WO2025229487A1

WO2025229487A1 - Accessory identification system using rfid technology in robotic assisted surgery

Info

Publication number: WO2025229487A1
Application number: PCT/IB2025/054387
Authority: WO
Inventors: Armin Fuerst
Original assignee: Covidien LP
Current assignee: Covidien LP
Priority date: 2024-04-29
Filing date: 2025-04-28
Publication date: 2025-11-06
Anticipated expiration: 2026-10-29

Abstract

A surgical robotic system includes: a laparoscopic surgical port including a cannula defining a lumen therethrough and a longitudinal axis; a surgical robotic arm including a port latch assembly, the port latch assembly including at least one movable arm for closing around the top portion of the surgical port; and a communication assembly including a control board supported in the surgical robotic arm. The communication assembly further includes: an RFID tag supported on the surgical port; and a plurality of send/receive coils supported within the port latch assembly and connected to the control board, wherein the plurality of send/receive coils are in communication with the RFID tag when the surgical port is mounted within the port latch assembly.

Description

ACCESSORY IDENTIFICATION SYSTEM USING RFID TECHNOLOGY IN ROBOTIC ASSISTED SURGERY

CROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63/639,813, filed April 29, 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 minimally invasive surgical procedures. Some surgical robotic systems include a surgeon console providing for teleoperative control of 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 access port, i.e., trocar, or a natural orifice of a patient 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 in a similar manner, i.e., through the access port.

[0003] The access ports are inserted into the patient and are attached to the robotic arm, e.g., via a clamp. Between the robot arm and the access port, a sterilization barrier, which may be a drape, makes it difficult for certain architectures to electrically connect the access port to the robot arm. Access ports have different sizes and lengths depending on the instrument size as well as the patient’s features. It is important to know which type of access port is attached to the robotic arm. The length of the access port defines the position of the instrument at which the instrument may be moved freely. Thus, there is a need to detect the type of access port being used.

SUMMARY

[0004] According to one embodiment of the disclosure a surgical robotic system is disclosed. The surgical robotic system includes: a laparoscopic surgical port including a cannula defining a lumen therethrough and a longitudinal axis; a surgical robotic arm including a port latch assembly, the port latch assembly including at least one movable arm for closing around the top portion of the surgical port; and a communication assembly including a control board supported in the surgical robotic arm. The communication assembly further includes: an RFID tag supported on the surgical port; and a plurality of send/receive coils supported within the port latch assembly and connected to the control board. The plurality of send/receive coils are in communication with the RFID tag when the surgical port is mounted within the port latch assembly.

[0005] The RFID tag of the surgical port may include: a plurality of tag coils configured to communicate with the plurality of send/receive coils of the port latch assembly; and a microchip assembly connected to the plurality of tag coils. The microchip assembly includes a memory storing information about the surgical port. The information about the surgical port includes at least one of manufacturer, manufacture date, model number, port diameter, port length, port material, expiration date, or use by date.

[0006] The plurality of tag coils may be wound around the surgical port, and may define a central axis which is concentric with the longitudinal axis of the surgical port.

[0007] The plurality of send/receive coils may define a central axis that is parallel with the central axis of the plurality of tag coils.

[0008] The surgical port may be constructed of a metallic material, and the communication assembly may include a layer of ferrite material interposed between the surgical port and the plurality of tag coils.

[0009] The plurality of tag coils may be supported on the surgical port such that a central axis of the plurality of tag coils is oriented at an angle with respect to the longitudinal axis of the surgical port.

[0010] The plurality of send/receive coils of the communication assembly may be located within the at least one moveable arm of the port latch assembly.

[0011] The port latch assembly may further include a fixed arm configured to cooperate with the at least one movable arm to selectively engage the surgical port.

[0012] The plurality of send/receive coils may include a first send/receive coil supported within the fixed arm of the port latch assembly, and a second send-receive coil supported within the at least one movable arm of the port latch assembly. [0013] The surgical robotic system may further include a controller connected to the first send/receive coil and to the second send/receive coil. The controller transmits electrical current through the first send/receive coil and through the second send/receive coil in one of: a same direction resulting in magnetic field lines extending in a direction substantially parallel to plane extending between the first send/receive coil and the second send/receive coil; or opposite directions resulting in magnetic field lines passing through both the first send/receive coil and the second send/receive coil.

[0014] According to another aspect of the disclosure, a surgical robotic system includes: a laparoscopic surgical port including a cannula defining a lumen therethrough and a longitudinal axis; a surgical robotic arm including a port latch assembly, the port latch assembly including a fixed arm and at least one movable arm for closing around the top portion of the surgical port; and a communication assembly including a control board supported in the surgical robotic arm, and an RFID tag supported on the surgical port. The RFID tag includes: a tag coil configured to communicate with the plurality of send/receive coils of the port latch assembly; and a microchip assembly connected to the tag coil. The microchip assembly includes a memory storing information about the surgical port. The information about the surgical port includes at least one of manufacturer, manufacture date, model number, port diameter, port length, port material, expiration date, or use by date. The communication assembly further includes a plurality of send/receive coils supported within the port latch assembly and connected to the control board. The plurality of send/receive coils are in communication with the RFID tag when the surgical port is mounted within the port latch assembly. The plurality of send/receive coils include a first send/receive coil supported within the fixed arm of the port latch assembly; and a second send-receive coil supported within the at least one movable arm of the port latch assembly.

[0015] The surgical robotic system may further include a controller connected to the first send/receive coil and to the second send/receive coil. The controller transmits electrical current through the first send/receive coil and through the second send/receive coil in one of: a same direction resulting in magnetic field lines extend in a direction substantially parallel to plane extending between the first send/receive coil and the second send/receive coil; or opposite directions resulting in magnetic field lines passing through both the first send/receive coil and the second send/receive coil. [0016] The surgical port may be constructed of a metallic material, and the communication assembly includes a layer of ferrite material interposed between the surgical port and the plurality of tag coils.

