Configurable robotic surgical system with virtual rail and flexible endoscope

A method operable by a robotic system comprising one or more processors, a first robotic arm coupled to a first tool base, and a second robotic arm coupled to a second tool base, the first tool base and the second tool base being at a predetermined distance relative to each other, the method comprising:

• receiving a user input indicative of a desired mode of movement of the first robotic arm;
• when the user input indicates admittance mode as the desired mode of movement, receiving a force feedback signal based on a force exerted by a user on the first robotic arm, the force feedback signal indicative of an intended movement of the first robotic arm by the user;
• determining, by the one or more processors, a first movement vector for the first tool base based on the force feedback signal;
• providing, from the one or more processors to the first robotic arm, a first command to move the first tool base along the first movement vector;
• and
• providing, from the one or more processors to the second robotic arm, a second command to move the second tool base simultaneously with the first tool base along a second movement vector to maintain the predetermined distance between the first tool base and the second tool base;
• wherein providing the first command comprises providing a command to pivot the first tool base about a point on a line that extends between the first and second tool bases and providing the second command comprises providing a command to pivot the second tool base about the point on the line formed between the first and second tool bases;
• wherein the point on the line is between the first and second tool bases.

A system configured to control a surgical robotic system, the system comprising:

• at least one computer-readable memory having stored thereon executable instructions;
• and
• one or more processors in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to at least:
• determine a button or switch has been activated to cause the surgical robotic system to enter an admittance mode;
• when the robotic surgical system is in the admittance mode, receive a force feedback signal based on a force exerted by a user on the surgical robotic system comprising a first robotic arm coupled to a first tool base and a second robotic arm coupled to a second tool base, the first tool base and the second tool base being at a predetermined distance relative to each other;
• determine a first movement vector for the first tool base based on the force feedback signal;
• provide to the first robotic arm, a first command to move the first tool base along the first movement vector;
• and
• provide to the second robotic arm, a second command to move the second tool base simultaneously with the first tool base along a second movement vector to maintain the predetermined distance between the first tool base and the second tool base;
• wherein the one or more processors in communication with the at least one computer-readable memory are configured to execute the instructions to cause the system to at least pivot the first and second tool bases of the first and second robotic arms about a point on a line extending between the first and second tool bases;
• wherein the point on the line is beyond the first and second tool bases.

A system configured to control a surgical robotic system, the system comprising:

• at least one computer-readable memory having stored thereon executable instructions;
• and
• one or more processors in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to at least:
• determine a button or switch has been activated to cause the surgical robotic system to enter an admittance mode;
• when the robotic surgical system is in the admittance mode, receive a force feedback signal based on a force exerted by a user on the surgical robotic system comprising a first robotic arm coupled to a first tool base and a second robotic arm coupled to a second tool base, the first tool base and the second tool base being at a predetermined distance relative to each other;
• determine a first movement vector for the first tool base based on the force feedback signal;
• provide to the first robotic arm, a first command to move the first tool base along the first movement vector;
• provide to the second robotic arm, a second command to move the second tool base simultaneously with the first tool base along a second movement vector to maintain the predetermined distance between the first tool base and the second tool base;
• and
• pivot the first and second tool bases of the first and second robotic arms about a point on a line extending between the first and second tool bases;
• wherein the point on the line is between the first and second tool bases.

A system configured to move a surgical robotic system comprising a first robotic arm and a second robotic arm, the system comprising:

• a controller coupled to the first and second arms;
• at least one computer-readable memory having stored thereon executable instructions;
• and
• one or more processors in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to at least:
• detect a force exerted by a user on the surgical robotic system;
• determine a first movement vector for a first tool base based on the force exerted by the user, wherein the first movement vector facilitates a pivot movement of the first tool base about a pivot point on a virtual rail that extends between the first tool base and a second tool base, wherein the pivot point on the virtual rail is between the first and second tool bases;
• move the first tool base with the first surgical arm along the first movement vector;
• and
• move the second tool base with the second robotic arm along a second movement vector to maintain a predetermined distance between the first tool base and the second tool base while facilitating a pivot movement of the second tool base about the pivot point.

A system configured to control a surgical robotic system, the system comprising:

• at least one computer-readable memory having stored thereon executable instructions;
• and
• one or more processors in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to at least:
• receive a force feedback signal based on a force exerted by a user on the surgical robotic system comprising a first robotic arm coupled to a first tool base and a second robotic arm coupled to a second tool base, the first tool base and the second tool base being at a predetermined distance relative to each other;
• provide to the first robotic arm, a first command to move the first tool base along a first movement vector based on the force feedback signal;
• provide to the second robotic arm, a second command to move the second tool base simultaneously with the first tool base along a second movement vector to maintain the predetermined distance of the first tool base and the second tool base;
• and
• pivot the first and second tool bases of the first and second robotic arms about a point on a line extending between the first and second tool bases, wherein the point on the line is beyond the first and second tool bases.