Patent Description:
During a medical procedure surgical instruments may be assigned to designated or selected foot pedals such that actuation of the assigned foot pedal actuates a particular surgical instrument. Generally, foot pedals are fixedly assigned to a surgical instrument operated by a respective input handle or are manually assigned by a clinician.

<CIT> discloses a method of assigning an auxiliary input device to control a surgical instrument in a robotic surgical system. The method includes automatically assigning an auxiliary input device to control an auxiliary function of a surgical instrument based on a position of the auxiliary input device and which of a user's hands is operating another input device operably coupled to control movement of the surgical instrument. <CIT> also discloses a system for controlling a surgical instrument which includes an input device of a surgical system that is operably coupled to generate and transmit an input control signal to control movement of a surgical instrument operably coupled to the surgical system. The system may further include an auxiliary input device, and a control system operably coupling the auxiliary input device to control an auxiliary function of the surgical instrument based on a position of the auxiliary input device and which of a user's hands is operating the input device.

<CIT> discloses a robot with multiple movable arm members and a mechanical interface for detachably securing a surgical instrument. The robot also comprises a high-frequency interface for transmitting high-frequency current to the surgical instrument such that the surgical instrument does not have to be connected to the high-frequency generator via an additional cable.

<CIT> discloses a control console to remotely control medical equipment, having a base with an ergonomically adjustable pedal system. The base further has an opening to receive the pedal system. The pedal system includes a moveable pedal tray with a pedal base. The tray includes a first left pedal assembly and a first right pedal assembly, and an upper tier having a second left pedal assembly and a second right pedal assembly respectively in alignment with and elevated above the first left pedal assembly and the first right pedal assembly. Rollers are rotatable coupled to the moveable pedal tray to allow it roll over a floor. A drive assembly is coupled between the moveable pedal tray and the base. The drive assembly applies a force to roll the moveable pedal tray over the floor within the opening of the base.

<CIT> discloses a flux supply unit for supplying a flux to a plurality of surgical instruments including a plurality of connectors and a user control interface. The plurality of connectors may be configured to supply flux to the surgical instruments when the surgical instruments are operationally coupled to respective connectors. The user control interface may include a continuous display screen including a plurality of graphical display screen sections on the same display screen that display controls for surgical instruments operationally coupled to the plurality of connectors. The plurality of graphical display screen sections may display controls for different types of surgical instruments on the same continuous display screen. The plurality of graphical display screen sections may be arranged relative to the plurality of connectors to visually couple respective graphical display screen sections and connectors to indicate respective associations of the graphical display screen sections with the connectors.

There is a continuing need for improved assigning of foot pedals, safeguards, and control of inputs with surgical instruments of robotic surgical systems.

The invention is defined by the scope of independent method claim <NUM> and independent product claim <NUM>. In an aspect of the present disclosure, a method of automatically assigning foot pedals of a robotic surgical system to surgical instruments of a surgical robot of the robotic surgical system includes receiving a signal that a first electrosurgical pedal is actuated, determining a number of electrosurgical instruments connected to the surgical robot in response to actuation of the first electrosurgical foot pedal, wherein determining the number of electrosurgical instruments includes determining a first electrosurgical instrument and a second electrosurgical instrument are connected to the surgical robot; generating a first prompt for a clinician interfacing with the robotic surgical system to select one of the first or second electrosurgical instruments to assign to the first electrosurgical foot pedal in response to actuation of the first electrosurgical foot pedal; receiving a selection of one of the first or second electrosurgical instruments from the clinician; assigning the first electrosurgical foot pedal to the selected one of the first or second electrosurgical instruments in response to receiving the selection of one of the first or second electrosurgical instrument; and assigning a second electrosurgical foot pedal to the other of the first or second electrosurgical instruments in response to receiving the selection of one of the first or second electrosurgical instrument.

The method may include identifying a surgical instrument connected to the surgical robot as a fastener applying surgical instrument, and automatically assigning a fastener foot pedal to the fastener applying surgical instrument.

A generator of the surgical robot may determine the number of electrosurgical instruments.

A double tap actuation of either the first or second electrosurgical foot pedals may generate a prompt for the clinician interfacing with the robotic surgical system to select an electrosurgical instrument, to reassign either to the first electrosurgical foot pedal in response to a double tap actuation of the first electrosurgical foot pedal, or to the second electrosurgical foot pedal in response to a double tap actuation of the second electrosurgical foot pedal.

