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公开(公告)号：US20210045804A1
公开(公告)日：2021-02-18
申请号：US17087075
申请日：2020-11-02
申请人： CMR Surgical Limited
摘要： An electrosurgical connection unit for a surgical robot arm to connect an electrosurgical instrument attached to the arm to an electrosurgical generator. The electrosurgical connection unit includes an input port connectable to the electrosurgical generator, the input port configured to receive a driving electrosurgical signal and output one or more activation signals; an output port connectable to the electrosurgical instrument, the output port configured to output the driving electrosurgical signal received on the input port; one or more activation switch units, wherein activation of an activation switch unit causes an activation signal to be output from the input port indicating a driving electrosurgical signal with a desired waveform is to be activated; and a control unit configured to selectively activate one of the one or more activation switch units in response to a control signal.
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公开(公告)号：US20190317136A1
公开(公告)日：2019-10-17
申请号：US16465650
申请日：2017-12-01
申请人： CMR SURGICAL LIMITED
摘要： A circuit for sensing the driving current of a motor, the circuit comprising: a driver configured to generate a driving current for each phase of a multiple-phase motor, the instantaneous sum of all the driving currents being zero; a current sensor for each phase of the multiple-phase motor, each current sensor configured to measure the driving current of that phase and comprising a plurality of current sensor elements arranged with respect to each other such that each current sensor element has the same magnitude of driving current systematic error due to magnetic fields external to the driving current to be measured; and a controller configured to, for each phase of the multiple-phase motor, generate an estimate of the driving current of that phase to be the measured driving current of that phase minus 1/n of the total of the measured driving currents for all phases, n being the number of phases of the multiple-phase motor.
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公开(公告)号：US12023123B2
公开(公告)日：2024-07-02
申请号：US18197228
申请日：2023-05-15
申请人： CMR SURGICAL LIMITED
IPC分类号： A61B34/37 , A61B5/117 , A61B17/00 , A61B34/00 , A61B90/00 , A61B90/50 , A61B90/96 , B25J9/16 , B25J13/06 , G06F21/31 , G06F21/44 , H04N23/54
CPC分类号： A61B34/37 , B25J9/1697 , B25J13/06 , G06F21/44 , A61B5/117 , A61B2017/00221 , A61B2034/258 , A61B2090/3612 , A61B2090/373 , A61B90/50 , A61B90/96 , G05B2219/40414 , G05B2219/50391 , G06F21/31 , H04N23/54
摘要： A surgical robotic system comprising: a surgical robot; a user interface console coupled to the surgical robot whereby a user can control motion of the surgical robot; a data logger for logging data from a surgical procedure performed by means of the robot; and a portable user terminal; the system further comprising: a display controllable by one of the data logger and the user terminal, that one of the data logger and the user terminal being configured for displaying a machine-readable code whereby the data logger or a user of the user terminal can be identified; and a camera coupled to the other of the data logger and the user terminal; the said other of the data logger and the user terminal being configured to, on receiving from the camera an image of a machine-readable code, decode that code to identify the data logger or a user of the user terminal and to cause the identified entity to be logged in association with a procedure performed by means of the robot.
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公开(公告)号：US20240115311A1
公开(公告)日：2024-04-11
申请号：US18389886
申请日：2023-12-20
申请人： CMR Surgical Limited
CPC分类号： A61B18/1482 , A61B18/1206 , A61B18/1233 , A61B18/14 , A61B34/30 , A61B2018/00083 , A61B2034/302 , A61B2034/306
摘要： An electrosurgical connection unit for a surgical robot arm to connect an electrosurgical instrument attached to the arm to an electrosurgical generator. The electrosurgical connection unit includes an input port connectable to the electrosurgical generator, the input port configured to receive a driving electrosurgical signal and output one or more activation signals; an output port connectable to the electrosurgical instrument, the output port configured to output the driving electrosurgical signal received on the input port; one or more activation switch units, wherein activation of an activation switch unit causes an activation signal to be output from the input port indicating a driving electrosurgical signal with a desired waveform is to be activated; and a control unit configured to selectively activate one of the one or more activation switch units in response to a control signal.
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公开(公告)号：US11882989B2
公开(公告)日：2024-01-30
申请号：US16289854
申请日：2019-03-01
申请人： CMR Surgical Limited
CPC分类号： A61B18/1482 , A61B18/1206 , A61B18/1233 , A61B18/14 , A61B34/30 , A61B2017/00141 , A61B2017/00154 , A61B2018/00083 , A61B2018/00178 , A61B2018/00589 , A61B2018/00601 , A61B2018/00607 , A61B2018/00773 , A61B2018/00875 , A61B2018/00886 , A61B2018/00928 , A61B2018/00958 , A61B2034/302 , A61B2034/306
摘要： An electrosurgical connection unit for a surgical robot arm to connect an electrosurgical instrument attached to the arm to an electrosurgical generator. The electrosurgical connection unit includes an input port connectable to the electrosurgical generator, the input port configured to receive a driving electrosurgical signal and output one or more activation signals; an output port connectable to the electrosurgical instrument, the output port configured to output the driving electrosurgical signal received on the input port; one or more activation switch units, wherein activation of an activation switch unit causes an activation signal to be output from the input port indicating a driving electrosurgical signal with a desired waveform is to be activated; and a control unit configured to selectively activate one of the one or more activation switch units in response to a control signal.
