the models are separate from devices that “infer,” i.e., perform real-time processing of surgical data using the trained ML models 330.

[0056] System 10 includes a data reception system 305 that collects surgical data, including the video data and surgical instrumentation data. The data reception system 305 can include one or more devices (e.g., one or more user devices and / or servers) located within and / or associated with a surgical operating room and / or control center. The data reception system 305 can receive surgical data in real-time, i.e., as the surgical procedure is being performed.

[0057] The ML processing system 310, in some examples, may further include a data generator 315 to generate simulated surgical data, such as a set of virtual images, or record the video data from the image processing device 56, to train the ML models 330 as well as other sources of data, e.g., user input, arm movement, etc. Data generator 315 can access (read / write) a data store 320 to record data, including multiple images and / or multiple videos.

[0058] The ML processing system 310 also includes a phase detector 350 that uses the ML models to identify a phase within the surgical procedure. Phase detector 350 uses a particular procedural tracking data structure 355 from a list of procedural tracking data structures. Phase detector 350 selects the procedural tracking data structure 355 based on the type of surgical procedure that is being performed. In one or more examples, the type of surgical procedure is predetermined or input by user. The procedural tracking data structure 355 identifies a set of potential phases that may correspond to a part of the specific type of surgical procedure.

[0059] In some examples, the procedural tracking data structure 355 may be a graph that includes a set of nodes and a set of edges, with each node corresponding to a potential phase. The edges may provide directional connections between nodes that indicate (via the direction) an expected order during which the phases will be encountered throughout an iteration of the surgical procedure. The procedural tracking data structure 355 may include one or more branching nodes that feed to multiple next nodes and / or may include one or more points of divergence and / or convergence between the nodes. In some instances, a phase indicates a procedural action (e.g., surgical action) that is being performed or has been performed and / or indicates a combination of actions that have been performed. In some instances, a phase relates to a biological state of a patient undergoing a surgical procedure. For example, the biological state may indicate a complication (e.g., blood clots, clogged arteries / veins, etc.), pre-condition (e.g., lesions, polyps, etc.). In some examples, the ML models 330 are trained to detect an “abnormal condition,” such as hemorrhaging, arrhythmias, blood vessel abnormality, etc.Attorney Docket No.: A0012113W001

[0060] The phase detector 350 outputs the phase prediction associated with a portion of the video data that is analyzed by the ML processing system 310. The phase prediction is associated with the portion of the video data by identifying a start time and an end time of the portion of the video that is analyzed by the ML execution system 340. The phase prediction that is output may include an identity of a surgical phase as detected by the phase detector 350 based on the output of the ML execution system 340. Further, the phase prediction, in one or more examples, may include identities of the structures (e.g., instrument, anatomy, etc.) that are identified by the ML execution system 340 in the portion of the video that is analyzed. The phase prediction may also include a confidence score of the prediction. Other examples may include various other types of information in the phase prediction that is output. The predicted phase may be used by the controller 21a to determine when to enable real-time user interface features for instrument alignment as described below.

[0061] Either one or both of the control input devices 38a and 38b may be used to control the instrument 50. FIG. 7 shows the left control input device 38a, which is a mirror copy of the right control input device 38a. The control input devices 38a and 38b may be used to control, i.e., move, activate, etc., a tool coupled to the IDU 52 of the robotic arms 40, such as the instrument 50 and the laparoscopic camera 51. Each of the control input devices 38a and 38b includes an input 70 and a paddle 72 that is pivotally coupled to the input 70 at one end (e.g., proximal) of the paddle 72.

[0062] The paddle 72 is configured to actuate a function of the instrument 50, e.g., open and close jaw members of the end effector 49. During use, the user applies a force to close the jaw members 120, 122 (FIGS. 8 A and 8B) from fully open to fully closed configuration. To maintain full jaw closure, the operator maintains force on the paddle 72 to ensure the jaw members 120, 122 are fully closed.

[0063] The paddle 72 may include a finger sensor (not shown) configured to detect presence or movement of a finger, such as touch sensors, capacitive sensors, optical sensors, and the like. In embodiments, the finger sensor may be disposed on any portion of the control input devices 38a and 38b. Each of the control input devices 38a and 38b may also include a trigger 74a and one or more buttons 74b for activating various functions of the instrument 50. In addition, each of the control input devices 38a and 38b may include a gimbal assembly 76 allowing for movement and rotation of the control input devices 38a and 38b in a coordinate system of the control input device 38a. The coordinate system is represented by a 3D axis symbol including the X-axis, Y-axis, Z-axis. The gimbal assembly includes a plurality of frames 78a, 78b, 78c interconnected by rotatable joints 77 between each of the frames 78a,Attorney Docket No.: A0012113W00178b, 78c, the input 70, and a support frame 79. The joints include encoders or other sensors suitable for measuring rotation, which are then used as input to control movement (e.g., pitch, roll, yaw, etc.) of the instrument 50.

