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公开(公告)号：US20240325103A1
公开(公告)日：2024-10-03
申请号：US18672114
申请日：2024-05-23
申请人： Verb Surgical Inc.
发明人： Spencer Maughan , Alireza Hariri
CPC分类号： A61B34/71 , G01L5/047 , G05B19/4155 , A61B2017/00123 , A61B17/29 , A61B2017/2932 , A61B2034/302 , A61B2090/064 , A61B2090/066 , G05B2219/45123
摘要： The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. One example system for detecting disengagement of a surgical tool, includes an end effector connected to and driven by cables of a tool driver, sensors configured to detect forces associated with the cables, and one or more processors. The one or more processors identify cable tensions derived from forces detected by the sensors, compare the tension to a threshold tension value, calculate a velocity norm value based on a vector including the velocity value for each of the cables, compare the velocity norm value to a statistic velocity threshold, and identify a disengagement of at least one of the cables based on the first comparison and the second comparison.
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公开(公告)号：US11696810B2
公开(公告)日：2023-07-11
申请号：US16814412
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： G05B19/04 , 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. A tool driver is coupled to a distal end of a robotic arm and includes a roll drive disk driven by a rotary motor. One or more processors are configured to detect an attachment of a surgical tool to the tool driver. The surgical tool includes a roll tool disk to be engaged with the roll drive disk of the tool driver, actuate of the roll drive disk through the rotary motor, determine that a measured torque of the rotary motor exceeds a preset torque threshold for a preset period of time since the actuation, and report a successful engagement between the roll drive disk and the roll tool disk.
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公开(公告)号：US20230063521A1
公开(公告)日：2023-03-02
申请号：US17881316
申请日：2022-08-04
申请人： Verb Surgical Inc.
发明人： Haoran Yu , Alireza Hariri , Sina Nia Kosari , Renbin Zhou , Hasan Tutkun Sen , Ali Asadian
摘要： A system and computerized method for detection of engagement of a surgical tool to a tool drive of a robotic arm of a surgical robotic system. The method may include activating an actuator of the tool drive to rotate a drive disk to be mechanically engaged with a tool disk in the surgical tool. One or more motor operating parameters of the actuator that is causing the rotation of the drive disk are monitored while activating the actuator. The method detects when the drive disk becomes mechanically engaged with the tool disk, based on the one or more monitored motor operating parameters. Other embodiments are also described and claimed.
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公开(公告)号：US20220096192A1
公开(公告)日：2022-03-31
申请号：US17039808
申请日：2020-09-30
申请人： Verb Surgical Inc.
摘要： Disclosed are systems and methods for limiting the grip force generated by closing robotic wrist jaws while operating in position mode in which the jaws are commanded to a desired jaw angle prior to being commanded to generate a grip force. In the positional mode, the desired jaw angle is above a threshold that corresponds to an angle at which both jaws are just simultaneously in contact with an object between the jaws or, if there is no object to grasp, when the jaws begin to touch each other. A feedback loop may analyze the desired jaw angle and the measured grip force to determine if the jaws are closing in the position mode and if the measured grip force exceeds a maximum grip force threshold. If so, the feedback loop may calculate a grip force error to limit the measured grip force to the maximum grip force threshold.
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5.发明申请公开(公告)号：US20200054401A1
公开(公告)日：2020-02-20
申请号：US15999561
申请日：2018-08-20
申请人： Verb Surgical Inc.
发明人： Haoran Yu , Alireza Hariri , Sina Nia Kosari , Renbin Zhou , Tutkun Hasan Sen , Ali Asadian
摘要： A system and computerized method for detection of engagement of a surgical tool to a tool drive of a robotic arm of a surgical robotic system. The method may include activating an actuator of the tool drive to rotate a drive disk to be mechanically engaged with a tool disk in the surgical tool. One or more motor operating parameters of the actuator that is causing the rotation of the drive disk are monitored while activating the actuator. The method detects when the drive disk becomes mechanically engaged with the tool disk, based on the one or more monitored motor operating parameters. Other embodiments are also described and claimed.
