Patent Publication Number: US-2023157771-A1

Title: Robotic surgical pedal with integrated foot sensor

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of pending U.S. patent application Ser. No. 17/115,587 filed Dec. 8, 2020, which is a continuation of U.S. patent application Ser. No. 16/038,128, filed on Jul. 17, 2018, now U.S. Pat. No. 10,888,383, which are hereby incorporated by this reference in its entirety. 
    
    
     FIELD 
     An embodiment of the invention relates to a robotic surgical pedal with integrated foot sensor for sensing a presence and/or location of a user&#39;s foot. Other embodiments are also described. 
     BACKGROUND 
     In a robotic surgical system, a robotic arm has a surgical tool attached to its distal end that is remotely operated by a surgeon. Applications include endoscopic surgery, which involves looking into a patient&#39;s body and performing surgery inside, for example the abdominal cavity, using endoscopes and other surgical tools that are attached to the ends of several robotic arms. The system gives the surgeon a close-up view of the surgery site, and also lets the surgeon operate the tool that is attached to the arm, all in real-time. The tool may be a gripper with jaws, a cutter, a video camera, or an energy emitter such as a laser used for coagulation. The tool is thus controlled in a precise manner with high dexterity in accordance with the surgeon manipulating a handheld controller. Some functions of the system such as control of the energy emitter may be assigned to a foot pedal controller that the surgeon manipulates with their foot. 
     SUMMARY 
     An embodiment of the invention is directed to a foot pedal assembly (or system) for controlling a robotic surgical system, with integrated foot presence sensing. The foot pedal assembly may include a foot pedal with a foot presence sensor (or multiple sensors) built into the cover portion of the pedal. More specifically, in one embodiment, a sensor such as a proximity sensor may be built directly into the pedal. The proximity sensor may be used to detect the presence of a user&#39;s foot prior to the foot contacting a particular pedal (e.g., hovering). In this aspect, the system can notify the user their foot is over a pedal, about to press a given pedal, moving toward a pedal, or provide other similar information relating to the user&#39;s foot position with respect to the pedal individually. In addition, in some cases, the foot pedal assembly includes a number of foot pedals having sensors incorporated therein, so that the presence of a foot with respect to each of the pedals individually can be determined. This information can be used by the user and/or system to, for example, prevent unintentional pedal activation, anticipate a surgical operation and prepare the corresponding instrument, and/or determine a motion or speed of the foot. For example, when one pedal is active and the foot is detected over another pedal, the user can be notified and/or the other pedal deactivated to prevent unintentional activation. The hardware therefore allows for higher precision in notifying the user of the location of her/his foot prior to activation of any particular pedal. More specifically, the system achieves presence sensing of a foot over any given pedal individually so that a user can be alerted. 
     Representatively, in one embodiment, the invention may include an assembly of pedals and associated software for running algorithms, processing operations, processes, or the like, to optimize performance and user experience in applying the pedals with integrated presence (or hover) sensing. For example, in one aspect, the assembly may include a layout, arrangement or array of seven pedals. There may be three pedals arranged on the left half of the layout and four pedals arranged on the right half of the layout, at known positions. One or more of the four pedals arranged together on the right half may be used to activate energy or advanced tool functionality (e.g., laser, stapler, etc.), while the pedals on the left half may be used to operate cameras and/or switch instruments. Since notifications with respect to energy pedals may be important, each of the four pedals on the right half layout may have sensors built therein, although sensors may be built into all seven pedals, or any combination of pedals where presence sensing is desired. 
     The integration of the sensors into the pedals as discussed herein may have several additional applications. For example, pedal prioritization can be implemented based on the information obtained by the sensors. For example, when a user places their foot on an upper pedal, both the upper pedal and lower pedal sensors may be triggered (the user&#39;s foot overlaps both pedals). The system, however, can prioritize which pedal the system should alert the user about based on the function of the particular pedal. For example, the system knows that upper pedals map to energy functions, which if activated unintentionally, may be more undesirable than an inadvertent activation of any of the lower pedals. In this scenario, although hover is detected over both pedals, the system alerts the user of the hover over the upper pedal, since unintentional activation of this pedal will result in more harm. 
     In addition, by having two sensors placed a known distance apart, the system can detect foot motion and speed when, for example, two or more sensors are detected in sequence. For example, it can be determined that the user&#39;s foot is moving from the floor (no sensors triggered), toward a first pedal (first pedal sensor triggered), and then on to a second pedal (second pedal sensor triggered). This motion (and speed) knowledge can assist in providing the user with critical information about results of any action they&#39;re about to take and also assist in optimizing operations. 
     Still further, in one aspect, integrating sensors into the pedals on the left and/or right side layout may assist with training surgeons new to the system how to use the system, or to optimize performance on the system. Representatively, it is known that there is a correlation between procedure time and number of camera clutches. Therefore, if the system can inform a user that their feet are unnecessarily resting on the camera clutch pedal, this procedure variable can be optimized. In addition, when sensors are built into all seven pedals, the system may be configured to toggle on/off the left pedal sensors, or alter the size or frequency of the hover-related notifications. 
