Patent Publication Number: US-2020281675-A1

Title: Low cost dual console training system for robotic surgical system or robotic surgical simulator

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims the benefit of and priority to U.S. Provisional Patent Application Ser. No. 62/813,413 filed Mar. 4, 2019, the entire disclosure of which is incorporated by reference herein. 
    
    
     BACKGROUND 
     Robotic surgical systems have been used in minimally invasive medical procedures. During a medical procedure, the robotic surgical system is controlled by a surgeon interfacing with a user interface. The user interface allows the surgeon to manipulate an end effector of a surgical instrument that acts on a patient. The user interface includes an input controller or handle that is moveable by the surgeon to control the robotic surgical system. 
     Different robotic surgical systems exist in the market each with different controls and displays. As a surgeon moves from one robotic surgical system to another, the surgeon must familiarize themselves with the controls and the displays of the particular robotic surgical system. In addition, during a surgical procedure, each system may have different alerts or alarms to indicate a condition of the robotic surgical system or the patient which may delay recognition of the alarm to a surgeon not familiar with the particular robotic surgical system. 
     As a training surgeon learns, becomes familiar with, or trains to use a robotic surgical system, the training surgeon may use a dual console user interface with an experienced surgeon to control the surgical robot. Generally, dual console user interfaces are configured to provide handoff control between an experienced or instructor surgeon and the training surgeon. Traditional dual console user interfaces are expensive and necessitate a significant amount of space as two full sized user interfaces are required. 
     SUMMARY 
     This disclosure relates generally to a dual console user interface for a robotic surgical system or robotic surgical simulator that requires less space than a traditional dual console user interface and/or allows for shared control of the surgical robot. The shared control may be particularly useful during the training of a surgeon as the trainee can feel the same sensations that the experienced surgeon is feeling during the surgical procedure. 
     In an aspect of the present disclosure, a dual user console for a robotic surgical system includes a first user console and a second user console. The first user console includes a first arm, a first actuator, and a first manifold. The first arm has a first joint and the first actuator is disposed at the first joint. The first actuator includes a first pneumatic cylinder and a first hydraulic cylinder that are each configured to actuate the first arm about the first joint and to be back driven by movement of the first arm about the first joint. The first manifold is coupled to the first pneumatic and hydraulic cylinders. The second user console includes a second arm, a second actuator, and a second manifold. The second arm has a second joint and the second actuator is disposed at the second joint. The second actuator includes a second pneumatic cylinder and a second hydraulic cylinder that are each configured to actuate the second arm about the second joint and to be back driven by movement of the second arm about the second joint. The second manifold is coupled to the second pneumatic and hydraulic cylinders. The first manifold is in communication with the second manifold such that movements of the first arm about the first joint are mirrored to movements of the second arm about the second joint and movements of the second arm about the second joint are mirrored to movements of the first arm about the first joint. 
     In aspects, the first user console includes a first pneumatic line and a first hydraulic line. The first pneumatic line may have a first end that is coupled to the first pneumatic cylinder and a second end that is coupled to the first manifold. The first hydraulic line may have a first end that is coupled to the first hydraulic cylinder and a second end that is coupled to the first manifold. 
     In some aspects, the first manifold is disposed on the first arm. The first manifold may include a first console manifold and a first arm manifold. The first arm manifold may be disposed on the first arm. The dual console may include a pneumatic manifold interconnect that extends between the first console manifold and the first arm manifold. The dual console may include a hydraulic manifold interconnect that extends between the first console manifold and the first arm manifold. 
     In certain aspects, the dual console includes a pneumatic console interconnect that extends between the first manifold and the second manifold to pneumatically interconnect the first and second manifolds. The dual console may include a hydraulic console interconnect that extends between the first manifold and the second manifold to hydraulically couple the first and second manifolds. 
     In particular aspects, the first manifold is in wired or wireless communication with the second manifold. The first manifold may be configured to transmit positions of the first pneumatic and hydraulic cylinders to the second manifold such that the second manifold actuates the second pneumatic and hydraulic cylinders to mirror the positions of first pneumatic and hydraulic cylinders. The second manifold may be configured to transmit positions of the second pneumatic and hydraulic cylinders to the first manifold such that the first manifold actuates the first pneumatic and hydraulic cylinders to mirror the positions of the second pneumatic and hydraulic cylinders. 
