Surgical robotic system and method for automatic port and task space repositioning

Abstract

A surgical robotic system for automatic port repositioning includes a robotic arm coupled to an access port inserted through an incision, the access port is equipped with sensors to detect tissue deformation. Using imaging or force sensors, the system monitors tension around the port and calculates motion vectors to perform micro-adjustments, or "port burping," to relieve strain without disrupting surgery. The robotic arm executes these adjustments gradually, ensuring smooth operation. Additionally, the system monitors task and workspace volumes to keep instruments within safe zones, using algorithms like SLAM and bump detection. If instruments approach workspace limits, the system autonomously adjusts the port's position to expand the task space, minimizing manual intervention and enhancing surgical efficiency.

Description

Attorney Docket No.: A0012847W001SURGICAL ROBOTIC SYSTEM AND METHOD FOR AUTOMATIC PORT AND TASK SPACE REPOSITIONING CROSS-REFERENCE TO RELATED APPLICATION

[0001] The present application claims the benefit of and priority to U.S. Provisional Patent Application No. 63 / 720,808, filed November 15, 2024. The entire contents of the foregoing application is incorporated by reference herein.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 through the access port to position the end effector at a work site within the patient’s body. A laparoscopic camera, which is also held by one of the robotic arms, is inserted into the patient to image the surgical site through another access port.

[0003] Access ports are inserted through small incisions in the patient’s body to allow for use of surgical instruments inside the body cavity. Laparoscopic procedures involve insufflation, where gas (e.g., carbon dioxide) is pumped into the body cavity, to create a pneumoperitoneum. This inflation expands the cavity, providing the surgeon with a clearer view and more space to operate. However, the creation of a pneumoperitoneum also increases internal pressure, which can lead to complications around the port site where the robotic instruments are inserted.

[0004] As the robotic arms manipulate the instruments, the pressure from the inflated cavity, combined with the mechanical forces exerted by the instruments at extreme angles, causes strain on the surrounding tissue. This strain manifests as tension on the patient’s skin and abdominal wall. Currently, surgical assistants perform a procedure called port burping, which involves manually adjusting the port to relieve this tension, which otherwise risks tissue injury, including herniation, tissue tearing, and leaking, and can limit the range of motion for the robotic arms. These disruptions require time-consuming manual repositioning, detracting from the efficiency of the surgical procedure. Thus, there is a need for a robotic system that can monitor conditions at the access port and perform automated port burping procedures.SUMMARY

[0005] According to one embodiment of the present disclosure, a robotic system for automatic port repositioning during a surgical procedure is disclosed. The system includes a robotic arm;Attorney Docket No.: A0012847W001an access port coupled to the robotic arm, the access port configured for insertion into an incision in a body surface; and a sensor disposed on the robotic arm configured to measure deformation of a body surface surrounding the access port. The sensor generates sensor data corresponding to changes in the body surface. The system also includes a controller operably connected to the robotic arm and the sensor. The controller is configured to receive the sensor data from the sensor; determine a deformation of the body surface based on the sensor data; calculate a motion vector based on the deformation for moving the access port to alleviate tension at the incision; and generate a control signal to adjust a position of the access port via the robotic arm in accordance with the motion vector.

[0006] According to another embodiment of the present disclosure, a method for automatic port repositioning during a surgical procedure is disclosed. The method includes measuring deformation of a body surface surrounding an access port coupled to a robotic arm using a sensor that is disposed on the robotic arm. The access port is configured for insertion into an incision in a body surface, and the sensor generates sensor data corresponding to changes in the body surface. The method also includes determining, at a controller, a deformation of the body surface based on sensor data received from the sensor; calculating a motion vector based on the deformation for moving the access port to alleviate tension at the incision; and generating a control signal to adjust a position of the access port via the robotic arm in accordance with the motion vector.BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Various embodiments of the present disclosure are described herein with reference to the drawings wherein:

[0008] 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;

[0009] 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;

[0010] 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;

[0011] 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;Attorney Docket No.: A0012847W001

[0012] 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;

[0013] FIG. 6 is a schematic diagram of a system for determining phases of a surgical procedure according to an embodiment of the present disclosure;

[0014] FIG. 7 is an enlarged view of a surgical robotic arm coupled to an access port inserted through an abdominal wall into a body cavity according to an embodiment of the present disclosure;

