A control system of a surgical robotic system, the surgical robotic system comprising a first robot arm and a second robot arm, each of the first and second robot arms comprising a series of joints by which the configuration of that robot arm can be altered, the series of joints extending from a base at a proximal end of the robot arm to an attachment for a surgical instrument at a distal end of the robot arm, the control system being configured to reconfigure the surgical robotic system by: controlling the first robot arm to operate in a surgical mode in which a first surgical instrument attached to that first robot arm is inside a patient's body; and whilst the first robot arm is operating in the surgical mode: (i) controlling the second robot arm so as to permit a second surgical instrument attached to the second robot arm to be inserted into a port in the patient's body; (ii) determining a fulcrum about which the second surgical instrument pivots when the configuration of the second robot arm is altered whilst the second surgical instrument is inside the port; and (iii) controlling the second robot arm to operate in a surgical mode in which the configuration of the second robot arm and second surgical instrument is controlled in response to inputs received at a remote surgeon console whilst maintaining an intersection between the second surgical instrument and the determined fulcrum.
Configuring a surgical robotic system
2020-05-13
Patent
Elektronische Ressource
Englisch