公开(公告)号：US12114940B2

公开(公告)日：2024-10-15

申请号：US17561369

申请日：2021-12-23

Applicant: Verb Surgical Inc.

Inventor： Pablo E. Garcia Kilroy ,  Jose Luis Cordoba ,  Berk Gonenc ,  Xin Liu

IPC: A61B34/30 ,  A61B17/00 ,  A61B17/29 ,  A61B17/32 ,  A61B17/34 ,  A61B34/00 ,  A61B34/32 ,  A61B90/00 ,  B25J13/08 ,  B25J15/00 ,  G01L1/14 ,  G01L3/14 ,  G01L5/22 ,  H02K7/116 ,  H02K11/215 ,  H02K11/24 ,  H02K29/08 ,  H02P6/08 ,  H02P6/16

CPC classification number: A61B34/30 ,  A61B17/00234 ,  A61B17/3423 ,  A61B34/32 ,  A61B34/71 ,  A61B90/03 ,  A61B90/06 ,  B25J13/085 ,  B25J15/0019 ,  G01L1/142 ,  G01L3/1428 ,  G01L3/1442 ,  G01L5/226 ,  H02K7/1163 ,  H02K11/215 ,  H02K11/24 ,  H02K29/08 ,  A61B2017/00119 ,  A61B2017/00398 ,  A61B2017/00477 ,  A61B2017/00853 ,  A61B2017/00991 ,  A61B17/29 ,  A61B17/320016 ,  A61B2034/302 ,  A61B2090/031 ,  A61B2090/066 ,  A61B2090/0807 ,  A61B2090/0809 ,  A61B2090/0811 ,  H02P6/08 ,  H02P6/16 ,  A61B2562/0261 ,  A61B5/1071

Abstract: 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.

公开(公告)号：US11504193B2

公开(公告)日：2022-11-22

申请号：US16418693

申请日：2019-05-21

Applicant: Verb Surgical Inc.

Inventor： Xin Liu ,  Berk Gonenc ,  Bernhard A. Fuerst ,  Jose Luis Cordoba ,  Pablo E. Garcia Kilroy

IPC: G06F19/00 ,  A61B34/30 ,  B25J9/16 ,  B25J13/08 ,  A61B34/20 ,  A61B17/00 ,  A61B90/00

Abstract: A surgical robotic system including a surgical table, a surgical robotic manipulator coupled to the surgical table and comprising a plurality of links coupled together by a plurality of joints that are operable to move with respect to one another to move the surgical robotic manipulator, at least one of the plurality of links or the plurality of joints having a portion that faces another of the plurality of links or the plurality of joints, a proximity sensing assembly coupled to the portion of the at least one of the plurality of links or the plurality of joints, the proximity sensing assembly operable to detect an object prior to the surgical robotic manipulator colliding with the object and to output a corresponding detection signal, and a processor operable to receive the corresponding detecting signal and cause the manipulator or the object to engage in a collision avoidance operation.

公开(公告)号：US20240173865A1

公开(公告)日：2024-05-30

申请号：US18537639

申请日：2023-12-12

Applicant: Verb Surgical Inc.

Inventor： Berk Gonenc ,  Xin Liu ,  Jose Luis Cordoba ,  Bernhard A. Fuerst ,  Dennis Moses ,  Pablo Garcia Kilroy

IPC: B25J9/16 ,  A61B17/00 ,  A61B17/34 ,  A61B34/10 ,  A61B34/20 ,  A61B34/32 ,  A61B34/35 ,  A61B90/50

CPC classification number: B25J9/1666 ,  A61B17/3423 ,  A61B34/32 ,  A61B34/35 ,  B25J9/16 ,  A61B2017/00477 ,  A61B2034/107 ,  A61B2034/2055 ,  A61B90/50

Abstract: 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.

公开(公告)号：US20240122661A1

公开(公告)日：2024-04-18

申请号：US18393194

申请日：2023-12-21

Applicant: Verb Surgical Inc.

Inventor： Berk Gonenc ,  Xin Liu ,  Bernhard A. Fuerst ,  Jose Luis Cordoba ,  Pablo E. Garcia Kilroy

IPC: A61B34/30 ,  A61B90/50 ,  G06F3/01 ,  G06F3/044

CPC classification number: A61B34/30 ,  A61B90/50 ,  G06F3/017 ,  G06F3/0444 ,  G06F3/0446 ,  A61B2017/00207

Abstract: 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.

