An arrangement for supporting a surgical robot, the arrangement comprising: a planar member on which the surgical robot is supported; a bladder coupled to a bottom surface of the planar member, the bladder comprising: an external membrane having a surface which opposes the bottom surface of the planar member and which is configured to comply with an uneven surface that it is in contact with; an internal cavity defined by the external membrane, the internal cavity holding a plurality of solid particles and being configured to hold a plurality of fluid particles; and an opening in the external membrane, the opening being configured to enable the extraction of one or more of the fluid particles so as to cause an increased frictional engagement between the plurality of solid particles, thereby stabilising the surgical robot on the uneven surface.
There is provided an isolator module for use in a surgical robotic system which comprises a robot arm and a controller. The isolator module is configured to provide an interface between the robot arm and the controller of the surgical robotic system. The isolator module comprises a first interfacing portion configured to: (i) transfer power to a first cable that is connected to the robot arm, and (ii) transfer data to and from the first cable, and a second interfacing portion configured to: (i) transfer power to a second cable that is connected to the controller, and (ii) transfer data to and from the second cable. The isolator module further comprises a data link connecting the first interfacing portion to the second interfacing portion, the data link being configured to transfer data in both directions between the first interfacing portion and the second interfacing portion whilst providing electrical isolation between the first interfacing portion and the second interfacing portion. The isolator module further comprises an isolated power converter configured to transfer power between the first interfacing portion and the second interfacing portion whilst providing electrical isolation between the first interfacing portion and the second interfacing portion.
A robotic surgical instrument for performing a surgical procedure, the instrument comprising a shaft, an end effector comprising an electrical component and an articulation connecting the shaft to the end effector. The articulation permits the end effector to rotate relative to the shaft about a first axis. The robotic surgical instrument further comprises an electrical cable extending along the shaft. The electrical cable is configured to provide electrical current for the electrical component of the end effector. The robotic surgical instrument further comprises an electrical connector extending at least partially around a circumference surrounding the first axis. The electrical connector provides a sliding electrical connection between the electrical cable and the end effector, such that the end effector is permitted to rotate about the first axis independently of the electrical cable whilst the electrical connection between the electrical cable and the end effector is maintained.
Electrosurgical connection units for a surgical robot arm. The electrosurgical connection units include: an input port connectable to an electrosurgical generator; an output port connectable to an electrosurgical instrument attached to the surgical robot arm; one or more activation switch units, wherein activation of an activation switch unit of the one or more activation switch units causes an activation signal to be output from the input port, the activation signal is configured to, when the input port is connected to the electrosurgical generator, cause the electrosurgical generator to generate a driving electrosurgical signal which is received on the input port; a connection switch unit, wherein activation of the connection switch unit causes a portion of the input port to be electrically connected to the output port such that, when the input port is connected to the electrosurgical generator, the driving electrosurgical signal received on the input port is output on the output port; and a control unit configured to, in response to receiving a control signal from an external computing device, cause the connection switch unit to be activated and subsequently cause an activation switch unit of the one or more activation switch units to be activated.
There is provided a robotic surgical instrument comprising an end effector, a shaft component, a supporting body connected to a distal end of the shaft component at a first end and to the end effector at a second end, and a pulley facing an outer surface of the first end of the supporting body. The pulley comprises a first section with a first diameter and a second section with a second diameter that is smaller than the first diameter. The first or second section of the pulley is configured to restrict movement of the supporting body.
A surgical robot arm comprises a base connected to a terminal link (503) via a series of intermediate joints. The terminal link (503) comprises a drive assembly interface comprising drive assembly interface elements (1101a,b,c). Each drive assembly interface element is configured to: engage an instrument interface element (901a,b,c) of an instrument interface of a robotic surgical instrument when the surgical robot arm engages the robotic surgical instrument; and move relative to the drive assembly interface across a range of motion so as to, when engaged with the instrument interface element, transfer drive to that instrument interface element. The drive assembly interface elements are arranged across a plane perpendicular to the longitudinal axis of the terminal link such that the robotic surgical instrument is detachable from the surgical robot arm in a detachment direction parallel to the plane when each drive assembly interface element is anywhere within its range of motion.
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.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
G08B 7/06 - Signalling systems according to more than one of groups Personal calling systems according to more than one of groups using electric transmission
A61B 18/12 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
A control system and a method for controlling a surgical robotic system are provided. The surgical robotic system comprises a surgical robot arm. The surgical robot arm comprises a plurality of joints by which its configuration can be altered. An input is received which indicates a desired motion of the surgical robot arm when the surgical robotic system is operating in a mode in which the surgical robot arm is controlled in accordance with an objective. The objective is to control a particular part of the surgical robot arm to have a desired position and/or orientation. The control system determines that the desired motion of the surgical robot arm would cause a limit to be exceeded. In response to determining that the desired motion of the surgical robot arm would cause the limit to be exceeded, a control signal is generated for controlling the surgical robot arm, and the generated control signal is sent to the surgical robot arm in order to control the surgical robot arm. The control signal is generated, in response to determining that the desired motion of the surgical robot arm would cause the limit to be exceeded, such that: (i) movement of a first set of one or more of the joints of the surgical robot arm is restricted, and (ii) movement of a second set of one or more of the joints of the surgical robot arm is not restricted.
A control system for implementing a safety mechanism for a surgical robot, the surgical robot operable in a clinical mode in which the surgical robot can perform surgery in response to inputs received at a surgeon input device of a remote surgeon console, the clinical mode comprising safety features, and the surgical robot operable in a service mode in which tests and diagnostics can be run on the surgical robot in response to inputs received from a service interface, the service mode mirroring the clinical mode except in that several of the safety features of the clinical mode are disabled, the control system configured to, in the safety mechanism: receive a transition command to transition the surgical robot to a surgical clinical mode or a calibration clinical mode in which the surgical robot is calibrated for surgery; in response to receiving the transition command, determine if the surgical robot is operating in the service mode; and if the surgical robot is determined to be operating in the service mode, prevent the surgical robot from being transitioned to the surgical clinical mode or the calibration clinical mode.
A control system for controlling a surgical robot arm, the surgical robot arm having a drive mechanism configured for driving a robotic surgical instrument, said robotic surgical instrument comprising a first end effector element and a second end effector element, the drive mechanism comprising one or more interface elements configured to interface with the robotic surgical instrument for controlling a spread angle between the first end effector element and the second end effector element, the control system being configured to: cause an instrument drive force applied at the one or more interface elements to be varied; measure, at each of a plurality of times, the instrument drive force applied at the one or more interface elements; determine, for each of the plurality of times, a force behaviour value using a derivative of the measured instrument drive force with respect to the time at that time; determine an offset value in dependence on the plurality of determined force behaviour values; and control, in dependence on the offset value, the surgical robot arm to control the spread angle between the first end effector element and the second end effector element of the robotic surgical instrument.
A surgical robotic instrument comprising: an end effector mount; and a pair of interacting end effector elements, each end effector element having a mounting structure whereby it is rotatably mounted to the end effector mount to allow rotation relative to the end effector mount about an axis; wherein the mounting structures of the end effector elements are interlocked so as to inhibit relative movement therebetween in a direction parallel to the axis.
A control unit for controlling motion of a surgical robot arm, the control unit being configured to receive an input signal from a surgeon input device for controlling the surgical robot arm and send an output signal to the surgical robot arm to cause motion of the surgical robot arm, the control unit being further configured to: detect a clash in respect of the surgical robot arm; in response to detecting the clash, place a limitation on the motion of the surgical robot arm; receive an input signal from the surgeon input device for controlling the surgical robot arm and send an output signal to the surgical robot arm so as to control motion of the surgical robot arm in accordance with the limitation.