[0064] In embodiments, the control input devices 38a and 38b may be any other directional input device, such as an analog joystick, a directional pad, a touchpad, trackball, mouse, and the like. The input controllers 38a and 38b may also include an infrared proximity sensor 80 configured to detect hand contact with a grip of the input controllers 38a and 38b. The controller 31a of the surgeon console 30 monitors operator interactions with the input controllers 38a and 38b and controls the instrument(s) 50 in response to operator inputs.

[0065] The paddle 72 is maintained, i.e., biased, in an open position by a feedback motor 82, which receives operator mechanical input as the motor 82 is back driven during closure of the paddle 72 toward the closed position. The motor 82 also provides force feedback to the paddle 72 by counteracting operator’s input as the motor 82 is forward driven. In addition, the motor 82 may also measures the force, angle relative to the handle 71, and / or velocity of the paddle 72 using torque and position sensors (not shown).

[0066] In addition, the controller 31a also monitors velocity of each joint of the gimbal assembly 76 as well as displacement of each of the joint of the gimbal assembly 76 and / or net displacement of the gimbal assembly 76. Details of the input controllers 38a and 38b are provided in U.S. Patent Application Publication No. 2020 / 0315729, titled “Control arm assemblies for robotic surgical systems”, the entire contents of which are incorporated by reference herein.

[0067] A feedback assembly 84 is disposed in the input device 38a to provide vibratory or haptic feedback to the operator. As shown, the feedback assembly 84 is configured to provide vibrational feedback at set frequencies and intervals to provide a sensation of touching. The feedback assembly 84 may include eccentric rotating mass (ERM) actuator, a linear resonant actuator (LRA), a piezoelectric actuator, or any other suitable tactile actuator configured to impart information to the operator through their sense of touch. Details of the haptic feedback mechanism are provided in U.S. Patent No. 10,517,686, titled “Haptic feedback controls for a robotic surgical system interface”, the entire contents of which are incorporated by reference herein.

[0068] With reference to FIGS. 8A and 8B, instrument 50 includes an end effector 200, which may include any number of degrees of freedom (DoF) allowing the end effector 200 to articulate, pivot, roll, etc. The end effector 200 may be any suitable surgical end effector configured to treat tissue, such as a dissector, grasper, sealer, stapler, etc. The end effector 200Attorney Docket No.: A0012113W001 may include a pair of opposing jaws 120 and 122 that are movable relative to each other. Although the jaws 120 and 122 are shown as gripping jaws, it should be understood that the jaws may be any suitable type of jaw, such as shears, etc. The end effector 200 may be actuated using a plurality of cables (not shown) actuated by respective motors of the IDU 52.

[0069] In certain embodiments the end effector 200 may have four degrees of freedom, azimuth (i.e., yaw), pitch, roll, and jaw angle. The end effector 200 may be articulated about the axis “A” (e.g., defined by a distal pivot pin) to control azimuth or a yaw angle of the end effector with respect to a longitudinal axis “X”. The jaws 120 and 122 are also configured to pivot about an axis “B” (e.g., defined by a proximal pivot pin) allowing for controlling a pitch angle of the end effector 200 as well as opening and closing the jaws 120 and 122. The end effector 200 may also be rotated about an axis “C” to adjust the roll of the end effector 200. The yaw, pitch, roll, and jaw angles between the jaws 120 and 122 as they are moved between open and closed positions are controlled by adjusting the tension and / or length and direction (e.g., proximal or distal) of the cables or any other suitable mechanism.

