Controlling a surgical instrument

A control system for engaging and disengaging an operational control exercised by a remote surgeon input device over an end effector surgical instrument mounted to an articulated robot arm through an articulated coupling. On receiving a request to engage operational control 500, the control system i...

Full description

Saved in:
Bibliographic Details
Main Authors Ross Hamilton Henrywood, Gordon Thomas Deane, Rachel Garsed, Edward James Wildin Tucker, Rebecca Anne Cuthbertson
Format Patent
LanguageEnglish
Published 15.02.2023
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
DIAGNOSIS
HAND TOOLS
HUMAN NECESSITIES
HYGIENE
IDENTIFICATION
MANIPULATORS
MEDICAL OR VETERINARY SCIENCE
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
SURGERY
TRANSPORTING
Online AccessGet full text

Cover

More Information
Summary:A control system for engaging and disengaging an operational control exercised by a remote surgeon input device over an end effector surgical instrument mounted to an articulated robot arm through an articulated coupling. On receiving a request to engage operational control 500, the control system initially only engages operational control of the coupling and the robot arm 502, whilst keeping the operational control of the end effector 506 disengaged. The control system subsequently engages operational control of the end effector 508 following a manipulation of the surgeon input device. Preferably rotatable end effector elements e.g. jaws, are operatively controlled by manipulation of a pincer that is rotatable relative to the surgeon input device; where the separation of the pincer and input device form a pincer angle used to derive a drive angle in the operational control of the angle between end effector elements; and where the control system engages / restores operational control to the end effector when the pincer is first manipulated so the pincer angle exceeds the end effector angle, after which the pincer is moved until the drive angle matches the angle between the end effector elements. Engaging and disengaging is described with regard to a clutch.
Bibliography:Application Number: GB20220008274