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公开(公告)号：US12023124B2
公开(公告)日：2024-07-02
申请号：US16990620
申请日：2020-08-11
申请人： Verb Surgical Inc.
发明人： Spencer Maughan , Alireza Hariri
CPC分类号： A61B34/71 , G01L5/047 , G05B19/4155 , A61B2017/00123 , A61B17/29 , A61B2017/2932 , A61B2034/302 , A61B2090/064 , A61B2090/066 , G05B2219/45123
摘要： The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. One example system for detecting disengagement of a surgical tool, includes an end effector connected to and driven by cables of a tool driver, sensors configured to detect forces associated with the cables, and one or more processors. The one or more processors identify cable tensions derived from forces detected by the sensors, compare the tension to a threshold tension value, calculate a velocity norm value based on a vector including the velocity value for each of the cables, compare the velocity norm value to a statistic velocity threshold, and identify a disengagement of at least one of the plurality of cables based on the first comparison and the second comparison.
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公开(公告)号：US11969297B2
公开(公告)日：2024-04-30
申请号：US17039808
申请日：2020-09-30
申请人： Verb Surgical Inc.
CPC分类号： A61B90/03 , A61B34/30 , G16H20/40 , G16H40/63 , A61B2017/00022 , A61B17/29 , A61B34/37 , A61B2090/032 , A61B2090/064 , A61B2090/067
摘要： Disclosed are systems and methods for limiting the grip force generated by closing robotic wrist jaws while operating in position mode in which the jaws are commanded to a desired jaw angle prior to being commanded to generate a grip force. In the positional mode, the desired jaw angle is above a threshold that corresponds to an angle at which both jaws are just simultaneously in contact with an object between the jaws or, if there is no object to grasp, when the jaws begin to touch each other. A feedback loop may analyze the desired jaw angle and the measured grip force to determine if the jaws are closing in the position mode and if the measured grip force exceeds a maximum grip force threshold. If so, the feedback loop may calculate a grip force error to limit the measured grip force to the maximum grip force threshold.
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8.发明申请公开(公告)号：US20220096184A1
公开(公告)日：2022-03-31
申请号：US17039944
申请日：2020-09-30
申请人： Verb Surgical Inc.
IPC分类号： A61B34/35
摘要： Disclosed are systems and methods for maintaining the opening force generated by robotic wrist jaws operating in position mode in which the jaws are commanded to a desired jaw angle prior to being commanded to generate a grip force. 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 analyze the desired jaw angle, the estimated jaw angle, and the measured opening force to determine if the jaws are in the position mode and if the measured opening force is below a minimum opening force threshold. If so, the feedback loop may calculate a jaw opening force error to maintain the jaw opening force above the minimum opening force threshold.
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公开(公告)号：US20220061934A1
公开(公告)日：2022-03-03
申请号：US17004840
申请日：2020-08-27
申请人： Verb Surgical Inc.
发明人： H. Tutkun Sen , Alireza Hariri
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.
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公开(公告)号：US20210045826A1
公开(公告)日：2021-02-18
申请号：US16814412
申请日：2020-03-10
申请人： Verb Surgical Inc.
发明人： Ali Asadian , Alireza Hariri , Andrew Dahdouh
摘要： The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. A tool driver is coupled to a distal end of a robotic arm and includes a roll drive disk driven by a rotary motor. One or more processors are configured to detect an attachment of a surgical tool to the tool driver. The surgical tool includes a roll tool disk to be engaged with the roll drive disk of the tool driver, actuate of the roll drive disk through the rotary motor, determine that a measured torque of the rotary motor exceeds a preset torque threshold for a preset period of time since the actuation, and report a successful engagement between the roll drive disk and the roll tool disk.
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