[0070] The pose of the input devices 38a and 38b may be embodied as a coordinate position and roll-pitch-yaw orientation relative to a coordinate reference frame, which is fixed to the surgeon console 30 (i.e., surgeon’s frame of reference). In FIGS. 8A and 8B, in the input device 38a the “A'” axis represents the azimuth or yaw control, the “B'” axis represents the pitch control, and the “C'” axis represents the roll control. The A', B', C' axes of the input device 38a correspond to the A, B, C axes of the end effector 200. This control scheme provides for intuitive hand-eye coordination where the directionality of surgeon movements in the surgeon’s frame of reference is matched by the directionality of instrument movements in the visualization of the surgical site. Hand-eye coordination applies to both translation and orientation movements. With respect to orientation, the system 10 seeks to match the orientation of the tool center point (TCP) of the end effector 200 to the input device(s) 38a and 38b in the surgeon’s frame of reference.

[0071] In FIG. 8A, the three rotational degrees of freedom of the TCP are aligned with the three degrees of freedom of the righthand input device 38a, which is shown for illustration only as the same control scheme is used for the lefthand input device 38b. In FIG. 8B the TCP orientation is misaligned with the orientation of the input device 38a. When a user commands control of the instrument 50, in certain situations the input device 38a may not be correctly oriented relative to the end effector 200. In this situation, the system 10 may execute a realignment algorithm to bring the input device 38b and TCP instrument 50 into alignment.Attorney Docket No.: A0012113W001The algorithm may be embodied as software instructions stored in memory and executed by one or more processors, e.g., controller 21a, computer 31.

[0072] The realignment algorithm selectively rewards or punishes movements by the surgeon to return the input device 38b and TCP instrument 50 to alignment. FIG. 9 illustrates the operation of the algorithm for the one-dimensional jaw actuation degree of freedom via the paddle 72 of the input device 38b. The same algorithm applies to all instrument TCP degrees of freedom: azimuth, pitch, roll, and jaw angle. In particular FIG. 9 illustrates various input movement commands 92 as a percent open ratio of the paddle 72 and commanded percent open ratio for the jaws 120 and 122 shown as commands 94. The actual movement commands 96 are generated based on the misalignment between the input commands 92 and the commands 94 based on the direction and degree of misalignment. Additional details on the realignment algorithm are provided in a U.S. Patent Application Publication No. 2024 / 0108427, titled “Surgical robotic system for realignment of wristed instruments”, the entire disclosure of which is incorporated by reference herein.

[0073] By selectively rewarding or punishing movements, the system 10 allows users to continue predictable command of instrument motions even when misaligned while simultaneously returning alignment. Once the instrument TCP and the gimbal assembly 76 of the input device 38b are realigned, the algorithm is deactivated. In other words, the realignment algorithm is activated only when a misalignment is detected.

[0074] The realignment algorithm adjustments are intended to be unnoticeable to users. However, in certain situations, e.g., where a large misalignment results in a significant realignment, the instrument 50 may not be as responsive to certain user commands during realignment. While for some surgeons, the realignment algorithm is not perceived or is easily ignored, for others, the responsiveness of the instrument movements as incorrect or unacceptable may be noticeable. Therefore, a visual, haptic, and / or auditory feedback indicator to inform users of the misalignment between TCP of the end effector 200 and the input device(s) 38a and 38b is a useful tool either for training or clinical purposes. The feedback indicator may be implemented in the system 10 to train users on the existence and consequences of misalignment. For clinical purposes, the feedback indicator may serve as a subtle reminder that instrument performance is altered relative to baseline and enabling surgeons to respond appropriately.

[0075] FIG. 10 shows a flow chart of a method 100 for generating a feedback indicator. The method may be embodied as software instructions stored in memory and executed by a processor, e.g., controller 21a. The method operates with the visual, auditory, or hapticAttorney Docket No.: A0012113W001 feedback hardware components described herein that alerts users to the state and magnitude of misalignment. In particular, the system 10 communicates the state and magnitude of misalignment along one or more degrees of freedom. In particular, the system measures and updates users on the progress of realignment and alerts users of the return to baseline once realignment has been achieved.

[0076] The method 100 includes a step 102, during which input commands are received at the input device 38a. Movement commands include any movement of the input device 38a as well as actuation of any buttons, switches, or touchscreens, etc. At step 104 the system 10 measures actual orientation of the input device 38a and the TCP of the end effector 200. Orientation may be calculated based on various sensors measuring position, torque, joint angle, etc., such as encoders, capacitive or resistive sensors, inertial measurement units, and the like. The sensor data may be relayed to the processor which then calculates the orientation of the input device 38a and the end effector 200.

