USER INTERFACE FOR A ROBOT

A robotic system including: a robot arm; a camera for capturing motion of the robot arm; an input mechanism for detecting user input; a display device; and a controller. The controller can operate in (i) a first mode configured to drive the display device to display a video stream captured by the camera in a first format and to drive the robot arm such that motion by the user in a first direction causes the robot arm to move a reference part in a second direction; and (ii) a second mode configured to drive the display device to display the video stream in a second format reflected with respect to the first format and to drive the robot arm such that motion by the user in the first direction causes the robot arm to move the reference part in a direction opposite to the second direction.

Syringe labeling device

A labeling device for a syringe that includes a first labeling subsystem adapted to print a first label having machine readable information and a second labeling subsystem adapted to print a second label having human readable information is disclosed. The first labeling subsystem includes a label applicator adapted to automatically apply the first label to a portion of the syringe. The first labeling subsystem includes a syringe clamp assembly that securely holds the syringe while the label applicator automatically applies a first label to the syringe. The second labeling subsystem includes a removal device adapted to automatically remove a backing material from the second label.

SUPPLY LINE FOR A ROBOTIC ARM INSTRUMENT

A surgical robotic arm drape, the drape comprising: a sheet defining a cavity for housing a robotic arm; and a set of guiding elements attached to the sheet configured to retain a supply line threaded there through for use in a surgical procedure. 142-. (canceled)43. A surgical robotic arm drape , the drape comprising:a sheet defining a cavity for housing a robotic arm; anda set of guiding elements attached to the sheet configured to retain a supply line threaded therethrough for use in a surgical procedure.44. A surgical robotic arm drape as claimed in claim 43 , wherein the set of guiding elements are spatially arranged on the sheet so that a supply line threaded therethrough is positioned for use in the surgical procedure when the drape houses the robotic arm.45. A drape as claimed in claim 43 , wherein each of the guiding elements in the set defines a loop of material for receiving the threaded supply line claim 43 , or a conduit portion for receiving the threaded supply line.46. A drape as claimed in claim 43 , wherein each of the guiding elements comprises a housing defining a channel for receiving the threaded supply line.47. A drape as claimed in claim 43 , wherein the drape further comprises a second set of guiding elements for retaining a second supply line for use in a surgical procedure.48. A drape as claimed in claim 43 , wherein the drape further comprises a supply line threaded through the set of guiding elements.49. A drape as claimed in claim 43 , wherein the set of guiding elements are integral with the sheet.50. A drape as claimed in claim 43 , wherein the set of guiding elements are detachable from the sheet.51. A drape as claimed in claim 43 , wherein the set of guiding elements are attached to an interior surface of the sheet claim 43 , and the sheet comprises a sealable opening located at a distal end of the cavity through which a terminal end of the supply line can pass.52. A drape as claimed in claim 43 , wherein the guiding elements are ...

Syringe Labeling Device

A labeling device for a syringe that includes a first labeling subsystem adapted to print a first label having machine readable information and a second labeling subsystem adapted to print a second label having human readable information is disclosed. The first labeling subsystem includes a label applicator adapted to automatically apply the first label to a portion of the syringe. The first labeling subsystem includes a syringe clamp assembly that securely holds the syringe while the label applicator automatically applies a first label to the syringe. The second labeling subsystem includes a removal device adapted to automatically remove a backing material from the second label. 1. A labeling device for a syringe , comprising:a first labeling subsystem adapted to print a first label comprising machine readable information; anda second labeling subsystem adapted to print a second label comprising human readable information.2. The labeling device of claim 1 , wherein the first labeling subsystem includes a label applicator adapted to automatically apply the first label to a portion of the syringe.3. The labeling device of claim 2 , wherein the label applicator automatically applies the first label to a luer tip of the syringe.4. The labeling device of claim 1 , wherein the machine readable information is a barcode indicating a content or quality of the syringe.5. The labeling device of claim 1 , wherein the machine readable information and the human readable information each indicate a content or quality of the syringe.6. The labeling device of claim 1 , further comprising a housing claim 1 , wherein the first labeling subsystem and the second labeling subsystem are each provided within the housing.7. A labeling device for a syringe claim 1 , comprising: a clamp assembly adapted to hold the syringe;', 'a first printer adapted to print a first label comprising machine readable information; and', 'a label applicator assembly adapted to automatically apply the first ...

