Patents by Inventor Keith Marshall

Keith Marshall 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).

  • Patent number: 12285227
    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: July 25, 2022
    Date of Patent: April 29, 2025
    Assignee: CMR SURGICAL LIMITED
    Inventors: Keith Marshall, Luke David Ronald Hares, Ben Robert Chaplin, Nikki Priyam Su-Ling Phoolchund
  • Publication number: 20250035102
    Abstract: Some embodiments disclosed herein are directed to a pump assembly comprising a voice coil, a magnet and a diaphragm, wherein the voice coil is configured to move the diaphragm to pump a fluid through the pump assembly in response to a drive signal applied to the voice coil. Some embodiments disclosed herein are directed to an apparatus for applying negative pressure to a wound comprising a source of negative pressure configured to be coupled to a dressing, the source of negative comprising a voice coil actuator and a diaphragm, and a controller configured to produce a drive signal for the voice coil actuator.
    Type: Application
    Filed: September 30, 2024
    Publication date: January 30, 2025
    Inventors: Ben Alan Askem, Trevor John Beckett, Iacopo Claudio Ferrari, Matthew James Herd, Keith Marshall, Tom Moy, Alexander David Norman, Christian Riva, Gary Stacey, Philip Walsh
  • Patent number: 12193773
    Abstract: An interface structure for detachably interfacing a surgical robot arm to a surgical instrument, the interface structure comprising: a base portion comprising a first surface for facing the surgical instrument and a second surface for facing the surgical robot arm; and a plurality of first fasteners supported by the base portion and protruding from the first surface, the plurality of first fasteners configured to engage the surgical instrument so as to retain the interface structure to the surgical instrument. The interface structure engages the surgical robot arm so as to retain the interface structure to the surgical robot arm, wherein the plurality of first fasteners and the remainder of the interface structure are shaped such that when the surgical instrument is detached from the surgical robot arm the interface structure is retained to the surgical robot arm.
    Type: Grant
    Filed: November 14, 2022
    Date of Patent: January 14, 2025
    Assignee: CMR Surgical Limited
    Inventors: Nikki Priyam Su-Ling Phoolchund, Keith Marshall, Thomas Bates Jackson, Jonathan Peter Whittle, Dominic Martin McBrien
  • Patent number: 12137994
    Abstract: An interface structure for detachably interfacing a surgical robot arm to a surgical instrument, the interface structure comprising: a base portion comprising a first surface for facing the surgical instrument and a second surface for facing the surgical robot arm; and a plurality of first fasteners supported by the base portion and protruding from the first surface, the plurality of first fasteners configured to engage the surgical instrument so as to retain the interface structure to the surgical instrument. The interface structure engages the surgical robot arm so as to retain the interface structure to the surgical robot arm, wherein the plurality of first fasteners and the remainder of the interface structure are shaped such that when the surgical instrument is detached from the surgical robot arm the interface structure is retained to the surgical robot arm.
    Type: Grant
    Filed: November 14, 2022
    Date of Patent: November 12, 2024
    Assignee: CMR Surgical Limited
    Inventors: Nikki Priyam Su-Ling Phoolchund, Keith Marshall, Thomas Bates Jackson, Jonathan Peter Whittle, Dominic Martin McBrien
  • Patent number: 12108995
    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: March 10, 2022
    Date of Patent: October 8, 2024
    Assignee: CMR SURGICAL LIMITED
    Inventors: Ben Robert Chaplin, James Oliver Grant, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
  • Patent number: 12084730
    Abstract: A method for producing direct reduced iron having increased carbon content, comprises delivering each of the herein-described mixed carburizing gas streams, which are of different composition, to a transition zone of a direct reduction furnace, and exposing partially or completely reduced iron oxide to the mixed carburizing gas streams to increase the carbon content of resulting direct reduced iron to greater than 4.5 wt. %.
    Type: Grant
    Filed: March 23, 2021
    Date of Patent: September 10, 2024
    Assignee: Midrex Technologies, Inc.