[0017] The RFID tag of the surgical port may include a plurality of tag coils configured to communicate with the plurality of send/receive coils of the port latch assembly.

[0018] The plurality of tag coils may be wound around the surgical port, and may define a central axis which is concentric with the longitudinal axis of the surgical port.

[0019] The plurality of send/receive coils may define a central axis that is parallel with the central axis of the plurality of tag coils.

[0020] The plurality of tag coils may be supported on the surgical port such that a central axis of the plurality of tag coils is oriented at an angle with respect to the longitudinal axis of the surgical port.

[0021] According to a further aspect of the disclosure, a surgical robotic system includes: a laparoscopic surgical port constructed of a metallic material and including a cannula defining a lumen therethrough and a longitudinal axis; a surgical robotic arm including a port latch assembly, the port latch assembly including at least one movable arm for closing around the top portion of the surgical port; and a communication assembly including a control board supported in the surgical robotic arm, and an RFID tag supported on the surgical port. The RFID tag of the surgical port includes: a plurality of tag coils configured to communicate with the plurality of send/receive coils of the port latch assembly; and a microchip assembly connected to the plurality of tag coils. The microchip assembly includes a memory storing information about the surgical port. The information about the surgical port includes at least one of manufacturer, manufacture date, model number, port diameter, port length, port material, expiration date, or use by date. The communication assembly further includes: a plurality of send/receive coils supported within the port latch assembly and connected to the control board; and a layer of ferrite material interposed between the surgical port and the plurality of tag coils. The plurality of send/receive coils are in communication with the RFID tag when the surgical port is mounted within the port latch assembly.

[0022] The plurality of tag coils may be wound around the surgical port, and may define a central axis which is concentric with the longitudinal axis of the surgical port. The plurality of send/receive coils define a central axis that is parallel with the central axis of the plurality of tag coils.

[0023] The port latch assembly may further include a fixed arm configured to cooperate with the at least one movable arm to selectively engage the surgical port. The plurality of send/receive coils includes: a first send/receive coil supported within the fixed arm of the port latch assembly; and a second send-receive coil supported within the at least one movable arm of the port latch assembly.

[0024] The surgical robotic system may further include a controller connected to the first send/receive coil and to the second send/receive coil. The controller transmits electrical current through the first send/receive coil and through the second send/receive coil in one of: a same direction resulting in magnetic field lines extend in a direction substantially parallel to plane extending between the first send/receive coil and the second send/receive coil; or opposite directions resulting in magnetic field lines passing through both the first send/receive coil and the second send/receive coil.

BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Various embodiments of the present disclosure are described herein with reference to the drawings wherein:

[0026] 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 disclosure;

[0027] 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 disclosure;

[0028] 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 disclosure;

[0029] FIG. 4 is a schematic diagram of a computer architecture of the surgical robotic system of FIG. 1 according to an embodiment of the disclosure; [0030] 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 disclosure;

[0031] FIG. 6 is a schematic diagram of a system for determining phases of a surgical procedure according to an embodiment of the disclosure;

[0032] FIG. 7 is a perspective view of a port latch assembly in accordance with an embodiment of the disclosure with a sterile drape and a surgical part uncoupled therefrom;

[0033] FIG. 8 is perspective view of the port latch assembly of FIG. 7 with the sterile drape and the surgical part coupled therewith;

[0034] FIG. 9 is a perspective view of the port latch assembly of FIG. 7, with parts separated;

[0035] FIG. 10 is a perspective view of the port latch assembly of FIG. 7, with various parts removed;

[0036] FIG. 11 is a front perspective view of a distal portion of the port latch assembly of FIG. 7, with a button of a communication assembly in a first position;

[0037] FIG. 12A is a front perspective view of the distal portion of the port latch assembly of FIG. 7, with the button of the communication assembly in a second position;

[0038] FIG. 12B is a further front perspective view of the distal portion of the port latch assembly illustrated in FIG. 12A;

[0039] FIG. 13 is a schematic illustration of a communication assembly for use with a surgical port and a port latch assembly of this disclosure;

[0040] FIG. 14 is a schematic illustration of a surgical port including a component of an alternative communication assembly of this disclosure;

[0041] FIG. 15 is a schematic illustration of an alternative communication assembly for use with the surgical port of FIG. 14;

[0042] FIG. 16 is a schematic illustration of a port latch assembly including the alternative communication assembly of FIG. 15, illustrating a first operational condition; [0043] FIG. 17 is a schematic illustration of the port latch assembly of FIG. 16, illustrating a second operational condition;

[0044] FIG. 18 is a schematic illustration of a surgical port including a component of a further alternative communication assembly of this disclosure; and

[0045] FIG. 19 is a schematic illustration of the further alternative communication assembly for use with the surgical port of FIG. 18.

DETAILED DESCRIPTION

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] The surgeon console 30 also includes a plurality of user interface devices, such as foot pedals 36 and a pair of hand controllers 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 hand controllers 38a and 38b.

[0052] 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 hand controllers 38a and 38b. The foot pedals 36 may be used to enable and lock the hand controllers 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 hand controllers 38a and 38b. Clutching is initiated by pressing one of the foot pedals 36, which disconnects (i.e., prevents movement inputs) the hand controllers 38a and/or 38b from the robotic arm 40 and corresponding instrument 50 or camera 51 atached thereto. This allows the user to reposition the hand controllers 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.

[0053] 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/intemet protocol (TCP/IP), datagram protocol/intemet protocol (UDP/IP), and/or datagram congestion control protocol (DC). 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)).

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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 44b 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 0 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 0. In embodiments, some or all of the joints 44a, 44b, 44c may include an actuator to obviate the need for mechanical linkages.

