A robot arm comprising a plurality of limbs articulated relative to each other the arm extending from a base to a distal limb carrying a tool or an attachment point for a tool the distal limb being attached by a revolute joint to a second limb and the arm comprising a motor having a body and a drive shaft arranged f...

A device for sensing the relative rotary position of first and second parts about a rotation axis the device comprising a follower constrained to move on a first track fast with the first part and on a second track fast with the second part the first track being linear and the second track comprising a plurality of ...

A robot arm comprising a joint mechanism for articulating one limb (310) of the arm relative to another limb (311) of the arm about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier (28) attached to a first one of the limbs by a first revolute joint having a pitch rotation axis (20) a...

A robot arm having a compound joint between a first limb of the arm and a second limb of the arm the second limb of the arm being distal of the first limb the arm comprising: a coupler element coupled to the first limb of the arm by a first revolute joint having a first rotation axis and to the second limb of the ar...

A robot arm comprising a joint mechanism for articulating one limb (310) of the arm relative to another limb (311) of the arm about two non parallel rotation axes (20 21) the mechanism comprising: an intermediate carrier (28) attached to a first one of the limbs by a first revolute joint having a first rotation axis...

A robotic system comprises two robots and a control unit. Each robot has a base and an arm extending from the base to an attachment for an instrument. Each arm comprises a plurality of joints whereby the configuration of the arm can be altered. Each robot comprises a driver for each joint configured to drive the joi...

An interface structure for detachably interfacing a surgical robot arm to a surgical instrument, the interface structure comprising a main body; and a drive transfer element comprising a first portion and a second portion, the first portion being releasably engageable with a portion of the surgical robot arm and the...

A drive transfer element for transferring drive between a surgical robot arm and a surgical instrument, the drive transfer element comprising a drive transfer element recess being releasably engageable with an interface protrusion; and a drive transfer element protrusion being releasably engageable withan interface ...

A motion feedthrough for a surgical drape, the motion feedthrough comprising a drive transfer element comprising a first portion and a second portion, the first portion being releasably engageable with a portion of a robot arm and the second portion being releasably engageable with a portion of an instrument, the dr...

A surgical drape for covering at least a portion of a surgical robot arm, the arm comprising at least one drive assembly interface element for transferring drive between the arm and an instrument engageable with the arm, the drape comprising an interface portion locatable between the arm and the instrument when the ...

A robot arm (1) comprising a first arm segment (310) and a second arm segment (311) coupled to each other by a first revolute joint (301) having a first rotation axis (305) and a second revolute joint (302) having a second rotation axis (306) non-parallel to the first rotation axis, and a joint mechanism for articul...

A method of assembling a position sensing arrangement for sensing the position of a revolute joint of an articulated structure. The position sensing arrangement comprises a magnetic sensor assembly and a disc having a first magnetic ring with j magnetic pole pairs and a second magnetic ring with k magnetic pole pair...

A method of correcting a position reading from a position sensing arrangement. The position sensing arrangement is suitable for sensing the position of a revolute joint of an articulated structure, and comprises a disc having a magnetic ring with magnetic pole pairs and a magnetic sensor assembly comprising a magnet...

A position sensing arrangement for sensing the position of a revolute joint of an articulated structure. The position sensing arrangement comprises a disc and a magnetic sensor assembly. The disc comprises a first magnetic ring with m magnetic pole pairs, and a second magnetic ring with n magnetic pole pairs, where ...

A surgical robot comprising a robot arm base connected to a distal robot arm link via a series of intermediate articulated robot arm links. A robot arm interface is attached to the distal robot arm link. The robot arm interface engages an instrument interface of a surgical instrument and comprises an instrument enga...

A surgical robotic system comprising: a surgical robot arm (7 8 9) having at least six degrees of freedom the arm having a distal end for attachment to a surgical tool (5) and a proximal end; and a mounting structure (10 11 12) configured to mate to the proximal end of the arm for holding the proximal end of the arm...

