Abstract: A surgical robotic system includes: a control tower including a first controller configured to detect a first error associated with the control tower and having a first error handler configured to generate a first error signal based on the first error. The system includes a console coupled to the control tower and including a display, a user input device configured to generate user input, and a mobile cart coupled to the control tower and having a second controller configured to detect a second error associated with the mobile cart and a second error handler configured to generate a second error signal based on the second error. The system includes a robotic arm disposed on the mobile cart and including: a surgical instrument configured to treat tissue and actuatable in response to the user input; and a third controller configured to detect a third error associated with the surgical robotic arm and having a third error handler configured to generate a third error signal based on the third error.

Abstract: A surgical robotic system includes: a surgical table; a plurality of movable carts being oriented toward the surgical table, each of which includes a robotic arm, and an alignment unit configured to determine an orientation of the movable cart and the robotic arm relative to the surgical table; and a computer coupled to each of the plurality of movable carts and configured to calculate a yaw angle for each of the plurality of movable carts.