[0059] 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.

[0060] 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 of 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 or mount assembly 100 for securing the access port 55 to the holder 46 (FIG. 2).

[0061] 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.

[0062] 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 hand controllers 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 hand controllers 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.

[0063] 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.

[0064] 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.

[0065] Each of joints 63a 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 63a 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.

[0066] The IDU controller 4 Id 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 4 Id calculates actual angles based on the motor positions and transmits the actual angles back to the main cart controller 41a.

[0067] 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 surgical or access ports lOOOa-d, which in turn, depends on the surgery being performed. Once the port placement is determined, the access ports lOOOa-d are inserted into the patient, and carts 60a-d are positioned to insert instruments 50 and the laparoscopic camera 51 into corresponding ports lOOOa-d.

[0068] During use, each of the robotic arms 40a-d is attached to one of the access ports lOOOa-d that is inserted into the patient by attaching the port latch assembly 100 (FIG. 2) to the access port 1000 (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 1000 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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 perform access port identification process as described below.

[0076] With references to FIGS. 7-12, an embodiment of a port latch or mount assembly will be described with reference to a port latch assembly 100 which includes a housing 110, a coupling or jaw assembly 120, and a release assembly 190 (FIGS. 7-10). Housing 110 includes a first half 112 releasably coupled to a second half 114 such that, when coupled to one another, a cavity 116 is defined therebetween. A proximal portion 111 of first half 112 of housing 110 is releasably couplable to a distal portion of robot arm 40, such that port latch assembly 100 is thereby releasably coupled to robot arm 40. Coupling assembly 120 is supported by a distal portion 113 of second half 114 of housing 110, disposed within cavity 116, and extends distally from a distal portion 115 of cavity 116. Release assembly 190 is supported by housing 110, is disposed within cavity 116, and extends therefrom through an opening 117 defined by first and second halves 112, 114 of housing 110.

[0077] Coupling or jaw assembly 120 is configured to releasably engage a surgical port 1000 (FIGS. 7-8). Coupling assembly 120 is transitionable between a closed configuration, for engagement with the surgical port 1000, and an open configuration, for disengagement with surgical port 1000, such that the surgical port 1000 is releasably secured to robot arm 40. Coupling assembly 120 includes a fixed arm 122, a movable arm 132, and a latch plate 160. Fixed arm 122 includes a support portion 124 configured to reside within distal portion 113 of second half 114 of housing 110, and an engagement portion 126 extending distally therefrom. Movable arm 132 includes a support portion 134 configured to reside within distal portion 113 of second half 114 of housing 110, and an engagement portion 136 extending distally therefrom. It is envisioned that engagement portions 126, 136 of fixed and movable arms 122, 132 define a complementary shape with respect to an outer surface of surgical port 1000, as discussed herein, or any alternative surgical accessory which may be coupled to robot arm 40 via coupling assembly 120 of port latch assembly 100. As an exemplary illustration, engagement portions 126, 136 may define generally arcuate inner surfaces 127, 137, respectively, such that a surgical port defining a generally circular outer profile may be received between fixed and movable arm 122, 132, in a clamping fashion, and come into abutment with engagement portions 126, 136. Engagement portions 126, 136 may further include a flange 128, 138 extending therefrom, respectively, which is configured to engage a portion of surgical port 1000 positioned between fixed and movable arms 122, 132, as discussed further below, such that linear translation of surgical port 1000, with respect to fixed and movable arms 122, 132, is thereby inhibited.

[0078] With continued reference to FIGS. 7-12, support portion 134 of movable arm 132 is pivotably coupled to support portion 124 of fixed arm 122. Movable arm 132 includes a pivot bore 142 defined through support portion 134 thereof. Fixed arm 122 includes a bore 144 defined through support portion 124 thereof. A pivot pin 140 is disposed within pivot bore 142 defined through support portion 134 of movable arm 132, and within bore 144 defined through support portion 124 of fixed arm 122, and thus pivotably couples movable arm 132 to fixed arm 122 about pivot pin 140, pivot bore 142, and bore 144. As movable arm 132 pivots about pivot pin 140 engagement portion 136 of movable arm 132 is caused to transition between a position proximate engagement portion 126 of fixed arm 122, which corresponds to the closed configuration of coupling assembly 120, and a position spaced away from engagement portion 126 of fixed arm 122, which corresponds to the open configuration of coupling assembly 120.

[0079] In operation, through pivoting of movable arm 132, coupling assembly 120 is caused to transition between the closed configuration and the open configuration. In the closed configuration of coupling assembly 120, engagement portion 136 of movable arm 132 is proximate engagement portion 126 of fixed arm 122 to achieve fixation of surgical port 1000 to robot arm 40, via coupling assembly 120 of port latch assembly 100. In the open configuration of coupling assembly 120, engagement portion 136 of movable arm 132 is spaced away from engagement portion 126 of fixed arm 122 to receive or release surgical port 1000 therefrom. Thus, in the closed configuration of coupling assembly 120, surgical port 1000 is secured to robot arm 40, and in the open configuration of clamping assembly 120, surgical port 1000 is unsecured from robot arm 40.

[0080] Coupling assembly 120 may further include a biasing member 145 coupled between support portion 134 of movable arm 132 and support portion 124 of fixed arm 122, such that engagement portion 136 of movable arm 132 is biased into a position proximate to, or spaced away from, engagement portion 126 of fixed arm 122. Accordingly, biasing member 145 acts to bias coupling assembly 120 into one of the closed or open configurations.

[0081] Coupling assembly 120 includes a latch plate 160 pivotably transitionable between an engaged position and a disengaged position. As dictated by the position of latch plate 160, movable arm 132 is either inhibited from, or freely capable of, pivoting with respect to fixed arm 122. Thus, the position of latch plate 160 directs coupling assembly 120 into one of a locked or unlocked configuration, whereby in the locked configuration movable arm 132 is inhibited from pivoting and in the unlocked configuration movable arm 132 may freely pivot.