A control unit for a surgical robot, the surgical robot comprising a joint driven by a drivetrain which transfers power from a drive source to the joint, wherein the control unit is configured to: in dependence on a drive source configuration signal indicating a position of the drive source and a joint configuration signal indicating a position of the joint in the surgical robot, calculate a value of reference torque for the joint using frequency components of the drive source configuration signal that are within a high frequency range and frequency components of the joint configuration signal that are within a low frequency range; and output the value of reference torque to a joint controller for controlling the joint.
A control system and method for controlling a surgical robotic system are provided, wherein the surgical robotic system comprises a surgical robot arm and a surgeon input device. The surgical robot arm comprises: (i) a series of joints by which its configuration can be altered, and (ii) an attachment for a surgical instrument at a distal end of the surgical robot arm. A condition is identified that suggests that the surgical robot arm is being used for a surgical step involving rotation of a surgical instrument attached to the surgical robot arm. In response to identifying said condition, a prompt is output for prompting a user to enable a rotational scaling mode. A mode selection input is received that indicates whether the user has selected to enable the rotational scaling mode. The rotational scaling mode is enabled in response to receiving a mode selection input that indicates that the user has selected to enable the rotational scaling mode. When the rotational scaling mode is enabled: (i) a control input is received from the surgeon input device, (ii) the received control input is used to determine an indication of a movement of the surgeon input device, wherein the indication of the movement comprises a matrix representation of a rotation of the surgeon input device, (iii) the matrix representation is converted into an axis-angle representation of the rotation of the surgeon input device, wherein said axis-angle representation of the rotation comprises: (i) an indication of a rotation axis for the rotation, and (ii) an angle of rotation about the rotation axis, (iv) the angle of rotation is scaled with a rotational scaling factor to determine a scaled angle of rotation about the rotation axis for a scaled axis-angle representation of a scaled rotation, (v) a control signal is generated for the surgical robot arm using the scaled axis-angle representation of the scaled rotation, and (vi) the generated control signal is sent to the surgical robot arm in order to drive the surgical robot arm such that its configuration is altered.
A robotic electrosurgical instrument comprising: a shaft; an end effector comprising opposing first and second end effector elements; a first joint drivable by a first driving element that is constrained around the first joint, the first joint permitting the end effector to rotate relative to the shaft about a first axis; a second joint permitting the first end effector element to rotate about a second axis that is transverse to both the first axis and the longitudinal axis of the shaft, wherein the first end effector element is driven about the second joint by a second driving element, the passage of the second driving element through the instrument defining a first path that extends around the second joint; the second driving element being secured to the second joint at a securing point, wherein the securing point is offset from the longitudinal axis of the end effector element; the end effector further comprising an insulating component that covers a proximal end of the first end effector element, the insulating component comprising a first groove that houses the second driving element as it extends around the second joint; and an electrical cable configured to provide electrical current to an electrical component of the first end effector element, the electrical cable extending by more than 45 degrees around the second joint such that it rotates about the second joint with the first end effector element.
A robotic electrosurgical instrument comprising: a shaft; an end effector comprising an electrical component, wherein the end effector comprises opposing first and second end effector elements; a first joint permitting the end effector to rotate relative to the shaft about a first axis; a first driving element configured to drive the end effector about a second joint, the passage of the first driving element through the instrument defining a first path that extends at least partially around the first joint; and an electrical cable configured to provide electrical current to the electrical component, the passage of the electrical cable through the instrument defining a second path that is offset from the first path along the first axis and that extends parallel to the first path around the first joint.
An electrosurgical connection unit for a surgical robot arm to connect an electrosurgical instrument attached to the arm to an electrosurgical generator. The electrosurgical connection unit includes an input port connectable to the electrosurgical generator, the input port configured to receive a driving electrosurgical signal and output one or more activation signals; an output port connectable to the electrosurgical instrument, the output port configured to output the driving electrosurgical signal received on the input port; one or more activation switch units, wherein activation of an activation switch unit causes an activation signal to be output from the input port indicating a driving electrosurgical signal with a desired waveform is to be activated; and a control unit configured to selectively activate one of the one or more activation switch units in response to a control signal.
A61B 18/12 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
A robotic surgical instrument includes an articulation drivable by at least one driving element. Movement of an instrument interface element is transferred to the at least one driving element. A driving element securing member includes at least one tapered side wall and is configured to be coupled to the at least one driving element. A holding member includes an opening configured to receive a fixing member and at least one wall defining a recess having a shape complementary to the shape of the at least one tapered side wall. The fixing member is configured to be received in the opening and apply force to secure the driving element securing member within the recess of the holding member so that the at least one wall of the holding member is in frictional contact with the tapered side wall of the driving element securing member.
A driving element securing member for securing a driving element in a robotic surgical instrument, the driving element comprising an end portion and a body portion, the body portion having a cross-sectional area that is less than that of the end portion, the driving element securing member comprising: a cavity; two openings formed in respective side surfaces of the driving element securing member, each of the openings configured to communicate with the other opening via the cavity and to allow the end portion of the driving element to pass into the cavity; and at least one channel, in communication with the cavity, and configured to open to an end face of the driving element securing member; wherein the at least one channel is configured to receive the body portion but not the end portion of the driving element; wherein the driving element securing member is configured to removably retain the end portion of the driving element within the cavity; and wherein the two openings are configured to have a length in a longitudinal direction of the driving element securing memberthat is less than a length of the end portion of the driving element in said longitudinal direction when the end portion of the driving element is retained within the cavity.
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.
A control system for controlling a surgical robot arm, the surgical robot arm having a drive mechanism configured for driving a robotic surgical instrument, said robotic surgical instrument comprising a first end effector element and a second end effector element, the drive mechanism comprising one or more interface elements configured to interface with the robotic surgical instrument for controlling a spread angle between the first end effector element and the second end effector element, the control system being configured to: cause an instrument drive force applied at the one or more interface elements to be varied; predict, for each of a plurality of applied instrument drive forces, a resultant spread angle between the first end effector element and the second end effector element in dependence on a measured position of each of the one or more interface elements when that instrument drive force is applied; determine, for each of the plurality of predicted resultant spread angles, an instrument stiffness value using a derivative of the applied instrument drive force with respect to the predicted resultant spread angle at that predicted resultant spread angle; determine a spread offset value in dependence on the plurality of determined instrument stiffness values; and control the surgical robot arm to drive the robotic surgical instrument in dependence on the spread offset value.
A surgical system comprising a processing device configured to implement a trained machine learning model, the processing device being configured to: receive first data having a first data format from a sensing device; receive additional data indicating a condition of the surgical system; in dependence on the additional data, input the first data or data derived therefrom to the trained machine learning model; and output second data having a second data format.
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
G16H 30/40 - ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
A robot arm comprising: a first link connected to a second link by a joint, the joint permitting the second link to move relative to the first link; a motor for driving the joint; and a controller for controlling the motor. The controller is configured to electrically brake the motor in response to detection of a fault in the robot arm by applying a braking current to the motor so as to maintain the position of the joint against gravity. The controller only performs this electrical braking if the joint is in a configuration in which the robot arm will droop under gravity if the joint is not actively driven.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
A drape interface structure including a rigid frame defining an opening, a membrane spanning the opening of the frame, and a drive transfer element attached to the membrane and adapted to convey motion through the membrane. The membrane includes a first region of a first elastic deformability and a second region of a second elastic deformability different from the first elastic deformability.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A drape interface structure including a frame defining an opening, a membrane spanning the opening of the frame, and a drive transfer element attached to the membrane and adapted to convey motion through the membrane. The membrane is of a material that can deform to form a plastically deformed region in the membrane in response to an initial movement of the drive transfer element relative to the frame, such that subsequent movements of the drive transfer element in the membrane have reduced resistance from the membrane.
