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1. (WO2018162921) CONTROLLING A SURGICAL INSTRUMENT

Pub. No.:    WO/2018/162921    International Application No.:    PCT/GB2018/050603
Publication Date: Fri Sep 14 01:59:59 CEST 2018 International Filing Date: Sat Mar 10 00:59:59 CET 2018
IPC: A61B 34/30
A61B 34/00
A61B 34/37
Applicants: CMR SURGICAL LIMITED
Inventors: TUCKER, Edward James Wildin
DEANE, Gordon Thomas
GARSED, Rachel Marie
CUTHBERTSON, Rebecca Anne
HENRYWOOD, Ross Hamilton
Title: CONTROLLING A SURGICAL INSTRUMENT
Abstract:
A control system for regulating operative control of a surgical instrument by a remote surgeon input device. The surgical instrument is supported by an articulated robot arm, and comprises an end effector connected to a shaft by an articulated coupling. The remote surgeon input device is capable of operatively controlling the surgical instrument by controlling articulation of the end effector, and controlling articulation of the robot arm and coupling. On receiving a request to engage operative control of the surgical instrument by the surgeon input device, the control system initially engages operative control of articulation of the robot arm and coupling by the surgeon input device, whilst maintaining disengagement of operative control of articulation of the end effector by the surgeon input device. Subsequently, the control system engages operative control of articulation of the end effector by the surgeon input device following a manipulation of the surgeon input device.