公开(公告)号：US11890069B2

公开(公告)日：2024-02-06

申请号：US17699794

申请日：2022-03-21

Applicant: Verb Surgical Inc.

Inventor： Berk Gonenc ,  Xin Liu ,  Bernhard A. Fuerst ,  Jose Luis Cordoba ,  Pablo E. Garcia Kilroy

IPC: A61B34/30 ,  A61B90/50 ,  G06F3/044 ,  G06F3/01 ,  A61B17/00

CPC classification number: A61B34/30 ,  A61B90/50 ,  G06F3/017 ,  G06F3/0444 ,  G06F3/0446 ,  A61B2017/00207 ,  A61B2562/0257 ,  G06F2203/04108

Abstract: 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.

公开(公告)号：US11766786B2

公开(公告)日：2023-09-26

申请号：US17394016

申请日：2021-08-04

Applicant: Verb Surgical Inc.

Inventor： Jose Luis Cordoba ,  Pablo E. Garcia Kilroy ,  Xin Liu

IPC: G01L1/14 ,  G01L3/14 ,  A61B34/30 ,  B25J18/04 ,  G16H20/40 ,  G16H40/63 ,  A61B34/00 ,  B25J9/10 ,  B25J13/02 ,  B25J15/00 ,  B25J17/02 ,  A61B34/37 ,  A61B1/00 ,  A61B34/35 ,  G01L5/22 ,  A61B1/313 ,  B25J13/08

CPC classification number: B25J18/04 ,  A61B1/00149 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/77 ,  B25J9/10 ,  B25J9/1045 ,  B25J13/02 ,  B25J15/0019 ,  B25J17/0283 ,  G01L1/14 ,  G01L3/14 ,  G01L5/226 ,  G16H20/40 ,  G16H40/63 ,  A61B1/3132 ,  A61B2034/715 ,  B25J13/085

Abstract: A capacitive sensor for characterizing force or torque includes a first plurality of non-patterned conductive regions and a first plurality of patterned conductive regions, and a second plurality of non-patterned conductive regions and a second plurality of patterned conductive regions. The first and second pluralities of non-patterned conductive regions are facing and the first and second pluralities of patterned conductive regions are facing.

公开(公告)号：US20200367978A1

公开(公告)日：2020-11-26

申请号：US16418726

申请日：2019-05-21

Applicant: Verb Surgical Inc.

Inventor： Berk Gonenc ,  Xin Liu ,  Bernhard A. Fuerst ,  Jose Luis Cordoba ,  Pablo E. Garcia Kilroy

IPC: A61B34/30 ,  A61B90/50 ,  G06F3/01 ,  G06F3/044

Abstract: 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.

公开(公告)号：US11278361B2

公开(公告)日：2022-03-22

申请号：US16418726

申请日：2019-05-21

Applicant: Verb Surgical Inc.

Inventor： Berk Gonenc ,  Xin Liu ,  Bernhard A. Fuerst ,  Jose Luis Cordoba ,  Pablo E. Garcia Kilroy

IPC: A61B34/30 ,  A61B90/50 ,  G06F3/044 ,  G06F3/01 ,  A61B17/00

Abstract: 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.

公开(公告)号：US11259881B2

公开(公告)日：2022-03-01

申请号：US15803665

申请日：2017-11-03

Applicant: Verb Surgical Inc.

Inventor： Pablo E. Garcia Kilroy ,  Jose Luis Cordoba ,  Berk Gonenc ,  Xin Liu

IPC: 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

Abstract: 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.

公开(公告)号：US20220032480A1

公开(公告)日：2022-02-03

申请号：US17394016

申请日：2021-08-04

Applicant: Verb Surgical Inc.

Inventor： Jose Luis Cordoba ,  Pablo E. Garcia Kilroy ,  Xin Liu

IPC: B25J18/04 ,  A61B34/30 ,  G16H20/40 ,  G16H40/63 ,  A61B34/00 ,  B25J9/10 ,  B25J13/02 ,  B25J15/00 ,  B25J17/02 ,  A61B34/37 ,  A61B1/00 ,  A61B34/35 ,  G01L1/14 ,  G01L3/14 ,  G01L5/22

Abstract: A capacitive sensor for characterizing force or torque includes a first plurality of non-patterned conductive regions and a first plurality of patterned conductive regions, and a second plurality of non-patterned conductive regions and a second plurality of patterned conductive regions. The first and second pluralities of non-patterned conductive regions are facing and the first and second pluralities of patterned conductive regions are facing.