The method may include determining that the number of electrosurgical instruments includes determining a third electrosurgical instrument is connected to the surgical robot. Generating the first prompt may include allowing the clinician to select one of the first, second, or third electrosurgical instruments and the method may include generating a second prompt for a clinician interfacing with the robotic surgical system to select one of the second or third electrosurgical instruments to assign to the second electrosurgical foot pedal in response to receiving the selection of the first electrosurgical instrument from the clinician. The method may include receiving a selection of the second electrosurgical instrument from the clinician and assigning the second electrosurgical foot pedal to the second electrosurgical instrument in response to receiving the selection of the second electrosurgical instrument.

The method may include regenerating the first prompt when delivering electrosurgical energy to the first electrosurgical instrument fails. The method may include verifying a condition of the first electrosurgical instrument before delivering electrosurgical energy to the first electrosurgical instrument. Verifying the condition of the first electrosurgical instrument may include verifying that the first electrosurgical instrument detects a ground path and that a circuit is closed with the ground path. Verifying the condition of the first electrosurgical instrument may include verifying a circuit is closed between electrodes of the first electrosurgical instrument, impedance between the electrodes in in a desired range, and that the electrodes are in a desired position. Verifying the condition of the first electrosurgical instrument may include verifying that jaw members of first electrosurgical instrument are in a clamped position.

The method may include deassigning the first electrosurgical instrument from the associated first or second electrosurgical foot pedal in response to failing to verify the condition of the first electrosurgical instrument such that electrosurgical energy is prevented from being delivered to the first electrosurgical instrument.

In another aspect of the present disclosure, a robotic surgical system includes a surgical robot, a user console, a processing unit, and an electrosurgical generator. The surgical robot includes a first electrosurgical instrument and a second electrosurgical instrument. The user console includes a first foot pedal and a second foot pedal. The processing unit is configured to receive user commands from the user console and to control the surgical robot in response to the user commands. The electrosurgical generator is in electrical communication with the first and second electrosurgical instruments wherein a prompt for a clinician interfacing with the robotic surgical system is generated by the processing unit or the electrosurgical generator for the clinician to select one of the first or second electrosurgical instruments to assign to the first foot pedal in response to actuation of the first foot pedal. The electrosurgical generator is configured to assign the selected one of the first or second electrosurgical instruments to the first foot pedal in response to the selection by the clinician and to assign the other one of the first or second electrosurgical instruments that is not selected by the clinician to the second foot pedal in response to receiving the selection of the one of the first or second electrosurgical instruments by the clinician.

The surgical robot may include an arm that supports the first electrosurgical instrument and the electrosurgical generator may be positioned on the arm.

The surgical robot may include a fastener applying surgical instrument and the user console may include a third foot pedal. The processing unit may be configured to assign the third foot pedal to the fastener applying surgical instrument in response to actuation of the third foot pedal.

Various aspects of the present disclosure are described hereinbelow with reference to the drawings, which are incorporated in and constitute a part of this specification, wherein:.

Embodiments of the present disclosure are now described in detail with reference to the drawings in which like reference numerals designate identical or corresponding elements in each of the several views. As used herein, the term "clinician" refers to a doctor, a nurse, a staff member, or any other care provider and may include support personnel. Throughout this description, the term "proximal" refers to the portion of the device or component thereof that is closest to the clinician or farthest from the patient and the term "distal" refers to the portion of the device or component thereof that is farthest from the clinician or closest to the patient.

The present disclosure relates generally to methods and control systems for automatically assigning foot pedals to surgical instruments of a robotic surgical system. The method includes designating a foot pedal of a user interface as a fastener applying foot pedal such that when a fastener applying surgical instrument is connected to an arm of a surgical robot of the robotic surgical system, the fastener applying foot pedal is automatically assigned to the fastener applying surgical instrument. When the fastener applying foot pedal is assigned to the fastener applying surgical instrument, actuation of the fastener applying foot pedal fires a fastener from the fastener applying surgical instrument. In addition, the method includes designating foot pedals of the user interface as a first electrosurgical foot pedal and/or a second electrosurgical foot pedal and assigning the first and/or second electrosurgical foot pedals to electrosurgical instruments connected to an arm of the surgical robot. The assignment of one or both of the first and second electrosurgical foot pedals may be automatic when the one of the first or second electrosurgical foot pedals is actuated.

