• There are many limitations of manual laparoscopic surgery such as limited dexterity of movement, limited field of view, fatigue of surgeon during extended operation procedure, inversion of hand movement and lack of tremor compensation.
• Various patents and publications on robotic training systems are referenced to address the limitations of manual laparoscopic surgery.
• Robotic systems with 7 Degrees of Freedom (DOF) are available, providing improved dexterity and surgical outcomes. However, these systems are expensive and training on them is costly.
• Simulation-based training platforms exist but do not fully prepare surgeons for commercial robotic systems. A seamless transition is needed between training and using actual systems.
• The instant innovation includes a tele-operated robotic surgical trainer of master arm with 6 DOF and strategically distributed masses for balance, a compliant grasper mechanism, and optimized tether guides that aims to facilitate the training of new robotic surgeons, overcoming the cost & skill acquisition associated commercial systems.

The instant invention discloses novel systems, devices and methods of designing a tele-operated robotic surgical system that is aimed at training surgeons those are new to robotic surgery.

Method:

A method of maintaining equilibrium in the master arm assembly of a surgical robotic training system comprising (Refer FIG 1 & 2) at least a pair of master arm assemblies, a pair of slave arm assemblies, comprising an adjustable passive arm assembly comprising a parallelogram based remote center of motion (RCM) module, an L-arm mounting the parallelogram based RCM module and a surgical tool placed in a first face of the RCM module and attached at a distal end, a central controller, and a camera arm assembly.

The method comprising the steps of:

• obtaining by the central controller a movement from the master arm thereof;
• obtaining a one or more joint currents in the master arm assembly;
• obtaining one or more joint positions and a grasper position in the master arm assembly;
• calculating the total force on the grasper that is a function of the joint current;
• calculating the imbalance force on the grasper based on the force of gravity on one or more joint positions and grasper position;
• identifying that movement is unintentional when the total force on the grasper is in a range of values closer to the imbalance force on grasper or identifying that movement is intentional otherwise;
• calculating the direction of motion of the grasper if the movement is intentional;
• actuating the motors to assist motion of the master arm; and
• actuating the joints using motor drives; and
• locking joints with the motor torque if movement is unintentional.