-
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.
-
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.
-
公开(公告)号：US20220192766A1
公开(公告)日：2022-06-23
申请号：US17654337
申请日：2022-03-10
申请人： CMR SURGICAL LIMITED
发明人： Duncan Robinson , Edward James Wildin Tucker , Gordon Thomas Deane , Luke David Ronald Hares , Rachel Marie Garsed , Rebecca Anne Cuthbertson , Ross Hamilton Henrywood
IPC分类号： A61B34/30 , A61B34/00 , B25J9/16 , G05B19/042
摘要： A control system for controlling a surgical robot by a surgeon console remote from the surgical robot, the control system being configured to: receive one or more state signal associated with a plurality of instruments, each of the plurality of instruments being attachable to the surgical robot, the one or more state signal indicating a selectability of each of the plurality of instruments for control by the surgeon console, and a control mode of each of the plurality of instruments from a group of modes, the group of modes comprising a manipulation mode in which an instrument of the plurality of instruments is controllable by the surgeon console, and a selection mode in which an instrument of the plurality of instruments is selectable for control by the surgeon console; determine a graphical arrangement of icons for display in dependence on the received one or more state signal, where each icon represents a respective one of the plurality of instruments, and output a display signal to cause the graphical arrangement of icons to be displayed; receive a mode change signal.
-
公开(公告)号：US11311345B2
公开(公告)日：2022-04-26
申请号：US16492709
申请日：2018-03-09
申请人： CMR SURGICAL LIMITED
发明人： Duncan Robinson , Edward James Wildin Tucker , Gordon Thomas Deane , Luke David Ronald Hares , Rachel Marie Garsed , Rebecca Anne Cuthbertson , Ross Hamilton Henrywood
摘要： A control system for controlling a surgical robot by a surgeon console remote from the surgical robot, the control system being configured to: receive one or more state signal associated with a plurality of instruments, each of the plurality of instruments being attachable to the surgical robot, the one or more state signal indicating a selectability of each of the plurality of instruments for control by the surgeon console, and a control mode of each of the plurality of instruments from a group of modes, the group of modes comprising a manipulation mode in which an instrument of the plurality of instruments is controllable by the surgeon console, and a selection mode in which an instrument of the plurality of instruments is selectable for control by the surgeon console; determine a graphical arrangement of icons for display in dependence on the received one or more state signal, where each icon represents a respective one of the plurality of instruments, and output a display signal to cause the graphical arrangement of icons to be displayed; receive a mode change signal indicating a change of mode to the selection mode; modify, in response to the received mode change signal, the graphical arrangement of icons to permit identification of selectable instruments of the plurality of instruments; receive a select signal from the surgeon console indicating a selection of one of the selectable instruments; modify, in response to the received select signal, the graphical arrangement of icons to permit identification of the selected instrument; and enable control of the selected instrument by the surgeon console.
-
公开(公告)号：US20220087757A1
公开(公告)日：2022-03-24
申请号：US17543325
申请日：2021-12-06
申请人： CMR SURGICAL LIMITED
IPC分类号： A61B34/30
摘要： A surgical robot comprising an articulated arm, the arm having a terminal portion comprising: a distal segment having an attachment for a surgical instrument; an intermediate segment; and a basal segment whereby the terminal portion is attached to the remainder of the arm; 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; wherein: the intermediate segment comprises a third articulation permitting relative rotation of the distal segment and the basal segment about third and fourth axes; and 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.
-
公开(公告)号：US11147639B2
公开(公告)日：2021-10-19
申请号：US16832600
申请日：2020-03-27
申请人： CMR Surgical Limited
摘要： A surgical robotic arm drape for enveloping a portion of a robotic arm, the drape comprising: an exterior sheet defining an elongate cavity for housing a portion of a robotic arm; and a duct defined at least in part by material integral with the exterior sheet, the duct defining a fluid path along the longitudinal extent of the cavity to channel fluid to or from a robotic arm housed within the cavity.
-
公开(公告)号：US20210267700A1
公开(公告)日：2021-09-02
申请号：US17255564
申请日：2019-06-27
申请人： CMR SURGICAL LIMITED
摘要： A robotic system comprises two robots and a control unit. Each robot has a base and an arm extending from the base to an attachment for an instrument. Each arm comprises a plurality of joints whereby the configuration of the arm can be altered. Each robot comprises a driver for each joint configured to drive the joint to move, and position and torque sensors. The control unit controls the drivers in dependence on inputs from the sensors. The control unit: determines the gravitational torques on the joints of the arms of the robots in the arm configurations indicated from the inputs from the position sensors; from the inputs from the torque sensors and the determined gravitational torques, determines residual torques on the joints of the arms of the robots in the indicated arm configurations; calculate a candidate force for each arm which when applied to that arm would cause the determined residual torques; and determines a collision if a candidate force on the arm of the first robot balances an opposing candidate force on the arm of the second robot.
-
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.
-
公开(公告)号：US20190223960A1
公开(公告)日：2019-07-25
申请号：US16060591
申请日：2016-12-09
申请人： CMR SURGICAL LIMITED
CPC分类号： A61B34/30 , A61B17/29 , A61B2017/2902 , A61B2017/2908 , A61B2017/2927 , A61B2017/2939 , A61B2034/305 , A61B2034/306 , A61B2034/715 , B25J9/1045
摘要： A robotic surgical instrument comprising: a shaft; an end effector element; an articulation connecting the end effector element to the shaft, the articulation comprising: joints permitting the end effector element to adopt a range of orientations relative to a longitudinal axis of the shaft; pairs of driving elements configured to drive the joints; a supporting body having a bevelled surface; and are directing pulley mounted on the bevelled surface such that the redirecting pulley rotates about a redirecting pulley axis transverse to the bevelled surface.
-
公开(公告)号：US10080618B2
公开(公告)日：2018-09-25
申请号：US15217082
申请日：2016-07-22
申请人： CMR SURGICAL LIMITED
CPC分类号： A61B34/30 , A61B2034/305 , B25J9/102 , B25J17/0275 , Y10S901/25 , Y10S901/26 , Y10S901/41
摘要： A robot arm comprising a joint mechanism for articulating one limb relative to another limb 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 first rotation axis and to a second one of the limbs by a second revolute joint having a second rotation axis; a first drive gear disposed about the first rotation axis and fast with the carrier, whereby rotation of the carrier relative to the first limb about the first rotation axis can be driven; a second drive gear disposed about the second rotation axis and fast with the second one of the limbs, whereby rotation of the second one of the limbs about the second rotation axis relative to the carrier can be driven; at least one of the first and second drive gears being a sector gear.
-
-
-
-
-
-
-
-
-
搜索结果
79 条记录 (耗时 0.025 秒)