Referring to <FIG>, a robotic surgical system <NUM> is shown generally as a surgical robot <NUM>, a processing unit <NUM>, and a user interface <NUM>. The surgical robot <NUM> generally includes linkages <NUM>, <NUM>', <NUM>" and a robot base <NUM>. The linkages <NUM>, <NUM>', <NUM>" moveably support surgical instruments or tools <NUM>, <NUM>', <NUM>" which are configured to act on tissue. The linkages <NUM>, <NUM>', <NUM>" may be in the form of arms each having an end <NUM> that supports a surgical instrument or tool <NUM>, <NUM>', <NUM>" which is configured to act on tissue. When one or more of the surgical instruments <NUM>, <NUM>', <NUM>" is an electrosurgical instrument, e.g., monopolar, bipolar, or LigaSure™ instrument, the surgical robot <NUM> may include an electrosurgical generator <NUM> configured to provide electrosurgical energy to the surgical instruments <NUM>, <NUM>', <NUM>". The electrosurgical generator <NUM> may be integrated into one of the linkages <NUM>, <NUM>', <NUM>" of the surgical robot <NUM>. In addition, the ends <NUM> of the linkages <NUM>, <NUM>', <NUM>" may include an imaging device <NUM> for imaging a surgical site "S". The ends <NUM> of the linkages <NUM>, <NUM>', <NUM>" may include a tool detection system that identifies a type of surgical instrument supported or attached to the end <NUM>, <NUM>', <NUM>" of the linkage <NUM>, <NUM>', <NUM>". The user interface <NUM> is in communication with robot base <NUM> through the processing unit <NUM>.

The user interface <NUM> includes a display device <NUM> which is configured to display images of the surgical site "S" which may include data captured by imaging devices <NUM> positioned on the ends <NUM> of the linkages <NUM>, <NUM>', <NUM>" and/or include data captured by imaging devices that are positioned about the surgical theater (e.g., an imaging device positioned within the surgical site "S", an imaging device positioned adjacent the patient "P", imaging device <NUM> positioned at a distal end of an imaging arm <NUM>). The imaging devices (e.g., imaging devices <NUM>, <NUM>) may capture visual images, infra-red images, ultrasound images, X-ray images, thermal images, and/or any other known real-time images of the surgical site "S". The imaging devices transmit captured imaging data to the processing unit <NUM> which creates images (e.g., three-dimensional images) of the surgical site "S" in real-time from the imaging data and transmits the images to the display device <NUM> for display.

The user interface <NUM> also includes control arms <NUM>, <NUM>' that support input handles <NUM>, <NUM>' attached to gimbals <NUM> which allow a clinician to manipulate the robotic system <NUM> (e.g., move the linkages <NUM>, <NUM>', <NUM>", the ends <NUM> of the linkages <NUM>, <NUM>', <NUM>", and/or the surgical instruments <NUM>, <NUM>', <NUM>"). Each of the gimbals <NUM> is in communication with the processing unit <NUM> to transmit control signals thereto and to receive feedback signals therefrom. Additionally or alternatively, each of the input handles <NUM>, <NUM>' may include control interfaces which allow the surgeon to actuate (e.g., clamp, grasp, fire, open, close, rotate, thrust, slice, etc.) the surgical instruments <NUM>, <NUM>', <NUM>" supported at the ends <NUM> of the linkages <NUM>, <NUM>', <NUM>". The user interface <NUM> further includes foot pedals <NUM>, <NUM>', <NUM>" that may be used with one or both of the input handles <NUM>, <NUM>' to activate functions of the surgical instruments <NUM>, <NUM>', <NUM>".

Each of the gimbals <NUM> is moveable to move the ends <NUM> of the linkages <NUM>, <NUM>', <NUM>" within a surgical site "S". The three-dimensional images on the display device <NUM> are orientated such that movement of the gimbals <NUM> moves the ends <NUM> of the linkages <NUM>, <NUM>', <NUM>" as viewed on the display device <NUM>. It will be appreciated that the orientation of the three-dimensional images on the display device <NUM> may be mirrored or rotated relative to a view from above the patient "P". In addition, it will be appreciated that the size of the three-dimensional images on the display device <NUM> may be scaled to be larger or smaller than the actual structures of the surgical site "S" permitting the surgeon to have a better view of structures within the surgical site "S". As the gimbal <NUM> is moved, the surgical instruments <NUM>, <NUM>', <NUM>" are moved within the surgical site "S". Movement of the surgical instruments <NUM>, <NUM>', <NUM>" may also include movement of the ends <NUM> of the linkages <NUM>, <NUM>', <NUM>" which support the surgical instruments <NUM>, <NUM>', <NUM>".