A method of testing a motor of a robot arm for a fault during a start-up procedure of the robot arm. The robot arm comprises a first link connected to a second link by a joint, the joint permitting the second link to move relative to the first link. The motor is for driving the joint and is a multiple-phase motor, each phase of the motor comprising a motor winding and a motor drive circuit for applying power to the motor winding from a power supply rail and for applying drive signals to the motor winding. The method comprises, in the following order: (i) driving the motor to a known state; (ii) connecting a first phase only of the motor to the power supply rail; (iii) driving a Pulse Width Modulation (PWM) signal through the motor drive circuit of the first phase of the motor; (iv) driving the motor to a known state; (v) with the first phase of the motor disconnected from the power supply rail, driving the PWM signal through the motor drive circuit of the first phase of the motor; and (vi) repeating steps (ii) to (v) for each of the other phases of the motor; the method further comprising, during each of steps (i) to (vi), testing whether the current from the power supply rail to the motor drive circuit exceeds a current limit.
G01B 7/14 - Measuring arrangements characterised by the use of electric or magnetic techniques for measuring distance or clearance between spaced objects or spaced apertures
G01R 19/00 - Arrangements for measuring currents or voltages or for indicating presence or sign thereof
G01R 31/26 - Testing of individual semiconductor devices
27.
CONTROLLING A SURGICAL ROBOT ARM WHILST ENTERING A SLEEP MODE
A control unit for controlling a surgical robot arm to enter a sleep mode, the surgical robot arm extending between a base and a terminal link via a series of articulated links, the base mounted on a support structure, the terminal link having an attachment for a surgical instrument. The control unit: receives a command signal to enter the sleep mode, and responds by controlling the articulated links of the surgical robot arm to be driven to adopt a compact configuration relative to the support structure; receives sensor data from one or more sensors on the surgical robot arm; determines, from the received sensor data, a collision between the surgical robot arm and the support structure; responds to the determined collision by causing the surgical robot arm to change from the sleep mode to a locked mode, and controlling the articulated links to maintain their position at the time the locked mode was entered; whilst in the locked mode, receives a command signal to enter an unlocked mode, and responds by controlling the articulated links of the surgical robot arm to be driven to move the surgical robot arm away from the site of the determined collision; and whilst in the unlocked mode, receives a command signal to enter the sleep mode, and responds by controlling the articulated links of the surgical robot arm to be driven to adopt the compact configuration.
A control system for a surgical robotic system, the surgical robotic system comprising a surgical robot arm and a surgeon input device, the surgical robot arm comprising a series of joints by which its configuration can be altered, the series of joints extending from a base at a proximal end of the surgical robot arm to an attachment for a surgical instrument at a distal end of the surgical robot arm, the control system being configured to control the surgical robot arm, in dependence on inputs received at the surgeon input device, to alter the configuration of the surgical robot arm whilst maintaining an intersection between a surgical instrument attached to the surgical robot arm and a fulcrum, in which the control system is configured to: receive an input from the surgeon input device, said input indicating a requested movement of the surgical instrument; determine a scaling factor using a scaling function that is dependent on the distance between a part of the surgical instrument and the fulcrum; generate a control signal for the surgical robot arm in dependence on the input from the surgeon input device and the determined scaling factor; and send the generated control signal to the surgical robot arm in order to drive the surgical robot arm such that its configuration is altered so as to cause movement of the surgical instrument.
An alarm system is provided for a surgical robot. The surgical robot comprises a surgical robot arm and a surgical instrument attached to a distal end of the surgical robot arm. The surgical robot arm is driven using control signals which attempt to maintain an intersection between the surgical instrument and a pivot point. A shaft axis line which is coincident with an axis of a shaft of the instrument is determined. An indication of a retraction distance is determined which indicates how far the instrument is retracted relative to the pivot point. A perpendicular distance is determined between the shaft axis line and the pivot point in a direction perpendicular to the shaft axis line. The determined perpendicular distance is compared with an alarm threshold. An alarm is raised in response to determining that the determined perpendicular distance is greater than the alarm threshold. The alarm threshold is dependent upon the indicated retraction distance.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 17/00 - Surgical instruments, devices or methods
CMR01-133108PC 33 ABSTRACT Controlling a joint in a robotic arm There is provided a controller for controlling the configuration of a joint in a surgical robot, the joint 5 being driven by a drivetrain which transfers power from a drive source to the joint, the controller being configured to: receive a drive source configuration signal indicating a configuration of the drive source; receive a joint configuration signal indicating a configuration of the joint; determine a configuration error from a difference in configurations indicated by the drive source configuration signal and the joint configuration signal; determine a configuration error limit from a measured joint torque of the joint and a 10 joint stiffness of the joint; compare the determined configuration error and the determined configuration error limit; and output a fault signal where the determined configuration error equals or exceeds the determined configuration error limit. Figure 615
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
G05B 19/404 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
A controller for moving a first part of a surgical robot arm, the surgical robot arm comprising a plurality of arm segments separated by a plurality of driven joints, in response to an external force being imparted on a second part of the surgical robot arm, the controller being configured to: determine a torque at each of the plurality of joints which results from the force imparted on the second part of the surgical robot arm; calculate from the determined torques a resultant force which acts on the first part of the surgical robot arm as a result of the external force being imparted on the second part of the surgical robot arm; calculate a desired velocity of the first part of the surgical robot arm for a time subsequent to a current time by evaluating an equation of motion modelling Coulomb and viscous frictional forces using a backward Euler approximation, the equation of motion having inputs of the calculated resultant force which acts on the first part of the surgical robot arm; and the current velocity at the current time of the first part of the surgical robot arm; and drive the surgical robot arm in accordance with the calculated desired velocity.
A control unit for a surgical robotic system, the surgical robotic system comprising a robotic arm comprising a drive assembly having a first drive assembly interface element configured to provide mechanical drive for actuating a first joint of an instrument when the robotic arm engages with the instrument, the instrument having an end effector comprising a first end effector element and a second end effector element, the first end effector element being moveable with respect to the second end effector element about the first joint, the control unit being configured to control the drive assembly and comprising one or more processors configured to: receive a signal from an input device in response to one of the following: a user request to disengage the instrument from the robotic arm; an activation of an instrument withdrawal mode of the surgical robotic system; and the instrument being moved past a reference point while the surgical robotic system is in an instrument withdrawal mode; and in response to receiving the signal, cause the first drive assembly interface element to move from a first position in which the first end effector element exerts a gripping force on the second end effector element to a second position in which the first end effector element does not exert a gripping force on the second end effector element.
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.
A robotic surgical arm including a receiver configured to receive wireless communications from a robotic surgical instrument attached to the robotic surgical arm and a shield including a plurality of fingers each having a common shape and a connector being in contact with each of the fingers. When the connector is electrically connected to ground, the shape, dimensions and arrangement of the fingers causes attenuation of the transmission of electric fields through the shield.
A control system for controlling the application of energy from an electrosurgical generator to a robotic electrosurgical instrument during a cut mode in which the electrosurgical instrument is used to cut tissue. The control system: controls the electrosurgical generator to apply energy to the electrosurgical instrument during a first cut phase; detects a trigger condition has been met during the first cut phase; upon detecting that the trigger condition has been met, starts a timer; and upon a predetermined time period elapsing after the timer has started, controls the electrosurgical generator to switch from the first cut phase to a second cut phase, the second cut phase differing from the first cut phase by one or more energy parameters.
