Patent Publication Number: US-2023147674-A1

Title: Robotic system for tele-surgery

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application is a continuation-in-part of U.S. patent application Ser. No. 16/291,007 filed Mar. 4, 2019, entitled “ROBOTIC SYSTEM FOR TELE-SURGERY,” which is continuation of U.S. patent application Ser. No. 15/261,958 filed Sep. 11, 2016, entitled “A ROBOTIC SYSTEM FOR TELE-SURGERY,” which takes priority from Provisional application No. 62/258,584, filed on Nov. 23, 2015, which are all hereby incorporated herein by reference in their entirety. 
    
    
     TECHNICAL FIELD 
     The present disclosure generally relates to surgical robotic systems and particularly to a robotic system for remote surgery. More particularly, the present disclosure is related to an ergonomic adjustment mechanism for a modular robotic system that may that allow a surgeon to perform a surgery in an ergonomic comfortable posture. 
     BACKGROUND 
     Minimally invasive surgery (MIS) is increasingly recognized as an effective alternative to traditional open surgery. MIS operations on the internal abdomen organs are performed as laparoscopic surgery, in which, a miniature video camera and long narrow surgical instruments are inserted into the abdomen cavity through small incisions. The camera provides an image of the interior of the abdomen, enabling the surgeon to explore the internal organs and perform the operation using the surgical instruments. 
     Laparoscopic surgery has advantages over open surgery. It causes less operative trauma and post-surgical complications that shorten the hospitalization time and associated costs. Also, it leads to a much faster recovery for a patient, which is of great physiological and psychological importance. However, it is technically more demanding and at the same time more tedious and difficult for the surgeon. Laparoscopic surgery usually takes longer and needs more concentration than an open surgery. In particular, during operation, surgeons hold postures that are more static and non-ergonomic compared to that of open surgery, likely caused by less efficient instruments. Static postures have been reported to impose more fatigue than dynamic ones because the muscles and tendons form lactic acid and toxins when held in static position. Moreover, the non-ergonomic postures may expose surgeons to physical discomfort that may reduce the surgeons&#39; precision, dexterity and confidence during surgery. 
     With the advancements of the robotic surgery systems, the surgeons are now able to carry out MIS procedures remotely, in more ergonomic postures. Moreover, the rigid mechanical structure of robot, along with the more efficient high degree of freedom (DOF) surgical tools, allows for improved maneuverability and a more precise and stable surgery with less tremor. Such characteristics of the surgical robots have enabled successful surgeries for prostate cancer, bladder cancer, renal pelvis cancer, colon cancer, and the like. 
     A robotic surgery system consists of a master manipulator and a slave robot. As the surgeon operates the master manipulator, it generates and transmits control signals to the slave robot. Accordingly, the slave robot operates and performs surgery on the patient based on the received signals. The currently available robotic surgery systems are based on integrated complex designs that require sophisticated infrastructure and educated human resources for maintenance and technical support. As a result, they are much expensive and involve very high maintenance costs. Moreover, the currently available systems utilize integrated and exclusively designed surgical tools at their end effector that are of single or limited use. Again, this increases their maintenance and operating costs considerably. Finally, the currently available systems do not provide force feedback information that is essential for avoiding excessive pinch or pull forces that could be damaging for the tissues under surgery. 
     In light of the above, it would be desirable to provide alternative designs and methodologies for robotic tele-surgery systems that improve the efficiency, flexibility, and comfort during surgery and reduce the price and operating and maintenance costs of the system. It would be particularly desirable to utilize modular designs that provide more configuration flexibility and the possibility of using conventional hand-held surgical tools. It would be further desirable to provide methods and techniques for measuring the tool-tissue force interactions to avoid large injurious forces on the tissues. 
     SUMMARY 
     This summary is intended to provide an overview of the subject matter of the present disclosure and is not intended to identify essential elements or key elements of the subject matter, nor is it intended to be used to determine the scope of the claimed implementations. The proper scope of the present disclosure may be ascertained from the claims set forth below in view of the detailed description and the drawings. 
     According to one or more exemplary embodiments, the present disclosure is directed to a robotic tele-surgery system, comprising a slave robotic arm comprising three degrees of freedom, the three degrees of freedom comprising at least one of grasp, roll, pitch, and yaw, a master robotic arm comprising six degrees of freedom, a controller configured to establish a master-slave relationship between the slave robotic arm and the master robotic arm, wherein movement at the master robotic arm produces a proportional movement in the slave robotic arm, and an ergonomic adjustment mechanism. In an exemplary embodiment, an ergonomic mechanism may comprise a vertical adjustment mechanism configured to move the master robotic arm along a vertical axis, the vertical adjustment mechanism comprising a horizontal beam extended along a horizontal axis between a first end and a second end, the horizontal axis perpendicular to the vertical axis, a linear actuator coupled to the horizontal beam, the linear actuator configured to actuate a translational movement of the horizontal beam along the vertical axis, and a horizontal adjustment mechanism configured to move the master robotic arm along the horizontal axis, the horizontal adjustment mechanism comprising a horizontal sliding rail mounted on the horizontal beam, the horizontal sliding rail parallel with the horizontal beam, wherein the master robotic arm slidably mounted on the sliding rail, the master robotic arm slidable on the sliding rail along the horizontal axis. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The novel features which are believed to be characteristic of the present disclosure, as to its structure, organization, use and method of operation, together with further objectives and advantages thereof, will be better understood from the following drawings in which a presently preferred embodiment of the present disclosure will now be illustrated by way of example. It is expressly understood, however, that the drawings are for illustration and description only and are not intended as a definition of the limits of the present disclosure. Embodiments of the present disclosure will now be described by way of example in association with the accompanying drawings, in which: 
         FIG.  1 A  illustrates a top view of one example implementation of a robotic tele-surgery system, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  1 B  illustrates an example configuration of arm assemblies with two arms, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  1 C  illustrates an example configuration of arm assemblies with three arms, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  1 D  illustrates an example configuration of arm assemblies with four arms, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  2 A  illustrates one implementation of an example patient-side unit for one robotic tele-surgery system, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  2 B  illustrates one implementation of an example patient-side unit without protective covers, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  2 C  is an assembled view of one implementation of an example passive mounting mechanism for a robotic tele-surgery system, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  2 D  is a left view of one implementation of an example passive mounting mechanism for a robotic tele-surgery system, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  2 E  illustrates an exploded view of one implementation of an example passive mounting mechanism for a robotic tele-surgery system, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  2 F  illustrates an exploded view of one implementation of an example pan/tilt mounting mechanism for a robotic tele-surgery system, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  2 G  illustrates one implementation of an example first sliding segment for a robotic tele-surgery system, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  2 H  is an assembled view of one implementation of an example passive mounting mechanism with support structures for a robotic tele-surgery system, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  2 I  is an assembled view of one implementation of an example passive mounting mechanism with support structures for controller components and motor drivers for a robotic tele-surgery system, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  3 A  is an assembled view of one implementation of an example slave robotic arm for a robotic tele-surgery system, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  3 B  illustrates an exploded view of one implementation of an example slave robotic arm for a robotic tele-surgery system, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  3 C  illustrates a left view of one implementation of an example slave robotic arm for a robotic tele-surgery system, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  4 A  illustrates one implementation of an example surgeon-side unit for one robotic tele-surgery system, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  4 B  illustrates a partial view of one implementation of an example ergonomic adjustment mechanism for the surgeon-side unit of one robotic tele-surgery system, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  4 C  illustrates a partial view of one implementation of an example ergonomic adjustment mechanism for the surgeon-side unit of one robotic tele-surgery system, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  4 D  illustrates one implementation of an example master robotic arm for one robotic tele-surgery system, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  4 E  illustrates one implementation of an example master robotic arm without the mounting platform for one robotic tele-surgery system, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  4 F  illustrates one implementation of an example master handle of a master robotic arm for one robotic tele-surgery system, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  4 G  illustrates a top portion of one implementation of an example master handle of a master robotic arm for one robotic tele-surgery system, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  5    illustrates an exemplary scenario for aligning a fixed point (i.e., remote center of motion) of the robotic arms with the incision location on patient&#39;s body utilizing the passive mounting mechanism, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  6 A  illustrates an ergonomic master console, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  6 B  illustrates an exploded perspective view of an ergonomic master console, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  6 C  illustrates an exploded perspective view of an upper portion of an ergonomic master console, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  6 D  illustrates an exploded perspective view of a horizontal adjustment mechanism, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  7    illustrates a perspective view of an upper frame and a hand-rest assembly coupled to the upper frame, consistent with one or more exemplary embodiments of the present disclosure; and 
         FIG.  8    illustrates an ergonomic master console at different positions adjusted by an ergonomic adjustment mechanism, consistent with one or more exemplary embodiments of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     The novel features which are believed to be characteristic of the present disclosure, as to its structure, organization, use and method of operation, together with further objectives and advantages thereof, will be better understood from the following discussion. 