     In some embodiments, the first user console includes a third arm that has a third joint and a third actuator disposed at the third joint. The second user console may include a fourth arm that has a fourth joint and a fourth actuator disposed at the first joint. The third actuator is coupled to the first manifold and the fourth actuator is coupled to the second manifold. The first manifold may be in communication with the second manifold such that movements of the third arm about the third joint arm mirrored to movements of the fourth arm about the fourth joint and movements of the fourth arm about the fourth joint are mirrored to movements of the third arm about the third joint. 
     In another aspect of the present disclosure, a robotic surgical system includes a processing unit, a surgical robot having a first robot arm, and a dual user console having a first and second user console. The first user console is in communication with the processing unit and is configured to transmit input signals to the processing unit. The processing unit is configured to transmit control signals to the surgical robot in response to the input signals such that the surgical robot manipulates the first robot arm in response to the control signals. The first user console includes a first arm, a first actuator, and a first manifold. The first arm has a first joint and the first actuator is disposed at the first joint. The first actuator includes a first pneumatic cylinder and a first hydraulic cylinder that are each configured to actuate the first arm about the first joint and to be back driven by movement of the first arm about the first joint. The first manifold is coupled to the first pneumatic and hydraulic cylinders. The second user console includes a second arm, a second actuator, and a second manifold. The second arm has a second joint and the second actuator is disposed at the second joint. The second actuator includes a second pneumatic cylinder and a second hydraulic cylinder that are each configured to actuate the second arm about the second joint and to be back driven by movement of the second arm about the second joint. The second manifold is coupled to the second pneumatic and hydraulic cylinders. The first manifold is in communication with the second manifold such that movements of the first arm about the first joint are mirrored to movements of the second arm about the second joint and movements of the second arm about the second joint are mirrored to movements of the first arm about the first joint. 
     In aspects, the first user console includes a third arm that has a third joint and a third actuator disposed at the third joint. The second user console may include a fourth arm that has a fourth joint and a fourth actuator disposed at the fourth joint. The first user console may include a third manifold that is disposed on the third arm and the second user console may include a fourth manifold that is disposed on the fourth arm. The third manifold is in communication with the fourth manifold such that movements of the third arm about the third joint are mirrored to movements of the fourth arm about the fourth joint. Movements of the fourth arm about the fourth joint may be mirrored to movements of the third arm about the third joint. 
     In some aspects, the first user console includes a first console manifold in direction communication with the first and third manifolds and the second user console includes a second console manifold that is in direction communication with the second and fourth manifolds. The first and second console manifolds may be in direct communication with one another such that the first and second manifolds and the third and fourth manifolds are in communication with one another. The dual user console may include pneumatic and hydraulic console interconnects. The pneumatic console interconnect includes a first discreet pneumatic channel that is configured to couple the first and second actuators and a second discreet pneumatic channel that is configured to couple the third and fourth actuators. The hydraulic console interconnect may include a first discreet hydraulic channel that is configured to couple the first and second actuators and a second discreet hydraulic channel that is configured to couple the third and fourth actuators. 
     In another aspect of the present disclosure, a method of controlling a surgical robot or a surgical simulator includes manipulating a first arm of a first user console about a first joint such that a first actuator associated with the first joint transmits first pneumatic and hydraulic signals to a second actuator associated with a second joint of a second arm of a second user console to actuate the second arm to mirror the manipulation of the first arm and manipulating the second arm of the second user console about the second joint such that the second actuator transmits second pneumatic and hydraulic singles to the first actor is associated with the first joint to actuate the first arm to mirror the manipulation of the second arm. 
     In aspects, manipulating the first arm that includes transmitting the first pneumatic and hydraulic signals to a first manifold of the first user console which transmits the first pneumatic and hydraulic signals to a second manifold of the second user interface. The first manifold may transmit the first pneumatic and hydraulic signals to the second manifold includes wirelessly transmitting the first pneumatic and hydraulic signals. 
     In some aspects, the method includes selecting a preprogramed surgical technique such that a processing unit of the surgical robot or the surgical simulator transmits control signals to the first manifold. The first manifold may transmit pneumatic and hydraulic signals to the first actuator in response to the control signals such that the first actuator actuates the first arm about the first joint. 
