Abstract: A surgical robotic system is configured to output a recommendation for use of an access port based on a determined habitus of a patient. The system includes a robotic arm including at least one joint having a sensor. The system also includes a controller configured to receive a measured torque of the joint from the sensor and determine a habitus of the patient based on the measured torque.

Abstract: A surgical robotic system is configured to enable user confirmation of whether one or more access ports are standard or longer length (e.g., bariatric type access ports). The system includes a surgeon console having one or more hand controllers and a head tracking device configured to detect surgeon's attempt to actuate an end effector of an instrument disposed within the access port. The system prevents actuation of the end effector until the insertion depth of the instrument is sufficient or the user confirms that the access port is of standard length, e.g., less than a preset length threshold.

Abstract: A surgical robotic system is configured to determine access port length using an end effector of an instrument, which is inserted into a longitudinal tube of a surgical access port and calibrated at a first position. The end effector is then advanced to a second position, distal of the first position, within the longitudinal tube. Thereafter, a second calibration of the end effector is performed at the second position. During the second calibration, contact between the end effector and the longitudinal tube is monitored by a controller, which determines the length of the longitudinal tube based on the contact.