Surgical robotic system with access port storage

1 . A surgical robotic system comprising:

a robotic arm including an instrument drive unit;

an access port configured to be secured to the robotic arm;

an instrument configured to couple to the instrument drive unit, wherein the instrument drive unit is configured to actuate the instrument;

a memory configured to store data including data associated with the access port; and

a controller configured to:

access the memory to determine whether data stored in the memory includes a value indicative of a type of the access port;

when the data stored in the memory includes the value indicative of the type of the access port, use the value as the type of the access port; and

when the data stored in the memory does not include the value indicative of the type of the access port, instruct the robotic arm to advance the instrument into the access port and instruct the instrument drive unit to perform calibration of the instrument to determine the type of the access port based on the calibration of the instrument, and store the value indicative of the type of the access port in the memory.

2 . The surgical robotic system according to claim 1 , wherein the calibration includes actuating the instrument inside the access port through at least one degree of freedom to determine at least one mechanical limit encountered by the instrument contacting an interior surface of the access port.

3 . The surgical robotic system according to claim 2 , wherein the controller is further configured to determine a type of the access port based on the at least one mechanical limit determined during calibration of the instrument.

4 . The surgical robotic system according to claim 1 , wherein the controller is further configured to determine whether the access port is attached to the robotic arm.

5 . The surgical robotic system according to claim 4 , wherein the controller is further configured to instruct the robotic arm to advance the instrument into the access port based on determining when the access port is attached to the robotic arm.

6 . The surgical robotic system according to claim 1 , wherein the controller is further configured to measure a parameter of the access port during calibration of the instrument.

7 . The surgical robotic system according to claim 6 , wherein the controller is further configured to compare the parameter with a threshold stored in the memory and to determine the type of the access port based on a comparison of the parameter with the threshold.

8 . The surgical robotic system according to claim 6 , wherein the parameter is indicative of at least one of diameter or length of the access port.

9 . The surgical robotic system according to claim 6 , wherein the parameter is at least one of pitch limit, yaw limit, or jaw angle limit.

10 . A method for controlling a surgical robotic system, the method comprising:

accessing a memory configured to store data associated with an access port to determine whether data stored in the memory includes a value indicative of a type of the access port;

when the data stored in the memory includes the value indicative of the type of the access port, using the value as the type of the access port; and

when the data stored in the memory does not include the value indicative of the type of the access port, instructing a robotic arm to advance an instrument into the access port and instructing an instrument drive unit to perform calibration of the instrument to determine the type of the access port based on the calibration of the instrument, and storing the value indicative of the type of the access port in the memory.

11 . The method according to claim 10 , wherein calibrating the instrument includes actuating the instrument inside the access port through at least one degree of freedom to determine at least one mechanical limit encountered by the instrument contacting an interior surface of the access port.

12 . The method according to claim 11 , further comprising determining the type of the access port based on the at least one mechanical limit determined during calibration of the instrument.

13 . The method according to claim 11 , further comprising determining whether the access port is secured to the robotic arm.

14 . The method according to claim 13 , further comprising instructing the robotic arm to advance the instrument into the access port based on determining when the access port is secured to the robotic arm.

15 . The method according to claim 10 , further comprising measuring a parameter of the access port during calibration of the instrument.

16 . The method according to claim 15 , further comprising comparing the parameter with a threshold stored in the memory and determining the type of the access port based on a comparison of the parameter with the threshold.

17 . The method according to claim 15 , wherein the parameter is indicative of at least one of diameter or length of the access port.

18 . The method according to claim 15 , wherein the parameter is at least one of pitch limit, yaw limit, or jaw angle limit.