US 12,233,547 B2
Powering a surgical robot arm
Gordon Thomas Deane, Cambridge (GB)
Assigned to CMR SURGICAL LIMITED, Cambridge (GB)
Appl. No. 17/919,819
Filed by CMR SURGICAL LIMITED, Cambridge (GB)
PCT Filed Apr. 21, 2021, PCT No. PCT/GB2021/050952
§ 371(c)(1), (2) Date Oct. 19, 2022,
PCT Pub. No. WO2021/214455, PCT Pub. Date Oct. 28, 2021.
Claims priority of application No. 2006042 (GB), filed on Apr. 24, 2020.
Prior Publication US 2023/0076848 A1, Mar. 9, 2023
Int. Cl. B25J 9/16 (2006.01); A61B 34/37 (2016.01); B25J 13/08 (2006.01); B25J 19/00 (2006.01)
CPC B25J 9/1602 (2013.01) [A61B 34/37 (2016.02); B25J 13/085 (2013.01); B25J 19/005 (2013.01)] 20 Claims
OG exemplary drawing
 
1. 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 a 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.