Redundant robot power and communication architecture

Patent metadata

Field	Value
Publication number	US-12377544-B2
Application number	US-202418668858-A
Country	US
Kind code	B2
Filing date	May 20, 2024
Priority date	Mar 11, 2020
Publication date	Aug 5, 2025
Grant date	Aug 5, 2025

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 surgical robotic system comprising:
a robotic component; and
a redundant power architecture that manages and distributes power from a first power source and a second power source to the robotic component, the redundant power architecture comprising:
a circuit breaker coupled to the first power source, the second power source, and the robotic component,
a first controller and a second controller, and
a logic circuit that communicatively couples the circuit breaker to the first controller and the second controller, wherein the redundant power architecture is configured to:
distribute power from at least one of the first power source and the second power source to the robotic component responsive to one of the first controller and the second controller signaling the logic circuit to cause the circuit breaker to remain closed, and
cease distribution of power from the at least one of the first power source and the second power source to the robotic component responsive to both of the first controller and the second controller signaling the logic circuit to cause the circuit breaker to open.

2. The surgical robotic system of claim 1 further comprising an input power controller that is electrically coupled between 1) the first power source and the second power source and 2) the redundant power architecture, and is configured select which of the first power source or the second power source is to provide the power to the redundant power architecture responsive to detecting a fault within the surgical robotic system.

3. The surgical robotic system of claim 1 , wherein the redundant power architecture further comprises:
a central power node electrically coupled to the circuit breaker; and
a first voltage bus that electrically couples the first power source to the central power node and a second voltage bus that electrically couples the second power source to the central power node.

4. The surgical robotic system of claim 3 , wherein the circuit breaker is an output circuit breaker, wherein the redundant power architecture further comprises a first input circuit breaker that is electrically coupled between the first voltage bus and the central power node and a second input circuit breaker that is electrically coupled between the second voltage bus and the central power node.

5. The surgical robotic system of claim 3 further comprising a main control circuit that is configured to control the robotic component, while power is distributed by the redundant power architecture.

6. The surgical robotic system of claim 5 , wherein the circuit breaker is a first circuit breaker, wherein the redundant power architecture further comprises a second circuit breaker and a third circuit breaker that are both electrically coupled between the central power node and the main control circuit.

7. The surgical robotic system of claim 1 further comprising a surgical table that is arranged to hold a patient, wherein the surgical table comprises the redundant power architecture and the robotic component that is a robotic arm mounted on the surgical table.

8. An electronic circuit for a surgical robotic system that comprises one or more robotic components, the electronic circuit comprising:
a first voltage bus that is arranged to electrically couple a first power source to a robotic component of the surgical robotic system and a second voltage bus that is arranged to electrically couple a second power source to the robotic component;
a circuit breaker coupled to the first voltage bus, the second voltage bus, and the robotic component;
a first controller and a second controller; and
a logic circuit that communicatively couples the circuit breaker to the first controller and the second controller,
wherein the circuit breaker is arranged to:
provide current from at least one of the first power source and the second power source so long as one of the first controller and the second controller transmits a control signal to the logic circuit which causes the logic circuit to signal the circuit breaker to close, and
only prevent current from being provided by the first power source and the second power source to flow to the robotic component responsive to each of the first controller and second controller transmitting control signals to the logic circuit to cause the logic circuit to signal the circuit breaker to open.

9. The electronic circuit of claim 8 further comprising an input power controller that is electrically coupled between 1) the first power source and the second power source and 2) the circuit breaker, and is configured select which of the first power source or the second power source is to provide the power to the robotic component responsive to a fault detection.

10. The electronic circuit of claim 8 further comprises a central power node that is electrically coupled between the first voltage bus and the second voltage bus and the circuit breaker.

11. The electronic circuit of claim 10 further comprises a first input circuit breaker that is electrically coupled between the first voltage bus and the central power node and a second input circuit breaker that is electrically coupled between the second voltage bus and the central power node.

12. The electronic circuit of claim 8 , wherein the electronic circuit is a part of a surgical table of the surgical robotic system.

13. The electronic circuit of claim 12 , wherein the one or more robotic components are robotic arms that are mounted to the surgical table.

14. The electronic circuit of claim 8 , wherein the first power source is an alternating current (AC) mains power supply and the second power source is a battery.

15. An electronic circuit for a surgical robotic system comprising:
a central power node;
a first voltage bus that is arranged to provide power from a first power source and a second voltage bus that is arranged to provide power from a second power source;
a first input circuit breaker coupled between the first voltage bus and the central power node and a second input circuit breaker coupled between the second voltage bus and the central power node;
a first output circuit breaker coupled between the central power node and a main control circuit that is configured to control a robotic component of the surgical robotic system and a second output circuit breaker coupled between the central power node and the main control circuit; and
a plurality of controllers that are communicatively coupled to the first and second input circuit breakers and the first and second output circuit breakers, and are configured to open an input circuit breaker or an output circuit breaker responsive to a detection of an open condition.

16. The electronic circuit of claim 15 further comprising a third output circuit coupled between the central power node and the robotic component.

17. The electronic circuit of claim 15 , wherein the input circuit breaker or the output circuit breaker are to open responsive to all of the plurality of controllers transmitting a low control signal to the input circuit breaker or the output circuit breaker.

18. The electronic circuit of claim 15 further comprising a third voltage bus that couples the main control circuit to the first output circuit breaker and a forth voltage bus that couples the main control circuit to the second output circuit breaker, wherein the open condition comprises a fault within at least one of the voltage buses or the main control circuit.

19. The electronic circuit of claim 15 , wherein the electronic circuit is a p

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