Patent Assignment
Reel/Frame 070629/0172
Security Interest
Recorded: 2025-03-25
Pages: 21
Assignor
CMR SURGICAL LIMITED
Executed: 2025-03-24
Assignee
TRINITY CAPITAL INC., AS AGENT
1 N. 1ST STREET, FLOOR 3, PHOENIX, ARIZONA, 85004
Covered Properties
(194)
Powering a Bipolar Electrocautery Surgical Instrument
Application:
16/623,983 →
Publication:
US 2020/0138509
Feature Identification
Application:
17/282,712 →
Publication:
US 2021/0315645
Monitoring Performance During Manipulation of User Input Control Device of Robotic System
Application:
17/282,655 →
Publication:
US 2021/0346109
Robotic Surgical Instrument Chassis
Surgical Arm
Arrangement of End Effector Elements
Application:
18/044,913 →
Publication:
US 2023/0355260
Arrangement for a Bladed Surgical Instrument
Application:
18/249,813 →
Publication:
US 2023/0389952
Controlling Movement of a Surgical Robot Arm
Torque Sensing in a Surgical Robotic Wrist
An Arrangement for Supporting a Surgical Robot
Application:
18/714,858 →
Publication:
US 2025/0026003
Surgical Drape
Application:
16/966,240 →
Publication:
US 2021/0045828
Automatic Endoscope Video Augmentation
Application:
17/195,022 →
Publication:
US 2021/0216771
Surgical Robot Arm and Instrument Detachment
Application:
17/400,788 →
Publication:
US 2023/0049257
Camera Control
Application:
17/811,098 →
Publication:
US 2022/0331032
Detecting a Trigger in a Surgical Robotic System
Application:
17/779,438 →
Publication:
US 2022/0395338
Powering a Surgical Robot Arm
Application:
17/919,886 →
Publication:
US 2023/0165644
Control System of a Surgical Robot
Application:
17/995,227 →
Publication:
US 2023/0150128
Insulation of an Electrosurgical Instrument
Application:
17/906,209 →
Publication:
US 2023/0124601
Rfid Shield
Application:
18/258,976 →
Publication:
US 2024/0041541
Electrosurgical Connection Unit
An Isolator Module for Use in a Surgical Robotic System
Application:
18/711,348 →
Publication:
US 2025/0018580
Robot Tool Retraction
Application:
16/880,547 →
Publication:
US 2020/0281671
Anonymising Robotic Data
Powering a Surgical Robot Arm
Testing Unit for Testing a Surgical Robotic System
Application:
17/995,055 →
Publication:
US 2023/0136248
Thread Handling Tool
Application:
15/075,940 →
Publication:
US 2016/0270868
Interfacing a Surgical Robotic Arm and Instrument
Interfacing a Surgical Robotic Arm and Instrument
Application:
16/966,363 →
Publication:
US 2020/0360095
Interfacing a Surgical Robot Arm and Instrument
Application:
17/400,770 →
Publication:
US 2022/0104899
Drive Transfer
Configuring a Surgical Robotic System
Application:
17/995,242 →
Publication:
US 2023/0320794
Control System for Surgical Robot System with Safety Monitor
Application:
18/043,409 →
Publication:
US 2023/0390009
A Base for Supporting a Surgical Robot
Application:
18/252,769 →
Publication:
US 2023/0415330
Control System for Controlling a Surgical Robot Arm
Application:
18/617,523 →
Publication:
US 2024/0238980
Drive Assembly Interface
Surgical Robot System with Operator Configurable Instrument Control Parameters
Calibrating an Instrument Interface
Application:
18/004,787 →
Publication:
US 2023/0255711
Powering an Electrocautery Surgical Instrument
Application:
16/623,992 →
Publication:
US 2020/0138510
Interface Between a Surgical Robot Arm and a Robotic Surgical Instrument
Application:
17/646,158 →
Publication:
US 2023/0053173
Mounting an Endoscope to a Surgical Robot
Electrosurgical Network
Application:
18/145,189 →
Publication:
US 2023/0125373
Control System of a Surgical Robot
Application:
17/995,238 →