     More specifically, in one embodiment, the invention is directed to a foot pedal assembly for controlling a robotic surgical system. The foot pedal assembly including a foot pedal base, a foot pedal and a sensor built into the foot pedal. The foot pedal may be movably coupled to the foot pedal base, such that it moves with respect to the base, and have a contact surface extending from a distal end to a proximal end of the foot pedal. The sensor coupled to the contact surface of the foot pedal at a position closer to the proximal end than the distal end, the sensor is operable to sense a target object positioned a distance over the contact surface. In some cases, the foot pedal may pivot around an axle coupled to the foot pedal base. The axle may be positioned closer to the distal end than the proximal end, and the sensor may be closer to the proximal end than the axle. Still further, the sensor may be coupled to the contact surface at a position that is between the distal end and a point midway between the distal end and the proximal end. In addition, a cavity may be formed through the contact surface, and the sensor may be mounted within the cavity. In some embodiments, the sensor may be an optical sensor having an emitter and a detector, and the emitter emits a beam of electromagnetic radiation in a direction away from the contact surface. In other cases, the sensor may be a capacitive sensor. Still further, the sensor may be one of an array of sensors coupled to the contact surface of the foot pedal. In addition, the foot pedal assembly may be one of an array of foot pedal assemblies operable to control different surgical robotic operations. In addition, the assembly may include a foot pedal assembly platform having an upper platform and a lower platform to which the array of foot pedal assemblies are mounted. In some cases, a larger number of the foot pedal assemblies in the array of foot pedal assemblies are mounted to the upper platform than the lower platform of the foot pedal assembly platform. 
     In another embodiment, the invention is directed to a foot pedal system including a foot pedal assembly platform, a first foot pedal assembly and a second foot pedal assembly coupled to the foot pedal assembly platform, and a processor. Each of the first foot pedal assembly and the second foot pedal assembly may have a foot pedal movably coupled to a foot pedal base and an optical sensor coupled to a contact surface of the foot pedal that faces away from the foot pedal base. The optical sensor may be operable to emit a light beam in a direction away from the contact surface and detect a presence of a target object prior to activation of the first foot pedal assembly or the second foot pedal assembly by the target object. The processor may be configured to determine a position of the target object with respect to the first foot pedal assembly or the second foot pedal assembly based on the presence detected by the optical sensor coupled to the first foot pedal assembly or the second foot pedal assembly. In some embodiments, the optical sensor may be positioned closer to a proximal end of the contact surface than a distal end of the contact surface. In addition, the processor may further be configured to determine whether the target object is positioned closer to the proximal end of the contact surface than the distal end of the contact surface based on the presence detected by the optical sensor. The optical sensor may be one of an array of optical sensors coupled to different regions of the contact surface of a respective foot pedal, and the processor may further be configured to determine the target object is aligned with one of the different regions. The processor may also be configured to determine the target object is over the contact surface of the first foot pedal assembly prior to the target object contacting the contact surface of the first foot pedal assembly based on the presence of the target object being detected by the optical sensor of the first foot pedal assembly. In some cases, the processor may be configured to determine the position of the target object with respect to the first foot pedal assembly based on the presence of the target object being detected by the optical sensor of the second foot pedal assembly. The processor may further be configured to determine a lateral motion of the target object when the presence of the target object is detected by the optical sensors in sequence. Still further, the processor is further configured to alert a user that the presence of the target object is detected over one of the first foot pedal assembly or the second foot pedal assembly when the other of the first foot pedal assembly or the second foot pedal assembly is actively controlling a robotic operation. In addition, the processor may be configured to prevent activation of the first foot pedal assembly when the presence of the target object is detected over the first foot pedal assembly while the second foot pedal assembly is actively controlling a robotic operation. In some cases, the first foot pedal assembly is operable to control a first surgical robotic operation and the second foot pedal assembly is operable to control a second surgical robotic operation that is different than the first surgical robotic operation. The first surgical robotic operation may include an energy device and the second surgical robotic operation my include a non-energy instrument. In addition, the foot pedal assembly platform may include an upper platform and a lower platform, and the first foot pedal assembly is coupled to the upper platform and the second foot pedal assembly is coupled to the lower platform. 
     The above summary does not include an exhaustive list of all aspects of the present invention. It is contemplated that the invention includes all systems and methods that can be practiced from all suitable combinations of the various aspects summarized above, as well as those disclosed in the Detailed Description below and particularly pointed out in the claims filed with the application. Such combinations have particular advantages not specifically recited in the above summary. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The embodiments of the invention are illustrated by way of example and not by way of limitation in the figures of the accompanying drawings in which like references indicate similar elements. It should be noted that references to “an” or “one” embodiment of the invention in this disclosure are not necessarily to the same embodiment, and they mean at least one. Also, in the interest of conciseness and reducing the total number of figures, a given figure may be used to illustrate the features of more than one embodiment of the invention, and not all elements in the figure may be required for a given embodiment. 
         FIG.  1    is a pictorial view of one embodiment of a surgical system in an operating arena. 
         FIG.  2    is a side view of an embodiment of a foot pedal assembly. 
         FIG.  3    is a side view of the foot pedal assembly of  FIG.  2   . 
         FIG.  4    is a top perspective view of an embodiment of a foot pedal. 
         FIG.  5    is a bottom perspective view of an embodiment of the foot pedal of  FIG.  4   . 
         FIG.  6    is a top perspective view of an embodiment of the foot pedal of  FIG.  4    with a sensor built therein. 
         FIG.  7    is a bottom perspective view of an embodiment of the foot pedal of  FIG.  4    with a sensor built therein. 
         FIG.  8    is a top plan view of one embodiment of a foot pedal. 
         FIG.  9    is a top plan view of another embodiment of a foot pedal. 
         FIG.  10    is a top plan view of another embodiment of a foot pedal. 
         FIG.  11    is a flow chart of one embodiment of a process for determining a position of a target object. 
         FIG.  12    is a top perspective view of one embodiment of a foot pedal assembly array. 
         FIG.  13    is a schematic illustration of the foot pedal assembly array of  FIG.  12   . 
         FIG.  14    is a flow chart of one embodiment of a process for alerting a user of the presence of a target object. 
     
    
    
     DETAILED DESCRIPTION 
     Several embodiments of the invention with reference to the appended drawings are now explained. Whenever the shapes, relative positions and other aspects of the parts described in the embodiments are not explicitly defined, the scope of the invention is not limited only to the parts shown, which are meant merely for the purpose of illustration. Also, while numerous details are set forth, it is understood that some embodiments of the invention may be practiced without these details. In other instances, well-known circuits, structures, and techniques have not been shown in detail so as not to obscure the understanding of this description. 