[0015] FIG. 8 is a cross-sectional view of a distal portion of the access port being moved during an axial (i.e., longitudinal) burping procedure according to an embodiment of the present disclosure;

[0016] FIG. 9 is a cross-sectional view of a distal portion of the access port being moved during a lateral burping procedure according to an embodiment of the present disclosure;

[0017] FIG. 10 is a schematic view of a surgical robotic arm with a sensor configured to monitor surface deformation at an insertion point of the access port according to an embodiment of the present disclosure;

[0018] FIG. 11 is a schematic view of virtual task and workspace volumes for limiting movement of the surgical robotic arm according to an embodiment of the present disclosure; and

[0019] FIG. 12 is a flow chart of a method for automatic port and task space repositioning according to an embodiment of the present disclosure.DETAILED DESCRIPTION

[0020] 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” 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.

[0021] 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.Attorney Docket No.: A0012847W001

[0022] 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 57 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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 theAttorney Docket No.: A0012847W001corresponding 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.

[0027] 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 digital radios based on the IEEE 122.15.4-1203 standard for wireless personal area networks (WPANs)).

[0028] 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 programmableAttorney Docket No.: A0012847W001gate 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.

[0029] 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.

[0030] 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.

[0031] 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 plane 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.

[0032] 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 secondAttorney Docket No.: A9912847WO91axis 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.

[0033] 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.

[0034] 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).

[0035] 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.

[0036] 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 49 and / or the IDU 52 and communicates these to the computer 41 of the robotic arm 49. The controller 21a also receives the actual joint angles measured by encoders of the actuators 48a and 48b and uses thisAttorney Docket No.: A0012847W001information 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.

[0037] 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.

[0038] 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.

[0039] 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 and 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.

[0040] 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. TheAttorney Docket No.: A0012847W001IDU controller 41d calculates actual angles based on the motor positions and transmits the actual angles back to the main cart controller 41a.

[0041] The robotic arm 40 is controlled in response to a pose of the input device controlling the robotic arm 40, e.g., the input device 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 devices 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 device 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 device 38a from the robotic arm 40. In particular, the controller 21a stops transmitting movement commands from the input device 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.

[0042] The desired pose of the robotic arm 40 is based on the pose of the input device 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 device 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 device 38a may be substituted for and / or employed in conjunction with input device 38b. While reference is made above to input device 38a, input device 38b may also be used in a similar manner.

[0043] 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-dAttorney Docket No.: A0012847W001are positioned to insert instruments 50 and the laparoscopic camera 51 into corresponding ports 55a-d.

[0044] 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.

[0045] 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.

[0046] 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 models 330. 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.

[0047] 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.Attorney Docket No.: A0012847W001

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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 mayAttorney Docket No.: A0012847W001include 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 automatic access port and task space repositioning.

[0052] With reference to FIG. 7, robotic arm 40 is shown attached to the access port 55 via the port latch 46c, as described above with respect to FIG. 5. The access port 55 is inserted into an incision on the patient's body and the body cavity is filled with a gas to inflate it (as shown in FIG. 7) and establish a pneumoperitoneum. The robotic arm 40 shown in FIGS. 1-3, 7, 10, and 11 is for illustrative purposes and may include any number of joints to provide for additional degrees of freedom not shown herein. The additional degrees of freedom may be used to provide adjustments of the access port 55 as described in this disclosure.

[0053] The access port 55 includes a cannula 102 extending from a funnel-shaped housing 106 having one or more seals (not shown) disposed therein. A distal end portion 102a of the cannula 102 is inserted into the body cavity to a depth, which is identified by a marker 104 (FIGS. 8 and 9). During the procedure the access port 55 is maintained at a desired location within the body, such that the marker 104 is aligned within the body wall. The point of penetration of the body wall with the distal end portion 102a is aligned with the marker 104, which also corresponds to the pivot point “P” of the RCM for the robotic arm 40 about which the cannula 102 of the access port 55 is pivotable.