Publication:
US 2023/0149101
Characterising the Performance of a Robotic Joint
Securing a Driving Element in an Instrument Interface of a Robotic Surgical Instrument
Application:
18/475,962 →
Publication:
US 2024/0108423
A Robotic Surgical Instrument
Application:
18/580,426 →
Publication:
US 2024/0341868
A Robotic Surgical Instrument
Application:
18/696,456 →
Publication:
US 2024/0398492
Navigational Aid
Console for Controlling a Robotic Manipulator
Application:
17/771,088 →
Publication:
US 2022/0370165
Watchdog Circuitry of a Surgical Robot Arm
Virtual Console for Controlling a Surgical Robot
Powering a Surgical Robot Arm
Control System of a Surgical Robot
Application:
17/995,235 →
Publication:
US 2023/0172676
Surgical Robotic Arm and Instrument Detachment
Electrosurgical Network
Application:
16/977,387 →
Publication:
US 2021/0045797
Surgical Drape
Application:
17/041,803 →
Publication:
US 2021/0022820
Robotic Joint Control
Methods and Systems for Providing Assistance to a User of a Surgical Robot System
Application:
17/278,969 →
Publication:
US 2022/0022982
Drive Transfer
Camera Control
Application:
17/811,099 →
Publication:
US 2022/0331033
Controlling a Surgical Instrument
Geared Instruments
Application:
18/005,450 →
Publication:
US 2023/0263583
Joint Control in a Mechanical System
Application:
18/012,771 →
Publication:
US 2023/0320798
Surgical Robot Calibration Device
Application:
18/247,482 →
Publication:
US 2023/0225812
A Surgical Drape for Transferring Drive
Supply Line for a Robotic Arm Instrument
Application:
15/558,132 →
Publication:
US 2018/0036091
Indicator System
Torque Sensing in a Surgical Robotic Wrist
Surgical Instrument Driving Mechanism
Drive Arrangements for Robot Arms
Surgical Robot Driving Mechanism
Surgical Instrument Articulation
Interfacing a Surgical Robot and Instrument
Surgical Robotic System Using Dynamically Generated Icons to Represent Orientations of Instruments
Drive Transfer
Motion Feedthrough
Electrosurgical Network
Instrument Interface for Robotic Surgical Instrument
Pulley Arrangement and Pulley Guard for Articulating a Surgical Instrument
Measuring Robot Performance
Surgical Robot Driving Mechanism
Port Control
Instrument-Arm Communications in a Surgical Robotic System
Control System for Controlling a Surgical Robot
Interfacing a Surgical Robotic Arm and Instrument
Drive Mechanisms for Robot Arms
Gear Packaging for Robot Arms
Characterising Robot Environments
Measuring Robot Performance
Guiding Engagement of a Robot Arm and Surgical Instrument
Surgical Instrument Driving Mechanism
Device Interoperation
Controlling a Surgical Instrument
Port Control
Detecting Collisions of Robot Arms
Internal Structure of a Robotic Surgical Instrument
Interface Structure
Sensing Motor Current
Motion Feedthrough
Methods and Systems for Providing Assistance to a User of a Surgical Robot System
User Interface for a Robot
Characterising Robot Environments
Rotary Encoder
Surgical Instrument Engagement Detection
Pulley Arrangement for Articulating a Surgical Instrument
Robot Arm Location
Surgical Arm
Torque Sensing in a Surgical Robotic Wrist
Interface Structure
Cooling a Surgical Robot Arm
Drive Mechanisms for Robot Arms
Securing an Interface Element Rail of a Robotic Surgical Instrument Interface
Token-Based Electrosurgical Instrument Activation
Structure for Interfacing a Surgical Robotic Arm and Instrument
Patent:
956,240 →
Application:
29/766,531 →
Haptic Control of a Surgeon Console
Gear Packaging for Robotic Joints
Image Correction of a Surgical Endoscope Video Stream