A surgical robot drape for enveloping a joint of a surgical robot, the joint configured to permit axial rotation of a part of a robot arm adjacent the joint about a joint axis, the drape comprising a proximal drape material portion configured to provide a sterile barrier over, and to be rotationally fast with, a par...

A robotic surgical instrument comprising: a shaft; an end effector element; an articulation connecting the end effector element to the shaft the articulation comprising: a first joint driveable by a first pair of driving elements the first joint permitting the end effector element to rotate about a first axis transv...

A robotic surgical instrument comprising: a shaft; an end effector element; an articulation connecting the end effector element to the shaft the articulation comprising: a first joint driveable by a first pair of driving elements the first joint permitting the end effector element to rotate about a first axis transv...

A robotic surgical instrument comprising: a shaft;an end effector element;an articulation connecting the end effector element to the shaft the articulation comprising: joints permitting the end effector element to adopt a range of orientations relative to a longitudinal axis of the shaft;pairs of driving elements co...

A robotic surgical instrument comprising: a shaft; an end effector;an articulation connecting the end effector to a distal end of the shaft the articulation comprising joints permitting the end effector to adopt a range of orientations relative to a longitudinal axis of the shaft;an instrument interface connected to...

A robotic surgical instrument comprising: a shaft; an articulation at a distal end of the shaft for articulating an end effector the articulation driveable by a pair of driving elements; and an instrument interface at a proximal end of the shaft the instrument interface comprising an instrument interface element for...

A robotic surgical instrument comprising: a shaft;an end effector comprising a first end effector element and a second end effector element;an articulation connecting the end effector to the shaft the articulation comprising: a first joint driveable by a first pair of driving elements the first joint permitting the ...

A surgical robot arm (10) comprises a mounting portion (18). The mounting portion (18) comprises a reader (20) configured for reading location identifiers (26). The mounting portion (18) fits into a socket (22) comprising a location identifier (26). A signal output from the reader (20) allows determination of the lo...

A surgical robot comprising a base and an arm extending from a proximal end attached to the base to a distal end attachable to a surgical instrument via a series of links interspersed by articulations. The arm comprises a receiver a proximity sensor and a controller. The receiver is configured to receive data from t...

An interface structure for detachably interfacing a surgical robot arm to a surgical instrument the interface structure comprising: a base portion comprising a first surface for facing the surgical instrument and a second surface for facing the surgical robot arm;and a plurality of first fasteners supported by the b...

A surgical endoscope for manipulation by a surgical robot arm. The surgical endoscope comprises a shaft having a distal end for insertion into a patient and a proximal end. An endoscope interface is attached to the proximal end of the shaft. The endoscope interface is configured to engage a robot arm interface of th...

A robotic surgical instrument comprising a shafta first end effector elementan articulation connecting the first end effector element to a distal end of the shaft the first end effector element being movable relative to the articulationand a drive mechanism at a proximal end of the shaft. The drive mechanism compris...

A packaging insert configured to engage a portion of a surgical drape for locating the drape on a surgical robot arm the drape comprising a drive transfer element for transferring drive between the robot arm and a surgical instrumentthe packaging insert comprising a body and a retention portion engageable with the d...

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 s...

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 contro...

An attachment structure for securing a robot arm to a support structure, the attachment structure comprising: a mount for mounting to the support structure; and a carrier for connecting to the base of the robot arm, the carrier comprising: a carrier rotational alignment feature for engaging a complementary robot arm...

A robotic surgical instrument, comprising:a shaft;an end effector element;an articulation at a distal end of the shaft for articulating the end effector element, the articulation comprising:a first and second joint permitting the end effector element to adopt a range of configurations relative to a longitudinal axis...

A robotic surgical instrument, comprising: a shaft; an end effector element; an articulation at a distal end of the shaft for articulating the end effector element, the articulation comprising a first joint permitting the end effector to adopt a range of configurations relative to the longitudinal axis of the shaft,...