For a detailed discussion of the construction and operation of a robotic surgical system <NUM>, reference may be made to <CIT>.

The foot pedals <NUM>, <NUM>', <NUM>" may be used to control actuation or firing of one or more of the surgical instruments <NUM>, <NUM>', <NUM>". Each of the surgical instruments <NUM>, <NUM>', <NUM>" may be a fastener applying surgical instrument and configured to apply fasteners to tissue, e.g., a stapler or a clip applier, or may be an electrosurgical instrument and configured to deliver electrosurgical energy to tissue, e.g., monopolar, bipolar, optical, or other electrothermal vessel sealing (e.g., LigaSure™, Medtronic, Inc. ) electrosurgical instruments. To fire the surgical instruments <NUM>, <NUM>', <NUM>", it is necessary to assign one of the foot pedals <NUM>, <NUM>', <NUM>" to a respective one of the surgical instruments <NUM>, <NUM>', <NUM>" to control the firing of the respective surgical instrument <NUM>, <NUM>', <NUM>" in response to actuation of the assigned foot pedal. The user console <NUM> may include multiple rows of foot pedals such that a top row of foot pedals (not explicitly shown) may control a first mode of respective surgical instruments and a bottom row of foot pedals may control a second mode of the respective surgical instruments. For example, the top row of foot pedals may control the surgical instruments in a first mode of electrocautery, e.g., monopolar, and the bottom row of foot pedals may control the surgical instrument in a second mod of electrocautery, e.g., bipolar.

Previous solutions to assigning the foot pedals <NUM>, <NUM>', <NUM>" have included manually assigning the foot pedals <NUM>, <NUM>', <NUM>" within a user interface on the display <NUM> before a medical procedure, utilizing controls of the input handles <NUM>, <NUM>' to assign a foot pedal <NUM>, <NUM>', <NUM>", and/or including a separate foot pedal for each surgical instrument. Examples of these solutions for assigning foot pedals are disclosed in International Patent Applications <CIT>, <CIT>, and <CIT>.

Referring to <FIG>, a method <NUM> of automatically assigning the foot pedals <NUM>, <NUM>', <NUM>" to the surgical instruments <NUM>, <NUM>', <NUM>" is disclosed in accordance with the present disclosure with reference to the robotic surgical system of <FIG>. Initially, one of the foot pedals <NUM>, <NUM>', <NUM>" may be designated as a fastener foot pedal, e.g., foot pedal <NUM>", and the other two foot pedals may be designated as electrosurgical foot pedals, e.g., foot pedals <NUM>, <NUM>'. In addition, one or more surgical instruments <NUM>, <NUM>', <NUM>" are coupled or connected to the linkages <NUM>, <NUM>', <NUM>". When the surgical instruments <NUM>, <NUM>', <NUM>" are connected to the linkages <NUM>, <NUM>', <NUM>", the surgical robot <NUM> and/or the processing unit <NUM> interrogates or identifies a type of each of the surgical instruments <NUM>, <NUM>', <NUM>", e.g., electrosurgical, fastener applying, or non-firing (Step <NUM>).

For example if the connected surgical instrument <NUM>" is a fastener applying surgical instrument, e.g., a stapler or a clip applier, the processing unit <NUM> assigns the fastener applying surgical instrument <NUM>" to the fastener foot pedal <NUM>" (Step <NUM>). When the fastener applying surgical instrument <NUM>" is assigned to the fastener foot pedal <NUM>", a fastener fire command is sent to the surgical robot <NUM>, from the processing unit <NUM>, to fire the fastener applying surgical instrument <NUM>" when the fastener foot pedal <NUM>" is actuated (Step <NUM>). In response to the fastener fire command, the fastener applying surgical instrument <NUM>" is fired (Step <NUM>). In some embodiments, the method <NUM> includes the surgical robot <NUM> and/or the processor unit <NUM> verifying a configuration of the fastener applying surgical instrument <NUM>", e.g., that jaws of the surgical instrument are in a closed or clamped position, before sending the fastener fire command and/or firing the fastener applying surgical instrument <NUM>" (Step <NUM>).

