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    Surgical robotic tool multi-motor actuator and controller
    4.
    发明授权
    Surgical robotic tool multi-motor actuator and controller 有权

    公开(公告)号：US11607108B2

    公开(公告)日：2023-03-21

    申请号：US17362871

    申请日：2021-06-29

    申请人： Verb Surgical Inc.

    发明人： Haoran Yu ,  Renbin Zhou ,  Sina Nia Kosari ,  Andrea Bajo

    IPC分类号： B25J9/18 ,  G05B19/19 ,  A61B1/00 ,  A61B1/05 ,  A61B1/313 ,  A61B17/29 ,  A61B34/30 ,  H02P21/18 ,  H02P5/56 ,  A61B17/00

    摘要： A first input coupling and a second input coupling are coupled to rotatably drive an output coupling at the same time. In one embodiment, the output coupling rotates a robotic surgery endoscope about a longitudinal axis of the output coupling. A first motor drives the first input coupling while being assisted by a second motor that is driving the second input coupling. A first compensator produces a first motor input based on a position error and in accordance with a position control law, and a second compensator produces a second motor input based on the position error and in accordance with an impedance control law. In another embodiment, the second compensator receives a measured torque of the first motor. Other embodiments are also described and claimed.

    Unmatching/matching UID to robot grasper for engaging teleoperation
    5.
    发明授权
    Unmatching/matching UID to robot grasper for engaging teleoperation 有权

    公开(公告)号：US11478312B2

    公开(公告)日：2022-10-25

    申请号：US16409620

    申请日：2019-05-10

    申请人： Verb Surgical Inc.

    发明人： Ellen Klingbeil ,  Haoran Yu

    IPC分类号： A61B34/35 ,  A61B17/28 ,  G16H40/67 ,  A61B34/00 ,  A61B17/00

    摘要： A surgical robotic system has a robotic grasper, a user interface device (UID), and one or more processors communicatively coupled to the UID and the robotic grasper. The system detects a directive to engage or re-engage a teleoperation mode, determines that the system is in a non-teleoperation mode, receives a sequence of user actions through the UID, determines the UID matches a jaw angle or a grip force of the robotic grasper, and transitions into teleoperation mode. Other embodiments are also described and claimed.

    SURGICAL ROBOTIC TOOL MULTI-MOTOR ACTUATOR AND CONTROLLER
    6.
    发明申请
    SURGICAL ROBOTIC TOOL MULTI-MOTOR ACTUATOR AND CONTROLLER 有权

    公开(公告)号：US20210321855A1

    公开(公告)日：2021-10-21

    申请号：US17362871

    申请日：2021-06-29

    申请人： Verb Surgical Inc.

    发明人： Haoran Yu ,  Renbin Zhou ,  Sina Nia Kosari ,  Andrea Bajo

    IPC分类号： A61B1/00 ,  A61B1/05 ,  A61B1/313 ,  A61B17/29 ,  A61B34/30 ,  H02P21/18 ,  H02P5/56

    摘要： A first input coupling and a second input coupling are coupled to rotatably drive an output coupling at the same time. In one embodiment, the output coupling rotates a robotic surgery endoscope about a longitudinal axis of the output coupling. A first motor drives the first input coupling while being assisted by a second motor that is driving the second input coupling. A first compensator produces a first motor input based on a position error and in accordance with a position control law, and a second compensator produces a second motor input based on the position error and in accordance with an impedance control law. In another embodiment, the second compensator receives a measured torque of the first motor. Other embodiments are also described and claimed.

    Virtual reality training, simulation, and collaboration in a robotic surgical system
    7.
    发明授权
    Virtual reality training, simulation, and collaboration in a robotic surgical system 有权

    公开(公告)号：US11011077B2

    公开(公告)日：2021-05-18

    申请号：US16019132

    申请日：2018-06-26

    申请人： VERB SURGICAL INC.

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

    IPC分类号： G09B23/28 ,  G06T3/20 ,  G06T3/40 ,  G06T11/00 ,  A61B34/10 ,  G16H40/67 ,  G16H20/40 ,  A61B34/00 ,  A61B90/00 ,  A61B34/20

    摘要： 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.