Sensing arrangements for robot-assisted surgical platforms

A surgical system, comprising:

• a robotic system, comprising:
• a control unit;
• a robotic arm comprising a first portion, a second portion, and a joint intermediate said first portion and said second portion;
• a first sensor system configured to detect a position of said first portion and said second portion of said robotic arm;
• and
• a redundant sensor system configured to detect positions of a plurality of structures at a surgical site, wherein the plurality of structures comprises:
• said first portion and said second portion of said robotic arm;
• and
• a separate structure comprising a sensor;
• wherein said control unit comprises a processor and a memory communicatively coupled to said processor, wherein said memory stores instructions executable by said processor to compare the positions detected by said first sensor system and said redundant sensor system to optimize control motions of said robotic arm and avoid unintentional collisions.

A surgical system, comprising:

• a surgical robot, comprising:
• a control unit;
• and
• a robotic arm comprising a motor;
• a surgical tool removably attached to said robotic arm and comprising a motor-driven actuation system;
• a first sensor system in signal communication with said control unit, wherein said first sensor system comprises a torque sensor on said motor, and wherein said first sensor system is configured to detect a position of said surgical tool;
• and
• a second sensor system configured to independently detect a position of a first sensor incorporated into said surgical tool and a position of a second sensor associated with a structure at a surgical site to avoid unintentional collisions.

A surgical system, comprising:

• a robotic system, comprising:
• a control unit;
• a robotic arm comprising an attachment portion;
• and
• a first sensor system in signal communication with said control unit, wherein said first sensor system is configured to detect a position of said attachment portion;
• and
• a surgical tool removably attached to said attachment portion and comprising a motor-driven actuation system;
• and
• a second sensor system, comprising:
• a first sensor incorporated into said surgical tool;
• and
• a second sensor associated with a structure at a surgical site, wherein said second sensor system is independent of said first sensor system;
• and
• wherein said control unit is configured to optimize control motions to said robotic arm to avoid unintentional collisions between said surgical tool and the structure based on position data from said first sensor system related to said attachment portion and based on position data from said second sensor system related to said surgical tool and the structure.