Robotic surgical systems with user engagement monitoring

A robotic surgical system with user engagement monitoring, comprising:

• a robot assembly including a robotic arm coupled to a surgical instrument;
• a surgeon console including:
• a handle communicatively coupled to at least one of the robot assembly, the robotic arm, or the surgical instrument, and
• a display device;
• and
• a tracking device including an image capture device configured to capture an image of a user position reference point,
• wherein at least one of the surgeon console or the tracking device is configured to:
• compute, based on the captured image, a position of the user position reference point relative to the display device,
• determine whether a user is engaged with or disengaged from the surgeon console based on the computed position, and
• in response to a determination that the user is disengaged from the surgeon console, cause the robotic surgical system to operate in a safe mode;
• at a time when the robotic surgical system operates in the safe mode:
• restrict movement of the handle from a previous position of the handle, and
• transmit, to the computing device, instructions to restrict movement of at least one of the robot assembly, the robotic arm, or the surgical instrument;
• wherein the computing device is configured to:
• receive the instructions, and
• transmit the instructions to at least one of the robot assembly, the robotic arm, or the surgical instrument;
• and
• wherein at least one of the robotic arm, the robot assembly, or the surgical instrument is configured to:
• receive the instructions, and
• restrict movement of at least one of the robot assembly, the robotic arm, or the surgical instrument in response to the instructions.

A robotic surgical system with user engagement monitoring, comprising:

• a robot assembly including a robotic arm coupled to a surgical instrument;
• a surgeon console including:
• a handle communicatively coupled to at least one of the robot assembly, the robotic arm, or the surgical instrument, and
• a display device;
• and
• a tracking device including an image capture device configured to capture an image of a user position reference point,
• wherein at least one of the surgeon console or the tracking device is configured to:
• compute, based on the captured image, a position of the user position reference point relative to the display device,
• determine whether a user is engaged with or disengaged from the surgeon console based on the computed position,
• in response to a determination that the user is disengaged from the surgeon console, cause the robotic surgical system to operate in a safe mode;
• detect an amount of movement of the handle;
• determine, based on the amount of movement of the handle, an amount of movement of at least one of the robot assembly, the robotic arm, or the surgical instrument to be caused in response to the movement of the handle;
• cause at least one of the robot assembly, the robotic arm, or the surgical instrument to move by the determined amount of movement,
• wherein, at a time when the robotic surgical system operates in the safe mode, the determination of the amount of movement of at least one of the robot assembly, the robotic arm, or the surgical instrument to be caused includes applying a downward scaling factor.

A robotic surgical system with user engagement monitoring, comprising:

• a robot assembly including a robotic arm coupled to a surgical instrument;
• a surgeon console including:
• a handle communicatively coupled to at least one of the robot assembly, the robotic arm, or the surgical instrument,
• a plurality of motors, wherein the plurality of motors are operably coupled to the handle and are associated with a plurality of directions, respectively, of movement of the handle, and
• a display device;
• and
• a tracking device including an image capture device configured to capture an image of a user position reference point,
• wherein at least one of the surgeon console or the tracking device is configured to:
• compute, based on the captured image, a position of the user position reference point relative to the display device,
• determine whether a user is engaged with or disengaged from the surgeon console based on the computed position,
• in response to the determination that the user is disengaged with the surgeon console:
• cause the robotic surgical system to operate in a safe mode,
• identify a first position of the handle,
• compute a distance traveled by the handle from the first position of the handle,
• compute a direction of the movement of the handle,
• compute, based on the distance, a force in a direction opposite to the direction of the movement of the handle,
• identify, among the plurality of motors of the handle, a motor associated with the direction opposite to the direction of the movement of the handle, and
• cause actuation of the identified motor in the direction opposite to the direction of the movement of the handle to generate the computed force in the direction opposite to the direction of the movement of the handle,
• wherein the surgeon console is further configured to:
• actuate the motor in the direction opposite to the direction of the movement of the handle until the handle is positioned in the first position.