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1. WO2022043715 - CONTROL SYSTEM FOR SURGICAL ROBOT SYSTEM WITH SAFETY MONITOR

Publication Number WO/2022/043715
Publication Date 03.03.2022
International Application No. PCT/GB2021/052248
International Filing Date 31.08.2021
IPC
A61B 34/37 2016.1
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
37Master-slave robots
B25J 9/16 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
H04L 12/26 2006.1
HELECTRICITY
04ELECTRIC COMMUNICATION TECHNIQUE
LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
12Data switching networks
02Details
26Monitoring arrangements; Testing arrangements
A61B 17/00 2006.1
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
CPC
A61B 2017/00119
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
17Surgical instruments, devices or methods, e.g. tourniquets
00017Electrical control of surgical instruments
00115with audible or visual output
00119alarm; indicating an abnormal situation
A61B 34/37
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
37Master-slave robots
B25J 9/1674
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1674characterised by safety, monitoring, diagnostic
B25J 9/1689
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1679characterised by the tasks executed
1689Teleoperation
G05B 2219/45117
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
45Nc applications
45117Medical, radio surgery manipulator
H04L 43/0817
HELECTRICITY
04ELECTRIC COMMUNICATION TECHNIQUE
LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
43Arrangements for monitoring or testing packet switching networks
08Monitoring based on specific metrics
0805Availability
0817functioning
Applicants
  • CMR SURGICAL LIMITED [GB]/[GB]
Inventors
  • SCHOLAN, Andrew Murray
  • SUTTON, Adam Peter
  • ROBERTS, Paul Christopher
Agents
  • SLINGSBY PARTNERS LLP
Priority Data
2013656.031.08.2020GB
2013657.831.08.2020GB
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) CONTROL SYSTEM FOR SURGICAL ROBOT SYSTEM WITH SAFETY MONITOR
(FR) SYSTÈME DE COMMANDE POUR UN SYSTÈME DE ROBOT CHIRURGICAL COMPRENANT UN MONITEUR DE SÉCURITÉ
Abstract
(EN) 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.
(FR) Système de commande pour commander un système de robot chirurgical, le système de robot chirurgical comprenant au moins un robot chirurgical, chacun dudit robot chirurgical comprenant une base, et un bras s'étendant depuis la base jusqu'à un accessoire pour un instrument, le bras comprenant une pluralité de joints, la configuration du bras pouvant ainsi être modifiée, le système de commande comprenant : un dispositif de commande principal conçu pour : recevoir des communications provenant d'un ou de plusieurs dispositifs d'une console d'opérateur identifiant des entrées provenant d'un opérateur dudit robot chirurgical ; générer des signaux de commande pour commander le mouvement du bras dudit robot chirurgical sur la base des entrées ; et envoyer des communications audit robot chirurgical identifiant les signaux de commande ; et un moniteur de sécurité conçu pour analyser au moins une partie des communications vers et/ou depuis le dispositif de commande principal pour déterminer si le système de robot chirurgical est dans un état de défaillance, et, en réponse à la détermination selon laquelle le système de robot chirurgical est dans un état de défaillance, pour entraîner la transition vers un état sûr du ou des dispositifs de la console d'opérateur et/ou du dit robot chirurgical.
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