A61B 18/12 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
A method for calibrating a surgical robot arm motor comprising: running a test sequence comprising: controlling a set of test motor currents to be applied to the motor, each causing the motor to drive a drive interface element to move; and for each test motor current, receiving a measured resistive force applied by a calibration rig; determining a relationship between the set of test motor currents and the resistive force measurements; determining calibration value(s) from: (i) the determined relationship, and (ii) a known relationship between the resistive force applied by the calibration rig and the driving force applied by the drive interface element; and controlling the calibration value(s) to be applied to subsequent motor currents applied to the motor so as to cause the motor to drive the drive interface element to apply desired driving forces to an instrument interface element of an attached surgical instrument.
A base for supporting a surgical robot includes a first planar member on which the surgical robot is mounted. A second planar member is pivotably coupled to the first planar member about a first axis. The first planar member and the second planar member are independently rotatable about the first axis so as to stabilise the base on an uneven floor surface.
A method of real-time image correction of a video stream from a surgical endoscope of a surgical robotic system. The video stream comprises a sequence of images. The method comprises: for an image in the sequence of images, identifying a plurality of regions, each region having a different range of values of at least one image property to another region; applying a mask to the image which applies a region-specific modification to each region, each region-specific modification modifying the at least one image property of that region; deriving data from the surgical robotic system; determining a relationship between features in the image from the derived data; modifying the mask for a predicted relationship between the features at the time of a subsequent image in the video stream; and applying the modified mask to the subsequent image in the video stream.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
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.
A control system for controlling a surgical robot system, the surgical robot system comprising at least one surgical robot, each of the at least one surgical robot comprising 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, the control system comprising: a main controller configured to: receive communications from one or more devices of an operator console identifying inputs from an operator of the at least one surgical robot; generate control signals for controlling the movement of the at least one surgical robot arm based on the inputs; and send communications to the at least one surgical robot identifying the control signals; and a safety monitor configured to analyse at least a portion of the communications to and/or from the main controller to determine whether the surgical robot system is in a fault state, and in response to determining that the surgical robot system is in a fault state, cause at least one of the one or more devices of the operator console and the at least one surgical robot to transition to a safe state.
H04L 43/0817 - Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters by checking availability by checking functioning
G05B 19/4155 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
A robotic surgical instrument comprising: a shaft; an end effector comprising a first end effector element with a first surface and a second end effector element with a second surface configured to interface with the first surface; and an articulation connecting the end effector to the shaft, the articulation permitting the first end effector element to rotate about a first axis and the second end effector element to rotate about a second axis, the first and second axes being transverse to the longitudinal axis of the shaft; wherein, when the end effector is aligned with the shaft and the first and second surfaces are interfaced, the orientation of the first surface, relative to the first axis, is greater than zero degrees.
Systems and methods for controlling a surgical robot comprising 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. The system includes: a display device configured to present a view of a virtual scene to an operator of the virtual reality display device, the virtual scene comprising a virtual screen on which a representation of a real-time video stream of a surgical site is displayed; an input tracking system configured to track a position of one or more free-space inputs in space; and a control unit configured to translate the tracked position of the one or more inputs free-space into one or more control signals to control the position of the arm of the surgical robot.
Systems and methods for controlling a surgical robot comprising 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. The system includes: a display device configured to present a view of a virtual scene to an operator of the virtual reality display device, the virtual scene comprising a virtual screen on which a representation of a real-time video stream of a surgical site is displayed; an input tracking system configured to track a position of one or more free-space inputs in space; and a control unit configured to translate the tracked position of the one or more inputs free-space into one or more control signals to control the position of the arm of the surgical robot.
To be accompanied, when published, by FIG. 4 of the accompanying drawings.
A controller for controlling the configuration of a joint in a surgical robot, the joint being driven by a drivetrain which transfers power from a drive source to the joint, wherein the controller is configured to: receive a first input indicating a configuration of the drive source; receive a second input from a first sensor, the second input indicating a measured configuration of the joint in the surgical robot; calculate a value of output torque about the joint using the first input and the second input; and calculate, using the value of output torque, a value of input torque to be applied to the joint in the surgical robot by the drive source.
A control system of a surgical robotic system, the surgical robotic system comprising a first robot arm and a second robot arm, each of the first and second robot arms comprising a series of joints by which the configuration of that robot arm can be altered, the series of joints extending from a base at a proximal end of the robot arm to an attachment for a surgical instrument at a distal end of the robot arm, the control system being configured to reconfigure the surgical robotic system by: controlling the first robot arm to operate in a surgical mode in which a first surgical instrument attached to that first robot arm is inside a patient's body; and whilst the first robot arm is operating in the surgical mode: (i) controlling the second robot arm so as to permit a second surgical instrument attached to the second robot arm to be inserted into a port in the patient's body; (ii) determining a fulcrum about which the second surgical instrument pivots when the configuration of the second robot arm is altered whilst the second surgical instrument is inside the port; and (iii) controlling the second robot arm to operate in a surgical mode in which the configuration of the second robot arm and second surgical instrument is controlled in response to inputs received at a remote surgeon console whilst maintaining an intersection between the second surgical instrument and the determined fulcrum.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A grip force controller is for controlling grip force of an instrument in a surgical robotic system. The surgical robotic system comprises a robot having a base and an arm extending from the base to a drive assembly for engaging with the instrument. The instrument has an end effector comprising a plurality of jaws and the drive assembly is for transferring drive to the plurality of jaws to drive the jaws relative to each other in a closing direction for gripping an object between the jaws and in an opening direction for releasing a gripped object. The grip force controller is configured to control movement of the jaws according to a demanded spread between the jaws; determine an occurrence of a gripping event as the jaws are driven relative to each other in the closing direction so as to apply a grip force between the jaws; determine a demanded spread between the jaws on determining the occurrence of the gripping event; set the determined demanded spread as a minimum spread limit for the jaws; and control movement of the jaws using the minimum spread limit so as to control grip force applied by the jaws.
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.
A61B 17/00 - Surgical instruments, devices or methods
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
A61B 90/96 - Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text using barcodes
A robotic surgical instrument comprising a shaft, an articulation attached to a distal end of the shaft, the articulation configured to articulate an end effector, the articulation driveable by a distal driving element, a driving mechanism comprising an instrument interface element secured to an end of a proximal driving element and configured to engage a drive interface element of a drive assembly, wherein motion of the drive interface element results in a first displacement of the end of the proximal driving element and a gearing mechanism engaging the proximal driving element and the distal driving element and being configured to transfer the first displacement of the end of the proximal driving element to a different second displacement of an end of the distal driving element.
A method of calibrating an instrument interface of an instrument in a surgical robotic system, the surgical robotic system comprising a robot having a base and an arm extending from the base to a drive assembly for engaging with the instrument interface to transfer drive to the instrument, the instrument interface being configured to drive joints of the instrument via driving elements, the method comprising: obtaining usage data indicative of usage of a joint of the instrument; comparing the usage data with one or both of a maximum range of joint movement of the joint and a model of expected joint movement of the joint; determining, from the comparison, a calibration offset to adjust a control relationship of a driving element arranged to drive the joint; and adjusting the control relationship of the driving element using the calibration offset so as to calibrate is the instrument interface.
Surgical and medical apparatus and instruments; medical
endoscopes; endoscopes for medical purposes; endoscopic
cameras for medical purposes; medical imaging apparatus;
medical visualisation apparatus; near-infrared imaging
apparatus for medical purposes; imaging apparatus for the
visualisation of fluorophores for medical purposes; imaging
apparatus for the visualisation of indocyanine green for
medical purposes; robotic fluorescence imaging apparatus for
medical purposes; fluorescence imaging apparatus for medical
purposes.
