公开(公告)号：US20210045820A1

公开(公告)日：2021-02-18

申请号：US16814422

申请日：2020-03-10

申请人： Verb Surgical Inc.

发明人： Ali Asadian ,  Alireza Hariri ,  Andrew Dahdouh

IPC分类号： A61B34/00 ,  A61B34/37 ,  A61B90/00

摘要： The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An end effector of the surgical tool is coupled to a tool driver. An actuator is driven by a motor of the tool driver and configured to drive a degree of freedom of the end effector. One or more processors are configured to receive a position command describing a desired position for the end effector, translate the desired position to a command for a joint associated with the end effector, calculate a compensation term to compensate for a source of hysteresis for backlash and/or compliance, and send a motor command for the motor coupled with the actuator based on the compensation term and the command for the end effector.

公开(公告)号：US20240066693A1

公开(公告)日：2024-02-29

申请号：US18326770

申请日：2023-05-31

申请人： Verb Surgical Inc.

发明人： Alireza Hariri

IPC分类号： B25J9/16

CPC分类号： B25J9/1653 ,  B25J9/1664

摘要： A computerized method for estimating joint friction in a joint of a robotic wrist of an end effector. Sensor measurements of force or torque in a transmission that mechanically couples a robotic wrist to an actuator, are produced. Joint friction in a joint of the robotic wrist that is driven by the actuator is computed by applying the sensor measurements of force or torque to a closed form mathematical expression that relates transmission force or torque variables to a joint friction variable. A tracking error of the end effector is also computed, using a closed form mathematical expression that relates the joint friction variable to the tracking error. Other aspects are also described and claimed.

公开(公告)号：US20240065786A1

公开(公告)日：2024-02-29

申请号：US18505643

申请日：2023-11-09

申请人： Verb Surgical Inc.

发明人： H. Tutkun Sen ,  Alireza Hariri

IPC分类号： A61B34/30 ,  B25J9/16 ,  B25J15/00

CPC分类号： A61B34/30 ,  B25J9/1633 ,  B25J9/1641 ,  B25J15/0019 ,  B25J9/12

摘要： For control of a surgical instrument in a surgical robotic system, multiple actuators establish a static pretension by actuating in opposition to each other in torque control. The static pretension reduces or removes the compliance and elasticity, reducing the backlash width. To drive the tool, the actuators are then moved in cooperation with each other in position mode control so that the movement maintains the static pretension while providing precise control.

公开(公告)号：US11844580B2

公开(公告)日：2023-12-19

申请号：US17004840

申请日：2020-08-27

申请人： Verb Surgical Inc.

发明人： H. Tutkun Sen ,  Alireza Hariri

IPC分类号： A61B34/30 ,  B25J9/16 ,  A61B34/37 ,  B25J15/00 ,  B25J9/12 ,  A61B17/00

CPC分类号： A61B34/30 ,  B25J9/1633 ,  B25J9/1641 ,  B25J15/0019 ,  A61B34/37 ,  A61B2017/00477 ,  B25J9/12

摘要： For control of a surgical instrument in a surgical robotic system, multiple actuators establish a static pretension by actuating in opposition to each other in torque control. The static pretension reduces or removes the compliance and elasticity, reducing the backlash width. To drive the tool, the actuators are then moved in cooperation with each other in position mode control so that the movement maintains the static pretension while providing precise control.

公开(公告)号：US20230346496A1

公开(公告)日：2023-11-02

申请号：US18212902

申请日：2023-06-22

申请人： Verb Surgical Inc.

发明人： Ali Asadian ,  Alireza Hariri ,  Andrew Dahdouh

IPC分类号： A61B34/00 ,  A61B34/37 ,  A61B34/35 ,  B25J9/12 ,  A61B90/00

CPC分类号： A61B34/74 ,  A61B34/37 ,  A61B34/25 ,  A61B34/35 ,  B25J9/12 ,  A61B34/77 ,  A61B90/06 ,  A61B90/08 ,  A61B34/71 ,  A61B90/03 ,  A61B2034/305

摘要： The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An actuator or a motor of a tool driver is configured to operate a joint of a tool. One or more processors are configured to receive an initial joint command for the joint of the tool, determine a joint torque based on motor torque of the motor or actuator as well as motor to joint torque mapping, calculate a tip force based on an effective length associated with the joint and based on the joint torque, compare the tip force to a predetermined threshold, calculate an admittance control compensation term in response to the tip force exceeding the predetermined threshold, and generate a command for the motor or actuator based on the admittance control compensation term and the initial joint command.

公开(公告)号：US11723739B2

公开(公告)日：2023-08-15

申请号：US16814426

申请日：2020-03-10

申请人： Verb Surgical Inc.