[0054] During use by the surgical robotic system 10, the access port 55 may be moved at more extreme angles and experience higher loads than experienced during conventional laparoscopic use. Loads are applied to the access port 55 because of the interaction between the abdominal wall and the access port 55 held by the robotic arm 40. These loads, as well as excess pressure inside the body cavity due to pneumoperitoneum, can result in one or more adverse conditions, such as, excess tension on the patient’s skin around the access port 55, tearing, leaking, limitation on movement of the robotic arm 40, etc. In response to alleviating these issues, the access port 55 may need to be shifted or moved relative to the body cavity, in a procedure known as port burping. As used herein, the term “burping” of the access port 55 denotes moving the pivot point “P” of the access port 55 to relieve tension on the incision, e.g., after docking the robotic arm 40 to the access port 55 (see FIG. 5) and due to release of gas. Port burping alleviates tension on the patient (e.g., allowing a patient’s skin to remain mostly flat and under less tension) to avoid injury and avoid increased risk of hernia after the procedure.

[0055] Conventional port burping is done manually. The presently disclosed system 10, however, is configured to automatically track tissue deformation in proximity of the access port 55 and reduce strain on the surrounding tissue by providing slow micro adjustments to theAttorney Docket No.: A0012847W001access port 55. This allows the surgeon to continue operating and have less disruptions due to burping and / or repositioning that would otherwise be performed manually by the surgical assistants.

[0056] With reference to FIGS. 8 and 9, the micro adjustments may be made in any suitable direction, such as axially as shown in FIG. 8, laterally as shown in FIG. 9, or combination thereof, e.g., in any direction. Axial movement may be done along the longitudinal axis of the cannula 102 by lifting the arm 40 via the setup arm 61 or another mechanism and lateral movement may be accomplished by lateral movement of the robotic arm 40 and / or the setup arm 61. These movements of the robotic arm 40 shift the distal end portion 102a of the cannula 102, and in particular the portion with the marker 104, from its current position within the abdominal wall to another position offset from the current position by a micro adjustment distance. As used herein, the term “micro adjustment” denotes movement of the pivot point “P” of the access port 55 to a distance from about 1mm to about 5 mm in any direction from the current position. The micro adjustment may be calculated as a motion vector for moving the pivot point “P”.

[0057] The system 10 is configured to autonomously detect when port burping is needed and to perform the automatic port repositioning. Instead of relying on manual burping, the disclosed solution allows the robotic arm 40 to maneuver the access port 55 by making micro adjustments based on body cavity surface sensing.

[0058] With reference to FIG. 10, the robotic arm 40 includes an imaging sensor 120 for measuring body cavity deformation, e.g., due to tension, at the pivot point “P”. The imaging sensor 120 may be disposed on the holder 46 and is aimed at the pivot point “P”, such that the access port 55 is within a field of view (FOV of FIG. 10) of the imaging sensor 120. The imaging sensor 120 may be used to provide a baseline measurement of the surface around the pivot point “P” and identifying one or more virtual tracking points on the surface of the tissue.

[0059] Multiple sensing modalities may be used to monitor or measure the patient’s surface near the respective access port 55 by the corresponding robotic arm 40. In embodiments, the imaging sensor 120 may be a solid-state light detection and ranging (LiDAR) unit using any light, such as visible or infrared light, to illuminate the surface being imaged. The sensor 120 may be an imaging device, such as 3D time-of-flight (ToF) depth camera equipped with a ToF image sensor configured to capture 3D information of objects and space. The ToF sensor may be used to obtain depth map, point cloud, and other imaging and 3D data.

[0060] The sensor 120 is used to image the tissue surface around the pivot point “P”. The 3D data from the sensor 120 is then used to track deformation and changes in topology of the bodyAttorney Docket No.: A0012847W001cavity, e.g., by averaging changes in distances of the tracking points relative to the pivot point “P” or using other surface mapping algorithms, such as simultaneous localization and mapping (SLAM) or bump detection algorithms. The disclosed algorithms may be embodied as software processes and instructions stored in memory and executable by one or more processors, e.g., controllers 21a, 41a, etc.

[0061] SLAM is an algorithm used by robotic and other autonomous systems to construct a map of an environment, such as the surface of the body wall, while simultaneously determining the position of the robotic components, e.g., the holder 46, the access port 55, etc. within that map. The process involves using sensors (like LiDAR, cameras, and / or radar) to collect data about the surrounding environment and employ computational methods to update the map dynamically as the robotic arm 40 moves within the environment.

