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Controlling Movement Of A Surgical Robot Arm
Abstract: 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 control system comprises a central controller (502) communicatively coupled to and remotely located from an arm controller (503, 504, 505) of the surgical robot arm, the central controller (502) also communicatively coupled to a surgeon input device of the surgeon console (501). The central controller (502) is configured to: receive a command from the surgeon input device indicating a desired position of a distal end of the surgical instrument (204); transform the desired position of the distal end to (i) a desired wrist position of a wrist of the surgical robot arm (201), and (ii) desired instrument drive joint positions for those joints of the surgical robot arm which drive joints of the articulated surgical instrument (204); and transmit the desired wrist position and desired instrument drive joint positions to the arm controller (503, 504, 505).
Notices, Deadlines & Correspondence
Patent Information
Applicants
CMR SURGICAL LIMITED
Inventors
1. HARES, Luke David Ronald
2. ROBERTS, Paul Christopher
3. DEANE, Gordon Thomas
4. VEITCH, Graham John
Specification
Documents
Application Documents
| # | Name | Date |
|---|---|---|
| 1 | 202247052648-IntimationOfGrant26-03-2024.pdf | 2024-03-26 |
| 1 | 202247052648.pdf | 2022-09-15 |
| 2 | 202247052648-STATEMENT OF UNDERTAKING (FORM 3) [15-09-2022(online)].pdf | 2022-09-15 |
| 2 | 202247052648-PatentCertificate26-03-2024.pdf | 2024-03-26 |
| 3 | 202247052648-REQUEST FOR EXAMINATION (FORM-18) [15-09-2022(online)].pdf | 2022-09-15 |
| 3 | 202247052648-FORM 3 [19-03-2024(online)].pdf | 2024-03-19 |
| 4 | 202247052648-PROOF OF RIGHT [15-09-2022(online)].pdf | 2022-09-15 |
| 4 | 202247052648-FORM 3 [28-09-2023(online)].pdf | 2023-09-28 |
| 5 | 202247052648-POWER OF AUTHORITY [15-09-2022(online)].pdf | 2022-09-15 |
| 5 | 202247052648-ABSTRACT [30-03-2023(online)].pdf | 2023-03-30 |
| 6 | 202247052648-FORM 18 [15-09-2022(online)].pdf | 2022-09-15 |
| 6 | 202247052648-CLAIMS [30-03-2023(online)].pdf | 2023-03-30 |
| 7 | 202247052648-FORM 1 [15-09-2022(online)].pdf | 2022-09-15 |
| 7 | 202247052648-COMPLETE SPECIFICATION [30-03-2023(online)].pdf | 2023-03-30 |
| 8 | 202247052648-DRAWINGS [15-09-2022(online)].pdf | 2022-09-15 |
| 8 | 202247052648-DRAWING [30-03-2023(online)].pdf | 2023-03-30 |
| 9 | 202247052648-FER_SER_REPLY [30-03-2023(online)].pdf | 2023-03-30 |
| 9 | 202247052648-DECLARATION OF INVENTORSHIP (FORM 5) [15-09-2022(online)].pdf | 2022-09-15 |
| 10 | 202247052648-COMPLETE SPECIFICATION [15-09-2022(online)].pdf | 2022-09-15 |
| 10 | 202247052648-OTHERS [30-03-2023(online)].pdf | 2023-03-30 |
| 11 | 202247052648-CLAIMS UNDER RULE 1 (PROVISIO) OF RULE 20 [15-09-2022(online)].pdf | 2022-09-15 |
| 11 | 202247052648-FER.pdf | 2022-11-30 |
| 12 | 202247052648-CLAIMS UNDER RULE 1 (PROVISIO) OF RULE 20 [15-09-2022(online)].pdf | 2022-09-15 |
| 12 | 202247052648-FER.pdf | 2022-11-30 |
| 13 | 202247052648-COMPLETE SPECIFICATION [15-09-2022(online)].pdf | 2022-09-15 |
| 13 | 202247052648-OTHERS [30-03-2023(online)].pdf | 2023-03-30 |
| 14 | 202247052648-DECLARATION OF INVENTORSHIP (FORM 5) [15-09-2022(online)].pdf | 2022-09-15 |
| 14 | 202247052648-FER_SER_REPLY [30-03-2023(online)].pdf | 2023-03-30 |
| 15 | 202247052648-DRAWING [30-03-2023(online)].pdf | 2023-03-30 |
| 15 | 202247052648-DRAWINGS [15-09-2022(online)].pdf | 2022-09-15 |
| 16 | 202247052648-COMPLETE SPECIFICATION [30-03-2023(online)].pdf | 2023-03-30 |
| 16 | 202247052648-FORM 1 [15-09-2022(online)].pdf | 2022-09-15 |
| 17 | 202247052648-CLAIMS [30-03-2023(online)].pdf | 2023-03-30 |
| 17 | 202247052648-FORM 18 [15-09-2022(online)].pdf | 2022-09-15 |
| 18 | 202247052648-ABSTRACT [30-03-2023(online)].pdf | 2023-03-30 |
| 18 | 202247052648-POWER OF AUTHORITY [15-09-2022(online)].pdf | 2022-09-15 |
| 19 | 202247052648-PROOF OF RIGHT [15-09-2022(online)].pdf | 2022-09-15 |
| 19 | 202247052648-FORM 3 [28-09-2023(online)].pdf | 2023-09-28 |
| 20 | 202247052648-REQUEST FOR EXAMINATION (FORM-18) [15-09-2022(online)].pdf | 2022-09-15 |
| 20 | 202247052648-FORM 3 [19-03-2024(online)].pdf | 2024-03-19 |
| 21 | 202247052648-STATEMENT OF UNDERTAKING (FORM 3) [15-09-2022(online)].pdf | 2022-09-15 |
| 21 | 202247052648-PatentCertificate26-03-2024.pdf | 2024-03-26 |
| 22 | 202247052648.pdf | 2022-09-15 |
| 22 | 202247052648-IntimationOfGrant26-03-2024.pdf | 2024-03-26 |
Search Strategy
| 1 | 202247052648E_29-11-2022.pdf |