    Inventors: Keith Marshall Bastow-Cox, Todd Michael Astoria, Gregory Darel Hughes
  • Patent number: 12036667
    Abstract: A robot arm comprising a first arm segment and a second arm segment coupled to each other by a first revolute joint having a first rotation axis and a second revolute joint having a second rotation axis non-parallel to the first rotation axis, and a joint mechanism for articulating the first arm segment relative to the second arm segment about the first and second rotation axes, the joint mechanism comprising: a first driven gear disposed about an axle coincident with the first rotation axis, the axle being fast with a first arm segment of the robot arm; a second driven gear disposed about the second rotation axis and fast with a second arm segment of the robot arm and fast with the first driven gear about the first rotation axis; a first drive gear configured to drive the first driven gear to rotate about the axle, the first drive gear being arranged to engage the first driven gear; a second drive gear for driving the second driven gear to rotate about the second rotation axis; and an intermediary gear arran
    Type: Grant
    Filed: February 1, 2023
    Date of Patent: July 16, 2024
    Assignee: CMR Surgical Limited
    Inventors: James Oliver Grant, Keith Marshall, Thomas Bates Jackson
  • Patent number: 11952638
    Abstract: A direct reduction method/system, including: adding variable amounts of natural gas, hydrogen, and a carbon-free oxidizing gas to a feed gas stream upstream of a reformer; reforming the feed gas stream in the reformer to form a reformed gas stream, and delivering the reformed gas stream to a shaft furnace, where the reformed gas stream is used to reduce a metallic ore material to a direct reduced metallic material. The feed gas stream includes a top gas stream recycled from the shaft furnace. Optionally, the carbon-free oxidizing gas includes steam and the method further includes controlling a steam flow rate of the steam to maintain a maximum k-factor value of the feed gas stream of 0.74 or lower. Optionally, the variable amount of hydrogen is selected to replace 20-90% of the natural gas by fuel value. The variable amount of hydrogen is selected based upon an available supply of hydrogen.
    Type: Grant
    Filed: September 23, 2020
    Date of Patent: April 9, 2024
    Assignee: Midrex Technologies, Inc.
    Inventors: Keith Marshall Bastow-Cox, Enrique Jose Cintron, Gregory Darel Hughes
  • Publication number: 20240108430
    Abstract: A surgical robotic component comprising an articulated terminal portion, the terminal portion comprising: a distal segment having an attachment connected thereto, an intermediate segment, and a basal segment whereby the terminal portion is attached to the remainder of the surgical robotic component. The terminal portion further comprises a first articulation between the distal segment and the intermediate segment, the first articulation permitting relative rotation of the distal segment and the intermediate segment about a first axis, and a second articulation between the intermediate segment and the basal segment, the second articulation permitting relative rotation of the intermediate segment and the basal segment about a second axis.
    Type: Application
    Filed: December 8, 2023
    Publication date: April 4, 2024
    Inventors: Luke David Ronald Hares, Keith Marshall
  • Patent number: 11925431
    Abstract: A motion feedthrough for a surgical drape, the motion feedthrough comprising a drive transfer element comprising a first portion and a second portion, the first portion being releasably engageable with a portion of a robot arm and the second portion being releasably engageable with a portion of an instrument, the drive transfer element being movable relative to a bulk portion of the drape so as to transfer drive between the robot arm and the instrument.
    Type: Grant
    Filed: September 29, 2022
    Date of Patent: March 12, 2024
    Assignee: CMR SURGICAL LIMITED
    Inventors: Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
  • Patent number: 11903668
    Abstract: A surgical robotic component comprising an articulated terminal portion, the terminal portion comprising: a distal segment having an attachment connected thereto, an intermediate segment, and a basal segment whereby the terminal portion is attached to the remainder of the surgical robotic component. The terminal portion further comprises a first articulation between the distal segment and the intermediate segment, the first articulation permitting relative rotation of the distal segment and the intermediate segment about a first axis, and a second articulation between the intermediate segment and the basal segment, the second articulation permitting relative rotation of the intermediate segment and the basal segment about a second axis.