[0062] Bump detection is another type of algorithm used to identify when a robotic system physically contacts or bumps into objects or limits within its operational space. This is useful in surgical or constrained environments (such as with robotic arms 40a-d) where detecting these collisions may be used for safe and efficient operation. Bump detection may rely on physical sensors, such as force or pressure sensors, or it may use indirect sensors like motor feedback to infer when the system 10 encounters resistance or exceeds operational boundaries. The system 10 may then adjust the movement of the robotic arm 40 to prevent or minimize disruption or damage.

[0063] The system 10 determines whether automatic port repositioning, i.e., port burping, needs to be performed based on changes or deformation in the body wall surface, e.g., height or distention of the body wall around the pivot point “P”. Automated port repositioning may include movement of the access port 55 axially and / or laterally. Axial port repositioning along the insertion axis of the cannula t does not affect operation of the instrument 50 as the user would not notice any changes during their workflow of the system 10, such as suturing or dissection.

[0064] A need for port repositioning arises from tension building up around the incision, i.e., the pivot point “P”. This tension may require removal of the instrument 50 from the access port 55 and repositioning of the access port 55 to relieve the tension. In response to detection of patient surface deformation, a motion vector, i.e., micro adjustment, is calculated. The motion vector may be executed slowly over time (e.g., from about 1 second to about 5 seconds) to relieve this tension with minimal disruption to the procedure. The rate of adjustment may be from about 0.5 mm per second to about 10 mm per second at the pivot point “P”.Attorney Docket No.: A0012847W001

[0065] In addition to using the imaging sensor 120, the system 10 may also use additional sensors, such as a force sensor 130 integrated into or disposed near the port latch 46c. The force sensor 130 may be a load cell that is used to measure lateral forces on the access port 55 providing an additional data input for controlling micro adjustment to the pivot point “P”. The force feedback may be used to confirm that the micro adjustments to the pivot point “P” resulted in lower load being imparted on the access port 55.

[0066] In further embodiments, the controller 21a, 41a is configured to perform sensor fusion by cross-verifying data from both the imaging sensor 120 and the force sensor 130. For example, when the imaging sensor 120 detects deformation of the body wall surface around the pivot point “P,” the controller 21a, 41a may confirm that the force sensor 130 detects a corresponding lateral force on the access port 55 in an opposite direction within a defined tolerance range. This cross-validation of surface deformation and force data increases robustness of the automatic port repositioning procedure by ensuring that calculated motion vectors correspond to both optical and force-based indications of patient surface tension.

[0067] The system 10 leverages the following components to perform automated port repositioning: one or more sensors 120 and 130 that measure the surface deformation around and / or force imparted on the access port 55; and one or more processors to execute an algorithm that processes the data from the sensors 120 and 130 and / or generates a motion vector to alleviate either task volume limits or incision tension as well as adjusts the position of the access port 55 via the robotic arm 40 over time in a manner that minimizes disruption to the surgeon's workflow.

[0068] With continued reference to FIG. 10, the sensor 120 is coupled to the main cart controller 41a and provides 3D and / or image data thereto. The controller 41a receives the 3D data and determines changes in the surface of the body cavity by tracking deformation and changes in topology of the body cavity, e.g., by averaging changes in distances of the tracking points relative to the pivot point “P” or using other surface mapping algorithms, such as SLAM or bump detection algorithms. In response to detecting surface deformation, the controller 41a calculates a motion vector for moving the access port 55 to alleviate the deformation. The controller 41a then controls actuators moving the holder 46 and / or the joints 44a, 44b, 44c of the robotic arm 40 to make micro adjustments based on the calculated motion vector.

[0069] With reference to FIG. 11, the automatic port reposition algorithm may also include analyzing a task volume of the device, e.g., instrument 50 or the camera 51, inserted into the access port 55 to determine whether the location of the current task being performed by the device is within the predefined workspace. The system 10 may define one or more taskAttorney Docket No.: A0012847W001volumes 110 where the instrument 50 is being used to perform the surgery and a larger workspace volume 112, encompassing the task volume(s) 110. The task volume 110 tracks the position of the end effector of the instrument 50. Thus, if the task is being performed at the edge of the workspace volume 112, and repeatedly bumps into the limits of the workspace, the automatic port repositioning algorithm may generate a small, gradually executed micro adjustment to relieve these workspace constraints.

