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公开(公告)号：US11013559B2
公开(公告)日：2021-05-25
申请号：US16799614
申请日：2020-02-24
Applicant: Verb Surgical Inc.
Inventor： Eric Mark Johnson , Pablo Eduardo Garcia Kilroy , Bernard Fai Kin Siu , Haoran Yu
IPC: A61B34/10 , G09B23/28 , G09B9/00 , G06F3/01 , G06F3/0346 , G06F3/0481 , A61B34/35
Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. The virtual reality system may simulate a robotic surgical environment in which a user may operate both a robotically-controlled surgical instrument using a handheld controller and a manual laparoscopic surgical instrument while adjacent a patient table. For example, the virtual reality system f may include one or more processors configured to generate a virtual robotic surgical environment comprising at least one virtual robotic arm and at least one virtual manual laparoscopic tool, a first handheld device communicatively coupled to the virtual reality controller for manipulating the at least one virtual robotic arm in the virtual robotic surgical environment, and a second handheld device comprising a handheld portion and a tool feature representative of at least a portion of a manual laparoscopic tool, wherein the second handheld device is communicatively coupled to the virtual reality controller for manipulating the at least one virtual manual laparoscopic tool in the virtual robotic surgical environment.
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公开(公告)号：US11944401B2
公开(公告)日：2024-04-02
申请号：US17687452
申请日：2022-03-04
Applicant: Verb Surgical Inc.
Inventor： Haoran Yu , Pablo Eduardo Garcia Kilroy , Bernard Fai Kin Siu , Eric Mark Johnson
CPC classification number: A61B34/70 , A61B34/10 , A61B34/25 , G02B27/0172 , G06T19/006 , A61B2034/101 , A61B2034/102 , A61B2034/107 , A61B2034/256 , A61B34/30 , A61B2090/3983 , G02B2027/0138
Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. The virtual reality system may be used to expedite the R&D cycle during development of a robotic surgical system, such as by allowing simulation of potential design without the time and significant expense of physical prototypes. The virtual reality system may also be used to test a control algorithm or a control mode for a robotic surgical component.
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公开(公告)号：US11712805B2
公开(公告)日：2023-08-01
申请号：US17061168
申请日：2020-10-01
Applicant: Verb Surgical Inc.
Inventor： Renbin Zhou , Haoran Yu , Sina Nia Kosari , Omar J. Vakharia , Bernard Fai Kin Siu , Alex Kiturkes
CPC classification number: B25J9/1679 , A61B34/37 , A61B90/03 , B25J9/1689 , A61B2090/5025 , A61B2090/571 , G05B2219/40117
Abstract: 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：US11011077B2
公开(公告)日：2021-05-18
申请号：US16019132
申请日：2018-06-26
Applicant: VERB SURGICAL INC.
Inventor： Pablo Eduardo Garcia Kilroy , Eric Mark Johnson , Bernard Fai Kin Siu , Haoran Yu
IPC: G09B23/28 , G06T3/20 , G06T3/40 , G06T11/00 , A61B34/10 , G16H40/67 , G16H20/40 , A61B34/00 , A61B90/00 , A61B34/20
Abstract: 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.
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公开(公告)号：US10856948B2
公开(公告)日：2020-12-08
申请号：US15785331
申请日：2017-10-16
Applicant: Verb Surgical Inc.
Inventor： David James Cagle , Wayne Grout , Karen Shakespear Koenig , Bernard Fai Kin Siu , Jose Luis Cordoba
Abstract: In some embodiments, an apparatus can include a cart for a surgical robotic arm having a coupler releasably coupleable to a coupling site on a surgical table. The cart can include a base and a first engagement feature. The base can be freely movably on a support surface between a first location remote from the surgical table and a second location adjacent the surgical table. The first engagement feature can be configured for engagement with a second engagement feature associated with the surgical table such that, when the first engagement feature and the second engagement feature are engaged, the coupler of the robotic arm is disposed in a position in which the coupler of the robotic arm can be engaged by the coupler of the surgical table.
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Patent Agency Ranking
公开(公告)号：US20240207001A1
公开(公告)日：2024-06-27
申请号：US18434467
申请日：2024-02-06
Applicant: Verb Surgical Inc.
Inventor： Haoran Yu , Pablo Eduardo Garcia Kilroy , Bernard Fai Kin Siu , Eric Mark Johnson
CPC classification number: A61B34/70 , A61B34/10 , A61B34/25 , G02B27/0172 , G06T19/006 , A61B2034/101 , A61B2034/102 , A61B2034/107 , A61B2034/256 , A61B34/30 , A61B2090/3983 , G02B2027/0138
Abstract: 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.
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公开(公告)号：US11284955B2
公开(公告)日：2022-03-29
申请号：US16018028
申请日：2018-06-25
Applicant: VERB SURGICAL INC.
Inventor： Haoran Yu , Pablo Eduardo Garcia Kilroy , Bernard Fai Kin Siu , Eric Mark Johnson
Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. The virtual reality system may be used to expedite the R&D cycle during development of a robotic surgical system, such as by allowing simulation of potential design without the time and significant expense of physical prototypes. The virtual reality system may also be used to test a control algorithm or a control mode for a robotic surgical component.
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公开(公告)号：US20210304637A1
公开(公告)日：2021-09-30
申请号：US17221300
申请日：2021-04-02
Applicant: Verb Surgical Inc.
Inventor： Pablo Eduardo Garcia Kilroy , Eric Mark Johnson , Bernard Fai Kin Siu , Haoran Yu
Abstract: 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.
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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
Applicant: Verb Surgical Inc.
Inventor： Renbin Zhou , Haoran Yu , Sina Nia Kosari , Omar J. Vakharia , Bernard Fai Kin Siu , Alex Kiturkes
Abstract: 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
Applicant: Verb Surgical Inc.
Inventor： Renbin Zhou , Haoran Yu , Sina Nia Kosari , Omar J. Vakharia , Bernard Fai Kin Siu , Alex Kiturkes
Abstract: 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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