Torque Sensors
Cart for a Surgical Robot Arm
Patent:
873,418 →
Application:
29/627,993 →
Hand Controller Pince Control
Patent:
900,042 →
Application:
29/674,092 →
User Interface Device
Calibrating Position Sensor Readings
Surgical Robot Arm
Patent:
928,969 →
Application:
29/719,234 →
Method of Controlling a Surgical Robot
Controlling Movement of a Surgical Robot Arm
Supply Line for a Robotic Arm Instrument
Device Interoperation
Sensing Motor Current
Independent Tensioning and Aligning Mechanisms for a Surgical Instrument
Supporting Body of a Surgical Instrument Articulation
Surgical Robot Arm
Patent:
873,417 →
Application:
29/627,992 →
Hand Controller Buttons
Patent:
882,529 →
Application:
29/674,091 →
Driving Arrangement for Articulating a Surgical Instrument
Attachment Structure for Securing a Robot Arm to a Support Structure
Automatic Endoscope Video Augmentation
Instrument Interface for Robotic Surgical Instrument
Pulley Arrangement for Articulating a Surgical Instrument
Characterising Robot Environments
Controlling a Surgical Instrument
Image Correction of a Surgical Endoscope Video Stream
Sensing Motor Current
Flexible Robotic Surgical Instrument
Rotary Encoder
Fault Detection Response in a Robot Arm
Surgical Arm
Gear Packaging for Robotic Arms
Communication Paths for Robot Arms
Surgical Instrument Shaft Spokes
Port Control
Console for Controlling Surgical Robot
Patent:
896,390 →
Application:
29/627,994 →
Camera Control
Structure for Interfacing a Surgical Robotic Arm and Instrument
Patent:
910,186 →
Application:
29/681,852 →
Robot Arm Articulation
Instrument Articulation
Controlling a Surgical Instrument
Calibrating Position Sensor Readings
Robot Control
Modifying Data from a Surgical Robotic System
User Interface Device
Interfacing a Surgical Robotic Arm and Instrument
Robot Control
Articulation for Surgical Robot
Drive Mechanisms for Robot Arms
Drive Mechanisms for Robot Arms
Robot Tool Retraction
Robot Mounting Arrangement
Hand Controller for Controlling Surgical Robot
Patent:
840,360 →
Application:
29/627,995 →
Surgical Drape
Robot Control
Packaging Insert
Sensing Motor Current
Magnetic Position Sensor Mounting Arrangement
Electrosurgical Connection Unit
Mounting an Endoscope to a Surgical Robot
Control System for Controlling a Surgical Robot
Robotic Joint Control
User Interface Device
Torque Sensor
Console for Controlling Surgical Robot
Patent:
1,002,013 →
Application:
29/746,587 →
Flexible Robotic Surgical Instrument
Symmetrically Arranged Surgical Instrument Articulation
Drive Assembly Interface
Gear Packaging for Robotic Arms
Interfacing a Surgical Robotic Arm and Instrument
Magnetic Position Sensor for Sensing Position of a Revolute Joint
Controlling a Surgical Instrument
Independent Tensioning and Aligning Mechanisms for a Surgical Instrument
Drive Arrangements for Robot Arms
Controlling a Surgical Instrument
Torque Sensing in a Surgical Robotic Wrist
Rotary Encoder
Magnetic Positioning System
A Surgical Drape for Transferring Drive
A Motor Arrangement
Load Cells in an Instrument Drive
Related Assignments
(25)
Other recorded transfers of the patents in this record — the chain of ownership.
Assignment of Assignor's Interest
Dec 18, 2019
From: GROVER, SIMON RODERICK
To: CMR SURGICAL LIMITED
Reel/Frame 051319/0810 →
Assignment of Assignor's Interest
May 22, 2020
From: RANDLE, STEVEN JAMES
To: CAMBRIDGE MEDICAL ROBOTICS LIMITED
Reel/Frame 052732/0254 →
Change of Name
May 27, 2020
From: CAMBRIDGE MEDICAL ROBOTICS LIMITED
To: CMR SURGICAL LIMITED
Reel/Frame 052760/0848 →
