Methods and devices for tele-surgical table registration

A surgical robotic system comprising:

• a manipulator assembly including at least one manipulator arm having a distal portion, the distal portion being movable with the at least one manipulator arm;
• a table mounted registration device mounted to a surgical table, wherein the table mounted registration device includes a registration element shaped to contact with the distal portion of the at least one manipulator arm by receiving the distal portion of the at least one manipulator arm to define a spatial relationship between the manipulator assembly and the table mounted registration device, wherein a keying feature of the distal portion of the at least one manipulator arm is shaped to contact with a key receiving feature of the registration element, wherein the key receiving feature of the registration element comprises a protrusion extending in a direction radially outward from a central axis of the registration element, wherein the distal portion of the at least one manipulator arm is movable in a plurality of degrees of freedom, and wherein the plurality of degrees of freedom is reduced by the table mounted registration device when the table mounted registration device is in contact with the distal portion of the at least one manipulator arm;
• and
• a control system configured to determine the spatial relationship between the manipulator assembly and the table mounted registration device by receiving at least one sensor reading that indicates a position or an orientation of the at least one manipulator arm.

A surgical robotic system comprising:

• a manipulator assembly including at least one manipulator arm having a distal portion, the distal portion being movable with the at least one manipulator arm;
• a table mounted registration device mounted to a side of a surgical table between a top surface and a bottom surface of the surgical table, wherein the table mounted registration device includes a registration element shaped to contact with the distal portion of the at least one manipulator arm by receiving the distal portion of the at least one manipulator arm to define a spatial relationship between the manipulator assembly and the table mounted registration device, wherein the registration element is shaped to contact with the distal portion of the at least one manipulator arm via a keyed connection, wherein the distal portion of the at least one manipulator arm is movable in a plurality of degrees of freedom, and wherein the plurality of degrees of freedom is reduced by the table mounted registration device when the table mounted registration device is in contact with the distal portion of the at least one manipulator arm;
• and
• a control system configured to determine the spatial relationship between the manipulator assembly and the table mounted registration device by receiving at least one sensor reading that indicates a position or an orientation of the at least one manipulator arm.