[0082] Coupling assembly 120 further includes a release assembly 190 whereby actuation of release assembly 190 selectively transitions latch plate 160 between the engaged and disengaged positions, and thus, transitions coupling assembly 120 between the locked configuration and the unlocked configuration.

[0083] With continued reference to FIGS. 7-12B, the coupling and uncoupling of a surgical port 1000 with port latch assembly 100 will be described. With coupling assembly 120 in the closed and locked configurations, release assembly 190 is actuated to transition coupling assembly 120 into the unlocked configuration. With coupling assembly 120 in the unlocked configuration, the movable arm 132 may be pivoted. As movable arm 132 pivots, coupling assembly 120 may assume the open configuration.

[0084] With coupling assembly 120 in the open configuration, a surgical port (e.g., surgical port 1000) may be positioned between engagement portions 126, 136 of fixed and movable arms 122, 132. Once positioned between engagement portions 126, 136, movable arm 132 may be pivoted towards fixed arm 122 such that coupling assembly 120 assumes the closed configuration. With coupling assembly 120 in the closed configuration, the release assembly returns to an unactuated condition, thus transitioning coupling assembly 120 into the locked configuration. With coupling assembly 120 in the closed and locked configurations, surgical port 1000 is thereby secured to port latch assembly 100. The surgical port 1000 is uncoupled from coupling assembly 120 in a similar manner, and may thus be uncoupled from port latch assembly 100.

[0085] With reference to FIGS. 13-19, mount assembly 100 may further include a communication assembly 200 (see FIG. 7) configured to communicate with surgeon console 30, to a control tower in the operating room, to other in-room monitors or the like. More particularly, communication assembly 200 provides information to surgeon console 30 regarding the open, closed, locked, and unlocked configuration status of coupling assembly 120, and further, provides an indication if a surgical accessory, e.g., a surgical port, is positioned between, or absent from, coupling assembly 120. Communication assembly 200 is also configured to read information about the surgical port 1000, e.g., manufacturer, manufacture date, model number, port diameter, port length, port material, expiration date or use by date, and the like, and convey that information to the surgeon console 30.

[0086] Communication assembly 200 and surgeon console 30 may be configured for wired or wireless communication. With mount assembly 100 and robot arm 40 coupled, communication assembly 200 and surgeon console 30 are communicatively coupled. In an embodiment, communication assembly 200 is configured for wireless communications with surgeon console 30, whereby communication assembly 200 and surgeon console 30 are communicatively coupled by any wireless communication method as is known in the art, such as, for example, BlueTooth, ZigBee, near field communication (NFC), WiFi, or the like. [0087] As illustrated in FIG. 9, communication assembly 200 includes a control board 210 disposed in cavity 116 of housing 110 and supported by second half 114 of housing 110. Control board 210 includes a release assembly sensor switch 220, a presence sensor switch 230, and a repositioning sensor switch 240. Communication assembly 200 further includes a button 232 configured to engage presence sensor switch 230, and a repositioning button 242 configured to engage repositioning sensor switch 240, as discussed below. Communication assembly 200 may further include any number of additional switches and/or sensors, with any number of corresponding buttons, with or without corresponding audio and/or visual user signals (e.g., LED’s, buzzers, or the like), each of which may include or provide different or additional functionality. While control board 210 is shown and described as being housed within housing 110, it is envisioned that control board 210 may be located at any location within the surgical robotic system 10.

[0088] When positioning a surgical port 1000 proximate to and in abutment with fixed arm 122 of coupling assembly 120, the surgical port 1000 is thereby brought into abutment with contact surface 236 of button 232 of communication assembly 200. Through abutment of surgical port 1000 with respect to inner surface 127 of engagement portion 126 of fixed arm 122 and contact surface 236 of button 232, button 232 is caused to pivot, with respect to fixed arm 122. More particularly, button 232 is pivotable between a first position and a second position. In the first position of button 232, contact surface 236 of button 232 is positioned through cavity 237 of fixed arm 122 such that contact surface 236 extends through cavity 237 and past inner surface 127 of engagement portion 126 of fixed arm 122. As such, contact surface 236 protrudes from inner surface 127 of engagement portion 126 of fixed arm 122. In the second position of button 232, contact surface 236 of button 232 is positioned within cavity 237 of fixed arm 122, such that contact surface 236 is nearly flush with, or planar to inner surface 127 of engagement portion 126 of fixed arm 122. It should be appreciated that as a surgical port 1000 is brought into approximation with engagement portion 126 of fixed arm 122, and more particularly is brought into abutment with inner surface 127, the surgical port 1000 presses against contact surface 236 such that button 232 is caused to pivot from the first position towards the second position.

[0089] With button 232 in the first position, presence sensor switch 230 is not depressed, and communication assembly 200 provides an indication to surgeon console 30 that there is no surgical port positioned between fixed and movable arms 122, 132 of coupling assembly 120, and/or that a surgical port 1000 is incorrectly positioned therebetween. With button 232 in the second position, presence sensor switch 230 is depressed, and communication assembly 200 provides an indication to surgeon console 30 that a surgical port 1000 is positioned proximate to and in abutment with coupling assembly 120.

