Abstract: A controller for controlling the configuration of a joint in a surgical robot, the joint being driven by a drivetrain which transfers power from a drive source to the joint, wherein the controller is configured to: receive a first input indicating a configuration of the drive source; receive a second input from a first sensor, the second input indicating a measured configuration of the joint in the surgical robot; calculate a value of output torque about the joint using the first input and the second input; and calculate, using the value of output torque, a value of input torque to be applied to the joint in the surgical robot by the drive source.

Abstract: A method for characterising the performance of a joint in a surgical robotic arm, the joint being driven by a drivetrain which transfers power from a drive source to the joint, the method comprising: sending a first command signal to position the robot arm into an initial configuration; sending a second command signal to apply a force to the joint to displace the joint from a steady state; for a plurality of predefined time intervals: receiving a first measurement indicating the configuration of the drive source at a first end of the drivetrain; receiving a second measurement indicating the configuration of the joint at a second end of the drivetrain; calculating a value of elongation using the first and second measurements; and receiving a third measurement indicating the torque experienced by the joint at the second end of the drivetrain; comparing the values of elongation with corresponding values of torque at each of the predefined time intervals; and generating an output from the comparison indicating th

Abstract: An integrated wavelength selectable photodiode includes a device package having an input that receives an optical signal. A set-and-hold, thermally tunable thin-film filter is positioned in the device package and includes an input that is optically coupled to the input of the device package. The set-and-hold, thermally tunable thin-film filter passes light with a predetermined optical bandwidth to an output. An optical element collimates an incident optical beam onto the input of the set-and-hold, thermally tunable thin-film filter. A detector is positioned in the device package and includes an input that is optically coupled to the output of the set-and-hold, thermally tunable thin-film filter. The detector detects data received by the integrated wavelength selectable photodiode.

Abstract: An optical device including: a substrate with a top surface and a bottom surface and a hole extending through the substrate from the top surface to the bottom surface; and a multilayered thin film structure fabricated on the substrate and forming a membrane over the hole, the multilayered thin film structure including a thermally tunable thin film optical filter structure at least a portion of which is positioned over the hole.

Abstract: The present invention provides a method of dispersion compensation comprising the steps of: