Redundant robot power and communication architecture

Patent metadata

Field	Value
Publication number	US-12005589-B2
Application number	US-202318306857-A
Country	US
Kind code	B2
Filing date	Apr 25, 2023
Priority date	Mar 11, 2020
Publication date	Jun 11, 2024
Grant date	Jun 11, 2024

Abstract

An electronic circuit for a surgical robotic system includes a central power node, a first voltage bus that electrically couples a first power source to the node, a second voltage bus that electrically couples a second power source to the node, and several robotic arms, each arm is electrically coupled to the node via an output circuit breaker and is arranged to draw power from the node. Each bus is arranged to provide power from a respective power source to the node and each bus has an input circuit breaker that is arranged to limit a first output current flow from the node and into the bus. Each breaker that is arranged to limit a second output current flow from the node and into a respective arm. A breaker is arranged to open in response to a fault occurring within the respective arm, while the other breakers remain closed.

First claim

What is claimed is:

1. A method performed by a surgical robotic system, the method comprising:
receiving user input to manipulate a robotic component of the surgical robotic system;
routing the user input to a first controller and a second controller, wherein the first controller comprises a responsibility to control the robotic component based on the user input, and the second controller is a backup controller;
receiving an indication of manipulation of the robotic component;
receiving, from the first controller, a feedback signal;
producing an expected feedback signal based on the indication of manipulation of the robotic component; and
responsive to detecting a fault within the surgical robotic system based on a comparison between the expected feedback signal and the feedback signal, signaling that the second controller is to have the responsibility instead of the first controller.

2. The method of claim 1 , wherein the first controller controls the robotic component by transmitting, to the robotic component, a control signal based on the user input to manipulate the robotic component, wherein the feedback signal includes the indication of manipulation.

3. The method of claim 1 , wherein the robotic component comprises a robotic arm, and the indication of manipulation comprises a response signal produced by the robotic arm that provides confirmation of a movement of the robotic arm.

4. The method of claim 1 , wherein the user input is received from either a host computer or directly from a user console, wherein signaling that the second controller is to have the responsibility instead of the first controller comprises:
preventing the first controller from transmitting future feedback signals to the host computer or to the user console; and
allowing future feedback signals received from the second controller to be transmitted to the host computer or to the user console.

5. The method of claim 1 , wherein signaling that the second controller is to have the responsibility instead of the first controller comprises:
preventing the first controller from transmitting control signals to the robotic component; and
allowing the second controller to transmit control signals to the robotic component.

6. The method of claim 1 , wherein the first controller controls the robotic component by transmitting, to the robotic component, a control signal based on the user input, wherein the fault is detected by:
producing an expected control signal based on the user input; and
comparing the expected control signal with the control signal.

7. The method of claim 1 , wherein the first controller is configured to produce a first control signal based on the user input and the second controller is configured to produce a second control signal based on the user input, wherein the method further comprises, while the first controller has the responsibility,
allowing the first controller to transmit the first control signal to the robotic component; and
preventing the second controller from transmitting the second control signal to the robotic component.

8. A non-transitory machine-readable medium having instructions stored therein which when executed by a processor of a surgical robotic system causes the surgical robotic system to:
receive user input to manipulate a robotic component of the surgical robotic system;
route the user input to a first controller and a second controller, wherein the first controller comprises a responsibility to control the robotic component based on the user input, and the second controller is a backup controller;
receive an indication of manipulation of the robotic component;
receive, from the first controller, a feedback signal;
produce an expected feedback signal based on the indication of manipulation of the robotic component; and
responsive to detecting a fault within a surgical robotic system based on a comparison between the expected feedback signal and the feedback signal, signal that the second controller is to have the responsibility instead of the first controller.

9. The non-transitory machine-readable medium of claim 8 , wherein the first controller controls the robotic component by transmitting, to the robotic component, a control signal based on the user to manipulate input for the robotic component, wherein the feedback signal includes the indication of manipulation.

10. The non-transitory machine-readable medium of claim 8 , wherein the robotic component comprises a robotic arm, and the indication of manipulation comprises a response signal produced by the robotic arm that provides confirmation of a movement of the robotic arm.

11. The non-transitory machine-readable medium of claim 8 , wherein the user input is received from either a host computer or directly from a user console, wherein the instructions to signal that the second controller is to have the responsibility instead of the first controller comprises instructions to:
prevent the first controller from transmitting future feedback signals to the host computer or to the user console; and
allow future feedback signals received from the second controller to be transmitted to the host computer or to the user console.

12. The non-transitory machine-readable medium of claim 8 , wherein the instructions to signal that the second controller is to have the responsibility instead of the first controller comprises instructions to:
prevent the first controller from transmitting control signals to the robotic component; and
allow the second controller to transmit control signals to the robotic component.

13. The non-transitory machine-readable medium of claim 8 , wherein the first controller controls the robotic component by transmitting, to the robotic component, a control signal based on the user input, wherein the fault is detected by:
producing an expected control signal based on the input; and
comparing the expected control signal with the control signal.

14. The non-transitory machine-readable medium of claim 8 , wherein the first controller is configured to produce a first control signal based on the user input and the second controller is configured to produce a second control signal based on the user input, wherein the non-transitory machine-readable medium comprises further instructions to, while the first controller has the responsibility,
allow the first controller to transmit the first control signal to the robotic component; and
prevent the second controller from transmitting the second control signal to the robotic component.

15. A processor of a surgical robotic system configured to:
receive user input to manipulate a robotic component of the surgical robotic system;
route the user input to a first controller and a second controller, wherein the first controller comprises a responsibility to control the robotic component based on the user input, and the second controller is a backup controller;
receive an indication of manipulation of the robotic component;
receive, from the first controller, a feedback signal;
produce an expected feedback signal based on the indication of manipulation of the robotic component; and
responsive to detecting a fault within the surgical robotic system based on a comparison between the expected feedback signal and the feedback signal, signal that the second controller is to have the responsibility instead of the first controller.

16. The processor of claim 15 , wherein the first controller controls the robotic component by transmitting, to the robotic component, a control signal based on the user input to manipulate the robotic component, w

Assignees

• Verb Surgical Inc

Inventors

• Rea Rochelle
• Zietlow Klaus
• Hoffman Adam
• Zeng Yiqi

Classifications

• H02H7/0856

  characterised by the protection measure taken · CPC title

• H02H7/00

  Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions · CPC title

• B25J9/161

  Hardware, e.g. neural networks, fuzzy logic, interfaces, processor · CPC title

• B25J9/0084

  comprising a plurality of manipulators · CPC title

• A61B2017/00477

  Coupling (A61B2017/0046 takes precedence) · CPC title