公开(公告)号：US20250054302A1

公开(公告)日：2025-02-13

申请号：US18809228

申请日：2024-08-19

Applicant: Verb Surgical Inc.

Inventor： Meysam Torabi

IPC: G06V20/40 ,  A61B34/30 ,  G06F18/214 ,  G06F18/24 ,  G06N3/04 ,  G06N3/08 ,  G06T3/4046 ,  G06T3/60 ,  G06T7/11 ,  G06T7/70 ,  G06V10/40

Abstract: Disclosed are various user-presence/absence detection techniques based on deep learning. These user-presence/absence detection techniques can include building/training a deep-learning model including a user-presence/absence classifier based on training images of a user-seating area of a surgeon console under various clinically-relevant conditions. The trained user-presence/absence classifier can then be used during teleoperation/surgical procedures to monitor/track users in the user-seating area of the surgeon console, and continuously classify captured real-time video images of the user-seating area into either a user-presence classification or a user-absence classification. In some embodiments, the disclosed techniques can be used to detect a user-switching event at the surgeon console when a second user is detected to have entered the user-seating area after a first user is detected to have exited the user-seating area. If the second user is identified as a new user, the disclosed techniques can trigger a recalibration procedure to recalibrate surgeon-console settings for the new user.

公开(公告)号：US12213756B2

公开(公告)日：2025-02-04

申请号：US18470252

申请日：2023-09-19

Applicant: Verb Surgical Inc.

Inventor： Joan Savall ,  Denise Ann Miller ,  Anette Lia Freiin von Kapri ,  Paolo Invernizzi ,  John Magnasco

IPC: A61B34/35 ,  A61B34/00 ,  B25J9/00 ,  B25J9/16 ,  G06F3/01 ,  A61B34/30

Abstract: A method for engaging and disengaging a surgical instrument of a surgical robotic system comprising: receiving a plurality of interlock inputs from one or more interlock detection components of the surgical robotic system; determining, by one or more processors communicatively coupled to the interlock detection components, whether the plurality of interlock inputs indicate each of the following interlock requirements are satisfied: (1) a user is looking toward a display, (2) at least one or more user interface devices of the surgical robotic system are configured in a usable manner, and (3) a surgical workspace of the surgical robotic system is configured in a usable manner; in response to determining each of the interlock requirements are satisfied, transition the surgical robotic system into a teleoperation mode; and in response to determining less than all of the interlock requirements are satisfied, transition the surgical robotic system out of a teleoperation mode.

公开(公告)号：US12186138B2

公开(公告)日：2025-01-07

申请号：US17039949

申请日：2020-09-30

Applicant: Verb Surgical Inc.

Inventor： Tianyu Song ,  Blade Olson ,  Bernhard A. Fuerst ,  Danyal Fer

IPC: A61B90/00 ,  A61B34/37 ,  G06T7/70 ,  G06T17/20 ,  G06T19/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B90/50

Abstract: Disclosed is an augmented reality (AR) headset that provides a wearer with spatial, system, and temporal contextual information of a surgical robotic system to guide the wearer in configuring, operating, or troubleshooting the surgical robotic system prior to, during, or after surgery. The spatial context information may be rendered to display spatially-fixed 3D-generated virtual models of the robotic arms, instruments, bed, and other components of the surgical robotic system that match the actual position or orientation of the surgical robotic system in the AR headset's coordinate frame. The AR headset may communicate with the surgical robotic system to receive real-time state information of the components of the surgical robotic system. The AR headset may use the real-time state information to display context-sensitive user interface information such as tips, suggestions, visual or audio cues on maneuvering the robotic arms and table to their target positions and orientations or for troubleshooting purpose.

公开(公告)号：US20240366332A1

公开(公告)日：2024-11-07

申请号：US18774132

申请日：2024-07-16

Applicant: Verb Surgical Inc.

Inventor： Xiaobin Zhang ,  Renbin Zhou ,  Alireza Hariri

IPC: A61B90/00 ,  A61B34/00 ,  A61B34/35

Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. One example system for detecting a hardstop for a surgical tool includes a wrist connected to and driven by a plurality of cables of a tool driver, a plurality of sensors configured to detect forces associated with the plurality of cables one or more processors configured to perform a comparison of the forces associated with the plurality of cables, selected a highest tension cable from the plurality of cables based on the comparison of the forces associated with the plurality of cables, set a force assigned to the highest tension cable to a predetermined value, calculate a variable torque threshold for the wrist based on a sum of the predetermined value for the highest tension cable and detected forces for remaining cables in the plurality of cables, receive a joint torque value for the wrist, perform a comparison of the received joint torque value for the wrist to a variable wrist torque threshold and identify a hardstop based on the comparison of the received joint torque value for the wrist to the variable wrist torque threshold.

公开(公告)号：US12133704B2

公开(公告)日：2024-11-05

申请号：US18305199

申请日：2023-04-21

Applicant: Verb Surgical Inc.

Inventor： Joan Savall ,  Denise Ann Miller ,  Hamid Reza Sani

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/20 ,  A61B17/00 ,  A61B34/30

Abstract: Surgical systems including a user console for controlling a surgical robotic tool are described. A witness sensor and a reference sensor can be mounted on the user console to measure an electromagnetic field distortion near a location, and to measure deformation of the location, respectively. Distortion in the electromagnetic field can be detected based on the measurements from the witness sensor and the reference sensor. An alert can be generated, or teleoperation of the surgical tool can be adjusted or paused, when a user interface device used to control the surgical tool is within a range of the distortion. The distortion can be from a known source, such as from actuation of a haptic motor of the user interface device, and the user console can adjust the actuation to reduce the likelihood that the distortion will disrupt surgical tool control. Other embodiments are described and claimed.

