Title:
CONTROL SYSTEM OF A SURGICAL ROBOT
Document Type and Number:
WIPO Patent Application WO/2021/198661
Kind Code:
A3
Abstract:
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.
Inventors:
MOTTRAM EDWARD JOHN (GB)
VEITCH GRAHAM JOHN (GB)
VEITCH GRAHAM JOHN (GB)
Application Number:
PCT/GB2021/050765
Publication Date:
November 25, 2021
Filing Date:
March 29, 2021
Export Citation:
Assignee:
CMR SURGICAL LTD (GB)
International Classes:
B25J3/04; A61B34/00; A61B34/30; B25J3/00; B25J9/16
Domestic Patent References:
| WO2019074670A1 | 2019-04-18 |
Foreign References:
| US20140081461A1 | 2014-03-20 | |||
| US9393687B2 | 2016-07-19 | |||
| US20180008359A1 | 2018-01-11 | |||
| US20190202066A1 | 2019-07-04 |
Attorney, Agent or Firm:
SLINGSBY PARTNERS LLP (GB)
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