[0077] At step 106, the processor calculates a difference between orientation of the input device 38a and of the end effector 200. The difference is calculated for each degree of freedom, e.g., pitch, roll, yaw, jaw angle. At step 108, the difference in orientation for each degree of freedom is used by the processor to generate a feedback indicator, which may be visual, auditory, and / or haptic. The feedback indicator is updated at step 110 as the input device 38a and the end effector 200 are continuously moved. At step 112 the feedback is provided to the user, which may be visual indicator displayed on a user interface, such as a graphical user interface (GUI) 121 (FIGS. 11 and 12) displayed on the first screen 32 and / or second screen 34 of the surgeon console 30. The feedback may be also auditory and played through a sound output device 145 (FIG. 1), which may be speakers in the surgeon console 30 and / or headphones worn by the user. In further embodiments, feedback may be haptic and provided via the input devices 38a and / or 38b using feedback assembly 84.

[0078] FIGS. 11 and 12 show a GUI 121 including a feedback indicator 130 having a plurality of elements such as first and second alignment shapes 132 and 134. The first alignment shape 132 represents the target alignment, i.e., orientation of the input device 38a, and the second alignment shape 134 represents orientation of the end effector 200. The first and second alignment shapes 132 and 134 may be circular or any other suitable shape and include rotation markers 133 and 135, respectively.

[0079] The first alignment shape 132 also includes or defines a first, i.e., vertical, axis 136 and a second, i.e., horizontal, axis 138. The second alignment shape 134 similarly includes or defines first and second axes 137 and 139 that intersect at the center of the second alignmentAttorney Docket No.: A0012113W001 shape 134. The first and second axes 136 and 138 of the first alignment shape 132 represent the same degrees of freedom as the axes 136 and 138 of the second alignment shape 134. In particular, the first axis 136 may be used to represent alignment in a first degree of freedom, such as pitch. The second axis 138 may be used to represent alignment in a second degree of freedom, such as azimuth or yaw. The markers 133 and 135 may be used to represent a third degree of freedom, such as roll. Relative size of the first and second alignment shapes 132 and 134 may be used to represent a fourth degree of freedom, such as jaw angle. FIG. 13 shows a table 140 illustrating alignment and misalignment representations for each of the four degrees of freedom.

[0080] As shown in FIG. 11 the end effector 200 and the input device 38a are misaligned in each of the degrees of freedom as each of the first and second respective axes 136, 137, 138, 139 of the first and second alignment shapes 132 and 134 are not overlapping. Additionally, the markers 133 and 135 are pointing in different directions and the alignment shapes 132 and 134 are of different sizes.

[0081] Conversely, FIG. 12 illustrates complete alignment between the end effector 200 and the input device 38a, where the first and second respective axes 136, 137, 138, 139 of the first and second alignment shapes 132 and 134 overlap. Additionally, the markers 133 and 135 point in the same direction and the alignment shapes 132 and 134 are of the same size. This is also shown in a middle row of the table 140 of FIG. 13.

[0082] Alternatively, or additionally to the GUI 121, the system 10 may also use auditory and / or haptic feedback to indicate alignment or misalignment of the end effector 200 and the input device 38a. An auditory indicator includes multiple tones with specific frequency-degree of freedom mapping. Tone amplitude modulation may be used to indicate degree of alignment / misalignment.

[0083] With reference to FIG. 14, table 150 illustrates alignment and misalignment tone representations for each of the four degrees of freedom as well as a combined tone. The tones are represented as soundwave plots. Each degree of freedom, e.g., azimuth, pitch, roll, jaw angle, is represented by a tone of a specific frequency. In embodiments, azimuth degree of freedom misalignment may be represented by a tone having a first frequency, pitch degree of freedom misalignment may be represented by a tone having a second frequency, roll degree of freedom misalignment may be represented by a tone having a third frequency, and jaw angle degree of freedom misalignment may be represented by a tone having a fourth frequency. Each of the first, second, third, and fourth frequencies may be different to differentiate between different degrees of freedom that are misaligned. The tones may be generated simultaneouslyAttorney Docket No.: A0012113W001 and combined as a single tone. Amplitude, i.e., volume, of each of the tones may be proportional to the degree of misalignment. As each of the degrees of freedom is aligned or gets closer to alignment, the amplitude of each the tones is decreased and the volume is set to 0 when the degree of freedom is fully aligned as shown in the table 150 of FIG. 14. Thus, the combined tone is turned off when all of the degrees of freedom are fully aligned. Additionally, the combined tone will change as some of the degrees of freedom are aligned with various component tones being deactivated.