A robotic surgical instrument comprising a shaft, an electrocautery end effector powered by a first electrocautery element and a second electrocautery element,and an articulation. The articulation connects the electrocautery end effector to the shaft,and comprises a first joint driveable by a first pair of driving e...

A robotic surgical instrument comprising a shaft, an electrocautery end effector powered by an electrocautery element, and an articulation connecting the electrocautery end effector to the shaft. The articulation comprises: a first joint driveable by a first pair of driving elements which permits the electrocautery ...

A torque sensor arrangement (150) for attachment between a first part (108) and a second part (101) to sense torque therebetween, the torque sensor arrangement comprising: an interface member (155) having on its exterior an engagement configuration for rotationally engaging the first part (108); a torsion member com...

A surgical robot drape for enveloping a joint of a surgical robot, the joint configured to permit axial rotation of a part of a robot arm adjacent the joint about a joint axis, the drape comprising a proximal drape material portion configured to provide a sterile barrier over, and to be rotationally fast with, a par...

A device for sensing the relative rotary position of first and second parts (5, 28) about a rotation axis (2), the device having a follower (28) constrained to move on a first track (29) fast with the first part (28) and on a second track (21) fast with the second part (5), the first track (29) being linear and the ...

A surgical robotic drape (225) for enveloping a surgical robotic arm (203) to define a sterile boundary thereover, the surgical robotic arm comprising a drive assembly (401) for providing drive to an instrument (205) the drive assembly comprising an interface for coupling to a corresponding interface of the instrume...

A master-slave system that includes a first manipulator supporting a first end effector;a second manipulator supporting a second end effector;an input device configured to concurrently receive from a hand of an operator a first movement command to effect a desired movement of the first end effector and a second move...

Electrosurgical systems comprising an electrosurgical network connecting a plurality of electrosurgical connection units (each connectable to an electrosurgical instrument) and an electrosurgical generator such that an electrosurgical signal generated by the electrosurgical generator can be controllably provided to ...

A surgical robot drape for providing a sterile barrier over a portion of a surgical robot, the drape comprising a plurality of accessibility portions spaced apart from one another in the drape for providing selective access through the drape at the respective locations of the accessibility portions, each accessibili...

A surgical robotic system comprises a surgeon console, remote surgical robot, and a control unit. The surgeon console comprises a base connected to a hand controller by a linkage, the linkage comprising a plurality of joints whereby the configuration of the linkage can be altered. The surgeon console comprises a dri...

A method of correcting a position reading from a position sensing arrangement. The position sensing arrangement is suitable for sensing the position of a revolute joint of an articulated structure, and comprises a disc having a magnetic ring with magnetic pole pairs and a magnetic sensor assembly comprising a magnet...

Methods and systems for automatically augmenting an endoscope video for a task based on status data that describes the status of a surgical robot system that was used to at least partially perform the task. The system comprises an event detector and an augmenter. The event detector is configured to: receive the stat...

A surgical robotic system, comprising:a surgical robot;a user input device coupled to the surgical robot and manipulatable by a user to control operation of the surgical robot, the user input device comprising one or more sensors configured to collect data as the user manipulates the user input device; a processor u...

A surgical endoscope for manipulation by a surgical robot arm. The surgical endoscope comprises a shaft having a distal end for insertion into a patient and a proximal end. An endoscope interface is attached to the proximal end of the shaft. The endoscope interface is configured to engage a robot arm interface of...

An electrosurgical connection unit for a surgical robot arm to connect an electrosurgical instrument attached to the arm to an electrosurgical generator. The electrosurgical connection unit includes an input port connectable to the electrosurgical generator, the input port configured to receive a driving electrosurg...

A control system for controlling manipulation of a surgical instrument in response to manipulation of a remote surgeon input device, the surgical instrument comprising opposable first and second end effector elements connected to a shaft by an articulated coupling, the articulated coupling comprising a first joint d...