[0070] In other words, as the surgeon's tasks are reaching the edge of the available workspace volume 112, the tension detection algorithm would detect collision between the task volumes 110 and the workspace volume 112 increasing over time. Based on the number of these collisions exceeding a preset value, e.g., two or more, the algorithm generates a motion vector to move the access port 55 to alleviate the need for complete manual repositioning and / or burping. While manual repositioning may still be used, the micro adjustments may be used to delay such manual intervention, minimizing unnecessary workflow disruptions.

[0071] FIG. 12 shows a flow chart of a method 200 for automatic port and task space repositioning. The method may be embodied as software instructions stored in memory and executable by a processor (e.g., controller 21a, 41a, etc.). At step 202, the imaging sensor 120 mounted on the robotic arm 40 acquires 3D and / or imaging data of the body cavity around the pivot point “P” of the access port 55, which is inserted into the patient’s body through an incision. The region of interest may be from about 4 cm to about 30 cm wide. The first set of 3D / imaging data may be used to establish a baseline having a plurality of tracking points. The 3D data concerning the surface of the body wall is used to detect changes caused by tension or pressure around the incision point. This data is used for identifying when a micro adjustment, or port burping, is required.

[0072] At step 204, the processor analyzes the 3D data collected from the sensor 120 to determine if any surface deformation has occurred. Specifically, the system uses algorithms such as SLAM or bump detection to detect changes in the topology of the patient’ s body surface near the access port. The SLAM algorithm is used to continuously map the surface of the body while tracking the position of the access port 55, and bump detection identifies any physical limitations or collisions that occur as the robotic arm 40 moves. In addition, changes in distances for each of the tracking points are also measured and are averaged. The average of the changes in the distances is compared to a threshold average change distance to determine whether sufficient change in surface deformation has occurred. If the surface deformation is insufficient, the processor continues to monitor 3D data. If excessive deformation is detected, the method proceeds to step 206.Attorney Docket No.: A0012847W001

[0073] The processor may also use the force feedback data from the force sensor 130 in addition to the 3D data or as a standalone data source. The force feedback data provides information on lateral forces on the access port 55 caused by deformation on the body wall. The force feedback data is provided to the controller, which then calculates the motion vector and generates the control signal to adjust the position of the access port 55 as described below in steps 206 and 208.

[0074] At step 206, based on the analysis, the processor calculates a motion vector that indicates the direction and magnitude of the required micro adjustment to alleviate the surface deformation. This motion vector is calculated to reduce the tension around the pivot point “P”. The adjustment may involve moving the access port 55 axially and / or laterally, depending on the specific condition detected. The calculated motion vector ensures minimal disruption to the ongoing surgical procedure.

[0075] At step 208, the processor commands the robotic arm 40 and / or the setup arm 61 to execute the micro adjustment movement command based on the calculated motion vector. This adjustment can involve moving the access port 55 along the insertion axis (axially) or in lateral directions using the joints of the robotic arm 40 and / or the setup arm 61 and may include any number of joints to provide for additional degrees of freedom not shown herein. The adjustment is performed gradually over a predefined time period, such as from 1 to 5 seconds, at a controlled rate, which could range from 0.5 mm per second to 10 mm per second, ensuring smooth operation without interfering with the surgeon’s tasks.

[0076] In embodiments, the controller 21a, 41a may also provide alerts to the surgeon when surface deformation or trocar force exceeds a defined threshold. The alerts may include a graphical notification at the surgeon console 30 indicating a buildup of tension on the patient’s body surface. In response, the user may be presented with selectable options, such as permitting the robotic arm 40 to execute the calculated motion vector automatically, suggesting a manual “burp” of the access port 55 in a displayed direction, or disabling further automatic adjustments until surgeon confirmation. The system 10 may additionally enforce a maximum trocar adjustment limit, after which the controller 21a, 41a issues a notification such as “Maximum Trocar Adjustment Reached,” indicating that further repositioning should be performed manually.

