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公开(公告)号：US10905503B2
公开(公告)日：2021-02-02
申请号：US16533674
申请日：2019-08-06
Applicant: CMR Surgical Limited
Inventor： Andrew Murray Scholan , Ben Robert Chaplin , Keith Marshall , Luke David Ronald Hares , Nikki Priyam Su-Ling Phoolchund , Thomas Bates Jackson
IPC: G05B15/00 , A61B34/30 , A61B17/34 , H01L27/11519 , H01L27/11524 , H01L27/11556 , H01L27/11565 , H01L27/1157 , H01L27/11582 , B25J9/16 , B25J15/00 , A61B90/00
Abstract: A locator of a surgical port of a surgical robot system, the surgical robot system comprising an instrument attached to a robot arm, the instrument having an instrument shaft able to pass through the surgical port to a surgical site, the locator comprising: an interface configured to couple to the surgical port; a mechanism configured to permit relative linear and/or rotational motion of the interface and the instrument shaft; and a controller comprising a processor operable to estimate the position of a part of the robot arm, the controller configured to control the mechanism in dependence on the estimated position of the part of the robot arm such that as the robot arm retracts the instrument from the patient, the locator moves the port away from the robot arm and provides a reaction force to keep the port in place.
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公开(公告)号：US20210016446A1
公开(公告)日：2021-01-21
申请号：US17061825
申请日：2020-10-02
Applicant: CMR SURGICAL LIMITED
Inventor： Luke David Ronald Hares
Abstract: A method for characterising the environment of a robot, the robot having a flexible arm having a plurality of joints, a datum carried by the arm, a plurality of drivers arranged to drive the joints to move and a plurality of position sensors for sensing the position of each of the joints, the method comprising: contacting the datum carried by the arm with a first datum on a second robot in the environment of the first robot, wherein the second robot has a flexible arm having a plurality of joints, and a plurality of drivers arranged to drive those joints to move; calculating in dependence on the outputs of the position sensors a distance between a reference location defined in a frame of reference local to the robot and the first datum; and controlling the drivers to reconfigure the first arm in dependence on at least the calculated distance.
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公开(公告)号：US10807245B2
公开(公告)日：2020-10-20
申请号：US15906568
申请日：2018-02-27
Applicant: CMR SURGICAL LIMITED
Inventor： Luke David Ronald Hares
IPC: G05B19/418 , B25J9/16 , A61B34/30 , A61B34/32
Abstract: A method for characterising the environment of a robot, the robot having a flexible arm having a plurality of joints, a datum carried by the arm, a plurality of drivers arranged to drive the joints to move and a plurality of position sensors for sensing the position of each of the joints, the method comprising: contacting the datum carried by the arm with a first datum on a second robot in the environment of the first robot, wherein the second robot has a flexible arm having a plurality of joints, and a plurality of drivers arranged to drive those joints to move; calculating in dependence on the outputs of the position sensors a distance between a reference location defined in a frame of reference local to the robot and the first datum; and controlling the drivers to reconfigure the first arm in dependence on at least the calculated distance.
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公开(公告)号：US10426558B2
公开(公告)日：2019-10-01
申请号：US15355850
申请日：2016-11-18
Applicant: CMR Surgical Limited
Inventor： Andrew Murray Scholan , Ben Robert Chaplin , Keith Marshall , Luke David Ronald Hares , Nikki Priyam Su-Ling Phoolchund , Thomas Bates Jackson
Abstract: A locator of a surgical port of a surgical robot system, the surgical robot system comprising an instrument attached to a robot arm, the instrument having an instrument shaft able to pass through the surgical port to a surgical site, the locator comprising: an interface configured to couple to the surgical port; a mechanism configured to permit relative linear and/or rotational motion of the interface and the instrument shaft; and a controller comprising a processor operable to estimate the position of a part of the robot arm, the controller configured to control the mechanism in dependence on the estimated position of the part of the robot arm such that as the robot arm retracts the instrument from the patient, the locator moves the port away from the robot arm and provides a reaction force to keep the port in place.
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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
Applicant: CMR SURGICAL LIMITED
Inventor： Thomas Bates Jackson , Luke David Ronald Hares , Keith Marshall , Steven James Randle
Abstract: 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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Patent Agency Ranking
公开(公告)号：US20190126477A1
公开(公告)日：2019-05-02
申请号：US16230314
申请日：2018-12-21
Applicant: CMR SURGICAL LIMITED
Inventor： Luke David Ronald Hares
CPC classification number: B25J9/1641 , B25J9/102 , B25J9/126 , B25J9/1692 , B25J9/1694 , B25J17/00 , B25J19/02 , G05B2219/39191 , G05B2219/41359 , Y10S901/09
Abstract: A robot comprising: a base; an articulated arm extending distally of the base and including two arm members coupled by a joint; a motor; a gearbox having an input shaft coupled to an output of the motor and an output shaft configured to drive relative motion of the arm members about the joint; a position sensor configured to sense relative position of the arm members about the joint; and a control system coupled to the arm configured to drive the motor, the control system being arranged to perform a calibration operation to estimate torque loss in the gearbox by the steps of (i) estimating the inertia of the portion of the arm distal of the joint for motion about the joint; (ii) applying a determined drive power to the motor; (iii) receiving from the position sensor position data indicating the motion of the arm in response to the applied drive power; and (iv) estimating the torque loss in the gearbox in dependence on the estimated inertia, the determined drive power and the position data.
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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
Applicant: CMR SURGICAL LIMITED
Inventor： Luke David Ronald Hares , Keith Marshall
Abstract: 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：US10195739B2
公开(公告)日：2019-02-05
申请号：US15373650
申请日：2016-12-09
Applicant: CMR SURGICAL LIMITED
Inventor： Luke David Ronald Hares
Abstract: A robot comprising: a base; an articulated arm extending distally of the base and including two arm members coupled by a joint; a motor; a gearbox having an input shaft coupled to an output of the motor and an output shaft configured to drive relative motion of the arm members about the joint; a position sensor configured to sense relative position of the arm members about the joint; and a control system coupled to the arm configured to drive the motor, the control system being arranged to perform a calibration operation to estimate torque loss in the gearbox by the steps of (i) estimating the inertia of the portion of the arm distal of the joint for motion about the joint; (ii) applying a determined drive power to the motor; (iii) receiving from the position sensor position data indicating the motion of the arm in response to the applied drive power; and (iv) estimating the torque loss in the gearbox in dependence on the estimated inertia, the determined drive power and the position data.
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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
Applicant: CMR SURGICAL LIMITED
Inventor： Luke David Ronald Hares , Keith Marshall
Abstract: 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：US20180360549A1
公开(公告)日：2018-12-20
申请号：US16060474
申请日：2016-12-09
Applicant: CMR SURGICAL LIMITED
Inventor： Luke David Ronald Hares , Keith Marshall , Nikki Priyam Su-Ling Phoolchund , Ben Robert Chaplin
Abstract: 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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