[0090] By utilizing release assembly sensor switch 220 and presence sensor switch 230 of communication assembly 200, surgeon console 30 may determine the operational status and state of port latch assembly 100, and provide such information to a user. As noted above, release assembly sensor switch 220 provides surgeon console 30 an indication regarding the locked and unlocked state of coupling assembly 120 of port latch assembly 100. Presence sensor switch 230 provides surgeon console 30 an indication regarding the presence, or absence of a surgical port, with respect to coupling assembly 120 of port latch assembly 100, and may further provide an indication of incorrect, partial, or misaligned mounting between the surgical port and the fixed and movable arms 122, 132 of coupling assembly 120. Upon indication from communication assembly 200, surgeon console 30 may determine if a safe operational condition is present and permit, for example, articulation of robot arm 40, actuation of surgical instrument 50, and/or other actions performed during a surgical procedure. Conversely, surgeon console 30 may determine if an unsafe operational condition is present and may, for example, inhibit movement of robot arm 40, inhibit continuation of a procedure, prevent actuation or articulation of surgical instrument 50, and/or initiate a warning to a user, via audible or visual indicia utilizing surgeon console 30.

[0091] For example, upon indication from communication assembly 200 that a surgical port is not positioned between coupling assembly 120, via presence sensor switch 230, and coupling assembly 120 is in either the locked or unlocked configuration, via release assembly sensor switch 220, it may be determined that robot arm 40 is not in use and/or is safe to move. Upon indication from communication assembly 200 that a surgical port 1000 is positioned between coupling assembly 120, via presence sensor switch 230, and coupling assembly 120 is in the locked configuration, via release assembly sensor switch 220, it may be determined that robot arm 40 is in use, the surgical port 1000 is properly engaged with and secured to the coupling assembly 120, and thus, robot arm 40 is ready for the surgical procedure. Further, upon indication from communication assembly 200 that a surgical port 1000 is positioned between coupling assembly 120, via presence sensor switch 230, and coupling assembly 120 is in the unlocked configuration, via release assembly sensor switch 220, it may be determined that robot arm 40 is in use, the surgical port 1000 may be improperly engaged with the coupling assembly 120, coupling assembly 120 may not be in a fully closed or locked configuration, and thus, robot arm 40 is not ready for the surgical procedure and requires attention prior to proceeding. In such a situation, for example, a warning may be issued to the user, movement of robot arm 40 may be inhibited, or actuation of the surgical instrument 50 may be forestalled.

[0092] In an embodiment, communication assembly 200 may incorporate one or more noncontact sensors, rather than mechanical switches, such as, for example, a proximity sensor, an optical sensor, a hall-effect sensor, a magnetic sensor or magnetic registration, an induction sensor, a Radio-Frequency Identification (“RFID”) sensor, combinations thereof, and the like.

[0093] Both low-frequency RFID and high-frequency RFID are based on inductive coupling between the reader and the tag. This means the wavelength is significantly longer than the distance between sender/reader and the tag. Therefore, a near-field condition exists where either an electrical or magnetic field is generated. Therefore, the reader as well as the RFID tag are using magnetic coils as “antennas”. The coils must be designed and oriented in such a way so as to provide magnetic coupling between sender/receiver coils and the RFID tag and so as to allow sufficient energy transmission between sender/receiver coils and the RFID tag. This is a function of the magnetic flux of the sender coil passing through the area of the receiver coil and/or RFID tag.

[0094] For example, turning now to FIG. 13, a communication assembly 200a, in accordance with this disclosure, may include either a low-frequency RFID or a high-frequency RFID tag incorporated into surgical port 1000 and a corresponding sender/reader incorporated into the port latch assembly 100. More specifically, the communication assembly 200a may include an RFID tag 1010a having at least one tag coil or loop (a plurality of tag coils being shown) 1010b wrapped around a proximal engagement region 1120 of the surgical port 1000, and a microchip assembly 1010c connected to the plurality of tag coils 1010b and housed within the surgical port 1000. The plurality of tag coils 1010b are arranged to define a central axis “XI -XI” which is concentric or co-axial with a central longitudinal axis “X-X” of the surgical port 1000. The microchip assembly 1010c may include a memory, in the form of an EPROM which stores the information about the surgical port 1000, e.g., manufacturer, manufacture date, model number, port diameter, port length, port material, expiration date or use by date, and the like, thereon. [0095] The communication assembly 200a may include a plurality of send/receive coils lOlOd supported within fixed arm 122 and/or movable arm 132 of coupling assembly 120, or in any location within coupling assembly 120 of port latch assembly 100 such that a magnetic field of the plurality of send/receive coils lOlOd are in communication with the plurality of tag coils 1010b contained within the surgical port 1000. The plurality of send/receive coils lOlOd are arranged to define a central axis “X2-X2” which is parallel to, and offset from, the central axis “XI -XI” of the plurality of tag coils 1010b when surgical port 1000 is mounted in port latch assembly 100. The plurality of send/receive coils lOlOd contained in coupling assembly 120 may be in electrical communication with control board 210 (FIG. 9).

[0096] As illustrated in FIG. 13, with the central axis “X2-X2” of the plurality of send/receive coils lOlOd being parallel to the central axis “XI -XI” of the plurality of tag coils 1010b, when surgical port 1000 is mounted in port latch assembly 100, the port symmetry axis and the magnetic flux are parallel. In this manner, rotating the surgical port 1000, within the port latch assembly 100, does not change of effect the coupling between the plurality of tag coils 1010b of the surgical port 1000 and the plurality of send/receive coils lOlOd mounted in port latch assembly 100.

[0097] Turning now to FIGS. 14-17, a communication assembly 200b, in accordance with this disclosure, may include either a low-frequency RFID or a high-frequency RFID tag incorporated into or onto the surgical port 1000 and a corresponding sender/reader incorporated into the jaws of the port latch assembly 100. More specifically, the communication assembly 200b may include an RFID tag 1020a having at least one tag coil or loop (a plurality of tag coils being shown) 1020b, and a microchip assembly 1020c housed or otherwise supported within the surgical port 1000. The plurality of tag coils 1020b may be arranged to define a central axis “Y -Y” which is angled with respect to, or orthogonal to, the central longitudinal axis “X-X” of the surgical port 1000. The microchip assembly 1020c may include a memory, in the form of an EPROM which stores the information about the surgical port 1000, e.g., manufacturer, manufacture date, model number, port diameter, port length, port material, expiration date or use by date, and the like, thereon.