PORT CONTROL

A locator of a surgical port of a surgical robot system, the surgical robot system comprising an instrument attached to a robot arm, the instrument having an instrument shaft able to pass through the surgical port to a surgical site, the locator comprising: an interface configured to couple to the surgical port; a mechanism configured to permit relative linear and/or rotational motion of the interface and the instrument shaft; and a controller comprising a processor operable to estimate the position of a part of the robot arm, the controller configured to control the mechanism in dependence on the estimated position of the part of the robot arm such that as the robot arm retracts the instrument from the patient, the locator moves the port away from the robot arm and provides a reaction force to keep the port in place. 120-. (canceled)21. A port locator for a surgical port , for receiving a surgical instrument attached to an articulated robot arm , the port locator comprising:a base for attachment to a portion of a patient support;an interface for coupling to the surgical port;an articulated support mechanism linking the base and the interface, the articulated support mechanism including fewer articulations than the robot arm and permitting at least one of translational and rotational movement of the interface relative to the base; anda controller for controlling at least one of a position and an orientation of the interface relative to the base in dependence on the position of the robot arm.22. The port locator as claimed in claim 21 , wherein the support mechanism includes a lock having a locked configuration for at least partially restricting movement of the support mechanism and an unlocked configuration for at least partially permitting movement of the support mechanism.23. The port locator as claimed in claim 21 , wherein the support mechanism includes at least one of an articulated support arm and a belt.24. The port locator as claimed in claim 21 , wherein ...

Port Control

A locator of a surgical port of a surgical robot system, the surgical robot system comprising an instrument attached to a robot arm, the instrument having an instrument shaft able to pass through the surgical port to a surgical site, the locator comprising: an interface configured to couple to the surgical port; a mechanism configured to permit relative linear and/or rotational motion of the interface and the instrument shaft; and a controller comprising a processor operable to estimate the position of a part of the robot arm, the controller configured to control the mechanism in dependence on the estimated position of the part of the robot arm such that as the robot arm retracts the instrument from the patient, the locator moves the port away from the robot arm and provides a reaction force to keep the port in place. 1. A locator of a surgical port of a surgical robot system , the surgical robot system comprising an instrument attached to a robot arm , the instrument having an instrument shaft able to pass through the surgical port to a surgical site , the locator comprising:an interface configured to couple to the surgical port;a mechanism configured to permit relative linear and/or rotational motion of the interface and the instrument shaft; anda controller comprising a processor operable to estimate the position of a part of the robot arm, the controller configured to control the mechanism in dependence on the estimated position of the part of the robot arm such that as the robot arm retracts the instrument from the patient, the locator moves the port away from the robot arm and provides a reaction force to keep the port in place.2. A locator as claimed in claim 1 , having a surgical port attached to the interface.3. A surgical robot comprising: a robot arm and a locator as claimed in coupled to the robot arm.4. A surgical robot as claimed in comprising the instrument attached to the robot arm claim 3 , wherein a portion of the instrument is arranged to pass ...

Syringe Labeling Device

A labeling device for a syringe that includes a first labeling subsystem adapted to print a first label having machine readable information and a second labeling subsystem adapted to print a second label having human readable information is disclosed. The first labeling subsystem includes a label applicator adapted to automatically apply the first label to a portion of the syringe. The first labeling subsystem includes a syringe clamp assembly that securely holds the syringe while the label applicator automatically applies a first label to the syringe. The second labeling subsystem includes a removal device adapted to automatically remove a backing material from the second label.

