# US 12,599,449 B2 · Surgical robotic system with orientation setup device and method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,599,449 B2 - Document ID: US12599449B2 - Status: Granted - Kind: B2 - Application number: 18/294,247 - Filed: 2022-08-16 - Published: 2024-10-17 - Granted: 2026-04-14 - Earliest claimed: 2021-08-20 - Assignees: Covidien LP - Applicants: Covidien LP - Inventors: Michael Baer - Web page: https://patentgrep.com/patent/US12599449B2 ## CPC - A61B 34/35: for telesurgery - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 90/98: using electromagnetic means, e.g. transponders - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 90/90: Identification means for patients or instruments, e.g. tags - A61B 2034/2059: {Mechanical position encoders} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A surgical robotic system includes: a plurality of movable carts oriented relative to the surgical table, each of which includes a robotic arm, and an orientation device for calculating an orientation angle of each robotic arm relative to the surgical table. ## Claims ### Claim 1 A surgical robotic system comprising: a movable cart positioned relative to a surgical table and including a setup arm and a robotic arm; an orientation device including a memory and a computer configured to: store a zero position of the surgical table upon being placed at the zero position; link with the robotic arm; store a position of the setup arm upon being placed at the position of the setup arm; and calculate an orientation angle between the setup arm and the surgical table based on the stored zero position of the surgical table and the stored position of the setup arm; and a surgical console including an input device communicatively coupled to the robotic arm and configured to control movement of the robotic arm, wherein the surgical console is configured to correlate the calculated orientation angle of the setup arm with movements of the input device for controlling movement of the robotic arm. ### Claim 2 (depends on 1) The surgical robotic system according to claim 1, wherein the setup arm includes an identification device readable by the orientation device for linking the orientation device to the setup arm, the identification device including at least one of a near field communication chip or an optically readable code. ### Claim 3 (depends on 1) The surgical robotic system according to claim 1, wherein the setup arm includes an alignment member configured to align the orientation device to the setup arm upon placement of the orientation device at the position of the setup arm. ### Claim 4 (depends on 1) The surgical robotic system according to claim 1, wherein the surgical console is configured to determine whether two adjacent robotic arms are distanced a predetermined distance apart based on the calculated orientation angle of the setup arm. ### Claim 5 A surgical robotic system comprising: a surgical table; a first movable cart positioned relative to the surgical table and including a first setup arm; a second movable cart positioned relative to the surgical table and including a second setup arm; an orientation device including a memory and a computer configured to: store a zero position of the surgical table upon being placed at the zero position; link with the first setup arm; store a position of the first setup arm upon being placed at the position of the first setup arm; calculate an orientation angle between the first setup arm and the surgical table based on the stored zero position of the surgical table and the stored position of the first setup arm; link with the second setup arm; store a position of the second setup arm upon being placed at the position of the second setup arm; and calculate an orientation angle between the second setup arm and the surgical table based on the stored zero position of the surgical table and the stored position of the second setup arm. ### Claim 6 (depends on 5) The surgical robotic system according to claim 5, wherein the first setup arm includes a first identification device readable by the orientation device for linking the orientation device to the first setup arm and the second setup arm includes a second identification device readable by the orientation device for linking the orientation device to the second setup arm. ### Claim 7 (depends on 6) The surgical robotic system according to claim 6, wherein the first identification device and the second identification device include at least one of a near field communication chip or an optically readable code. ### Claim 8 (depends on 5) The surgical robotic system according to claim 5, wherein the first movable cart includes a first brake and the second movable cart includes a second brake. ### Claim 9 (depends on 8) The surgical robotic system according to claim 8, further comprising a cart controller in communication with the orientation device, wherein the cart controller is configured to: identify the first movable cart as registered in response to the first brake being engaged and receipt of the orientation angle of the first setup arm; and identify the second movable cart as registered in response to the second brake being engaged and receipt of the orientation angle of the second setup arm. ### Claim 10 (depends on 5) The surgical robotic system according to claim 5, wherein the first setup arm includes a first alignment member configured to align the orientation device to the first setup arm upon placement of the orientation device at the position of the first setup arm and the second setup arm includes a second alignment member configured to align the orientation device to the second setup arm upon placement of the orientation device at the position of the second setup arm. ### Claim 11 (depends on 5) The surgical robotic system according to claim 5, further comprising a surgical console including an input device communicatively coupled to a first robotic arm of the first movable cart and second robotic arm of the second movable cart, the surgical console configured to: receive the calculated orientation angle of the first setup arm and the calculated orientation angle of the second setup arm from the orientation device; correlate the calculated orientation angle of the first setup arm with movements of the input device for controlling movement of the first robotic arm; and correlate the calculated orientation angle of the second setup arm with movements of the input device for controlling movement of the second robotic arm. ### Claim 12 (depends on 5) The surgical robotic system according to claim 5, wherein the computer is configured to determine whether the first movable cart and the second movable cart are spaced apart by a predetermined distance based on the orientation angle of the first setup arm and the orientation angle of the second setup arm. ### Claim 13 A method of registering a setup arm with a surgical table, the method comprising: receiving zero position data from an orientation device; linking the orientation device to a first setup arm of a first movable cart positioned relative to a surgical table; calculating, by a computer, an orientation angle of the first setup arm relative to the surgical table based on at least the zero position data; linking the orientation device to a second setup arm of a second movable cart positioned relative to the surgical table; and calculating, by the computer, an orientation angle of the second setup arm relative to the surgical table based on at least the zero position data. ### Claim 14 (depends on 13) The method according to claim 13, wherein the first setup arm includes a first identification device readable by the orientation device for linking the orientation device to the first setup arm and the second setup arm includes a second identification device readable by the orientation device for linking the orientation device to the second setup arm. ### Claim 15 (depends on 14) The method according to claim 14, wherein the first identification device and the second identification device include at least one of a near field communication chip or an optically readable code. ### Claim 16 (depends on 13) The method according to claim 13, wherein the first movable cart includes a first brake and the second movable cart includes a second brake. ### Claim 17 (depends on 16) The method according to claim 16, further comprising: identifying the first movable cart as registered in response to the first brake being engaged and receipt of the orientation angle of the first setup arm; and identifying the second movable cart as registered in response to the second brake being engaged and receipt of the orientation angle of the second setup arm. ### Claim 18 (depends on 13) The method according to claim 13, further comprising determining whether the first movable cart and the second movable cart are spaced apart by a predetermined distance based on the orientation angle of the first setup arm and the orientation angle of the second setup arm. ### Claim 19 (depends on 13) The method according to claim 13, wherein the first setup arm includes a first alignment member configured to align the orientation device to the first setup arm upon placement of the orientation device at the position of the first setup arm and the second setup arm includes a second alignment member configured to align the orientation device to the second setup arm upon placement of the orientation device at the position of the second setup arm. ### Claim 20 (depends on 13) The method according to claim 13, further comprising: delivering the calculated orientation angle of the first setup arm and the calculated orientation angle of the second setup arm to a surgical console including an input device configured to control movement of a first robotic arm of the first movable cart and a second robotic arm of the second movable cart; correlating the calculated orientation angle of the first setup arm with movements of the input device for controlling movement of the first robotic arm; and correlating the calculated orientation angle of the second setup arm with movements of the input device for controlling movement of the second robotic arm.