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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：US20230389952A1
公开(公告)日：2023-12-07
申请号：US18249813
申请日：2021-10-22
申请人： CMR Surgical Limited
IPC分类号： A61B17/32 , A61B17/3201
CPC分类号： A61B17/320016 , A61B17/3201 , A61B2034/305
摘要： A robotic surgical instrument comprising: an end effector with opposing first and second end effector elements, each end effector element comprising a first portion for enabling rotation of that end effector element about a respective joint and a second portion with a surface configured to interface with a corresponding surface of the opposing end effector element; and an articulation comprising: a first joint permitting rotation of the first end effector element about a first axis; a second joint permitting rotation of the second end effector element about a second axis; and a supporting body comprising opposing first and second tines within which the first portions of the first and second end effector elements are permitted to rotate; wherein the first portion of the first end effector element is proximal to the first tine, and the second portion of the first end effector element is proximal to the second tine.
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公开(公告)号：US11803206B2
公开(公告)日：2023-10-31
申请号：US17738823
申请日：2022-05-06
申请人： CMR Surgical Limited
CPC分类号： G05G9/047 , B25J13/02 , B25J13/085 , G05G1/06 , G05G5/03 , G05G2009/04766 , G05G2009/04774
摘要： A user interface device for controlling a robot manipulator having an end effector comprising at least one movable element, the user interface device comprising: a body for being held by a user, the body comprising an elongate grip portion configured to be gripped by one or more of a user's second to fourth fingers; a trigger extending transversely to the direction of elongation of the grip portion, the trigger being supported by the body so as to be capable of rotating relative to the body about a rotation axis passing through the grip portion; and a drive mechanism at least partially housed in the grip portion, the drive mechanism being coupled to the trigger for applying a torque to the trigger.
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公开(公告)号：US20230240778A1
公开(公告)日：2023-08-03
申请号：US18013594
申请日：2021-07-02
申请人： CMR SURGICAL LIMITED
CPC分类号： A61B34/37 , A61B34/74 , A61B90/06 , B25J9/1025 , B25J9/1641 , B25J9/1653 , A61B2034/305
摘要： A method for characterising the performance of a joint in a surgical robotic arm, the joint being driven by a drivetrain which transfers power from a drive source to the joint, the method comprising: sending a first command signal to position the robot arm into an initial configuration; sending a second command signal to apply a force to the joint to displace the joint from a steady state; for a plurality of predefined time intervals: receiving a first measurement indicating the configuration of the drive source at a first end of the drivetrain; receiving a second measurement indicating the configuration of the joint at a second end of the drivetrain; calculating a value of elongation using the first and second measurements; and receiving a third measurement indicating the torque experienced by the joint at the second end of the drivetrain; comparing the values of elongation with corresponding values of torque at each of the predefined time intervals; and generating an output from the comparison indicating the performance of the joint.
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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：US20230173693A1
公开(公告)日：2023-06-08
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：US20230076848A1
公开(公告)日：2023-03-09
申请号：US17919819
申请日：2021-04-21
申请人： CMR SURGICAL LIMITED
发明人： Gordon Thomas Deane
摘要： A control system for a surgical robotic system, the surgical robotic system comprising a remote surgeon console having a surgeon input device, and a surgical robot arm comprising a series of joints extending from a base to a terminal end for attaching to a surgical instrument, the surgical robot arm operable in a full power mode in which the joints of the surgical robot arm are powered by a first power source and a reduced power mode in which the joints of the surgical robot arm are powered by a second power source, the control system configured to: whilst the surgical robot arm is operating in the full power mode, control the surgical robot arm in a surgical mode by converting movements of the surgeon input device to control signals for moving joints of the surgical robot arm; detect power failure of the first power source; in response to detecting the power failure, enable the reduced power mode, and transition control of the surgical robot arm from the surgical mode to a standby mode; whilst in the reduced power mode, receive a command from a user input located on or adjacent to the surgical robot arm or on the surgeon console; and in response to receiving the command, transition control of the surgical robot arm from the standby mode to a calibration mode.
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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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