If the connected surgical instrument is an electrosurgical instrument, e.g., surgical instrument <NUM>, <NUM>', the processing unit <NUM> assigns the electrosurgical instrument <NUM>, <NUM>' to the electrosurgical generator <NUM> to assign the surgical instrument to one of the electrosurgical foot pedals <NUM>, <NUM>' (Step <NUM>). During a medical procedure, when a first one of the electrosurgical foot pedals, e.g., foot pedal <NUM>, is actuated (Step <NUM>), an electrosurgical fire command is sent to the electrosurgical generator <NUM> (Step <NUM>). In response to the electrosurgical fire command, the electrosurgical generator <NUM> determines the number of electrosurgical instruments connected to the surgical robot <NUM> (Step <NUM>). The electrosurgical generator <NUM> may determine the number and type of surgical instruments by interrogating the surgical robot <NUM>. Additionally or alternatively, the electrosurgical generator <NUM> may include an RFID identification system, may include a barcode scanner that scans each surgical instrument as it is connected, and/or may utilize one or more cameras, e.g., camera <NUM>, to identify the surgical instruments.

When a single electrosurgical instrument, e.g., surgical instrument <NUM>, is connected to the surgical robot <NUM>, the electrosurgical generator <NUM> assigns the electrosurgical instrument <NUM> to the electrosurgical foot pedal <NUM> (Step <NUM>) and delivers electrosurgical energy to the electrosurgical instrument <NUM> in response to each actuation of the electrosurgical foot pedal <NUM> (Step <NUM>). The electrosurgical generator <NUM> may deliver electrosurgical ener+gy (Step <NUM>) with the first actuation of the electrosurgical foot pedal <NUM> and each subsequent actuation of the electrosurgical foot pedal <NUM>. Alternatively, the electrosurgical generator <NUM> may assign the electrosurgical instrument <NUM> to the first actuation of the electrosurgical foot pedal <NUM> and deliver electrosurgical energy with each subsequent actuation of the electrosurgical foot pedal <NUM>. The electrosurgical foot pedal <NUM> remains assigned with the electrosurgical instrument <NUM> until the surgical instruments connected to the surgical robot <NUM> changes (Step <NUM>) or until the electrosurgical instrument <NUM> fails to fire in response to actuation of the electrosurgical foot pedal <NUM> (Step <NUM>).

Before delivering electrosurgical energy to an assigned electrosurgical instrument <NUM>, the generator <NUM> may verify one or more conditions of the electrosurgical instrument <NUM> (Step <NUM>). The conditions of the electrosurgical instrument <NUM> may be dependent on the type of electrosurgical instrument <NUM>. Specifically, when the electrosurgical instrument <NUM> is a monopolar instrument, the generator <NUM> may verify that a ground path is detected and that the circuit is closed with the ground path before delivering electrosurgical energy to the monopolar instrument. When the electrosurgical instrument <NUM> is a bipolar instrument, the generator <NUM> may verify that a circuit is closed between the electrodes, that an impedance between the electrodes is in an desired range, and/or that electrodes of the bipolar instrument are in a desired position, e.g., that jaw members are in a closed or clamped position before delivering electrosurgical energy to the bipolar instrument. When the electrosurgical instrument <NUM> is an electrothermal vessel sealing instrument, the generator <NUM> may verify that jaw members of the electrothermal vessel sealing instrument are in a desired position, e.g., a closed or clamped position, before delivering electrosurgical energy to the electrothermal vessel sealing instrument. In addition, the generator <NUM> and/or the surgical robot <NUM> may verify a depth of insertion of the electrosurgical instrument <NUM> before delivering electrosurgical energy to the electrosurgical instrument <NUM>.

