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公开(公告)号：US10398516B2
公开(公告)日：2019-09-03
申请号：US15217035
申请日：2016-07-22
申请人： CMR SURGICAL LIMITED
摘要： A robot arm comprising a joint mechanism for articulating one limb of the arm relative to another limb of the arm about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier attached to a first one of the limbs by a first revolute joint having a pitch rotation axis and to a second one of the limbs by a second revolute joint having a yaw rotation axis; a first drive gear disposed about the pitch rotation axis, the first drive gear being fast with the carrier; a second drive gear disposed about the yaw rotation axis, the second drive gear being fast with the second one of the limbs; a first drive shaft for driving the first drive gear to rotate about the pitch rotation axis, the first drive shaft extending along the first one of the limbs and having a first shaft gear thereon, the first shaft gear being arranged to engage the first drive gear; a second drive shaft for driving the second drive gear to rotate about the yaw rotation axis, the second drive shaft extending along the first one of the limbs and having a second shaft gear thereon; and an intermediate gear train borne by the carrier and coupling the second shaft gear to the second drive gear.
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公开(公告)号：US20190110850A1
公开(公告)日：2019-04-18
申请号：US16228852
申请日：2018-12-21
申请人： CMR SURGICAL LIMITED
摘要： A surgical robotic component comprising an articulated terminal portion, the terminal portion comprising: a distal segment having an attachment connected thereto, an intermediate segment, and a basal segment whereby the terminal portion is attached to the remainder of the surgical robotic component. The terminal portion further comprises a first articulation between the distal segment and the intermediate segment, the first articulation permitting relative rotation of the distal segment and the intermediate segment about a first axis, and a second articulation between the intermediate segment and the basal segment, the second articulation permitting relative rotation of the intermediate segment and the basal segment about a second axis. The intermediate segment comprises: a third articulation permitting relative rotation of the distal segment and the basal segment about third and fourth axes, a first torque sensor configured to sense torque about the third axis, and a second torque sensor configured to sense torque about the fourth axis. The first, second and third articulations are arranged such that in at least one configuration of the third articulation the first and second axes are parallel and the third and fourth axes are transverse to the first axis.
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公开(公告)号：US20190000706A1
公开(公告)日：2019-01-03
申请号：US16060580
申请日：2016-12-09
申请人： CMR SURGICAL LIMITED
摘要： A surgical robotic system comprising: a surgical robot arm (7, 8, 9) having at least six degrees of freedom, the arm having a distal end for attachment to a surgical tool (5) and a proximal end; and a mounting structure (10, 11, 12) configured to mate to the proximal end of the arm for holding the proximal end of the arm spatially fixed, the mounting structure comprising an electrical connection for powering the surgical robot arm; wherein the system comprises a manually operable latching mechanism (6) whereby the arm can be attached to and released from the mounting structure.
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公开(公告)号：US10161816B2
公开(公告)日：2018-12-25
申请号：US15217038
申请日：2016-07-22
申请人： CMR SURGICAL LIMITED
摘要： A torque sensor arrangement configured to attach between a first part and a second part to sense torque therebetween, the torque sensor arrangement comprising: an interface member having on its exterior an engagement configuration configured to rotationally engage the first part; a torsion member comprising a deflectable body attached at one end thereof to the interface member and comprising, at the other end of the deflectable body, an engagement configuration configured to rotationally engage the second part; and a deflection sensor attached to the deflectable body; wherein the interface member defines a rigid sleeve extending around the deflectable body and the torque sensor arrangement further comprises a bushing located between and in contact with both the sleeve and the deflectable body.
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公开(公告)号：US20180360549A1
公开(公告)日：2018-12-20
申请号：US16060474
申请日：2016-12-09
申请人： CMR SURGICAL LIMITED
发明人： Luke David Ronald Hares , Keith Marshall , Nikki Priyam Su-Ling Phoolchund , Ben Robert Chaplin
摘要： A robotic surgical instrument comprising: a shaft; an end effector comprising a first end effector element and a second end effector element; an articulation connecting the end effector to the shaft, the articulation comprising: a first joint driveable by a first pair of driving elements, the first joint permitting the end effector to rotate about a first axis transverse to a longitudinal axis of the shaft; a second joint driveable by a second pair of driving elements, the second joint permitting the first end effector element to rotate about a second axis transverse to the first axis; and a third joint driveable by a third pair of driving elements, the third joint permitting the second end effector element to rotate about the second axis; the robotic surgical instrument further comprising a pulley arrangement around which the second and third pairs of driving elements are constrained to move, the second and third pairs of driving elements having symmetrically opposing paths around the pulley arrangement.
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公开(公告)号：US20180353251A1
公开(公告)日：2018-12-13
申请号：US16060587
申请日：2016-12-09
申请人： CMR Surgical Limited
发明人： Rebecca Anne Cuthbertson , Ben Robert Chaplin , Keith Marshall , Luke David Ronald Hares , Nikki Priyam Su-Ling Phoolchund
摘要： A robotic surgical instrument comprising: a shaft; an articulation at a distal end of the shaft for articulating an end effector, the articulation driveable by a pair of driving elements; and an instrument interface at a proximal end of the shaft, the instrument interface comprising an instrument interface element for driving the pair of driving elements, the instrument interface element displaceable over a first displacement range, the instrument interface element comprising a body receivable in a drive assembly interface element of a robot arm when the robotic surgical instrument engages with the surgical robot arm, the drive assembly interface element displaceable over a second displacement range, the length of the body in the displaceable direction being greater than one of the maximum travel of the body over the first displacement range and the maximum travel of the drive assembly interface element over the second displacement range.
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公开(公告)号：US20180353249A1
公开(公告)日：2018-12-13
申请号：US16108200
申请日：2018-08-22
申请人： CMR SURGICAL LIMITED
CPC分类号： A61B34/30 , A61B2034/305 , B25J9/102 , B25J17/0275 , Y10S901/25 , Y10S901/26 , Y10S901/41
摘要： A robot arm comprising a joint mechanism for articulating one limb relative to another limb about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier attached to a first one of the limbs by a first revolute joint having a first rotation axis and to a second one of the limbs by a second revolute joint having a second rotation axis; a first drive gear disposed about the first rotation axis and fast with the carrier, whereby rotation of the carrier relative to the first limb about the first rotation axis can be driven; a second drive gear disposed about the second rotation axis and fast with the second one of the limbs, whereby rotation of the second one of the limbs about the second rotation axis relative to the carrier can be driven; at least one of the first and second drive gears being a sector gear.
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