Patents by Inventor Andrew Murray Scholan
Andrew Murray Scholan has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20230390009Abstract: 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 faultType: ApplicationFiled: August 31, 2021Publication date: December 7, 2023Applicant: CMR Surgical LimitedInventors: Andrew Murray SCHOLAN, Adam Peter SUTTON, Paul Christopher ROBERTS
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Publication number: 20230320794Abstract: A control system of a surgical robotic system, the surgical robotic system comprising a first robot arm and a second robot arm, each of the first and second robot arms comprising a series of joints by which the configuration of that robot arm can be altered, the series of joints extending from a base at a proximal end of the robot arm to an attachment for a surgical instrument at a distal end of the robot arm, the control system being configured to reconfigure the surgical robotic system by: controlling the first robot arm to operate in a surgical mode in which a first surgical instrument attached to that first robot arm is inside a patient's body; and whilst the first robot arm is operating in the surgical mode: (i) controlling the second robot arm so as to permit a second surgical instrument attached to the second robot arm to be inserted into a port in the patient's body; (ii) determining a fulcrum about which the second surgical instrument pivots when the configuration of the second robot arm is altered wType: ApplicationFiled: March 29, 2021Publication date: October 12, 2023Inventors: Andrew Murray SCHOLAN, Luke David Ronald HARES
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Patent number: 11559361Abstract: A locator of a surgical port of a surgical robot system, the surgical robot system comprising an instrument attached to a robot arm, the instrument having an instrument shaft able to pass through the surgical port to a surgical site, the locator comprising: an interface configured to couple to the surgical port; a mechanism configured to permit relative linear and/or rotational motion of the interface and the instrument shaft; and a controller comprising a processor operable to estimate the position of a part of the robot arm, the controller configured to control the mechanism in dependence on the estimated position of the part of the robot arm such that as the robot arm retracts the instrument from the patient, the locator moves the port away from the robot arm and provides a reaction force to keep the port in place.Type: GrantFiled: January 8, 2021Date of Patent: January 24, 2023Assignee: CMR Surgical LimitedInventors: Andrew Murray Scholan, Ben Robert Chaplin, Keith Marshall, Luke David Ronald Hares, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
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Patent number: 11071599Abstract: A surgical robot comprising a robot arm base connected to a distal robot arm link via a series of intermediate articulated robot arm links. A robot arm interface is attached to the distal robot arm link. The robot arm interface engages an instrument interface of a surgical instrument, and comprises an instrument engagement source and an instrument engagement detector. The instrument engagement detector is configured to only detect the instrument engagement source when the instrument engagement source is coupled to the instrument engagement detector by a coupler.Type: GrantFiled: January 26, 2018Date of Patent: July 27, 2021Assignee: CMR Surgical LimitedInventors: Ben Brierton, Andrew Murray Scholan, Simon Schofield, Ricardo Michael Henderson Da Silva
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Publication number: 20210196421Abstract: A surgical robotic arm drape, the drape comprising: a sheet defining a cavity for housing a robotic arm; and a set of guiding elements attached to the sheet configured to retain a supply line threaded there through for use in a surgical procedure.Type: ApplicationFiled: March 15, 2021Publication date: July 1, 2021Inventor: Andrew Murray SCHOLAN
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Publication number: 20210137614Abstract: A locator of a surgical port of a surgical robot system, the surgical robot system comprising an instrument attached to a robot arm, the instrument having an instrument shaft able to pass through the surgical port to a surgical site, the locator comprising: an interface configured to couple to the surgical port; a mechanism configured to permit relative linear and/or rotational motion of the interface and the instrument shaft; and a controller comprising a processor operable to estimate the position of a part of the robot arm, the controller configured to control the mechanism in dependence on the estimated position of the part of the robot arm such that as the robot arm retracts the instrument from the patient, the locator moves the port away from the robot arm and provides a reaction force to keep the port in place.Type: ApplicationFiled: January 8, 2021Publication date: May 13, 2021Inventors: Andrew Murray Scholan, Ben Robert Chaplin, Keith Marshall, Luke David Ronald Hares, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
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Patent number: 10960547Abstract: A surgical robot arm (10) comprises a mounting portion (18). The mounting portion (18) comprises a reader (20) configured for reading location identifiers (26). The mounting portion (18) fits into a socket (22) comprising a location identifier (26). A signal output from the reader (20) allows determination of the location of the robot arm (10).Type: GrantFiled: December 9, 2016Date of Patent: March 30, 2021Assignee: CMR SURGICAL LIMITEDInventor: Andrew Murray Scholan
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Patent number: 10919156Abstract: A robot arm having a compound joint between a first limb of the arm and a second limb of the arm, the second limb of the arm being distal of the first limb, the arm comprising: a coupler element coupled to the first limb of the arm by a first revolute joint having a first rotation axis and to the second limb of the arm by a second revolute joint having a second rotation axis; first and second rotational position sensors for sensing the configuration of the arm about the first and second joints respectively; first and second torque sensors for sensing the torque applied about the first and second joints respectively; a control unit for controlling the operation of the arm; a first communications unit borne by the arm and located proximally of the coupler and a second communications unit borne by the arm and located distally of the coupler, each communications unit being capable of encoding data received from one or more of the position and/or torque sensors in a first data format into data packets and transmitType: GrantFiled: July 22, 2016Date of Patent: February 16, 2021Assignee: CMR Surgical LimitedInventors: Paul Christopher Roberts, Edward John Mottram, Andrew Murray Scholan
