DETECTING A TRIGGER IN A SURGICAL ROBOTIC SYSTEM
A surgical robotic system for identifying the triggering of a condition in the system, the system comprising: a first robot arm; a controller; and a first wiring arrangement configured to provide an electrical connection between the first robot arm and the controller, the first wiring arrangement comprising: a first electrical coupling comprising circuitry configured to generate a selective electrical disconnect; a second electrical coupling; a first sensor configured to measure a first electrical output from the first electrical coupling; and a second sensor configured to measure a second electrical output from the second electrical coupling; wherein the controller is configured to detect the triggering of the condition by comparing the first electrical output and the second electrical output.
1 . A surgical robotic system configured to identify the triggering of a condition in the system, the system comprising:
a first robot arm;
a controller; and
a first wiring arrangement configured to provide an electrical connection between the first robot arm and the controller, the first wiring arrangement comprising:
a first electrical coupling comprising circuitry configured to generate a selective electrical disconnect;
a second electrical coupling;
a first sensor configured to measure a first electrical output from the first electrical coupling; and
a second sensor configured to measure a second electrical output from the second electrical coupling;
wherein the controller is configured to detect the triggering of the condition by comparing the first electrical output and the second electrical output.
2 . A system as claimed in claim 1 , wherein the first electrical coupling further comprises a first cable pairing and a second cable pairing.
3 . A system as claimed in claim 1 , wherein the second electrical coupling further comprises a third cable pairing and a fourth cable pairing.
4 . A system as claimed in claim 2 , wherein the cable pairings are ethernet pairings.
5 . A system as claimed in claim 1 , wherein the circuitry of the first electrical coupling comprises a switch that is configured such that, when it is not activated, it is in a closed configuration.
6 . A system as claimed in claim 1 , wherein the circuitry of the first electrical coupling further comprises a limiter that is configured to vary the current passing through the circuit.
7 . A system as claimed in claim 1 , wherein the second electrical coupling further comprises a fixed resistor.
8 . A system as claimed in claim 1 , wherein the controller is configured to detect the triggering of the condition in response to the issuance of a protective stop function by the surgical robot.
9 . A system as claimed in claim 1 , wherein the controller is comprised within a surgeon's console.
10 . A system as claimed in claim 1 , further comprising a plurality of robot arms.
11 . A system as claimed in claim 10 , wherein the first wiring arrangement is connected at a first end to a second wiring arrangement and at a second end to a third wiring arrangement, wherein;
the second wiring arrangement is configured to provide an electrical connection between a second robot arm and the controller; and
the third wiring arrangement is configured to provide an electrical connection between a third robot arm and the controller.
12 . A system as claimed in claim 11 , wherein the first wiring arrangement is electrically isolated from both the second wiring arrangement and the third wiring arrangement.
13 . A system as claimed in claim 12 , wherein the first wiring arrangement is coupled at the first and second ends to the second wiring arrangement and the third wiring arrangement, respectively, by transformers.
14 . A system as claimed in claim 10 , wherein the electrical couplings of the first wiring arrangement, the second wiring arrangement and the third wiring arrangement are arranged in parallel.
15 . A system as claimed in claim 1 , wherein the first sensor is configured to detect the selective electrical disconnect in the first electrical coupling.
16 . A system as claimed in claim 1 , wherein the second sensor is configured to provide an indication that the first robot arm is electrically connected to the surgical robot.
17 . A system as claimed in claim 1 , wherein a first current is applied to the first electrical coupling and a second current is applied to the second electrical coupling, the first and second electrical currents being equal in value.
18 . A system as claimed in claim 1 , wherein the first and second electrical outputs are voltage.
19 . A system as claimed in claim 1 , wherein the first and second electrical outputs are current.
20 . A method for detecting the triggering of a condition in a surgical robotic system, the method comprising:
applying a first current to a first electrical coupling of a first wiring arrangement, the first wiring arrangement being configured to provide an electrical connection between the first robot arm and a controller, the first electrical coupling comprising circuitry configured to generate a selective electrical disconnect;
applying a second current to a second electrical coupling of the first wiring arrangement
measuring a first electrical output from the first electrical coupling;
measuring a second electrical output from the second electrical coupling; and
detecting the triggering of the condition by comparing the first electrical output and the second electrical output.