Assignment of Assignor's Interest
Jul 30, 2020
From: MCBRIEN, MARTIN; HIRD, AIDAN; MARSHALL, KEITH
To: CMR SURGICAL LIMITED
Reel/Frame 053356/0438 →
Assignment of Assignor's Interest
Aug 12, 2020
From: BISHOP, STEVEN; DA SILVA, RICARDO MICHAEL HENDERSON
To: CMR SURGICAL LIMITED
Reel/Frame 053470/0332 →
Assignment of Assignor's Interest
Mar 8, 2021
From: HARES, LUKE DAVID RONALD; ROBERTS, PAUL CHRISTOPHER; MENZIES, RUPERT; SLACK, MARK CLIFFORD
To: CMR SURGICAL LIMITED
Reel/Frame 055523/0091 →
Assignment of Assignor's Interest
Apr 14, 2021
From: HARES, LUKE DAVID RONALD; SLACK, MARK CLIFFORD; MENZIES, RUPERT; ROBERTS, PAUL CHRISTOPHER
To: CMR SURGICAL LIMITED
Reel/Frame 055911/0369 →
Assignment of Assignor's Interest
Apr 28, 2021
From: HARES, LUKE DAVID RONALD; ROBERTS, PAUL CHRISTOPHER
To: CMR SURGICAL LIMITED
Reel/Frame 056072/0606 →
Assignment of Assignor's Interest
Oct 7, 2021
From: GRANT, JAMES OLIVER; FOCHT, KENNETH; GORDON, JOSEPH; COSTELLO, PETER CALVIN
To: CMR SURGICAL LIMITED
Reel/Frame 057837/0361 →
Assignment of Assignor's Interest
Oct 12, 2021
From: FOCHT, KENNETH; GORDON, JOSEPH
To: CMR SURGICAL LIMITED
Reel/Frame 057759/0070 →
Assignment of Assignor's Interest
Feb 3, 2022
From: HARES, LUKE DAVID RONALD; RANDLE, STEVEN JAMES
To: CAMBRIDGE MEDICAL ROBOTICS LIMITED
Reel/Frame 058881/0534 →
Change of Name
Feb 3, 2022
From: CAMBRIDGE MEDICAL ROBOTICS LIMITED
To: CMR SURGICAL LIMITED
Reel/Frame 058882/0017 →
Change of Address
Jun 10, 2022
From: CMR SURGICAL LIMITED
To: CMR SURGICAL LIMITED
Reel/Frame 060331/0696 →
Assignment of Assignor's Interest
Jul 7, 2022
From: MARSHALL, KEITH; CUTHBERTSON, REBECCA ANNE; DEANE, GORDON THOMAS
To: CMR SURGICAL LIMITED
Reel/Frame 060428/0907 →
Assignment of Assignor's Interest
Aug 5, 2022
From: ROBERTS, PAUL CHRISTOPHER; SCHOFIELD, SIMON; HENDERSON, HAMISH
To: CMR SURGICAL LIMITED
Reel/Frame 060734/0686 →
Assignment of Assignor's Interest
Oct 19, 2022
From: DEANE, GORDON THOMAS
To: CMR SURGICAL LIMITED
Reel/Frame 061470/0767 →
Corrective Assignment to Correct the Inventor's Name from Martin Mcbrien to Dominic Martin Mcbrien Previously Recorded at Reel: 053356 Frame: 0438. Assignor(S) Hereby Confirms the Assignment.
Jan 25, 2023
From: MCBRIEN, DOMINIC MARTIN; HIRD, AIDAN; MARSHALL, KEITH
To: CMR SURGICAL LIMITED
Reel/Frame 062493/0093 →
Assignment of Assignor's Interest
Jan 26, 2023
From: TUCKER, EDWARD JAMES WILDIN
To: CMR SURGICAL LIMITED
Reel/Frame 062496/0846 →
Assignment of Assignor's Interest
Apr 5, 2023
From: SHEARD, JOSHUA PHILIP; HEARN, GARETH STEPHEN; PIOTROWSKI, MICHAL
To: CMR SURGICAL LIMITED
Reel/Frame 063232/0010 →
Assignment of Assignor's Interest
Apr 18, 2023
From: CHAPLIN, BEN ROBERT; WEBSTER-SMITH, DAVID WILLIAM HAYDN
To: CMR SURGICAL LIMITED
Reel/Frame 063366/0881 →
Assignment of Assignor's Interest
Apr 20, 2023
From: CHAPLIN, BEN ROBERT; WEBSTER-SMITH, DAVID WILLIAM HAYDN
To: CMR SURGICAL LIMITED
Reel/Frame 063388/0840 →
Assignment of Assignor's Interest
Jun 22, 2023
From: STEER, WILLIAM ANDREW
To: CMR SURGICAL LIMITED
Reel/Frame 064033/0791 →
Assignment of Assignor's Interest
Oct 24, 2023
From: HARES, LUKE DAVID RONALD; ROBERTS, PAUL CHRISTOPHER; VEITCH, GRAHAM JOHN; DEANE, GORDON THOMAS
To: CMR SURGICAL LIMITED
Reel/Frame 065320/0598 →
Assignment of Assignor's Interest
Dec 12, 2023
From: HARES, LUKE DAVID RONALD; MARSHALL, KEITH
To: CAMBRIDGE MEDICAL ROBOTICS LIMITED
Reel/Frame 065840/0457 →
Change of Name
Dec 12, 2023
From: CAMBRIDGE MEDICAL ROBOTICS LIMITED
To: CMR SURGICAL LIMITED
Reel/Frame 065840/0621 →