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公开(公告)号：US11534246B2
公开(公告)日：2022-12-27
申请号：US16439591
申请日：2019-06-12
申请人： Verb Surgical Inc.
发明人： Bernhard Adolf Fuerst , Pablo E. Garcia Kilroy , Berk Gonenc , Jose Luis Cordoba , Joan Savall , Alexander Barthel
IPC分类号： G06F19/00 , A61B34/00 , A61B34/37 , A61B90/00 , A61B34/30 , A61B90/60 , A47C7/72 , A47C1/00 , B25J13/08 , B25J13/00 , B25J9/16 , G06F3/0346 , A61B34/20 , A61B17/00 , G06F3/0354
摘要： User input devices (UIDs) for controlling a surgical robotic system are described. A UID can include one or more tracking sensors to generate respective spatial state signals in accordance with a pose of the UID. At least one of the tracking sensors can be a camera. In the case of multiple tracking sensors, the spatial state signals are processed by a sensor fusion algorithm to generate a more robust, single tracking signal and a quality measure. The tracking signal and the quality measure are then used by a digital control system to control motion of a surgical robotic system actuator that is associated with the UID. Other embodiments are also described and claimed.
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公开(公告)号：US20220096187A1
公开(公告)日：2022-03-31
申请号：US17039705
申请日：2020-09-30
申请人： Verb Surgical Inc.
发明人： Yiming Xu , Berk Gonenc , Blade Olson
摘要： A surgical robotic system that includes a robotic arm, glove configured to be worn on a hand of a user and including a force-feedback mechanism, a tracking device, a processor, and memory. The memory includes instructions which when executed by the processor causes the system to determine that the user is performing a hand gesture with the glove to grasp a virtual user input device (UID) based on the tracking device, and in response to the user grasping the virtual UID, apply, via the force-feedback mechanism, a force upon the glove that corresponds to a physical representation of the virtual UID, and engage the robotic arm to be controlled by the virtual UID.
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公开(公告)号：US11278361B2
公开(公告)日：2022-03-22
申请号：US16418726
申请日：2019-05-21
申请人： Verb Surgical Inc.
摘要： A control system for surgical robots based on proximity sensing, the control system including a proximity sensor coupled to a component of a surgical robot, the surgical robot component including a table, robotic arms coupled to the table, and surgical tools mounted on the robotic arms, the proximity sensor configured to sense a movement of a nearby controlling object in one or more degrees of freedom; and a processor configured to drive the component of the surgical robot to follow the movement of the controlling object.
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公开(公告)号：US11266469B2
公开(公告)日：2022-03-08
申请号：US16440844
申请日：2019-06-13
申请人： Verb Surgical Inc.
IPC分类号： A61B34/00 , A61B34/30 , B25J13/08 , A61B34/20 , A61B34/37 , A61B90/00 , A61B90/60 , A47C7/72 , A47C1/00
摘要： A user console for a surgical robotic system has a seat having an armrest and an electromagnetic (EM) transmitter coupled to the armrest to generate an EM field in an EM tracking space around the armrest. A user input device having a handheld housing is to be positioned within the EM tracking by an operator who is seated in the seat, during a surgical procedure. Other aspects are also described and claimed.
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公开(公告)号：US11259881B2
公开(公告)日：2022-03-01
申请号：US15803665
申请日：2017-11-03
申请人： Verb Surgical Inc.
IPC分类号： A61B34/32 , H02K11/24 , H02K11/215 , H02K7/116 , H02P6/08 , B25J13/08 , G01L3/14 , A61B90/00 , A61B17/34 , A61B34/00 , A61B34/30 , A61B17/00 , H02K29/08 , G01L1/14 , G01L5/22 , B25J15/00 , A61B17/32 , A61B17/29 , H02P6/16
摘要： A tool driver for use in robotic surgery includes a base configured to couple to a distal end of a robotic arm, and a tool carriage slidingly engaged with the base and configured to receive a surgical tool. In one variation, the tool carriage may include a plurality of linear axis drives configured to actuate one or more articulated movements of the surgical tool. In another variation, the tool carriage may include a plurality of rotary axis drives configured to actuate one or more articulated movements of the surgical tool. Various sensors, such as a capacitive load cell for measuring axial load, a position sensor for measuring linear position of the guide based on the rotational positions of gears in a gear transmission, and/or a capacitive torque sensor based on differential capacitance, may be included in the tool driver.
