Alarm System For A Surgical Robot

Abstract: 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 pivot point. A shaft axis line which is coincident with an axis of a shaft of the instrument is determined. An indication of a retraction distance is determined which indicates how far the instrument is retracted relative to the pivot point. A perpendicular distance is determined between the shaft axis line and the pivot point in a direction perpendicular to the shaft axis line. The determined perpendicular distance is compared with an alarm threshold. An alarm is raised in response to determining that the determined perpendicular distance is greater than the alarm threshold. The alarm threshold is dependent upon the indicated retraction distance.

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