A system for providing assistance to a user of a surgical robot system, the system comprising: a surgical robot system comprising at least one surgical robot having 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...

AUTOMATIC ENDOSCOPE VIDEO AUGMENTATION” Methods and systems for automatically augmenting an endoscope video for a task based on status data that describes the status of a surgical robot system that was used to at least partially perform the task. The system comprises an event detector and an augmenter. The event...

Methods and systems for automatically augmenting an endoscope video for a task based on status data that describes the status of a surgical robot system that was used to at least partially perform the task. The system comprises an event detector and an augmenter. The event detector is configured to: receive the stat...

A surgical robotic system for identifying the triggering of a condition in the system, the system comprising: a first robot arm; a controller; and a first wiring arrangement configured to provide an electrical connection between the first robot arm and the controller, the first wiring arrangement comprising: a first...

An interface assembly for detachably interfacing a surgical robot arm to a surgical instrument, the interface assembly comprising: an interface structure comprising: a base portion comprising a first surface for facing the surgical instrument and a second surface for facing the surgical robot arm; and a rear portion...

A robotic system comprising: a robot having a base and an arm extending from the base to an attachment for an instrument, the arm comprising n joints, where n > 1, whereby the configuration of the arm can be altered, the arm having a plurality of configurations for a given relationship between the base and the attac...

A method for limiting joint velocity of a plurality of joints of a surgical robotic system, the surgical robotic system comprising a robot having 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,...

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 b...

A method of controlling movement of the tip of a surgical endoscope from a first position (E) to an intermediate position (E'), the field of view from the tip of the endoscope being at an angle (a) relative to a longitudinal shaft of the endoscope, the method comprising: receiving a command to move from the first po...

A device for applying an insulating sleeve to an electrosurgical instrument, the device comprising a housing, the housing comprising: a first end; a second end; a hollow channel extending from the first end to the second end, the channel being configured to receive an electrosurgical instrument comprising an end eff...

A control system for a surgical robotic system, the surgical robotic system comprising a remote surgeon console (501) and an articulated surgical robot arm (201) comprising a series of joints (205) extending from a base (201) to a terminal end (203) for attaching to an articulated surgical instrument (204). The cont...

A surgical robot comprising a surgical robot arm and a surgical robot arm controller. The surgical robot arm comprises a set of joints and a joint controller. The joint controller is configured to drive a joint of the set of joints. The surgical robot arm controller comprises a processor and watchdog circuitry. The ...

A control system of a surgical robotic system, the surgical robotic system comprising a first robot arm and a second robot arm, each of the first and second robot arms comprising a series of joints by which the configuration of that robot arm can be altered, the series of joints extending from a base at a proximal e...

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, an attachment for a surgical instrument at a distal end of the robot arm and one or more force or torque sensors, each force or torque sensor configured...

A surgical robotic testing unit for testing a surgical robotic system, the surgical robotic system comprising a first subsystem configured to generate a first signal having a first characteristic behaviour and a second subsystem configured to receive the first signal and to respond to the received first signal, the ...

Systems and methods for controlling a 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. The system includes: a display device configured to present a view of a virtual ...

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 contro...

A control system for controlling manipulation of a surgical instrument in response to manipulation of a remote surgeon input device, the surgical instrument comprising opposable first and second end effector elements connected to a shaft by an articulated coupling, the articulated coupling comprising a first joint d...

A control system for controlling manipulation of a surgical instrument in response to manipulation of a remote surgeon input device, the surgical instrument comprising opposable first and second end effector elements connected to a shaft by an articulated coupling, the articulated coupling comprising a first joint d...

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 torque sensors, each torque sensor configured to sense a torque at a joint of the series of joints, the control system being configured t...

A control system for controlling manipulation of a surgical instrument in response to manipulation of a remote surgeon input device. The surgical instrument comprises opposable first and second end effector elements connected to a shaft by an articulated coupling. The control system: transforms commands from the sur...

