Watchdog circuitry of a surgical robot arm

Patent metadata

Field	Value
Publication number	US-12510880-B2
Application number	US-202117905087-A
Country	US
Kind code	B2
Filing date	Feb 23, 2021
Priority date	Feb 27, 2020
Publication date	Dec 30, 2025
Grant date	Dec 30, 2025

Abstract

A surgical robot with a surgical robot arm and a surgical robot arm controller. The surgical robot arm has a set of joints and a joint controller. The joint controller is configured to drive a joint of the set of joints. The surgical robot arm controller has a processor and watchdog circuitry. The processor is configured to send joint driving signals to the joint controller on a communication link. The watchdog circuitry is configured to: receive sequence values from the processor; determine whether each received sequence value matches a next expected value of a predetermined sequence; and if the received sequence value does not match the next expected value of the predetermined sequence, disable the communication link between the processor and the joint controller.

First claim

The invention claimed is:

1 . A surgical robot comprising:
a surgical robot arm comprising a set of joints and a joint controller, the joint controller configured to drive a joint of the set of joints; and a surgical robot arm controller comprising a processor and watchdog circuitry, the processor configured to send joint driving signals to the joint controller on a communication link, the watchdog circuitry configured to:
receive sequence values from the processor;
determine whether each received sequence value matches a next expected value of a predetermined sequence; and
if the received sequence value does not match the next expected value of the predetermined sequence, disable the communication link between the processor and the joint controller.

2 . A surgical robot as claimed in claim 1 , wherein the watchdog circuitry is configured to:
count time elapsed from receipt of a sequence value; compare the time to a timeout value; and if the time exceeds the timeout value before receipt of another sequence value, disable the communication link between the processor and the joint controller.

3 . A surgical robot as claimed in claim 1 , comprising a switch on the communication link between the processor and the joint controller, a state of the switch being controllable by the watchdog circuitry, wherein the watchdog circuitry is configured to open the switch to disable the communication link between the processor and the joint controller.

4 . A surgical robot as claimed in claim 3 , wherein the communication link is an ethernet link, and the switch is an ethernet switch.

5 . A surgical robot as claimed in claim 1 , wherein the joint controller is configured to:
count time elapsed from receipt of a communication from the processor; compare the time to a further timeout value; and if the time exceeds the further timeout value before receipt of another communication from the processor, enter a fault state.

6 . A surgical robot as claimed in claim 5 , wherein if the joint that the joint controller is configured to drive is stationary at the time the joint controller enters the fault state, the joint controller holds the joint in position.

7 . A surgical robot as claimed in claim 5 , wherein if the joint that the joint controller is configured to drive is moving at the time the joint controller enters the fault state, the joint controller decelerates the joint to a stop and then holds the joint in position.

8 . A surgical robot as claimed in claim 1 , wherein on disabling the communication link between the processor and the joint controller, the watchdog circuitry is configured to send preset joint driving signals to the joint controller, those present joint driving signals being so as to cause the joint controller to hold the joint in position.

9 . A surgical robot as claimed in claim 1 , wherein on disabling the communication link between the processor and the joint controller, the watchdog circuitry is configured to reset the processor.

10 . A surgical robot as claimed in claim 9 , wherein on being reset, the processor is configured to send a predetermined starting sequence value to the watchdog circuitry at a predetermined time after the reset.

11 . A surgical robot as claimed in claim 1 , wherein on disabling the communication link between the processor and the joint controller, the watchdog circuitry is configured to raise an alarm.

12 . A surgical robot as claimed in claim 1 , wherein the predetermined sequence is a Gray code.

13 . A surgical robot as claimed in claim 1 , wherein the watchdog circuitry is configured to generate the predetermine sequence.

14 . A surgical robot as claimed in claim 1 , wherein the processor is configured to generate the sequence values, and send the sequence values to the watchdog circuitry.

15 . A surgical robot as claimed in claim 1 , wherein the surgical robot arm controller is either (i) integrated in the surgical robot arm, or (ii) integrated into a support configured to support the surgical robot arm.

16 . A surgical robot as claimed in claim 1 , wherein the surgical robot arm comprises a set of joint controllers, each joint controller configured to drive a respective joint of the set of joints, the processor being configured to send joint driving signals to each joint controller on the communication link.

17 . A surgical robot as claimed in claim 16 , wherein the joint controllers are connected together in a linear chain such that disabling the communication link prevents joint driving signals being sent from the processor to each joint controller.

18 . A surgical robot as claimed in claim 16 , wherein each joint controller is configured to:
count time elapsed from receipt of a communication from the processor; compare the time to a further timeout value; and if the time exceeds the further timeout value before receipt of another communication from the processor, enter a fault state.

19 . A surgical robot as claimed in claim 1 , wherein the surgical robot arm comprises a set of joint controllers, each joint controller configured to drive a respective joint of the set of joints, the processor being configured to send joint driving signals to each joint controller on a respective communication link between the processor and that joint controller.

20 . A surgical robot as claimed in claim 19 , wherein if the received sequence value does not match a corresponding value of the predetermined sequence, the watchdog circuitry is configured to disable each communication link between the processor and the set of joint controllers.

Assignees

• Cmr Surgical Ltd

Inventors

• Henderson Hamish
• Scholan Andrew
• Deane Gordon Thomas

Classifications

• H04L67/12

  specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks · CPC title

• G05B2219/40415

  Semi active robot, cobot, guides surgeon, operator to planned trajectory, constraint · CPC title

• G05B2219/40269

  Naturally compliant robot arm · CPC title

• A61B34/37 Primary

  Leader-follower robots (A61B34/35 takes precedence) · CPC title

• G06F11/0757

  by exceeding a time limit, i.e. time-out, e.g. watchdogs · CPC title