     Disclosed exemplary systems and methods directed to laparoscopic tele-surgery may include a modular robotic tele-surgery system comprising a surgeon-side unit and a patient-side unit. The surgeon-side unit may include different assemblies to enable a user (i.e., a surgeon) to perform a tele-surgery. The hand movements of the surgeon may be captured in the surgeon-side unit and they may be reconstructed in the patient-side unit to enable the surgeon to remotely perform a laparoscopic surgery. Moreover, the force and torque exerted on the surgical tools at the surgery site may be sent to the surgeon-side unit as a haptic feedback to the hands of the surgeon. The patient-side unit may include slave robotic arms that may be mounted and adjusted on a patient support assembly using passive mounting mechanisms. The orientation of the patient during surgery may be adjusted by the patient support assembly and the fixed point of the robotic arms may be aligned with the incision location utilizing the passive mounting mechanisms that are mounted on the patient support assembly. Benefits of these features may include, but are not limited to, maintaining the alignment between the fixed point of the slave robotic arms and the incision location during surgery, and enabling changes in the patient&#39;s orientation during surgery without the need for removing surgical instruments from the patient&#39;s body. Moreover, the surgeon-side unit may include adjustment mechanisms that enable the surgeon to perform the surgery in an ergonomic comfortable posture, in either a sitting position or a standing position. 
       FIG.  1 A  is a top view of one example robotic tele-surgery system  100  in accordance with one or more aspects of the present disclosure. The robotic tele-surgery system  100  may include a surgeon-side unit  101  and a patient-side unit  102  that may be in a master-slave relationship with one another, which will be described in detail later in the present disclosure. 
     Referring to  FIG.  1 A , the robotic tele-surgery system  100  may be configured for performing minimally invasive surgeries. The system  100  may be used to perform a surgical procedure on a patient  103  that is typically lying on a patient support assembly (e.g., operating table, etc.)  104 . Mounted to the patient support assembly  104  is a first arm assembly  105 , and a second arm assembly  106 . The arm assemblies  105  and  106  may be mounted to the table so that the arms  105  and  106  are in a plane proximate to patient  103  and movable with patient support assembly  105 . Moreover, arms  105  and  106  may be slidably mounted on track assemblies  107   a  and  107   b  on either side of the patient support assembly  104  and they may be configured to be slidably movable along the sides of the patient support assembly  104 . The system may include an endoscope/camera assembly  108  that may be configured to hold and position an endoscope/camera  109 . 
     The first and second arm assemblies  105  and  106  each may be configured with a passive mounting mechanism  110  and a slave robotic arm  111  that is mounted on and extending from the passive mounting mechanism  110 . Surgical instruments  112  and  113  may be removably coupled at the end of each slave robotic arm  111  of the first and second arm assemblies  105 ,  106 . Each of the instruments  112 ,  113  may be coupled to a corresponding slave robotic arm  111  in a variety of fashions, for example, using a tool adapting mechanism  114 . The tool adapting mechanism  114  may be a mechanical or specifically a servo-mechanical interface that may be configured for manipulating end effectors  115  and  116  of the surgical instruments  112  and  113 . The tool adapting mechanism  114  may include a plurality of motion and electrical feed-throughs for articulating the instruments, and for sending electrical signals to and from the instrument, e.g., force and torque feedback signals, etc. The tool adapting mechanism  114  may be configured for coupling the distal end of the slave robotic arms  111  with the surgical instruments  112 ,  113  and transferring at least two DOFs from the arms  111  to the instruments  112  and  113 . 
     According to some implementations, the surgical instrument  112  and  113  may be non-articulating laparoscopic instruments, handled wrist-articulating instruments, or handle-free wrist articulating instruments having at least two degrees of freedom of grasp, roll, pitch, and yaw. 
     The passive mounting mechanism  110  may be configured with three Degrees of Freedom (DOFs) and may be configured for aligning the fixed point of the slave robotic arms  111  with the incision location prior to the surgery. The slave robotic arms  111  may be configured with three active DOFs and one passive DOF and they may be configured to manipulate the instruments  112 ,  113 . 
     Referring to  FIGS.  1 B- 1 D , it is to be understood that the tele-surgery system may have any number of arm assemblies.  FIG.  1 B  shows an example implementation with two arm assemblies  105  and  117  slidably mounted on the track assembly  107   a  on the side of the patient support assembly  104 . In this exemplary configuration, the two arm assemblies  105  and  117  may be mounted on one side of the patient support assembly  104  and the other side may be left empty, for example, for an assistant to be able to take part in the surgery. 
       FIG.  1 C  shows an example implementation with three arm assemblies  105 ,  106 , and  117  slidably mounted on the sliding tracks  107   a  and  107   b  on either side of the patient support assembly  104 . The additional arm assembly  106 , may hold an additional instrument  118 . 
       FIG.  1 D  shows an example implementation with four arm assemblies  105 ,  106 ,  117 , and  119  slidably mounted on the sliding tracks  107   a  and  107   b  on either side of the patient support assembly  104 . In an implementation, one of the arm assemblies  105 ,  106 ,  117 , or  119  may be configured with an endoscope or camera (not visible in  FIGS.  1 A- 1 D ) that is attached to its slave robotic arm (not explicitly numbered in  FIG.  1 D ) and that arm assembly may be called an endoscope/camera arm. However, it is to be appreciated that the configuration of the endoscope/camera arm, may be different as the purpose of the endoscope/camera arm is to hold and position an endoscope or camera as opposed to hold and position a surgical instrument. 
     Referring to  FIG.  1 A , the instruments  112  and  113  and the endoscope/camera  109  may be inserted through incisions cut into the skin of the patient  103 . The endoscope/camera  109  may be coupled to a monitor  120  which displays images of the internal organs of the patient  103 . The slave robotic arms  111  as well as the endoscope/camera assembly  108  may be coupled to a controller  121  which may control the movement of the arms  111  and the endoscope/camera assembly  108 . The arms  111  may be coupled to the controller  121  via wiring, cabling, or via a transmitter/receiver system such that control signals may be passed from the controller  121  to each of the arms  111 . 
     The controller  121  receives the input signals from master robotic arms  122  and moves the slave robotic arms  111  of the arm assemblies  105  and  106  in accordance with the input commands of a surgeon  123 . 
     The movement and positioning of instruments  112 ,  113  attached to the slave robotic arms  111  of the first and second arm assemblies  105  and  106  may be controlled by the surgeon  123  at a pair of master handles  124  and  125 . Each of the master handles  124 ,  125  which may be manipulated by the surgeon  123 , has a master-slave relationship with a corresponding one of the slave robotic arms  111  so that movement of a handle  124  or  125  produces a corresponding movement of the surgical instrument  112 ,  113  attached to the slave robotic arms  111 . 
     The master handles  124  and  125  that are a part of the master robotic arms  122  may be mounted to an ergonomic adjustment mechanism  126  of a surgeon console  127 . A second monitor  128  may be mounted onto the surgeon console  127  and be configured to function as a user interface unit. The master handles  124  and  125  are also coupled to the controller  121 . The controller  121  receives input signals from the master handles  124  and  125 , computes a corresponding movement of the surgical instruments  112 ,  113 , and provides output signals to move the slave robotic arms  111  and the instruments  112  and  113 . The master robotic arms  122  may be configured to provide a plurality of DOFs to the arm assemblies  105  and  106  and corresponding surgical instruments  112  and  113 , the DOFs may include pitch and yaw movements of the instruments  112  and  113 , rotational and axial movements, and articulation of the end effectors  115  and  116  on the instruments  112  and  113 . 