     Further, to the extent consistent, any of the aspects described herein may be used in conjunction with any or all of the other aspects described herein. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Various aspects of the present disclosure are described hereinbelow with reference to the drawings, which are incorporated in and constitute a part of this specification, wherein: 
         FIG. 1  is a schematic view of a robotic surgical system in accordance with the present disclosure including a dual user consoles, a surgical robot, and a shared control system; 
         FIG. 2  is a perspective view of a control arm of one of the user consoles of  FIG. 1 ; 
         FIG. 3  a top view of an actuator of the control arm of  FIG. 2 ; 
         FIGS. 4A and 4B  are cross-sectional views of taken along the section line  4 - 4  of  FIG. 2 ; 
         FIG. 5  is a schematic view of the dual user consoles of  FIG. 1  with another shared control system provided in accordance with the present disclosure; and 
         FIG. 6  is a schematic view of the dual user consoles of  FIG. 1  with another shared control system provided in accordance with the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     Embodiments of the present disclosure are now described in detail with reference to the drawings in which like reference numerals designate identical or corresponding elements in each of the several views. As used herein, the term “clinician” refers to a doctor, a surgeon, a nurse, or any other care provider and may include support personnel. Throughout this description, the term “proximal” refers to the portion of the device or component thereof that is closer to the clinician and the term “distal” refers to the portion of the device or component thereof that is farther from the clinician. 
     Referring to  FIG. 1 , a robotic surgical system  1  in accordance with the present disclosure is shown generally as a surgical robot  10 , a processing unit  30 , a master user console  40 , and a slave user console  140 . The surgical robot  10  generally includes linkages  12  and a robot base  18 . The linkages  12  moveably support an end effector or tool  20  which is configured to act on tissue. The linkages  12  may be in the form of arms each having an end  14  that supports the end effector or tool  20  which is configured to act on tissue. In addition, the ends  14  of the linkages  12  may include an imaging device  16  for imaging a surgical site “S”. The master user console  40  is in communication with robot base  18  through the processing unit  30 . 
     The master user console  40  includes a display device  44  which is configured to display three-dimensional images. The display device  44  displays three-dimensional images of the surgical site “S” which may include data captured by imaging devices  16  positioned on the ends  14  of the linkages  12  and/or include data captured by imaging devices that are positioned about the surgical theater (e.g., an imaging device positioned within the surgical site “S”, an imaging device positioned adjacent the patient “P”, imaging device  56  positioned at a distal end of an imaging arm  52 ). The imaging devices (e.g., imaging devices  16 ,  56 ) may capture visual images, infra-red images, ultrasound images, X-ray images, thermal images, and/or any other known real-time images of the surgical site “S”. The imaging devices transmit captured imaging data to the processing unit  30  which creates three-dimensional images of the surgical site “S” in real-time from the imaging data and transmits the three-dimensional images to the display device  44  for display. 
     The master user console  40  also includes input handles  42 ,  42 ′ which are supported on control arms  43 ,  43 ′ which allow a clinician to manipulate the surgical robot  10  (e.g., move the linkages  12 , the ends  14  of the linkages  12 , and/or the tools  20 ). Each of the input handles  42 ,  42 ′ is in communication with the processing unit  30  to transmit control signals thereto and to receive feedback signals therefrom. Additionally or alternatively, each of the input handles  42 ,  42 ′ may include input devices (not explicitly shown) which allow the surgeon to manipulate (e.g., clamp, grasp, fire, open, close, rotate, thrust, slice, etc.) the tools  20  supported at the ends  14  of the linkages  12 . 
     Each of the input handles  42 ,  42 ′ is moveable through a predefined workspace to move the ends  14  of the linkages  12 , e.g., tools  20 , within a surgical site “S”. The three-dimensional images on the display device  44  are orientated such that the movement of the input handles  42 ,  42 ′ moves the ends  14  of the linkages  12  as viewed on the display device  44 . The three-dimensional images remain stationary while movement of the input handles  42 ,  42 ′ is scaled to movement of the ends  14  of the linkages  12  within the three-dimensional images. To maintain an orientation of the three-dimensional images, kinematic mapping of the input handles  42 ,  42 ′ is based on a camera orientation relative to an orientation of the ends  14  of the linkages  12 . The orientation of the three-dimensional images on the display device  44  may be mirrored or rotated relative to the view captured by the imaging devices  16 ,  56 . In addition, the size of the three-dimensional images on the display device  44  may be scaled to be larger or smaller than the actual structures of the surgical site permitting a clinician to have a better view of structures within the surgical site “S”. As the input handles  42 ,  42 ′ are moved, the tools  20  are moved within the surgical site “S” as detailed below. Movement of the tools  20  may also include movement of the ends  14  of the linkages  12  which support the tools  20 . 
