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: 20200138531
    Abstract: A surgical robotic instrument comprising: a shaft; an end effector element; an articulation connecting the end effector element to the shaft, the articulation comprising: a first joint driveable by a first pair of driving elements, the first joint permitting the end effector element 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; a pulley arrangement around which the second pair of driving elements is constrained to move, the pulley arrangement comprising: a first set of pulleys rotatable about the first axis; and a second set of pulleys proximal to the first set of pulleys and comprising a first pulley rotatable about a second axis, and a second pulley rotatable about a third axis parallel to and offset from the second axis; and a clevis unit comprising two arms supporting the pulleys of the pulley arrangement, and a pulley guard extending from one of the arms for guarding one of the first and second pulleys.
    Type: Application
    Filed: June 6, 2018
    Publication date: May 7, 2020
    Inventor: Ben Robert CHAPLIN
  • Patent number: 10624703
    Abstract: A robotic surgical instrument comprising a shaft and end effector element connected by an articulation. The articulation comprises first and second joints, driveable by first and second pairs 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. A pulley arrangement comprises a first set of pulleys rotatable about the first axis and a redirecting pulley between the first set of pulleys and the second joint, both of which constrain the second pair of driving elements. The redirecting pulley is rotatable about a redirecting pulley axis which is angled to the first axis so as to cause the redirecting pulley to redirect a first one of the second pair of driving elements from a take-off point of a first pulley of the first set of pulleys to a pick-up point of the second joint.
    Type: Grant
    Filed: December 9, 2016
    Date of Patent: April 21, 2020
    Assignee: CMR Surgical Limited
    Inventors: Ben Robert Chaplin, Keith Marshall, Luke David Ronald Hares
  • Publication number: 20200100854
    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: Application
    Filed: October 1, 2019
    Publication date: April 2, 2020
    Inventors: Ben Robert Chaplin, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Rebecca Anne Cuthbertson
  • Publication number: 20200093468
    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: Application
    Filed: October 23, 2019
    Publication date: March 26, 2020
    Inventors: Ben Robert Chaplin, Keith Marshall, Luke David Ronald Hares
  • Publication number: 20200038127
    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: Application
    Filed: October 6, 2017
    Publication date: February 6, 2020
    Inventors: Ben Robert CHAPLIN, Ross Hamilton HENRYWOOD, Archie John Ralph LODGE
  • Patent number: 10517685
    Abstract: A robotic surgical instrument comprising an articulation connecting an end effector to a distal end of a shaft. The articulation comprises joints permitting the end effector to adopt a range of orientations relative to a longitudinal axis of the shaft. An instrument interface connects to a proximal end of the shaft. Pairs of driving elements drive the joints. The driving elements extend from the instrument interface to the joints. Each driving element comprises a spoke which terminates at a distal end in a distal flexible portion that engages the articulation and at a proximal end in a proximal flexible portion that engages the instrument interface. In a straight configuration of the robotic surgical instrument in which the end effector is aligned with the shaft, the distal ends of the spokes of adjacent driving elements are offset along a longitudinal direction of the shaft.
    Type: Grant
    Filed: December 9, 2016
    Date of Patent: December 31, 2019
    Assignee: CMR Surgical Limited
    Inventors: Ben Robert Chaplin, Keith Marshall, Nikki Priyam Su-Ling Phoolchund
  • Publication number: 20190393233
    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: August 6, 2019
    Publication date: December 26, 2019
    Inventors: Andrew Murray Scholan, Ben Robert Chaplin, Keith Marshall, Luke David Ronald Hares, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
  • Patent number: 10499891
    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: December 9, 2016
    Date of Patent: December 10, 2019
    Assignee: CMR Surgical Limited
    Inventors: Ben Robert Chaplin, Keith Marshall, Luke David Ronald Hares
  • Patent number: 10463437
    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: December 9, 2016
    Date of Patent: November 5, 2019
    Assignee: CMR Surgical Limited
    Inventors: Ben Robert Chaplin, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Rebecca Anne Cuthbertson
  • Patent number: 10426558
    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: November 18, 2016
    Date of Patent: October 1, 2019
    Assignee: Cambridge Medical Robotics Limited
    Inventors: Andrew Murray Scholan, Ben Robert Chaplin, Keith Marshall, Luke David Ronald Hares, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
  • Publication number: 20190223960
    Abstract: A robotic surgical instrument comprising: a shaft; an end effector element; an articulation connecting the end effector element to the shaft, the articulation comprising: 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: Application
    Filed: December 9, 2016
    Publication date: July 25, 2019
    Inventors: Ben Robert Chaplin, Keith Marshall, Luke David Ronald Hares
  • Publication number: 20190167365
    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: July 27, 2017
    Publication date: June 6, 2019
    Applicant: CMR SURGICAL LIMITED
    Inventors: Ben Robert Chaplin, James Oliver Grant, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
  • Publication number: 20190151035
    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: July 27, 2017
    Publication date: May 23, 2019
    Inventors: Ben Robert Chaplin, James Oliver Grant, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
  • Publication number: 20180360548
    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: December 9, 2016
    Publication date: December 20, 2018
    Inventors: Keith Marshall, Luke David Ronald Hares, Ben Robert Chaplin, Nikki Priyam Su-Ling Phoolchund
  • Publication number: 20180360549
    Abstract: A robotic surgical instrument comprising: a shaft; an end effector comprising a first end effector element and a second end effector element; an articulation connecting the end effector to the shaft, the articulation comprising: 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 comprising 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: Application
    Filed: December 9, 2016
    Publication date: December 20, 2018
    Inventors: Luke David Ronald Hares, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Ben Robert Chaplin
  • Publication number: 20180353251
    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: Application
    Filed: December 9, 2016
    Publication date: December 13, 2018
    Inventors: Rebecca Anne Cuthbertson, Ben Robert Chaplin, Keith Marshall, Luke David Ronald Hares, Nikki Priyam Su-Ling Phoolchund
  • Publication number: 20170347810
    Abstract: The present invention provides a modular pusher system for facing products on a shelf. The system comprises a plurality of dividers each having a front end and a rear end, at least one pusher comprising a spring element for biasing the pusher towards a front edge of a shelf, a back rail having a mounting element for holding rear ends of the dividers and that is mountable on an upper side of a shelf in a position that is parallel to a front edge of the shelf and at a distance from the front edge of the shelf, and a plurality of front retainers for retaining products at the front edge of a shelf.
    Type: Application
    Filed: June 6, 2017
    Publication date: December 7, 2017
    Inventor: Ben Robert Winfield
  • Publication number: 20170172553
    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: Application
    Filed: December 9, 2016
    Publication date: June 22, 2017
    Inventors: Ben Robert Chaplin, Keith Marshall, Luke David Ronald Hares
  • Publication number: 20170165010
    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: Application
    Filed: December 9, 2016
    Publication date: June 15, 2017
    Inventors: Ben Robert Chaplin, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Rebecca Anne Cuthbertson
  • Publication number: 20170165009
    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: Application
    Filed: December 9, 2016
    Publication date: June 15, 2017
    Inventors: Ben Robert Chaplin, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Rebecca Anne Cuthbertson