SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS

1 - 21 . (canceled)

22 . A surgical system, comprising:

a robotic system, comprising:

a control unit;

a robotic arm comprising an attachment portion;

a first sensor system in signal communication with the control unit, wherein the first sensor system is configured to detect a position of the attachment portion; and

a surgical tool releasably attachable to the attachment portion, wherein the surgical tool comprises motor-driven actuation system; and

a second sensor system comprising a tool sensor incorporated into the surgical tool.

23 . The surgical system of claim 22 , wherein the control unit is configured to automatically actuate a surgical function of the surgical tool based on position data from the second sensor system.

24 . The surgical system of claim 23 , wherein the position data from the second sensor system comprises a position of the surgical tool relative to a margin zone around a tumor, and wherein the control unit is configured to automatically actuate the surgical function when the surgical tool moves into the margin zone.

25 . The surgical system of claim 22 , wherein the robotic system comprises a motor, wherein the first sensor system comprises a torque sensor on the motor, and wherein the tool sensor comprises a time-of-flight reflector.

26 . The surgical system of claim 22 , wherein the first sensor system and the second sensor system are configured to operate independently and simultaneously.

27 . The surgical system of claim 22 , wherein the surgical tool further comprises a wireless communication module in signal communication with the tool sensor and the control unit.

28 . A surgical system, comprising:

a robotic system, comprising:

a control unit;

a robotic arm comprising an attachment portion;

a first sensor system in signal communication with the control unit, wherein the first sensor system is configured to detect a position of the attachment portion; and

a surgical tool releasably attachable to the attachment portion, wherein the surgical tool comprises a wireless communication module; and

a second sensor system comprising a tool sensor incorporated into the surgical tool, wherein the wireless communication module is in signal communication with the tool sensor and the control unit.

29 . The surgical system of claim 28 , wherein the wireless communication module is configured to transmit position data from the second sensor system to the control unit, and wherein the control unit is configured to automatically actuate a surgical function of the surgical tool based on the position data from the second sensor system.

30 . The surgical system of claim 29 , wherein the position data from the second sensor system comprises a position of the surgical tool relative to a margin zone around a tumor, and wherein the control unit is configured to automatically actuate the surgical function when the surgical tool moves into the margin zone.

31 . The surgical system of claim 29 , wherein the surgical tool comprises a surgical stapler, and wherein the surgical function is selected from a group consisting of clamping the surgical stapler and firing the surgical stapler.

32 . The surgical system of claim 29 , wherein the surgical tool comprises an energy tool, and wherein the surgical function comprises energizing the energy tool.

33 . The surgical system of claim 28 , wherein the robotic system comprises a motor, and wherein the first sensor system comprises a torque sensor on the motor.

34 . The surgical system of claim 28 , wherein the first sensor system and the second sensor system are configured to operate independently and simultaneously.

35 . A surgical system, comprising:

a surgical robot, comprising:

a control unit; and

a robotic arm comprising a motor;

a surgical tool releasably attachable to the robotic arm;

a first sensor system in signal communication with the control unit, wherein the first sensor system comprises a torque sensor on the motor; and

a second sensor system comprising a tool sensor incorporated into the surgical tool, wherein the first sensor system and the second sensor system are configured to independently and simultaneously detect a position of the surgical tool.

36 . The surgical system of claim 35 , wherein the tool sensor comprises a time-of-flight reflector.

37 . The surgical system of claim 35 , wherein the second sensor system is configured to determine a position of the surgical tool relative to a margin zone around a tumor based on the detected position of the tool sensor incorporated into the surgical tool.

38 . The surgical system of claim 37 , wherein the margin zone comprises an outer boundary and an inner boundary, and wherein the inner boundary defines a boundary of the tumor.

39 . The surgical system of claim 38 , wherein the control unit is configured to automatically actuate a surgical function of the surgical tool when the surgical tool moves between the outer boundary and the inner boundary.

40 . The surgical system of claim 39 , wherein the surgical tool comprises a surgical stapler, and wherein the surgical function is selected from a group consisting of clamping the surgical stapler and firing the surgical stapler.

41 . The surgical system of claim 39 , wherein the surgical tool comprises an energy tool, and wherein the surgical function comprises energizing the energy tool.