公开(公告)号：US12120461B2

公开(公告)日：2024-10-15

申请号：US18312507

申请日：2023-05-04

Applicant: Verb Surgical Inc.

Inventor： Pablo Garcia Kilroy ,  Jagadish Venkataraman

IPC: H04N7/169 ,  G06V20/40 ,  G11B27/32 ,  G16H70/20

CPC classification number: H04N7/169 ,  G06V20/40 ,  G11B27/323 ,  G16H70/20 ,  G06V20/44

Abstract: This disclosure provides techniques of synchronizing the playback of two recorded videos of the same surgical procedure. In one aspect, a process for generating a composite video from two recorded videos of a surgical procedure is disclosed. This process begins by receiving a first and second surgical videos of the same surgical procedure. The process then performs phase segmentation on each of the first and second surgical videos to segment the first and second surgical videos into a first set of video segments and a second set of video segments, respectively, corresponding to a sequence of predefined phases. Next, the process time-aligns each video segment of a given predefined phase in the first video with a corresponding video segment of the given predefined phase in the second video. The process next displays the time-aligned first and second surgical videos for comparative viewing.

公开(公告)号：US12076099B2

公开(公告)日：2024-09-03

申请号：US17368221

申请日：2021-07-06

Applicant: Verb Surgical Inc.

Inventor： Apoorv Shrivastava ,  Renbin Zhou ,  Haoran Yu ,  Seungkook Yun ,  Ellen Klingbeil

IPC: G06F17/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  B25J9/16

CPC classification number: A61B34/35 ,  A61B34/25 ,  A61B34/30 ,  B25J9/1689

Abstract: For teleoperation of a surgical robotic system, the control of the surgical robotic system accounts for a limited degree of freedom of a tool in a surgical robotic system. A projection from the greater DOF of the user input commands to the lesser DOF of the tool is included within or as part of the inverse kinematics. The projection identifies feasible motion in the end-effector domain. This projection allows for a general solution that works for tools having different degrees of freedom and will converge on a solution.

公开(公告)号：US20240285361A1

公开(公告)日：2024-08-29

申请号：US18655664

申请日：2024-05-06

Applicant: Verb Surgical Inc.

Inventor： RENBIN ZHOU ,  HAORAN YU ,  SEUNGKOOK YUN ,  ELLEN KLINGBEIL ,  APOORV SHRIVASTAVA

IPC: A61B34/35 ,  A61B34/37 ,  B25J9/02 ,  B25J9/10 ,  B25J9/16

CPC classification number: A61B34/35 ,  A61B34/37 ,  B25J9/02 ,  B25J9/101 ,  B25J9/1607 ,  B25J9/1648 ,  B25J9/1651

Abstract: Various approaches to solve for inverse kinematics may be used for teleoperation of a surgical robotic system. In one approach, an iterative solver solves for the linear component of motion independently from solving for the angular component of motion. One solver may be used to solve for both together. In another approach, all limits (e.g., position, velocity, and acceleration) are handled in one solution. Where a limit is reached, the limit is used as a bound in the intermediate solution, allowing solution even where a bound is reached. In another approach, a ratio of limits of position are used to create a slow-down region near the bounds to more naturally control motion. In yet another approach, the medical-based teleoperation uses a bounded Gauss-Siedel solver, such as with successive-over-relaxation.

公开(公告)号：US20240245462A1

公开(公告)日：2024-07-25

申请号：US18603077

申请日：2024-03-12

Applicant: Verb Surgical Inc.

Inventor： Bernhard Fuerst ,  Eric Johnson ,  Pablo Garcia Kilroy

IPC: A61B34/10 ,  B25J13/06 ,  G06F3/04815

CPC classification number: A61B34/10 ,  B25J13/06 ,  G06F3/04815 ,  A61B2034/104 ,  A61B2034/105

Abstract: A virtual surgical robot being built from kinematic data is rendered to a display. A user input is received to effect a movement or a configuration of the virtual surgical robot. The kinematic data is modified based on evaluation of the movement or the configuration of the virtual surgical robot.

公开(公告)号：US20240207001A1

公开(公告)日：2024-06-27

申请号：US18434467

申请日：2024-02-06

Applicant: Verb Surgical Inc.

Inventor： Haoran Yu ,  Pablo Eduardo Garcia Kilroy ,  Bernard Fai Kin Siu ,  Eric Mark Johnson

IPC: A61B34/00 ,  A61B34/10 ,  A61B34/30 ,  A61B90/00 ,  G02B27/01 ,  G06T19/00

CPC classification number: A61B34/70 ,  A61B34/10 ,  A61B34/25 ,  G02B27/0172 ,  G06T19/006 ,  A61B2034/101 ,  A61B2034/102 ,  A61B2034/107 ,  A61B2034/256 ,  A61B34/30 ,  A61B2090/3983 ,  G02B2027/0138

Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. Within the virtual reality system, various user modes enable different kinds of interactions between a user and the virtual robotic surgical environment. For example, one variation of a method for facilitating navigation of a virtual robotic surgical environment includes displaying a first-person perspective view of the virtual robotic surgical environment from a first vantage point, displaying a first window view of the virtual robotic surgical environment from a second vantage point and displaying a second window view of the virtual robotic surgical environment from a third vantage point. Additionally, in response to a user input associating the first and second window views, a trajectory between the second and third vantage points can be generated sequentially linking the first and second window views.