     The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Spatially relative terms, such as “beneath”, “below”, “lower”, “above”, “upper”, and the like may be used herein for ease of description to describe one element&#39;s or feature&#39;s relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” the other elements or features. Thus, the exemplary term “below” can encompass both an orientation of above and below. The device may be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. 
     As used herein, the singular forms “a”, “an”, and “the” are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms “comprises” and/or “comprising” specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. 
     The terms “or” and “and/or” as used herein are to be interpreted as inclusive or meaning any one or any combination. Therefore, “A, B or C” or “A, B and/or C” mean “any of the following: A; B; C; A and B; A and C; B and C; A, B and C.” An exception to this definition will occur only when a combination of elements, functions, steps or acts are in some way inherently mutually exclusive. 
     In addition, the phrase “configured to,” as used herein, may be interchangeable with, or otherwise understood as referring to, for example, a device that is “suitable for”, “having the capacity to”, “designed to”, “adapted to”, “made to”, or otherwise “capable of” operating together with another device or other components. For example, a “processor configured to perform A, B; and C” may refer to a processor (e.g., a central processing unit (CPU) or an application processor) that may perform operations A, B and C by executing one or more software programs which stores a dedicated processor (e.g., an embedded processor) for performing a corresponding operation. 
     Referring to  FIG.  1   ,  FIG.  1    illustrates a pictorial view of an example surgical system  100  in an operating arena. The robotic surgical system  100  includes a user console  102 , a control tower  103 , and one or more robotic surgical arms  104  at a surgical platform  105 , e.g., a table, a bed, etc. The robotic surgical system  100  can incorporate any number of devices, tools, or accessories used to perform surgery on a patient  106 . For example, the robotic surgical system  100  may include one or more surgical tools  7  used to perform surgery. A surgical tool  107  may be an end effector that is attached to a distal end of a surgical arm  104 , for executing a surgical procedure. 
     Each surgical tool  107  may be manipulated manually, robotically, or both, during the surgery. For example, the surgical tool  107  may be a tool used to enter, view, or manipulate an internal anatomy of the patient  106 . In an embodiment, the surgical tool  107  is a grasper that can grasp tissue of the patient. The surgical tool  107  may be controlled manually, by a bedside operator  108 ; or it may be controlled robotically, via actuated movement of the robotic surgical arm  104  to which it is attached. The robotic surgical arms  104  are shown as a table-mounted system, but in other configurations the surgical arms  104  may be mounted in a cart, ceiling or sidewall, or in another suitable structural support. 
     Generally, a remote operator  109 , such as a surgeon or other operator, may use the user console  102  to remotely manipulate the surgical arms  104  and/or the attached surgical tools  107 , e.g., teleoperation. The user console  102  may be located in the same operating room as the rest of the robotic surgical system  100 , as shown in  FIG.  1   . In other environments however, the user console  102  may be located in an adjacent or nearby room, or it may be at a remote location, e.g., in a different building, city, or country. The user console  102  may comprise a seat  110 , foot-operated controls  113 , one or more handheld user interface devices, UID  114 , and at least one user display  115  that is configured to display, for example, a view of the surgical site inside the patient  106 . In the example user console  102 , the remote operator  109  is sitting in the seat  110  and viewing the user display  115  while manipulating a foot-operated control  113  and a handheld UID  114  in order to remotely control the surgical arms  104  and the surgical tools  107  (that are mounted on the distal ends of the surgical arms.) 
     In some variations, the bedside operator  108  may also operate the robotic surgical system  100  in an “over the bed” mode, in which the beside operator  108  (user) is now at a side of the patient  106  and is simultaneously manipulating a robotically-driven tool (end effector as attached to the surgical arm  104 ), e.g., with a handheld UID  114  held in one hand, and a manual laparoscopic tool. For example, the bedside operator&#39;s left hand may be manipulating the handheld UID to control a robotic surgical component, while the bedside operator&#39;s right hand may be manipulating a manual laparoscopic tool. Thus, in these variations, the bedside operator  108  may perform both robotic-assisted minimally invasive surgery and manual laparoscopic surgery on the patient  106 . 
     During an example procedure (surgery), the patient  106  is prepped and draped in a sterile fashion to achieve anesthesia. Initial access to the surgical site may be performed manually while the arms of the robotic surgical system  100  are in a stowed configuration or withdrawn configuration (to facilitate access to the surgical site.) Once access is completed, initial positioning or preparation of the robotic surgical system  100  including its arms  104  may be performed. Next, the surgery proceeds with the remote operator  109  at the user console  102  utilizing the foot-operated controls  113  and the UIDs  114  to manipulate the various end effectors and perhaps an imaging system to perform the surgery. Manual assistance may also be provided at the procedure bed or table, by sterile-gowned bedside personnel, e.g., the bedside operator  108  who may perform tasks such as retracting tissues, performing manual repositioning, and tool exchange upon one or more of the surgical arms  104 . Non-sterile personnel may also be present to assist the remote operator  109  at the user console  102 . When the procedure or surgery is completed, the robotic surgical system  100  and the user console  102  may be configured or set in a state to facilitate post-operative procedures such as cleaning or sterilization and healthcare record entry or printout via the user console  102 . 