     The ergonomic adjustment mechanism  126  may be configured with three passive DOFs to allow for adjustment of the position and orientation of the master robotic arms  122  in order to enable the surgeon  123  to perform the surgery in an ergonomic comfortable posture, in either a sitting position or a standing position. A chair  129  may be provided for the sitting position. The ergonomic adjustment mechanism  126  will be described in detail later in the present disclosure. 
     The orientation of the patient  103  during surgery may be adjusted by the patient support assembly  104  and the fixed point of the slave robotic arms  111  may be aligned with the incision location utilizing the passive mounting mechanisms  110  that are mounted on the patient support assembly  104 . Benefits of these features may include, but are not limited to, maintaining the alignment between the fixed point of the slave robotic arms  111  and the incision location during surgery, and enabling changes in the patient&#39;s orientation during surgery without the need for removing surgical instruments  112  and  113  from the patient&#39;s body. The patient  103  alignment may be desirable for certain surgeries to position internal organs by gravity effects. 
     Patient-Side Unit 
       FIG.  2 A  shows a perspective view of one example patient-side unit  200 .  FIG.  2 B  shows a perspective view of the patient-side unit  200  without protective covers. Referring to  FIG.  2 A , the patient-side unit  200  may include a patient support assembly  201 , a passive mounting mechanism  202 , a slave robotic arm  203 , and a tool adapting mechanism  204  that is mounted on distal end of the slave robotic arm  203 . The tool adapting mechanism  204  may be configured for coupling the distal end of the slave robotic arm  203  with a surgical instrument  247  having an end-effector  248  and transferring at least two DOFs from the arm  203  to the end-effector  248 . 
     Referring to  FIG.  2 B , the patient support assembly  201 , may be structured as a bed or a treatment table, configured to support a patient during surgery. The patient support assembly  201  may be configured with three DOFs (i.e., a linear DOF and two rotational DOFs). The linear DOF may include a substantially vertical axis  205  and the two rotational DOFs may include a roll axis  206  and a pitch axis  207 . The aforementioned DOFs may allow for changing the height of the patient support assembly  201  and the orientation of the patient&#39;s body during surgery. The patient support assembly  202  may include a moving mechanism to effectuate translational movements of the patient support assembly  202  along axis  205  and rotational movements of the patient support assembly  202  about axes  206  and  207 . 
     Referring to  FIGS.  2 B- 2 E , the passive mounting mechanism  202  may be configured to allow for mounting the slave robotic arm  203  on the side of the patient support assembly  201 . The passive mounting mechanism  202  may include a first sliding segment  208 , a second sliding segment  209 , a third sliding segment  210 , and a pan/tilt mounting mechanism  211 . The first sliding segment  208  may be slidably mounted on the patient support assembly  201  and it may be configured to allow for a sliding movement of the passive mounting assembly  202  along a first linear axis  212  of the patient support assembly  201 . The second sliding segment  209  may be slidably mounted on the first sliding segment  208  and it may be configured to allow for a sliding movement of the second sliding assembly  209  along a second linear axis  213 . The third sliding segment  210  may be slidably mounted on the second sliding segment  209  and it may be configured to allow for a sliding movement of the third sliding assembly  210  along a third linear axis  214 . The pan/tilt mounting mechanism  211  may be mounted on the third sliding segment  210  and it may be configured to allow for mounting the slave robotic arm  203  on the passive mounting mechanism  202 . 
     Referring to  FIGS.  2 C- 2 E , the first sliding segment  208  may include a first wagon assembly  215  and a second wagon assembly  216 . The first wagon assembly  215  may be configured to allow for slidably mounting the first sliding segment  208  on the patient support assembly  201  and the second wagon assembly  216  may be configured to allow for slidably mounting the second sliding segment  209  on the first sliding segment  208 . 
     Referring to  FIG.  2 D , the first wagon assembly  215  may include first sliding wagons  217  that may be slidably mounted on a bed track assembly  218  that may be attached to the side of the patient support assembly  201 . The bed track assembly  218 , may include two parallel rails  219 . The first sliding wagons  217  may be slidably mounted on the two parallel rails  219  and may be slidably movable on the two parallel rails  219  along the first linear axis  212  (visible and numbered in  FIGS.  2 B and  2 C ). 
     Referring to  FIGS.  2 C- 2 E , the second sliding segment  209  may include a first track assembly  220 , and a third wagon assembly  221 . The second sliding segment  209  is mounted on the first sliding segment  208  via the second wagon assembly  216  of the first sliding segment  208 . Referring to  FIGS.  2 D and  2 G , the second wagon assembly  216  may include second sliding wagons  222  that may be slidably coupled with the first track assembly  220  of the second sliding segment  209  and the second sliding wagons  222  may be slidably movable on the first track assembly  220  along the second linear axis  213 . 
     Referring to  FIGS.  2 C- 2 E , the third sliding segment  210  may include a second track assembly  223 . The second track assembly  223  may be slidably coupled with the third wagon assembly  221  of the second sliding segment  209  and it may be configured to allow for a sliding movement of the third sliding segment  210  relative to the second sliding segment  209  along the third linear axis  214 . 
     Referring to  FIGS.  2 C- 2 F , the pan/tilt mounting mechanism  211  may be mounted on the third sliding segment  210  via a first attachment member  224 . Referring to  FIG.  2 F , the pan/tilt mechanism  211  may include: a bearing unit  225  housed in the first attachment member  224 ; a shaft assembly  226 ; and an arm attachment interface  227 . Lower end  228  of the shaft assembly  226  may be coupled with the bearing unit  225 . The bearing unit  225  may be configured to facilitate a pan rotational movement of the pan/tilt mounting mechanism  211  about a pan axis  229 . Two upper ends  230  of the shaft assembly  235  may be coupled with the arm attachment interface  227  via two tilt bearing units  231  attached to either sides of the arm attachment interface  227  that are configured to facilitate a tilt rotational movement of the pan/tilt mounting mechanism  211  about a tilt axis  232 . Referring to  FIGS.  2 A and  2 F , the slave robotic arm  203  may be mounted on the passive mounting mechanism  202  via the arm attachment interface  227 . The pan/tilt mounting mechanism  211  may be configured to allow for rotational movements of the slave robotic arm  203  about the pan axis  229  and the tilt axis  232 . 
     Referring to  FIGS.  2 B and  2 F , the five DOFs (i.e., three translational DOFs along axes  212 ,  213 ,  214 , and two pan and tilt DOFs about axes  229  and  232 ) of the passive mounting mechanism  202  may be locked in position before surgery. Referring to  FIGS.  2 C- 2 E , the first wagon assembly  215  may include two locks  233  and  234  that may be configured for locking the first sliding wagons  217  in position. Referring to  FIG.  2 G , the second wagon assembly  216  may include two locks  235  and  236  that may be configured for locking the second sliding wagons  222  in position. Referring to  FIG.  2 E , the third wagon assembly  221  may include two locks  237  and  238  that may be configured for locking sliding wagons  239  of the third wagon assembly  221  in position. 
     Referring to  FIGS.  2 C and  2 G , the first sliding segment  208  may further include a first counter weight mechanism  240  that may be configured to facilitate the translational movement of the second sliding member  209  along the axis  213 . The first counter weight mechanism  240  may be configured to compensate for the weight of the second sliding segment  209 , third sliding segment  210 , pan/tilt mounting mechanism  211 , and the slave robotic arm  203  and as a result, it may facilitate manual lifting of the second sliding segment  209  along axis  213 . The first counter weight mechanism  240  may include, for example a first constant-force spring  241 . 
     Referring to  FIGS.  2 H and  2 I , the second sliding segment  209  may further include a second support structure  242  that may be configured for supporting various electronic parts, for example, controller components  243 , which form a part of the controller. The third sliding segment  210  may further include a third support structure  244  that may be configured for supporting various electronic parts, for example, motor drivers  245 . 
       FIG.  3 A  shows an assembled view of one example of a slave robotic arm  203 .  FIG.  3 B  shows an exploded view of the slave robotic arm.  FIG.  3 C  shows an exploded left view of the slave robotic arm. 
