Controlling A Surgical Robot Arm Whilst Entering A Sleep Mode

Abstract: 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 command signal to enter the sleep mode, and responds by controlling the articulated links of the surgical robot arm to be driven to adopt a compact configuration relative to the support structure; receives sensor data from one or more sensors on the surgical robot arm; determines, from the received sensor data, a collision between the surgical robot arm and the support structure; responds to the determined collision by causing the surgical robot arm to change from the sleep mode to a locked mode, and controlling the articulated links to maintain their position at the time the locked mode was entered; whilst in the locked mode, receives a command signal to enter an unlocked mode, and responds by controlling the articulated links of the surgical robot arm to be driven to move the surgical robot arm away from the site of the determined collision; and whilst in the unlocked mode, receives a command signal to enter the sleep mode, and responds by controlling the articulated links of the surgical robot arm to be driven to adopt the compact configuration.

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