     In one embodiment, the remote operator  109  holds and moves the UID  114  to provide an input command to move a robot arm actuator  117  in the robotic surgical system  100 . The UID  114  may be communicatively coupled to the rest of the robotic surgical system  100 , e.g., via a console computer system  116 . The UID  114  can generate spatial state signals corresponding to movement of the UID  114 , e.g. position and orientation of the handheld housing of the UID, and the spatial state signals may be input signals to control a motion of the robot arm actuator  117 . The robotic surgical system  100  may use control signals derived from the spatial state signals, to control proportional motion of the actuator  117 . In one embodiment, a console processor of the console computer system  116  receives the spatial state signals and generates the corresponding control signals. Based on these control signals, which control how the actuator  117  is energized to move a segment of the arm  104 , the movement of a corresponding surgical tool that is attached to the arm may mimic the movement of the UID  114 . Similarly, interaction between the remote operator  109  and the UID  114  can generate for example a grip control signal that causes a jaw of a grasper of the surgical tool  107  to close and grip the tissue of patient  106 . 
     Robotic surgical system  100  may include several UIDs  114 , where respective control signals are generated for each UID that control the actuators and the surgical tool (end effector) of a respective arm  104 . For example, the remote operator  109  may move a first UID  114  to control the motion of an actuator  117  that is in a left robotic arm, where the actuator responds by moving linkages, gears, etc., in that arm  104 . Similarly, movement of a second UID  114  by the remote operator  109  controls the motion of another actuator  117 , which in turn moves other linkages, gears, etc., of the robotic surgical system  100 . The robotic surgical system  100  may include a right surgical arm  104  that is secured to the bed or table to the right side of the patient, and a left surgical arm  104  that is at the left side of the patient. An actuator  117  may include one or more motors that are controlled so that they drive the rotation of a joint of the surgical arm  104 , to for example change, relative to the patient, an orientation of an endoscope or a grasper of the surgical tool  107  that is attached to that arm. Motion of several actuators  117  in the same arm  104  can be controlled by the spatial state signals generated from a particular UID  114 . The UIDs  114  can also control motion of respective surgical tool graspers. For example, each UID  114  can generate a respective grip signal to control motion of an actuator, e.g., a linear actuator, that opens or closes jaws of the grasper at a distal end of surgical tool  107  to grip tissue within patient  106 . 
     In some aspects, the communication between the surgical platform  105  and the user console  102  may be through a control tower  103 , which may translate user commands that are received from the user console  102  (and more particularly from the console computer system  116 ) into robotic control commands that transmitted to the arms  104  on the surgical platform  105 . The control tower  103  may also transmit status and feedback from the surgical platform  105  back to the user console  102 . The communication connections between the surgical platform  105 , the user console  102 , and the control tower  103  may be via wired and/or wireless links, using any suitable ones of a variety of data communication protocols. Any wired connections may be optionally built into the floor and/or walls or ceiling of the operating room. The robotic surgical system  100  may provide video output to one or more displays, including displays within the operating room as well as remote displays that are accessible via the Internet or other networks. The video output or feed may also be encrypted to ensure privacy and all or portions of the video output may be saved to a server or electronic healthcare record system. 
     A foot-operated control including a foot pedal assembly or system having an integrated sensor for sensing the presence and/or location of a user&#39;s foot on the foot-operated control will now be described. Referring now to  FIG.  2   ,  FIG.  2    illustrates a side view of one example of a foot pedal assembly  200  that can be used to control, or otherwise actuate, a robotic operation of the robotic surgical system  100  (e.g., an operation of the robotic surgical arm  104 ). Foot pedal assembly  200  may include a foot pedal  202  that is movably coupled to a foot pedal base  204 . The term “foot pedal” is generally intended to refer to any type of foot-operated lever that can be used to control the robotic operation. The foot pedal base  204  may be any type of structure suitable for supporting the pedal. In addition, it should be understood that while a “foot pedal” and “foot pedal base” are described and shown herein in the context of a foot, the pedal and base should be understood to cover any sort of lever and support member assembly that can be used in a similar manner by any body part, machine, robotic assembly, or the like to actuate or otherwise control a surgical robotic operation (or other operations requiring a pedal and base assembly). 
     In some cases, the foot pedal  202  may be rotatably coupled to the foot pedal base  204 , while in other cases, the foot pedal  202  may be, for example, a floating pedal that remains relatively parallel to the base  204 , and moves up and down.  FIG.  2    illustrates an embodiment where the foot pedal  202  is rotatably coupled to the foot pedal base  204 . Representatively, foot pedal  202  and/or foot pedal base  204  include an axle  206  around which foot pedal  202  rotates or pivots as shown by arrow  208 . Rotation of foot pedal  202  around axle  206  moves foot pedal  202  from a “neutral” position in which it is substantially horizontal, or otherwise parallel to foot pedal base  204 , to different “active” positions  202 A,  202 B in which it is at an angle with respect to foot pedal base  204  (as illustrated by dashed lines). The foot pedal  202  may be considered to be in a “neutral” position when it is not causing, actuating, or otherwise controlling, a robotic operation (e.g. an operation of the robotic surgical arm  104 ). On the other hand, positions  202 A,  202 B of foot pedal  202  are considered “active” because in these positions, foot pedal  202  is causing, actuating, or otherwise controlling, a robotic operation (e.g., an operation of the robotic surgical arm  104 ). For example, in positions  202 A,  202 B, foot pedal  202  may contact one or more of switches  210 A and  2106 , which, in turn, send a signal to a control system (e.g., a console processor of the console computer system  116 ) to actuate, or otherwise control, the robotic operation. In this aspect, foot pedal  202  may be referred to herein as being “active”, “activated” or “actuated” when in positions  202 A,  202 B (e.g., a position achieved when a user&#39;s foot presses on the pedal), and “neutral” or “inactive” when in the horizontal position (e.g., the resting position prior to the user&#39;s foot contacting the pedal). 
