Patents by Inventor Graham John Veitch
Graham John Veitch 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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Patent number: 11969228Abstract: 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.Type: GrantFiled: October 21, 2020Date of Patent: April 30, 2024Assignee: CMR SURGICAL LIMITEDInventors: Gordon Thomas Deane, Graham John Veitch
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Publication number: 20240050176Abstract: 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.Type: ApplicationFiled: October 24, 2023Publication date: February 15, 2024Inventors: Luke David Ronald Hares, Paul Christopher Roberts, Graham John Veitch, Gordon Thomas Deane
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Patent number: 11832906Abstract: A control system configured to control manipulation of a surgical instrument in response to manipulation of a remote surgeon input device, the surgical instrument comprising opposable first and second end effector elements connected to a shaft by an articulated coupling, the articulated coupling comprising 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, the control system configured to: detect a change of configuration of the surgeon input device to a gripping configuration at time t; respond to the change of configuration of the surgeon input device to the gripping configuration by commanding gripping forces to be applied to the first and second pairs of driving elements, so as to cause the first and second end effector elements to rotate in opposing rotational directions towards each other with a gripping closing foType: GrantFiled: October 23, 2020Date of Patent: December 5, 2023Assignee: CMR SURGICAL LIMITEDInventors: David William Haydn Webster-Smith, Luke David Ronald Hares, Graham John Veitch
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Patent number: 11826116Abstract: 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.Type: GrantFiled: February 24, 2021Date of Patent: November 28, 2023Assignee: CMR SURGICAL LIMITEDInventors: Luke David Ronald Hares, Paul Christopher Roberts, Graham John Veitch, Gordon Thomas Deane
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Patent number: 11786328Abstract: 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.Type: GrantFiled: October 8, 2020Date of Patent: October 17, 2023Assignee: CMR SURGICAL LIMITEDInventors: Gordon Thomas Deane, Graham John Veitch
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Publication number: 20230233275Abstract: A control system for controlling 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.Type: ApplicationFiled: June 28, 2021Publication date: July 27, 2023Inventors: Graham John Veitch, David William Haydn Webster-Smith, Roy Andrew Glasscock
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Publication number: 20230172676Abstract: A control system of a surgical robot arm, the surgical robot arm comprising a series of joints by which the configuration of that surgical robot arm can be altered and one or more torque sensors, each torque sensor configured to sense a torque at a joint of the series of joints, the control system being configured to control the configuration of the surgical robot arm to be altered in response to an externally applied force or torque by: receiving sensory data from the one or more torque sensors indicative of a sensed torque state of the surgical robot arm resulting from the externally applied force or torque; mapping the sensed torque state to a selected torque state of a set of candidate torque states; and sending a command signal to the surgical robot arm to drive the robot arm such that the configuration of the robot arm is altered so as to comply with the selected torque state.Type: ApplicationFiled: March 29, 2021Publication date: June 8, 2023Inventors: Edward John MOTTRAM, Graham John VEITCH
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Publication number: 20230149101Abstract: A control system of a surgical robot arm, the surgical robot arm comprising a series of joints by which the configuration of that surgical robot arm can be altered and one or more force or torque sensors, each force or torque sensor configured to sense a force or torque at a joint of the series of joints, the control system being configured to control the configuration of the surgical robot arm to be altered in response to an externally applied force or torque by: receiving sensory data from the one or more force or torque sensors indicative of a sensed force or torque at a part of the surgical robot arm resulting from the externally applied force or torque; determining a position of the part of the surgical robot arm using a reference position, whereby the sensed force or torque would be compensated by moving the part of the surgical robot arm to the determined position; sending a command signal to the surgical robot arm to drive the part of the surgical robot arm to the determined position; and updating theType: ApplicationFiled: March 29, 2021Publication date: May 18, 2023Inventors: Edward John MOTTRAM, Graham John VEITCH
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Publication number: 20210259792Abstract: 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.Type: ApplicationFiled: February 24, 2021Publication date: August 26, 2021Inventors: Luke David Ronald Hares, Paul Christopher Roberts, Graham John Veitch, Gordon Thomas Deane
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Publication number: 20210161606Abstract: A control system for controlling manipulation of a surgical instrument in response to manipulation of a remote surgeon input device at a remote surgeon's console, the surgical instrument being supported by a surgical robot arm, the surgical instrument comprising an end effector connected to a distal end of a shaft by an articulated coupling, the articulated coupling comprising one or more joints enabling the end effector to adopt a range of attitudes relative to the distal end of the shaft, the control system configured to: receive a command from an input actuated by a user to straighten the surgical instrument; and in response to the received command, to command driving forces to be applied to joint(s) of the articulated coupling to drive the instrument to adopt a predetermined configuration in which the profile of the end effector is most closely aligned with the profile of the distal end of the shaft.Type: ApplicationFiled: November 27, 2020Publication date: June 3, 2021Inventors: Luke David Ronald Hares, Gordon Thomas Deane, Edward James Wildin Tucker, Graham John Veitch
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Publication number: 20210121254Abstract: A control system configured to control manipulation of a surgical instrument in response to manipulation of a remote surgeon input device, the surgical instrument comprising opposable first and second end effector elements connected to a shaft by an articulated coupling, the articulated coupling comprising 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, the control system configured to: detect a change of configuration of the surgeon input device to a gripping configuration at time t; respond to the change of configuration of the surgeon input device to the gripping configuration by commanding gripping forces to be applied to the first and second pairs of driving elements, so as to cause the first and second end effector elements to rotate in opposing rotational directions towards each other with a gripping closing foType: ApplicationFiled: October 23, 2020Publication date: April 29, 2021Inventors: David Smith, Luke David Ronald Hares, Graham John Veitch
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Publication number: 20210113287Abstract: 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.Type: ApplicationFiled: October 21, 2020Publication date: April 22, 2021Inventors: Gordon Thomas Deane, Graham John Veitch
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Publication number: 20210106395Abstract: 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.Type: ApplicationFiled: October 8, 2020Publication date: April 15, 2021Inventors: Gordon Thomas Deane, Graham John Veitch