    Type: Grant
    Filed: June 11, 2021
    Date of Patent: February 20, 2024
    Assignee: CMR SURGICAL LIMITED
    Inventors: Luke David Ronald Hares, Keith Marshall
  • Patent number: 11877815
    Abstract: A robotic surgical instrument comprising a shaft, an articulated section and a drive mechanism. The articulated section extends from the shaft and terminates at its distal end in a tip. The tip has an attachment for an end effector. The drive mechanism drives the articulated section via flexible driving elements thereby altering the angular orientation of the tip relative to the shaft. The drive mechanism is controlled so as to always fully compress the articulated section along at least one extent by which the articulated section connects the tip and the shaft whilst driving the articulated section from any one configuration to any other configuration. The drive mechanism constrains movement of the articulated section so as to permit the tip to move with two degrees of rotational freedom and no degrees of translational freedom relative to the shaft.
    Type: Grant
    Filed: August 11, 2021
    Date of Patent: January 23, 2024
    Assignee: CMR SURGICAL LIMITED
    Inventors: Steven James Randle, Luke David Ronald Hares, Keith Marshall
  • Patent number: 11839438
    Abstract: A surgical drape for covering at least a portion of a surgical robot arm, the arm comprising at least one drive assembly interface element for transferring drive between the arm and an instrument engageable with the arm, the drape comprising an interface portion locatable between the arm and the instrument when the instrument is engaged with the arm; and a bulk portion encompassing the interface portion; the interface portion and the bulk portion being adjacent one another, the interface portion comprising one or more of a material or configuration having a lower modulus than that of the bulk portion in at least one direction, and a movable portion, the movable portion being movable relative to the bulk portion, so as to permit repeatable movement of a portion of the interface portion relative to the bulk portion.
    Type: Grant
    Filed: July 27, 2017
    Date of Patent: December 12, 2023
    Assignee: CMR SURGICAL LIMITED
    Inventors: Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
  • Patent number: 11717367
    Abstract: A robotic surgical instrument comprising a shaft, an articulation attached to the distal end of the shaft, and a driving mechanism at the proximal end of the shaft. The articulation comprises a plurality of joints for articulating an end effector, the plurality of joints driveable by at least first and second pairs of driving elements. The driving mechanism comprises a pulley arrangement and a pulley drive. The pulley arrangement comprises first and second pulleys attached together such that their separation is fixed, wherein the first pair of driving elements is constrained to move around the first pulley, and the second pair of driving elements is constrained to move around the second pulley.
    Type: Grant
    Filed: April 12, 2019
    Date of Patent: August 8, 2023
    Assignee: CMR SURGICAL LIMITED
    Inventors: Luke David Ronald Hares, Keith Marshall, Andrew Mawby
  • Patent number: 11684436
    Abstract: A surgical robot comprising a surgical robot arm and a surgical instrument. The surgical robot arm terminates at its distal end in a drive assembly comprising a first drive interface element. The surgical instrument comprises a shaft, an articulation attached to the distal end of the shaft, and a driving mechanism at the proximal end of the shaft. The articulation is for articulating an end effector, the articulation driveable by at least a first driving element and a second driving element. The driving mechanism comprises a first instrument interface element to which the first driving element is connected and a second instrument interface element to which the second driving element is connected.
    Type: Grant
    Filed: June 23, 2020
    Date of Patent: June 27, 2023
    Assignee: CMR Surgical Limited
    Inventors: Keith Marshall, Steven James Randle
  • Patent number: 11674823
    Abstract: A device for sensing the relative rotary position of first and second parts about a rotation axis, the device comprising a follower constrained to move on a first track fast with the first part and on a second track fast with the second part, the first track being linear and the second track comprising a plurality of circular arcs and at least one transition section connecting one of the circular arcs to another, the tracks being arranged so as to convert relative rotation of the parts into linear motion of the follower, wherein the second track is generally spiral, each circular arc is of constant radius about the rotation axis and the first track is perpendicular to the rotation axis.
