Robotic surgical system with local sensing of functional parameters based on measurements of multiple physical inputs

A surgical robotic system, comprising:

• a robotic arm comprising a robotic surgical tool, and at least two sensors disposed on the robotic arm to redundantly monitor a status of the robotic arm and to verify an operational parameter of the robotic surgical tool during a surgical procedure;
• and
• a central control circuit comprising a situational awareness module, the central control circuit configured to:
• receive information from a remote server;
• measure a first physical property of the robotic arm based on input from a first sensor of the at least two sensors;
• measure a second physical property of the robotic arm based on input from a second sensor of the at least two sensors;
• determine a status of the robotic arm based on the first and second measurements of the first and second physical properties of the robotic arm;
• determine, by the situational awareness module, a current step of a plurality of steps during the surgical procedure based on the status of the robotic arm and the received information;
• determine an operation of the robotic surgical tool;
• and
• verify the operation of the robotic surgical tool based on the measured first and second physical properties of the robotic arm.

A system for controlling a robotic arm, the system comprising:

• a robotic arm comprising a robotic surgical tool, a robotic surgical tool driver, and at least two sensors disposed on the robotic arm to redundantly monitor a status of the robotic arm and to verify an operational parameter of the robotic surgical tool during a surgical procedure;
• and
• a central control circuit comprising a situational awareness module, the central control circuit configured to:
• receive information from a server;
• measure a first physical property of the robotic arm based on input from a first sensor of the at least two sensors;
• measure a second physical property of the robotic arm based on input from a second sensor of the at least two sensors;
• determine a status of the robotic arm based on the first and second measurements of the first and second physical properties of the robotic arm;
• and
• determine, by the situational awareness module, a current step of a plurality of steps during the surgical procedure based on the status of the robotic arm and the received information.