Abstract: A method for controlling a mechanical system having a plurality of components interlinked by a plurality of driven joints, the method comprising: measuring torques or forces about or at the driven joints and forming a load signal representing the measured torques or forces; receiving a motion demand signal representing a desired state of the system; implementing an impedance control algorithm in dependence on the motion demand signal and the load signal to form a target signal indicating a target configuration for each of the driven joints; measuring the configuration of each of the driven joints and forming a state signal representing the measured configurations; and forming a set of drive signals for the joints by, for each joint, comparing the target configuration of that joint as indicated by the target signal to the measured configuration of that joint as indicated by the state signal.

Abstract: A method for limiting joint velocity of a plurality of joints of a surgical robotic system, the surgical robotic system comprising a robot having 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 method comprising: obtaining joint states for a first group of k joints of the arm, where k>1; for each of the k joints: determining from the obtained joint state a permitted range of motion for that joint; deriving, using the permitted range of motion, a joint velocity limit for that joint; selecting the minimum joint velocity limit of the k joints to be a common joint velocity limit used to limit each of the k joints individually; and calculating drive signals for driving the k joints wherein the velocity of each of the k joints is limited using the common joint velocity limit.

Abstract: A control system configured to control manipulation of a surgical instrument in response to manipulation of a remote surgeon input device. The surgical instrument comprises an end effector having opposable first and second end effector elements connected to a shaft by an articulated coupling. The control system receives a command from the surgeon input device to both (i) change the orientation of the end effector, and (ii) open the first and second end effector elements relative to each other. In response to the command to change the orientation of the end effector, the control system determines an angle ? between the longitudinal axis of the articulated coupling and the end effector. In response to the command to open the first and second end effector elements, the control system determines an opening angle ? between the first and second end effector elements.

Abstract: An electrosurgical connection unit for a surgical robot arm to connect an electrosurgical instrument attached to the arm to an electrosurgical generator. The electrosurgical connection unit includes an input port connectable to the electrosurgical generator, the input port configured to receive a driving electrosurgical signal and output one or more activation signals; an output port connectable to the electrosurgical instrument, the output port configured to output the driving electrosurgical signal received on the input port; one or more activation switch units, wherein activation of an activation switch unit causes an activation signal to be output from the input port indicating a driving electrosurgical signal with a desired waveform is to be activated; and a control unit configured to selectively activate one of the one or more activation switch units in response to a control signal.

Abstract: A control system for a surgical robotic system, the surgical robotic system comprising a remote surgeon console and an articulated surgical robot arm comprising a series of joints extending from a base to a terminal end for attaching to an articulated surgical instrument. The control system comprises a central controller communicatively coupled to and remotely located from an arm controller of the surgical robot arm, the central controller also communicatively coupled to a surgeon input device of the surgeon console.

Abstract: An electrosurgical connection unit for a surgical robot arm to connect an electrosurgical instrument attached to the arm to an electrosurgical generator. The electrosurgical connection unit includes an input port connectable to the electrosurgical generator, the input port configured to receive a driving electrosurgical signal and output one or more activation signals; an output port connectable to the electrosurgical instrument, the output port configured to output the driving electrosurgical signal received on the input port; one or more activation switch units, wherein activation of an activation switch unit causes an activation signal to be output from the input port indicating a driving electrosurgical signal with a desired waveform is to be activated; and a control unit configured to selectively activate one of the one or more activation switch units in response to a control signal.

Abstract: An electrosurgical connection unit for a surgical robot arm to connect an electrosurgical instrument attached to the arm to an electrosurgical generator. The electrosurgical connection unit includes an input port connectable to the electrosurgical generator, the input port configured to receive a driving electrosurgical signal and output one or more activation signals; an output port connectable to the electrosurgical instrument, the output port configured to output the driving electrosurgical signal received on the input port; one or more activation switch units, wherein activation of an activation switch unit causes an activation signal to be output from the input port indicating a driving electrosurgical signal with a desired waveform is to be activated; and a control unit configured to selectively activate one of the one or more activation switch units in response to a control signal.

Abstract: A control system for a surgical robotic system, the surgical robotic system comprising a remote surgeon console and an articulated surgical robot arm comprising a series of joints extending from a base to a terminal end for attaching to an articulated surgical instrument. The control system comprises a central controller communicatively coupled to and remotely located from an arm controller of the surgical robot arm, the central controller also communicatively coupled to a surgeon input device of the surgeon console.

Abstract: A control system configured to control manipulation of a surgical instrument in response to manipulation of a remote surgeon input device. The surgical instrument comprises opposable first and second end effector elements connected to a shaft by an articulated coupling. The articulated coupling comprises a first joint driveable by a first pair of driving elements so as to permit the first end effector element to rotate, and a second joint driveable by a second pair of driving elements so as to permit the second end effector element to rotate.

Abstract: A method of controlling movement of the tip of a surgical endoscope from a first position (E) to an intermediate position (E?), the field of view from the tip of the endoscope being at an angle (?) relative to a longitudinal shaft of the endoscope, the method comprising: receiving a command to move from the first position in a first direction; identifying a nominal view point (N) from the tip of the endoscope in the first position; calculating a tip movement path from the first position based on the received command, the identified nominal view point and the angle (?); determining the intermediate position; and moving the tip to the intermediate position, the intermediate position being such that the nominal view point remains within the field of view from the tip.

Abstract: A surgical robot comprising a surgical robot arm and a surgical robot arm controller. The surgical robot arm comprises a set of joints and a joint controller. The joint controller is configured to drive a joint of the set of joints. The surgical robot arm controller comprises a processor and watchdog circuitry. The processor is configured to send joint driving signals to the joint controller on a communication link. The watchdog circuitry is configured to: receive sequence values from the processor; determine whether each received sequence value matches a next expected value of a predetermined sequence; and if the received sequence value does not match the next expected value of the predetermined sequence, disable the communication link between the processor and the joint controller.

