Apparatus, systems and methods for dynamic online kinematic adaptation of medical robots

A robotic medical system comprising:

• a staging kinematic chain, capable of motion with one or more degrees of freedom (DOF);
• a plurality of independently articulable robotic arms coupled to the staging kinematic chain;
• one or more instruments coupled to the robotic arms;
• and
• a processor operationally coupled to the staging kinematic chain, the plurality of robotic arms, and the one or more instruments, wherein the processor is configured to:
• determine a first configuration of the robotic arms based on a first inverse kinematic model that includes the robotic arms and assumes that the staging kinematic chain is static, wherein:
• the first configuration of the robotic arms effectuates one or more corresponding desired poses of the one or more instruments coupled to the robotic arms;
• proximal ends of the robotic arms are coupled to a same mobile portion of the staging kinematic chain;
• and
• the first inverse kinematic model is based on a plurality of independent kinematic chains, wherein each independent kinematic chain corresponds to a distinct robotic arm;
• determine a set of control parameter values associated with one or more of the robotic arms based on the first configuration;
• and
• determine, in response to at least one determined control parameter value falling outside a corresponding control parameter range of the parameter values, a pose of the staging kinematic chain and a second configuration of the robotic arms to effectuate the one or more corresponding desired poses of the one or more instruments, wherein the second configuration is determined based on a second inverse kinematic model that includes the robotic arms and assumes that the staging kinematic chain is mobile.

A non-transitory computer-readable medium comprising instructions to configure a processor coupled to a robotic medical system to:

• determine a first configuration of a plurality of independently articulable robotic arms based on a first inverse kinematic model that includes the robotic arms and assumes that a staging kinematic chain is static, wherein:
• the first configuration of the robotic arms effectuates one or more corresponding desired poses of one or more instruments coupled to the robotic arms;
• proximal ends of the robotic arms are coupled to a same mobile portion of the staging kinematic chain;
• and
• the first inverse kinematic model is based on a plurality of independent kinematic chains, wherein each independent kinematic chain corresponds to a distinct robotic arm;
• determine a set of control parameter values associated with one or more of the robotic arms based on the first configuration;
• and
• determine, in response to at least one determined control parameter value falling outside a corresponding control parameter range of the parameter values, a pose of the staging kinematic chain and a second configuration of the robotic arms to effectuate the one or more corresponding desired poses of the one or more instruments, wherein the second configuration is determined based on a second inverse kinematic model that includes the robotic arms and assumes that the staging kinematic chain is mobile.