[0098] The RFID tag 1020a may be configured to authenticate itself without disclosing certain information (e.g., secret information) to the RFID reader by using, for example, a challenge-response protocol. Such a self-authenticating RFID tag 1020a may be used to authenticate the surgical port 1000 as a genuine surgical port provided by a particular manufactures in order to avoid fraud with forged devices/accessories.

[0099] The communication assembly 200b may include a first send/receive coil 1020d supported within fixed arm 122 and a second send/receive coil 1020e supported within movable arm 132 of coupling assembly 120 of port latch assembly 100 such that a magnetic field of the first and second send/receive coils 1020d, 1020e are in communication with the plurality of tag coils 1020b contained within the surgical port 1000. The first and second send/receive coils 1020d, 1020e contained in coupling assembly 120 may be in electrical communication with control board 210 (FIG. 9).

[00100] By placing the first and second send/receive coils 1020d, 1020e within respective fixed arm 122 and movable arm 132, the magnetic field generated may be concentrated to the area between the fixed arm 122 and the movable arm 132. Additionally, the curved profile of the fixed arm 122 and the movable arm 132 further helps to create a field vector in multiple directions, as will be described below.

[00101] As illustrated in FIG. 16, if the first send/receive coil 1020d supported within fixed arm 122 and the second send/receive coil 1020e supported within movable arm 132 are both driven by electrical currents flowing in the same direction, the resulting magnetic field lines will be essentially equivalent to a magnetic field generated by a large coil with the outer circumference of both the first and second send/receive coils 1020d, 1020e, and the resulting magnetic field lines will extend in a direction substantially parallel to plane extending between the first and second send/receive coils.

[00102] While the direction of current flow is shown and described for changing the direction of the magnetic field generated, it is within the scope of this disclosure for the direction of the magnetic field that is generated to be controlled by changing the amplitude of the current flowing through the first send/receive coil 1020d and/or the second send/receive coil 1020e.

[00103] As illustrated in FIG. 17, if the first send/receive coil 1020d supported within fixed arm 122 and the second send/receive coil 1020e supported within movable arm 132 are driven by electrical currents flowing in opposing directions, the resulting magnetic field is created in an opposite direction. The resulting magnetic field lines will pass through both the first and second send/receive coils 1020d, 1020e and in certain regions create a field vector orthogonally to the direction when driving both the first and second send/receive coils 1020d, 1020e in the same direction.

[00104] The electrical currents flowing through the first and second send/receive coils 1020d, 1020e may be driven and/or otherwise controlled by the controller 21a of surgical robotic system 10.

[00105] In use, by controlling an amplitude current in both the first and second send/receive coils 1020d, 1020e, a superposition of magnetic field vectors can be generated to match an orientation of the surgical port 1000 and maximize coupling.

[00106] While communication assembly 200b may include both the first and second send/receive coils 1020d, 1020e, as illustrated and described, it is contemplated that communication assembly 200b may include either the first send/receive coils 1020d or the second send/receive coils 1020e.

[00107] Any of the aforementioned communication assemblies may be used when surgical port 1000 is constructed of plastic or the like, however, when surgical port 1000 is fabricated from a metal, such as stainless steel or titanium, certain challenges arise with regard to communication assemblies 200a, 200b. For example, the send/receive coils may generate eddy currents in the material of the surgical port 1000. These eddy currents create magnetic fields weakening or cancelling out the magnetic field at the send/receive coils.

[00108] One solution is to shield magnetic flux from surface material, whereby the RFID tag includes a combination spacer material and a ferrite sheet between the RFID tag and the underlying conducting surface material, e.g., metallic surgical port 1000. The spacer increases distance from the conductive surface material since the magnetic fields only cancel out close to the conductive surface material. The ferrite sheet is a non-conductive, high permeability material which allows the magnetic field to concentrate in the ferrite instead of the underlying conductive material without creating eddy currents.

[00109] An alternative solution is to use the conductive surface material as a magnetic core, whereby the RFID tag is embedded into the metal and the metal is used to guide the magnetic flux through the RFID tag. This can be achieved by deliberately introducing a gap in the metal component and thus decreasing the magnetic permeability through the material outside of the RFID tag. The magnetic flux thus passes through the tag coil of the RFID tag, thus increasing magnetic coupling between the RFID reader and the RFID tag.

[00110] In accordance with this disclosure, as illustrated in FIGS. 18-19, a communication assembly 200c, in accordance with this disclosure, may include either a low- frequency RFID or a high-frequency RFID tag incorporated into or onto the metallic surgical port 1000 and a corresponding sender/reader incorporated into the jaws of the port latch assembly 100. More specifically, the communication assembly 200c may include an RFID tag 1030a having at least one tag coil or loop (a plurality of tag coils being shown) 1030b, and a microchip assembly 1030c housed or otherwise supported within the metallic surgical port 1000. The plurality of tag coils 1030b may be arranged to define a central axis “Y-Y” which is orthogonal to the central longitudinal axis “X-X” of the metallic surgical port 1000. The plurality of tag coils 1030b may be radially separated from the metallic surgical port 1000 by a layer of ferrite material 103 Of interposed between the plurality of tag coils 1030b and the metallic surgical port 1000. The microchip assembly 1030c may include a memory, in the form of an EPROM which stores the information about the surgical port 1000, e.g., manufacturer, manufacture date, model number, port diameter, port length, port material, expiration date or use by date, and the like, thereon.

[00111] The communication assembly 200c may include the same or similar first and second send/receive coils as described above with respect to communication assembly 200a, 200b, and/or a plurality of send/receive coils lOlOd.