When a first electrosurgical instrument, e.g., surgical instrument <NUM>, and a second electrosurgical instrument, e.g., surgical instrument <NUM>', are connected to the surgical robot <NUM>, actuation of the first electrosurgical foot pedal <NUM> generates a prompt on the display <NUM> for the clinician to select an electrosurgical instrument, e.g., surgical instrument <NUM>, <NUM>', to assign to the first electrosurgical foot pedal <NUM> (Step <NUM>). The prompt may be generated by the processing unit <NUM> or the generator <NUM>. The clinician utilizes the user interface <NUM> to select which one of first or second electrosurgical instruments <NUM>, <NUM>' to assign to the first electrosurgical foot pedal <NUM> (Step <NUM>). To select which one of the first or second electrosurgical instruments <NUM>, <NUM>' to assign to the first electrosurgical foot pedal <NUM>, the clinician may pull a trigger of an input handle, e.g., input handle <NUM>, associated with the corresponding electrosurgical instrument <NUM>, <NUM>' or the clinician may select the first or second electrosurgical instrument <NUM>, <NUM>' on the display <NUM> by interfacing with a graphical user interface of the display <NUM>, e.g., touching the display <NUM> or using a controller to select an item on the display <NUM>. When the first electrosurgical foot pedal <NUM> is assigned to one of the first or second electrosurgical instruments <NUM>, <NUM>', the electrosurgical generator <NUM> delivers electrosurgical energy to the assigned first or second electrosurgical instrument <NUM>, <NUM>' in response to each actuation of the first electrosurgical foot pedal <NUM> (Step <NUM>).

After the first electrosurgical pedal <NUM> is assigned to the one of the first or second electrosurgical instrument <NUM>, <NUM>', the generator <NUM> automatically assigns the other of the first or second electrosurgical instruments <NUM>, <NUM>' to the second electrosurgical pedal <NUM>' (Step <NUM>). When the second electrosurgical foot pedal <NUM>' is actuated, the generator <NUM> delivers electrosurgical energy to the other of the first or second electrosurgical instrument <NUM>, <NUM>' (Step <NUM>).

Before the electrosurgical energy is delivered to either the first or second electrosurgical instruments <NUM>, <NUM>', the generator <NUM> may perform the verifications as detailed above before each delivery of electrosurgical energy (Step <NUM>). Further, the first and second electrosurgical foot pedals <NUM>, <NUM>' stay assigned until the surgical instruments connected to the surgical robot <NUM> change (Step <NUM>) or until one of the electrosurgical instruments <NUM>, <NUM>' fails to fire in response to actuation of the electrosurgical foot pedal <NUM> (Step <NUM>). In addition, during a medical procedure, if the clinician wants to manually reassign the first or second electrosurgical foot pedal <NUM>, <NUM>' to a different surgical instrument, the clinician may double tap either of the first or second electrosurgical foot pedals <NUM>, <NUM>' to reopen the prompt on the display <NUM> as detailed above (Step <NUM>). As detailed above, the prompt is displayed on the display <NUM>; however, the prompt may be displayed on different displays including, but not limited to, a heads up display (not shown).

When a first electrosurgical instrument, e.g., surgical instrument <NUM>, a second electrosurgical instrument, e.g., surgical instrument <NUM>', and a third electrosurgical instrument, e.g., surgical instrument <NUM>", are connected to the surgical robot <NUM>, actuation of the first electrosurgical foot pedal <NUM> generates a first prompt on the display <NUM> for the clinician to select an electrosurgical instrument, e.g., surgical instrument <NUM>, <NUM>', <NUM>", to assign to the first electrosurgical foot pedal <NUM> (Step <NUM>). The first prompt may be generated by the processing unit <NUM> or the generator <NUM>. The clinician utilizes the user interface <NUM> to select which one of first, second, or third electrosurgical instruments <NUM>, <NUM>', <NUM>" to assign to the first electrosurgical foot pedal <NUM> (Step <NUM>). To select which one of the first, second, or third electrosurgical instruments <NUM>, <NUM>', <NUM>" to assign to the first electrosurgical foot pedal <NUM>, the clinician may pull a trigger of an input handle, e.g., input handle <NUM>, assigned with the corresponding electrosurgical instrument <NUM>, <NUM>', <NUM>" or the clinician may select the first, second, or third electrosurgical instrument <NUM>, <NUM>', <NUM>" on the display <NUM> by interfacing with a graphical user interface of the display <NUM>, e.g., touching the display <NUM> or using a controller to select an item on the display <NUM>. When the first electrosurgical foot pedal <NUM> is assigned to one of the first, second, or third electrosurgical instrument <NUM>, <NUM>', <NUM>", the electrosurgical generator <NUM> delivers electrosurgical energy to the assigned first, second, or third electrosurgical instrument <NUM>, <NUM>', <NUM>" in response to each actuation of the first electrosurgical foot pedal <NUM> (Step <NUM>).

