Abstract: A surgical robotic system comprising a processor configured to obtain a state signal associated with an instrument, obtain a state signal associated with an imaging device, determine an image pose position of the instrument in dependence on the obtained signals and determine an icon for display in dependence on the determined image pose position.

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.

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.

Abstract: A robot arm comprising a joint mechanism for articulating one limb relative to another limb about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier attached to a first one of the limbs by a first revolute joint having a first rotation axis and to a second one of the limbs by a second revolute joint having a second rotation axis; a first drive gear disposed about the first rotation axis and fast with the carrier, whereby rotation of the carrier relative to the first limb about the first rotation axis can be driven; a second drive gear disposed about the second rotation axis and fast with the second one of the limbs, whereby rotation of the second one of the limbs about the second rotation axis relative to the carrier can be driven; at least one of the first and second drive gears being a sector gear.

Abstract: A robot arm comprising a joint mechanism for articulating one limb relative to another limb about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier attached to a first one of the limbs by a first revolute joint having a first rotation axis and to a second one of the limbs by a second revolute joint having a second rotation axis; a first drive gear disposed about the first rotation axis and fast with the carrier, whereby rotation of the carrier relative to the first limb about the first rotation axis can be driven; a second drive gear disposed about the second rotation axis and fast with the second one of the limbs, whereby rotation of the second one of the limbs about the second rotation axis relative to the carrier can be driven; at least one of the first and second drive gears being a sector gear.

Abstract: A surgical robot comprising an articulated arm, the arm having a terminal portion comprising: a distal segment having an attachment for a surgical instrument; an intermediate segment; and a basal segment whereby the terminal portion is attached to the remainder of the arm; 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; wherein: the intermediate segment comprises a third articulation permitting relative rotation of the distal segment and the basal segment about third and fourth axes; and the first, second and third articulations are arranged such that in at least one configuration of the third articulation the first and second axes are parallel and the thir

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.

Abstract: A method for characterising the environment of a robot, the robot having a flexible arm having a plurality of joints, a datum carried by the arm, a plurality of drivers arranged to drive the joints to move and a plurality of position sensors for sensing the position of each of the joints, the method comprising: contacting the datum carried by the arm with a first datum on a second robot in the environment of the first robot, wherein the second robot has a flexible arm having a plurality of joints, and a plurality of drivers arranged to drive those joints to move; calculating in dependence on the outputs of the position sensors a distance between a reference location defined in a frame of reference local to the robot and the first datum; and controlling the drivers to reconfigure the first arm in dependence on at least the calculated distance.

Abstract: A circuit configured to sense the driving current of a motor, the circuit comprising: a driver configured to generate a driving current for a motor; a first current sensor configured to sense the driving current thereby forming a first sensed current; a second current sensor configured to sense the driving current thereby forming a second sensed current, the second current sensor being more thermally stable than the first current sensor; a comparator configured to compare the first sensed current and the second sensed current below a threshold frequency to generate a thermal calibration output; and a calibrator configured to calibrate the first sensed current by the thermal calibration output to form a sensed driving current.

Abstract: A surgical robotic drape for enveloping a surgical robotic arm that comprises a drive assembly for providing drive to an instrument, the drive assembly comprising an interface for coupling to a corresponding interface of the instrument, the drape comprising: a covering for enveloping the robotic arm to define a sterile boundary thereover; an interface element attached to the covering, the interface element being configured to engage the drive assembly interface and the instrument interface to couple the drive assembly to the instrument to thereby provide drive to the instrument through the drape; and a guiding structure attached to the covering for locating the interface element relative to the drive assembly interface, the guiding structure being deformable between a storage configuration for when the drape is to be stored, and an operative configuration in which the guiding structure is configured to attach to the robotic arm to position the interface element with respect to the interface of the drive assem

Abstract: A method for characterizing the environment of a robot, the robot having a flexible arm having a plurality of joints, a datum carried by the arm, a plurality of drivers arranged to drive the joints to move and a plurality of position sensors for sensing the position of each of the joints, the method comprising: contacting the datum carried by the arm with a first datum on a second robot in the environment of the first robot, wherein the second robot has a flexible arm having a plurality of joints, and a plurality of drivers arranged to drive those joints to move; calculating in dependence on the outputs of the position sensors a distance between a reference location defined in a frame of reference local to the robot and the first datum; and controlling the drivers to reconfigure the first arm in dependence on at least the calculated distance.