A robotic surgical instrument comprising: a shaft; driving elements running through the shaft; an articulation at a distal end of the shaft for articulating an end effector, the articulation driveable by the driving elements; and an instrument interface (302) at a proximal end of the shaft for driving the driving el...

A controller for controlling the configuration of a joint in a surgical robot, the joint being driven by a drivetrain which transfers power from a drive source to the joint, wherein the controller is configured to: receive a first input indicating a configuration of the drive source; receive a second input from a fi...

A method for characterising the performance of a joint in a surgical robotic arm, the joint being driven by a drivetrain which transfers power from a drive source to the joint, the method comprising: sending a first command signal to position the robot arm into an initial configuration; sending a second command sign...

A control system for controlling manipulation of a surgical instrument in response to manipulation of a remote surgeon input device, the surgical instrument comprising opposable first and second end effector elements connected to a shaft by an articulated coupling, the articulated coupling comprising a first joint d...

A robot arm (202) comprising: a first link (204) connected to a second link (204) by a joint (205), the joint (205) permitting the second link (204) to move relative to the first link (204); a motor (208) for driving the joint (205); and a controller (209) for controlling the motor (208). The controller (209) is con...

A method of testing a motor of a robot arm for a fault during a start-up procedure of the robot arm. The robot arm comprises a first link connected to a second link by a joint, the joint permitting the second link to move relative to the first link. The motor is for driving the joint and is a multiple-phase motor, e...

A console for controlling a robotic manipulator having an end effector, the console comprising: a hand controller connected to a gimbal assembly; and an articulated linkage connected at its proximal end to a rigid support structure, and at its distal end to the gimbal assembly. The gimbal assembly comprises only thr...

An electrosurgical system comprising: a plurality of electrosurgical connection units, each electrosurgical connection unit comprising an input port connectable to an electrosurgical channel and an output port connectable to an electrosurgical instrument, the electrosurgical connection unit configured to connect the...

A method of reducing a data volume of a data stream in a surgical robotic system, the surgical robotic system comprising a robot having 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, the metho...

A method is provided of anonymising data in a surgical robotic system. The surgical robotic system comprises a robot having 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. The method comprises ...

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 fu...

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 fu...

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; and ...

A surgical robot comprising: a surgical robot arm comprising: a series of joints extending from a base to a terminal end for attaching to a surgical instrument for inserting through a port into a patient's body to a surgical site, the series of joints comprising a first set of joints, wherein for each joint of the f...

A control system for controlling manipulation of a surgical instrument in response to manipulation of a remote surgeon input device. The surgical instrument comprises an end effector having opposable first and second end effector elements connected to a shaft by an articulated coupling. The control system receives a...

A control system for controlling a surgical robot system, the 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, t...

A control system for controlling a surgical robot system, the surgical robot system comprising at least one surgical robot, each of the at least one 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 configurat...

A method for controlling a mechanical system having a plurality of components interlinked by a plurality of driven joints the method comprising: measuring the torques or forces about or at the driven joints and forming a load signal representing the measured torques or forces; receiving a motion demand signal repres...

A robotic surgical instrument comprising: a shaft;an articulation at a distal end of the shaft for articulating an end effector the articulation driveable by a pair of driving elements; and an instrument interface at a proximal end of the shaft the instrument interface comprising: an instrument interface element for...

A circuit for sensing the driving current of a motor the circuit comprising: a driver configured to generate a driving current for each phase of a multiple-phase motor the instantaneous sum of all the driving currents being zero; a current sensor for each phase of the multiple- phase motor each current sensor config...

A user interface device for controlling a robot manipulator having an end effector comprising at least one movable element the user interface device comprising: a body for being held by a user the body comprising an elongate grip portion configured to be gripped by one or more of a user"s second to fourth fingers; a...