[0084] Haptic feedback may also be used in addition to the auditory indicator of FIG. 14. In embodiments, the haptic feedback may be based on the combined tone where the intensity of the haptic feedback is proportional to the degree of misalignment. As each of the degrees of freedom is aligned or gets closer to alignment, the intensity of the haptic feedback is decreased and is turned off when all of the degrees of freedom are fully aligned as shown in the table 150 of FIG. 14. In further embodiments, the haptic feedback may be provided in an inverse manner, where the full alignment of all degrees of freedom is indicated by haptic feedback rather than absence thereof.

[0085] It will be understood that various modifications may be made to the embodiments disclosed herein. Therefore, the above description should not be construed as limiting, but merely as exemplifications of various embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended thereto.

[0086] The following examples are illustrative of the techniques described herein.

[0087] Example 1. A surgical robotic system comprising: a robotic arm including an instrument having an end effector with a first plurality of degrees of freedom; an input device for receiving user input for actuating the end effector, the input device having a second plurality of degrees of freedom corresponding to the first plurality of degrees of freedom; at least one processor configured to: determine an orientation of the end effector and an orientation of the input device; determine a degree of misalignment between the orientation of the end effector and the orientation of the input device; and output a feedback indicator indicating the degree of misalignment between each degree of freedom of the first plurality of degrees of freedom of the end effector and each corresponding degree of freedom of the second plurality of degrees of freedom of the input device.

[0088] Example 2. The surgical robotic system according to Example 1, wherein the end effector is a wristed jaw instrument and the first plurality of degrees of freedom includes pitch, roll, yaw, and jaw angle.Attorney Docket No.: A0012113W001

[0089] Example 3. The surgical robotic system according to Example 2, wherein the input device is a handle controller including a gimbal assembly.

[0090] Example 4. The surgical robotic system according to Example 2, further comprising: a screen configured to output a graphical user interface including the feedback indicator.

[0091] Example 5. The surgical robotic system according to Example 4, wherein the feedback indicator includes a first alignment shape representing a target alignment based on the orientation of the input device and a second alignment shape representing the orientation of the end effector.

[0092] Example 6. The surgical robotic system according to Example 5, wherein alignment of the orientation of the end effector and the orientation of the input device is displayed by overlapping the first and second alignment shapes.

[0093] Example 7. The surgical robotic system according to Example 6, wherein misalignment of the orientation of the end effector and the orientation of the input device is displayed by misalignment of the first and second alignment shapes.

[0094] Example 8. The surgical robotic system according to Example 7, wherein the displayed misalignment of the first and second alignment shapes includes a plurality of elements each of which represents a misalignment in a degree of freedom of the first plurality of degrees of freedom of the end effector and the corresponding degree of freedom of the second plurality of degrees of freedom of the input device.

[0095] Example 9. The surgical robotic system according to Example 8, wherein the plurality of elements includes a rotational misalignment element, a size misalignment element, a horizontal misalignment element, and a vertical misalignment element.

[0096] Example 10. The surgical robotic system according to Example 2, further comprising a sound output device configured to output a plurality of tones.

[0097] Example 11. The surgical robotic system according to Example 10, wherein the feedback indicator includes the plurality of tones each of which represents a misalignment between a degree of freedom of the first plurality of degrees of freedom of the end effector and the second plurality of degrees of freedom of the input device.

[0098] Example 12. The surgical robotic system according to Example 11, wherein each tone of the plurality of tones has a unique sound frequency.

[0099] Example 13. The surgical robotic system according to Example 11, wherein amplitude of each tone of the plurality of tones is adjusted based on the degree of misalignment.

[0100] Example 14. The surgical robotic system according to Example 11, wherein the plurality of tones is output simultaneously.Attorney Docket No.: A0012113W001

[0101] Example 15. The surgical robotic system according to Example 14, wherein each tone of the plurality of tones is silenced when the orientation of the end effector and the orientation of the input device are aligned.

[0102] Example 16. A method for providing real-time user feedback instrument alignment in a surgical robotic system, the method comprising: receiving user input at an input device for actuating an end effector of an instrument coupled to a robotic arm, the end effector having a first plurality of degrees of freedom including pitch, roll, yaw, and jaw angle and the input device having a second plurality of degrees of freedom corresponding to the first plurality of degrees of freedom; determining an orientation of the end effector and an orientation of the input device; determining a degree of misalignment between the orientation of the end effector and the orientation of the input device; and outputting a feedback indicator indicating the degree of misalignment between each degree of freedom of the first plurality of degrees of freedom of the end effector and each corresponding degree of freedom of the second plurality of degrees of freedom of the input device.

