A surgical simulation device includes a support structure and animal tissue carried in a tray. A simulated human skeleton is carried by the support structure above the animal tissue and includes simulated human skin. A camera images the animal tissue and an image processor receives images of markers positioned on the ribs and animal tissue and forms a three-dimensional wireframe image. An operating table is adjacent a local robotic surgery station as part of a robotic surgery station and includes at least one patient support configured to support the patient during robotic surgery. At least one patient force/torque sensor is coupled to the at least one patient support and configured to sense at least one of force and torque experienced by the patient during robotic surgery.

A surgical instrument drive system is configured to actuate functions of a surgical end effector. The surgical instrument drive system includes a first rotary input drive gear configured to be driven by a corresponding first rotary output drive gear of a surgical robot interface; a second rotary input drive gear configured to be driven by a corresponding second rotary output drive gear of a surgical robot interface; and a shifter.

An adapter module is configured to be coupled to a robotic arm of a robotic surgical system and a surgical instrument. The adapter module has a first interface configured to engage a second interface of the surgical instrument to removably secure the surgical instrument thereto. The adapter module further includes a sensor configured to detect whether the second interface is fully engaged with the first interface, and a control circuit coupled to the sensor. The control circuit is configured to monitor the sensor to determine an engagement status of the surgical instrument, and prevent activation of a component of the robotic surgical system in a disengaged status.

A method of using a surgical modular robotic assembly including an interchangeable motor pack, a hand-held surgical instrument, and a robotic surgical instrument is disclosed. The method includes releasably attaching an interface portion of the interchangeable motor pack to the hand-held surgical instrument, causing the interchangeable motor pack to drive a first surgical tool of the hand-held surgical instrument, stopping the interchangeable motor pack from driving the first surgical tool, disconnecting the interface portion from the hand-held surgical instrument, and releasably attaching the interface portion of the interchangeable motor pack to the robotic surgical instrument.

A system for controlling a robotic arm is disclosed. The system includes a robotic arm including a surgical tool, a tool driver, and at least two sensors disposed on the robotic arm to redundantly monitor a status of the robotic arm and to verify an operational parameter of the surgical robotic tool. A central control circuit is configured to measure a first physical property of the robotic arm based on readings from the first sensor, measure a second physical property of the robotic arm based on readings from the second sensor, and determine a status of the robotic arm based on the first and second measurements of the first and second physical properties of the robotic arm.

A system for controlling a first robotic arm relative to a second robotic arm is disclosed. The system includes a two robotic arms each including a surgical tool and a tool driver. A central control circuit is configured to communicate with the robotic arms to determine a position of the robotic arms and modify a control algorithm for one of the robotic arms based on the relative position of the other robotic arm.

Certain aspects relate to systems and techniques for alignment and docking of robotic arm of a robotic system for surgery. In one aspect, the system includes a robotic arm, a drive mechanism attached to the robotic arm, and a cannula. The system may further include a first sensor coupled to either the robotic arm or the drive mechanism configured to direct automatic movement of the robotic arm towards the cannula, and a second sensor, that is different than the first sensor, coupled to either the robotic arm or the drive mechanism configured to direct manual movement of the robotic arm towards the cannula.

A surgical instrument assembly includes an attachment interface defining an inner cavity; a surgical tool comprising a shaft configured to be inserted into and operably attached to said attachment interface; and a seal positioned within said inner cavity, wherein said seal is configured to compress against said shaft as said surgical tool is inserted into and attached to said attachment interface to prevent the passage of debris from the external environment into said attachment interface as said surgical tool is attached to said attachment interface.

Systems and methods for motion mode management include a computer-assisted device having an input control, a repositionable structure, and a controller coupled to the input control and the repositionable structure. The controller is configured to detect movement of the input control, control movement of the repositionable structure based on the movement of the input control, determine whether the movement of the input control is likely to include one or more components of a mode switching movement of the input control, and in response to determining that the movement of the input control is likely to include one or more components of the mode switching movement, temporarily disable mode switching in response to movement of the input control. The mode switching movement changes a mode of operation for the device. In some embodiments, the temporarily disabling prevents changing the mode of operation when the movement is a mode switching movement.

A detachable motor pack, for use with multiple electrical surgical instruments, includes a housing; a plurality of motors retained within the housing; a controller configured to control one or more operations of the plurality of motors; a first interface portion, wherein the first interface portion is configured to releasably attach to a hand-held surgical instrument and to a robotic surgical instrument; and a second interface portion, wherein the second interface portion is configured to releasably attach to a first surgical tool of the hand-held surgical instrument and to a second surgical tool of the robotic surgical instrument.