     For a detailed discussion of the construction and operation of a robotic surgical system  1 , reference may be made to U.S. Pat. No. 8,828,023, the entire contents of which are incorporated herein by reference. 
     The master user console  40  further includes one or more foot pedals  60  that can be used to control various aspects of the robotic surgical system  1 . For example, the foot pedal  60  may be selectively associated with an input handle, e.g., input handle  42 , to actuate a tool  20  associated with the respective input handle. Additionally or alternatively, the foot pedal  60  may be associated with a camera, e.g., camera  56 , to move the camera about the surgical site “S”. For a detailed discussion of suitable foot pedals, reference may be made to U.S. Provisional Patent Application Ser. No. 62/510,502, filed May 24, 2017, entitled “PEDAL CONTROL FOR ROBOTIC SURGICAL SYSTEMS,” and U.S. Provisional Patent Application Ser. No. 62/566,100, filed Sep. 8, 2017, entitled “HIGH PRECISION INSTRUMENT CONTROL MODE FOR ROBOTIC SURGICAL SYSTEMS,” the entire contents of each of the above applications are hereby incorporated by reference. 
     The slave user console  140  is similar to the master user console  40  detailed above and only the differences will be detailed herein for brevity. The slave user console  140  is in communication with the master user console  40  via a shared control system  200  such that the controls of the slave user console  140  are not in direct communication with the processing unit  30 . It is contemplated that while the controls of the slave user console  140  are not in direct communication with the processing unit  30  that some elements, e.g., warning lights, indicator lights, and other audible or visual feedback elements, of the slave user console  140  may be in direct communication with the processing unit  30 . In addition, the display  144  of the slave user console  140  may be in direct communication with the processing unit  30  to receive images from the processing unit  30  and to send signals to the processing unit  30 . 
     As detailed above and shown in  FIG. 1 , the master and slave user interfaces  40 ,  140  are in operable communication with the surgical robot  10  to perform a surgical procedure on a patient “P”; however, it is envisioned that the master and slave user interfaces  40 ,  140  may be in operable communication with a surgical simulator (not shown) to virtually actuate a robot system and/or tool in a simulated environment. For example, the robotic surgical system  1  may have a first mode where the master and slave user interfaces  40 ,  140  are coupled to actuate the surgical robot  10  and a second mode where the master and slave user interfaces  40 ,  140  are coupled to the surgical simulator to virtually actuate a surgical robot. The surgical simulator may be a standalone unit or be integrated into the processing unit  30 . The surgical simulator virtually responds to a clinicians interfacing with the master and slave user interfaces  40 ,  140  by providing visual, audible, force, and/or haptic feedback to clinicians through the master and slave user interfaces  40 ,  140 . For example, as a clinician interfaces with the input device handles  42 ,  142 , the surgical simulator moves representative tools that are virtually acting on tissue at a simulated surgical site. It is envisioned that the surgical simulator may allow a clinician to practice a surgical procedure before performing the surgical procedure on a patient. In addition, the surgical simulator may be used to train a clinician on a surgical procedure. Further, the surgical simulator may simulate “complications” during a proposed surgical procedure to permit a clinician to plan a surgical procedure. 
     Referring now to  FIGS. 1 and 2 , the shared control system  200  is provided in accordance with the present disclosure to synchronize the controls of the master user console  40  and the controls of the slave user console  140 . It will be appreciated, that the term master and slave are used with respect to how the user consoles  40 ,  140  are related to the connection with the processing unit  30  and that movements of either one of the user consoles  40 ,  140  may be translated to the other user console  40 ,  140  as detailed below. 
     With additional reference to  FIG. 3 , the shared control system  200  includes an actuator  202  at each joint, e.g., fourth axis of rotation A 4 , of the control arm  43 . The actuators  202  are hybrid actuators including a spindle  204 , a pneumatic line  206 , and a hydraulic line  208 . The pneumatic line  206  functions as a preloaded spring and damping system for rotation of the spindle  204 . The hydraulic line  208  provides torque to rotate the spindle  204 . The spindles  204  of the actuators  202  are capable of being driven by the pneumatic and hydraulic lines  206 ,  208  and are capable of being back driven. 