[00112] In use, during preparation of a laparoscopic surgical procedure, the surgical ports 1000 are inserted into the patient’s body. The robotic arms 40a-d are positioned and connected to the surgical ports 1000 as described above with respect to FIG. 5. Then the system 10, e.g., controller 21a, activates the corresponding communication assembly 200 of the arms 40a-d to interrogate the respective attached surgical port 1000. Each surgical port 1000 then communicates information thereof, e.g., manufacturer, manufacture date, model number, port diameter, port length, port material, expiration date or use by date, and the like, and to the surgeon console 30.

[00113] The controller 21a identifies the type of surgical port 1000 connected to the particular robotic arm 40a-d, and then loads parameters of the surgical port 1000 from the database for use during operation of the system 10, e.g., calibration, operational limits for the instruments 50 used with the identified surgical port 1000, if the instrument is not compatible with the surgical port 1000 based on database and current attached instrument, etc.

[00114] 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.

[00115] The following examples are illustrative of the techniques described herein.

[00116] Example 1. A surgical robotic system comprising: a laparoscopic surgical port including a cannula defining a lumen therethrough, the surgical port defining a longitudinal axis; a surgical robotic arm including a port latch assembly, the port latch assembly including at least one movable arm for closing around the top portion of the surgical port; and a communication assembly including a control board supported in the surgical robotic arm, the communication assembly further including: an RFID tag supported on the surgical port; and a plurality of send/receive coils supported within the port latch assembly and connected to the control board, wherein the plurality of send/receive coils are in communication with the RFID tag when the surgical port is mounted within the port latch assembly.

[00117] Example 2. The surgical robotic system according to Example 1, wherein the RFID tag of the surgical port includes: a plurality of tag coils configured to communicate with the plurality of send/receive coils of the port latch assembly; and a microchip assembly connected to the plurality of tag coils, wherein the microchip assembly includes a memory storing information about the surgical port, wherein the information about the surgical port includes at least one of manufacturer, manufacture date, model number, port diameter, port length, port material, expiration date, or use by date.

[00118] Example 3. The surgical robotic system according to Example 2, wherein the plurality of tag coils are wound around the surgical port, and wherein the plurality of tag coils define a central axis which is concentric with the longitudinal axis of the surgical port.

[00119] Example 4. The surgical robotic system according to Example 3, wherein the plurality of send/receive coils define a central axis, wherein the central axis of the plurality of send/receive coils is parallel with the central axis of the plurality of tag coils. [00120] Example 5. The surgical robotic system according to Example 4, wherein the surgical port is constructed of a metallic material, and wherein the communication assembly includes a layer of ferrite material interposed between the surgical port and the plurality of tag coils.

[00121] Example 6. The surgical robotic system according to Example 2, wherein the plurality of tag coils are supported on the surgical port such that a central axis of the plurality of tag coils is oriented at an angle with respect to the longitudinal axis of the surgical port.

[00122] Example 7. The surgical robotic system according to Example 6, wherein the plurality of send/receive coils of the communication assembly are located within the at least one movable arm of the port latch assembly.

[00123] Example 8. The surgical robotic system according to Example 7, wherein the port latch assembly further includes a fixed arm configured to cooperate with the at least one movable arm to selectively engage the surgical port, and wherein the plurality of send/receive coils includes a first send/receive coil supported within the fixed arm of the port latch assembly, and a second send-receive coil supported within the at least one movable arm of the port latch assembly.

[00124] Example 9. The surgical robotic system according to Example 8, further comprising a controller connected to the first send/receive coil and to the second send/receive coil, wherein the controller transmits electrical current through the first send/receive coil and through the second send/receive coil in one of: a same direction resulting in magnetic field lines extend in a direction substantially parallel to plane extending between the first send/receive coil and the second send/receive coil; or opposite directions resulting in magnetic field lines passing through both the first send/receive coil and the second send/receive coil.

[00125] Example 10. A surgical robotic system comprising: a laparoscopic surgical port including a cannula defining a lumen therethrough, the surgical port defining a longitudinal axis; a surgical robotic arm including a port latch assembly, the port latch assembly including a fixed arm and at least one movable arm for closing around the top portion of the surgical port; and a communication assembly including: a control board supported in the surgical robotic arm; an RFID tag supported on the surgical port, the RFID tag including: at least one tag coil; and a microchip assembly connected to the at least one tag coil, wherein the microchip assembly includes a memory storing information about the surgical port, wherein the information about the surgical port includes at least one of manufacturer, manufacture date, model number, port diameter, port length, port material, expiration date, or use by date; and a plurality of send/receive coils supported within the port latch assembly and connected to the control board, wherein the plurality of send/receive coils are in communication with the RFID tag when the surgical port is mounted within the port latch assembly, wherein the plurality of send/receive coils include: a first send/receive coil supported within the fixed arm of the port latch assembly; and a second send-receive coil supported within the at least one movable arm of the port latch assembly.

[00126] Example 11. The surgical robotic system according to Example 10, further comprising a controller connected to the first send/receive coil and to the second send/receive coil, wherein the controller transmits electrical current through the first send/receive coil and through the second send/receive coil in one of: a same direction resulting in magnetic field lines extend in a direction substantially parallel to plane extending between the first send/receive coil and the second send/receive coil; or opposite directions resulting in magnetic field lines passing through both the first send/receive coil and the second send/receive coil.

[00127] Example 12. The surgical robotic system according to Example 10, wherein the surgical port is constructed of a metallic material, and wherein the communication assembly includes a layer of ferrite material interposed between the surgical port and the at least one tag coil.

[00128] Example 13. The surgical robotic system according to Example 10, wherein the at least one tag coil is a plurality of tag coils configured to communicate with the plurality of send/receive coils of the port latch assembly.