    Type: Grant
    Filed: April 22, 2022
    Date of Patent: June 13, 2023
    Assignee: CMR SURGICAL LIMITED
    Inventors: Keith Marshall, Christopher James Roach, Paul Christopher Roberts, Steven James Randle
  • Publication number: 20230074346
    Abstract: An interface structure for detachably interfacing a surgical robot arm to a surgical instrument, the interface structure comprising: a base portion comprising a first surface for facing the surgical instrument and a second surface for facing the surgical robot arm; and a plurality of first fasteners supported by the base portion and protruding from the first surface, the plurality of first fasteners configured to engage the surgical instrument so as to retain the interface structure to the surgical instrument. The interface structure engages the surgical robot arm so as to retain the interface structure to the surgical robot arm, wherein the plurality of first fasteners and the remainder of the interface structure are shaped such that when the surgical instrument is detached from the surgical robot arm the interface structure is retained to the surgical robot arm.
    Type: Application
    Filed: November 14, 2022
    Publication date: March 9, 2023
    Inventors: Nikki Priyam Su-Ling Phoolchund, Keith Marshall, Thomas Bates Jackson, Jonathan Peter Whittle, Dominic Martin McBrien
  • Publication number: 20230072227
    Abstract: An interface structure for detachably interfacing a surgical robot arm to a surgical instrument, the interface structure comprising: a base portion comprising a first surface for facing the surgical instrument and a second surface for facing the surgical robot arm; and a plurality of first fasteners supported by the base portion and protruding from the first surface, the plurality of first fasteners configured to engage the surgical instrument so as to retain the interface structure to the surgical instrument. The interface structure engages the surgical robot arm so as to retain the interface structure to the surgical robot arm, wherein the plurality of first fasteners and the remainder of the interface structure are shaped such that when the surgical instrument is detached from the surgical robot arm the interface structure is retained to the surgical robot arm.
    Type: Application
    Filed: November 14, 2022
    Publication date: March 9, 2023
    Inventors: Nikki Priyam Su-Ling Phoolchund, Keith Marshall, Thomas Bates Jackson, Jonathan Peter Whittle, Dominic Martin McBrien
  • Patent number: 11597102
    Abstract: A robot arm comprising a first arm segment and a second arm segment coupled to each other by a first revolute joint having a first rotation axis and a second revolute joint having a second rotation axis non-parallel to the first rotation axis, and a joint mechanism for articulating the first arm segment relative to the second arm segment about the first and second rotation axes, the joint mechanism comprising: a first driven gear disposed about an axle coincident with the first rotation axis, the axle being fast with a first arm segment of the robot arm; a second driven gear disposed about the second rotation axis and fast with a second arm segment of the robot arm and fast with the first driven gear about the first rotation axis; a first drive gear configured to drive the first driven gear to rotate about the axle, the first drive gear being arranged to engage the first driven gear; a second drive gear for driving the second driven gear to rotate about the second rotation axis; and an intermediary gear arran
    Type: Grant
    Filed: July 20, 2017
    Date of Patent: March 7, 2023
    Assignee: CMR Surgical Limited
    Inventors: James Oliver Grant, Keith Marshall, Thomas Bates Jackson
  • Patent number: 11577409
    Abstract: A robot arm comprising a plurality of limbs articulated relative to each other, the robot arm extending from a base to a distal limb carrying a tool or an attachment point for a tool, the distal limb being attached by a revolute joint to a second limb, and the robot arm comprising a motor having a body and a drive shaft configured to drive rotation of the distal limb relative to the second limb about the revolute joint, wherein the body of the motor is fast with the distal limb.
    Type: Grant
    Filed: August 31, 2020
    Date of Patent: February 14, 2023
    Assignee: CMR SURGICAL LIMITED
    Inventors: Keith Marshall, Nikki Priyam Su-Ling Phoolchund