After the first electrosurgical pedal <NUM> is assigned to one of the first, second, or third electrosurgical instrument <NUM>, <NUM>', <NUM>", the processing unit <NUM> or the generator <NUM> generates a second prompt on the display <NUM> for the clinician to select which one of the other of the first, second, or third electrosurgical instruments <NUM>, <NUM>', <NUM>" to assign to the second electrosurgical pedal <NUM>' (Step <NUM>). To select which one of the first, second, or third electrosurgical instruments <NUM>, <NUM>', <NUM>" to assign to the second electrosurgical foot pedal <NUM>', the clinician may pull a trigger of an input handle, e.g., input handle <NUM>', associated with the corresponding electrosurgical instrument <NUM>, <NUM>', <NUM>" or the clinician may select the first, second, or third electrosurgical instrument <NUM>, <NUM>', <NUM>" on the display <NUM> by interfacing with a graphical user interface of the display <NUM>. When the second electrosurgical foot pedal <NUM>' is assigned with the other of the first, second, or third electrosurgical instrument <NUM>, <NUM>', <NUM>", the electrosurgical generator <NUM> delivers electrosurgical energy to the assigned first, second, or third electrosurgical instrument <NUM>, <NUM>', <NUM>" in response to each actuation of the second electrosurgical foot pedal <NUM>' (Step <NUM>).

Before the electrosurgical energy is delivered to either the first, second, or third electrosurgical instrument <NUM>, <NUM>', <NUM>", the generator <NUM> may perform the verifications as detailed above (Step <NUM>). The first and second electrosurgical foot pedals <NUM>, <NUM>' stay assigned until the surgical instruments connected to the surgical robot <NUM> change (Step <NUM>) or until the assigned first, second, or third electrosurgical instrument <NUM>, <NUM>', <NUM>" fails to fire in response to actuation of the respective electrosurgical foot pedal <NUM>, <NUM>' (Step <NUM>). In addition, during a medical procedure, if the clinician wants to manually reassign the first or second electrosurgical foot pedal <NUM>, <NUM>' to a different surgical instrument, the clinician may double tap either of the first or second electrosurgical foot pedals <NUM>, <NUM>' to reopen the prompt on the display <NUM> as detailed above (Step <NUM>). As detailed above, the prompt is displayed on the display <NUM>; however, the prompt may be displayed on different displays including, but not limited to, a heads up display (not shown).

Claim 1:
A method automatically assigning foot pedals of a robotic surgical system (<NUM>) to surgical instruments (<NUM>, <NUM>', <NUM>") of a surgical robot (<NUM>) of the robotic surgical system (<NUM>), the method comprising:
receiving a signal that a first electrosurgical foot pedal (<NUM>) is actuated;
determining a number of electrosurgical instruments (<NUM>, <NUM>', <NUM>") connected to the surgical robot (<NUM>) in response to actuation of the first electrosurgical foot pedal (<NUM>), wherein determining the number of electrosurgical instruments (<NUM>, <NUM>', <NUM>") includes determining a first electrosurgical instrument (<NUM>) and a second electrosurgical instrument (<NUM>') are connected to the surgical robot (<NUM>);
generating a first prompt for a clinician interfacing with the robotic surgical system (<NUM>) to select one of the first or second electrosurgical instruments (<NUM>, <NUM>') to assign to the first electrosurgical foot pedal (<NUM>) in response to actuation of the first electrosurgical foot pedal (<NUM>);
receiving a selection of one of the first or second electrosurgical instruments (<NUM>, <NUM>') from the clinician;
assigning the first electrosurgical foot pedal (<NUM>) to the selected one of the first or second electrosurgical instruments (<NUM>, <NUM>') in response to receiving the selection of one of the first or second electrosurgical instrument (<NUM>, <NUM>'); and assigning a second electrosurgical foot pedal (<NUM>') to the other of the first or second electrosurgical instruments (<NUM>, <NUM>') in response to receiving the selection of one of the first or second electrosurgical instrument (<NUM>, <NUM>').