POWERING A SURGICAL ROBOT ARM

A surgical robot comprising: a surgical robot arm comprising: a series of joints extending from a base to a terminal end for attaching to a surgical instrument for inserting through a port into a patients body to a surgical site, the series of joints comprising a first set of joints, wherein for eac...

Full description

Saved in:
Bibliographic Details
Main Author DEANE, Gordon Thomas
Format Patent
LanguageEnglish
French
German
Published 01.03.2023
Subjects
DIAGNOSIS
HUMAN NECESSITIES
HYGIENE
IDENTIFICATION
MEDICAL OR VETERINARY SCIENCE
SURGERY
Online AccessGet full text

Cover

More Information
Summary:A surgical robot comprising: a surgical robot arm comprising: a series of joints extending from a base to a terminal end for attaching to a surgical instrument for inserting through a port into a patients body to a surgical site, the series of joints comprising a first set of joints, wherein for each joint of the first set of joints, there is a configuration of the surgical robot arm for which that joint experiences a gravitational torque or force and a movement of that joint complying with the gravitational torque or force would cause the surgical instrument to advance into the patients body towards the surgical site; and joint motors for driving the series of joints; and a robot arm controller configured to send drive signals to drive the joint motors, wherein the surgical robot arm controller is configured to, in response to detecting a power loss, send drive signals to drive the joint motors so as to hold the position of each joint of the first set ofjoints against gravity, thereby preventing the surgical instrument from advancing into the patients body towards the surgical site due to movement of one or more joints of the first set of joints under gravity.
Bibliography:Application Number: EP20210722980