Controlling A Joint In A Robotic Arm

Abstract: 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 configuration signal indicating a configuration of the drive source; receive a joint configuration signal indicating a configuration of the joint; determine a configuration error from a difference in configurations indicated by the drive source configuration signal and the joint configuration signal; determine a configuration error limit from a measured joint torque of the joint and a 10 joint stiffness of the joint; compare the determined configuration error and the determined configuration error limit; and output a fault signal where the determined configuration error equals or exceeds the determined configuration error limit. Figure 615

Patent Information

Application #

Filing Date

12 March 2025

Publication Number

17/2025

Publication Type

INA

Invention Field

ELECTRONICS

Status

Email

Parent Application

Applicants

CMR SURGICAL LIMITED

1 Evolution Business Park Milton Road Cambridge Cambridgeshire CB24 9NG

Inventors

1. TUCKER Edward James Wildin

c/o CMR Surgical Limited 1 Evolution Business Park Milton Road Cambridge Cambridgeshire CB24 9NG

2. MOORE David

c/o CMR Surgical Limited 1 Evolution Business Park Milton Road Cambridge Cambridgeshire CB24 9NG

3. HUNG Johnathan

c/o CMR Surgical Limited 1 Evolution Business Park Milton Road Cambridge Cambridgeshire CB24 9NG

Specification

Documents

Application Documents

#	Name	Date
1	202517022155-STATEMENT OF UNDERTAKING (FORM 3) [12-03-2025(online)].pdf	2025-03-12
2	202517022155-REQUEST FOR EXAMINATION (FORM-18) [12-03-2025(online)].pdf	2025-03-12
3	202517022155-PROOF OF RIGHT [12-03-2025(online)].pdf	2025-03-12
4	202517022155-PRIORITY DOCUMENTS [12-03-2025(online)].pdf	2025-03-12
5	202517022155-POWER OF AUTHORITY [12-03-2025(online)].pdf	2025-03-12
6	202517022155-NOTIFICATION OF INT. APPLN. NO. & FILING DATE (PCT-RO-105-PCT Pamphlet) [12-03-2025(online)].pdf	2025-03-12
7	202517022155-FORM 18 [12-03-2025(online)].pdf	2025-03-12
8	202517022155-FORM 1 [12-03-2025(online)].pdf	2025-03-12
9	202517022155-DRAWINGS [12-03-2025(online)].pdf	2025-03-12
10	202517022155-DECLARATION OF INVENTORSHIP (FORM 5) [12-03-2025(online)].pdf	2025-03-12
11	202517022155-COMPLETE SPECIFICATION [12-03-2025(online)].pdf	2025-03-12
12	202517022155-MARKED COPIES OF AMENDEMENTS [19-03-2025(online)].pdf	2025-03-19
13	202517022155-FORM 13 [19-03-2025(online)].pdf	2025-03-19
14	202517022155-AMMENDED DOCUMENTS [19-03-2025(online)].pdf	2025-03-19
15	202517022155-FORM 3 [08-09-2025(online)].pdf	2025-09-08