[0103] Example 17. The method according to Example 16, further comprising: outputting on a screen a graphical user interface including the feedback indicator including a first alignment shape representing target alignment and a second alignment shape representing the orientation of the end effector.

[0104] Example 18. The method according to Example 17, further comprising: displaying alignment of the orientation of the end effector and the orientation of the input device by overlapping the first and second alignment shapes.

[0105] Example 19. The method according to Example 17, further comprising: displaying misalignment of the orientation of the end effector and the orientation of the input device by misaligning the first and second alignment shapes, wherein the displayed misalignment of the first and second alignment shapes includes a plurality of elements each of which represents to a misalignment between a degree of freedom of the first plurality of degrees of freedom of the end effector and a corresponding degree of freedom of the second plurality of degrees of freedom of the input device.

[0106] Example 20. The method according to Example 16, further comprising: outputting a plurality of tones on a sound output device, wherein the feedback indicator includes the plurality of tones each of which represents a misalignment between a degree of freedom of the first plurality of degrees of freedom of the end effector and a corresponding degree of freedom of the second plurality of degrees of freedom of the input device.

Claims

Attorney Docket No.: A0012113W001WHAT IS CLAIMED IS:

1. A surgical robotic system (10) comprising: a robotic arm (40) including an instrument (50) having an end effector (200) with a first plurality of degrees of freedom; an input device (38a, 38b) for receiving user input for actuating the end effector, the input device having a second plurality of degrees of freedom corresponding to the first plurality of degrees of freedom; at least one processor (21a) configured to: determine an orientation of the end effector and an orientation of the input device; determine a degree of misalignment between the orientation of the end effector and the orientation of the input device; and output a feedback indicator (130, 150) indicating the degree of misalignment between each degree of freedom of the first plurality of degrees of freedom of the end effector and each corresponding degree of freedom of the second plurality of degrees of freedom of the input device.

2. The surgical robotic system according to claim 1, wherein the end effector is a wristed jaw instrument and the first plurality of degrees of freedom includes pitch, roll, yaw, and jaw angle.

3. The surgical robotic system according to claim 2, wherein the input device is a handle controller (38a, 38b) including a gimbal assembly (76).

4. The surgical robotic system according to claim 2, further comprising: a screen (32, 34) configured to output a graphical user interface (121) including the feedback indicator.

5. The surgical robotic system according to claim 4, wherein the feedback indicator includes a first alignment shape (132) representing a target alignment based on the orientation of the input device and a second alignment shape (134) representing the orientation of the end effector.Attorney Docket No.: A0012113W0016. The surgical robotic system according to claim 5, wherein alignment of the orientation of the end effector and the orientation of the input device is displayed by overlapping the first and second alignment shapes.

7. The surgical robotic system according to claim 6, wherein misalignment of the orientation of the end effector and the orientation of the input device is displayed by misalignment of the first and second alignment shapes.

8. The surgical robotic system according to claim 7, wherein the displayed misalignment of the first and second alignment shapes includes a plurality of elements (133, 135, 136, 137, 138, 139) each of which represents a misalignment in a degree of freedom of the first plurality of degrees of freedom of the end effector and the corresponding degree of freedom of the second plurality of degrees of freedom of the input device.

9. The surgical robotic system according to claim 8, wherein the plurality of elements includes a rotational misalignment (133, 135) element, a size misalignment element (132, 134), a horizontal misalignment element (137, 139), and a vertical misalignment element (136, 138).

10. The surgical robotic system according to claim 2, further comprising a sound output device (!45) configured to output a plurality of tones.

11. The surgical robotic system according to claim 10, wherein the feedback indicator includes the plurality of tones (150) each of which represents a misalignment between a degree of freedom of the first plurality of degrees of freedom of the end effector and the second plurality of degrees of freedom of the input device.

12. The surgical robotic system according to claim 11, wherein each tone of the plurality of tones has a unique sound frequency.

13. The surgical robotic system according to claim 11, wherein amplitude of each tone of the plurality of tones is adjusted based on the degree of misalignment.

14. The surgical robotic system according to claim 11, wherein the plurality of tones is output simultaneously.Attorney Docket No.: A0012113W00115. The surgical robotic system according to claim 14, wherein each tone of the plurality of tones is silenced when the orientation of the end effector and the orientation of the input device are aligned.

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