[0077] The method 200 returns to step 204 to continue monitoring surface deformation or tension, i.e., to see whether the adjustment has successfully reduced the detected surface deformation or tension. This may also be done by comparing new sensor data with the baseline established before the adjustment. If tension or deformation still exists, the system 10 mayAttorney Docket No.: A0012847W001perform additional micro adjustments to further reduce strain on the incision. If the adjustment is successful and tension is relieved, the system 10 resumes monitoring the patient’s body surface and the task and workspace volumes for any new signs of deformation or workspace constraints. The system 10 continues to operate in this feedback loop, ensuring that the access port 55 remains properly positioned and the surgeon’s workflow is not disrupted by manual repositioning or port burping.

[0078] In embodiments, the surgeon console 30 may display a graphical user interface (GUI) element to visually indicate the direction and magnitude of an automatic or suggested micro adjustment of the access port 55. The GUI element may include a semi -translucent arrow or vector overlaid on the displayed surgical scene, pointing in the direction of the calculated motion vector. When excessive deformation or trocar force is detected, the GUI indicator may also be accompanied by a textual notification describing the adjustment, such as “Auto Adjustment Executing” or “Suggested Burp Direction.” This visualization provides real-time feedback to the surgeon regarding automatic repositioning behavior of the system 10 and enhances awareness of safety-related system responses.

[0079] The system 10 may also track interactions between the task volume 110 and the workspace volume 112. The system 10 monitors the task and workspace volumes 110 and 112 to ensure that the instrument 50 inserted through the access port remains within the predefined limits of the workspace. At step 210, each of the volumes 110 and 112 are defined either by the user or the system 10. The ML processing system 310 may be used to automate size and shape generation of the task and workspace volumes 110 and 112 based on type of instrument, procedure, and other surgical parameters.

[0080] At step 212, the processor monitors interactions, namely, collisions or overlap between the task and workspace volumes 110 and 112 by counting the number of such events. The processor determines whether the number of collisions exceeds a preset number (e.g., two or more) within a preset time period (e.g., 1 minute). If the instrument is approaching the edge of the workspace and bumping against its limits, the system 10 proceeds to step 214 to generate a motion vector to reposition the access port 55 and alleviate the need for manual intervention.

[0081] At step 214, based on the analysis, the processor calculates a motion vector that indicates the direction and magnitude of the required micro adjustment to move the task volume 110 from the workspace volume 112. This motion vector is calculated to ensure the defined task volume 110 stays within the workspace volume 112. The adjustment may involve moving the access port 55 axially and / or laterally, depending on the specific condition detected. The calculated motion vector ensures minimal disruption to the ongoing surgical procedure. FromAttorney Docket No.: A0012847W001step 214, the method 200 proceeds to step 208 to execute the micro adjustment. At step 208, the processor commands the robotic arm 40 to execute the micro adjustment movement command based on the calculated motion vector. This adjustment can involve moving the access port 55 along the insertion axis (axially) or in lateral directions using the joints of the robotic arm.