     Referring now in more detail to foot pedal  202 , foot pedal  202  may include a proximal portion or end  212  and a distal portion or end  214 , and a contact surface  216  extending between the two portions or ends  212 ,  214 . During operation, the proximal portion  212  will be near the heel of the foot, and the distal portion  214  will be farther from the heel (e.g., closer to the toe). The contact surface  216  may be a substantially flat or planar surface that, in the neutral pedal position, may be substantially parallel to, and face away from, base portion  204 . On the other hand, in the active pedal position (e.g., when a user&#39;s foot contacts surface  216 ), contact surface  216  may be rotated such that it is at an angle with respect to base portion  204 . Contact surface  216  may be referred to as a “contact” surface herein because this is the portion of foot pedal  202  which is contacted by the user&#39;s foot to activate the pedal assembly such as by rotating, or otherwise moving, foot pedal  202 . For example, foot pedal  202  may be manually moved (e.g., rotate, pivot, move up/down) with respect to foot pedal base  204  when a force or pressure is applied against surface  216 . Therefore in this configuration, when a user&#39;s foot is positioned on surface  216  (e.g. to cause the pedal to rotate), the toes of the user&#39;s foot may be near distal end  214  (and used to rotate the distal end  214  toward switch  210 B) and the heel may be positioned near proximal end  212  (and used to rotate the proximal end  212  toward switch  210 A). In addition, it is noted that, in this embodiment, axle  206  is shown positioned closer to the distal end  214  than the proximal end  212  of foot pedal  202 . In other embodiments, however, axle  206  may be located closer to the foot pedal mid point  218  than the distal end  214 , closer to the mid point  218  than the proximal end  212  or closer to the proximal end  212  than the distal end  214 , or anywhere between the proximal and distal ends  212 ,  214 , respectively. 
     Foot pedal assembly  200  may further include a sensor  220 . As previously discussed, foot pedal assembly  200  is used to control, or otherwise help to control, an operation of a surgical tool  107  (e.g., robotic arm  104 ) on a patient  106 . In this aspect, it is particularly important that the pedal assembly not be accidentally, or otherwise inadvertently, activated (e.g. rotated or pressed) during, for example, another surgical operation being performed by the user (e.g., using another pedal assembly). In addition, in cases where multiple foot pedal assemblies are present, it is further important that a user be aware of which pedal they are about to press before activation of the pedal. Sensor  220  is therefore provided to detect a presence of the user&#39;s foot (also referred to herein as a target object), prior to the foot contacting surface  216  and activating assembly  200 . In other words, to detect the user&#39;s foot hovering a distance over surface  216 , but not yet contacting surface  216 . In this aspect, it is particularly important that sensor  220  be mounted at a specific, and known, location on foot pedal  202  so that the foot presence can be immediately detected (e.g., before the foot is entirely over the pedal). In this aspect, sensor  220  may, in one embodiment, be mounted, attached, connected, or otherwise built into, an end of foot pedal  202 . Representatively, when the pedal is oriented so that the user&#39;s foot slides on foot pedal  202  in a direction from left to right (as illustrated by arrow  222 ), sensor  220  may be positioned closer to proximal end  212  than distal end  214 . For example, in some embodiments, sensor  220  may be positioned anywhere between proximal end  212  and mid point  218  of surface  216 . Said another way, the distance (D 1 ) between sensor  220  and proximal end  212  is less than the distance (D 2 ) between sensor  220  and distal end  214 . Still further, the position of sensor  220  may be defined with respect to axle  206 . For example, where axle  206  is positioned closer to distal end  214  than proximal end  212  as shown, sensor  220  may be positioned closer to the proximal end  212  than axle  206 . 
     Referring now to sensor  220  in more detail, sensor may be any type of sensor suitable for detecting the presence of the user&#39;s foot  304  (or any target object) when the foot is spaced a distance (d) from surface  216  as shown in  FIG.  3   . In other words, the sensor  220  must be able to detect the foot presence when the foot  304  is positioned over contacting surface  216 , and prior to, contacting surface  216  (e.g., prior to activation of assembly  200 ). Said another way, the sensor  220  detects the presence of foot  304  when it is positioned over surface  216 , and above a plane of surface  216  and sensor  220 . In this aspect, distance (d) may be understood to be any distance greater than zero. In addition, foot  304  may be considered over or above surface  216  (and sensor  220 ) in that it is positioned on a side of surface  216  opposite base portion  204 . Moreover, foot  304  is positioned over, or otherwise aligned with, a sensing side, or face, of sensor  220 . In some embodiments, sensor  220  may be an optical sensor such as a proximity sensor having an emitter that emits a beam of light (e.g., beam of electromagnetic or infrared radiation), and a detector that detects the beam reflected off the target object. The proximity sensor may be positioned with respect to surface  216  such that it emits the beam electromagnetic radiation in a direction away (as illustrated by arrow  302 ) from surface  216 . For example, the electromagnetic radiation may be emitted in a direction substantially normal, or otherwise perpendicular to, a plane of surface  216 . In other embodiments, sensor  220  may be positioned such that it emits radiation in any direction away from surface  216  so long as it is not parallel to surface  216 . In the case of a proximity sensor, the presence or hovering of the foot  304  over surface  216  and/or sensor  220  may be considered detected when the sensor detector detects the beam  302  emitted by the emitter being reflected off of the foot  304 , back to sensor  220 . The absence of a reflected beam indicates there is no target object (e.g., foot  304 ) present. In addition, the sensor  220  can further be used to detect, indicate, or otherwise determine, the distance (d) of the target object  304  over surface  216 . For example, the distance (d) can be determined based on an intensity of the light beam reflected back to the sensor  220 . This information can be used to indicate how close the target object (e.g., foot  304 ) is to surface  216 , and provide more specific information regarding whether the user is about to press, or otherwise contact, surface  216 . In this aspect, in addition to sensing the presence of the foot  304  over surface  216  in general (e.g., the object is/is not detected), the sensor  220  can provide specific information that can be used to determine the position or location of the target object along an x, y and z-axis (or plane), with respect to surface  216 . Although a proximity sensor is disclosed, in some embodiments, sensor  220  may be any type of sensor that can detect an object without physical contact between the sensor  220  (or a surface to which it is mounted) and the target object. For example, in some embodiments, sensor  220  may be a capacitive sensor that is capable of detecting an object within a distance (d) range of from about 30 mm to 50 mm. 