     Referring to  FIG.  3 A , the slave robotic arm  203  may include a first actuating mechanism  301 , a first arm segment  302 , a second actuating mechanism  303 , a second arm segment  304 , a passive actuating mechanism  305 , an active actuating mechanism  306 , and a tool attachment interface  307 . 
     Referring to  FIGS.  3 A- 3 C , the first actuating mechanism  301  may be configured for driving a roll rotation of the first arm segment  302  about a first rotational axis  308 . The first actuating mechanism  301  may include a first motor  309  coupled with a base end of the first arm segment  302  via a first gear box  310 . The first motor  309  and the first gear box  310  may be configured to drive the roll rotation of the first arm segment  302  about the first rotational axis  308 . The first gear box  310  may be, for example, a harmonic drive gear box. 
     Referring to  FIGS.  3 A- 3 C , the second actuating mechanism  303  may be mounted on a distal end of the first arm segment  302  and may be configured for driving a rotational movement of the second arm segment  304  about a second rotational axis  311 . The second actuating mechanism  303  may include a second motor  312  and a second gearbox  313 . The second motor  312  may be coupled with a proximal end of the second arm segment  304  via the second gear box  313 . The second motor  312  and the second gear box  313  may be configured to drive a rotational movement of the second arm segment  304  about the second rotational axis  311 . 
     Referring to  FIGS.  3 A- 3 C , the passive actuating mechanism  305  may include a passive track  314 , a passive wagon  315 , and a passive locking mechanism  316 . The passive wagon  315  may be attached to the distal end of the second arm segment  304  and it may be configured to facilitate a sliding movement of the passive track  314  along a translational axis  317 . The passive actuating mechanism  305  may be actuated by hand and it may be utilized to facilitate changing the instrument  326  by raising the tool adapting mechanism  204 . The height of the instrument  326  may also be adjusted utilizing the passive actuating mechanism  305 . 
     Referring to  FIGS.  3 A- 3 C , the active actuating mechanism  306  may include a linear actuating mechanism  318 , a moving wagon  319  and an active track  320  that is attached to the passive track  314  of the passive actuating mechanism  305 . The linear actuating mechanism  318  may include a motor  321  and a ball-screw mechanism  322 . The linear actuating mechanism  318  may be mounted on the moving wagon  319  and the moving wagon  319  may be slidably mounted on the active track  320 . The linear actuating mechanism  318  is configured to facilitate the linear translational movement of the moving wagon  319  on the active track  320  along the translational axis  317 . A force sensor  323  may be mounted on the active actuating mechanism  306  from one side and to the tool attachment interface  307  from the other side. The force sensor  323  may be configured for sensing force/torque exerted on a laparoscopic instrument  326  that is attached via the tool attachment interface  307  to the active actuating mechanism  306  on the distal end of the slave robotic arm  203 . 
     Referring to  FIG.  3 B , the tool adapting mechanism  204  may be attached to the distal end of the slave robotic arm  203  via the tool attachment interface  307 . The tool adapting mechanism  204  may activate DOFs of a laparoscopic surgical instrument  326  to interact with a tissue under surgery. The second arm segment  304  may be attached to a sleeve holder  325  that may be configured for holding a sleeve  327  of the laparoscopic surgical instrument  326  for more stability. 
     Surgeon-Side Unit 
       FIG.  4 A  shows a perspective view of one example surgeon-side unit  400 . Referring to  FIG.  4 A , the surgeon-side unit  400  may include an ergonomic adjustment mechanism  401 , two master robotic arms  402 , a display system  403 , and a user interface unit  497 . The ergonomic adjustment mechanism  401  may be configured for adjusting the position and orientation of the master robotic arms  402  using three DOFs. 
     Referring to  FIGS.  4 B and  4 C , the ergonomic adjustment mechanism  401  may include a main frame  404 , a vertical adjustment mechanism  405 , and a horizontal adjustment mechanism  406 . The vertical adjustment mechanism  405  may be mounted on the main frame  404  and it may include a sliding assembly  407 , a vertical track assembly  408  and a locking mechanism  409  on either side of the ergonomic adjustment mechanism  401 . The sliding assembly  407  may include a plurality of sliding wagons  410  that may be slidably mounted on the vertical track assembly  408  and may be configured to facilitate the vertical translational movement of the sliding assembly  407  along a substantially vertical axis  411 . The vertical track assembly  408  may include two parallel rails  412  configured to allow for a translational movement of the wagons  410  along the axis  411 . The locking mechanism  409  may include a locking screw  413  and a vertically extended locking plate  414  having a plurality of stacked locking holes that allow for locking the sliding assembly  407  at different heights based on the preference of a user (i.e., a surgeon). The vertical track assembly  408  may further include a counter weight mechanism  416  that may include a plurality of constant-force spring mechanisms  417 . The counter weight mechanism  416  may be configured to facilitate vertical movements of the sliding assembly  407 . The sliding assembly  407  may further include a coupling member  418  that may be for example a bearing unit that may be configured to allow for mounting the horizontal adjustment mechanism  406  between the sliding assemblies  407  on either side of the ergonomic adjustment mechanism  401 . 
     The horizontal adjustment mechanism  406  may be rotatably mounted on the vertical adjustment mechanism via the coupling member  418  and it may include a main shaft  419 , and two mounting platforms  420 . The main shaft  419  may be coupled via the coupling members  418  with the sliding assemblies  407  of the vertical adjustment mechanism  405 . The coupling members  418  may be configured to allow for a rotational movement of the shaft  419  about a rotational axis  421 . A horizontal rail  422  may be attached to the main shaft  419  and a smaller rail  423  may be attached to the mounting platform  420  to form a horizontal track assembly  424  that may be configured for facilitating a horizontal movement of the master robotic arms  402  along a horizontal axis  425 . Weight balance mechanisms  426  may be used to stabilize the mounting platforms  420  in position. The weight balance mechanisms  426  may include gas spring mechanisms. The three DOFs (i.e., two linear DOFs along axes  411 ,  425  and one linear DOF about axis  421 ) of the ergonomic adjustment mechanism  401  may be locked in position during surgery. 
     Referring to  FIG.  4 D , the master robotic arm  402  may include a master handle  427 , a pitch sensing/actuating mechanism  428 , a yaw sensing/actuating mechanism  429 , a roll sensing/actuating mechanism  430 , an insert sensing/actuating mechanism  431 , a grasp sensing/actuating mechanism  432 , and a finger-roll sensing/actuating mechanism  433 . 
     Referring to  FIG.  4 G , the master handle  427  may be structured similar to a manual surgical instrument. The master handle  427  may be manipulated by hand of a user (i.e., surgeon) and it may include a scissor-type configuration having a movable handle  434 , a stationary handle  435 , and a roll-knob  436 . Referring to  FIG.  4 F , the user may manipulate the tool handle  427  to make pitch and yaw rotational movements about a pitch axis  438  and a yaw axis  439 . Each master handle  427  on each master robotic arm  402  may be associated with one slave robotic arm  203  and the tool adapting mechanism  204  attached thereto. 
     Referring to  FIGS.  4 D and  4 E , the pitch sensing/actuating mechanism  428  may include: a pitch rotary actuator  440 , for example, an electric motor; a pitch transmission mechanism  441 ; a pitch link arm  442  and a pitch gimbal  443 . The pitch sensing/actuating mechanism  428  may be configured for both capturing the pitch position of the tool handle  427  and creating pitch force feedback to the tool handle for providing a haptic sensation. As used herein, “capturing the pitch position” may mean sensing the amount of rotational movement of the tool handle  427  about the pitch axis  438 . 
     Referring to  FIG.  4 E , the pitch transmission mechanism  441  may include: a pitch cable transmission mechanism  444  having a spool  445  coupled with the pitch rotary actuator  440 ; a pitch rotary output member  446  that may be coupled with the spool  445  using a cable secured form one side to a first pitch cable connector  447  and form the other side to a second pitch cable connector  448 , such that the torque from the pitch rotary actuator  440  may be transmitted via the cable to the pitch rotary output member  446 . The pitch rotary output member  446  may be coupled with a pitch shaft  449  and the pitch shaft  449  may be held in place using a pitch bearing unit  450  and it may be coupled with the pitch link arm  442  via a pitch coupling member  451 . The pitch coupling member  451  may define a joint which allows the pitch link arm  442  to articulate. The pitch link arm  442  may articulate bi-directionally, in response to corresponding rotation of the pitch shaft  449  about the pitch axis  438 . The pitch link arm  442  may be attached to the pitch gimbal  443 . The pitch gimbal  443  may be connected to a central rail  452  attached to the tool handle  427 . 