[0082] Further aspects and embodiments of the present disclosure are set out in the below numbered clauses:1. A robotic system for automatic port repositioning during a surgical procedure, the system comprising:a robotic arm;an access port coupled to the robotic arm, the access port configured for insertion into an incision in a body surface;a sensor disposed on the robotic arm configured to measure deformation of a body surface surrounding the access port, the sensor generating sensor data corresponding to changes in the body surface; anda controller operably connected to the robotic arm and the sensor, the controller configured to:receive the sensor data from the sensor;determine a deformation of the body surface based on the sensor data; calculate a motion vector based on the deformation for moving the access port to alleviate tension at the incision due to the deformation of the body surface; and generate a control signal to adjust a position of the access port via the robotic arm in accordance with the motion vector.2. The robotic system of clause 1, wherein the sensor is an imaging sensor and includes at least one of a 3D time-of-flight (ToF) depth camera or a light detection and ranging (LiDAR) sensor.3. The robotic system of clause 2, wherein the sensor data includes 3D data having at least one of a depth map or a point cloud.4. The robotic system of clause 3, wherein the sensor is configured to identify a plurality of tracking points in the 3D data.Attorney Docket No.: A0012847W0015. The robotic system of clause 4, wherein the controller is further configured to determine a deformation of the body surface based on an average change in distance for each tracking point of the plurality of tracking points.6. The robotic system of any of the preceding clauses, wherein the controller is further configured to determine a deformation of the body surface by using a simultaneous localization and mapping (SLAM) algorithm to construct a map of the body surface and track position of the access port within the map.7. The robotic system of any of the preceding clauses, wherein the robotic arm includes a port latch configured to couple to the access port and the sensor is a force sensor disposed on the port latch and configured to measure lateral forces on the access port and provide the sensor data including force feedback to the controller for calculating the motion vector and generating the control signal to adjust the position of the access port.8. The robotic system of any of the preceding clauses, wherein the controller is configured to generate the control signal that adjusts the access port gradually over a time period of 1 to 5 seconds at a rate of 0.5 mm to 10 mm per second.9. The robotic system of any of the preceding clauses, further comprising a surgical instrument inserted through the access port, the surgical instrument coupled to and controllable by the robotic arm, wherein the controller is further configured to define a virtual task volume for the surgical instrument within which the surgical instrument is performing a surgical task and a virtual workspace volume within which the surgical instrument is movable along with the task volume.10. The robotic system of clause 9, wherein the controller is further configured to monitor collisions between the virtual task volume and the virtual workspace volume and to calculate the motion vector in response to number of collisions exceeding a threshold within a set period of time.11. A method for automatic port repositioning during a surgical procedure, the method comprising:Attorney Docket No.: A0012847W001measuring deformation of a body surface surrounding an access port coupled to a robotic arm using a sensor, wherein the sensor is disposed on the robotic arm, and the access port is configured for insertion into an incision in a body surface, the sensor generating sensor data corresponding to changes in the body surface;determining, at a controller, a deformation of the body surface based on the sensor data received from the sensor;calculating a motion vector based on the deformation for moving the access port to alleviate tension at the incision; andgenerating a control signal to adjust a position of the access port via the robotic arm in accordance with the motion vector.12. The method of clause 11, wherein the measurement of the deformation of the body is performed using an imaging sensor including at least one of a 3D time-of-flight (ToF) depth camera or a light detection and ranging (LiDAR) sensor.13. The method of clause 12, wherein the sensor data includes 3D data having at least one of a depth map or a point cloud.14. The method of any one of clauses 11-13, further comprising identifying a plurality of tracking points in the 3D data.15. The method of clause 14, further comprising determining a deformation of the body surface based on an average change in distance for each tracking point of the plurality of tracking points.16. The method of any one of clauses 11-15, further comprising determining a deformation of the body surface by using a simultaneous localization and mapping (SLAM) algorithm to construct a map of the body surface and track position of the access port within the map.17. The method of any one of clauses 11-16, wherein measuring deformation of the body surface is performed using a force sensor disposed on a port latch of the robotic arm, the port latch is configured to couple to the access port, the force sensor is configured to measure lateral forces on the access port; and the sensor data includes force feedback data to the controller forAttorney Docket No.: A0012847W001calculating the motion vector and generating the control signal to adjust the position of the access port.18. The method of any one of clauses 11-17, further comprising generating the control signal that adjusts the access port gradually over a time period of 1 to 5 seconds at a rate of 0.5 mm to 10 mm per second.19. The method of any one of clauses 11-18, further comprising defining a virtual task volume for a surgical instrument inserted through the access port within which the surgical instrument is performing a surgical task and a virtual workspace volume within which the surgical instrument is movable along with the task volume.20. The method of clause 19, further comprising monitoring collisions between the virtual task volume and the virtual workspace volume, and calculating the motion vector in response to number of collisions exceeding a threshold within a set period of time.

[0083] 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.

Claims

Attorney Docket No.: A0012847W001WHAT IS CLAIMED IS:

1. A robotic system (10) for automatic port repositioning during a surgical procedure, the system comprising:a robotic arm (40);an access port (55) coupled to the robotic arm, the access port configured for insertion into an incision in a body surface;a sensor (120, 130) disposed on the robotic arm configured to measure deformation of a body surface surrounding the access port, the sensor generating sensor data corresponding to changes in the body surface; anda controller (21a, 41a) operably connected to the robotic arm and the sensor, the controller configured to:receive the sensor data from the sensor;determine a deformation of the body surface based on the sensor data; calculate a motion vector based on the deformation for moving the access port to alleviate tension at the incision; andgenerate a control signal to adjust a position of the access port via the robotic arm in accordance with the motion vector.

2. The robotic system according to claim 1, wherein the sensor is an imaging sensor (120) and includes at least one of a 3D time-of-flight (ToF) depth camera or a light detection and ranging (LiDAR) sensor.

