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公开(公告)号：US12059225B2
公开(公告)日：2024-08-13
申请号：US18314084
申请日：2023-05-08
申请人： Verb Surgical Inc.
发明人： Renbin Zhou , Sina Nia Kosari , Dennis Moses
摘要： A robotic surgical system includes at least one robotic arm comprising at least one movable joint and an actuator configured to drive the at least one movable joint, and a controller configured to generate a first signal, the first signal comprising a first oscillating waveform having a first frequency and being modulated by a second oscillating waveform having a second frequency, wherein the second frequency is higher than the first frequency. The actuator is configured to drive the at least one movable joint based on the first signal to at least partially compensate for friction in the at least one movable joint.
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公开(公告)号：US20220378532A1
公开(公告)日：2022-12-01
申请号：US17878670
申请日：2022-08-01
申请人： Verb Surgical Inc.
发明人： Hasan Tutkun Sen , Sina Nia Kosari
IPC分类号： A61B34/32 , G06F3/0346 , G06F3/038 , A61B34/00 , B25J3/00 , B25J13/08 , B25J15/00 , B25J9/16 , A61B34/30
摘要： A sequence of input samples that are measures of position or orientation of an input device being held by a user are received. A current output sample of a state of linear quadratic estimator, LQE, is computed that is an estimate of the position or orientation of the input device. The current output sample is computed based on i) a previously computed output sample, and ii) a velocity term. An updated output sample of the state of the LQE is computed, based on i) a previously computed output sample, and ii) a new input sample. Other embodiments are also described and claimed.
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公开(公告)号：US20200054403A1
公开(公告)日：2020-02-20
申请号：US16661590
申请日：2019-10-23
申请人： Verb Surgical Inc.
发明人： Renbin Zhou , Haoran Yu , Sina Nia Kosari
摘要： Engaging and/or homing is provided for a motor control of a surgical tool in a surgical robotic system. Where two or more motors are to control the same motion, the motors may be used to detect engagement even where no physical stop is provided. The motors operate in opposition to each other or in a way that does not attempt the same motion, resulting in one of the motors acting as a stop for the other motor in engagement. A change in motor operation then indicates the engagement. The known angles of engaged motors and the transmission linking the motor drives to the surgical tool indicate the home or current position of the surgical tool.
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公开(公告)号：US11883119B2
公开(公告)日：2024-01-30
申请号：US17878670
申请日：2022-08-01
申请人： Verb Surgical Inc.
发明人： Hasan Tutkun Sen , Sina Nia Kosari
IPC分类号： A61B34/32 , G06F3/0346 , G06F3/038 , A61B34/00 , B25J3/00 , B25J13/08 , B25J15/00 , B25J9/16 , A61B34/30
CPC分类号： A61B34/32 , A61B34/30 , A61B34/74 , B25J3/00 , B25J9/161 , B25J13/088 , B25J15/0019 , G06F3/038 , G06F3/0346 , Y10S901/02 , Y10S901/41 , Y10S901/46
摘要： A sequence of input samples that are measures of position or orientation of an input device being held by a user are received. A current output sample of a state of linear quadratic estimator, LQE, is computed that is an estimate of the position or orientation of the input device. The current output sample is computed based on i) a previously computed output sample, and ii) a velocity term. An updated output sample of the state of the LQE is computed, based on i) a previously computed output sample, and ii) a new input sample. Other embodiments are also described and claimed.
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公开(公告)号：US20220096176A1
公开(公告)日：2022-03-31
申请号：US17498587
申请日：2021-10-11
申请人： Verb Surgical Inc.
发明人： Renbin Zhou , Sina Nia Kosari , Dennis Moses
摘要： A robotic surgical system includes at least one robotic arm comprising at least one movable joint and an actuator configured to drive the at least one movable joint, and a controller configured to generate a first signal, the first signal comprising a first oscillating waveform having a first frequency and being modulated by a second oscillating waveform having a second frequency, wherein the second frequency is higher than the first frequency. The actuator is configured to drive the at least one movable joint based on the first signal to at least partially compensate for friction in the at least one movable joint.
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公开(公告)号：US20210016445A1
公开(公告)日：2021-01-21
申请号：US17061168
申请日：2020-10-01
申请人： Verb Surgical Inc.
发明人： Renbin Zhou , Haoran Yu , Sina Nia Kosari , Omar J. Vakharia , Bernard Fai Kin Siu , Alex Kiturkes
摘要： A method for controlling a robotic arm in a robotic surgical system includes defining a reference plane at a predetermined reference location for a robotic arm, where the robotic arm includes a plurality of joints, and driving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane.
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公开(公告)号：US10807242B2
公开(公告)日：2020-10-20
申请号：US15840990
申请日：2017-12-13
申请人： Verb Surgical Inc.
发明人： Renbin Zhou , Haoran Yu , Sina Nia Kosari , Omar J. Vakharia , Bernard Fai Kin Siu , Alex Kiturkes
摘要： A method for controlling a robotic arm in a robotic surgical system includes defining a reference plane at a predetermined reference location for a robotic arm, where the robotic arm includes a plurality of joints, and driving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane.
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公开(公告)号：US20240041545A1
公开(公告)日：2024-02-08
申请号：US18447906
申请日：2023-08-10
申请人： Verb Surgical Inc.
发明人： Renbin Zhou , Haoran Yu , Sina Nia Kosari
CPC分类号： A61B34/30 , A61B1/00149 , A61B1/0016 , A61B2017/003
摘要： Engaging and/or homing is provided for a motor control of a surgical tool in a surgical robotic system. Where two or more motors are to control the same motion, the motors may be used to detect engagement even where no physical stop is provided. The motors operate in opposition to each other or in a way that does not attempt the same motion, resulting in one of the motors acting as a stop for the other motor in engagement. A change in motor operation then indicates the engagement. The known angles of engaged motors and the transmission linking the motor drives to the surgical tool indicate the home or current position of the surgical tool.
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公开(公告)号：US20240017415A1
公开(公告)日：2024-01-18
申请号：US18348032
申请日：2023-07-06
申请人： Verb Surgical Inc.
发明人： Renbin Zhou , Haoran Yu , Sina Nia Kosari , Omar J. Vakharia , Bernard Fai Kin Siu , Alex Kiturkes
CPC分类号： B25J9/1679 , B25J9/1689 , A61B90/03 , A61B34/37 , A61B2090/5025
摘要： A method for controlling a robotic arm in a robotic surgical system includes defining a reference plane at a predetermined reference location for a robotic arm, where the robotic arm includes a plurality of joints, and driving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane.
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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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