     The pneumatic line  206  is coupled to a cylinder  210  to rotate the spindle  204 . The cylinder  210  includes a diaphragm  212  that is coupled to a rod  214 . The diaphragm  212  moves back and forth within the cylinder to rotate the spindle  204 . The rod  214  is coupled to a gear system  230  that converts linear actuation of the rod  214  into rotation of the spindle  204 . 
     Similarly, the hydraulic line  206  is coupled to a cylinder  220  to rotate the spindle  204 . The cylinder  220  includes a diaphragm  222  that is coupled to a rod  224 . The diaphragm  222  moves back and forth within the cylinder to rotate the spindle  204 . The rod  224  is coupled to the gear system  230  that converts linear actuation of the rod  214  into rotation of the spindle  204 . 
     Referring back to  FIG. 2 , the handle  42  includes one or more actuator(s)  202  associated with a control interface of the handle  42 , e.g., lever or trigger  42   a . The actuator  202  for the handle  42  may include a spindle  204  to rotate the respective control interface or the gear system  230  ( FIG. 3 ) may linearly actuate a respective control interface, e.g., trigger  42   a . It will be appreciated that each actuator  202  of the handle  42  includes a pneumatic line and a hydraulic line similar to pneumatic and hydraulic lines  206 ,  208 . 
     With continued reference to  FIG. 2 , the pneumatic and hydraulic lines  206 ,  208  of each actuator  202  extend from the respective joint or control interface, e.g., fourth axis of rotation A 4 , to a master manifold  240  of the master user console  40 . The master manifold  240  includes a connection for each of the pneumatic and hydraulic lines  206 ,  208  from the master user console  40  to provide a single point of connection for each of the pneumatic and hydraulic lines  206 ,  208  off of the master user console  40 . It is contemplated that each arm  43 ,  43 ′ and/or the foot pedals  60  may include an arm or pedal manifold  243 ,  243 ′,  246  that provides a single point of connection for the respective arm  43 ,  43 ′ or foot pedals  60  to reduce the number of loose lines extending between a particular arm  43 ,  43 ′ or foot pedals  60  and the master manifold  240 . It will be appreciated that each arm or pedal manifold  243 ,  243 ′,  246  is coupled to the master manifold  240  by a pneumatic manifold interconnect line  248  and a hydraulic manifold interconnect line  249 . Each of the pneumatic and hydraulic manifold interconnect lines  248 ,  249  includes a discreet internal channel for each of the pneumatic and hydraulic lines, e.g., pneumatic and hydraulic lines  206 ,  208 , that enter the respective arm or pedal manifold  243 ,  243 ′,  246  as shown in  FIGS. 4A and 4B . While the pneumatic and hydraulic manifold interconnect lines  248 ,  249  are shown as a single line with a single connection to the master manifold  240  and the respective arm or pedal manifold  243 ,  243 ′,  246 , the pneumatic and hydraulic manifold interconnect lines  248 ,  249  may be a bundle of lines with a separate connector for each line. 
     Referring briefly back to  FIG. 1 , the master manifold  240  is coupled to a slave manifold  260  by a pneumatic console interconnect line  256  and a hydraulic console interconnect line  258 . The pneumatic and hydraulic console interconnect lines  256 ,  258  include a discreet channel for each of the pneumatic and hydraulic lines, e.g., pneumatic and hydraulic lines  206 ,  208 , that are coupled to the master manifold  240 . While the pneumatic and hydraulic console interconnect lines  256 ,  258  are shown as a single line with a single connection to each of the master and slave manifolds  240 ,  260 , the pneumatic and hydraulic console interconnect lines  256 ,  258  may be a bundle of lines with a separate connector for each line or group of lines, e.g., a separate connector for an arm group of lines. 
