Method of using a surgical modular robotic assembly

Abstract

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

What is claimed is: 
     
         1 . A method of using a surgical modular robotic assembly including an interchangeable motor pack, a hand-held surgical instrument, and a robotic surgical instrument, the method comprising:
 releasably attaching an interface portion of the interchangeable motor pack to the hand-held surgical instrument;   causing the interchangeable motor pack to drive a first surgical tool of the hand-held surgical instrument;   stopping the interchangeable motor pack from driving the first surgical tool;   disconnecting the interface portion from the hand-held surgical instrument; and   releasably attaching the interface portion of the interchangeable motor pack to the robotic surgical instrument.   
     
     
         2 . The method of  claim 1 , further comprising causing the interchangeable motor pack to drive a second surgical tool. 
     
     
         3 . The method of  claim 2 , further comprising establishing a first connection between the robotic surgical instrument and a first surgical hub. 
     
     
         4 . The method of  claim 3 , further comprising establishing a second connection between the robotic surgical instrument and a second surgical hub. 
     
     
         5 . The method of  claim 3 , further comprising transmitting a data communication through the first connection. 
     
     
         6 . The method of  claim 5 , further comprising verifying integrity of the data communication. 
     
     
         7 . The method of  claim 6 , further comprising:
 computing a security code from the data communication; and   comparing the computed security code to a security code received with the data communication.   
     
     
         8 . The method of  claim 7 , further comprising stopping the interchangeable motor pack from driving the first surgical tool if the computed security code does not match the received security code. 
     
     
         9 . The method of  claim 5 , wherein the data communication is indicative of a position of an end effector of the robotic surgical instrument. 
     
     
         10 . The method of  claim 5 , wherein the data communication is indicative of a motion of an end effector of the robotic surgical instrument. 
     
     
         11 . A method of operating a surgical instrument of a robotic arm of a surgical robotic system, the method comprising:
 transmitting a first portion of operational data to a first surgical hub;   transmitting a second portion of the operational data to a second surgical hub spaced apart from the first surgical hub;   performing a first calculation by the first surgical hub based on the first portion of the operational data;   performing a second calculation by the second surgical hub based on the second portion of the operational data;   transmitting a first outcome of the first calculation to the surgical instrument;   transmitting a second outcome of the second calculation to the surgical instrument; and   performing an operational task based on the first outcome and the second outcome.   
     
     
         12 . The method of  claim 11 , wherein the first outcome and the second outcome are transmitted to a control circuit of the surgical robotic system. 
     
     
         13 . The method of  claim 11 , wherein the operational task comprises moving the robotic arm to change a position of the surgical instrument. 
     
     
         14 . A method of assembling a sterile barrier with a robotic arm of a robotic surgical system, the method comprising:
 positioning a first sterile barrier segment around a first portion of the robotic arm, wherein the first sterile barrier segment is dimensioned to conform to the first portion of the robotic arm;   positioning a second sterile barrier segment around a second portion of the robotic arm, wherein the second sterile barrier segment is dimensioned to conform to the second portion of the robotic arm; and   connecting the first sterile barrier segment and the second sterile barrier segment.