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公开(公告)号：US20200205931A1
公开(公告)日：2020-07-02
申请号：US16723778
申请日：2019-12-20
申请人： Verb Surgical Inc.
发明人： Margaret Nicholson , Berk Gonenc
摘要： A hooked surgery camera for use in surgical robotic systems includes a hook coupled to a side or end of a camera body, for attaching the camera to tissue during a surgery. The camera also includes a lens on another end of the camera body, and electronic components inside the camera body. The electronic components include a battery, a digital camera module and a wireless data transmitter. The hooked surgery camera provides a supplementary view of the surgical site, that is from a different perspective than the view provided by an endoscope, during laparoscopic surgeries. Other aspects are also described and claimed.
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公开(公告)号：US20240173865A1
公开(公告)日：2024-05-30
申请号：US18537639
申请日：2023-12-12
申请人： Verb Surgical Inc.
发明人： Berk Gonenc , Xin Liu , Jose Luis Cordoba , Bernhard A. Fuerst , Dennis Moses , Pablo Garcia Kilroy
IPC分类号： B25J9/16 , A61B17/00 , A61B17/34 , A61B34/10 , A61B34/20 , A61B34/32 , A61B34/35 , A61B90/50
CPC分类号： B25J9/1666 , A61B17/3423 , A61B34/32 , A61B34/35 , B25J9/16 , A61B2017/00477 , A61B2034/107 , A61B2034/2055 , A61B90/50
摘要： A surgical robotic system has a tool drive coupled to a distal end of a robotic arm that has a plurality of actuators. The tool drive has a docking interface to receive a trocar. The system also includes one or more sensors that are operable to visually sense a surface feature of the trocar. One or more processors determine a position and orientation of the trocar, based on the visually sensed surface feature. In response, the processor controls the actuators to orient the docking interface to the determined orientation of the trocar and to guide the robotic arm toward the determined position of the trocar. Other aspects are also described and claimed.
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公开(公告)号：US20240122661A1
公开(公告)日：2024-04-18
申请号：US18393194
申请日：2023-12-21
申请人： Verb Surgical Inc.
CPC分类号： A61B34/30 , A61B90/50 , G06F3/017 , G06F3/0444 , G06F3/0446 , A61B2017/00207
摘要： A surgical robotic system comprising: a surgical robotic arm having a plurality of robotic arm links and a plurality of joints operable to move according to multiple degrees of freedom; a proximity sensor coupled to the surgical robotic arm, the proximity sensor comprising a plurality of sensing pads operable to detect a movement of a nearby controlling object prior to contact with the surgical robotic arm; and a processor configured to determine a desired position of the surgical robotic arm based on the detected movement of the nearby controlling object and drive a movement of more than one of the plurality of robotic arm links or the plurality of joints to achieve the desired position of the surgical robotic arm.
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公开(公告)号：US11890069B2
公开(公告)日：2024-02-06
申请号：US17699794
申请日：2022-03-21
申请人： Verb Surgical Inc.
CPC分类号： A61B34/30 , A61B90/50 , G06F3/017 , G06F3/0444 , G06F3/0446 , A61B2017/00207 , A61B2562/0257 , G06F2203/04108
摘要： A surgical robotic system comprising: a surgical robotic arm having a plurality of robotic arm links and a plurality of joints operable to move according to multiple degrees of freedom; a proximity sensor coupled to the surgical robotic arm, the proximity sensor comprising a plurality of sensing pads operable to detect a movement of a nearby controlling object prior to contact with the surgical robotic arm; and a processor configured to determine a desired position of the surgical robotic arm based on the detected movement of the nearby controlling object and drive a movement of more than one of the plurality of robotic arm links or the plurality of joints to achieve the desired position of the surgical robotic arm.
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公开(公告)号：US11622819B2
公开(公告)日：2023-04-11
申请号：US17588155
申请日：2022-01-28
申请人： Verb Surgical Inc.
IPC分类号： A61B34/30 , A61B34/00 , B25J13/08 , B25J13/00 , A61B34/37 , A61B90/00 , A61B90/60 , A47C7/72 , A47C1/00 , B25J9/16 , G06F3/0346 , A61B34/20 , A61B17/00 , G06F3/0354
摘要： A user console for a surgical robotic system has a seat having an armrest and an electromagnetic (EM) transmitter coupled to the armrest to generate an EM field in an EM tracking space around the armrest. A user input device having a handheld housing is to be positioned within the EM tracking by an operator who is seated in the seat, during a surgical procedure. Other aspects are also described and claimed.
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