SUPPLY LINE FOR A ROBOTIC ARM INSTRUMENT

A surgical robotic arm drape, the drape comprising: a sheet defining a cavity for housing a robotic arm; and a set of guiding elements attached to the sheet configured to retain a supply line threaded there through for use in a surgical procedure. 142-. (canceled)43. A drape comprising:a sheet configured to define a cavity, the sheet comprising an interior surface and an exterior surface; anda supply line interposed between the interior and exterior surfaces of the sheet, the supply line comprising a conductive core surrounded by a sheath formed from material of the sheet, wherein the material of the sheet interfaces directly with the conductive core.44. A drape as claimed in claim 43 , wherein the drape is for enveloping a portion of a robotic arm claim 43 , wherein the cavity is for housing a portion of a robotic arm claim 43 , and wherein the supply line is for use in a surgical procedure.45. A drape as claimed in claim 43 , wherein the supply line is sandwiched between the interior and exterior surfaces of the sheet.46. A drape as claimed in claim 43 , wherein the supply line is housed within a channel defined by material of the sheet claim 43 , the channel being interposed between the interior and exterior surfaces of the sheet.47. A drape as claimed in claim 43 , wherein the supply line terminates at a first of its ends in an instrument connector configured to connect to a robotic-arm instrument.48. A drape as claimed in claim 47 , wherein the supply line traverses the exterior surface of the sheet proximal to the instrument connector.49. A drape as claimed in claim 43 , wherein the drape is arranged so that claim 43 , when defining an elongate cavity claim 43 , the supply line extends along a longitudinal extent of the cavity and extends between an opening mouth of the cavity for housing a basal portion of the robotic arm and a distal end of the cavity for housing a distal portion of the robotic arm.50. A drape as claimed in claim 47 , wherein the supply line ...

SURGICAL INSTRUMENT ENGAGEMENT DETECTION

A surgical robot comprising a robot arm base connected to a distal robot arm link via a series of intermediate articulated robot arm links. A robot arm interface is attached to the distal robot arm link. The robot arm interface engages an instrument interface of a surgical instrument, and comprises an instrument engagement source and an instrument engagement detector. The instrument engagement detector is configured to only detect the instrument engagement source when the instrument engagement source is coupled to the instrument engagement detector by a coupler. 1. A surgical robot comprising:a robot arm base connected to a distal robot arm link via a series of intermediate articulated robot arm links; an instrument engagement source; and', 'an instrument engagement detector configured to only detect the instrument engagement source when the instrument engagement source is coupled to the instrument engagement detector by a coupler., 'a robot arm interface attached to the distal robot arm link, the robot arm interface configured to engage an instrument interface of a surgical instrument, the robot arm interface comprising2. The surgical robot as claimed in claim 1 , wherein the instrument engagement detector is configured to only detect the instrument engagement source via the coupler when the instrument interface and the robot arm interface are engaged.3. The surgical robot as claimed in claim 1 , wherein the instrument engagement source and instrument engagement detector are short-range and only coupleable by a coupler located proximally to both the instrument engagement source and the instrument engagement detector.4. The surgical robot as claimed in claim 1 , further comprising a controller configured to determine that an instrument interface of a surgical instrument is engaged with the robot arm interface in response to the instrument engagement detector detecting the instrument engagement source claim 1 , and wherein the controller is configured to modify an ...

Syringe Labeling Device

A labeling device for a syringe that includes a first labeling subsystem adapted to print a first label having machine readable information and a second labeling subsystem adapted to print a second label having human readable information is disclosed. The first labeling subsystem includes a label applicator adapted to automatically apply the first label to a portion of the syringe. The first labeling subsystem includes a syringe clamp assembly that securely holds the syringe while the label applicator automatically applies a first label to the syringe. The second labeling subsystem includes a removal device adapted to automatically remove a backing material from the second label. 1. A labeling subsystem for a labeling device for a syringe , comprising:a clamp assembly adapted to hold the syringe;a printer adapted to print a first label comprising machine readable information; anda label applicator assembly adapted to automatically apply the first label to a portion of the syringe.2. The labeling subsystem of claim 1 , wherein the clamp assembly includes a groove adapted to receive the syringe.3. The labeling subsystem of claim 2 , wherein the clamp assembly includes an arm moveable between an open position claim 2 , in which the arm does not contact the syringe claim 2 , and a closed position claim 2 , in which the arm contacts the syringe and the syringe is held between the arm and the groove.4. The labeling subsystem of claim 3 , wherein the clamp assembly includes a roller rotatably connected to the arm.5. The labeling subsystem of claim 3 , wherein the arm is movably connected to a base portion via a pin connection at the base portion.6. The labeling subsystem of claim 1 , wherein the clamp assembly includes a roller rotatably connected to an arm moveable between an open position claim 1 , in which the roller does not contact the syringe claim 1 , and a closed position claim 1 , in which the roller contacts the syringe.7. The labeling subsystem of claim 6 , ...