A robotic surgical instrument, comprising:a shaft;an articulation at a distal end of the shaft for articulating an end effector, the articulation being driveable by a pair of driving elements; and an instrument interface at a proximal end of the shaft, the instrument interface comprising:a chassis;an instrument inte...

An interface assembly for detachably interfacing a surgical robot arm to a surgical instrument, the interface assembly comprising: an interface structure comprising: a base portion comprising a first surface for facing the surgical instrument and a second surface for facing the surgical robot arm; and a rear portion...

A drive interface structure for interfacing one or more drive assembly interface elements of a surgical robot arm and one or more instrument interface elements of a surgical instrument. The drive interface structure includes a sheet of flexible material for providing a barrier between the one or more instrument inte...

An electrosurgical connection unit for a surgical robot arm to connect an electrosurgical instrument attached to the arm to an electrosurgical generator.The electrosurgical connection unit includes an input port connectable to the electrosurgical generator, the input port configured to receive a driving electrosurgi...

A surgical robot comprising an articulated arm (10), the arm having a terminal portion comprising: a distal segment (42) having an attachment for a surgical instrument (11); an intermediate segment (34); and a basal segment (21a) whereby the terminal portion is attached to the remainder of the arm; a first articulat...

A method of real-time image correction of a video stream from a surgical endoscope of a surgical robotic system. The video stream comprises a sequence of images. The method comprises: for an image in the sequence of images, identifying a plurality of regions, each region having a different range of values of at leas...

A robotic surgical instrument comprising a shaft, an end effector, and an articulation connecting the end effector to a distal end of the shaft. The articulation comprises joints permitting the end effector to adopt a range of orientations relative to a longitudinal axis of the shaft. Pairs of driving elements drive...

An indicator system for a surgical robotic system for indicating a state of at least a portion of patient anatomy, the surgical robotic system comprising a robot having a base and an arm extending from the base, the arm holding an endoscope at an end of the arm distal from the base, the endoscope being configured fo...

A system for providing assistance to a user of a surgical robot system, the system comprising: a surgical robot system comprising at least one surgical robot having 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...

There is provided an isolator module for use in a surgical robotic system which comprises a robot arm and a controller. The isolator module is configured to provide an interface between the robot arm and the controller of the surgical robotic system. The isolator module comprises a first interfacing portion configur...

A console (202) for controlling a robotic manipulator having an end effector (207), the console (202) comprising: a hand controller (301) connected to a gimbal assembly (303); and an articulated linkage (304) connected at its proximal end to a rigid support structure (302), and at its distal end to the gimbal assemb...

A device for applying an insulating sleeve to an electrosurgical instrument, the device comprising a housing, the housing comprising: a first end; a second end; a hollow channel extending from the first end to the second end, the channel being configured to receive an electrosurgical instrument comprising an end eff...

A surgical robotic system, comprising: a surgical robot; a user input device coupled to the surgical robot and manipulatable by a user to control operation of the surgical robot, the user input device comprising one or more sensors configured to collect data as the user manipulates the user input device; a processor...

There is provided a robotic surgical instrument comprising an end effector, a shaft component, a supporting body, a pulley, and a protrusion. The supporting body is connected to a distal end of the shaft component at a first end and to the end effector at a second end.The supporting body comprises first and second f...

A drive unit (401) for a surgical robot arm, the robot arm being configured to engage a robotic surgical instrument (103), the drive unit (401) comprising a plurality of drive interface elements, each drive interface element having a longitudinal axis; a plurality of actuators configured to drive the plurality of dr...

There is provided a robotic surgical instrument comprising an end effector, a shaft component, a supporting body connected to a distal end of the shaft component at a first end and to the end effector at a second end, and a pulley facing an outer surface of the first end of the supporting body. The pulley comprises ...

A surgical robot arm comprises a base connected to a terminal link (503) via a series of intermediate joints. The terminal link (503) comprises a drive assembly interface comprising drive assembly interface elements (1101a,b,c). Each drive assembly interface element is configured to: engage an instrument interface e...

