Patents by Inventor Nikki Priyam Su-Ling Phoolchund
Nikki Priyam Su-Ling Phoolchund 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: 11925431Abstract: 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: GrantFiled: September 29, 2022Date of Patent: March 12, 2024Assignee: CMR SURGICAL LIMITEDInventors: Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
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Patent number: 11839438Abstract: 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: GrantFiled: July 27, 2017Date of Patent: December 12, 2023Assignee: CMR SURGICAL LIMITEDInventors: Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
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Publication number: 20230074346Abstract: 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: ApplicationFiled: November 14, 2022Publication date: March 9, 2023Inventors: Nikki Priyam Su-Ling Phoolchund, Keith Marshall, Thomas Bates Jackson, Jonathan Peter Whittle, Dominic Martin McBrien
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Publication number: 20230072227Abstract: 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: ApplicationFiled: November 14, 2022Publication date: March 9, 2023Inventors: Nikki Priyam Su-Ling Phoolchund, Keith Marshall, Thomas Bates Jackson, Jonathan Peter Whittle, Dominic Martin McBrien
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Patent number: 11577409Abstract: 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: GrantFiled: August 31, 2020Date of Patent: February 14, 2023Assignee: CMR SURGICAL LIMITEDInventors: Keith Marshall, Nikki Priyam Su-Ling Phoolchund
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Patent number: 11564763Abstract: 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: GrantFiled: July 27, 2017Date of Patent: January 31, 2023Assignee: CMR SURGICAL LIMITEDInventors: Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
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Publication number: 20230022025Abstract: 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: ApplicationFiled: September 29, 2022Publication date: January 26, 2023Inventors: Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
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Patent number: 11559361Abstract: 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: GrantFiled: January 8, 2021Date of Patent: January 24, 2023Assignee: CMR Surgical LimitedInventors: Andrew Murray Scholan, Ben Robert Chaplin, Keith Marshall, Luke David Ronald Hares, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
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Patent number: 11547501Abstract: 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: GrantFiled: September 14, 2017Date of Patent: January 10, 2023Assignee: CMR Surgical LimitedInventors: Nikki Priyam Su-Ling Phoolchund, Keith Marshall, Thomas Bates Jackson, Jonathan Peter Whittle, Dominic Martin McBrien
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Publication number: 20220331021Abstract: 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: ApplicationFiled: May 24, 2022Publication date: October 20, 2022Inventors: Ben Robert Chaplin, James Oliver Grant, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
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Publication number: 20220331020Abstract: 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: ApplicationFiled: May 24, 2022Publication date: October 20, 2022Inventors: Ben Robert Chaplin, James Oliver Grant, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
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Patent number: 11432887Abstract: 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: GrantFiled: December 9, 2016Date of Patent: September 6, 2022Assignee: CMR SURGICAL LIMITEDInventors: Keith Marshall, Luke David Ronald Hares, Ben Robert Chaplin, Nikki Priyam Su-Ling Phoolchund
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Publication number: 20220226053Abstract: 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: ApplicationFiled: March 10, 2022Publication date: July 21, 2022Inventors: Ben Robert Chaplin, James Oliver Grant, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
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Patent number: 11382705Abstract: 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: GrantFiled: October 1, 2019Date of Patent: July 12, 2022Assignee: CMR Surgical LimitedInventors: Ben Robert Chaplin, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Rebecca Anne Cuthbertson
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Patent number: 11369441Abstract: 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: GrantFiled: July 27, 2017Date of Patent: June 28, 2022Assignee: CMR SURGICAL LIMITEDInventors: Ben Robert Chaplin, James Oliver Grant, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
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Patent number: 11304765Abstract: 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: GrantFiled: July 27, 2017Date of Patent: April 19, 2022Assignee: CMR SURGICAL LIMITEDInventors: Ben Robert Chaplin, James Oliver Grant, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
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Patent number: 11241289Abstract: A packaging insert configured to engage a portion of a surgical drape for locating the drape on a surgical robot arm, the drape comprising a drive transfer element for transferring drive between the robot arm and a surgical instrument, the packaging insert comprising a body and a retention portion engageable with the drive transfer element for retaining the drive transfer element in a desired position.Type: GrantFiled: September 13, 2017Date of Patent: February 8, 2022Assignee: CMR SURGICAL LIMITEDInventors: Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
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Patent number: 11071598Abstract: 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: GrantFiled: December 9, 2016Date of Patent: July 27, 2021Assignee: CMR Surgical LimitedInventors: Ben Robert Chaplin, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Rebecca Anne Cuthbertson
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Patent number: 11045266Abstract: A drive unit for providing drive from a robot arm to an instrument comprises a plurality of drive elements for engaging corresponding elements of the instrument, and a load cell structure. Each drive element is movable along a drive axis and the drive axes of each of the drive elements are substantially parallel to each other. The load cell structure includes a plurality of deflectable bodies coupled to the drive elements for sensing load on the drive elements parallel to their drive axes, and a frame. The frame includes an integral member supporting the deflectable bodies in such a way as to isolate each deflectable body from the load applied to the or each other deflectable body.Type: GrantFiled: April 14, 2020Date of Patent: June 29, 2021Assignee: CMR Surgical LimitedInventors: Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
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Patent number: 11033348Abstract: A robotic surgical instrument comprises an articulation at its shaft's distal end and an instrument interface at its proximal end. The articulation is driveable by pairs of driving elements to articulate an end effector. The instrument interface comprises instrument interface elements configured to drive the driving elements. The instrument interface elements engage drive assembly interface elements of a drive assembly interface of a surgical robot arm when the robotic surgical instrument engages the surgical robot arm. A guide bar is located at an external face of the instrument interface, which, on engaging the instrument interface with the drive assembly interface, is received in the drive assembly interface prior to the instrument interface elements. Once received in the drive assembly interface, the guide bar constrains a relative orientation at which the instrument interface and the drive assembly interface are permitted to engage so as to align their longitudinal attitudes.Type: GrantFiled: December 9, 2016Date of Patent: June 15, 2021Assignee: CMR Surgical LimitedInventors: Ben Robert Chaplin, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Rebecca Anne Cuthbertson