A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.

A hyperdexterous surgical system is provided. The system on include one or more surgical arms coupleable in a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.

Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.

Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.

A method includes: executing judgment processing for judging whether a site to carry out a first task assigned to a first robot and a site to carry out a second task assigned to a second robot are likely to overlap each other; executing comparison processing for comparing first end time with second end time when the sites to carry out the first task and the second task are likely to overlap each other; and executing determination processing for selecting the first task order when the first end time is earlier than the second end time, and selecting the second task order when the second end time is earlier than the first end time.

A medical system includes a plurality of arms including a joint group having a redundant degree of freedom. The plurality of arms is configured to move medical devices mounted on their free end. An operation portion is configured to input an operation command for operating the plurality of arms. A controller controls the plurality of arms based on the operation command from the operation portion. The controller includes one or more processor as a hardware. The processor configured to predict an interference between the plurality of arms, calculate degrees of priority of each of the plurality of arms based on severities of effects by the predicted interference on a patient, and operate a signal of the plurality of arms having highest degrees of priority. The signal is configured so that the plurality of arms can avoid the interference.

Systems and a method for determining a sequence of kinematic chains of a multiple robot along a sequence of locations. Inputs on the locations to be reached by a robot tool are received. Each chain is considered separately by setting one chain in use and determining, for each chain in use, available configurations for each location. The available configurations are represented as nodes of a graph representing available robotic paths for reaching with a tool the locations, while allowing the switching among different chains within the same robotic path. Valid connectors are determined by simulating collision free robot trajectories while taking into account working modality constraints of the locations. Weight factors are assigned to connectors to represent robot efforts in moving between subsequent configurations. The shortest robotic path among valid paths is determined by taking into account the weight factors. The sequence of chains is determined from the shortest path.

A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.

A robotic surgical system includes a controller configured or programmed to perform an arm interference avoidance control to move a second manipulator arm relative to a first manipulator arm such that a reference line moves along an outer edge of an approach prohibited range of a first manipulator arm when a second manipulator arm approaches within the approach prohibited range.

Methods, systems, and platforms for automatic setup planning for a robot. The method includes sampling multiple poses in multiple dimensions within a robotic workspace. The method includes generating one or more candidate configurations based on the multiple poses. The method includes determining a score for each candidate configuration of the one or more candidate configurations. The score represents area coverage of a region of interest and at least one of an amount of setup time of the candidate configuration or an amount of energy used. The method includes determining a set of candidate configurations that has an overall area coverage that covers the region of interest based on the score for each candidate configuration. The method includes controlling a position and an orientation of the object based on the set of candidate configurations.