[00129] Example 14. The surgical robotic system according to Example 13, wherein the plurality of tag coils are wound around the surgical port, and wherein the plurality of tag coils define a central axis which is concentric with the longitudinal axis of the surgical port.

[00130] Example 15. The surgical robotic system according to Example 14, wherein the plurality of send/receive coils define a central axis, wherein the central axis of the plurality of send/receive coils is parallel with the central axis of the plurality of tag coils. [00131] Example 16. The surgical robotic system according to Example 13, wherein the plurality of tag coils are supported on the surgical port such that a central axis of the plurality of tag coils is oriented at an angle with respect to the longitudinal axis of the surgical port.

[00132] Example 17. A surgical robotic system comprising: a laparoscopic surgical port including a cannula defining a lumen therethrough, the surgical port defining a longitudinal axis, wherein the surgical port is constructed of a metallic material; a surgical robotic arm including a port latch assembly, the port latch assembly including at least one movable arm for closing around the top portion of the surgical port; and a communication assembly including: a control board supported in the surgical robotic arm; an RFID tag supported on the surgical port, wherein the RFID tag of the surgical port includes: a plurality of tag coils; and a microchip assembly connected to the plurality of tag coils, wherein the microchip assembly includes a memory storing information about the surgical port, wherein the information about the surgical port includes at least one of manufacturer, manufacture date, model number, port diameter, port length, port material, expiration date, or use by date; a plurality of send/receive coils supported within the port latch assembly and connected to the control board, wherein the plurality of send/receive coils are in communication with the RFID tag when the surgical port is mounted within the port latch assembly; and a layer of ferrite material interposed between the surgical port and the plurality of tag coils.

[00133] Example 18. The surgical robotic system according to Example 17, wherein the plurality of tag coils are wound around the surgical port, wherein the plurality of tag coils define a central axis which is concentric with the longitudinal axis of the surgical port, wherein the plurality of send/receive coils define a central axis, and wherein the central axis of the plurality of send/receive coils is parallel with the central axis of the plurality of tag coils.

[00134] Example 19. The surgical robotic system according to Example 18, wherein the port latch assembly further includes a fixed arm configured to cooperate with the at least one movable arm to selectively engage the surgical port, and wherein the plurality of send/receive coils includes: a first send/receive coil supported within the fixed arm of the port latch assembly; and a second send-receive coil supported within the at least one movable arm of the port latch assembly. [00135] Example 20. The surgical robotic system according to Example 19, further comprising a controller connected to the first send/receive coil and to the second send/receive coil, wherein the controller transmits electrical current through the first send/receive coil and through the second send/receive coil in one of: a same direction resulting in magnetic field lines extend in a direction substantially parallel to plane extending between the first send/receive coil and the second send/receive coil; or opposite directions resulting in magnetic field lines passing through both the first send/receive coil and the second send/receive coil.

Claims

WHAT IS CLAIMED IS:

1. A surgical robotic system comprising: a laparoscopic surgical port including a cannula defining a lumen therethrough, the surgical port defining a longitudinal axis; a surgical robotic arm including a port latch assembly, the port latch assembly including at least one movable arm for closing around the top portion of the surgical port; and a communication assembly including a control board supported in the surgical robotic arm, the communication assembly further including: an RFID tag supported on the surgical port; and a plurality of send/receive coils supported within the port latch assembly and connected to the control board, wherein the plurality of send/receive coils are in communication with the RFID tag when the surgical port is mounted within the port latch assembly.

2. The surgical robotic system according to claim 1, wherein the RFID tag of the surgical port includes: a plurality of tag coils configured to communicate with the plurality of send/receive coils of the port latch assembly; and a microchip assembly connected to the plurality of tag coils, wherein the microchip assembly includes a memory storing information about the surgical port, wherein the information about the surgical port includes at least one of manufacturer, manufacture date, model number, port diameter, port length, port material, expiration date, or use by date.

3. The surgical robotic system according to any of the preceding claims, wherein the plurality of tag coils are wound around the surgical port, and wherein the plurality of tag coils define a central axis which is concentric with the longitudinal axis of the surgical port.

4. The surgical robotic system according to any of the preceding claims, wherein the plurality of send/receive coils define a central axis, wherein the central axis of the plurality of send/receive coils is parallel with the central axis of the plurality of tag coils.

5. The surgical robotic system according to any of the preceding claims, wherein the surgical port is constructed of a metallic material, and wherein the communication assembly includes a layer of ferrite material interposed between the surgical port and the plurality of tag coils.

6. The surgical robotic system according to any of claims 1 or 2, wherein the plurality of tag coils are supported on the surgical port such that a central axis of the plurality of tag coils is oriented at an angle with respect to the longitudinal axis of the surgical port.

7. The surgical robotic system according to any of claims 1, 2 or 6, wherein the plurality of send/receive coils of the communication assembly are located within the at least one movable arm of the port latch assembly.

8. The surgical robotic system according to any of claims 1, 2 or 6-7, wherein the port latch assembly further includes a fixed arm configured to cooperate with the at least one movable arm to selectively engage the surgical port.

9. The surgical robotic system according to any of claims 1, 2 or 6-8, wherein the plurality of send/receive coils includes a first send/receive coil supported within the fixed arm of the port latch assembly, and a second send-receive coil supported within the at least one movable arm of the port latch assembly.

10. The surgical robotic system according to any of claims 1, 2 or 6-9, further comprising a controller connected to the first send/receive coil and to the second send/receive coil, wherein the controller transmits electrical current through the first send/receive coil and through the second send/receive coil in one of: a same direction resulting in magnetic field lines extend in a direction substantially parallel to plane extending between the first send/receive coil and the second send/receive coil; or opposite directions resulting in magnetic field lines passing through both the first send/receive coil and the second send/receive coil.