发明人： Ali Asadian ,  Alireza Hariri ,  Andrew Dahdouh

IPC分类号： A61B34/00 ,  A61B34/37 ,  A61B34/35 ,  B25J9/12 ,  A61B90/00 ,  A61B34/30 ,  A61B17/00

CPC分类号： A61B34/74 ,  A61B34/25 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B34/77 ,  A61B90/03 ,  A61B90/06 ,  A61B90/08 ,  B25J9/12 ,  A61B2017/00398 ,  A61B2017/00477 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/742 ,  A61B2090/031 ,  A61B2090/035 ,  A61B2090/066 ,  A61B2090/0807 ,  A61B2090/0809 ,  A61B2090/0811

摘要： The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An actuator or a motor of a tool driver is configured to operate a joint of a tool. One or more processors are configured to receive an initial joint command for the joint of the tool, determine a joint torque based on motor torque of the motor or actuator as well as motor to joint torque mapping, calculate a tip force based on an effective length associated with the joint and based on the joint torque, compare the tip force to a predetermined threshold, calculate an admittance control compensation term in response to the tip force exceeding the predetermined threshold, and generate a command for the motor or actuator based on the admittance control compensation term and the initial joint command.

公开(公告)号：US20220096193A1

公开(公告)日：2022-03-31

申请号：US17039948

申请日：2020-09-30

申请人： Verb Surgical Inc.

发明人： Edgar Ignacio Ergueta Tejerina ,  Alireza Hariri

IPC分类号： A61B90/00 ,  A61B34/30 ,  G16H40/63 ,  G16H20/40

摘要： Disclosed are systems and methods for achieving a smooth transition in the grip force when the wrist jaws transition between the position and force mode. In the position mode, the desired jaw angle is above a threshold corresponding to an angle at which both jaws are just simultaneously in contact with an object held between the jaws or, if there is no object, when the jaws begin to touch each other. A feedback loop may determine that the jaws are transitioning between the modes based on changes of the desired jaw angle. The feedback loop may analyze the commanded grip force and the measured grip force to determine whether to adjust the commanded grip force during the transition. If so, the feedback loop may adjust the commanded grip force to reduce changes in the measured grip force that is otherwise based on the desired jaw angle.

公开(公告)号：US12046363B2

公开(公告)日：2024-07-23

申请号：US17366237

申请日：2021-07-02

申请人： Verb Surgical Inc.

发明人： Apoorv Shrivastava ,  Haoran Yu ,  Renbin Zhou ,  H. Tutkun Sen ,  Alireza Hariri

IPC分类号： H03H7/30 ,  A61B34/10 ,  A61B34/37 ,  B25J9/16 ,  G16H40/63 ,  H03H7/40 ,  H03K5/159

CPC分类号： G16H40/63 ,  A61B34/10 ,  A61B34/37 ,  B25J9/1605 ,  A61B2034/101

摘要： For a scalable filtering infrastructure, a library of filters each usable at different control rates is provided by defining filters in a continuous time mode despite eventual use for digital filtering. For implementation, a filter is selected and discretized for the desired control rate. The discretized filter is then deployed as a discrete time realization for convolution. In a distributed system with multiple control rates, the library may be used to more rapidly and conveniently generate the desired filters.

公开(公告)号：US12035991B2

公开(公告)日：2024-07-16

申请号：US16818938

申请日：2020-03-13

申请人： Verb Surgical Inc.

发明人： Edgar Ignacio Ergueta Tejerina ,  Alireza Hariri

IPC分类号： A61B34/00 ,  A61B17/28 ,  A61B17/3201 ,  A61B34/30 ,  A61B17/00 ,  A61B34/37

CPC分类号： A61B34/71 ,  A61B17/28 ,  A61B17/3201 ,  A61B34/30 ,  A61B2017/00725 ,  A61B34/37 ,  A61B2034/715

摘要： A surgical robotic tool used with a surgical robotic system can include cables that effect movement in the surgical robotic tool. A brake in any of these cables can be detected by checking a plurality of conditions. A process can compare a) a tension error against a first threshold, b) a rate of change of the sensed tension of the cable against a second threshold, and c) a rate of change of a cable extension error against a third threshold. If all thresholds are exceeded, the process can disable the respective actuator.

公开(公告)号：US20230117447A1

公开(公告)日：2023-04-20

申请号：US18081055

申请日：2022-12-14

申请人： Verb Surgical Inc.

发明人： Ali Asadian ,  Alireza Hariri ,  Andrew Dahdouh

IPC分类号： A61B34/00 ,  A61B34/37 ,  A61B34/35 ,  B25J9/12 ,  A61B90/00

摘要： The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An end effector of the surgical tool is coupled to a tool driver. An actuator is driven by a motor of the tool driver and configured to drive a degree of freedom of the end effector. One or more processors are configured to receive a position command describing a desired position for the end effector, translate the desired position to a command for a joint associated with the end effector, calculate a compensation term to compensate for a source of hysteresis for backlash and/or compliance, and send a motor command for the motor coupled with the actuator based on the compensation term and the command for the end effector.