US 12,274,516 B2
Powering a surgical robot arm
Gordon Thomas Deane, Cambridge (GB)
Assigned to CMR SURGICAL LIMITED, Cambridge (GB)
Appl. No. 17/919,980
Filed by CMR SURGICAL LIMITED, Cambridge (GB)
PCT Filed Apr. 21, 2021, PCT No. PCT/GB2021/050953
§ 371(c)(1), (2) Date Oct. 19, 2022,
PCT Pub. No. WO2021/214456, PCT Pub. Date Oct. 28, 2021.
Claims priority of application No. 2006046 (GB), filed on Apr. 24, 2020.
Prior Publication US 2023/0157770 A1, May 25, 2023
Int. Cl. A61B 1/00 (2006.01); A61B 17/00 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61B 90/50 (2016.01)
CPC A61B 34/25 (2016.02) [A61B 1/0016 (2013.01); A61B 34/30 (2016.02); A61B 2017/00119 (2013.01); A61B 2034/305 (2016.02); A61B 2090/5025 (2016.02)] 19 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: (i) a series of joints extending from a base to a terminal end for attaching to a surgical instrument, and (ii) a set of motors wherein each of the motors is configured to drive one or more of the joints, the surgical robot arm operable in a full power mode in which the motors driving the joints of the surgical robot arm are powered by a first power source and a reduced power mode in which the motors driving 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 inputs from the surgeon input device to control signals for moving joints of the surgical robot arm using the motors which are configured to drive those joints;
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 using the motors which are configured to drive those joints;
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; and
wherein the control system is configured to store a stored fulcrum in a memory during the reduced power mode and to retrieve the stored fulcrum from the memory on returning to the surgical mode following the power failure.