-
公开(公告)号：US11903667B2
公开(公告)日：2024-02-20
申请号：US17962766
申请日：2022-10-10
Applicant: Verb Surgical Inc.
Inventor： Taylor Joseph Cone , Joan Savall , Anette Lia Freiin von Kapri , Eric Mark Johnson
IPC: A61B34/00 , A61B34/35 , B25J15/00 , G06F3/033 , G06F3/0346 , G06F3/0354 , A61B34/30
CPC classification number: A61B34/74 , A61B34/25 , A61B34/35 , B25J15/0019 , A61B34/76 , A61B2034/301 , G06F3/0334 , G06F3/0346 , G06F3/03547
Abstract: A method for engaging and disengaging a surgical instrument of a surgical robotic system including receiving a sequence of user inputs from one or more user interface devices of the surgical robotic system; determining, by one or more processors communicatively coupled to the user interface devices and the surgical instrument, whether the sequence of user inputs indicates an intentional engagement or disengagement of a teleoperation mode in which the surgical instrument is controlled by user inputs received from the user interface devices; in response to determining of engagement, transition the surgical robotic system into the teleoperation mode; and in response to determining of disengagement, transition the surgical robotic system out of the teleoperation mode such that the user interface devices are prevented from controlling the surgical instrument.
-
公开(公告)号：US20210275264A1
公开(公告)日：2021-09-09
申请号：US16807984
申请日：2020-03-03
Applicant: Verb Surgical Inc.
Inventor： Eric Mark Johnson , Michal Levin , Anette Lia Freiin Von Kapri
Abstract: Graphical user guidance for a robotic surgical system is provided. In one embodiment, a graphical user interface for a robotic surgical system comprises a first region and a second region. The first region is used to display an endoscopic view of a surgical site inside a patient taken by an endoscopic camera of the robotic surgical system, and the second region is used to display user feedback information. The graphical user interface overlays a guidance message on top of the endoscopic view of the surgical site in the first region to provide user instructions for interacting with a user input device to engage a robotic arm of the robotic surgical system. Other embodiments are provided.
-
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.
-
公开(公告)号：US20190183591A1
公开(公告)日：2019-06-20
申请号：US15842485
申请日：2017-12-14
Applicant: Verb Surgical Inc.
Inventor： Eric Mark Johnson , Emma Essock-Burns , Lawrence Edward Miller , Francois W. Brahic
IPC: A61B34/00 , A61B34/30 , G06F3/0482 , G06F3/0484 , G09G5/14 , B25J9/16
CPC classification number: A61B34/25 , A61B1/00045 , A61B34/30 , A61B34/35 , A61B34/74 , A61B2017/00199 , A61B2017/00203 , A61B2017/00207 , A61B2017/00216 , A61B2034/252 , A61B2034/254 , A61B2034/256 , A61B2034/258 , A61B2034/741 , A61B2034/743 , A61B2034/744 , B25J9/161 , B25J9/1689 , G05B2219/45118 , G05B2219/45119 , G06F3/0482 , G06F3/04845 , G09G5/14 , G09G2340/045 , G09G2340/0464 , G09G2354/00 , G09G2380/08 , Y10S901/06 , Y10S901/41
Abstract: A method for a robotic surgical system includes displaying a graphical user interface on a display to a user, wherein the graphical user interface includes a plurality of reconfigurable display panels, receiving a user input at one or more user input devices, wherein the user input indicates a selection of at least one software application relating to the robotic surgical system, and rendering content from the at least one selected software application among the plurality of reconfigurable display panels.
-
公开(公告)号：US20190133689A1
公开(公告)日：2019-05-09
申请号：US16018012
申请日：2018-06-25
Applicant: VERB SURGICAL INC.
Inventor： Eric Mark Johnson , Pablo Eduardo GARCIA KILROY , Bernard Fai Kin SIU , Haoran YU
IPC: A61B34/10 , G06F3/0481 , G06F3/0346 , G06F3/01
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.
-
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.
-
公开(公告)号：US11911120B2
公开(公告)日：2024-02-27
申请号：US16833275
申请日：2020-03-27
Applicant: Verb Surgical Inc.
Inventor： Anette Lia Freiin von Kapri , Eric Mark Johnson , Joan Savall
CPC classification number: A61B34/25 , A61B34/20 , A61B34/37 , A61B34/76 , A61B2017/00115 , A61B2017/00734 , A61B2034/2051 , A61B2034/2055
Abstract: A method of determining a location of a user input device of a surgical robotic system within a surgical workspace using a virtual workspace including determining, by one or more processors communicatively coupled to a user input device, that a user is engaging with the user input device within a surgical workspace; in response to determining the user is engaging with the user input device, displaying a virtual user input device within a first virtual workspace boundary, wherein at least a portion of the first virtual workspace boundary is operable to move in response to a movement of the user input device; displaying a second virtual workspace boundary that represents a second workspace limit beyond which the user input device is inoperable to control the surgical robotic instrument in the teleoperation mode; and determining a location of the user input device within the surgical workspace.
-
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.
-
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.
-
公开(公告)号：US20210298845A1
公开(公告)日：2021-09-30
申请号：US16833275
申请日：2020-03-27
Applicant: Verb Surgical Inc.
Inventor： Anette Lia Freiin von Kapri , Eric Mark Johnson , Joan Savall
Abstract: A method of determining a location of a user input device of a surgical robotic system within a surgical workspace using a virtual workspace including determining, by one or more processors communicatively coupled to a user input device, that a user is engaging with the user input device within a surgical workspace; in response to determining the user is engaging with the user input device, displaying a virtual user input device within a first virtual workspace boundary, wherein at least a portion of the first virtual workspace boundary is operable to move in response to a movement of the user input device; displaying a second virtual workspace boundary that represents a second workspace limit beyond which the user input device is inoperable to control the surgical robotic instrument in the teleoperation mode; and determining a location of the user input device within the surgical workspace.