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Patent number: 10905503Abstract: A locator of a surgical port of a surgical robot system, the surgical robot system comprising an instrument attached to a robot arm, the instrument having an instrument shaft able to pass through the surgical port to a surgical site, the locator comprising: an interface configured to couple to the surgical port; a mechanism configured to permit relative linear and/or rotational motion of the interface and the instrument shaft; and a controller comprising a processor operable to estimate the position of a part of the robot arm, the controller configured to control the mechanism in dependence on the estimated position of the part of the robot arm such that as the robot arm retracts the instrument from the patient, the locator moves the port away from the robot arm and provides a reaction force to keep the port in place.Type: GrantFiled: August 6, 2019Date of Patent: February 2, 2021Assignee: CMR Surgical LimitedInventors: Andrew Murray Scholan, Ben Robert Chaplin, Keith Marshall, Luke David Ronald Hares, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
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Publication number: 20190393233Abstract: A locator of a surgical port of a surgical robot system, the surgical robot system comprising an instrument attached to a robot arm, the instrument having an instrument shaft able to pass through the surgical port to a surgical site, the locator comprising: an interface configured to couple to the surgical port; a mechanism configured to permit relative linear and/or rotational motion of the interface and the instrument shaft; and a controller comprising a processor operable to estimate the position of a part of the robot arm, the controller configured to control the mechanism in dependence on the estimated position of the part of the robot arm such that as the robot arm retracts the instrument from the patient, the locator moves the port away from the robot arm and provides a reaction force to keep the port in place.Type: ApplicationFiled: August 6, 2019Publication date: December 26, 2019Inventors: Andrew Murray Scholan, Ben Robert Chaplin, Keith Marshall, Luke David Ronald Hares, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
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Patent number: 10426558Abstract: A locator of a surgical port of a surgical robot system, the surgical robot system comprising an instrument attached to a robot arm, the instrument having an instrument shaft able to pass through the surgical port to a surgical site, the locator comprising: an interface configured to couple to the surgical port; a mechanism configured to permit relative linear and/or rotational motion of the interface and the instrument shaft; and a controller comprising a processor operable to estimate the position of a part of the robot arm, the controller configured to control the mechanism in dependence on the estimated position of the part of the robot arm such that as the robot arm retracts the instrument from the patient, the locator moves the port away from the robot arm and provides a reaction force to keep the port in place.Type: GrantFiled: November 18, 2016Date of Patent: October 1, 2019Assignee: Cambridge Medical Robotics LimitedInventors: Andrew Murray Scholan, Ben Robert Chaplin, Keith Marshall, Luke David Ronald Hares, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
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Publication number: 20180370036Abstract: A surgical robot arm (10) comprises a mounting portion (18). The mounting portion (18) comprises a reader (20) configured for reading location identifiers (26). The mounting portion (18) fits into a socket (22) comprising a location identifier (26). A signal output from the reader (20) allows determination of the location of the robot arm (10).Type: ApplicationFiled: December 9, 2016Publication date: December 27, 2018Inventor: Andrew Murray Scholan
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Publication number: 20180228559Abstract: A surgical robot comprising a robot arm base connected to a distal robot arm link via a series of intermediate articulated robot arm links. A robot arm interface is attached to the distal robot arm link. The robot arm interface engages an instrument interface of a surgical instrument, and comprises an instrument engagement source and an instrument engagement detector. The instrument engagement detector is configured to only detect the instrument engagement source when the instrument engagement source is coupled to the instrument engagement detector by a coupler.Type: ApplicationFiled: January 26, 2018Publication date: August 16, 2018Inventors: Ben Brierton, Andrew Murray SCHOLAN, Simon SCHOFIELD, Ricardo Michael Henderson DA SILVA
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Publication number: 20180036091Abstract: A surgical robotic arm drape, the drape comprising: a sheet defining a cavity for housing a robotic arm; and a set of guiding elements attached to the sheet configured to retain a supply line threaded there through for use in a surgical procedure.Type: ApplicationFiled: March 15, 2016Publication date: February 8, 2018Inventor: Andrew Murray SCHOLAN
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Publication number: 20170143435Abstract: A locator of a surgical port of a surgical robot system, the surgical robot system comprising an instrument attached to a robot arm, the instrument having an instrument shaft able to pass through the surgical port to a surgical site, the locator comprising: an interface configured to couple to the surgical port; a mechanism configured to permit relative linear and/or rotational motion of the interface and the instrument shaft; and a controller comprising a processor operable to estimate the position of a part of the robot arm, the controller configured to control the mechanism in dependence on the estimated position of the part of the robot arm such that as the robot arm retracts the instrument from the patient, the locator moves the port away from the robot arm and provides a reaction force to keep the port in place.Type: ApplicationFiled: November 18, 2016Publication date: May 25, 2017Inventors: Andrew Murray Scholan, Ben Robert Chaplin, Keith Marshall, Luke David Ronald Hares, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson