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公开(公告)号：US11696805B2
公开(公告)日：2023-07-11
申请号：US16591783
申请日：2019-10-03
申请人： CMR SURGICAL LIMITED
IPC分类号： A61B34/37 , B25J9/16 , B25J13/06 , G06F21/44 , A61B34/00 , A61B90/00 , A61B90/50 , A61B90/96 , A61B5/117 , A61B17/00 , G06F21/31 , H04N23/54
CPC分类号： A61B34/37 , B25J9/1697 , B25J13/06 , G06F21/44 , A61B5/117 , A61B90/50 , A61B90/96 , A61B2017/00221 , A61B2034/258 , A61B2090/3612 , A61B2090/373 , 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：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：US20220395338A1
公开(公告)日：2022-12-15
申请号：US17779438
申请日：2020-06-22
申请人： CMR SURGICAL LIMITED
IPC分类号： A61B34/30
摘要： A surgical robotic system for identifying the triggering of a condition in the system, the system comprising: a first robot arm; a controller; and a first wiring arrangement configured to provide an electrical connection between the first robot arm and the controller, the first wiring arrangement comprising: a first electrical coupling comprising circuitry configured to generate a selective electrical disconnect; a second electrical coupling; a first sensor configured to measure a first electrical output from the first electrical coupling; and a second sensor configured to measure a second electrical output from the second electrical coupling; wherein the controller is configured to detect the triggering of the condition by comparing the first electrical output and the second electrical output.
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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：US20210259792A1
公开(公告)日：2021-08-26
申请号：US17183626
申请日：2021-02-24
申请人： CMR SURGICAL LIMITED
IPC分类号： A61B34/35
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：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：US20240307136A1
公开(公告)日：2024-09-19
申请号：US18675489
申请日：2024-05-28
申请人： CMR SURGICAL LIMITED
CPC分类号： A61B34/32 , A61B34/25 , G08B7/06 , A61B18/12 , A61B2034/252 , A61B2034/254 , A61B2034/258
摘要： A system for providing assistance to a user of a surgical robot system, the system comprising: a surgical robot system comprising at least one surgical 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; and an assistance module comprising a list of steps of a task for which procedural assistance can be provided, the assistance module being configured to: receive, while the surgical robot system is being used to perform the task, status data indicating a status of the surgical robot system; determine, from the status data, whether the surgical robot system is in a procedural assistance state, the surgical robot system being in a procedural assistance state when the surgical robot system is being, or, is about to be, used to perform one of the steps of the task for which procedural assistance can be provided; and in response to determining that the surgical robot system is in a procedural assistance state, cause the surgical robot system to provide procedural assistance to the user in performing the step of the task while the surgical robot system is being used to perform the task.
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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：US20230277265A1
公开(公告)日：2023-09-07
申请号：US18197228
申请日：2023-05-15
申请人： CMR SURGICAL LIMITED
CPC分类号： A61B34/37 , B25J9/1697 , B25J13/06 , G06F21/44 , A61B2034/258
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：US20210315645A1
公开(公告)日：2021-10-14
申请号：US17282712
申请日：2019-10-03
申请人： CMR SURGICAL LIMITED
发明人： Luke David Ronald Hares , Mark Clifford Slack , Rupert Menzies , Paul Christopher Roberts , Andrew Robert Mawby
摘要： A surgical robotic system for augmenting a representation of a surgical site at which a surgical procedure can be carried out, the system comprising: a display configured to display part or all of a representation of at least a portion of a surgical site; a controller comprising an input device, whereby the input device can control an indicator on the display, the controller being configured to output an augmentation signal in response to user input relating to the representation; and a processor configured to receive the augmentation signal and, in response to the received augmentation signal, to augment the representation of the surgical site.
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