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公开(公告)号：US20230025430A1
公开(公告)日：2023-01-26
申请号：US17832347
申请日：2022-06-03
申请人： CMR Surgical Limited
摘要： A position sensing arrangement for sensing the position of a revolute joint of an articulated structure. The position sensing arrangement comprises a disc and a magnetic sensor assembly. The disc complises a first magnetic ring with m magnetic pole pairs, and a second magnetic ring with n magnetic pole pairs, where m and n are co-prime, and a mounting arrangement by which the disc is mountable to a magnetisation jig during manufacture and the articulated structure during operation, the mounting arrangement permitting the disc to be momlted to the magnetisation jig and articulated structure in a single orientation only. The magnetic sensor assembly comprises a first magnetic sensor array for detecting the magnetic pole pairs of the first magnetic ring, and a second magnetic sensor array for detecting the magnetic pole pairs of the second magnetic ring.
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公开(公告)号：US20210190833A1
公开(公告)日：2021-06-24
申请号：US17195717
申请日：2021-03-09
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：US12017360B2
公开(公告)日：2024-06-25
申请号：US17687340
申请日：2022-03-04
申请人： CMR SURGICAL LIMITED
发明人： Edward John Mottram , Gordon Thomas Deane , Edward Tucker , Graham Veitch , Paul Christopher Roberts
CPC分类号： B25J9/1638 , B25J9/1628 , B25J9/1633 , B25J13/085 , G05B2219/37357 , G05B2219/39188 , G05B2219/39338 , G05B2219/39342 , G05B2219/39343 , G05B2219/39346 , G05B2219/39347 , G05B2219/39348 , G05B2219/39351 , G05B2219/42016
摘要： A method for controlling a mechanical system having a plurality of components interlinked by a plurality of driven joints, the method comprising: measuring torques or forces about or at the driven joints and forming a load signal representing the measured torques or forces; receiving a motion demand signal representing a desired state of the system; implementing an impedance control algorithm in dependence on the motion demand signal and the load signal to form a target signal indicating a target configuration for each of the driven joints; measuring the configuration of each of the driven joints and forming a state signal representing the measured configurations; and forming a set of drive signals for the joints by, for each joint, comparing the target configuration of that joint as indicated by the target signal to the measured configuration of that joint as indicated by the state signal.
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公开(公告)号：US20210285752A1
公开(公告)日：2021-09-16
申请号：US16319271
申请日：2017-07-12
申请人： CMR Surgical Limited
摘要： A position sensing arrangement for sensing the position of a revolute joint of an articulated structure. The position sensing arrangement comprises a disc and a magnetic sensor assembly. The disc comprises a first magnetic ring with m magnetic pole pairs, and a second magnetic ring with n magnetic pole pairs, where m and n are co-prime, and a mounting arrangement by which the disc is mountable to a magnetisation jig during manufacture and the articulated structure during operation, the mounting arrangement permitting the disc to be mounted to the magnetisation jig and articulated structure in a single orientation only. The magnetic sensor assembly comprises a first magnetic sensor array for detecting the magnetic pole pairs of the first magnetic ring, and a second magnetic sensor array for detecting the magnetic pole pairs of the second magnetic ring.
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公开(公告)号：US20210138636A1
公开(公告)日：2021-05-13
申请号：US17153155
申请日：2021-01-20
申请人： CMR SURGICAL LIMITED
发明人： Thomas Bates Jackson , Edward John Mottram , Gordon Thomas Deane , Keith Marshall , Paul Christopher Roberts , Ricardo Michael Henderson Da Silva
IPC分类号： B25J9/10 , G01L3/10 , B25J13/08 , G01L5/22 , B25J17/02 , A61B34/30 , B25J9/04 , B25J9/12 , G01D5/244
摘要： A robot arm comprising a joint mechanism for articulating one limb (310) of the arm relative to another limb (311) of the arm about two non-parallel rotation axes (20, 21), the mechanism comprising: an intermediate carrier (28) 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 (33) 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 (37) 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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公开(公告)号：US10919156B2
公开(公告)日：2021-02-16
申请号：US15746583
申请日：2016-07-22
申请人： CMR Surgical Limited
摘要： A robot arm having a compound joint between a first limb of the arm and a second limb of the arm, the second limb of the arm being distal of the first limb, the arm comprising: a coupler element coupled to the first limb of the arm by a first revolute joint having a first rotation axis and to the second limb of the arm by a second revolute joint having a second rotation axis; first and second rotational position sensors for sensing the configuration of the arm about the first and second joints respectively; first and second torque sensors for sensing the torque applied about the first and second joints respectively; a control unit for controlling the operation of the arm; a first communications unit borne by the arm and located proximally of the coupler and a second communications unit borne by the arm and located distally of the coupler, each communications unit being capable of encoding data received from one or more of the position and/or torque sensors in a first data format into data packets and transmitting those packets to the control unit in accordance with a packet-based data protocol different from the first data format; wherein the first position sensor is connected by a physical data link running within an exterior wall of the first limb to the first communications unit to so as to pass data representing sensed position about the first joint to the first communications unit for encoding and the first torque sensor is connected by a physical data link running within an exterior wall of the second limb to the second communications unit to so as to pass data representing sensed torque about the first joint to the second communications unit for encoding.
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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：US20210122041A1
公开(公告)日：2021-04-29
申请号：US17081120
申请日：2020-10-27
申请人： CMR SURGICAL LIMITED
摘要： A method for limiting joint velocity of a plurality of joints of a surgical robotic system, the surgical robotic system comprising a robot having a base and an arm extending from the base to an attachment for an instrument, the arm comprising a plurality of joints whereby the configuration of the arm can be altered, the method comprising: obtaining joint states for a first group of k joints of the arm, where k>1; for each of the k joints: determining from the obtained joint state a permitted range of motion for that joint; deriving, using the permitted range of motion, a joint velocity limit for that joint; selecting the minimum joint velocity limit of the k joints to be a common joint velocity limit used to limit each of the k joints individually; and calculating drive signals for driving the k joints wherein the velocity of each of the k joints is limited using the common joint velocity limit.
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公开(公告)号：US20190277667A1
公开(公告)日：2019-09-12
申请号：US16319289
申请日：2017-07-19
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：US20220184804A1
公开(公告)日：2022-06-16
申请号：US17687340
申请日：2022-03-04
申请人： CMR SURGICAL LIMITED
发明人： Edward John Mottram , Gordon Thomas Deane , Edward Tucker , Graham Veitch , Paul Christopher Roberts
摘要： A method for controlling a mechanical system having a plurality of components interlinked by a plurality of driven joints, the method comprising: measuring torques or forces about or at the driven joints and forming a load signal representing the measured torques or forces; receiving a motion demand signal representing a desired state of the system; implementing an impedance control algorithm in dependence on the motion demand signal and the load signal to form a target signal indicating a target configuration for each of the driven joints; measuring the configuration of each of the driven joints and forming a state signal representing the measured configurations; and forming a set of drive signals for the joints by, for each joint, comparing the target configuration of that joint as indicated by the target signal to the measured configuration of that joint as indicated by the state signal.
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