     Referring to  FIG.  4 E , the yaw sensing/actuating mechanism  429  may include: a yaw rotary actuator  453 , for example, an electric motor; a yaw transmission mechanism  453 ; a yaw link arm  455  and a yaw gimbal  456 . The yaw sensing/actuating mechanism  429  may be configured for both capturing the yaw position of the tool handle  427  and creating yaw force feedback to the tool handle for providing a haptic sensation. As used herein, “capturing the yaw position” may mean sensing the amount of rotational movement of the tool handle  427  about the yaw axis  439 . 
     The yaw transmission mechanism  454  may include: a yaw cable transmission mechanism  457  having a spool  458  coupled with the yaw rotary actuator  453 ; a yaw rotary output member  459  that may be coupled with the spool  458  using a cable secured form one side to a first yaw cable connector  460  and from the other side to a second yaw cable connector  461 , such that the torque from the yaw rotary actuator  453  may be transmitted via the cable to the yaw rotary output member  459 . The yaw rotary output member  459  may be coupled with a yaw shaft  462  and the yaw shaft  462  may be held in place using a yaw bearing unit  463  and it may be coupled with the yaw link arm  455  via a yaw coupling member  464 . The yaw coupling member  464  may define a joint which allows the yaw link arm  455  to articulate. The yaw link arm  455  may articulate bi-directionally, in response to corresponding rotation of the yaw shaft  462  about the yaw axis  439 . The yaw link arm  455  may be attached to the yaw gimbal  456 . The yaw gimbal  456  may be connected to the central rail  452 . 
     In an implementation, the pitch gimbal  443  and the yaw gimbal  456  may be mounted on one another with orthogonal pivot axes (i.e., pitch axis  438  and yaw axis  439 ) on the master handle  427 . Any pitch-rotational movement made by the user may be picked up by the pitch gimbal  443  and it may be transmitted to the pitch rotary actuator  440  via the pitch link arm  442  and the pitch transmission mechanism  441 . The pitch-rotational movement of the handle  427  may then be encoded and transmitted by the controller that is connected to the driver of the pitch rotary actuator  440  to the slave robotic arm for the pitch movement to be recreated by the slave robotic arm in the patient-side unit. Any yaw-rotational movement made by the user may be picked up by the yaw gimbal  456  and it may be transmitted to the yaw rotary actuator  453  via the yaw link arm  455  and the yaw transmission mechanism  454 . The yaw-rotational movement of the handle  427  may then be encoded and transmitted by the controller that is connected to the driver of the yaw rotary actuator  453  to the slave robotic arm for the yaw movement to be recreated by the slave robotic arm in the patient-side unit. 
     Referring to  FIG.  4 E , the roll sensing/actuating mechanism  430  may include: a roll rotary actuator  465 , for example, an electric motor; and a roll transmission mechanism  466 . The roll sensing/actuating mechanism  430  may be configured for both capturing the roll position of the tool handle  427  and creating a roll force feedback to the tool handle  427  for providing a haptic sensation. As used herein, “capturing the roll position” may mean sensing the amount of rotational movement of the tool handle  427  about a roll axis  467 . 
     The roll transmission mechanism  466  may include: a roll cable transmission mechanism having a spool  469  coupled with the roll rotary actuator  465 ; and a yaw rotary output member  470  that may be coupled with the spool  469  using a cable. The roll rotary output member  470  may be connected to the central rail  452 . The roll transmission mechanism  466  may be configured to transmit the roll-rotation of the roll rotary actuator  465  to the central rail  452  and it may be configured to pick up any roll-rotation movements made by the surgeon on the master handle  427 . The roll-rotational movement of the handle  427  may then be encoded and transmitted by the controller that is connected to the driver of the roll rotary actuator  464  to the slave robotic arm for the yaw movement to be recreated by the slave robotic arm in the patient-side unit. 
     Referring to  FIG.  4 F , the insert sensing/actuating mechanism  431  may include: an insert rotary actuator  471 , for example, an electric motor; and an insert transmission mechanism  472 . The insert sensing/actuating mechanism  431  may be configured for both capturing the insert position (i.e., position of the surgical tool along its longitudinal axis) of the tool handle  427  and creating an insert force feedback to the tool handle  427  for providing a haptic sensation. As used herein, “capturing the insert position” may mean sensing the amount of translational movement of the tool handle  427  along a tool handle longitudinal axis  473 . 
     The insert transmission mechanism  472  may include an insert wagon  474  that may be mounted on the yaw gimbal  456 . The insert wagon  474  may be slidably mounted on the central rail  452  and it may be configured for facilitating a translational sliding movement of the central rail  452  along the longitudinal axis  473  of the master handle  427 . A spool  475  may be coupled with the insert rotary actuator  471  and it may be secured on a cable connecting member  476  at a distal end of the central rail  452 . The cable moves the central rail  452  in a translational movement along the longitudinal axis  473  of the tool handle  427  upon actuation. The position of the tool handle  427  along the longitudinal axis (i.e., insert position) may be picked up by the central rail  452  and it may be transmitted through the cable to the insert rotary actuator  471 . The insert position of the handle  427  may then be encoded and transmitted by the controller that is connected to the driver of the insert rotary actuator  471  to the slave robotic arm for the insert movement to be recreated by the slave robotic arm in the patient-side unit. 
     Referring to  FIG.  4 G , the finger-roll sensing/actuating mechanism  433  may include: a finger-roll rotary actuator  477 , for example, an electric motor coupled with the roll knob of the tool handle. The finger-roll sensing/actuating mechanism  433  may be configured for both capturing the finger-roll position of the roll-knob  436  on the tool handle  427  and creating a force feedback to the roll-knob  436  of the tool handle  427  for providing a haptic sensation. As used herein, “capturing the finger-roll position” may mean sensing the amount of rotational movement of the roll-knob  436  on the tool handle  427 . The finger-roll transmission mechanism  433  may be configured to transmit the roll-rotation of the finger-roll rotary actuator  477  to the roll-knob  436  and it may be configured to pick up any roll-rotation movements made by the surgeon on the roll-knob  436 . The roll-rotational movement of the roll-knob  436  may then be encoded and transmitted by the controller that is connected to the driver of the finger-roll rotary actuator  464  to the slave robotic arm for the roll-knob movement to be recreated by the slave robotic arm in the patient-side unit. Referring to  FIGS.  4 G and  2 B , the roll-rotational movement of the roll-knob  436  may drive a local roll-rotation of the end-effector  248  of the surgical instrument  247  about a local roll axis parallel to a longitudinal axis of the end-effector. 
     Referring to  FIG.  4 G , the grasp sensing/actuating mechanism  432  may include: a grasp rotary actuator  478 , for example, an electric motor; and a grasp transmission mechanism  479 . The grasp sensing/actuating mechanism  432  may be configured for both capturing the grasp position of the movable handle  434  and creating a grasp force feedback to the movable handle  434  for providing a haptic sensation. As used herein, “capturing the grasp position” may mean sensing the amount of rotational movement of the movable handle  434  about a pivot point  480  in the direction shown by an arrow  481 . 
     The grasp transmission mechanism  479  may include: a grasp cable transmission mechanism  482  having a spool  483  coupled with the grasp rotary actuator  478 ; and a grasp output member  484  that may be coupled with the spool  483  using a cable secured on one side to a first grasp cable connecting member  485  and on the other side to a second grasp cable connecting member  486 . The grasp output member  484  may be connected to the movable handle  434 . The grasp transmission mechanism  479  may be configured to transmit the rotation of the grasp rotary actuator  478  to the movable handle  434  and it may be configured to pick up any grasp movements made by the surgeon on the movable handle  434 . The grasp movement of the movable handle  434  may then be encoded and transmitted by the controller that is connected to the driver of the grasp rotary actuator  478  to the slave robotic arm for the grasp movement to be recreated by the slave robotic arm in the patient-side unit. 