     In addition, it should be further emphasized that because sensor  220  is built directly into the foot pedal  202 , the presence (or hovering) of the foot with respect to that particular pedal can be more precisely detected than, for example, where a sensor is positioned near (but not attached to) the pedal, or multiple pedals. In particular, where the sensor is instead built into a structure that is near the pedal or multiple pedals, the system may be more likely to detect false positives (a foot is sensed but is not actually on the pedal) or false negatives (the foot is not sensed but is actually on the pedal). 
     Referring now to  FIG.  4   - FIG.  7   ,  FIG.  4   - FIG.  7    illustrate perspective views of one embodiment of a sensor built into a foot pedal. Representatively,  FIG.  4    illustrates a top perspective view of foot pedal  202 , and  FIG.  5    illustrates the bottom perspective view of foot pedal  202  shown in  FIG.  4   . From these views, it can be seen that foot pedal  202  may include a housing or cover  402  which includes surface  216  (e.g., surface  216  may be a top surface of a top wall forming cover  402 ) and sidewalls  404 . Sidewalls  404  surround surface  216  (e.g., the top wall forming surface  216 ), and extend perpendicular to surface  216 , such that the combination of structures forms a relatively hollow chamber  502  (see  FIG.  5   ) along the bottom side of pedal  202 . It should be noted that the bottom side of pedal  202  having chamber  502  as shown in  FIG.  5   , would be the side facing the foot pedal base  204  as described in  FIG.  2    and  FIG.  3   , and therefore cover, enclose or house any interior components of the assembly. 
     In some cases, cover  402  includes four sidewalls  404 , and two of the sidewalls may be longer than two of the other sidewalls such that cover  402  has a substantially rectangular shape. Sensor  220  may, in some embodiments, be closer to one of the shorter sidewalls (or ends of cover  402 ), than the longer sidewalls. Other cover sizes and shapes are, however, contemplated (e.g., square, rectangular, elongated, elliptical, circular, semi-circular, or the like). In addition, although not shown, in some embodiments, portions of sidewalls  404  may be dimensioned (e.g., curve downward or protrude) and the axle (axle  206  as previously discussed in connection with  FIG.  1    and  FIG.  2   ) inserted through opposing sidewalls (e.g., across cover  402  through opposite sidewalls). In addition, in some embodiments, a port  504  may be formed through one of sidewalls  404  to accommodate circuitry running through cover  402 . 
     Cover  402  may further include a channel or cavity  406  extending below surface  216  (e.g., into chamber  502 ). Cavity  406  may include interior sidewalls  408  that are coupled to an opening  410  through surface  216 , and therefore define a channel extending below surface  216 . In some cases, cavity  406  may be open at both ends as shown. In other cases, however, the cavity  406  could have a closed bottom (e.g., be closed at an end opposite surface  216 ). Cavity  406  is dimensioned to receive sensor  220  as shown in  FIG.  6    and  FIG.  7   . In particular,  FIG.  6    and  FIG.  7    are perspective top and bottom views, respectively, showing sensor  220  positioned, connected, or mounted (e.g., screwed) within cavity  406 . For example, sensor  220  could be screwed to one or more of sidewalls  408  or directly to the top wall forming surface  216 . From these views it can be seen that when sensor  220  is mounted, or otherwise positioned within cavity  406 , the emitter  602  and detector  604  are arranged to detect the presence of an object positioned over, or hovering above, surface  216 . In particular, emitter  602  is oriented such that it emits a beam of light in a direction away from surface  216 , as previously discussed in reference to  FIG.  3   . It should further be understood that in some embodiments, emitter  602  and detector  604  of sensor  220  may be within a same plane as surface  216 , or may actually be below surface  216  such that the beam output by emitter  602  first passes through a plane of surface  216  and then in a direction away from surface  216 . In addition, it can also be seen that any circuitry, such as wiring  702  necessary to operate sensor  220  runs through cover  402  via port  504 . For example, wiring  702  may run from sensor  220  to a processor  704  associated with computer  116  (discussed in reference to  FIG.  1   ). Processor  704  may, in turn, based on the information detected by sensor  220  (e.g., presence of a target object), determine a position of the target object with respect to a single pedal assembly, another pedal assembly, a motion of the target object, a speed of the target object, or the like. For example, where it is known that sensor  220  is closer to the proximal end  212  than distal end  214  of foot pedal  202 , and the presence of the target object is detected by sensor  220 , processor  704  may determine that the target object is closer to the proximal end than the distal end. The processor  704  may further determine based on this information, or otherwise anticipate, that the user is about to activate foot pedal  202  to activate the corresponding robotic operation. 
