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公开(公告)号：US20240325094A1
公开(公告)日：2024-10-03
申请号：US18601803
申请日：2024-03-11
Applicant: Verb Surgical Inc.
Inventor： Yiming Xu , Berk Gonenc
CPC classification number: A61B34/25 , A61B1/0005 , A61B1/00055 , A61B1/00193 , A61B34/35 , G06N20/00 , A61B2034/301
Abstract: A series of images is obtained from an endoscope. Three-dimensional reconstruction is performed on the series of images to reconstruct anatomy shown in the series of images. A graphic, such as a grid, is rendered based on the three-dimensional reconstruction, over the series of images resulting in an enhanced endoscopic video feed to be shown on a display.
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公开(公告)号：US20240180624A1
公开(公告)日：2024-06-06
申请号：US18062512
申请日：2022-12-06
Applicant: Verb Surgical Inc.
Inventor： Yiming Xu , Juri Platonov , Bernhard Adolf Fuerst
CPC classification number: A61B34/20 , G06T7/0012 , A61B2034/2065 , G06T2207/10028 , G06T2207/10068
Abstract: A method performed by a surgical system. The method includes receiving a first image from an endoscope, the first image having a surgical instrument at a first location within a field of view of the endoscope. The method matches a three-dimensional (3D) model of the surgical instrument to the first image. The method receives a second image receives a second image from the endoscope, the second image having the surgical instrument at a second location within the field of view of the endoscope, and matches the 3D model of the surgical instrument to the second image. The method estimates a distance between the first and second locations based on both matchings and one or more parameters of the endoscope.
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公开(公告)号：US11457986B2
公开(公告)日：2022-10-04
申请号：US17039705
申请日：2020-09-30
Applicant: Verb Surgical Inc.
Inventor： Yiming Xu , Berk Gonenc , Blade Olson
Abstract: A surgical robotic system that includes a robotic arm, glove configured to be worn on a hand of a user and including a force-feedback mechanism, a tracking device, a processor, and memory. The memory includes instructions which when executed by the processor causes the system to determine that the user is performing a hand gesture with the glove to grasp a virtual user input device (UID) based on the tracking device, and in response to the user grasping the virtual UID, apply, via the force-feedback mechanism, a force upon the glove that corresponds to a physical representation of the virtual UID, and engage the robotic arm to be controlled by the virtual UID.
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公开(公告)号：US12186135B2
公开(公告)日：2025-01-07
申请号：US17030145
申请日：2020-09-23
Applicant: Verb Surgical Inc.
Inventor： Jianning Mai , Wanning Zhu , Yiming Xu , Lela DiMonte , Mary Lynn Gaddis
Abstract: Disclosed are various real-time robotic-assisted dimension measurement systems and techniques based on the collected kinematic data from one or more surgical tools within a robotic surgical system. In some embodiments, the collected kinematic data can include positions and orientations of each joint of the one or more surgical tools which are derived from positions and orientations of a set of arm joints of one or more robotic arms which the one or more surgical tools are attached to. The disclosed dimension measurement systems allow a surgeon to perform real-time length measurements of both straight-lines and curved-lines, as well as area and volume measurements on specified portions of tissues or organs by strategically placing the tips of the one or more surgical tools over the tissues or organs, while viewing the distal ends of the surgical tools in a user display.
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公开(公告)号：US12029514B2
公开(公告)日：2024-07-09
申请号：US18075907
申请日：2022-12-06
Applicant: Verb Surgical Inc.
Inventor： Berk Gonenc , Yiming Xu , Margaret Nicholson , Pablo Garcia Kilroy
CPC classification number: A61B34/35 , A61B34/37 , A61B34/71 , A61B34/77 , B25J9/0096 , B25J9/1633 , B25J9/1689 , A61B2562/02
Abstract: For control about a remote center of motion (RCM) of a surgical robotic system, possible configurations of a robotic manipulator are searched to find the configuration providing a greatest overlap of the workspace of the surgical instrument with the target anatomy. The force at the RCM may be measured, such as with one or more sensors on the cannula or in an adaptor connecting the robotic manipulator to the cannula. The measured force is used to determine a change in the RCM to minimize the force exerted on the patient at the RCM. Given this change, the configuration of the robotic manipulator may be dynamically updated. Various aspects of this RCM control may be used alone or in combination, such as to optimize the alignment of workspace to the target anatomy, to minimize force at the RCM, and/or to dynamically control the robotic manipulator configuration based on workspace alignment and force measurement.
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Patent Agency Ranking
公开(公告)号：US11944395B2
公开(公告)日：2024-04-02
申请号：US17014092
申请日：2020-09-08
Applicant: Verb Surgical Inc.