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.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
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.
A surgical robot calibration device configured to be used when calibrating a surgical robotic system to perform a minimally invasive procedure through a natural orifice, the surgical robotic system comprising a surgical robotic arm and a surgical instrument having a rigid linear shaft, the surgical robot calibration device comprising a resistive spacer configurable to hold a calibration port in a fixed position spaced from the natural orifice, such that when the calibration port is held in the resistive spacer, the surgical instrument is insertable into the natural orifice via the calibration port to enable a fulcrum about which the surgical instrument pivots whilst the surgical instrument is inserted into the calibration port to be determined.
A surgical robot comprising a surgical robot arm and a surgical robot arm controller. The surgical robot arm comprises a set of joints and a joint controller. The joint controller is configured to drive a joint of the set of joints. The surgical robot arm controller comprises a processor and watchdog circuitry. The processor is configured to send joint driving signals to the joint controller on a communication link. The watchdog circuitry is configured to: receive sequence values from the processor; determine whether each received sequence value matches a next expected value of a predetermined sequence; and if the received sequence value does not match the next expected value of the predetermined sequence, disable the communication link between the processor and the joint controller.
G05B 19/4155 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
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.
An arrangement for supporting a surgical robot, the arrangement comprising: a planar member on which the surgical robot is supported; a bladder coupled to a bottom surface of the planar member, the bladder comprising: an external membrane having a surface which opposes the bottom surface of the planar member and which is configured to comply with an uneven surface that it is in contact with; an internal cavity defined by the external membrane, the internal cavity holding a plurality of solid particles and being configured to hold a plurality of fluid particles; and an opening in the external membrane, the opening being configured to enable the extraction of one or more of the fluid particles so as to cause an increased frictional engagement between the plurality of solid particles, thereby stabilising the surgical robot on the uneven surface.
A control system of a surgical robot arm, the surgical robot arm comprising a series of joints by which the configuration of that surgical robot arm can be altered and one or more torque sensors, each torque sensor configured to sense a torque at a joint of the series of joints, the control system being configured to control the configuration of the surgical robot arm to be altered in response to an externally applied force or torque by: receiving sensory data from the one or more torque sensors indicative of a sensed torque state of the surgical robot arm resulting from the externally applied force or torque; mapping the sensed torque state to a selected torque state of a set of candidate torque states; and sending a command signal to the surgical robot arm to drive the robot arm such that the configuration of the robot arm is altered so as to comply with the selected torque state.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A surgical robot comprising: a surgical robot arm comprising: a series of joints extending from a base to a terminal end for attaching to a surgical instrument for inserting through a port into a patients body to a surgical site, the series of joints comprising a first set of joints, wherein for each joint of the first set of joints, there is a configuration of the surgical robot arm for which that joint experiences a gravitational torque or force and a movement of that joint complying with the gravitational torque or force would cause the surgical instrument to advance into the patients body towards the surgical site; and joint motors for driving the series of joints; and a robot arm controller configured to send drive signals to drive the joint motors, wherein the surgical robot arm controller is configured to, in response to detecting a power loss, send drive signals to drive the joint motors so as to hold the position of each joint of the first set ofjoints against gravity, thereby preventing the surgical instrument from advancing into the patients body towards the surgical site due to movement of one or more joints of the first set of joints under gravity.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
59.
AN ISOLATOR MODULE FOR USE IN A SURGICAL ROBOTIC SYSTEM
There is provided an isolator module for use in a surgical robotic system which comprises a robot arm and a controller. The isolator module is configured to provide an interface between the robot arm and the controller of the surgical robotic system. The isolator module comprises a first interfacing portion configured to: (i) transfer power to a first cable that is connected to the robot arm, and (ii) transfer data to and from the first cable, and a second interfacing portion configured to: (i) transfer power to a second cable that is connected to the controller, and (ii) transfer data to and from the second cable. The isolator module further comprises a data link connecting the first interfacing portion to the second interfacing portion, the data link being configured to transfer data in both directions between the first interfacing portion and the second interfacing portion whilst providing electrical isolation between the first interfacing portion and the second interfacing portion. The isolator module further comprises an isolated power converter configured to transfer power between the first interfacing portion and the second interfacing portion whilst providing electrical isolation between the first interfacing portion and the second interfacing portion.
A61B 18/12 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
Magnetic positioning systems and methods for use in a robotic surgical system are provided. A multi-axis magnetic field source generates a magnetic field by simultaneously exciting a plurality of axes of the multi-axis magnetic field source with respective source signals that are orthogonal to each other over a period, T. A multi-axis magnetic field sensor detects the generated magnetic field. The detected magnetic field is analysed over an analysis interval which is at least as long as the period, T, to resolve the detected magnetic field into components which are due to the plurality of source signals. The components are used to determine one or both of the position and the orientation of the multi-axis magnetic field sensor relative to the multi-axis magnetic field source.
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, he 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 inputs from the surgeon input device to control signals for moving joints of the surgical robot arm; detect a power failure of the first power source; in response to detecting the power failure, enable the reduced power mode, and control the surgical robot arm in a locked mode by sending control signals to lock joints of the surgical robot arm; whilst in the reduced power mode, detect a cessation of the power failure; and in response to detecting the cessation of the power failure, disable the reduced power mode, re-enable the full power mode, and control the surgical robot arm in the surgical mode.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
Magnetic positioning systems and methods for use in a robotic surgical system are provided. A multi-axis magnetic field source generates a magnetic field by simultaneously exciting a plurality of axes of the multi-axis magnetic field source with respective source signals that are orthogonal to each other over a period, T. A multi-axis magnetic field sensor detects the generated magnetic field. The detected magnetic field is analysed over an analysis interval which is at least as long as the period, T, to resolve the detected magnetic field into components which are due to the plurality of source signals. The components are used to determine one or both of the position and the orientation of the multi-axis magnetic field sensor relative to the multi-axis magnetic field source.
A control system of a surgical robot arm, the surgical robot arm comprising a series of joints by which the configuration of that surgical robot arm can be altered, an attachment for a surgical instrument at a distal end of the robot arm and one or more force or torque sensors, each force or torque sensor configured to sense a force or torque at a joint of the series of joints; the control system being configured to control the configuration of the surgical robot arm to be altered in response to an externally applied force or torque by: receiving sensory data from the one or more force or torque sensors indicative of a sensed force or torque at a point of the surgical robot arm resulting from the externally applied force or torque; resolving the sensed force or torque so as to determine the components of the sensed force or torque acting at the point in a direction parallel with the longitudinal axis of a surgical instrument attached to the attachment; and sending a command signal to the surgical robot arm to drive the robot arm such that the configuration of the robot arm is altered so as to comply with the resolved force or torque components.
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
A control system of a surgical robot arm, the surgical robot arm comprising a series of joints by which the configuration of that surgical robot arm can be altered and one or more force or torque sensors, each force or torque sensor configured to sense a force or torque at a joint of the series of joints, the control system being configured to control the configuration of the surgical robot arm to be altered in response to an externally applied force or torque by: receiving sensory data from the one or more force or torque sensors indicative of a sensed force or torque at a part of the surgical robot arm resulting from the externally applied force or torque; determining a position of the part of the surgical robot arm using a reference position, whereby the sensed force or torque would be compensated by moving the part of the surgical robot arm to the determined position; sending a command signal to the surgical robot arm to drive the part of the surgical robot arm to the determined position; and updating the reference position if the difference between the reference position and the determined position is greater than a threshold displacement.
