Abstract: Systems and methods for inserting a robotic arm assembly into an internal body cavity are provided. The system inserts a robotic arm assembly through a trocar into an interior cavity of a subject. The system determines that a first articulated joint of a robotic arm exits the trocar and reaches a first position in the interior cavity. The first position indicates that the first articulated joint is free to rotate relative to the trocar. The system allows a hand controller to articulate the first articulated joint within a first volume. The system determines that a second articulated joint of the robotic arm exits the trocar and reaches a second position in the interior cavity. The second position indicates that the second articulated joint is free to rotate relative to the trocar. The system allows the hand controller to articulate the second articulated joint within a second volume.

Abstract: Systems and methods employing at least one hand controller for controlling a robotic assembly of a surgical robotic system are provided. The hand controller may be used in a surgeon console of a surgical robotic system. The hand controller may include a contoured housing having an upper surface, an inside side surface adjacent the upper surface, an outside side surface facing away from the first side surface, and a lower surface facing away from the upper surface. The hand controller may include a plurality of buttons including a first button positioned on the upper surface and a second button positioned on one of the upper surface, the inside side surface, or the outside side surface; a first touch input device positioned on the upper surface; and a first paddle mounted to either of the inside side surface or the outside side surface.