A method is provided of anonymising data in a surgical robotic system. The surgical robotic system comprises a robot having 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. The method comprises ...

A surgical robotic instrument comprising:a shaft;an end effector element;an articulation connecting the end effector element to the shaft, the articulation comprising:a first joint driveable by a first pair of driving elements, the first joint permitting the end effector element to rotate about a first axis transver...

A base for supporting a surgical robot, the base comprising: a first planar member on which the surgical robot is mounted; and a second planar member pivotably coupled to the first planar member about a first axis; wherein the first planar member and the second planar member are independently rotatable about the fir...

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; and ...

A robotic surgical instrument comprising: an end effector with opposing first and second end effector elements, each end effector element comprising a first portion for enabling rotation of that end effector element about a respective joint and a second portion with a surface configured to interface with a correspon...

A robotic surgical instrument comprising: a shaft; an end effector comprising a first end effector element with a first surface and a second end effector element with a second surface configured to interface with the first surface; and an articulation connecting the end effector to the shaft, the articulation permit...

A surgical robot calibration device configured to be used when calibrating a surgical robotic system to perform a minimally invasive procedure through a natural orifice, the surgical robotic system comprising a surgical robotic arm and a surgical instrument having a rigid linear shaft, the surgical robot calibration...

A robotic surgical arm comprising a receiver configured to receive wireless communications from a robotic surgical instrument attached to the robotic surgical arm and a shield comprising a plurality of fingers each having a common shape and a connector being in contact with each of the fingers, wherein when the conn...

A robotic surgical instrument comprising: a shaft;an end effector comprising a first end effector element and a second end effector element;an articulation connecting the end effector to the shaft, the articulation comprising: a first joint driveable by a first pair of driving elements, the first joint permitting th...

ABSTRACT MOUNTING AN ENDOSCOPE TO A SURGICAL ROBOT A surgical endoscope for manipulation by a surgical robot arm. The surgical endoscope comprises a shaft having a distal end for insertion into a patient and a proximal end. An endoscope interface is attached to the proximal end of the shaft. The endoscope interface ...

A control system for controlling the application of energy from an electrosurgical generator to a robotic electrosurgical instrument during a cut mode in which the electrosurgical instrument is used to cut tissue. The control system: controls the electrosurgical generator to apply energy to the electrosurgical instr...

A method of calibrating an instrument interface of an instrument in a surgical robotic system, the surgical robotic system comprising a robot having a base and an arm extending from the base to a drive assembly for engaging with the instrument interface to transfer drive to the instrument, the instrument interface b...

A robotic surgical instrument comprising a shaft, an articulation attached to a distal end of the shaft, the articulation configured to articulate an end effector, the articulation driveable by a distal driving element, a driving mechanism comprising an instrument interface element secured to an end of a proximal dr...

A robotic surgical instrument for performing a surgical procedure, the instrument comprising a shaft, an end effector comprising an electrical component and an articulation connecting the shaft to the end effector. The articulation permits the end effector to rotate relative to the shaft about a first axis. The robo...

ABSTRACT A robotic system comprising: a robot having a base and an arm extending from the base to an attachment for an instrument, the arm comprising n joints, where n > 1, whereby the configuration of the arm can be altered, the arm having a plurality of configurations for a given relationship between the base a...

Magnetic positioning systems and methods for use in a robotic surgical system are provided. A multi-axis magnetic field source generates a magnetic field by simultaneously exciting a plurality of axes of the multi-axis magnetic field source with respective source signals that are orthogonal to each other over a peri...

An arrangement for supporting a surgical robot, the arrangement comprising: a planar member on which the surgical robot is supported; a bladder coupled to a bottom surface of the planar member, the bladder comprising: an external membrane having a surface which opposes the bottom surface of the planar member and whi...

A grip force controller is for controlling grip force of an instrument in a surgical robotic system. The surgical robotic system comprises a robot having a base and an arm extending from the base to a drive assembly for engaging with the instrument. The instrument has an end effector comprising a plurality of jaws a...