Abstract: A surgical robot comprising an articulated arm, the arm having a terminal portion comprising: a distal segment having an attachment for a surgical instrument; an intermediate segment; and a basal segment whereby the terminal portion is attached to the remainder of the arm; 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; wherein: the intermediate segment comprises a third articulation permitting relative rotation of the distal segment and the basal segment about third and fourth axes; and the first, second and third articulations are arranged such that in at least one configuration of the third articulation the first and second axes are parallel and the thir

Abstract: A surgical robot comprising a base and an arm extending from a proximal end attached to the base to a distal end attachable to a surgical instrument via a series of links interspersed by articulations. The arm comprises a receiver, a proximity sensor and a controller. The receiver is configured to receive data from the surgical instrument over a short-range wireless communications link with the surgical instrument. The proximity sensor is configured to detect the proximal presence of the surgical instrument. The controller is configured to respond to the proximity sensor detecting the proximal presence of the surgical instrument by enabling the short-range wireless communications link between the receiver and a transmitter of the surgical instrument to be established.

Abstract: A surgical robotic arm drape for enveloping a portion of a robotic arm, the drape comprising: an exterior sheet defining an elongate cavity for housing a portion of a robotic arm; and a duct defined at least in part by material integral with the exterior sheet, the duct defining a fluid path along the longitudinal extent of the cavity to channel fluid to or from a robotic arm housed within the cavity.

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.

Abstract: A robot comprising: a base; an articulated arm extending distally of the base and including two arm members coupled by a joint; a motor; a gearbox having an input shaft coupled to an output of the motor and an output shaft configured to drive relative motion of the arm members about the joint; a position sensor configured to sense relative position of the arm members about the joint; and a control system coupled to the arm configured to drive the motor, the control system being arranged to perform a calibration operation to estimate torque loss in the gearbox by the steps of (i) estimating the inertia of the portion of the arm distal of the joint for motion about the joint; (ii) applying a determined drive power to the motor; (iii) receiving from the position sensor position data indicating the motion of the arm in response to the applied drive power; and (iv) estimating the torque loss in the gearbox in dependence on the estimated inertia, the determined drive power and the position data.

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.

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.

Abstract: A robot arm comprising a joint mechanism for articulating one limb of the arm relative to another limb of the arm about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier attached to a first one of the limbs by a first revolute joint having a first rotation axis and to a second one of the limbs by a second revolute joint having a second rotation axis; a first drive gear disposed about the first rotation axis, the first drive gear being fast with the carrier; a second drive gear disposed about the second rotation axis, the second drive gear being fast with the second one of the limbs; a first drive shaft for driving the first drive gear to rotate about the first rotation axis, the first drive shaft extending along the first one of the limbs and having a first shaft gear thereon, the first shaft gear being arranged to engage the first drive gear; a second drive shaft for driving the second drive gear to rotate about the second rotation axis, the second drive shaft extending along

Abstract: A robot arm comprising a joint mechanism for articulating one limb of the arm relative to another limb of the arm about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier attached to a first one of the limbs by a first revolute joint having a pitch rotation axis and to a second one of the limbs by a second revolute joint having a yaw rotation axis; a first drive gear disposed about the pitch rotation axis, the first drive gear being fast with the carrier; a second drive gear disposed about the yaw rotation axis, the second drive gear being fast with the second one of the limbs; a first drive shaft for driving the first drive gear to rotate about the pitch rotation axis, the first drive shaft extending along the first one of the limbs and having a first shaft gear thereon, the first shaft gear being arranged to engage the first drive gear; a second drive shaft for driving the second drive gear to rotate about the yaw rotation axis, the second drive shaft extending along the first