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公开(公告)号：US12036667B2
公开(公告)日：2024-07-16
申请号：US18162794
申请日：2023-02-01
申请人： CMR Surgical Limited
CPC分类号： B25J17/0283 , A61B34/30 , B25J9/102 , A61B2034/306
摘要： A robot arm comprising a first arm segment and a second arm segment coupled to each other by a first revolute joint having a first rotation axis and a second revolute joint having a second rotation axis non-parallel to the first rotation axis, and a joint mechanism for articulating the first arm segment relative to the second arm segment about the first and second rotation axes, the joint mechanism comprising: a first driven gear disposed about an axle coincident with the first rotation axis, the axle being fast with a first arm segment of the robot arm; a second driven gear disposed about the second rotation axis and fast with a second arm segment of the robot arm and fast with the first driven gear about the first rotation axis; a first drive gear configured to drive the first driven gear to rotate about the axle, the first drive gear being arranged to engage the first driven gear; a second drive gear for driving the second driven gear to rotate about the second rotation axis; and an intermediary gear arrangement arranged to engage the second drive gear and the second driven gear and being disposed about the first rotation axis, whereby rotation of the intermediary gear arrangement relative to the first arm segment about the first rotation axis can be driven.
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公开(公告)号：US20240108430A1
公开(公告)日：2024-04-04
申请号：US18534090
申请日：2023-12-08
申请人： CMR SURGICAL LIMITED
CPC分类号： A61B34/76 , A61B34/30 , A61B34/35 , B25J9/1689 , B25J13/085 , B25J17/0275 , A61B2090/066
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：US11577409B2
公开(公告)日：2023-02-14
申请号：US17007080
申请日：2020-08-31
申请人： CMR SURGICAL LIMITED
摘要： A robot arm comprising a plurality of limbs articulated relative to each other, the robot arm extending from a base to a distal limb carrying a tool or an attachment point for a tool, the distal limb being attached by a revolute joint to a second limb, and the robot arm comprising a motor having a body and a drive shaft configured to drive rotation of the distal limb relative to the second limb about the revolute joint, wherein the body of the motor is fast with the distal limb.
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公开(公告)号：US11564763B2
公开(公告)日：2023-01-31
申请号：US16321757
申请日：2017-07-27
申请人： CMR SURGICAL LIMITED
摘要： A motion feedthrough for a surgical drape, the motion feedthrough comprising a drive transfer element comprising a first portion and a second portion, the first portion being releasably engageable with a portion of a robot arm and the second portion being releasably engageable with a portion of an instrument, the drive transfer element being movable relative to a bulk portion of the drape so as to transfer drive between the robot arm and the instrument.
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公开(公告)号：US20230022025A1
公开(公告)日：2023-01-26
申请号：US17956202
申请日：2022-09-29
申请人： CMR SURGICAL LIMITED
摘要： A motion feedthrough for a surgical drape, the motion feedthrough comprising a drive transfer element comprising a first portion and a second portion, the first portion being releasably engageable with a portion of a robot arm and the second portion being releasably engageable with a portion of an instrument, the drive transfer element being movable relative to a bulk portion of the drape so as to transfer drive between the robot arm and the instrument.
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公开(公告)号：US11547501B2
公开(公告)日：2023-01-10
申请号：US16333081
申请日：2017-09-14
申请人： CMR Surgical Limited
发明人： Nikki Priyam Su-Ling Phoolchund , Keith Marshall , Thomas Bates Jackson , Jonathan Peter Whittle , Dominic Martin McBrien
IPC分类号： A61B17/072 , A61B34/30 , A61B46/10 , A61B17/00 , A61B17/068 , A61B34/00 , A61B17/29 , A61B17/32
摘要： An interface structure for detachably interfacing a surgical robot arm to a surgical instrument, the interface structure comprising: a base portion comprising a first surface for facing the surgical instrument and a second surface for facing the surgical robot arm; and a plurality of first fasteners supported by the base portion and protruding from the first surface, the plurality of first fasteners configured to engage the surgical instrument so as to retain the interface structure to the surgical instrument. The interface structure engages the surgical robot arm so as to retain the interface structure to the surgical robot arm, wherein the plurality of first fasteners and the remainder of the interface structure are shaped such that when the surgical instrument is detached from the surgical robot arm the interface structure is retained to the surgical robot arm.
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公开(公告)号：US20220354599A1
公开(公告)日：2022-11-10
申请号：US17814618
申请日：2022-07-25
申请人： CMR SURGICAL LIMITED
摘要： A surgical robot arm extending between a base and a terminal link, the terminal link connected to an adjacent link in the surgical robot arm by a joint which permits the terminal link to rotate about a longitudinal axis of the terminal link, the terminal link comprising: a drive assembly having a first drive assembly interface element for driving a first instrument interface element of a robotic surgical instrument when the surgical robot arm engages the robotic surgical instrument, the first drive assembly interface element engageable with the first instrument interface element on the longitudinal axis of the terminal link, and the first drive assembly interface element being linearly displaceable along the longitudinal axis of the terminal link so as to drive the first instrument interface element along the longitudinal axis of the terminal link.
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公开(公告)号：US11333531B2
公开(公告)日：2022-05-17
申请号：US16839287
申请日：2020-04-03
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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公开(公告)号：US10653487B2
公开(公告)日：2020-05-19
申请号：US15563839
申请日：2016-04-20
申请人： CMR SURGICAL LIMITED
IPC分类号： G01G1/22 , A61B34/30 , F16C19/52 , G01L1/22 , B25J13/08 , G01L5/00 , G01L1/04 , A61B34/00 , A61B17/00 , A61B90/00
摘要： A drive unit for providing drive from a robot arm to an instrument, the drive unit comprising: a plurality of drive elements for engaging corresponding elements of the instrument, each drive element being movable along a drive axis and the drive axes of each of the drive elements being substantially parallel to each other; and a load cell structure comprising a plurality of deflectable bodies coupled to the drive elements for sensing load on the drive elements parallel to their drive axes, and a frame comprising an integral member supporting the deflectable bodies in such a way as to isolate each deflectable body from load applied to the or each other deflectable body.
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