Systems and methods for robotic arm alignment and docking

1. A system, comprising:

a robotic arm;

a sensor configured to generate information indicative of a location of the robotic arm;

a processor; and

at least one computer-readable memory in communication with the processor and having stored thereon computer-executable instructions to cause the processor to:

receive the information from the sensor,

determine that the robotic arm is located at a first position in which a first axis associated with the robotic arm is not in alignment with a second axis associated with a port installed in a patient, and

provide a command to move the robotic arm to a second position in which the first axis associated with the robotic arm is in alignment with the second axis.

2. The system of claim 1 , wherein the first axis comprises a tool path axis.

3. The system of claim 1 , wherein the second axis comprises an insertion axis of the port.

4. The system of claim 1 , wherein the sensor comprises an image sensor.

5. The system of claim 4 , further comprising:

an advanced device manipulator (ADM) coupled to a distal portion of the robotic arm,

wherein the image sensor is attached to the ADM.

6. The system of claim 5 , wherein a sterile drape is configured to be coupled to the ADM and cover the image sensor.

7. The system of claim 6 , wherein the sterile drape comprises a transparent region that overlaps with the image sensor, the image sensor being configured to view the port via the transparent region.

8. The system of claim 7 , wherein the image sensor is attached to the robotic arm.

9. The system of claim 1 , wherein the port is attached to a fiducial.

10. The system of claim 1 , wherein the port comprises a fiducial formed on a surface of the port.

11. The system of claim 10 , wherein:

the sensor comprises an image sensor,

the fiducial comprises a predetermined pattern, and

the memory further has stored thereon computer-executable instructions to cause the processor to determine an angle between the first axis and the second axis based on the shape of the fiducial within a field of view of the image sensor.

12. The system of claim 11 , wherein:

the fiducial comprises a circular marker, and

the memory further has stored thereon computer-executable instructions to cause the processor to determine a distance between the image sensor and the fiducial based on a length of a major axis of the fiducial within the field of view of the image sensor.

13. The system of claim 1 , wherein the memory further has stored thereon computer-executable instructions to cause the processor to:

provide a command to move the robotic arm along the second axis toward the port.

14. The system of claim 1 , wherein the port comprises a cannula placed into a body wall of the patient.

15. The system of claim 1 , wherein the port comprises a patient introducer placed into a natural orifice of the patient.

16. The system of claim 1 , wherein the sensor comprises at least one of an electromagnetic (EM) sensor, an infrared (IR) sensor, and a radio frequency (RF) sensor.

17. The system of claim 1 , wherein the port comprises a patient introducer configured to be installed in a mouth or nose of the patient.

18. The system of claim 1 , wherein the port comprises a patient introducer configured to be secured to a ureteroscope coupled with the robotic arm.

19. The system of claim 1 , wherein the port comprises a cannula configured to provide percutaneous access for a ureteroscope.

20. The system of claim 1 , wherein the port is configured to be placed in the patient's sinus for an otolaryngology (ENT) procedure.