CHARACTERISING MOTION CONSTRAINTS

A robot comprising: a base; a flexible arm extending from the base and having a plurality of joints whereby the configuration of the arm can be altered, a plurality of drivers arranged to drive the joints to move, a plurality of sensors for sensing the position of each of the joints and an attachment structure for attaching a tool to the arm, the joints permitting the angular attitude of the attachment structure relative to the base to be varied; and a control unit configured to control the drivers and to receive inputs from the sensors, and operable in a calibration mode in which, whilst a tool is attached to the attachment structure and captive in a port, it: (i) controls the drivers so as to permit the arm to be reconfigured by the action of an external force applied to the arm; (ii) monitors the configuration of the arm under the presence of an external force applied to the arm and transmitted through the tool to the port so as to cause the attitude of the attachment structure to the base to alter; whereby the location of the port can be estimated. 1. A robot comprising:a base;a flexible arm extending from the base and having a plurality of joints whereby the configuration of the arm can be altered, a plurality of drivers arranged to drive the joints to move, a plurality of sensors configured to sense the position of each of the joints and an attachment structure configured to attach a tool to the arm, the joints permitting the angular attitude of the attachment structure relative to the base to be varied; anda control unit configured to control the drivers and to receive inputs from the sensors indicating the position of the joints, and operable in a calibration mode in which, whilst a tool is attached to the attachment structure and captive in a port, it:(i) controls the drivers so as to permit the arm to be reconfigured by the action of an external force applied to the arm;(ii) from the sensor inputs indicating the position of the joints, monitors the ...

ROBOT ARM LOCATION

A surgical robot arm () comprises a mounting portion (). The mounting portion () comprises a reader () configured for reading location identifiers (). The mounting portion () fits into a socket () comprising a location identifier (). A signal output from the reader () allows determination of the location of the robot arm (). 1. A surgical robot arm comprising a mounting portion configured for mounting in a socket so as to support the robot arm , the mounting portion comprising a reader for reading a location identifier so as to determine the location of the robot arm ,wherein the reader is provided on a portion of the mounting portion which is arranged to be within the socket when the mounting portion is mounted in the socket.2. A surgical robot arm as claimed in claim 1 , wherein the reader is configured to communicate with a processor for processing a signal received from the reader claim 1 , the reader being configured to send to the processor a signal in dependence on the reading by the reader of the location identifier.3. A surgical robot arm as claimed claim 2 , wherein the robot arm comprises the processor claim 2 , and the processor is configured to receive the signal from the reader and to determine the location of the robot arm in dependence on the signal received from the reader.4. A surgical robot arm as claimed in claim 3 , wherein the processor is configured to send the result of the location determination to a central controller configured to control the robot arm.5. A surgical robot arm as claimed in claim 1 , wherein the reader is at least one of:configured to read the location identifier electromagnetically; anda 2D code reader.6. (canceled)7. A surgical robot arm as claimed in claim 1 , wherein the robot arm comprises one or more of:a light for illuminating the location identifier; anda light sensor for sensing the light level.8. (canceled)9. A surgical robotic system comprising the robot arm as claimed in and a socket configured to receive at ...

PORT CONTROL

A locator of a surgical port of a surgical robot system, the surgical robot system comprising an instrument attached to a robot arm, the instrument having an instrument shaft able to pass through the surgical port to a surgical site, the locator comprising: an interface configured to couple to the surgical port; a mechanism configured to permit relative linear and/or rotational motion of the interface and the instrument shaft; and a controller comprising a processor operable to estimate the position of a part of the robot arm, the controller configured to control the mechanism in dependence on the estimated position of the part of the robot arm such that as the robot arm retracts the instrument from the patient, the locator moves the port away from the robot arm and provides a reaction force to keep the port in place. 112-. (canceled)13. A port locator of a surgical port of a surgical robot system , where the surgical robot system includes an instrument attached to a robot arm , the instrument having an instrument shaft configured to pass through the surgical port to a surgical site , the port locator comprising:a seat configured to attach to the robot arm;an interface configured to couple to the surgical port;a mechanism linking the seat and the interface and configured to permit linear relative motion of the seat and the interface; anda controller including a processor configured to control the position of the seat relative to the interface in dependence on the position of the robot arm;wherein the mechanism comprises one of a single member permitting the linear relative motion and an articulated mechanism.14. The port locator as claimed in claim 13 , wherein the single member is an extensible member.15. The port locator as claimed in claim 14 , comprising an extensible member driver configured to alter the configuration of the extensible member.16. The port locator as claimed in claim 13 , wherein the articulated mechanism comprises a plurality of joints between ...