     Referring to  FIGS.  4 E and  4 G , the master handle  427  may further comprise a force sensor  489  that may be configured to measure force/torque exerted on the master handle  427 . The force sensor  489  may be utilized to make sure the same amount of force/torque feedback is being recreated by the actuating mechanisms  428 - 433  in the surgeon side-unit  400  as is exerted on the surgical tool in the patient-side unit. 
     Referring to  FIG.  4 D , the master robotic arm  402  may further include a mounting assembly  490  that may include a support structure  491 , a sliding mechanism  492 , and a locking mechanism  493 . The support structure  491  may be configured to provide a platform for mounting of various components of the master robotic arm  402 . The sliding mechanism  492  may include a plurality of sliding wagons  494  that may be slidably mounted on the horizontal track assembly  424  to facilitate a translational movement of the master robotic arm  402  along the horizontal axis  425 . The locking mechanism  493  may include a locking screw  495  that may be configured to allow for locking the sliding wagons  494  in desired positions on the horizontal sliding track  424 . 
     Referring to  FIG.  4 A , the surgeon-side unit  400  may further include input means  496  for controlling a camera inserted in the patient&#39;s body and for applying cauterizing current to the surgical tool attached on the distal end of the slave robotic arm. 
       FIG.  5    illustrates an exemplary scenario for aligning a fixed point (i.e., remote center of motion) of the robotic arms with the incision location on patient&#39;s body utilizing the passive mounting mechanism, consistent with exemplary embodiments of the present disclosure. First, based on the type of surgery and the target organ, the incision points on the patient&#39;s body are determined by the surgeon. Sometimes an optimizing program (not in the scope of the present disclosure) may be used in order to optimize the incision locations. The optimizing program, optimizes the incision locations for better maneuverability of the robotic arms. The incision is made in the determined incision location. The surgical instrument is placed inside the incision. 
     Before the surgery, the surgeon determines the pan and tilt angles of the slave robotic arm  203  based on the type of surgery and the target organ. The pan and tilt DOFs can be adjusted utilizing the pan/tilt mounting mechanism  211 . Pan and tilt are passive DOFs and once they are adjusted by the surgeon before surgery, they will be locked during the surgery. 
     Referring to  FIG.  5   , once the incision is made in the pre-determined incision location  501 , the surgical instrument  326  that is secured inside a holding member  502  on the distal end of the sleeve holder  325 , will be inserted inside the incision. Then, the surgeon must adjust the position of the slave robotic arm  203  such that the proximal end of the sleeve holder  325  can be clamped on an attachment member  504  on the second arm segment  304 . Utilizing the three DOFs  212 ,  213 , and  214  of the passive mounting mechanism  110  the surgeon is able to place the attachment member  504  inside a clamping member  503  on the proximal end of the sleeve holder  325  and clamp the sleeve holder  325  to the slave robotic arm  203 . 
     Ergonomic Adjustment Mechanism 
     According to one or more exemplary embodiments, the present disclosure is directed to exemplary embodiments of an ergonomic adjustment mechanism, such as ergonomic adjustment mechanism  401  for a surgeon-side unit of a robotic tele-surgery system, such as surgeon-side unit  400 . An exemplary ergonomic adjustment mechanism may provide various DOFs that may allow a surgeon to perform laparoscopic surgery at various ergonomic positions. Exemplary ergonomic positions may include a standing position, a sitting position, and a semi-sitting position. 
     Referring to  FIGS.  4 B and  4 C , in an exemplary embodiment, ergonomic adjustment mechanism  401  may include vertical adjustment mechanism  405  that may be configured to move a master robotic arm, such as master robotic arms  402  along vertical axis  411 . In an exemplary embodiment, vertical adjustment mechanism  405  may include a horizontal beam, such as main shaft  419  that may be extended along horizontal axis  425  between a first end  40  and a second end  42 . In an exemplary embodiment, horizontal axis  425  may be perpendicular to vertical axis  411 . In an exemplary embodiment, vertical adjustment mechanism  405  may further include a linear actuator that may be coupled to the horizontal beam. An exemplary linear actuator may be configured to actuate a translational movement of the horizontal beam along vertical axis  411 . In an exemplary embodiment, an exemplary linear actuator may include a first vertical track such as vertical track assembly  408  that may be slidably coupled with first end  40  of the horizontal beam. The first vertical track may be configured to guide a linear translational movement of first end  40  along vertical axis  411 . In an exemplary embodiment, an exemplary linear actuator may further include a second vertical track (not labeled) that may be slidably coupled with second end  42  of the horizontal beam. An exemplary second vertical track may be configured to guide a linear translational movement of second end  42  along vertical axis  411 . 
     In an exemplary embodiment, the first vertical track may be similar to vertical track assembly  408  and may include a couple of parallel sliding rails such as parallel rails  412  that may extend along vertical axis  411 , and sliding wagon  410  that may be slidably mounted on the couple of parallel sliding rails. Sliding wagon  410  may be moveable along vertical axis  411 . In an exemplary embodiment, the first sliding wagon may include a first bearing unit such as coupling member  418  that may be rotatably coupled with first end  40  of the horizontal beam. In an exemplary embodiment, the first bearing unit may allow for a rotational movement of the horizontal beam about rotational axis  421 . In an exemplary embodiment, the second vertical track may be structurally similar to the first vertical track. 
     In an exemplary embodiment, sliding wagon  410  may further include a first lock (its parts are described below, so please label this as well) that may be configured to lock sliding wagon  410  in position at a desirable height along vertical axis  411 . In an exemplary embodiment, the first lock XXX may include locking screw  413  and vertically extended locking plate  414 . In an exemplary embodiment, vertically extended locking plate  414  may include a plurality of stacked locking holes (label), where each respective hole of stackee locking holes may be at a predetermined height (from what??_along vertical axis  411 . Each respective hole of . . . may be configured to receive locking screw  413  therein. As used herein, receiving receive locking screw  413  inside a respective locking hole may refer to screwing locking screw  413  into a locking hole. 
     In an exemplary embodiment, ergonomic adjustment mechanism  401  may further include horizontal adjustment mechanism  406  that may be configured to move a master robotic arm, such as master robotic arms  402  along horizontal axis  425 . In an exemplary embodiment, horizontal adjustment mechanism  406  may include a horizontal sliding rail such as horizontal track assembly  424 . In an exemplary embodiment, horizontal track assembly  424  may be mounted on main shaft  419 . In an exemplary embodiment, horizontal track assembly  424  may be parallel with main shaft  419 . In an exemplary embodiment, master robotic arms  402  may be slidably mounted on horizontal track assembly  424 . In an exemplary embodiment, master robotic arms  402  may be moveable along horizontal axis  425  on the horizontal sliding rail. In an exemplary embodiment, horizontal adjustment mechanism  406  may further include a link  44  that may radially extend outward from main shaft  419  between a proximal end  46  and a distal end  48 . Proximal end  46  of link  44  may be attached to main shaft  419 . The horizontal sliding rail may be mounted on distal end  48  of link  44 . 
       FIG.  6 A  illustrates an ergonomic master console  60 , consistent with one or more exemplary embodiments of the present disclosure.  FIG.  6 B  illustrates an exploded perspective view of ergonomic master console  60 , consistent with one or more exemplary embodiments of the present disclosure.  FIG.  6 B  illustrates an exemplary embodiment of ergonomic master console  60  without covers to allow for the internal parts of ergonomic master console  60  to be visible.  FIG.  6 C  illustrates an exploded perspective view of an upper portion of ergonomic master console  60 , consistent with one or more exemplary embodiments of the present disclosure. 
