Sensing arrangements for robot-assisted surgical platforms

Abstract

Various surgical systems are disclosed. A surgical system comprises a robotic system. The robotic system comprises a control unit; a robotic arm comprising an attachment portion; a first sensor system in signal communication with the control unit; and a second sensor system. The first sensor system is configured to detect a position of the attachment portion. A surgical tool is removably attached to the attachment portion. The second sensor system is independent of the first sensor system and is configured to detect a position of the surgical tool.

1 - 21 . (canceled) 
     
     
         22 . A surgical system, comprising:
 a robotic system, comprising:
 a control unit; 
 a robotic arm comprising an attachment portion; 
 a first sensor system in signal communication with the control unit, wherein the first sensor system is configured to detect a position of the attachment portion; and 
   a surgical tool releasably attachable to the attachment portion, wherein the surgical tool comprises motor-driven actuation system; and   a second sensor system comprising a tool sensor incorporated into the surgical tool.   
     
     
         23 . The surgical system of  claim 22 , wherein the control unit is configured to automatically actuate a surgical function of the surgical tool based on position data from the second sensor system. 
     
     
         24 . The surgical system of  claim 23 , wherein the position data from the second sensor system comprises a position of the surgical tool relative to a margin zone around a tumor, and wherein the control unit is configured to automatically actuate the surgical function when the surgical tool moves into the margin zone. 
     
     
         25 . The surgical system of  claim 22 , wherein the robotic system comprises a motor, wherein the first sensor system comprises a torque sensor on the motor, and wherein the tool sensor comprises a time-of-flight reflector. 
     
     
         26 . The surgical system of  claim 22 , wherein the first sensor system and the second sensor system are configured to operate independently and simultaneously. 
     
     
         27 . The surgical system of  claim 22 , wherein the surgical tool further comprises a wireless communication module in signal communication with the tool sensor and the control unit. 
     
     
         28 . A surgical system, comprising:
 a robotic system, comprising:
 a control unit; 
 a robotic arm comprising an attachment portion; 
 a first sensor system in signal communication with the control unit, wherein the first sensor system is configured to detect a position of the attachment portion; and 
   a surgical tool releasably attachable to the attachment portion, wherein the surgical tool comprises a wireless communication module; and   a second sensor system comprising a tool sensor incorporated into the surgical tool, wherein the wireless communication module is in signal communication with the tool sensor and the control unit.   
     
     
         29 . The surgical system of  claim 28 , wherein the wireless communication module is configured to transmit position data from the second sensor system to the control unit, and wherein the control unit is configured to automatically actuate a surgical function of the surgical tool based on the position data from the second sensor system. 
     
     
         30 . The surgical system of  claim 29 , wherein the position data from the second sensor system comprises a position of the surgical tool relative to a margin zone around a tumor, and wherein the control unit is configured to automatically actuate the surgical function when the surgical tool moves into the margin zone. 
     
     
         31 . The surgical system of  claim 29 , wherein the surgical tool comprises a surgical stapler, and wherein the surgical function is selected from a group consisting of clamping the surgical stapler and firing the surgical stapler. 
     
     
         32 . The surgical system of  claim 29 , wherein the surgical tool comprises an energy tool, and wherein the surgical function comprises energizing the energy tool. 
     
     
         33 . The surgical system of  claim 28 , wherein the robotic system comprises a motor, and wherein the first sensor system comprises a torque sensor on the motor. 
     
     
         34 . The surgical system of  claim 28 , wherein the first sensor system and the second sensor system are configured to operate independently and simultaneously. 
     
     
         35 . A surgical system, comprising:
 a surgical robot, comprising:
 a control unit; and 
 a robotic arm comprising a motor; 
 a surgical tool releasably attachable to the robotic arm; 
 a first sensor system in signal communication with the control unit, wherein the first sensor system comprises a torque sensor on the motor; and 
   a second sensor system comprising a tool sensor incorporated into the surgical tool, wherein the first sensor system and the second sensor system are configured to independently and simultaneously detect a position of the surgical tool.   
     
     
         36 . The surgical system of  claim 35 , wherein the tool sensor comprises a time-of-flight reflector. 
     
     
         37 . The surgical system of  claim 35 , wherein the second sensor system is configured to determine a position of the surgical tool relative to a margin zone around a tumor based on the detected position of the tool sensor incorporated into the surgical tool. 
     
     
         38 . The surgical system of  claim 37 , wherein the margin zone comprises an outer boundary and an inner boundary, and wherein the inner boundary defines a boundary of the tumor. 
     
     
         39 . The surgical system of  claim 38 , wherein the control unit is configured to automatically actuate a surgical function of the surgical tool when the surgical tool moves between the outer boundary and the inner boundary. 
     
     
         40 . The surgical system of  claim 39 , wherein the surgical tool comprises a surgical stapler, and wherein the surgical function is selected from a group consisting of clamping the surgical stapler and firing the surgical stapler. 
     
     
         41 . The surgical system of  claim 39 , wherein the surgical tool comprises an energy tool, and wherein the surgical function comprises energizing the energy tool.