Patents by Inventor Ben Roberts

Ben Roberts 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).

  • Publication number: 20220354599
    Abstract: A surgical robot arm extending between a base and a terminal link, the terminal link connected to an adjacent link in the surgical robot arm by a joint which permits the terminal link to rotate about a longitudinal axis of the terminal link, the terminal link comprising: a drive assembly having a first drive assembly interface element for driving a first instrument interface element of a robotic surgical instrument when the surgical robot arm engages the robotic surgical instrument, the first drive assembly interface element engageable with the first instrument interface element on the longitudinal axis of the terminal link, and the first drive assembly interface element being linearly displaceable along the longitudinal axis of the terminal link so as to drive the first instrument interface element along the longitudinal axis of the terminal link.
    Type: Application
    Filed: July 25, 2022
    Publication date: November 10, 2022
    Inventors: Keith Marshall, Luke David Ronald Hares, Ben Robert Chaplin, Nikki Phoolchund
  • Patent number: 11484298
    Abstract: A robotic surgical instrument comprising a shaft and end effector element connected by an articulation. The articulation comprises a first joint driveable by a first pair of driving elements. The first joint permits the end effector element to rotate about a first axis transverse to a longitudinal axis of the shaft, the rotation of the end effector element about the first axis bounded by an extreme rotation angle relative to the longitudinal axis. A second joint is driveable by a second pair of driving elements. A pulley arrangement constrains the second pair of driving elements, and comprises a first set of pulleys rotatable about the first axis, and a second set of pulleys located relative to the first set of pulleys such that at the extreme rotation angle the second pair of driving elements is retained in contact with both the first and second sets of pulleys.
    Type: Grant
    Filed: October 23, 2019
    Date of Patent: November 1, 2022
    Assignee: CMR Surgical Limited
    Inventors: Ben Robert Chaplin, Keith Marshall, Luke David Ronald Hares
  • Publication number: 20220331021
    Abstract: A drive transfer element for transferring drive between a surgical robot arm and a surgical instrument, the drive transfer element comprising a drive transfer element recess being releasably engageable with an interface protrusion; and a drive transfer element protrusion being releasably engageable with an interface recess; the drive transfer element protrusion comprising a cavity in communication with the drive transfer element recess so as to enable the interface protrusion engageable with the drive transfer element recess to project into the cavity.
    Type: Application
    Filed: May 24, 2022
    Publication date: October 20, 2022
    Inventors: Ben Robert Chaplin, James Oliver Grant, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
  • Publication number: 20220331020
    Abstract: A drive transfer element for transferring drive between a surgical robot arm and a surgical instrument, the drive transfer element comprising a drive transfer element recess being releasably engageable with an interface protrusion; and a drive transfer element protrusion being releasably engageable with an interface recess; the drive transfer element protrusion comprising a cavity in communication with the drive transfer element recess so as to enable the interface protrusion engageable with the drive transfer element recess to project into the cavity.
    Type: Application
    Filed: May 24, 2022
    Publication date: October 20, 2022
    Inventors: Ben Robert Chaplin, James Oliver Grant, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
  • Patent number: 11432887
    Abstract: A surgical robot arm extending between a base and a terminal link, the terminal link connected to an adjacent link in the surgical robot arm by a joint which permits the terminal link to rotate about a longitudinal axis of the terminal link, the terminal link comprising: a drive assembly having a first drive assembly interface element for driving a first instrument interface element of a robotic surgical instrument when the surgical robot arm engages the robotic surgical instrument, the first drive assembly interface element engageable with the first instrument interface element on the longitudinal axis of the terminal link, and the first drive assembly interface element being linearly displaceable along the longitudinal axis of the terminal link so as to drive the first instrument interface element along the longitudinal axis of the terminal link.
    Type: Grant
    Filed: December 9, 2016
    Date of Patent: September 6, 2022
    Assignee: CMR SURGICAL LIMITED
    Inventors: Keith Marshall, Luke David Ronald Hares, Ben Robert Chaplin, Nikki Priyam Su-Ling Phoolchund
  • Publication number: 20220226053
    Abstract: An interface structure for detachably interfacing a surgical robot arm to a surgical instrument, the interface structure comprising a main body; and a drive transfer element comprising a first portion and a second portion, the first portion being releasably engageable with a portion of the surgical robot arm and the second portion being releasably engageable with a portion of the surgical instrument; the drive transfer element being movable relative to the main body so as to enable transfer of drive between the surgical robot arm and the surgical instrument.
    Type: Application
    Filed: March 10, 2022
    Publication date: July 21, 2022
    Inventors: Ben Robert Chaplin, James Oliver Grant, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
  • Patent number: 11382705
    Abstract: A robotic surgical instrument comprising: a shaft; an articulation at a distal end of the shaft configured to articulate an end effector, the articulation driveable by a pair of driving elements; and an instrument interface at a proximal end of the shaft, the instrument interface comprising: an instrument interface element configured to drive the pair of driving elements, the instrument interface element displaceable over a displacement range, the pair of driving elements fast with the instrument interface element such that a displacement of the instrument interface element is transferred to the pair of driving elements; a tensioning mechanism configured to tension the pair of driving elements; and an alignment mechanism configured to set the displacement position of the instrument interface element to a predetermined alignment position when the end effector has a predetermined configuration, the alignment mechanism being independent of the tensioning mechanism.