     The slave user console  140  includes actuators  202  at joints and control interfaces of the first and second arms  143 ,  143 ′ and pedals  160  that correspond to the actuator  202  of the master user console  40 . The shared control system  200  interconnects the pneumatic and hydraulic lines from each of the actuators  202  of the master user console  40  with a corresponding actuator  202  of the slave user console  140  such that as the joint or the control interface of the master user console  40  is manipulated, the shared control system  200  manipulates the corresponding joint of the slave user console  140  in a similar manner. Specifically, as the joint or the control interface of the master user console  40  back drives the associated actuator  202 , the corresponding joint or control interface of the slave user console  140  drives the corresponding actuator  202  such that the corresponding joint or control interface of the slave user console  140  mirrors the movement of the joint or the control interface of the master user console  40 . It will be appreciated that movement of a joint or control interface of the slave user console  140  may be mirrored to a joint or control interface of the master user console  40  in a similar manner. 
     By mirroring movements between the master user console  40  and the slave user console  140 , movements of the surgical robot  10  ( FIG. 1 ) can be controlled by either of the master or slave user consoles  40 ,  140  simultaneously. In addition, movements of one of the user consoles, e.g., master user console  40 , may be controlled by a teaching clinician such that a learning clinician can experience movements through the other one of the user console, e.g., slave user console  140 . Similarly, a learning clinician can use one of the user consoles, e.g., slave user console  140 , to perform a surgical procedure with the surgical robot  10  while a teaching clinician observes the surgical procedure from the other user console, e.g., master user console  40 , to provide guidance and/or physical input to assist the learning clinician. 
     As detailed above, the master and slave user consoles  40 ,  140  may be used with a surgical simulator instead of a surgical robot. When the master and slave user consoles  40 ,  140  are used with a surgical simulator, the teaching and learning clinicians can perfect a skill or an entire surgical procedure without acting on a patient. 
     Referring now to  FIG. 5 , another shared control system  300  is disclosed in accordance with the present disclosure. The shared control system  300  includes the actuators  202  ( FIG. 2 ) and the pneumatic and hydraulic lines associated with each of the actuators  202  of the master and slave user consoles  40 ,  140 , e.g., pneumatic and hydraulic lines  206 ,  208 . The shared control system  300  includes a master manifold  340  and a slave manifold  360 . The master manifold  340  and the slave manifold  360  receive the pneumatic and hydraulic lines from the actuators  202  in a similar manner to the master and slave manifolds  240 ,  260  detailed above. 
     The master manifold  340  and the slave manifold  360  include a pneumatic fluid actuator  306  associated with each pneumatic line, e.g., pneumatic line  206 , and a hydraulic fluid actuator  308  associated with each hydraulic line  208 . Each of the pneumatic and hydraulic fluid actuators  306 ,  308  are configured to remotely drive the associated actuator  202  and be back driven by the associated actuator  202 . Each pneumatic and hydraulic fluid actuator  306 ,  308  includes a sensor  310  configured to determine the position of the diaphragm  212 ,  222  ( FIG. 3 ) of the associated actuator  202 . 
     The master manifold  340  includes a master controller  342  that is in communication with each of the pneumatic and hydraulic fluid actuators  306 ,  308  of the master manifold  340  and each of the sensors  310 . Similarly the slave manifold  360  includes a slave controller  362  that is in communication with each of the pneumatic and hydraulic fluid actuators  306 ,  308  of the slave manifold  340 . The master controller  342  is in communication with the slave controller  362  to control the corresponding pneumatic and hydraulic fluid actuators  306 ,  308  of the respective manifold  340 ,  360  such that the corresponding actuators  202  are mirrored between the master and slave user interfaces  40 ,  140 . 
     The master and slave controllers  342 ,  362  may be in direct electrical communication with one another, e.g., be directly wired to one another, or may be in wireless communication with one another. Additionally or alternatively, the master and slave controllers  342 ,  362  may be in communication, either directly or wirelessly, with the processing unit  30  ( FIG. 1 ). Each of the controllers  342 ,  362  converts the positions of the diaphragms  212 ,  222  associated with the pneumatic and hydraulic lines  206 ,  208  to electrical signals and transmits the positions to the controller  342 ,  362  of a corresponding manifold  340 ,  360  which may reduce the need for multiple pneumatic and hydraulic interconnect lines to run between manifolds and/or the user consoles. The reduction in interconnect lines may reduce the cost of the robotic surgical system. In addition, the reduction in interconnect lines may reduce the number of lines within the surgical space and increase the safety and/or the flexibility of the robotic surgical system. 
