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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
Applicant: CMR SURGICAL LIMITED
Inventor： Luke David Ronald Hares , Paul Christopher Roberts , Graham John Veitch , Gordon Thomas Deane
IPC: A61B34/35
Abstract: 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：US20210106395A1
公开(公告)日：2021-04-15
申请号：US17066000
申请日：2020-10-08
Applicant: CMR SURGICAL LIMITED
Inventor： Gordon Thomas Deane , Graham John Veitch
Abstract: A control system configured to control manipulation of a surgical instrument in response to manipulation of a remote surgeon input device. The surgical instrument comprises opposable first and second end effector elements connected to a shaft by an articulated coupling. The articulated coupling comprises a first joint driveable by a first pair of driving elements so as to permit the first end effector element to rotate, and a second joint driveable by a second pair of driving elements so as to permit the second end effector element to rotate. The control system: responds to a closing motion of the surgeon input device by commanding maximum forces to be applied to the first and second pairs of driving elements, so as to cause the first and second end effector elements to rotate in opposing rotational directions towards each other with a maximum closing force; and on detecting that the closing motion of the surgeon input device has ceased, commanding a reduction in the force applied to the first and second pairs of driving elements, thereby enabling both the first and second end effector elements to be rotated in the same rotational direction in response to a yawing motion of the surgeon input device.
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公开(公告)号：US11832906B2
公开(公告)日：2023-12-05
申请号：US17078174
申请日：2020-10-23
Applicant: CMR SURGICAL LIMITED
CPC classification number: A61B34/35 , A61B34/77 , B25J9/1612 , B25J15/0019
Abstract: A control system configured to control manipulation of a surgical instrument in response to manipulation of a remote surgeon input device, the surgical instrument comprising opposable first and second end effector elements connected to a shaft by an articulated coupling, the articulated coupling comprising a first joint driveable by a first pair of driving elements so as to permit the first end effector element to rotate, and a second joint driveable by a second pair of driving elements so as to permit the second end effector element to rotate, the control system configured to: detect a change of configuration of the surgeon input device to a gripping configuration at time t; respond to the change of configuration of the surgeon input device to the gripping configuration by commanding gripping forces to be applied to the first and second pairs of driving elements, so as to cause the first and second end effector elements to rotate in opposing rotational directions towards each other with a gripping closing force to a closed configuration; and if the first and second end effector elements are still in the closed configuration at time t+T, commanding a reduction in the force applied to the first and second pairs of driving elements, thereby causing the first and second end effector elements to subsequently be held in a further closed configuration with a reduced closing force.
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公开(公告)号：US11826116B2
公开(公告)日：2023-11-28
申请号：US17183626
申请日：2021-02-24
Applicant: CMR SURGICAL LIMITED
Inventor： Luke David Ronald Hares , Paul Christopher Roberts , Graham John Veitch , Gordon Thomas Deane
CPC classification number: A61B34/35 , A61B34/70 , A61B34/74 , A61B2034/301 , A61B2034/305
Abstract: 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：US12150721B2
公开(公告)日：2024-11-26
申请号：US17105703
申请日：2020-11-27
Applicant: CMR SURGICAL LIMITED
Inventor： Luke David Ronald Hares , Gordon Thomas Deane , Edward James Wildin Tucker , Graham John Veitch
Abstract: A control system for controlling manipulation of a surgical instrument in response to manipulation of a remote surgeon input device at a remote surgeon's console, the surgical instrument being supported by a surgical robot arm, the surgical instrument comprising an end effector connected to a distal end of a shaft by an articulated coupling, the articulated coupling comprising one or more joints enabling the end effector to adopt a range of attitudes relative to the distal end of the shaft, the control system configured to: receive a command from an input actuated by a user to straighten the surgical instrument; and in response to the received command, to command driving forces to be applied to joint(s) of the articulated coupling to drive the instrument to adopt a predetermined configuration in which the profile of the end effector is most closely aligned with the profile of the distal end of the shaft.
