Control System Of A Surgical Robot

Abstract: 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 arm to an attachment for a surgical instrument at a distal end of the surgical robot arm the control system being configured to control the surgical robot arm in dependence on inputs received at the surgeon input device to alter the configuration of the surgical robot arm whilst maintaining an intersection between a surgical instrument attached to the surgical robot arm and a fulcrum in which the control system is configured to: receive an input from the surgeon input device said input indicating a requested movement of the surgical instrument; determine a scaling factor using a scaling function that is dependent on the distance between a part of the surgical instrument and the fulcrum; generate a control signal for the surgical robot arm in dependence on the input from the surgeon input device and the determined scaling factor; and send the generated control signal to the surgical robot arm in order to drive the surgical robot arm such that its configuration is altered so as to cause movement of the surgical instrument.

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