     In addition, it is contemplated that in still further embodiments, a foot pedal could have an array of sensors built therein so that a position of the target object (e.g., the user&#39;s foot) with respect to the foot pedal (or perhaps an adjacent foot pedal) can be more precisely determined. Representatively,  FIG.  8    to  FIG.  10    illustrate top plan views of representative foot pedals having different sensor arrays. In particular,  FIG.  8    illustrates an embodiment of a foot pedal  800  having a contact surface  216  extending between the proximal end  212  and the distal end  214 , as previously discussed. In this embodiment, however, an array of three sensors  220 A,  220 B and  220 C are located at different positions along contact surface  216 . Representatively, sensor  220 A is positioned near the proximal end  212 , sensor  220 C is positioned near the distal end  214  and sensor  220 B is positioned between sensors  220 A,  220 C. The locations, or positions, of sensors  220 A- 220 C along surface  216 , and with respect to one another is known. Therefore, when one or more of the sensors  220 A- 220 C detects a target object, the position or location of the target object over foot pedal  800 , can also be determined. For example,  220 A,  220 B and  220 C may be arranged with respect to known lateral positions (L1, L2 or L3) and known axial positions (A1, A2 or A3), which correspond to different regions or locations along surface  216  (along the x and y axis, respectively). In this aspect, if the target object is detected by sensor  220 A at position L1, A1, or within a region defined by L 1 , A 1  coordinates, it may be determined that the target object is near the proximal end  212  of surface  216 . In addition, if the target object is simultaneously not detected by sensors  220 B and  220 C, it may be determined that the target object is only near proximal end  212  (e.g., is only partially over pedal  800 ). In other words, the user has just slid their foot over pedal  800  and may or may not intend to press pedal  800 . On the other hand, if both of sensors  220 A and  220 B, or all three sensors  220 A,  220 B and  220 C, detect the presence of a target object, it may be determined that the target object is entirely over pedal  800 . In other words, the user&#39;s foot is completely over surface  216  and it is likely that the user intends to press pedal  800 . Moreover, sensor  220  may further detect the distance of the foot from surface  216 , and in turn the foot position in the z-axis, to further determine whether the user is about to press pedal  800 , or otherwise contact surface  216 , as previously discussed. 
     In addition to determining the position or location of the object (in the x, y and/or z-axis) using the array of sensors, a motion and/or speed of the object may further be determined. For example, in addition to the location of each of sensors  220 A- 220 C being known, the distance between each of sensors  220 A- 220 C is also known. Therefore, when the presence of the target object is detected sequentially by sensors  220 A,  220 B and/or  220 C the direction that the target object and/or speed of the object movement across pedal  800  can also be determined. For example, if the target object is first detected by sensor  220 A, followed by sensor  220 B, and then sensor  220 C, it can be determined that the target object is moving in an axial direction, toward distal end  214 . 
       FIG.  9    and  FIG.  10    illustrate further sensor arrays arranged on the foot pedal. In particular,  FIG.  9    illustrates an embodiment of a foot pedal  900 , similar to foot pedal  800 , except that in addition to sensors  220 A- 220 C arranged as previously discussed, foot pedal  900  includes additional sensors  220 D and  220 E. Sensors  220 D and  220 E are at a same axial position, A2, as sensor  220 B, however, occupy lateral positions L1 and L3, respectively, along surface  216 . In this aspect, additional information relating to the position, movement and/or speed of the target object can be determined. For example, the detection of the target object by sensor  220 D or sensor  220 E, or sequentially by sensor  220 D then  220 E, may be used to determine that the target object is near one side or the other of the pedal  800 , or moving laterally toward one side or the other of the pedal  800 . Similarly,  FIG.  10    illustrates a foot pedal  1000  in which in addition to the previously discussed arrangement of sensors  220 A- 220 E, sensors  220 F,  220 G,  220 H and  2201  are included. Sensors  220 E- 2201  may occupy the remaining lateral and axial regions or positions (e.g., L1, A1; L1, A3; L3, A1; and L3, A3) such that additional position, motion and speed information of the target object may be determined as previously discussed. 
       FIG.  11    illustrates one embodiment of a process flow  1100  for determining an object position, as previously discussed. Representatively, as previously discussed, the presence of the target object over a foot pedal assembly (or foot pedal) is detected by a sensor (block  1102 ). The foot pedal may include a single sensor as previously discussed in reference to  FIG.  1   - FIG.  7   , or could include an array of sensors as discussed in reference to  FIG.  8   - FIG.  10   . A position of the target object with respect to the foot pedal assembly can then be determined based on the detection of the object presence by the sensor (block  1104 ). In addition, as previously discussed, depending on the number of sensors and their arrangement, a motion and/or speed of the target object may further be determined. 
     It should further be understood that in some embodiments, one or more of the previously discussed foot pedal assemblies or foot pedals may be arranged in an array with respect to one another, and the position, motion and/or speed of the target object may be determined with respect to the assembles in the array. Representatively,  FIG.  12    illustrates a perspective view of one embodiment of foot pedal assembly or system having an array of pedal assemblies. In particular, the assembly  1200  may include an array of pedal assemblies  200 A,  200 B,  200 C,  200 D,  200 E,  200 F and  200 G. Although not specifically labeled in  FIG.  12   , each of pedal assemblies  200 A- 200 G may be substantially the same as pedal assembly  200  and therefore include a foot pedal base, a foot pedal and one or more sensors built into the foot pedal, as previously discussed. It should further be understood that while each of assemblies  200 A- 200 G are shown including a sensor, in some embodiments, only some of assemblies  200 A- 200 G may include a sensor (e.g., only assemblies  200 A- 200 D include a sensor). Each of pedal assemblies  200 A- 200 G may be used to operate, actuate, activate, or otherwise control, a different function, robotic operation and/or device of the surgical system using the foot. For example, pedal assemblies  200 A and  200 C may be used to control devices such as surgical instruments (e.g., a scalpel), while pedal assemblies  200 B and  200 D may be used to control more specialized surgical devices such as surgical energy devices (e.g., a stapler, a laser or the like). In addition, pedal assemblies  200 E- 200 G may control other more general functions and/or operations of the system. For example, pedal assembly  200 F may control a camera, pedal assembly  200 G may be a clutch and pedal assembly  200 E may be used to change surgical devices. 