     In an exemplary embodiment, ergonomic master console  60  may be functionally similar to surgeon-side unit  400 . In an exemplary embodiment, ergonomic master console  60  may include master robotic arms  62   a - b  that may be functionally similar to master robotic arms  402  and a user-interface unit  64  that may be functionally similar to user interface unit  497 . In an exemplary embodiment, master robotic arms  62   a - b  and user-interface unit  64  may be coupled to and mounted on an ergonomic adjustment mechanism  66 . In an exemplary embodiment, ergonomic adjustment mechanism  66  may adjust the position and orientation of master robotic arms  62   a - b  and user-interface unit  64 . In an exemplary embodiment, ergonomic master console  60  may further include a hand-rest assembly  68  that may allow a surgeon to rest their arms on hand-rest assembly  68  while using master robotic arms  62   a - b , thus creating a more comfortable situation for a surgeon. 
     In an exemplary embodiment, ergonomic adjustment mechanism  66  may include a vertical adjustment mechanism  660  that may be configured to move master robotic arms  62   a - b  along a vertical axis  610 . In an exemplary embodiment, vertical adjustment mechanism  660  may include a horizontal beam  6602  extended along a horizontal axis  612  between a first end  6604   a  and a second end  6604   b . In an exemplary embodiment, a linear actuator (not illustrated???) may be coupled to horizontal beam  6602 , where the linear actuator may be configured to actuate a translational movement of horizontal beam  6602  along vertical axis  610 . 
     In an exemplary embodiment, a linear actuator may be coupled to horizontal beam  6602  to actuate a translational movement of horizontal beam  6602  along vertical axis  610 . An exemplary linear actuator may include a first telescopic jack  664   a  that may be coupled with first end  6604   a  of horizontal beam  6602  and a second telescopic jack  664   b  that may be coupled with second end  6604   b  of horizontal beam  6602 . In an exemplary embodiment, first telescopic jack  664   a  may include a first elongated housing  6640  that may extend along vertical axis  610 , a first intermediate elongated member  6642  that may be mounted within first elongated housing  6640 . In an exemplary embodiment, first intermediate elongated member  6642  may extend along vertical axis  610  and may be slidably moveable within first elongated housing  6640  along vertical axis  610 . In an exemplary embodiment, first telescopic jack  664   a  may further include a first inner elongated member  6644  that may be mounted within first intermediate elongated member  6642 , where first inner extendable elongated member  6644  may extend along vertical axis  610 . First inner extendable elongated member  6644  may be slidably moveable within first intermediate elongated member  6642  along vertical axis  610 . In an exemplary embodiment, a first end  66440  of first inner elongated member  6644  disposed within first intermediate elongated member  6642 , a second opposing end  66442  of first inner elongated member  6644  coupled with first end  6604   a  of horizontal beam  6602 . 
     In an exemplary embodiment, second telescopic jack  664   b  may be structurally similar with first telescopic jack  664   a . Second telescopic jack  664   b  may include a second elongated housing  6640 ′ that may extend along vertical axis  610 , a second intermediate elongated member  6642 ′ that may be mounted within second elongated housing  6640 ′. In an exemplary embodiment, second intermediate elongated member  6642 ′ may extend along vertical axis  610  and may be slidably moveable within second elongated housing  6640 ′ along vertical axis  610 . In an exemplary embodiment, second telescopic jack  664   b  may further include a second inner elongated member  6644 ′ that may be mounted within second intermediate elongated member  6642 ′, where second inner extendable elongated member  6644 ′ may extend along vertical axis  610 . Second inner extendable elongated member  6644 ′ may be slidably moveable within second intermediate elongated member  6642 ′ along vertical axis  610 . In an exemplary embodiment, a first end  66440 ′ of second inner elongated member  6644 ′ disposed within second intermediate elongated member  6642 ′, a second opposing end  66442 ′ of second inner elongated member  6644 ′ coupled with second end  6604   b  of horizontal beam  6602 . 
     In an exemplary embodiment, first telescopic jack  664   a  and second telescopic jack  664   b  may be mounted on a base  614  to actuate a linear motion of horizontal beam  6602  and all the other parts connected to horizontal beam  6602  along vertical axis  610  relative to base  614 . In an exemplary embodiment, base  614  may include a trolley that may allow for moving ergonomic master console  60  on the floor. In an exemplary embodiment, first telescopic jack  664   a  and second telescopic jack  664   b  may be motorized and a respective electric motor within each of first telescopic jack  664   a  and second telescopic jack  664   b  may actuate their telescopic movements. Alternatively, telescopic movements of first telescopic jack  664   a  and second telescopic jack  664   b  may be actuated manually. In an exemplary embodiment, ergonomic adjustment mechanism  66  may further include a horizontal adjustment mechanism  662  that may be configured to move master robotic arms  62   a - b  along horizontal axis  612 . 
       FIG.  6 D  illustrates an exploded perspective view of horizontal adjustment mechanism  662 , consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, horizontal adjustment mechanism  662  may include a horizontal sliding rail  6620  that may be parallel with and mounted on horizontal beam  6602 . In an exemplary embodiment, master robotic arms  62   a - b  may be slidably mounted on sliding rail  6620 , where master robotic arms  62   a - b  may be slidable on sliding rail  6620  along horizontal axis  612 . In an exemplary embodiment, horizontal adjustment mechanism  662  may further include a first sliding wagon  6622   a  that may be slidably mounted on horizontal sliding rail  6620 . First sliding wagon  6622   a  may be moveable along horizontal axis  612 . First master robotic arm  62   a  may be mounted on first sliding wagon  6622   a . In an exemplary embodiment, horizontal adjustment mechanism  662  may further include a first mounting platform  6628   a  on which first master robotic arm  62   a  may be mounted. In an exemplary embodiment, first mounting platform  6628   a  may be mounted on first sliding wagon  6622   a  and may function as a connecting member that facilitates connection of first master robotic arm  62   a  and first sliding wagon  6622   a . In an exemplary embodiment, instead of one sliding wagon such as first sliding wagon  6622   a , first mounting platform  6628   a  may be mounted on two sliding wagons, namely, first sliding wagon  6622   a  and another sliding wagon  6622   b  mounted on horizontal sliding rail  6620  adjacent first sliding wagon  6622   a . Such utilization of an extra sliding wagon may be for obtaining a more stable horizontal movement of first master robotic arm  62   a  along horizontal axis  612 . 
     In an exemplary embodiment, horizontal adjustment mechanism  662  may further include a second sliding wagon  6624   a  that may be slidably mounted on horizontal sliding rail  6620 . Second sliding wagon  6624   a  may be moveable along horizontal axis  612 , and second master robotic arm  62   b  may be mounted on second sliding wagon  6624   a . In an exemplary embodiment, horizontal adjustment mechanism  662  may further include a second mounting platform  6628   b  on which second master robotic arm  62   b  may be mounted. In an exemplary embodiment, second mounting platform  6628   b  may be mounted on second sliding wagon  6624   a  and may function as a connecting member that facilitates connection of second master robotic arm  62   b  and second sliding wagon  6624   a . In an exemplary embodiment, instead of one sliding wagon such as second sliding wagon  6624   a , second mounting platform  6628   b  may be mounted on two sliding wagons, namely, second sliding wagon  6624   a  and another sliding wagon  6624   b  mounted on horizontal sliding rail  6620  adjacent second sliding wagon  6624   a . Such utilization of an extra sliding wagon may be for obtaining a more stable horizontal movement of second master robotic arm  62   b  along horizontal axis  612 . 
     In an exemplary embodiment, horizontal adjustment mechanism  662  may further include a linear actuator  6626  that may be coupled with first sliding wagon  6622   a  and second sliding wagon  6624   a . In an exemplary embodiment, linear actuator  6626  may be configured to drive translational movements of first sliding wagon  6622   a  and second sliding wagon  6624   a  on horizontal sliding rail  6620  along horizontal axis  612 . 
     In an exemplary embodiment, linear actuator  6626  may include a telescopic linear jack with an outer barrel  66260 , where a distal end  66262  of outer barrel  66260  may be attached to first sliding wagon  6622 . Linear actuator  6626  may further include an intermediate slidable member  66264  that may be disposed within outer barrel  66260 . Intermediate slidable member  66264  may be fixedly attached to horizontal beam  6602  via a connecting member  66262 , such that intermediate slidable member  66264  has no movements along horizontal axis  612  with respect to horizontal beam  6602 . In an exemplary embodiment, linear actuator  6626  may further include an inner slidable rod  66266  that may be disposed within intermediate slidable member  66264 . A distal end  66268  of inner slidable rod  66266  may be attached to first sliding wagon  6622   a  via a connecting member, such as a first L-shaped connecting member  662610 . In an exemplary embodiment, first L-shaped connecting member  662610  may be connected to distal end  66268  of inner slidable rod  66266  from one end and may be connected to first mounting platform  6628   a  from the other end. A distal end  662612  of outer barrel  66260  may further be coupled with second sliding wagon  6624   a  via a connecting member, such as a second L-shaped connecting member  662614 . In an exemplary embodiment, second L-shaped connecting member  662614  may be connected to distal end  662612  of outer barrel  66260  from one end and may be connected to second mounting platform  6628   b  from the other end. 
