Powering a surgical robot arm
A surgical robot comprising: a surgical robot arm comprising: a series of joints extending from a base to a terminal end for attaching to a surgical instrument for inserting through a port into a patients body to a surgical site, the series of joints comprising a first set of joints, wherein for each joint of the first set of joints, there is a configuration of the surgical robot arm for which that joint experiences a gravitational torque or force and a movement of that joint complying with the gravitational torque or force would cause the surgical instrument to advance into the patients body towards the surgical site; and joint motors for driving the series of joints; and a robot arm controller configured to send drive signals to drive the joint motors, wherein the surgical robot arm controller is configured to, in response to detecting a power loss, send drive signals to drive the joint motors so as to hold the position of each joint of the first set ofjoints against gravity, thereby preventing the surgical instrument from advancing into the patients body towards the surgical site due to movement of one or more joints of the first set of joints under gravity.
1 . A surgical robot comprising:
a surgical robot arm comprising:
a series of joints extending from a base to a terminal end for attaching to a surgical instrument for inserting through a port into a patient's body to a surgical site, the series of joints comprising a first set of joints, wherein for each joint of the first set of joints, there is a configuration of the surgical robot arm for which that joint experiences a gravitational torque or force and a movement of that joint complying with the gravitational torque or force would cause the surgical instrument to advance into the patient's body towards the surgical site;
joint motors for driving the series of joints; and
a surgical robot arm controller configured to send drive signals to drive the joint motors, wherein the surgical robot arm controller is configured to, in response to detecting a power loss from a first power source, send drive signals to drive the joint motors using a second power source so as to hold the position of each joint of the first set of joints against gravity, thereby preventing the surgical instrument from advancing into the patient's body towards the surgical site due to movement of one or more joints of the first set of joints under gravity;
wherein the series of joints comprises at least one other joint which is not in the first set of joints and for which it is not the case that there is a configuration of the surgical robot arm for which that joint experiences a gravitational torque or force which would result in movement of that joint that would cause the surgical instrument to advance into the patient's body towards the surgical site, and wherein the surgical robot arm controller is configured to, in response to detecting said power loss, not send drive signals to drive the at least one or more joint motors so as to hold the position of each of said at least one other joint against gravity.
2 . A surgical robot as claimed in claim 1 , wherein the series of joints comprises a second set of joints, wherein for each joint of the second set of joints, there is no configuration of the surgical robot arm for which that joint experiences a gravitational torque or force.
3 . A surgical robot as claimed in claim 2 , wherein of the first and second sets of joints, the surgical robot arm controller is configured to only send drive signals to drive the joint motors so as to hold the position of the first set of joints against gravity in response to detecting a power loss.
4 . A surgical robot as claimed in claim 2 , wherein the second set of joints are adjacent to the base of the surgical robot arm.
5 . A surgical robot as claimed in claim 2 , wherein the second set of joints are between the base of the surgical robot arm and the first set of joints.
6 . A surgical robot as claimed in claim 1 , wherein the series of joints comprises a third set of joints, wherein for each joint of the third set of joints, there is a configuration of the surgical robot arm for which that joint experiences a gravitational torque or force but no movement of that joint alone complying with the gravitational torque or force would cause the surgical instrument to advance through the port towards the surgical site.
7 . A surgical robot as claimed in claim 6 , wherein of the first and third sets of joints, the surgical robot arm controller is configured to only send drive signals to drive the joint motors so as to hold the position of the first set of joints against gravity in response to detecting a power loss.
8 . A surgical robot as claimed in claim 2 , wherein the series of joints comprises a third set of joints, wherein for each joint of the third set of joints, there is a configuration of the surgical robot arm for which that joint experiences a gravitational torque or force but no movement of that joint alone complying with the gravitational torque or force would cause the surgical instrument to advance through the port towards the surgical site and wherein of the first, second and third sets of joints, the robot arm controller is configured to only send drive signals to drive the joint motors so as to hold the position of the first set of joints against gravity in response to detecting a power loss.
9 . A surgical robot as claimed in claim 6 , wherein the third set of joints are successive joints adjacent to the terminal end of the surgical robot arm and are located between the terminal end of the surgical robot arm and the first set of joints.
10 . A surgical robot as claimed in claim 1 , wherein the series of joints consist of in order from the base of the surgical robot arm: a first roll joint, a first pitch joint, a second roll joint, a second pitch joint, a third roll joint, a third pitch joint, a first yaw joint, and a fourth roll joint.
11 . A surgical robot as claimed in claim 10 , wherein the first set of joints consists of the first pitch joint, the second roll joint and the second pitch joint.
12 . A surgical robot as claimed in claim 10 , wherein the series of joints comprises a third set of joints, wherein for each joint of the third set of joints, there is a configuration of the surgical robot arm for which that joint experiences a gravitational torque or force but no movement of that joint alone complying with the gravitational torque or force would cause the surgical instrument to advance through the port towards the surgical site, and
wherein the third set of joints consists of the third roll joint, the third pitch joint, the first yaw joint, and the fourth roll joint.
13 . A surgical robot as claimed in claim 1 , wherein the first power source is a mains electrical supply and the second power source is a first battery supply, and wherein the detected power loss is loss of power to the surgical robot arm from the mains electrical supply.
14 . A surgical robot as claimed in claim 1 , wherein the first power source is a first battery supply and the second power source is a second battery supply, and wherein the detected power loss is loss of power to the surgical robot arm from the first battery supply.
15 . A surgical robot as claimed in claim 14 , wherein the surgical robot arm controller is configured to detect a loss of power to the surgical robot arm from a primary power supply prior to detecting the loss of power to the surgical robot arm from the first battery supply.
16 . A surgical robot as claimed in claim 15 , wherein the surgical robot arm controller is configured to, prior to detecting the loss of power from the primary power supply, control the surgical robot arm and attached surgical instrument to move according to inputs received from a remote surgeon input device.
17 . A surgical robot as claimed in claim 1 , wherein the surgical robot arm controller is integrated into the surgical robot arm.
18 . A surgical robot as claimed in claim 1 , wherein the surgical robot arm is mounted on a support structure, and the surgical robot arm controller is integrated into the support structure.
19 . A control method for controlling a surgical robot arm comprising a series of joints extending from a base to a terminal end for attaching to a surgical instrument for inserting into a patient's body to a surgical site, the series of joints comprising a first set of joints, wherein for each joint of the first set of joints, there is a configuration of the surgical robot arm for which that joint experiences a gravitational torque or force and a movement of that joint complying with the gravitational torque or force would cause the surgical instrument to advance into the patient's body towards the surgical site, the surgical robot arm further comprising joint motors for driving the series of joints, the method comprising:
sending, in response to detecting a power loss from a first power source, drive signals to drive the joint motors using a second power source so as to hold the position of each joint of the first set of joints against gravity, thereby preventing the surgical instrument from advancing into the patient's body towards the surgical site due to movement of one or more joints of the first set of joints under gravity;
wherein the series of joints comprises at least one other joint which is not in the first set of joints and for which it is not the case that there is a configuration of the surgical robot arm for which that joint experiences a gravitational torque or force which would result in movement of that joint that would cause the surgical instrument to advance into the patient's body towards the surgical site, and wherein the surgical robot arm controller is configured to, in response to detecting said power loss, not send drive signals to drive the at least one or more joint motors so as to hold the position of each of said at least one other joint against gravity.