Abstract: A surgical robot comprising: a surgical robot arm comprising: a series of joints extending from a base to a terminal end for attaching to a surgical instrument for inserting through a port into a patients body to a surgical site, the series of joints comprising a first set of joints, wherein for each joint of the first set of joints, there is a configuration of the surgical robot arm for which that joint experiences a gravitational torque or force and a movement of that joint complying with the gravitational torque or force would cause the surgical instrument to advance into the patients body towards the surgical site; and joint motors for driving the series of joints; and a robot arm controller configured to send drive signals to drive the joint motors, wherein the surgical robot arm controller is configured to, in response to detecting a power loss, send drive signals to drive the joint motors so as to hold the position of each joint of the first set ofjoints against gravity, thereby preventing the surgical

Abstract: A control system for a surgical robotic system, the surgical robotic system comprising a remote surgeon console having a surgeon input device, and a surgical robot arm comprising a series of joints extending from a base to a terminal end for attaching to a surgical instrument, the surgical robot arm operable in a full power mode in which the joints of the surgical robot arm are powered by a first power source and a reduced power mode in which the joints of the surgical robot arm are powered by a second power source, he control system configured to: whilst the surgical robot arm is operating in the full power mode, control the surgical robot arm in a surgical mode by converting inputs from the surgeon input device to control signals for moving joints of the surgical robot arm; detect a power failure of the first power source; in response to detecting the power failure, enable the reduced power mode, and control the surgical robot arm in a locked mode by sending control signals to lock joints of the surgical ro

Abstract: A control system for a surgical robotic system, the surgical robotic system comprising a remote surgeon console having a surgeon input device, and a surgical robot arm comprising a series of joints extending from a base to a terminal end for attaching to a surgical instrument, the surgical robot arm operable in a full power mode in which the joints of the surgical robot arm are powered by a first power source and a reduced power mode in which the joints of the surgical robot arm are powered by a second power source, the control system configured to: whilst the surgical robot arm is operating in the full power mode, control the surgical robot arm in a surgical mode by converting movements of the surgeon input device to control signals for moving joints of the surgical robot arm; detect power failure of the first power source; in response to detecting the power failure, enable the reduced power mode, and transition control of the surgical robot arm from the surgical mode to a standby mode; whilst in the reduced

Abstract: A control system for regulating operative control of a surgical instrument by a remote surgeon input device. The surgical instrument is supported by an articulated robot arm, and comprises an end effector connected to a shaft by an articulated coupling. The remote surgeon input device is capable of operatively controlling the surgical instrument by controlling articulation of the end effector, and controlling articulation of the robot arm and coupling. On receiving a request to engage operative control of the surgical instrument by the surgeon input device, the control system initially engages operative control of articulation of the robot arm and coupling by the surgeon input device, whilst maintaining disengagement of operative control of articulation of the end effector by the surgeon input device. Subsequently, the control system engages operative control of articulation of the end effector by the surgeon input device following a manipulation of the surgeon input device.

Abstract: Aspects of the disclosure include a torque sensor arrangement configured to attach between a first part and a second part to sense torque therebetween, the torque sensor arrangement comprising an interface member having on its exterior an engagement configuration configured to rotationally engage the first part, a torsion member comprising a deflectable body attached at one end thereof to the interface member and comprising, at the other end of the deflectable body, an engagement configuration configured to fixedly engage the second part, and a deflection sensor attached to the deflectable body, wherein the interface member defines a rigid sleeve extending around the deflectable body and the torque sensor arrangement further comprises a bushing located between and in contact with both the sleeve and the deflectable body.

Abstract: A master-slave system that includes a first manipulator supporting a first end effector; a second manipulator supporting a second end effector; an input device configured to concurrently receive from a hand of an operator a first movement command to effect a desired movement of the first end effector and a second movement command to effect a desired movement of the second end effector; and a processor configured to determine a desired movement of the first and the second end effectors in response to the first and second movement commands received from the input device respectively.

Abstract: A master-slave system that includes a first manipulator supporting a first end effector; a second manipulator supporting a second end effector; an input device configured to concurrently receive from a hand of an operator a first movement command to effect a desired movement of the first end effector and a second movement command to effect a desired movement of the second end effector; and a processor configured to determine a desired movement of the first and the second end effectors in response to the first and second movement commands received from the input device respectively.

Abstract: A master-slave system that includes a first manipulator supporting a first end effector; a second manipulator supporting a second end effector; an input device configured to concurrently receive from a hand of an operator a first movement command to effect a desired movement of the first end effector and a second movement command to effect a desired movement of the second end effector; and a processor configured to determine a desired movement of the first and the second end effectors in response to the first and second movement commands received from the input device respectively.

Abstract: A control system for controlling a surgical robot by a surgeon console remote from the surgical robot, the control system being configured to: receive one or more state signal associated with a plurality of instruments, each of the plurality of instruments being attachable to the surgical robot, the one or more state signal indicating a selectability of each of the plurality of instruments for control by the surgeon console, and a control mode of each of the plurality of instruments from a group of modes, the group of modes comprising a manipulation mode in which an instrument of the plurality of instruments is controllable by the surgeon console, and a selection mode in which an instrument of the plurality of instruments is selectable for control by the surgeon console; determine a graphical arrangement of icons for display in dependence on the received one or more state signal, where each icon represents a respective one of the plurality of instruments, and output a display signal to cause the graphical arr