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公开(公告)号：US20240308076A1
公开(公告)日：2024-09-19
申请号：US18672080
申请日：2024-05-23
申请人： Verb Surgical Inc.
IPC分类号： B25J9/16 , A61B17/072 , A61B17/29 , A61B34/00 , A61B34/35 , A61B34/37 , A61B90/00 , B25J13/06
CPC分类号： B25J9/1689 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/71 , B25J9/1643 , B25J13/06 , A61B17/072 , A61B2017/07285 , A61B17/29 , A61B2034/715 , A61B2034/742 , A61B2034/743 , A61B2034/744 , A61B2090/066 , A61B90/37
摘要： The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. One example method includes providing a redundant degree of freedom (DoF) for an end effector joint of one DoF by driving the joint with two actuators, calculating a position displacement of the joint to effect a desired end effector movement in response to an input command, calculating a first movement of the two actuators based on the position displacement of the joint and a second movement of the two actuators based on a second control objective in a null space corresponding to the redundant DoF, and driving the joint according to the first movement and the second movement to effect the desired end effector movement while accomplishing the second control objective in the null space.
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公开(公告)号：US20220105638A1
公开(公告)日：2022-04-07
申请号：US17063298
申请日：2020-10-05
申请人： Verb Surgical Inc.
摘要： The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. One example system for handling hardstops includes one or more processors configured to calculate an articulation joint position for the articulation drive disk or the one or more corresponding rotary motors corresponding rotary motors, calculate an articulation joint torque for the articulation drive disk or the one or more corresponding rotary motors, determine a torque ratio based on the articulation joint position and the articulation joint torque, and adjust a commanded articulation joint position received from the user based on the torque ratio to compensate for collision involving the end effector.
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公开(公告)号：US12064290B2
公开(公告)日：2024-08-20
申请号：US17498988
申请日：2021-10-12
申请人： Verb Surgical Inc.
发明人： Xiaobin Zhang , Renbin Zhou , Alireza Hariri
CPC分类号： A61B90/06 , A61B34/35 , A61B34/71 , A61B2034/715 , A61B2090/066
摘要： 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.
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公开(公告)号：US12083686B2
公开(公告)日：2024-09-10
申请号：US17063298
申请日：2020-10-05
申请人： Verb Surgical Inc.
CPC分类号： B25J9/1689 , A61B34/25 , A61B34/35 , B25J13/06 , A61B2017/07285 , A61B2034/742 , A61B2034/743 , A61B2034/744 , A61B2090/066 , A61B90/37
摘要： The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. One example system for handling hardstops includes one or more processors configured to calculate an articulation joint position for the articulation drive disk or the one or more corresponding rotary motors corresponding rotary motors, calculate an articulation joint torque for the articulation drive disk or the one or more corresponding rotary motors, determine a torque ratio based on the articulation joint position and the articulation joint torque, and adjust a commanded articulation joint position received from the user based on the torque ratio to compensate for collision involving the end effector.
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公开(公告)号：US12017369B2
公开(公告)日：2024-06-25
申请号：US17063309
申请日：2020-10-05
申请人： Verb Surgical Inc.
IPC分类号： B25J9/16 , A61B17/072 , A61B17/29 , A61B34/00 , A61B34/35 , A61B34/37 , A61B90/00 , B25J13/06
CPC分类号： B25J9/1689 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/71 , B25J9/1643 , B25J13/06 , A61B17/072 , A61B2017/07285 , A61B17/29 , A61B2034/715 , A61B2034/742 , A61B2034/743 , A61B2034/744 , A61B2090/066 , A61B90/37
摘要： The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. One example method includes providing a redundant degree of freedom (DoF) for an end effector joint of one DoF by driving the joint with two actuators, calculating a position displacement of the joint to effect a desired end effector movement in response to an input command, calculating a first movement of the two actuators based on the position displacement of the joint and a second movement of the two actuators based on a second control objective in a null space corresponding to the redundant DoF, and driving the joint according to the first movement and the second movement to effect the desired end effector movement while accomplishing the second control objective in the null space.
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公开(公告)号：US20230112334A1
公开(公告)日：2023-04-13
申请号：US17498988
申请日：2021-10-12
申请人： Verb Surgical Inc.
发明人： Xiaobin Zhang , Renbin Zhou , Alireza Hariri
摘要： 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.
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公开(公告)号：US20230046044A1
公开(公告)日：2023-02-16
申请号：US17397248
申请日：2021-08-09
申请人： Verb Surgical Inc.
发明人： Xiaobin Zhang , Alireza Hariri
摘要： The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An example computer-implemented method for evaluating calibrations of a surgical tool includes fixating a joint of the surgical tool at a first angle, the joint being driven by an actuator, measuring an actuator position corresponding to the first angle, accessing a calibrated offset corresponding to the first angle, determining an expected joint angle based on the measured actuator position and the calibrated offset, and reporting a first difference between the expected joint angle and the first angle.
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公开(公告)号：US20220105639A1
公开(公告)日：2022-04-07
申请号：US17063309
申请日：2020-10-05
申请人： Verb Surgical Inc.
摘要： The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. One example method includes providing a redundant degree of freedom (DoF) for an end effector joint of one DoF by driving the joint with two actuators, calculating a position displacement of the joint to effect a desired end effector movement in response to an input command, calculating a first movement of the two actuators based on the position displacement of the joint and a second movement of the two actuators based on a second control objective in a null space corresponding to the redundant DoF, and driving the joint according to the first movement and the second movement to effect the desired end effector movement while accomplishing the second control objective in the null space.
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