What is the consequence of failing to balance instrument spacing before docking multiple robotic arms around the surgical site?

Failing to balance instrument spacing before docking multiple robotic arms around the surgical site can lead to collisions between the arms, restricted range of motion, and compromised access to the target anatomy. Instrument spacing refers to the distance and angles between each robotic arm when positioned around the patient. If the arms are placed too close together or at incorrect angles, they may interfere with each other physically during the procedure. This can cause the arms to knock into each other when moving, which disrupts the precision of the surgery and increases the risk of accidental tissue damage. Restricted motion also limits the surgeon’s ability to perform complex tasks, such as suturing or dissection, because the instruments cannot move freely. Additionally, poor spacing can result in unnatural instrument trajectories, where the tools enter the body at steep or awkward angles, placing extra stress on the entry ports and surrounding tissue. For example, if two arms are docked too close to each other on the left side of the patient, their movements will overlap, forcing the system to limit one arm’s range to prevent a crash, which reduces the surgeon’s effectiveness. Proper spacing ensures each arm has full, independent mobility and access to the surgical field without mechanical conflict.