A control unit for controlling a surgical robot arm to enter a sleep mode, the surgical robot arm extending between a base and a terminal link via a series of articulated links, the base mounted on a support structure, the terminal link having an attachment for a surgical instrument. The control unit: receives a com...

A controller for moving a first part of a surgical robot arm, the surgical robot arm comprising a plurality of arm segments separated by a plurality of driven joints, in response to an external force being imparted on a second part of the surgical robot arm, the controller being configured to: determine a torque at ...

A surgical robotic system for augmenting a representation of at least a portion of a surgical site for aiding in orienting the representation, the system comprising: a processor (521) configured to: receive an imaging device signal indicative of the location and orientation of an imaging device relative to a surgica...

CMR01 133108PC 33 ABSTRACT Controlling a joint in a robotic arm There is provided a controller for controlling the configuration of a joint in a surgical robot the joint 5 being driven by a drivetrain which transfers power from a drive source to the joint the controller being configured to: receive a drive source ...

An alarm system is provided for a surgical robot. The surgical robot comprises a surgical robot arm and a surgical instrument attached to a distal end of the surgical robot arm. The surgical robot arm is driven using control signals which attempt to maintain an intersection between the surgical instrument and a pivo...

A control system for a surgical robotic system the surgical robotic system comprising a surgical robot arm and a surgeon input device the surgical robot arm comprising a series of joints by which its configuration can be altered the series of joints extending from a base at a proximal end of the surgical robot ar...

A control unit for a surgical robotic system, the surgical robotic system comprising a robotic arm comprising a drive assembly having a first drive assembly interface element configured to provide mechanical drive for actuating a first joint of an instrument when the robotic arm engages with the instrument, the inst...

A control system for controlling a surgical robot arm the surgical robot arm having a drive mechanism configured for driving a robotic surgical instrument said robotic surgical instrument comprising a first end effector element and a second end effector element the drive mechanism comprising one or more interface...

A robotic electrosurgical instrument comprising: a shaft; an end effector comprising opposing first and second end effector elements; a first joint drivable by a first driving element that is constrained around the first joint, the first joint permitting the end effector to rotate relative to the shaft about a first...

A control unit for a surgical robot, the surgical robot comprising a joint driven by a drivetrain which transfers power from a drive source to the joint, wherein the control unit is configured to: in dependence on a drive source configuration signal indicating a position of the drive source and a joint configuration...

A surgical robotic instrument comprising: an end effector mount; and a pair of interacting end effector elements, each end effector element having a mounting structure whereby it is rotatably mounted to the end effector mount to allow rotation relative to the end effector mount about an axis; wherein the mounting st...

A control unit for controlling motion of a surgical robot arm, the control unit being configured to receive an input signal from a surgeon input device for controlling the surgical robot arm and send an output signal to the surgical robot arm to cause motion of the surgical robot arm, the control unit being further ...

A control system and method for controlling a surgical robotic system are provided, wherein the surgical robotic system comprises a surgical robot arm and a surgeon input device. The surgical robot arm comprises: (i) a series of joints by which its configuration can be altered, and (ii) an attachment for a surgical ...

A control system and a method for controlling a surgical robotic system are provided. The surgical robotic system comprises a surgical robot arm. The surgical robot arm comprises a plurality of joints by which its configuration can be altered. An input is received which indicates a desired motion of the surgical rob...

A control system for implementing a safety mechanism for a surgical robot, the surgical robot operable in a clinical mode in which the surgical robot can perform surgery in response to inputs received at a surgeon input device of a remote surgeon console, the clinical mode comprising safety features, and the surgica...

A control system for controlling a surgical robot arm, the surgical robot arm having a drive mechanism 5 configured for driving a robotic surgical instrument, said robotic surgical instrument comprising a first end effector element and a second end effector element, the drive mechanism comprising one or more interfa...