Inventor： Yiming Xu , Berk Gonenc
CPC classification number: A61B34/25 , A61B1/0005 , A61B1/00055 , A61B1/00193 , A61B34/35 , G06N20/00 , A61B2034/301
Abstract: A series of images is obtained from an endoscope. Three-dimensional reconstruction is performed on the series of images to reconstruct anatomy shown in the series of images. A graphic, such as a grid, is rendered based on the three-dimensional reconstruction, over the series of images resulting in an enhanced endoscopic video feed to be shown on a display.
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公开(公告)号：US11712315B2
公开(公告)日：2023-08-01
申请号：US17820210
申请日：2022-08-16
Applicant: Verb Surgical Inc.
Inventor： Yiming Xu , Berk Gonenc , Blade Olson
CPC classification number: A61B34/74 , A61B34/37 , A61B34/76 , B25J13/08 , G06F3/014 , G06F3/016 , G06F3/017 , A61B2034/741
Abstract: A surgical robotic system that includes a robotic arm, glove configured to be worn on a hand of a user and including a force-feedback mechanism, a tracking device, a processor, and memory. The memory includes instructions which when executed by the processor causes the system to determine that the user is performing a hand gesture with the glove to grasp a virtual user input device (UID) based on the tracking device, and in response to the user grasping the virtual UID, apply, via the force-feedback mechanism, a force upon the glove that corresponds to a physical representation of the virtual UID, and engage the robotic arm to be controlled by the virtual UID.
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公开(公告)号：US20240038367A1
公开(公告)日：2024-02-01
申请号：US18449270
申请日：2023-08-14
Applicant: Verb Surgical Inc.
Inventor： Blade A. Olson , Bernhard A. Fuerst , Alexander Barthel , Yiming Xu , Giacomo Taylor , Tianyu Song
IPC: G16H30/20 , A61B34/20 , A61B34/37 , G06T7/50 , G06T7/70 , G16H40/20 , G16H50/20 , G16H40/63 , G06F16/901 , G06T7/00 , G06T17/20 , G06V20/10 , A61B1/00
CPC classification number: G16H30/20 , A61B34/20 , A61B34/37 , G06T7/50 , G06T7/70 , G16H40/20 , G16H50/20 , G16H40/63 , G06F16/9024 , G06T7/0012 , G06T17/20 , G06V20/10 , A61B1/00009 , A61B2034/2057 , A61B17/3423
Abstract: A surgical exercise performed with a surgical robotic system is sensed by depth cameras, generating 3D point cloud data. Robot system data associated with the surgical robotic system is logged. Object recognition is performed on image data produced by the one or more depth cameras, to recognized objects, including surgical equipment and people, in the operating room (OR). The surgical exercise is digitized by storing the 3D point cloud data of unrecognized objects, a position and orientation associated with the recognized objects, and c) the robot system data.
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公开(公告)号：US20230121709A1
公开(公告)日：2023-04-20
申请号：US18046903
申请日：2022-10-14
Applicant: Verb Surgical Inc.
Inventor： Yiming Xu , Felix Jonas Bork , Axel Hanuschek , Risto Kojcev , Bernhard Adolf Fuerst
IPC: A61B1/00
Abstract: A method performed by a video controller. The method receives a first video stream captured by an endoscope of a surgical system, and receives a second video stream that comprises surgical data. The method displays the second video stream superimposed above an area of the first video stream, and determines that the second video stream is to cease being superimposed. Responsive to determining that the second video stream is to cease being superimposed, the method continues to display the first video stream.
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公开(公告)号：US11571267B2
公开(公告)日：2023-02-07
申请号：US16858010
申请日：2020-04-24
Applicant: Verb Surgical Inc.
Inventor： Berk Gonenc , Yiming Xu , Margaret Nicholson , Pablo Garcia Kilroy
Abstract: For control about a remote center of motion (RCM) of a surgical robotic system, possible configurations of a robotic manipulator are searched to find the configuration providing a greatest overlap of the workspace of the surgical instrument with the target anatomy. The force at the RCM may be measured, such as with one or more sensors on the cannula or in an adaptor connecting the robotic manipulator to the cannula. The measured force is used to determine a change in the RCM to minimize the force exerted on the patient at the RCM. Given this change, the configuration of the robotic manipulator may be dynamically updated. Various aspects of this RCM control may be used alone or in combination, such as to optimize the alignment of workspace to the target anatomy, to minimize force at the RCM, and/or to dynamically control the robotic manipulator configuration based on workspace alignment and force measurement.
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