Abstract: Aspects of the disclosure include a torque sensor arrangement configured to attach between a first part and a second part to sense torque therebetween, the torque sensor arrangement comprising an interface member having on its exterior an engagement configuration configured to rotationally engage the first part, a torsion member comprising a deflectable body attached at one end thereof to the interface member and comprising, at the other end of the deflectable body, an engagement configuration configured to fixedly engage the second part, and a deflection sensor attached to the deflectable body, wherein the interface member defines a rigid sleeve extending around the deflectable body and the torque sensor arrangement further comprises a bushing located between and in contact with both the sleeve and the deflectable body.

Abstract: A method of reducing a data volume of a data stream in a surgical robotic system, the surgical robotic system comprising a robot having a base and an arm extending from the base to an attachment for an instrument, the arm comprising a plurality of joints whereby the configuration of the arm can be altered, the method comprising: receiving a data stream captured by the surgical robotic system, the data stream comprising data relating to a surgical procedure and having a first data volume; identifying a feature in the received data stream indicative of an event in the surgical procedure; and modifying, in dependence on the identified feature, the received data stream to generate a modified data stream having a second data volume that is smaller than the first data volume.

Abstract: An indicator system for a surgical robotic system for indicating a state of at least a portion of patient anatomy, the surgical robotic system comprising a robot having abase and an arm extending from the base, the arm holding an endoscope at an end of the arm distal from the base, the endoscope being configured for insertion into a body cavity of the patient for observing a surgical site internal to a body of the patient, the indicator system comprising: a receiver configured to receive video data of at least a portion of patient anatomy at the surgical site from the endoscope; and a processor configured to:detect a spatio-temporal change in a pixel region of the received video data; identify, in response to the detected spatio-temporal change, a parameter of the patient anatomy; generate a health indicator indicative of the identified parameter or indicative of a profile of the identified parameter; and output the generated health indicator.

Abstract: A surgical robot comprising a robot arm base connected to a distal robot arm link via a series of intermediate articulated robot arm links. A robot arm interface is attached to the distal robot arm link. The robot arm interface engages an instrument interface of a surgical instrument, and comprises an instrument engagement source and an instrument engagement detector. The instrument engagement detector is configured to only detect the instrument engagement source when the instrument engagement source is coupled to the instrument engagement detector by a coupler.

Abstract: A robot arm comprising a joint mechanism for articulating one limb (310) of the arm relative to another limb (311) of the arm about two non-parallel rotation axes (20, 21), the mechanism comprising: an intermediate carrier (28) 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 (33) 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 (37) 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 (310) of the arm relative to another limb (311) of the arm about two non-parallel rotation axes (20, 21), the mechanism comprising: an intermediate carrier (28) 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 (33) 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 (37) 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 method is provided of anonymising data in a surgical robotic system. The surgical robotic system comprises a robot having a base and an arm extending from the base to an attachment for an instrument, the arm comprising a plurality of joints whereby the configuration of the arm can be altered. The method comprises receiving a data stream captured by the surgical robotic system, the data stream comprising data relating to a surgical procedure and comprising personally-identifiable data; determining one or more personally-identifiable feature in the received data stream; and generating, in dependence on the determined personally-identifiable feature and the received data stream, an anonymised data stream omitting the personally-identifiable data.

Abstract: A surgical robot comprising a robot arm base connected to a distal robot arm link via a series of intermediate articulated robot arm links. A robot arm interface is attached to the distal robot arm link. The robot arm interface engages an instrument interface of a surgical instrument, and comprises an instrument engagement source and an instrument engagement detector. The instrument engagement detector is configured to only detect the instrument engagement source when the instrument engagement source is coupled to the instrument engagement detector by a coupler.

Abstract: A robot arm comprising a joint mechanism for articulating one limb (310) of the arm relative to another limb (311) of the arm about two non-parallel rotation axes (20, 21), the mechanism comprising: an intermediate carrier (28) 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 (33) 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 (37) 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.