A surgical robot system comprising: a surgical robot, the surgical robot comprising 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; an instrument attached to the arm of the surgical robot; and a control unit configured to receive one or more inputs from an operator of the surgical robot in relation to movement of the instrument and translate the one or more inputs into one or more control signals in accordance with a set of control parameters to control the movement of the instrument, the set of control parameters being one of one or more sets of control parameters associated with the operator.
A surgical robotic testing unit for testing a surgical robotic system, the surgical robotic system comprising a first subsystem configured to generate a first signal having a first characteristic behaviour and a second subsystem configured to receive the first signal and to respond to the received first signal, the testing unit being configured to: emulate the first subsystem by: generating an emulated signal representative of the first signal of the first subsystem, the emulated signal having an emulated behaviour that exceeds a boundary of the first characteristic behaviour of the first signal, such that the testing unit is operable to test the second subsystem beyond the capability of the first subsystem; transmitting the generated emulated signal for receiving at the second subsystem; and receiving a response signal from the second subsystem indicative of the response of the second subsystem to the emulated signal; analyse the received response signal; and determine a state of the second subsystem based on the analysis.
G05B 19/406 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
An electrosurgical system comprising: a plurality of electrosurgical connection units, each electrosurgical connection unit comprising an input port connectable to an electrosurgical channel and an output port connectable to an electrosurgical instrument, the electrosurgical connection unit configured to connect the input port to the output port; an electrosurgical network comprising a plurality of electrosurgical links that connect the input ports of the electrosurgical connection units to an electrosurgical channel; and a control unit configured to: receive information from a device indicating that the device has detected an electrosurgical generator connected to the electrosurgical channel, the device being one of the electrosurgical connection units and an electrosurgical output device connected to the electrosurgical channel; determine a location of the electrosurgical generator in the electrosurgical network based on the received information; and transmit one or more control signals to the electrosurgical connection units and/or one or more electrosurgical output devices connected to the electrosurgical channel to cause the output port of a selected combination of electrosurgical connection units to be connected to the electrosurgical channel based on the determined location of the electrosurgical generator.
A61B 18/12 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
A61B 18/16 - Indifferent or passive electrodes for grounding
A device for applying an insulating sleeve to an electrosurgical instrument, the device comprising a housing, the housing comprising: a first end; a second end; a hollow channel extending from the first end to the second end, the channel being configured to receive an electrosurgical instrument comprising an end effector connected to a shaft by a distal articulation; a support structure internal to the housing; the support structure being configured to: support an insulating sleeve such that the insulating sleeve surrounds the electrosurgical instrument when the electrosurgical instrument is received by the channel; and when the electrosurgical instrument is advanced through the channel from the first end to the second end, release the insulating sleeve onto the electrosurgical instrument.
B25B 27/14 - Hand tools or bench devices, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for for assembling objects other than by press fit or detaching same
A robotic surgical instrument for performing a surgical procedure, the instrument comprising a shaft, an end effector comprising an electrical component and an articulation connecting the shaft to the end effector. The articulation permits the end effector to rotate relative to the shaft about a first axis. The robotic surgical instrument further comprises an electrical cable extending along the shaft. The electrical cable is configured to provide electrical current for the electrical component of the end effector. The robotic surgical instrument further comprises an electrical connector extending at least partially around a circumference surrounding the first axis. The electrical connector provides a sliding electrical connection between the electrical cable and the end effector, such that the end effector is permitted to rotate about the first axis independently of the electrical cable whilst the electrical connection between the electrical cable and the end effector is maintained.
A surgical endoscope for manipulation by a surgical robot arm. The surgical endoscope comprises a shaft having a distal end for insertion into a patient and a proximal end. An endoscope interface is attached to the proximal end of the shaft. The endoscope interface is configured to engage a robot arm interface of the surgical robot arm. The endoscope interface comprises an endoscope wedge mechanism moveable between an unlocked position and a locked position. The endoscope wedge mechanism comprises endoscope wedge elements which are displaceable such that collective displacement of the endoscope wedge elements actuates the endoscope wedge mechanism between the unlocked position and the locked position.
A61B 46/10 - Surgical drapes specially adapted for instruments
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
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.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
An interface structure for detachably interfacing a surgical robot arm to a surgical instrument, the interface structure comprising: a base portion comprising a first surface for facing the surgical instrument and a second surface for facing the surgical robot arm; and a plurality of first fasteners supported by the base portion and protruding from the first surface, the plurality of first fasteners configured to engage the surgical instrument so as to retain the interface structure to the surgical instrument. The interface structure engages the surgical robot arm so as to retain the interface structure to the surgical robot arm, wherein the plurality of first fasteners and the remainder of the interface structure are shaped such that when the surgical instrument is detached from the surgical robot arm the interface structure is retained to the surgical robot arm.
An interface structure for detachably interfacing a surgical robot arm to a surgical instrument, the interface structure comprising: a base portion comprising a first surface for facing the surgical instrument and a second surface for facing the surgical robot arm; and a plurality of first fasteners supported by the base portion and protruding from the first surface, the plurality of first fasteners configured to engage the surgical instrument so as to retain the interface structure to the surgical instrument. The interface structure engages the surgical robot arm so as to retain the interface structure to the surgical robot arm, wherein the plurality of first fasteners and the remainder of the interface structure are shaped such that when the surgical instrument is detached from the surgical robot arm the interface structure is retained to the surgical robot arm.
A surgical robot arm comprises a base connected to a terminal link via a series of intermediate joints. The terminal link comprises a drive assembly interface comprising drive assembly interface elements. Each drive assembly interface element is configured to: engage an instrument interface element of an instrument interface of a robotic surgical instrument when the surgical robot arm engages the robotic surgical instrument; and move relative to the drive assembly interface across a range of motion so as to, when engaged with the instrument interface element, transfer drive to that instrument interface element. The drive assembly interface elements are arranged across a plane perpendicular to the longitudinal axis of the terminal link such that the robotic surgical instrument is detachable from the surgical robot arm in a detachment direction parallel to the plane when each drive assembly interface element is anywhere within its range of motion.
A surgical robot arm comprises a base connected to a terminal link (503) via a series of intermediate joints. The terminal link (503) comprises a drive assembly interface comprising drive assembly interface elements (1101a,b,c). Each drive assembly interface element is configured to: engage an instrument interface element (901a,b,c) of an instrument interface of a robotic surgical instrument when the surgical robot arm engages the robotic surgical instrument; and move relative to the drive assembly interface across a range of motion so as to, when engaged with the instrument interface element, transfer drive to that instrument interface element. The drive assembly interface elements are arranged across a plane perpendicular to the longitudinal axis of the terminal link such that the robotic surgical instrument is detachable from the surgical robot arm in a detachment direction parallel to the plane when each drive assembly interface element is anywhere within its range of motion.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
76.
INTERFACE BETWEEN A SURGICAL ROBOT ARM AND A ROBOTIC SURGICAL INSTRUMENT
A drive unit for a surgical robot arm, the robot arm being configured to engage a robotic surgical instrument, the drive unit comprising a plurality of drive interface elements, each drive interface element having a longitudinal axis; a plurality of actuators configured to drive the plurality of drive interface elements, each actuator of the plurality of actuators being configured to drive one of the plurality of drive interface elements so as to cause that drive interface element to be displaced along its longitudinal axis in a first direction,
A drive unit for a surgical robot arm, the robot arm being configured to engage a robotic surgical instrument, the drive unit comprising a plurality of drive interface elements, each drive interface element having a longitudinal axis; a plurality of actuators configured to drive the plurality of drive interface elements, each actuator of the plurality of actuators being configured to drive one of the plurality of drive interface elements so as to cause that drive interface element to be displaced along its longitudinal axis in a first direction,
wherein the drive unit is configured such that, when the surgical robot arm engages the robotic surgical instrument, the longitudinal axis of each drive interface element is aligned with a longitudinal axis of a respective instrument interface element in the instrument and each drive interface element is configured such that the displacement of said drive interface element along its longitudinal axis in the first direction causes a displacement of the respective instrument interface element along its longitudinal axis in the first direction.
