A method for a robotic surgical system includes displaying a graphical user interface on a display to a user, wherein the graphical user interface includes a plurality of reconfigurable display panels, receiving a user input at one or more user input devices, wherein the user input indicates a selection of at least one software application relating to the robotic surgical system, and rendering content from the at least one selected software application among the plurality of reconfigurable display panels.

A robotic medical system can include a user console, a robotic arm, and an adjustable arm support coupled to the robotic arm. The robotic medical can be configured to control null space motion of the robotic arm and/or the adjustable arm support based on inputs from two or more tasks of a plurality of tasks for execution by the robotic medical system. For example, the plurality of tasks can include contact detection of the robotic arm, optimization of the adjustable arm support, collision and/or joint limit handling via kinematics, robotic arm null space and/or bar pose jogging, and/or motion toward a preferred joint position.

A method of operating a robotic control system comprising a master apparatus in communication with an input device having a handle and a slave system having a tool having an end effector whose position and orientation is determined in response to a position and orientation of the handle. The method involves producing a desired end effector position and a desired end effector orientation of the end effector, in response to a current position and a current orientation of the handle. The method further involves causing the input device to provide haptic feedback that impedes translational movement of the handle, while permitting rotational movement of the handle and preventing movement of the end effector, when a rotational alignment difference between the handle and the end effector meets a first criterion. The method further involves re-enabling translational movement of the handle when the rotational alignment difference meets a second criterion.

A computerized method for estimating joint friction in a joint of a robotic wrist of an end effector. Sensor measurements of force or torque in a transmission that mechanically couples a robotic wrist to an actuator, are produced. Joint friction in a joint of the robotic wrist that is driven by the actuator is computed by applying the sensor measurements of force or torque to a closed form mathematical expression that relates transmission force or torque variables to a joint friction variable. A tracking error of the end effector is also computed, using a closed form mathematical expression that relates the joint friction variable to the tracking error. Other aspects are also described and claimed.

A surgical robot, a graphical control device and a graphical display method thereof, the surgical robot including: a display; at least two manipulators; and a controller configured to: when a first manipulator is detected to be in an operational mode, obtain state information of the joint assembly sensed by the sensors of the first manipulator; obtain a kinematic model of the first manipulator; acquire configuration parameters of a virtual camera; combine the configuration parameters of the virtual camera, the kinematic model of the first manipulator and the state information thereof so as to generate an image model of the first manipulator from a viewing point of the virtual camera; and display the image model of the first manipulator in a first display window of the display. The surgical robot facilitates doctors observing the posture state of the manipulators that are used during a surgical process.

Robotic medical systems can be capable of contact sensing and contact reaction. A robotic medical system can include a robotic arm and one or more sensors. The robotic medical system can be configured to detect, via the one or more sensors, a contact force or torque that is exerted on the robotic arm by an external object. In response to detecting the contact force or torque, and in accordance with a determination that a magnitude of the contact force or torque is between a lower contact force or torque limit and an upper contact force or torque limit, the robotic medical system can enable a first set of controlled movements on the robotic arm in accordance with the detected contact force or torque.

Adaptive control of operating room systems is performed based upon monitored data associated with the operating room. Monitoring systems may collect data regarding the patient being treated in the operating room, the healthcare professionals participating in the surgical procedure, and/or the environment in the operating room. The collected data, referred to as monitored data, may be communicated to a surgical computing system. The surgical computing system may evaluate received monitored data in view of the surgical tasks that are ongoing in the operating room. The surgical computing system may determine, based upon the monitored data, parameters for controlling various systems associated with the operating room, and may communicate the parameters to the operating room systems. The parameters may be received, for example, at lighting systems, air filtration and extraction systems, smoke evacuation systems, sound systems, video systems, and/or display monitor systems, which may modify operation based upon the received parameters.

A surgical computing system and/or a surgical instrument may monitor data associated with movement of a healthcare professional (HCP) in an operating room. The surgical computing system may determine procedure data associated with a surgical procedure plan in the operating room. The surgical computing system may determine, based on the monitored data and/or the procedure data, positioning parameters associated with a system in the operating room (OR). The surgical computing system may determine positioning parameters, such as adjusted OR layout, surgical instrument mix, and/or access to the surgical site, to improve efficiency and outcome success for surgical procedures. The surgical computing system may communicate the positioning parameters, for example, to systems associated with the operating room.

A computing system may determine a virtual boundary of a restricted access area in an operating room (OR). The computing system may identify a health care professional (HCP) in the OR and monitor a movement of the HCP. The computing system may determine an access authorization of the HCP. The computing system may determine whether the HCP is in a proximity to the virtual boundary area. If the computing system determines that the HCP is in a proximity to the virtual boundary area and the HCP is unauthorized to enter the virtual boundary area, the computing system may send a notification to the HCP. The notification may indicate that the HCP is unauthorized to enter the virtual boundary area. If the computing system determines that the HCP is authorized to enter the virtual boundary area, the computing system may allow the HCP to enter the virtual boundary area.

Systems, methods, and instrumentalities are disclosed for monitoring healthcare professionals (HCPs) in a surgical procedure and providing parameters associated with improving wear on HCPs. The parameters may be associated with recommendations, adjustments, and/or feedback for ergonomic positioning. Surgeon motion, posture, and surgical access may be monitored to create recommendations to improve wear on HCPs. Motions and postures of HCPs may be analyzed by a computing system. The computing system may perform an analysis of motions and postures of HCPs throughout a surgical procedure in an operating room (OR), for example, to identify improvements for posture, weightlifting, standing, and the like. The computing system may determine ergonomic adjustment parameter(s) associated with ergonomic positioning within the OR based on the monitored data. The parameters may include instrument mix selection, trocar location, OR table setup, and/or patient positioning.