Syringe labeling device

A labeling device for a syringe that includes a first labeling subsystem adapted to print a first label having machine readable information and a second labeling subsystem adapted to print a second label having human readable information is disclosed. The first labeling subsystem includes a label applicator adapted to automatically apply the first label to a portion of the syringe. The first labeling subsystem includes a syringe clamp assembly that securely holds the syringe while the label applicator automatically applies a first label to the syringe. The second labeling subsystem includes a removal device adapted to automatically remove a backing material from the second label.

Syringe labeling device

A labeling device for a syringe that includes a first labeling subsystem adapted to print a first label having machine readable information and a second labeling subsystem adapted to print a second label having human readable information is disclosed. The first labeling subsystem includes a label applicator adapted to automatically apply the first label to a portion of the syringe. The first labeling subsystem includes a syringe clamp assembly that securely holds the syringe while the label applicator automatically applies a first label to the syringe. The second labeling subsystem includes a removal device adapted to automatically remove a backing material from the second label.

Syringe labeling device

A labeling device for a syringe that includes a first labeling subsystem adapted to print a first label having machine readable information and a second labeling subsystem adapted to print a second label having human readable information is disclosed. The first labeling subsystem includes a label applicator adapted to automatically apply the first label to a portion of the syringe. The first labeling subsystem includes a syringe clamp assembly that securely holds the syringe while the label applicator automatically applies a first label to the syringe. The second labeling subsystem includes a removal device adapted to automatically remove a backing material from the second label.

Syringe labeling device

A labeling device for a syringe that includes a first labeling subsystem adapted to print a first label having machine readable information and a second labeling subsystem adapted to print a second label having human readable information is disclosed. The first labeling subsystem includes a label applicator adapted to automatically apply the first label to a portion of the syringe. The first labeling subsystem includes a syringe clamp assembly that securely holds the syringe while the label applicator automatically applies a first label to the syringe. The second labeling subsystem includes a removal device adapted to automatically remove a backing material from the second label.

Control system for surgical robot system with safety monitor

A control system for controlling a surgical robot system, the surgical robot system comprising at least one surgical robot, each of the at least one surgical robot comprising a base, and an arm extending from the base to an attachment for an instrument, the arm comprising a plurality of joints whereby the configuration of the arm can be altered, the control system comprising: a main controller configured to: receive communications from one or more devices of an operator console identifying inputs from an operator of the at least one surgical robot; generate control signals for controlling the movement of the at least one surgical robot arm based on the inputs; and send communications to the at least one surgical robot identifying the control signals; and a safety monitor configured to analyse at least a portion of the communications to and/or from the main controller to determine whether the surgical robot system is in a fault state, and in response to determining that the surgical robot system is in a fault state, cause at least one of the one or more devices of the operator console and the at least one surgical robot to transition to a safe state.

Port control

A locator of a surgical port of a surgical robot system, the surgical robot system comprising an instrument attached to a robot arm, the instrument having an instrument shaft able to pass through the surgical port to a surgical site, the locator comprising: an interface configured to couple to the surgical port; a mechanism configured to permit relative linear and/or rotational motion of the interface and the instrument shaft; and a controller comprising a processor operable to estimate the position of a part of the robot arm, the controller configured to control the mechanism in dependence on the estimated position of the part of the robot arm such that as the robot arm retracts the instrument from the patient, the locator moves the port away from the robot arm and provides a reaction force to keep the port in place.

surgical robot

【課題】外力により再設定されるアームの形状をモニタすることによりポートの位置を推定できる外科用ロボットを提供する。【解決手段】ロボットは、ベース１０、複数のジョイント２０～２６を有する可撓性アーム、ジョイント２０～２６を駆動させる複数のドライバ、ジョイント２０～２６とアームにツールを取り付けるための取付構造の位置を検知する複数のセンサ４８、４９とを有し、ジョイント２０～２６は取付構造の角度姿勢を可変にする一方、複数のドライバを制御し、ジョイント２０～２６の位置を示すセンサ４８、４９からの入力を受信し、校正モードで動作可能な制御ユニット５０を備える。制御ユニット５０は、外力によりアームの形状が再設定されるようにドライバを制御し、ベース１０に対する取付構造の姿勢を変更するために、アームに加えられてポート６０に伝達される外力の存在下でアームの形状をモニターすることでポート６０の位置を推定できる。【選択図】図２