A drive unit (401) for a surgical robot arm, the robot arm being configured to engage a robotic surgical instrument (103), the drive unit (401) comprising a plurality of drive interface elements, each drive interface element having a longitudinal axis; a plurality of actuators configured to drive the plurality of drive interface elements, each actuator of the plurality of actuators being configured to drive one of the plurality of drive interface elements so as to cause that drive interface element to be displaced along its longitudinal axis in a first direction,wherein the drive unit is configured such that, when the surgical robot arm engages the robotic surgical instrument, the longitudinal axis of each drive interface element is aligned with a longitudinal axis of a respective instrument interface element (503) in the instrument and each drive interface element is configured such that the displacement of said drive interface element along its longitudinal axis in the first direction causes a displacement of the respective instrument interface element along its longitudinal axis in the first direction.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
Surgical and medical apparatus and instruments; medical endoscopes; endoscopes for medical purposes; endoscopic cameras for medical purposes; medical imaging apparatus; medical visualisation apparatus; near-infrared imaging apparatus for medical purposes; imaging apparatus for the visualisation of fluorophores for medical purposes; imaging apparatus for the visualisation of indocyanine green for medical purposes; robotic fluorescence imaging apparatus for medical purposes; fluorescence imaging apparatus for medical purpose.
Medical and surgical devices; computer-controlled medical
devices; medical and surgical devices to assist in the
operative sealing and division of tissues; medical and
surgical devices for tissue sealing and haemostasis;
electronic instruments for medical and surgical use; medical
and surgical instruments for cutting and sealing tissue;
medical and surgical instruments for application on human
bodies; vessel sealers that deliver energy to tissue for the
purposes of cutting and/or sealing; electrical coagulating
surgical instruments for use in endoscopic and laparoscopic
surgical procedures and structural accessories; electrical
energy devices and surgical knives and scissors that incise
and coagulate by using electricity and bipolar technology;
electro-cautery instruments; sutures; suture materials;
suture needles; surgical sutures.
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.
There is provided a robotic surgical instrument comprising an end effector, a shaft component, a supporting body connected to a distal end of the shaft component at a first end and to the end effector at a second end, and a pulley facing an outer surface of the first end of the supporting body. The pulley comprises a first section with a first diameter and a second section with a second diameter that is smaller than the first diameter. The first or second section of the pulley is configured to restrict movement of the supporting body.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
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.
G01B 7/00 - Measuring arrangements characterised by the use of electric or magnetic techniques
G01B 7/30 - Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapersMeasuring arrangements characterised by the use of electric or magnetic techniques for testing the alignment of axes
G01D 5/14 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
There is provided a robotic surgical instrument comprising an end effector, a shaft component, a supporting body, a pulley, and a protrusion. The supporting body is connected to a distal end of the shaft component at a first end and to the end effector at a second end.The supporting body comprises first and second flanges extending from the first end into the shaft component. The pulley faces an outer surface of the first flange. The protrusion is coupled to the distal end of the shaft component and extends towards the end effector. The protrusion is configured to interface with an interfacing surface of one of the first or second flanges when the supporting body is moved towards the pulley. The separation between the outer surface of the first flange and the pulley is greater than the separation between said interfacing surface of one of the first or second flanges and the protrusion.
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.
A console for controlling a robotic manipulator having an end effector, the console comprising: a hand controller connected to a gimbal assembly; and an articulated linkage connected at its proximal end to a rigid support structure, and at its distal end to the gimbal assembly. The gimbal assembly comprises only three degrees of freedom provided by only three joints, a first joint of the three joints permitting the gimbal assembly to rotate relative to the distal end of the articulated linkage about a first axis. The articulated linkage and gimbal assembly are arranged such that in every configuration of the articulated linkage and gimbal assembly, the first axis has the same orientation relative to the support structure. The articulated linkage has a parallelogram profile thereby mechanically constraining the first axis to have the same orientation relative to the support structure in every configuration of the articulated linkage.
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
B25J 13/06 - Control stands, e.g. consoles, switchboards
G05G 9/047 - Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
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.
A master-slave system that includes a first manipulator supporting a first end effector; a second manipulator supporting a second end effector; an input device configured to concurrently receive from a hand of an operator a first movement command to effect a desired movement of the first end effector and a second movement command to effect a desired movement of the second end effector; and a processor configured to determine a desired movement of the first and the second end effectors in response to the first and second movement commands received from the input device respectively.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
A master-slave system that includes a first manipulator supporting a first end effector; a second manipulator supporting a second end effector; an input device configured to concurrently receive from a hand of an operator a first movement command to effect a desired movement of the first end effector and a second movement command to effect a desired movement of the second end effector; and a processor configured to determine a desired movement of the first and the second end effectors in response to the first and second movement commands received from the input device respectively.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
A drive transfer element for transferring drive between a surgical robot arm and a surgical instrument, the drive transfer element comprising a drive transfer element recess being releasably engageable with an interface protrusion; and a drive transfer element protrusion being releasably engageable with an interface recess; the drive transfer element protrusion comprising a cavity in communication with the drive transfer element recess so as to enable the interface protrusion engageable with the drive transfer element recess to project into the cavity.
A drive transfer element for transferring drive between a surgical robot arm and a surgical instrument, the drive transfer element comprising a drive transfer element recess being releasably engageable with an interface protrusion; and a drive transfer element protrusion being releasably engageable with an interface recess; the drive transfer element protrusion comprising a cavity in communication with the drive transfer element recess so as to enable the interface protrusion engageable with the drive transfer element recess to project into the cavity.
A method of reducing a data volume of a data stream in a surgical robotic system, the surgical robotic system comprising a 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, the method comprising: receiving a data stream captured by the surgical robotic system, the data stream comprising data relating to a surgical procedure and having a first data volume; identifying a feature in the received data stream indicative of an event in the surgical procedure; and modifying, in dependence on the identified feature, the received data stream to generate a modified data stream having a second data volume that is smaller than the first data volume.
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
G16H 30/40 - ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
G16H 40/67 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
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.
G01R 15/20 - Adaptations providing voltage or current isolation, e.g. for high-voltage or high-current networks using galvano-magnetic devices, e.g. Hall-effect devices
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.
G05G 9/047 - Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
G05G 5/03 - Means for enhancing the operator's awareness of the arrival of the controlling member at a command or datum positionProviding feel, e.g. means for creating a counterforce
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.
G01D 5/245 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trainsMechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means generating pulses or pulse trains using a variable number of pulses in a train
G01D 5/14 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
A robotic surgical arm comprising a receiver configured to receive wireless communications from a robotic surgical instrument attached to the robotic surgical arm and a shield comprising a plurality of fingers each having a common shape and a connector being in contact with each of the fingers, wherein when the connector is electrically connected to ground, the shape, dimensions and arrangement of the fingers causes attenuation of the transmission of electric fields through the shield.
An interface structure for detachably interfacing a surgical robot arm to a surgical instrument, the interface structure comprising a main body; and a drive transfer element comprising a first portion and a second portion, the first portion being releasably engageable with a portion of the surgical robot arm and the second portion being releasably engageable with a portion of the surgical instrument; the drive transfer element being movable relative to the main body so as to enable transfer of drive between the surgical robot arm and the surgical instrument.
