Cmr Surgical Limited

Edward James Wildin Tucker

Luke David Ronald Hares

Paul Christopher Roberts

Gordon Thomas Deane

Edward John Mottram

Rebecca Anne Cuthbertson

Ross Hamilton Henrywood

Rachel Marie Garsed

Duncan Robinson

Graham John Veitch

A control system for controlling a surgical robot by a surgeon console remote from the surgical robot, the control system being configured to: receive one or more state signal associated with a plurality of instruments, each of the plurality of instruments being attachable to the surgical robot, the one or more state signal indicating a selectability of each of the plurality of instruments for control by the surgeon console, and a control mode of each of the plurality of instruments from a group of modes, the group of modes comprising a manipulation mode in which an instrument of the plurality of instruments is controllable by the surgeon console, and a selection mode in which an instrument of the plurality of instruments is selectable for control by the surgeon console; determine a graphical arrangement of icons for display in dependence on the received one or more state signal, where each icon represents a respective one of the plurality of instruments, and output a display signal to cause the graphical arrangement of icons to be displayed; receive a mode change signal.

Control system for controlling a surgical robot

A control system for controlling manipulation of a surgical instrument in response to manipulation of a remote surgeon input device at a remote surgeon's console, the surgical instrument being supported by a surgical robot arm, the surgical instrument comprising an end effector connected to a distal end of a shaft by an articulated coupling, the articulated coupling comprising one or more joints enabling the end effector to adopt a range of attitudes relative to the distal end of the shaft, the control system configured to: receive a command from an input actuated by a user to straighten the surgical instrument; and in response to the received command, to command driving forces to be applied to joint(s) of the articulated coupling to drive the instrument to adopt a predetermined configuration in which the profile of the end effector is most closely aligned with the profile of the distal end of the shaft.

Controlling a surgical instrument

A control system for regulating operative control of a surgical instrument by a remote surgeon input device. The surgical instrument is supported by an articulated robot arm, and comprises an end effector connected to a shaft by an articulated coupling. The remote surgeon input device is capable of operatively controlling the surgical instrument by controlling articulation of the end effector, and controlling articulation of the robot arm and coupling. On receiving a request to engage operative control of the surgical instrument by the surgeon input device, the control system initially engages operative control of articulation of the robot arm and coupling by the surgeon input device, whilst maintaining disengagement of operative control of articulation of the end effector by the surgeon input device. Subsequently, the control system engages operative control of articulation of the end effector by the surgeon input device following a manipulation of the surgeon input device.

A control system for controlling a surgical robot by a surgeon console remote from the surgical robot, the control system being configured to: receive one or more state signal associated with a plurality of instruments, each of the plurality of instruments being attachable to the surgical robot, the one or more state signal indicating a selectability of each of the plurality of instruments for control by the surgeon console, and a control mode of each of the plurality of instruments from a group of modes, the group of modes comprising a manipulation mode in which an instrument of the plurality of instruments is controllable by the surgeon console, and a selection mode in which an instrument of the plurality of instruments is selectable for control by the surgeon console; determine a graphical arrangement of icons for display in dependence on the received one or more state signal, where each icon represents a respective one of the plurality of instruments, and output a display signal to cause the graphical arrangement of icons to be displayed; receive a mode change signal indicating a change of mode to the selection mode; modify, in response to the received mode change signal, the graphical arrangement of icons to permit identification of selectable instruments of the plurality of instruments; receive a select signal from the surgeon console indicating a selection of one of the selectable instruments; modify, in response to the received select signal, the graphical arrangement of icons to permit identification of the selected instrument; and enable control of the selected instrument by the surgeon console.

Growing community of inventors

Cambridge, United Kingdom

Edward James Wildin Tucker