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公开(公告)号：US11826116B2
公开(公告)日：2023-11-28
申请号：US17183626
申请日：2021-02-24
申请人： CMR SURGICAL LIMITED
CPC分类号： A61B34/35 , A61B34/70 , A61B34/74 , A61B2034/301 , A61B2034/305
摘要： A control system for a surgical robotic system, the surgical robotic system comprising a remote surgeon console and an articulated surgical robot arm comprising a series of joints extending from a base to a terminal end for attaching to an articulated surgical instrument. The control system comprises a central controller communicatively coupled to and remotely located from an arm controller of the surgical robot arm, the central controller also communicatively coupled to a surgeon input device of the surgeon console. The central controller is configured to: receive a command from the surgeon input device indicating a desired position of a distal end of the surgical instrument; transform the desired position of the distal end to (i) a desired wrist position of a wrist of the surgical robot arm, and (ii) desired instrument drive joint positions for those joints of the surgical robot arm which drive joints of the articulated surgical instrument; and transmit the desired wrist position and desired instrument drive joint positions to the arm controller.
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公开(公告)号：US20220244079A1
公开(公告)日：2022-08-04
申请号：US17726740
申请日：2022-04-22
申请人： CMR SURGICAL LIMITED
摘要： A device for sensing the relative rotary position of first and second parts about a rotation axis, the device comprising a follower constrained to move on a first track fast with the first part and on a second track fast with the second part, the first track being linear and the second track comprising a plurality of circular arcs and at least one transition section connecting one of the circular arcs to another, the tracks being arranged so as to convert relative rotation of the parts into linear motion of the follower, wherein the second track is generally spiral, each circular arc is of constant radius about the rotation axis and the first track is perpendicular to the rotation axis.
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28.发明申请公开(公告)号：US20210346109A1
公开(公告)日：2021-11-11
申请号：US17282655
申请日：2019-10-03
申请人： CMR SURGICAL LIMITED
摘要： A surgical robotic system, comprising: a surgical robot; a user input device coupled to the surgical robot and manipulatable by a user to control operation of the surgical robot, the user input device comprising one or more sensors configured to collect data as the user manipulates the user input device; a processor unit configured to: analyse the collected data to determine whether a parameter associated with the operation by the user of the surgical robot has a desired working value; and generate an output signal indicating responsive action is to be taken in response to determining from the collected data that the parameter does not have a desired working value.
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公开(公告)号：US20210190547A1
公开(公告)日：2021-06-24
申请号：US17194208
申请日：2021-03-05
申请人： CMR SURGICAL LIMITED
摘要： A method of correcting a position reading from a position sensing arrangement. The position sensing arrangement is suitable for sensing the position of a revolute joint of an articulated structure, and comprises a disc having a magnetic ring with magnetic pole pairs and a magnetic sensor assembly comprising a magnetic sensor array for detecting the magnetic pole pairs of the magnetic ring. The method comprises: for each pole pair of the magnetic ring, taking a calibration pole pair position reading with the magnetic sensor array, and generating a pole pair correcting function by comparing the calibration pole pair position reading with a model pole pair position reading; averaging the pole pair correcting functions of the pole pairs of the magnetic ring to generate an average pole pair correcting function for the magnetic ring; taking a position reading with the magnetic sensor array, the position reading comprising a plurality of pole pair position readings; and generating a corrected position reading by deducting the average pole pair correcting function from each pole pair position reading.
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公开(公告)号：US10881471B2
公开(公告)日：2021-01-05
申请号：US16193767
申请日：2018-11-16
申请人： CMR Surgical Limited
摘要： A cooling structure and a method of cooling a surgical robot arm. The surgical robot arm extends from a proximal end attached to a base to a distal end attachable to a surgical instrument via a series of links interspersed by articulations. The cooling structure comprises a loop for circumscribing the surgical robot arm. The loop comprises a hollow interior for feeding cooling fluid through the loop, and a series of orifices directed towards the surgical robot arm for feeding cooling fluid from the loop towards the surgical robot arm. The cooling structure further comprises a feeder conduit attached to the loop for feeding cooling fluid from a cooling fluid source to the loop.
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