Characterising motion constraints

A robot comprising: a base; a flexible arm extending from the base and having a plurality of joints whereby the configuration of the arm can be altered, a plurality of drivers arranged to drive the joints to move, a plurality of sensors for sensing the position of each of the joints and an attachment structure for attaching a tool to the arm, the joints permitting the angular attitude of the attachment structure relative to the base to be varied; and a control unit configured to control the drivers and to receive inputs from the sensors, and operable in a calibration mode in which, while a tool is attached to the attachment structure and captive in a port, it: (i) controls the drivers so as to permit the arm to be reconfigured by the action of an external force applied to the arm; (ii) monitors the configuration of the arm under the presence of an external force applied to the arm and transmitted through the tool to the port so as to cause the attitude of the attachment structure to the base to alter; whereby the location of the port can be estimated.

Configuring a surgical robotic system

A control system of a surgical robotic system, the surgical robotic system comprising a first robot arm and a second robot arm, each of the first and second robot arms comprising a series of joints by which the configuration of that robot arm can be altered, the series of joints extending from a base at a proximal end of the robot arm to an attachment for a surgical instrument at a distal end of the robot arm, the control system being configured to reconfigure the surgical robotic system by: controlling the first robot arm to operate in a surgical mode in which a first surgical instrument attached to that first robot arm is inside a patient's body; and whilst the first robot arm is operating in the surgical mode: (i) controlling the second robot arm so as to permit a second surgical instrument attached to the second robot arm to be inserted into a port in the patient's body; (ii) determining a fulcrum about which the second surgical instrument pivots when the configuration of the second robot arm is altered whilst the second surgical instrument is inside the port; and (iii) controlling the second robot arm to operate in a surgical mode in which the configuration of the second robot arm and second surgical instrument is controlled in response to inputs received at a remote surgeon console whilst maintaining an intersection between the second surgical instrument and the determined fulcrum.

Syringe labeling device

Watchdog circuitry of a surgical robot arm

A surgical robot comprising a surgical robot arm with a set of joints and a joint controller. There is a robot arm controller with a processor and watchdog monitoring circuitry which receives sequence values from the processor and checks that they match a pre-determined sequence 505 wherein if they do not match then a communication link between the processor and the joint controller is disabled 508 such that the processor is unable to send joint driving signals to the joint controller. The watchdog circuit may count the time elapsed from receipt of a sequence value and disable the communication link upon a timeout 506. The communication link may have a switch, such as an ethernet switch, controllable by the watchdog to control communications. The robot may enter a fault state upon a further timeout wherein the joint controller is configured to hold the joints stationary or bring them to a stop and hold them stationary upon entry into the fault state. Pre-set driving signals may be sent to the joint controller 509 and the processor may be reset 510 or an alarm may be raised 511.

Configuring a surgical robotic system

A control system of a surgical robotic system, the surgical robotic system comprising a first robot arm and a second robot arm, each of the first and second robot arms comprising a series of joints by which the configuration of that robot arm can be altered, the series of joints extending from a base at a proximal end of the robot arm to an attachment for a surgical instrument at a distal end of the robot arm, the control system being configured to reconfigure the surgical robotic system by: controlling the first robot arm to operate in a surgical mode in which a first surgical instrument attached to that first robot arm is inside a patient's body; and whilst the first robot arm is operating in the surgical mode: (i) controlling the second robot arm so as to permit a second surgical instrument attached to the second robot arm to be inserted into a port in the patient's body; (ii) determining a fulcrum about which the second surgical instrument pivots when the configuration of the second robot arm is altered whilst the second surgical instrument is inside the port; and (iii) controlling the second robot arm to operate in a surgical mode in which the configuration of the second robot arm and second surgical instrument is controlled in response to inputs received at a remote surgeon console whilst maintaining an intersection between the second surgical instrument and the determined fulcrum.