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Patent Agency Ranking
公开(公告)号：US11969228B2
公开(公告)日：2024-04-30
申请号：US17075773
申请日：2020-10-21
Applicant: CMR SURGICAL LIMITED
Inventor： Gordon Thomas Deane , Graham John Veitch
IPC: A61B34/00 , A61B17/062 , A61B17/28 , A61B17/3201 , G16H20/40 , G16H40/67 , A61B34/37 , A61B90/50
CPC classification number: A61B34/74 , A61B17/062 , A61B17/282 , A61B17/3201 , A61B34/71 , G16H20/40 , G16H40/67 , A61B34/37 , A61B90/50
Abstract: A control system configured to control manipulation of a surgical instrument in response to manipulation of a remote surgeon input device. The surgical instrument comprises an end effector having opposable first and second end effector elements connected to a shaft by an articulated coupling. The control system receives a command from the surgeon input device to both (i) change the orientation of the end effector, and (ii) open the first and second end effector elements relative to each other. In response to the command to change the orientation of the end effector, the control system determines an angle θ between the longitudinal axis of the articulated coupling and the end effector. In response to the command to open the first and second end effector elements, the control system determines an opening angle ϕ between the first and second end effector elements. The control system compares θ to a maximum angle θmax between the longitudinal axis of the articulated coupling and the end effector, and if θ>θmax, drives the first and second end effector elements to rotate such that (i) the angle between the longitudinal axis of the articulated coupling and the end effector is θmax, and (ii) the opening angle between the first and second end effector elements is ϕ.
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公开(公告)号：US20230233275A1
公开(公告)日：2023-07-27
申请号：US18012431
申请日：2021-06-28
Applicant: CMR SURGICAL LIMITED
CPC classification number: A61B34/30 , A61B34/70 , A61B2090/064
Abstract: A control system for controlling manipulation of a surgical instrument in response to manipulation of a remote surgeon input device. The surgical instrument comprises opposable first and second end effector elements connected to a shaft by an articulated coupling. The control system: transforms commands from the surgeon input device to alter the opening angle between the first and second end effector elements according to a first control relationship to drive signals to drive the first and second end effector elements to rotate; receives sensed forces applied to the first and second end effector elements, and compares the sensed forces to a threshold force; and upon determining that the threshold force has been exceeded, transforms subsequent commands from the surgeon input device to alter the opening angle between the first and second end effector elements according to a second control relationship to drive signals to drive the first and second end effector elements to rotate, wherein the second control relationship is different to the first control relationship.
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公开(公告)号：US20210121254A1
公开(公告)日：2021-04-29
申请号：US17078174
申请日：2020-10-23
Applicant: CMR SURGICAL LIMITED
Inventor： David Smith , Luke David Ronald Hares , Graham John Veitch
Abstract: A control system configured to control manipulation of a surgical instrument in response to manipulation of a remote surgeon input device, the surgical instrument comprising opposable first and second end effector elements connected to a shaft by an articulated coupling, the articulated coupling comprising a first joint driveable by a first pair of driving elements so as to permit the first end effector element to rotate, and a second joint driveable by a second pair of driving elements so as to permit the second end effector element to rotate, the control system configured to: detect a change of configuration of the surgeon input device to a gripping configuration at time t; respond to the change of configuration of the surgeon input device to the gripping configuration by commanding gripping forces to be applied to the first and second pairs of driving elements, so as to cause the first and second end effector elements to rotate in opposing rotational directions towards each other with a gripping closing force to a closed configuration; and if the first and second end effector elements are still in the closed configuration at time t+T, commanding a reduction in the force applied to the first and second pairs of driving elements, thereby causing the first and second end effector elements to subsequently be held in a further closed configuration with a reduced closing force.
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公开(公告)号：US20240050176A1
公开(公告)日：2024-02-15
申请号：US18383104
申请日：2023-10-24
Applicant: CMR SURGICAL LIMITED
Inventor： Luke David Ronald Hares , Paul Christopher Roberts , Graham John Veitch , Gordon Thomas Deane
CPC classification number: A61B34/35 , A61B34/70 , A61B34/74 , A61B2034/301
Abstract: 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：US11786328B2
公开(公告)日：2023-10-17
申请号：US17066000
申请日：2020-10-08
Applicant: CMR SURGICAL LIMITED
Inventor： Gordon Thomas Deane , Graham John Veitch
Abstract: A control system configured to control manipulation of a surgical instrument in response to manipulation of a remote surgeon input device. The surgical instrument comprises opposable first and second end effector elements connected to a shaft by an articulated coupling. The articulated coupling comprises a first joint driveable by a first pair of driving elements so as to permit the first end effector element to rotate, and a second joint driveable by a second pair of driving elements so as to permit the second end effector element to rotate. The control system: responds to a closing motion of the surgeon input device by commanding maximum forces to be applied to the first and second pairs of driving elements, so as to cause the first and second end effector elements to rotate in opposing rotational directions towards each other with a maximum closing force; and on detecting that the closing motion of the surgeon input device has ceased, commanding a reduction in the force applied to the first and second pairs of driving elements, thereby enabling both the first and second end effector elements to be rotated in the same rotational direction in response to a yawing motion of the surgeon input device.
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