Systems and methods for docking surgical robotic arms

A system for detecting an attachment of a cannula to a robotic surgical system, the system comprising:

• a clamp assembly having an open position configured to receive a cannula, and a closed position configured to attach the cannula to a robotic arm of the robotic surgical system;
• a sensor assembly comprising a magnetic angle encoder operable to sense an angle of at least one magnet coupled to the cannula and determine a characteristic comprising a type of the cannula based on the angle of the at least one magnet when received by the clamp assembly;
• and
• one or more processors configured to determine a state of the cannula based on the characteristic sensed by the sensor assembly, and provide feedback to a user relating to the state of the cannula.

A system for detecting an attachment of a cannula to a robotic surgical system, the system comprising:

• a clamp assembly configured to attach a cannula to a robotic surgical system, the clamp assembly operable to transition between an open position configured to receive the cannula and a closed position to attach the cannula to the robotic surgical system;
• a sensor assembly operable to detect whether the clamp assembly is in the open position or the closed position;
• and
• one or more processors configured to control an attachment of the cannula to the robotic surgical system based on the detection by the sensor assembly, and cause the robotic surgical system to disengage or engage a braking assembly associated with a surgical robotic arm coupled to the clamp assembly depending on whether the clamp assembly is in the open position or the closed position, and
• wherein when the sensor assembly detects the clamp assembly is in the open position, the one or more processors cause the robotic surgical system to
• disengage the braking assembly associated with a surgical robotic arm coupled to the clamp assembly;
• and
• engage a gravity compensated active back driving mechanism associated with the surgical robotic arm to allow for positioning of the cannula within the clamp assembly.