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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Publication number: 20210137614Abstract: 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: ApplicationFiled: January 8, 2021Publication date: May 13, 2021Inventors: 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: 10932878Abstract: A surgical robotic drape for enveloping a surgical robotic arm includes 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 a drive assembly interface and an instrument interface to couple the drive assembly to an 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 is 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 assembly for engagement therewith.Type: GrantFiled: May 6, 2016Date of Patent: March 2, 2021Assignee: CMR Surgical LimitedInventors: Luke David Ronald Hares, Keith Marshall, Rebecca Anne Cuthbertson, Nikki Priyam Su-Ling Phoolchund
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Patent number: 10905503Abstract: 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: August 6, 2019Date of Patent: February 2, 2021Assignee: 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: 10881471Abstract: A cooling structure and a method of cooling a surgical robot arm. The surgical robot arm extends from a proximal end attached to a base to a distal end attachable to a surgical instrument via a series of links interspersed by articulations. The cooling structure comprises a loop for circumscribing the surgical robot arm. The loop comprises a hollow interior for feeding cooling fluid through the loop, and a series of orifices directed towards the surgical robot arm for feeding cooling fluid from the loop towards the surgical robot arm. The cooling structure further comprises a feeder conduit attached to the loop for feeding cooling fluid from a cooling fluid source to the loop.Type: GrantFiled: November 16, 2018Date of Patent: January 5, 2021Assignee: CMR SURGICAL LIMITEDInventors: Christopher James Roach, Nikki Priyam Su-Ling Phoolchund, Paul Christopher Roberts
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Publication number: 20200398443Abstract: 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: ApplicationFiled: August 31, 2020Publication date: December 24, 2020Inventors: Keith Marshall, Nikki Priyam Su-Ling Phoolchund
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Publication number: 20200352669Abstract: 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: ApplicationFiled: July 27, 2017Publication date: November 12, 2020Inventors: Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
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Publication number: 20200352668Abstract: 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: July 27, 2017Publication date: November 12, 2020Inventors: Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
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Patent number: 10813705Abstract: A robotic surgical instrument including: a shaft; an end effector including a first end effector element and a second end effector element; an articulation connecting the end effector to the shaft, the articulation including: 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 including 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.Type: GrantFiled: December 9, 2016Date of Patent: October 27, 2020Assignee: CMR SURGICAL LIMITEDInventors: Luke David Ronald Hares, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Ben Robert Chaplin
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Patent number: 10792113Abstract: 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.Type: GrantFiled: December 9, 2016Date of Patent: October 6, 2020Assignee: CMR SURGICAL LIMITEDInventors: Rebecca Anne Cuthbertson, Ben Robert Chaplin, Keith Marshall, Luke David Ronald Hares, Nikki Priyam Su-Ling Phoolchund
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Patent number: 10792820Abstract: 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: July 22, 2016Date of Patent: October 6, 2020Assignee: CMR SURGICAL LIMITEDInventors: Keith Marshall, Nikki Priyam Su-Ling Phoolchund
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Publication number: 20200281668Abstract: 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: ApplicationFiled: April 14, 2020Publication date: September 10, 2020Inventors: Keith MARSHALL, Nikki Priyam Su-Ling PHOOLCHUND, Thomas Bates JACKSON
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Patent number: 10653487Abstract: A drive unit for providing drive from a robot arm to an instrument, the drive unit comprising: a plurality of drive elements for engaging corresponding elements of the instrument, each drive element being movable along a drive axis and the drive axes of each of the drive elements being substantially parallel to each other; and a load cell structure comprising 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 comprising an integral member supporting the deflectable bodies in such a way as to isolate each deflectable body from load applied to the or each other deflectable body.Type: GrantFiled: April 20, 2016Date of Patent: May 19, 2020Assignee: CMR Surgical LimitedInventors: Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson
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Publication number: 20200100854Abstract: 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: ApplicationFiled: October 1, 2019Publication date: April 2, 2020Inventors: Ben Robert Chaplin, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Rebecca Anne Cuthbertson
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Patent number: 10517685Abstract: A robotic surgical instrument comprising an articulation connecting an end effector to a distal end of a shaft. The articulation comprises joints permitting the end effector to adopt a range of orientations relative to a longitudinal axis of the shaft. An instrument interface connects to a proximal end of the shaft. Pairs of driving elements drive the joints. The driving elements extend from the instrument interface to the joints. Each driving element comprises a spoke which terminates at a distal end in a distal flexible portion that engages the articulation and at a proximal end in a proximal flexible portion that engages the instrument interface. In a straight configuration of the robotic surgical instrument in which the end effector is aligned with the shaft, the distal ends of the spokes of adjacent driving elements are offset along a longitudinal direction of the shaft.Type: GrantFiled: December 9, 2016Date of Patent: December 31, 2019Assignee: CMR Surgical LimitedInventors: Ben Robert Chaplin, Keith Marshall, Nikki Priyam Su-Ling Phoolchund
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Publication number: 20190393233Abstract: 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: ApplicationFiled: August 6, 2019Publication date: December 26, 2019Inventors: 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: 10463437Abstract: 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: December 9, 2016Date of Patent: November 5, 2019Assignee: CMR Surgical LimitedInventors: Ben Robert Chaplin, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Rebecca Anne Cuthbertson
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Patent number: 10426558Abstract: 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: November 18, 2016Date of Patent: October 1, 2019Assignee: Cambridge Medical Robotics 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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Publication number: 20190269471Abstract: 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: September 14, 2017Publication date: September 5, 2019Inventors: Nikki Priyam Su-Ling PHOOLCHUND, Keith MARSHALL, Thomas Bates JACKSON, Jonathan Peter WHITTLE, Martin McBRIEN
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Publication number: 20190223965Abstract: 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: ApplicationFiled: September 13, 2017Publication date: July 25, 2019Inventors: Keith MARSHALL, Nikki Priyam Su-Ling PHOOLCHUND, Thomas Bates JACKSON
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Publication number: 20190167365Abstract: 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: July 27, 2017Publication date: June 6, 2019Applicant: CMR SURGICAL LIMITEDInventors: Ben Robert Chaplin, James Oliver Grant, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Thomas Bates Jackson