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公开(公告)号：US20220096187A1
公开(公告)日：2022-03-31
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：US11756672B2
公开(公告)日：2023-09-12
申请号：US16894587
申请日：2020-06-05
Applicant: Verb Surgical Inc.
Inventor： Blade Olson , Bernhard A. Fuerst , Alexander Barthel , Yiming Xu , Giacomo Taylor , Tianyu Song
IPC: G06K9/00 , 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 , A61B17/34
CPC classification number: G16H30/20 , A61B1/00009 , A61B34/20 , A61B34/37 , G06F16/9024 , G06T7/0012 , G06T7/50 , G06T7/70 , G06T17/20 , G06V20/10 , G16H40/20 , G16H40/63 , G16H50/20 , A61B17/3423 , A61B2034/2057 , G06T2207/10024 , G06T2207/10028 , G06T2207/30004
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：US12186138B2
公开(公告)日：2025-01-07
申请号：US17039949
申请日：2020-09-30
Applicant: Verb Surgical Inc.
Inventor： Tianyu Song , Blade Olson , Bernhard A. Fuerst , Danyal Fer
IPC: A61B90/00 , A61B34/37 , G06T7/70 , G06T17/20 , G06T19/00 , A61B34/10 , A61B34/20 , A61B34/30 , A61B90/50
Abstract: Disclosed is an augmented reality (AR) headset that provides a wearer with spatial, system, and temporal contextual information of a surgical robotic system to guide the wearer in configuring, operating, or troubleshooting the surgical robotic system prior to, during, or after surgery. The spatial context information may be rendered to display spatially-fixed 3D-generated virtual models of the robotic arms, instruments, bed, and other components of the surgical robotic system that match the actual position or orientation of the surgical robotic system in the AR headset's coordinate frame. The AR headset may communicate with the surgical robotic system to receive real-time state information of the components of the surgical robotic system. The AR headset may use the real-time state information to display context-sensitive user interface information such as tips, suggestions, visual or audio cues on maneuvering the robotic arms and table to their target positions and orientations or for troubleshooting purpose.
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公开(公告)号：US20220387122A1
公开(公告)日：2022-12-08
申请号：US17820210
申请日：2022-08-16
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：US20210378768A1
公开(公告)日：2021-12-09
申请号：US16894515
申请日：2020-06-05
Applicant: Verb Surgical Inc.
Inventor： Blade Olson , Bernhard A. Fuerst
Abstract: A virtual representation of an operating room is generated based on robot information and sensing of the OR with depth cameras. One of the depth cameras is integrated with a portable electronic device, operated by a local user in the operating room. The virtual representation of the OR is communicated to the virtual reality headset, with three-dimensional point cloud data. A virtual reality environment is rendered to a display of the virtual reality headset, operated by a remote user. A virtual representation of the remote user is rendered in augmented reality to a display of the portable electronic device.
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Patent Agency Ranking
公开(公告)号：US20210378754A1
公开(公告)日：2021-12-09
申请号：US16894587
申请日：2020-06-05
Applicant: Verb Surgical Inc.
Inventor： Blade Olson , Bernhard A. Fuerst , Alexander Barthel , Yiming Xu , Giacomo Taylor , Tianyu Song
IPC: A61B34/20 , A61B34/37 , G16H40/63 , G16H30/20 , G16H40/20 , G16H50/20 , G06F16/901 , G06T7/50 , G06T7/70 , G06K9/00 , G06T7/00 , G06T17/20
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：US11769302B2
公开(公告)日：2023-09-26
申请号：US16894515
申请日：2020-06-05
Applicant: Verb Surgical Inc.
Inventor： Blade Olson , Bernhard A. Fuerst
CPC classification number: G06T19/006 , A61B34/35 , A61B34/37 , G02B27/017 , G06F3/011 , G16H40/67 , A61B2034/301 , G06T2210/41
Abstract: A virtual representation of an operating room is generated based on robot information and sensing of the OR with depth cameras. One of the depth cameras is integrated with a portable electronic device, operated by a local user in the operating room. The virtual representation of the OR is communicated to the virtual reality headset, with three-dimensional point cloud data. A virtual reality environment is rendered to a display of the virtual reality headset, operated by a remote user. A virtual representation of the remote user is rendered in augmented reality to a display of the portable electronic device.
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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：US20220096197A1
公开(公告)日：2022-03-31
申请号：US17039949
申请日：2020-09-30
Applicant: Verb Surgical Inc.
Inventor： Tianyu Song , Blade Olson , Bernhard A. Fuerst , Danyal Fer
Abstract: Disclosed is an augmented reality (AR) headset that provides a wearer with spatial, system, and temporal contextual information of a surgical robotic system to guide the wearer in configuring, operating, or troubleshooting the surgical robotic system prior to, during, or after surgery. The spatial context information may be rendered to display spatially-fixed 3D-generated virtual models of the robotic arms, instruments, bed, and other components of the surgical robotic system that match the actual position or orientation of the surgical robotic system in the AR headset's coordinate frame. The AR headset may communicate with the surgical robotic system to receive real-time state information of the components of the surgical robotic system. The AR headset may use the real-time state information to display context-sensitive user interface information such as tips, suggestions, visual or audio cues on maneuvering the robotic arms and table to their target positions and orientations or for troubleshooting purpose.
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公开(公告)号：US20250120787A1
公开(公告)日：2025-04-17
申请号：US19000271
申请日：2024-12-23
Applicant: Verb Surgical Inc.
Inventor： Tianyu Song , Blade Olson , Bernhard A. Fuerst , Danyal Fer
IPC: A61B90/00 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/37 , A61B90/50 , G06T7/70 , G06T17/20 , G06T19/00
Abstract: Disclosed is an augmented reality (AR) headset that provides a wearer with spatial, system, and temporal contextual information of a surgical robotic system to guide the wearer in configuring, operating, or troubleshooting the surgical robotic system prior to, during, or after surgery. The spatial context information may be rendered to display spatially-fixed 3D-generated virtual models of the robotic arms, instruments, bed, and other components of the surgical robotic system that match the actual position or orientation of the surgical robotic system in the AR headset's coordinate frame. The AR headset may communicate with the surgical robotic system to receive real-time state information of the components of the surgical robotic system. The AR headset may use the real-time state information to display context-sensitive user interface information such as tips, suggestions, visual or audio cues on maneuvering the robotic arms and table to their target positions and orientations or for troubleshooting purpose.
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