    Type: Grant
    Filed: October 1, 2019
    Date of Patent: July 12, 2022
    Assignee: CMR Surgical Limited
    Inventors: Ben Robert Chaplin, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Rebecca Anne Cuthbertson
  • Patent number: 11369441
    Abstract: A drive transfer element for transferring drive between a surgical robot arm and a surgical instrument, the drive transfer element comprising a drive transfer element recess being releasably engageable with an interface protrusion; and a drive transfer element protrusion being releasably engageable with an interface recess; the drive transfer element protrusion comprising a cavity in communication with the drive transfer element recess so as to enable the interface protrusion engageable with the drive transfer element recess to project into the cavity.
    Type: Grant
    Filed: July 27, 2017
    Date of Patent: June 28, 2022
    Assignee: CMR SURGICAL LIMITED
    Inventors: Ben Robert Chaplin, James Oliver Grant, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
  • Patent number: 11304765
    Abstract: An interface structure for detachably interfacing a surgical robot arm to a surgical instrument, the interface structure comprising a main body; and a drive transfer element comprising a first portion and a second portion, the first portion being releasably engageable with a portion of the surgical robot arm and the second portion being releasably engageable with a portion of the surgical instrument; the drive transfer element being movable relative to the main body so as to enable transfer of drive between the surgical robot arm and the surgical instrument.
    Type: Grant
    Filed: July 27, 2017
    Date of Patent: April 19, 2022
    Assignee: CMR SURGICAL LIMITED
    Inventors: Ben Robert Chaplin, James Oliver Grant, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
  • Publication number: 20220107014
    Abstract: One general aspect includes a composite sprocket. The composite sprocket also includes a skeleton having a connection interface and an outer portion having a rough tooth structure. The composite sprocket also includes an overlay formed on and over the outer portion of the skeleton and may include of a precision material and forming a high precision tooth structure over the rough tooth structure.
    Type: Application
    Filed: October 3, 2020
    Publication date: April 7, 2022
    Applicant: ContiTech Antriebssysteme GmbH
    Inventors: Jacob Kaplan, Christopher Ganshert, Ben Roberts
  • Patent number: 11129686
    Abstract: A robotic surgical instrument comprising a shaft, a first end effector element, an articulation connecting the first end effector element to a distal end of the shaft, the first end effector element being movable relative to the articulation, and a drive mechanism at a proximal end of the shaft. The drive mechanism comprises a first actuator connected to the first end effector element by a first pair of driving elements. The first pair of driving elements are configured such that a tension force applied by the first actuator to a first one of the first pair of driving elements causes the first end effector element to move relative to the articulation in a first motion direction, and the tension force applied to a second one of the first pair of driving elements causes the first end effector element to move relative to the articulation in a second motion direction.
    Type: Grant
    Filed: October 6, 2017
    Date of Patent: September 28, 2021
    Assignee: CMR SURGICAL LIMITED
    Inventors: Ben Robert Chaplin, Ross Hamilton Henrywood, Archie John Ralph Lodge
  • Patent number: 11071598
    Abstract: A robotic surgical instrument comprising: a shaft; an articulation at a distal end of the shaft for articulating an end effector, the articulation driveable by pairs of driving elements; and an instrument interface at a proximal end of the shaft, the instrument interface comprising an internal portion which is within the projected profile of the shaft and an external portion which is outside of the projected profile of the shaft, the instrument interface comprising instrument interface elements for driving pairs of driving elements, wherein a first instrument interface element engages a first pair of driving elements in the internal portion.
    Type: Grant
    Filed: December 9, 2016
    Date of Patent: July 27, 2021
    Assignee: CMR Surgical Limited
    Inventors: Ben Robert Chaplin, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Rebecca Anne Cuthbertson
  • Patent number: 11033348
    Abstract: A robotic surgical instrument comprises an articulation at its shaft's distal end and an instrument interface at its proximal end. The articulation is driveable by pairs of driving elements to articulate an end effector. The instrument interface comprises instrument interface elements configured to drive the driving elements. The instrument interface elements engage drive assembly interface elements of a drive assembly interface of a surgical robot arm when the robotic surgical instrument engages the surgical robot arm. A guide bar is located at an external face of the instrument interface, which, on engaging the instrument interface with the drive assembly interface, is received in the drive assembly interface prior to the instrument interface elements. Once received in the drive assembly interface, the guide bar constrains a relative orientation at which the instrument interface and the drive assembly interface are permitted to engage so as to align their longitudinal attitudes.