     With reference to  FIG. 6 , another shared control system  400  is disclosed in accordance with the present disclosure. The shared control system  400  includes the actuators  202  and the pneumatic and hydraulic lines associated with each of the actuators  202  of the master and slave user consoles  40 ,  140 , e.g., pneumatic and hydraulic lines  206 ,  208 . The shared control system  400  includes master arm manifolds  443 ,  443 ′, a master foot manifold  446 , slave arm manifolds  463 ,  463 ′, and a slave foot manifold  466 . The master manifolds  443 , 443 ′,  446  and slave manifolds  463 ,  463 ′,  466  receive the pneumatic and hydraulic lines from the actuators  202  in a similar manner to the master arm and foot manifolds  243 ,  243 ′,  246  and the slave manifolds  463 ,  463 ′,  466  receive the pneumatic and hydraulic lines form the actuators  202  in a similar manner to the slave arm and foot manifolds  263 ,  263 ′,  266  detailed above. 
     Each of the master arm and foot manifolds  443 ,  443 ′,  446  is similar to the master manifold  340  detailed above with a pneumatic and hydraulic fluid actuator  406 ,  408  associated with each of the pneumatic and hydraulic lines  206 ,  208 , respectively. In addition, each of the slave arm and foot manifolds  463 ,  463 ′,  466  is similar to the slave manifold  360  detailed above with a pneumatic and hydraulic fluid actuator  406 ,  408  associated with each of the pneumatic and hydraulic lines  206 ,  208 , respectively. 
     Each of the master and slave arm and foot manifolds  443 ,  443 ′,  446 ,  463 ,  463 ′,  466  includes a controller  442 ,  462  that is in communication with each of the pneumatic and fluid actuators  406 ,  408  and sensors  410  of the respective manifold  443 ,  443 ′,  446 ,  463 ,  463 ′,  466 . The controller  442  of the master arm manifold  443  is in communication with the controller  462  of the slave arm manifold  463 , the controller  442  of the master arm manifold  443 ′ is in communication with the controller  462  of the slave arm manifold  463 ′, and the controller  442  of the master foot manifold  446  is in communication n with the controller  462  of the slave foot manifold  466  such that the actuators  202  of the slave user console  140  mirror the corresponding actuators  202  of the master user console  40  and vice versa as detailed above. 
     The controllers  442 ,  462  may be in wired or wireless communication with one another and/or with the processing unit  30  ( FIG. 1 ). Each of the controllers  442 ,  462  converts the positions of the diaphragms  212 ,  222  associated with the pneumatic and hydraulic lines  206 ,  208  to electrical signals and transmits the positions to the controller  442 ,  462  of a corresponding manifold  443 ,  443 ′,  446 ,  463 ,  463 ′,  466  may reduce the need for multiple pneumatic and hydraulic interconnect lines to run between manifolds and/or the user consoles. The reduction in interconnect lines may reduce the cost of the robotic surgical system. In addition, the reduction in interconnect lines may reduce the number of lines within the surgical space and increase the safety and/or the flexibility of the robotic surgical system. 
     The shared control systems  300  and  400  may be used with a programmed surgical technique or procedure to teach the technique or the procedure to a clinician. The processing unit  30  may be preprogrammed with one or more surgical techniques or procedures such that a clinician interfacing with one of the master or slave user consoles  40 ,  140  may select a preprogramed technique or procedure. The processing unit  30  then transmits the movements of the technique or the procedure to the manifold or manifold(s), e.g., master manifold  340 , of the user console while transmitting images of the simulated procedure to the displays associated with the user consoles, e.g., displays  44 ,  144  ( FIG. 1 ). 
     The shared control systems  300  and  400  may be used to program a surgical technique or procedure such that the technique or produce can be taught to clinicians as detailed above. Specifically, when being used during a simulated or actual surgical procedure, a clinician may select a recording option such that the processing unit  30  captures images from the display, e.g., display  44 , and positions of the actuators  202  from the manifold(s), e.g., master manifold  340 , during a simulated or actual surgical procedure such that the images and positions of the actuators  202  can be transmitted as a preprogramed technique or procedure as detailed above. 
     While several embodiments of the disclosure have been shown in the drawings, it is not intended that the disclosure be limited thereto, as it is intended that the disclosure be as broad in scope as the art will allow and that the specification be read likewise. Any combination of the above embodiments is also envisioned and is within the scope of the appended claims. Therefore, the above description should not be construed as limiting, but merely as exemplifications of particular embodiments. Those skilled in the art will envision other modifications within the scope of the claims appended hereto.