Robotically controlling remote center of motion with software and guide tube

Abstract

A robotic surgical system includes a surgical robot and a guide tube. The surgical robot includes a robot arm and a controller. The controller is configured to establish a software-based remote center of motion of a surgical instrument attached to the robot arm based on a location of a surgical portal in a patient through which the surgical instrument is inserted. The guide tube having a trailing end supported by the robot arm of the surgical robot, a leading end inserted in the surgical portal and maintaining alignment between the robotic arm and the surgical portal during a surgical instrument exchange, and an elongated tubular body through which an elongated shaft of the surgical instrument is inserted or removed during the surgical instrument exchange.

1 - 20 . (canceled) 
     
     
         21 . A surgical system, comprising:
 a surgical instrument;   a surgical portal;   a controller configured to establish a software-based remote center of motion of the surgical instrument based on a location of the surgical portal; and   a guide tube supported by the surgical system and including an elongated tubular body positioned to receive the surgical instrument, the guide tube insertable in the surgical portal.   
     
     
         22 . The surgical system of  claim 21 , wherein the guide tube is slidably movable relative to the surgical portal. 
     
     
         23 . The surgical system of  claim 22 , wherein the guide tube defines a first longitudinal axis and the surgical portal defines a second longitudinal axis, the first longitudinal axis configured to maintain coaxial alignment with the second longitudinal axis during a surgical instrument exchange. 
     
     
         24 . The surgical system of  claim 21 , wherein the guide tube includes an internal seal configured to maintain a sealed relationship with the surgical instrument when the surgical instrument is received within the elongated tubular body of the guide tube. 
     
     
         25 . The surgical system of  claim 21 , wherein the guide tube includes an electrically conductive material. 
     
     
         26 . The surgical system of  claim 21 , further including a sterile drape positioned adjacent to the guide tube. 
     
     
         27 . The surgical system of  claim 21 , further comprising an endoscope and a second surgical portal positioned to receive the endoscope to enable the endoscope to maintain the guide tube within a field of view of the endoscope when the guide tube is inserted within a patient. 
     
     
         28 . The surgical system of  claim 21 , wherein the surgical instrument is robotically controlled. 
     
     
         29 . The surgical system of  claim 28 , further comprising a robotic arm, the surgical instrument coupled to the robotic arm. 
     
     
         30 . The surgical system of  claim 29 , wherein the guide tube is supported by the robotic arm. 
     
     
         31 . The surgical system of  claim 30 , wherein the guide tube maintains alignment between the robotic arm and the surgical portal when the guide tube is inserted in the surgical portal. 
     
     
         32 . The surgical system of  claim 31 , wherein the surgical instrument is selectively removable from the robotic arm. 
     
     
         33 . The surgical system of  claim 32 , wherein movement of the robotic arm causes the guide tube to move relative to the surgical portal.