     Each of pedal assemblies  200 A- 200 G may be arranged on, or otherwise mounted to, a foot pedal assembly platform  1202 . Platform  1202  may include a lower portion  1204  and an upper portion  1206 . The lower portion  1204  is considered to be “lower” because it is in a plane below the upper portion  1206 . In some embodiments, the pedal assemblies controlling the more specialized devices such as energy devices (e.g., assemblies  200 B and  200 D) are arranged on the upper portion  1206  and those that control non-energy devices such as scalpels (e.g., assemblies  200 A and  200 C) are positioned on the lower portion  1204 . In addition, the assemblies may be understood as being within a right hand side or a left hand side of the platform  1202 , and may correspond to right or left hand operations of surgical tool  107 , as previously discussed. For example, assemblies  200 E- 200 G may be considered on the left hand side, while assemblies  200 A- 200 D may be considered on the right hand side of platform  1202 . In addition, within the assemblies on the right hand side, those on the left side (e.g.,  200 C- 200 D) may control left hand operations while those on the right side (e.g.,  200 A- 200 B) may control right hand operations. 
     In a similar manner to the previously discussed sensor arrays, the array of pedal assemblies  200 A- 200 G may further be used to determine a position, motion and/or speed of a target object with respect to a particular pedal assembly  200 A- 200 G. In addition, the detection of a target object with respect to one of the assemblies  200 A- 200 G may be used to anticipate, or otherwise control, an activation of an adjacent pedal assembly or prevent activation of an adjacent pedal assembly. Representatively, as illustrated by the schematic diagram in  FIG.  13   , a distance (d 1 , d 2 , d 3 , d 4 ) between each of the sensors  220  of the pedal assemblies  200 A- 200 D is known, as are the locations of the sensors and associated pedals with respect to one another. Accordingly, the presence of a target object (e.g., a users foot) by sensor  220  of one of the pedal assemblies  200 A- 200 D (e.g., pedal assembly  200 A), but not another, can be used to determine that the object is only over that particular pedal assembly (e.g., pedal assembly  200 A). In addition, the sequential detection of the target object presence over one of the pedal assemblies  200 A- 200 D, and then another of the pedal assemblies  200 A- 200 D, can be used to determine that the object is moving from one pedal assembly to another. For example, the detection of the target object by pedal assembly  200 A, followed by pedal assembly  200 B, can be used to determine the object is moving in an axial (or front/back direction), as illustrated by arrow  1304 . In addition, the detection of the target object by pedal assembly  200 A, followed by pedal assembly  200 D can be used to determine the object is moving in a lateral or left/right direction, as illustrated by arrow  1302 . The speed of the object motion between the pedal assemblies  200 A- 200 D can also be determined using similar information. This motion and speed knowledge can be particularly useful in providing the surgeon with critical information about results of any action they are about to take and assist in training users to optimize system use, as previously discussed. 
     One exemplary process flow for determining the object motion is illustrated in  FIG.  14   . Representatively, process  1400  includes detecting the presence of the target object over one foot pedal assembly (block  1402 ), followed by detecting the target object over another foot pedal assembly (block  1404 ). The information detected with respect to each foot pedal assembly can then be used to alert a user that in addition to activating one pedal, their foot may be hovering over another pedal (block  1406 ). In addition, as previously discussed, some of the foot pedal assemblies activate energy or advanced functionality surgical devices and/or instruments. The unintentional activation of these devices may be very harmful. It is therefore critical that the user is aware of which pedal they are about to press before activation of the pedal, and that they not accidentally activate a pedal, particularly while another pedal is already activated. Therefore, in some embodiments, the process may further include preventing activation of a foot pedal assembly (block  1408 ). For example, information obtained by a sensor associated with one pedal assembly may be used to prevent activation of another pedal assembly, particularly while the one pedal assembly is active. Representatively, if pedal assembly  200 A is currently active and controlling a robotic operation, and the presence of the target object is detected over pedal assembly  200 B by the corresponding sensor  220 , this suggests that the object is unintentionally being position over assembly  200 B. For example, the user may be activating assembly  200 A with their heal, and their toe may be accidentally positioned over a portion of assembly  200 B. To prevent the unintentional activation of assembly  200 B by the user, the system may alert the user of the presence of their toe over assembly  200 B so that the user can adjust their foot position. For example, the alert may be a visual alert (e.g., on display  115 ), an audio alert (e.g., output by system  103 ), a tactile alert (e.g., at console  102 ), or any other type of alert sufficient to notify the detection of a potentially unintentional hover detection. In addition, in some embodiments, the system may automatically de-active or prevent activation of assembly  200 B until assembly  200 A is no longer active. 
     In addition, a pedal prioritization algorithm can be used to alert a user of an unintended operation or automatically prevent activation of one pedal with respect to another. For example, in some cases, when a user places their foot on an upper pedal (e.g., pedal assemblies  200 B,  200 D), the pedal sensor of a lower pedal assembly (e.g., pedal assemblies  200 A,  200 C) in addition to the upper pedal sensor will be triggered. A prioritization is therefore implemented so that if both the upper and lower pedal sensors detect an object on either the left or right side, the user is alerted of the upper pedal hover. In this case, the user may only be alerted to the upper pedal hover because the upper pedal controls energy functions, which if unintentionally activated, may result in more harm than the lower pedal function. In addition, in some embodiments, the system may automatically prevent or otherwise deactivate the lower pedal function under this scenario. 
     While certain embodiments have been described and shown in the accompanying drawings, it is to be understood that such embodiments are merely illustrative of and not restrictive on the broad invention, and that the invention is not limited to the specific constructions and arrangements shown and described, since various other modifications may occur to those of ordinary skill in the art. For example, while the Figures illustrate pedal assemblies for surgical operations, alternative applications may include any application in which it would be beneficial for a user of a system with multiple pedal-actuated functions to be alerted of which pedal their foot is on or over. Examples include medical devices, aviation, aerospace equipment, aviation equipment or the like. The description is thus to be regarded as illustrative instead of limiting.