(1) Medical and surgical devices; computer-controlled medical devices; medical and surgical devices to assist in the operative sealing and division of tissues; medical and surgical devices for tissue sealing and haemostasis; electronic instruments for medical and surgical use; medical and surgical instruments for cutting and sealing tissue; medical and surgical instruments for application on human bodies; vessel sealers that deliver energy to tissue for the purposes of cutting and/or sealing; electrical coagulating surgical instruments for use in endoscopic and laparoscopic surgical procedures and structural accessories; electrical energy devices and surgical knives and scissors that incise and coagulate by using electricity and bipolar technology; electro-cautery instruments; sutures; suture materials; suture needles; surgical sutures.
Medical and surgical devices, namely, electrosurgical instruments for sealing human tissue, electrosurgical instruments for cutting human tissue; computer-controlled medical devices namely, instruments compatible for use with a robotic surgical system being electrosurgical instruments for cutting and sealing tissue being part of surgical and medical apparatus and instruments for use in general surgery, electrosurgical generators for the purpose of delivering electrical currents to an instrument for the manipulation of human tissue and anatomical structures; medical and surgical devices to assist in the operative sealing and division of tissues; medical and surgical devices for tissue sealing and haemostasis; electronic instruments, namely, electrosurgical generators for medical and surgical use; medical and surgical instruments for cutting and sealing tissue; vessel sealers that deliver energy to tissue for the purposes of cutting and sealing; electrical coagulating surgical instruments for use in endoscopic and laparoscopic surgical procedures and structural accessories; electrical energy devices, namely, electrosurgical generators and surgical knives and scissors that incise and coagulate by using electricity and bipolar technology; electro-cautery instruments in the nature of electric cauteries for surgical use; sutures; suture materials; suture needles; surgical sutures
09 - Scientific and electric apparatus and instruments
41 - Education, entertainment, sporting and cultural services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Teaching apparatus; teaching robots; tablet computers;
monitors [computer hardware]; monitors [computer programs];
electronic publications; computer hardware; computer
peripheral devices; computer programs, recorded; software;
computer software; application software; mobile application
software; downloadable mobile applications; downloadable
software applications for mobile phones; artificial
intelligence software; augmented reality software; business
management software; computer games software; games
software; virtual reality games software; video games
software; electronic game software; data and file management
software; mobile applications for importing and managing
data; downloadable mobile applications for importing and
managing data; database management software; databases;
computer databases; computer software for database
management; computer software for accessing databases;
computer software for creating searchable databases; mobile
application software for creating searchable databases;
electronic databases; data processing software; digital
dashboard software; education software; hardware testing
software; graphics software; health monitoring software;
machine learning software; maintenance software; simulation
software; simulation apparatus; system software; training
software; web application software; software for use in
calculating, transferring, storing, and visualizing data
relating to the use of robots and robotic tools for patient
diagnosis and treatment, sold as a component of a robotic
surgical apparatus; medical software; medical computer
software; medical application software; medical mobile
application software; medical artificial intelligence;
medical augmented reality software; medical business
management software; medical data and file management
software; medical database management software; medical
databases; medical computer databases; medical computer
software for database management; medical computer software
for accessing databases; medical electronic databases;
medical data processing software; medical digital dashboard;
medical education software; medical hardware testing
software; medical graphics software; medical machine
learning software; medical maintenance software; medical
simulation software; medical simulation apparatus; medical
software for remote diagnostics; medical system software;
medical training software; medical web application software;
software for use in calculating, transferring, storing, and
visualizing data relating to the use of robots and robotic
tools for patient diagnosis and treatment, sold as a
component of a robotic surgical apparatus; software for
robotics; computer software for robotics; application
software for robotics; mobile application software for
robotics; artificial intelligence software for robotics;
augmented reality software for robotics; business management
software for robotics; data and file management software for
robotics; database management software for robotics;
databases for robotics; computer databases for robotics;
computer software for database management for robotics;
computer software for accessing databases for robotics;
electronic databases for robotics; data processing software
for robotics; digital dashboard software for robotics;
education software for robotics; hardware testing software
for robotics; graphics software for robotics; machine
learning software for robotics; maintenance software for
robotics; simulation software for robotics; simulation
apparatus for robotics; software for robotics; system
software for robotics; training software for robotics; web
application software for robotics; remote controllers;
digital controls for robots; electric control apparatus for
robots; operating systems for robotics; bar code readers;
biometric scanners; data storage devices. Training; training consultancy; training services; training
in the use and operation of a robotic surgical system and
consultation relating thereto; training in the field of
medicine; training in the field of carrying out surgery
using robotic medical apparatus; education; education
services; arranging of educational events; continuing
education services, namely, providing live and on-line
continuing professional education seminars in the medical
field relating to surgery; arranging and conducting of
seminars relating to the use of robotic medical apparatus
for surgery; correspondence courses relating to the carrying
out of surgery using robotic medical apparatus; providing
educational information relating to the carrying out of
surgery via robotic surgical systems; education and training
services; education and training consultancy; provision of
data relating to performance of surgeons for educational
purposes; medical training provided through a simulation
structure; organisation of educational games; providing
online games; providing games; educational and training
services relating to games; arranging and conducting of
games; videotape editing; publishing of medical
publications; medical education services; advice relating to
medical training; training in relation to software; training
in relation to medical software; video library services;
providing online videos, not downloadable; providing online
instructional videos, not downloadable; providing online
non-downloadable videos in the field of medical training;
providing online non-downloadable videos relating to
surgery; providing online non-downloadable videos in the
field of carrying out surgery using robotic medical
apparatus; providing online non-downloadable videos relating
to performance of surgeons for educational purposes; advice,
information and consultancy relating to all the
aforementioned services. Technical research; scientific research; scientific research
for medical purposes; research in the field of minimal
access surgery; research in the field of medicine; medical
research; medical research services; analysis of technical
data relating to improving the design and development of
surgical instruments and robotic surgical systems; analysis
of technical data relating to improving surgical procedure
for research purposes; consultancy services in the fields of
computer software, science, engineering and information
technology; consultancy services in relation to research and
development of medicines; consulting services relating to
improving the design and development of surgical instruments
and robotic surgical systems; software design; design of
software for use with medical apparatus; repair of software;
maintenance of software; installation of software; updating
of software; design and development of medical technology;
design and development of medical diagnostic apparatus;
design of computer hardware; design of computer software;
design of software for medical purposes; design of software
for robotics purposes; design of medical apparatus; design
of medical equipment; design of robotics for medical
purposes; design of surgical equipment; design and
development of databases; design of computer database;
technical data analysis; medical data analysis (technical);
analysis of statistical data for scientific research;
medical technology data analysis; computer programming or
engineering for analysis of technical data; data mining;
electronic storage of videos; electronic storage of digital
video files; technological advisory services in relation to
robotics; advisory services in relation to software;
database design services in relation to medicine; database
design services in relation to robotics; database design
services in relation to software; database development
services in relation to medicine; database development
services in relation to robotics; database development
services in relation to software; data security services;
data security services in relation to medicine; data
security consultancy services; data security consultancy
services in relation to medicine; analysis of technical data
and information relating to surgical procedures, surgical
instruments, and robotic surgical systems for improving
health care and medical services; programming of software
for importing and managing data; providing temporary use of
online non-downloadable software for importing and managing
data; research, design and development of software for
importing and managing data; design and development of
software in the field of mobile applications; software as a
service [SaaS]; hosting of software as a service [SaaS];
hosting of mobile application software; hosting computer and
mobile application software in the field of knowledge
management for creating searchable databases of information
and data; advice, information and consultancy relating to
all the aforementioned services.
100.
Structure for interfacing a surgical robotic arm and instrument
