US 12,433,707 B2
Surgical robot system with operator configurable instrument control parameters
Patrick Thornycroft, Cambridge (GB); and Matthew Knight, Cambridge (GB)
Appl. No. 17/995,819
Filed by CMR Surgical Limited, Cambridge (GB)
PCT Filed Apr. 8, 2021, PCT No. PCT/GB2021/050868
§ 371(c)(1), (2) Date Oct. 7, 2022,
PCT Pub. No. WO2021/205178, PCT Pub. Date Oct. 14, 2021.
Claims priority of application No. 2005244 (GB), filed on Apr. 8, 2020.
Prior Publication US 2023/0149105 A1, May 18, 2023
Int. Cl. A61B 34/37 (2016.01); A61B 18/14 (2006.01); A61B 34/00 (2016.01); A61B 17/00 (2006.01); A61B 18/00 (2006.01); A61B 34/30 (2016.01)
CPC A61B 34/37 (2016.02) [A61B 18/1445 (2013.01); A61B 34/74 (2016.02); A61B 34/77 (2016.02); A61B 2017/00115 (2013.01); A61B 2018/00589 (2013.01); A61B 2018/00601 (2013.01); A61B 2018/00607 (2013.01); A61B 2018/0063 (2013.01); A61B 2018/00696 (2013.01); A61B 2018/00702 (2013.01); A61B 2018/00726 (2013.01); A61B 2018/00732 (2013.01); A61B 2018/00767 (2013.01); A61B 2018/00773 (2013.01); A61B 2018/00875 (2013.01); A61B 2034/258 (2016.02); A61B 2034/301 (2016.02)] 33 Claims
OG exemplary drawing
 
1. 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;
memory configured to store a library of control parameters for an operator of the surgical robot, the library of control parameters for the operator comprising a plurality of sets of control parameters for the instrument; and
a control unit configured to:
receive one or more inputs from the 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 of the plurality of sets of control parameters to control the movement of the instrument,
receive status data indicating a status of the surgical robot system during a procedure;
detect events from patterns in the status data in real-time; and
in response to detecting one of a plurality of events or combinations of events, automatically select a different set of control parameters of the plurality of sets of parameters associated with the detected event;
wherein each set of control parameters for an instrument defines a relationship between the operator inputs in relation to movement of the instrument and movement of the instrument.
 
18. 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 energised 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 energised 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 energised instrument;
detect energised events in real-time from status data indicating a status of the surgical robot system during a procedure; and
in response to detecting one of a plurality of predetermined energised events, automatically adjust at least one control parameter of the set of control parameters;
wherein the set of control parameters comprises one or more velocity limit parameters and control unit is configured to, in response to detecting energisation of the energised instrument, automatically adjust at least one of the one or more velocity limit parameters so as to minimize velocity of the energised instrument.