# US 12,004,831 B2 · Surgical robotic system including synchronous and asynchronous networks and a method employing the same

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- Number: US 12,004,831 B2
- Document ID: US12004831B2
- Status: Granted
- Kind: B2
- Application number: 16/937,808
- Filed: 2020-07-24
- Published: 2020-11-12
- Granted: 2024-06-11
- Earliest claimed: 2018-02-02
- Assignees: Covidien LP
- Applicants: Covidien LP
- Inventors: Daniel R. King; Samir A. Zahine; Nuno Almeida
- Web page: https://patentgrep.com/patent/US12004831B2

## CPC

- A61B 34/37: Leader-follower robots (A61B34/35 takes precedence)
- G16H 20/40: relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
- A61B 90/361: {Image-producing devices, e.g. surgical cameras}
- G16H 30/40: for processing medical images, e.g. editing
- G16H 40/67: for remote operation
- H04L 7/027: extracting the synchronising or clock signal from the received signal spectrum, e.g. by using a resonant or bandpass circuit
- A61B 34/25: {User interfaces for surgical systems}
- A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback}
- A61B 2017/00084: {Temperature}
- A61B 2017/00119: {alarm; indicating an abnormal situation}
- A61B 2090/064: {for measuring force, pressure or mechanical tension}
- A61B 2090/371: {with simultaneous use of two cameras}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- H04L: TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION (arrangements common to telegraphic and telephonic communication H04M)

## Abstract

Surgical robotic systems including synchronous and asynchronous networks and methods employing the same are provided. One surgical robotic system includes a networked computing node, a slave robot assembly, and first and second communication paths. The slave robot assembly includes subunits, communicatively coupled to one another by way of the first communication paths, thereby forming at least a portion of a synchronous network. The networked computing node and a subunit are communicatively coupled to one another by way of the second communication paths, thereby forming at least a portion of a second network, and are configured to communicate one or more packets to one another by way of the second network. The subunit is configured to communicate, with the other subunits via the synchronous network, data from the one or more packets. A clock rate of the synchronous network is independent from a clock rate of the second network.

## Claims

### Claim 1

A surgical robotic system, comprising:
a networked computing node;
a slave robot assembly, including a plurality of subunits;
a plurality of first communication paths; and
a plurality of second communication paths,
wherein the plurality of subunits are communicatively coupled to one another by way of the plurality of first communication paths, thereby forming at least a portion of a synchronous network,
wherein the networked computing node and at least one of the plurality of subunits are communicatively coupled to one another by way of one or more of the plurality of second communication paths, thereby forming at least a portion of a second network, and are configured to communicate one or more packets to one another by way of the second network,
wherein the at least one of the plurality of subunits is configured to communicate, with other ones of the plurality of subunits by way of the synchronous network, data from the one or more packets,
wherein a clock rate of the synchronous network is not synchronized to a clock rate of the second network,
wherein the networked computing node further includes a global safety monitor, the slave robot assembly includes a memory that stores one or more local resolution rules, and the at least one of the plurality of subunits is further configured to:
receive a safety alert from another subunit of the plurality of subunits, by way of one or more of the plurality of first communication paths;
determine whether a safety metric of the received safety alert exceeds a respective threshold;
in response to determining that the safety metric exceeds the respective threshold, determine, based on the one or more local resolution rules, whether an action relating to the corresponding safety alert can be performed by one or more of the plurality of subunits;
in response to determining that the action relating to the corresponding safety alert can be performed by one or more of the plurality of subunits, cause the action to be performed by one or more of the plurality of subunits to address the safety alert; and
in response to determining that the action relating to the corresponding safety alert cannot be performed by any of the plurality of subunits, transmit, by way of the second network, the safety alert to the global safety monitor.

### Claim 2 (depends on 1)

The surgical robotic system of claim 1, wherein the one or more local resolution rules include at least one of information indicating one or more actions corresponding to safety alerts, respectively, or information indicating whether one or more of the plurality of subunits of the slave robot assembly can perform the one or more actions corresponding to the safety alerts, respectively.

### Claim 3 (depends on 1)

The surgical robotic system of claim 1, wherein the action includes powering down one or more of the plurality of subunits that are associated with the safety alert.