     In an exemplary embodiment, linear actuator  6626  may be configured to drive linear movements of first sliding wagon  6622  and second sliding wagon  6624  toward or away from each other along horizontal axis  612 . 
     In an exemplary embodiment, hand-rest assembly  68  may include a flat surface  680 , where a normal axis  6800  of flat surface  680  may be perpendicular to horizontal axis  612 . Hand-rest assembly  68  may further include a first connecting rod  682   a  and a second connecting rod  682   b . First connecting rod  682   a  may be a telescopic rod including two rods connected to each other and slidably moveable with respect to each other to allow for first connecting rod  682   a  to have an adjustable length as illustrated in  FIG.  6 B . Both rods of first connecting rod  682   a  are referred to by reference numeral  682   a  for simplicity. In an exemplary embodiment, a second connecting rod  682   b  may be structurally similar to first connecting rod  682   a  and both rods of second connecting rod  682   b  are referred to by reference numeral  682   b  for simplicity. 
     In an exemplary embodiment, a first end  6820   a  of first connecting rod  682   a  and a first end  6820   b  of second connecting rod  682   b  may be attached at either side of flat surface  680 . In an exemplary embodiment, hand-rest assembly  68  may further include a first sliding rail  686   a  and a second sliding rail  686   b . In an exemplary embodiment, hand-rest assembly  68  may further include a first sliding wagon  688   a  and a second sliding wagon  688   b . First sliding wagon  688   a  may be mounted on first sliding rail  686   a  and second sliding wagon  688   b  may be mounted on second sliding rail  686   b . In an exemplary embodiment, a second opposing end  6822   a  of first connecting rod  682   a  may be connected to first sliding wagon  688   a  and a second opposing end  6822   b  of second connecting rod  682   b  may be connected to second sliding wagon  688   b . In an exemplary embodiment, first sliding wagon  688   a  may be slidable on first sliding rail  686   a  along a translational axis  6812 . In an exemplary embodiment, translational axis may be perpendicular to both vertical axis  610  and horizontal axis  612 . In an exemplary embodiment, second sliding wagon  688   b  may be slidable on second sliding rail  686   b  along translational axis  6812 . Such sliding movements of first sliding rail  686   a  and second sliding wagon  688   b  along translational axis  6812  may allow for adjusting the position of hand-rest assembly along translational axis  6812 . 
     In an exemplary embodiment, hand-rest assembly  68  may further include a height-adjustment actuator that may include a first linear actuator  6810   a  that may be connected between first end  6820   a  of first connecting rod  682   a  and flat surface  680 . In an exemplary embodiment, linear actuator  6810   a  may be configured to drive a translational movement of flat surface  680  along vertical axis  610  with respect to first end  6820   a  of first connecting rod  682   a.    
     In an exemplary embodiment, height-adjustment actuator of hand-rest assembly  68  may further include a second linear actuator  6810   b  that may be connected between second end  6820   b  of second connecting rod  682   b  and flat surface  680 . In an exemplary embodiment, second linear actuator  6810   b  may be configured to drive a translational movement of flat surface  680  along vertical axis  610  with respect to second end  6820   b  of second connecting rod  682   b.    
     In an exemplary embodiment, ergonomic adjustment mechanism  66  may include an upper frame  6606 , on which master robotic arms  62   a - b , horizontal adjustment mechanism  662 , hand-rest adjustment mechanism, and parts of user-interface unit  64 , such as monitor  640  may be mounted. 
       FIG.  7    illustrates a perspective view of upper frame  6606  and hand-rest assembly coupled to upper frame  6606 , consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, horizontal beam  6602  may form a lower edge of upper frame  6606  and the entire upper frame  6606  may be coupled to vertical adjustment mechanism  660 . Referring to  FIG.  6 C , in an exemplary embodiment, second opposing end  66442  of first inner elongated member  6644  may be connected to an upper edge of upper frame  6606  via first connecting plate  6608   a  and second opposing end  66442 ′ of second inner elongated member  6644 ′ may be connected to an opposing upper edge of upper frame  6606  via second connecting plate  6608   b . Such coupling between upper frame and vertical adjustment mechanism may allow for adjusting the height of anything mounted on upper frame along vertical axis. 
     In an exemplary embodiment, translational movements of first sliding wagon  688   a  on first sliding rail  686   a  and second sliding wagon  688   b  on second sliding rail  686   b  along translational axis  6812  may allow for adjusting the position of hand-rest assembly  68  along translational axis  6812  with respect to upper frame  6606 . 
     In exemplary embodiments, ergonomic adjustment mechanism  66  of ergonomic master console  60  may allow for a surgeon  76  to perform remote surgery at various ergonomic positions of . . . . For example,  FIG.  8    illustrates ergonomic master console  60  at different positions adjusted by ergonomic adjustment mechanism  66 . In an exemplary embodiment, surgeon  86  (similar to surgeon  76 ??) may utilize ergonomic adjustment mechanism  66  to adjust ergonomic master console  60  at a standing position  80 , a semi-sitting position  82 , or a sitting position  84 . Such ergonomic adjustment capabilities added to ergonomic master console  60  die to ergonomic adjustment mechanism  66  may significantly reduce fatigue for potential surgeons or users of an exemplary surgical device during long surgeries. 
     While the foregoing has described what are considered to be the exemplary embodiments, it is understood that various modifications may be made therein and that the subject matter disclosed herein may be implemented in various forms and examples, and that the teachings may be applied in numerous applications, only some of which have been described herein. It is intended by the following claims to claim any and all applications, modifications and variations that fall within the true scope of exemplary embodiments consistent with the present disclosure. 
     It will be understood that the terms and expressions used herein have the ordinary meaning as is accorded to such terms and expressions with respect to their corresponding respective areas of inquiry and study except where specific meanings have otherwise been set forth herein. Relational terms such as first and second and the like may be used solely to distinguish one entity or action from another without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms “comprises,” “comprising,” or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by “a” or “an” does not, without further constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element. The embodiments have been described above with the aid of functional building blocks illustrating the implementation of specified functions and relationships thereof. The boundaries of these functional building blocks have been arbitrarily defined herein for the convenience of the description. Alternate boundaries can be defined so long as the specified functions and relationships thereof are appropriately performed. 
     The foregoing description of the specific embodiments will so fully reveal the general nature of the disclosure that others can, by applying knowledge within the skill of the art, readily modify and/or adapt for various applications such specific embodiments, without undue experimentation, without departing from the general concept of the present disclosure. Therefore, such adaptations and modifications are intended to be within the meaning and range of equivalents of the disclosed embodiments, based on the teaching and guidance presented herein. It is to be understood that the phraseology or terminology herein is for description and not of limitation, such that the terminology or phraseology of the present specification is to be interpreted by the skilled artisan in light of the teachings and guidance. 
     The breadth and scope of the present disclosure should not be limited by any of the above-described exemplary embodiments but should be defined only in accordance with the following claims and their equivalents. 
     Throughout this specification and the claims which follow, unless the context requires otherwise, the word “comprise”, and variations such as “comprises” or “comprising”, will be understood to imply the inclusion of a stated integer or step or group of integers or steps but not to the exclusion of any other integer or step or group of integers or steps. 
     Moreover, the word “substantially” when used with an adjective or adverb is intended to enhance the scope of the particular characteristic; e.g., substantially planar is intended to mean planar, nearly planar and/or exhibiting characteristics associated with a planar element. Further use of relative terms such as “vertical”, “horizontal”, “up”, “down”, and “side-to-side” are used in a relative sense to the normal orientation of the apparatus.