Control system for surgical robot system with safety monitor

A control system for controlling a surgical robot system, the surgical robot system comprising at least one surgical robot, each of the at least one surgical robot comprising a base, and an arm extending from the base to an attachment for an instrument, the arm comprising a plurality of joints whereby the configuration of the arm can be altered, the control system comprising: a main controller configured to: receive communications from one or more devices of an operator console identifying inputs from an operator of the at least one surgical robot; generate control signals for controlling the movement of the at least one surgical robot arm based on the inputs; and send communications to the at least one surgical robot identifying the control signals; and a safety monitor configured to analyse at least a portion of the communications to and/or from the main controller to determine whether the surgical robot system is in a fault state, and in response to determining that the surgical robot system is in a fault state, cause at least one of the one or more devices of the operator console and the at least one surgical robot to transition to a safe state.

Control system for surgical robot system with safety monitor

A control system for controlling a surgical robot system, the surgical robot system comprising at least one surgical robot, each of the at least one surgical robot comprising a base, and an arm extending from the base to an attachment for an instrument, the arm comprising a plurality of joints whereby the configuration of the arm can be altered, the control system comprising: a main controller configured to: receive communications from one or more devices of an operator console identifying inputs from an operator of the at least one surgical robot; generate control signals for controlling the movement of the at least one surgical robot arm based on the inputs; and send communications to the at least one surgical robot identifying the control signals; and a safety monitor configured to analyse at least a portion of the communications to and/or from the main controller to determine whether the surgical robot system is in a fault state, and in response to determining that the surgical robot system is in a fault state, cause at least one of the one or more devices of the operator console and the at least one surgical robot to transition to a safe state.

Communication paths for robot arms

A robot arm having a compound joint between a first limb of the arm and a second limb of the arm, the second limb of the arm being distal of the first limb, the arm comprising: a coupler element coupled to the first limb of the arm by a first revolute joint having a first rotation axis and to the second limb of the arm by a second revolute joint having a second rotation axis; first and second rotational position sensors for sensing the configuration of the arm about the first and second joints respectively; first and second torque sensors for sensing the torque applied about the first and second joints respectively; a control unit for controlling the operation of the arm; a first communications unit borne by the arm and located proximally of the coupler and a second communications unit borne by the arm and located distally of the coupler, each communications unit being capable of encoding data received from one or more of the position and/or torque sensors in a first data format into data packets and transmitting those packets to the control unit in accordance with a packet-based data protocol different from the first data format; wherein the first position sensor is connected by a physical data link running within an exterior wall of the first limb to the first communications unit to so as to pass data representing sensed position about the first joint to the first communications unit for encoding and the first torque sensor is connected by a physical data link running within an exterior wall of the second limb to the second communications unit to so as to pass data representing sensed torque about the first joint to the second communications unit for encoding.

Communication paths for robot arms

Configuring a surgical robotic system

Supply line for a robotic arm instrument

A surgical robotic arm drape, the drape comprising: a sheet defining a cavity for housing a robotic arm; and a set of guiding elements attached to the sheet configured to retain a supply line threaded there through for use in a surgical procedure.

Watchdog circuitry of a surgical robot arm

Surgical instrument engagement detection

A surgical robot comprising a robot arm base connected to a distal robot arm link via a series of intermediate articulated robot arm links. A robot arm interface is attached to the distal robot arm link. The robot arm interface engages an instrument interface of a surgical instrument, and comprises an instrument engagement source and an instrument engagement detector. The instrument engagement detector is configured to only detect the instrument engagement source when the instrument engagement source is coupled to the instrument engagement detector by a coupler.

Dispositivo de etiquetado de jeringa

Se divulga un dispositivo de etiquetado para una jeringa que incluye un primer subsistema de etiquetado adaptado para imprimir una primera etiqueta que tiene información legible por máquina y un segundo subsistema de etiquetado adaptado para imprimir una segunda etiqueta que tiene información legible por humanos. El primer subsistema de etiquetado incluye un aplicador de etiquetas adaptado para aplicar automáticamente la primera etiqueta a una parte de la jeringa. El primer subsistema de etiquetado incluye un conjunto de abrazadera de jeringa que sujeta de forma segura la jeringa mientras el aplicador de etiquetas aplica automáticamente una primera etiqueta a la jeringa. El segundo subsistema de etiquetado incluye un dispositivo de eliminación adaptado para eliminar automáticamente un material de respaldo de la segunda etiqueta. (Traducción automática con Google Translate, sin valor legal)