### Claim 4 (depends on 1)

The surgical robotic system of claim 1, wherein the global safety monitor of the networked computing node is further configured to:
receive the safety alert from the one of the plurality of subunits by way of one or more of the plurality of second communication paths; and
in response to the receiving of the safety alert, cause the networked computing node to perform the action to address the safety alert.

### Claim 5 (depends on 1)

The surgical robotic system of claim 1, wherein each of the plurality of subunits is configured to transmit a corresponding safety alert to the global safety monitor by way of a respective path including at least one of (a) the one or more of the plurality of second communication paths or (b) one or more of the plurality of first communication paths, another one of the plurality of subunits, and the one or more of the plurality of second communication paths.

### Claim 6 (depends on 1)

The surgical robotic system of claim 1, further comprising:
a surgeon console,
wherein the surgeon console, the networked computing node, and the at least one of the plurality of subunits are communicatively coupled to one another by way of one or more of the plurality of second communication paths, thereby forming at least another portion of the second network.

### Claim 7 (depends on 1)

The surgical robotic system of claim 1, wherein the plurality of subunits are communicatively coupled to each other, by way of the plurality of first communication paths, in a ring topology.

### Claim 8 (depends on 1)

The surgical robotic system of claim 1, further comprising:
a second slave robot assembly, including a plurality of second subunits; and
a plurality of third communication paths,
wherein the plurality of second subunits are communicatively coupled to one another by way of the plurality of third communication paths, thereby forming at least a portion of a second synchronous network, and
wherein a clock rate of the second synchronous network is independent from the clock rate of the synchronous network and from the clock rate of the second network.

### Claim 9 (depends on 8)

The surgical robotic system of claim 8, wherein the slave robot assembly is associated with a first unique identifier and the second slave robot assembly is associated with a second unique identifier.

### Claim 10 (depends on 9)

The surgical robotic system of claim 9, wherein the one or more packets include the first unique identifier associated with the slave robot assembly or the second unique identifier associated with the second slave robot assembly.

### Claim 11 (depends on 1)

The surgical robotic system of claim 1, wherein the second network is a synchronous network.

### Claim 12 (depends on 1)

The surgical robotic system of claim 1, wherein the second network is an asynchronous network.

### Claim 13

A method of employing a synchronous network and an asynchronous network of a surgical robotic system, the method comprising:
storing one or more local resolution rules in a memory of a slave robot assembly;
receiving, by at least one of a plurality of subunits of the slave robot assembly, a safety alert from another subunit of the plurality of subunits, by way of the synchronous network;
determining whether a safety metric of the received safety alert exceeds a respective threshold;
in response to determining that the safety metric exceeds the respective threshold, determining, based on the one or more local resolution rules, whether an action relating to the corresponding safety alert can be performed by one or more of the plurality of subunits;
in response to determining that the action relating to the corresponding safety alert can be performed by one or more of the plurality of subunits, causing the action to be performed by one or more of the plurality of subunits to address the safety alert; and
in response to determining that the action relating to the corresponding safety alert cannot be performed by any of the plurality of subunits, transmitting, by way of the asynchronous network, the safety alert to a global safety monitor in a networked computing node, wherein a clock rate of the synchronous network is not synchronized to a clock rate of the asynchronous network.

### Claim 14 (depends on 13)

The method of claim 13, wherein the one or more local resolution rules include information indicating one or more actions corresponding to safety alerts, and/or information indicating whether one or more of the subunits of the slave robot assembly can perform the one or more actions corresponding to the safety alerts.

### Claim 15 (depends on 13)

The method of claim 13, wherein the action includes powering down one or more of the plurality of subunits that are associated with the safety alert.

### Claim 16 (depends on 13)

The method of claim 13, further comprising:
receiving the safety alert from the one of the subunits by way of the asynchronous network, and, in response to the receiving of the safety alert, causing the networked computing node to perform the action to address the safety alert.

### Claim 17 (depends on 13)

The method of claim 13, wherein transmitting, by way of the asynchronous network, the safety alert to the global safety monitor in the networked computing node includes transmitting by way of a respective path including at least one of (a) one or more of first communication paths of the asynchronous network or (b) one or more of second communication paths of the synchronous network, another one of the subunits, and the one or more of the first communication paths of the asynchronous network.

### Claim 18 (depends on 13)

The method of claim 13, wherein the action includes inhibiting motors of one or more of the plurality of subunits that are associated with the safety alert.