    Type: Grant
    Filed: December 9, 2016
    Date of Patent: June 15, 2021
    Assignee: CMR Surgical Limited
    Inventors: Ben Robert Chaplin, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Rebecca Anne Cuthbertson
  • Publication number: 20210137614
    Abstract: 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: Application
    Filed: January 8, 2021
    Publication date: May 13, 2021
    Inventors: Andrew Murray Scholan, Ben Robert Chaplin, Keith Marshall, Luke David Ronald Hares, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
  • Patent number: 10905503
    Abstract: 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: Grant
    Filed: August 6, 2019
    Date of Patent: February 2, 2021
    Assignee: CMR Surgical Limited
    Inventors: Andrew Murray Scholan, Ben Robert Chaplin, Keith Marshall, Luke David Ronald Hares, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
  • Patent number: 10813705
    Abstract: A robotic surgical instrument including: a shaft; an end effector including a first end effector element and a second end effector element; an articulation connecting the end effector to the shaft, the articulation including: a first joint driveable by a first pair of driving elements, the first joint permitting the end effector to rotate about a first axis transverse to a longitudinal axis of the shaft; a second joint driveable by a second pair of driving elements, the second joint permitting the first end effector element to rotate about a second axis transverse to the first axis; and a third joint driveable by a third pair of driving elements, the third joint permitting the second end effector element to rotate about the second axis; the robotic surgical instrument further including a pulley arrangement around which the second and third pairs of driving elements are constrained to move, the second and third pairs of driving elements having symmetrically opposing paths around the pulley arrangement.
    Type: Grant
    Filed: December 9, 2016
    Date of Patent: October 27, 2020
    Assignee: CMR SURGICAL LIMITED
    Inventors: Luke David Ronald Hares, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Ben Robert Chaplin
  • Patent number: 10813706
    Abstract: A robotic surgical instrument including: a shaft; an end effector element; an articulation connecting the end effector element to the shaft, the articulation including: joints permitting the end effector element to adopt a range of orientations relative to a longitudinal axis of the shaft; pairs of driving elements configured to drive the joints; a supporting body having a bevelled surface; and are directing pulley mounted on the bevelled surface such that the redirecting pulley rotates about a redirecting pulley axis transverse to the bevelled surface.
    Type: Grant
    Filed: December 9, 2016
    Date of Patent: October 27, 2020
    Assignee: CMR SURGICAL LIMITED
    Inventors: Ben Robert Chaplin, Keith Marshall, Luke David Ronald Hares
  • Patent number: 10792113
    Abstract: A robotic surgical instrument comprising: a shaft; an articulation at a distal end of the shaft for articulating an end effector, the articulation driveable by a pair of driving elements; and an instrument interface at a proximal end of the shaft, the instrument interface comprising an instrument interface element for driving the pair of driving elements, the instrument interface element displaceable over a first displacement range, the instrument interface element comprising a body receivable in a drive assembly interface element of a robot arm when the robotic surgical instrument engages with the surgical robot arm, the drive assembly interface element displaceable over a second displacement range, the length of the body in the displaceable direction being greater than one of the maximum travel of the body over the first displacement range and the maximum travel of the drive assembly interface element over the second displacement range.
    Type: Grant
    Filed: December 9, 2016
    Date of Patent: October 6, 2020
    Assignee: CMR SURGICAL LIMITED
    Inventors: Rebecca Anne Cuthbertson, Ben Robert Chaplin, Keith Marshall, Luke David Ronald Hares, Nikki Priyam Su-Ling Phoolchund
  • Publication number: 20200197109
    Abstract: A robotic surgical instrument, comprising: a shaft; an end effector element; an articulation at a distal end of the shaft for articulating the end effector element, the articulation comprising: a first and second joint permitting the end effector element to adopt a range of configurations relative to a longitudinal axis of the shaft, the first joint being driveable by a first pair of driving elements having a first positional accuracy requirement and the second joint being driveable by a second pair of driving elements having a second positional accuracy requirement lower than the positional accuracy requirement of the first pair of driving elements; and an instrument interface at a proximal end of the shaft, comprising: a chassis formed from the attachment of a first chassis portion to a second chassis portion, the first chassis portion comprising a mounting surface to which the shaft is mounted; wherein the first pair of driving elements are secured relative to the first chassis portion.
    Type: Application
    Filed: June 6, 2018
    Publication date: June 25, 2020
    Inventor: Ben Robert CHAPLIN
  • Publication number: 20200188040
    Abstract: A robotic surgical instrument, comprising: a shaft; an end effector element; an articulation at a distal end of the shaft for articulating the end effector element, the articulation comprising a first joint permitting the end effector to adopt a range of configurations relative to the longitudinal axis of the shaft, the first joint being driveable by a first pair of driving elements; and an instrument interface at a proximal end of the shaft, comprising: a chassis formed from the securement of a first chassis portion to a second chassis portion, wherein the first pair of driving elements are secured relative to the chassis, the chassis portions being configured to be secured together by sliding the chassis portions relative to each other in a longitudinal direction parallel to the longitudinal axis of the shaft.
    Type: Application
    Filed: June 6, 2018
    Publication date: June 18, 2020
    Inventors: Ben Robert CHAPLIN, Brendan Haig BAYLIS