3. The robotic system according to any of claims 1 or 2, wherein the sensor data includes 3D data having at least one of a depth map or a point cloud.

4. The robotic system according to claim 3, wherein the imaging sensor is configured to identify a plurality of tracking points in the 3D data.

5. The robotic system according to claim 4, wherein the controller is further configured to determine a deformation of the body surface based on an average change in distance for each tracking point of the plurality of tracking points.Attorney Docket No.: A0012847W0016. The robotic system according to any of claims 1 to 5, wherein the controller is further configured to determine a deformation of the body surface by using a simultaneous localization and mapping (SLAM) algorithm to construct a map of the body surface and track position of the access port within the map.

7. The robotic system according to any of claims 1 to 6, wherein the robotic arm includes a port latch (46c) configured to couple to the access port and the sensor is a force sensor (130) disposed on the port latch and configured to measure lateral forces on the access port and provide the sensor data including force feedback to the controller for calculating the motion vector and generating the control signal to adjust the position of the access port.

8. The robotic system according to any of claims 1 to 7, wherein the controller is configured to generate the control signal that adjusts the access port gradually over a time period of 1 to 5 seconds at a rate of 0.5 mm to 10 mm per second.

9. The robotic system of according to any of claims 1 to 8, further comprising a surgical instrument (50) inserted through the access port, the surgical instrument coupled to and controllable by the robotic arm, wherein the controller is further configured to define a virtual task volume (110) for the surgical instrument within which the surgical instrument is performing a surgical task and a virtual workspace volume (112) within which the surgical instrument is movable along with the task volume.

10. The robotic system according to claim 9, wherein the controller is further configured to monitor collisions between the virtual task volume and the virtual workspace volume and to calculate the motion vector in response to number of collisions exceeding a threshold within a set period of time.

11. A method (200) for automatic port repositioning during a surgical procedure, the method comprising:measuring deformation of a body surface surrounding an access port coupled to a robotic arm (40) using a sensor (120, 130), wherein the sensor is disposed on the robotic arm, and the access port is configured for insertion into an incision in a body surface, the sensor generating sensor data corresponding to changes in the body surface;Attorney Docket No.: A0012847W001determining, at a controller (21a, 41a), a deformation of the body surface based on the sensor data received from the sensor;calculating a motion vector based on the deformation for moving the access port to alleviate tension at the incision; andgenerating a control signal to adjust a position of the access port via the robotic arm in accordance with the motion vector.

12. The method according to claim 11, wherein the measurement of the deformation of the body is performed using an imaging sensor (120) including at least one of a 3D time-of-flight (ToF) depth camera or a light detection and ranging (LiDAR) sensor.

13. The method according to claim 12, wherein the sensor data includes 3D data having at least one of a depth map or a point cloud.

14. The method according to claim 13, further comprising identifying a plurality of tracking points in the 3D data.

15. The method of claim 14, further comprising determining a deformation of the body surface based on an average change in distance for each tracking point of the plurality of tracking points.

16. The method according to any of claims 11 to 15, further comprising determining a deformation of the body surface by using a simultaneous localization and mapping (SLAM) algorithm to construct a map of the body surface and track position of the access port within the map.

17. The method according to any of claims 11 to 16, wherein measuring deformation of the body surface is performed using a force sensor (130) disposed on a port latch (46c) of the robotic arm, the port latch is configured to couple to the access port, the force sensor is configured to measure lateral forces on the access port, and the sensor data including force feedback data to the controller for calculating the motion vector and generating the control signal to adjust the position of the access port.Attorney Docket No.: A0012847W00118. The method according to any of claims 11 to 17, further comprising generating the control signal that adjusts the access port gradually over a time period of 1 to 5 seconds at a rate of 0.5 mm to 10 mm per second.

19. The method according to any of claims 11 to 18, further comprising defining a virtual task volume (110) for a surgical instrument (50) inserted through the access port within which the surgical instrument is performing a surgical task and a virtual workspace volume (120) within which the surgical instrument is movable along with the task volume.

20. The method according to claim 19, further comprising:monitoring collisions between the virtual task volume and the virtual workspace volume; andcalculating the motion vector in response to number of collisions exceeding a threshold within a set period of time.

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