Patents by Inventor Andrea Bajo
Andrea Bajo has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20240099795Abstract: A surgical robotic system is disclosed to include an operating table, a plurality of robotic arms and surgical instruments, a user console, and a control tower. The plurality of robotic arms are mounted on the operating table and can be stowed folded under the table for storage. The user console has one or more user interface devices, which function as master devices to control the plurality of surgical instruments.Type: ApplicationFiled: October 9, 2023Publication date: March 28, 2024Inventors: Pablo E. Garcia Kilroy, Karen S. Koenig, Andrea Bajo, Robert T. Wiggers, Joan Savall, Eric M. Johnson
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Publication number: 20240000539Abstract: A cannula sterile adapter for attachment of a cannula to a robotic surgical system, the adapter comprising: a rigid barrier portion having a cannula interface defining an opening dimensioned to receive a cannula lug, a first cannula interface structure extending from the cannula interface, and a second cannula interface structure, the first cannula interface structure and the second cannula interface structure are dimensioned to interface with alignment structures of a cannula lug; and a flexible barrier portion molded to the rigid barrier portion, the flexible barrier portion defining a cavity around the opening of the rigid barrier portion that is dimensioned to receive a cannula lug inserted therein, the cavity having a first side defined by the first cannula interface structure and a second side along which the second cannula interface structure is positioned, and wherein the second cannula interface structure is entirely surrounded by the flexible barrier portion.Type: ApplicationFiled: September 14, 2023Publication date: January 4, 2024Inventors: Matthew Vargas, Alec Gordon, Nathan Wang, Andrea Bajo
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Patent number: 11812924Abstract: A surgical robotic system is disclosed to include an operating table, a plurality of robotic arms and surgical instruments, a user console, and a control tower. The plurality of robotic arms are mounted on the operating table and can be stowed folded under the table for storage. The user console has one or more user interface devices, which function as master devices to control the plurality of surgical instruments.Type: GrantFiled: October 16, 2019Date of Patent: November 14, 2023Inventors: Pablo E. Garcia Kilroy, Karen S. Koenig, Andrea Bajo, Robert T. Wiggers, Joan Savall, Eric M. Johnson
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Publication number: 20230355341Abstract: Generally, a system for use in a robotic surgical system may be used to determine an attachment state between a tool driver, sterile adapter, and surgical tool of the system. The system may include sensors used to generate attachment data corresponding to the attachment state. The attachment state may be used to control operation of the tool driver and surgical tool. In some variations, one or more of the attachment states may be visually output to an operator using one or more of the tool driver, sterile adapter, and surgical tool. In some variations, the tool driver and surgical tool may include electronic communication devices configured to be in close proximity when the surgical tool is attached to the sterile adapter and tool driver.Type: ApplicationFiled: May 8, 2023Publication date: November 9, 2023Inventors: Matthew Colin Vargas, Charles J. Scheib, Andrea Bajo, Koray Sahin, Jaime Hernandez, Robert Elliott DeCou
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Patent number: 11793597Abstract: An apparatus for attachment of a cannula to a robotic surgical system, the apparatus comprising: a clamp operable to transition between an open position configured to receive a cannula and a closed position to attach the cannula to a robotic surgical system; an actuator operable to transition the clamp between the open position and the closed position; and a linking member pivotally coupled to the camp at a first pivot point and the actuator at a second pivot point, and wherein in the closed position, the second pivot point is over center relative to the first pivot point.Type: GrantFiled: September 30, 2020Date of Patent: October 24, 2023Assignee: Verb Surgical Inc.Inventors: Matthew Vargas, Alec Gordon, Nathan Wang, Andrea Bajo
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Patent number: 11786230Abstract: A laparoscopic surgical apparatus for performing a surgical procedure through a single incision in a patient's body includes a gross positioning arm supported on a moveable platform, the gross positioner including a head; at least one articulated tool positioning apparatus coupled via a tool controller to an underside of the head, the articulated tool positioning apparatus being configured to receive a tool for performing surgical operations, the tool controller being actuated by the head to cause movements of the articulated tool positioning apparatus for performing surgical operations; and wherein the gross positioner is configured to permit the head to be positioned to facilitate insertion of the articulated tool positioning apparatus through the incision into the patient's body.Type: GrantFiled: August 12, 2020Date of Patent: October 17, 2023Assignee: COVIDIEN LPInventors: Rene Robert, David Allen Zitnick, Peter John Kenneth Cameron, Leonard M. Faria, Andrea Bajo
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Publication number: 20230284871Abstract: A first input coupling and a second input coupling are coupled to rotatably drive an output coupling at the same time. In one embodiment, the output coupling rotates a robotic surgery endoscope about a longitudinal axis of the output coupling. A first motor drives the first input coupling while being assisted by a second motor that is driving the second input coupling. A first compensator produces a first motor input based on a position error and in accordance with a position control law, and a second compensator produces a second motor input based on the position error and in accordance with an impedance control law. In another embodiment, the second compensator receives a measured torque of the first motor. Other embodiments are also described and claimed.Type: ApplicationFiled: March 15, 2023Publication date: September 14, 2023Inventors: Haoran Yu, Renbin Zhou, Sina Nia Kosari, Andrea Bajo
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Patent number: 11678948Abstract: Generally, a system for use in a robotic surgical system may be used to determine an attachment state between a tool driver, sterile adapter, and surgical tool of the system. The system may include sensors used to generate attachment data corresponding to the attachment state. The attachment state may be used to control operation of the tool driver and surgical tool. In some variations, one or more of the attachment states may be visually output to an operator using one or more of the tool driver, sterile adapter, and surgical tool. In some variations, the tool driver and surgical tool may include electronic communication devices configured to be in close proximity when the surgical tool is attached to the sterile adapter and tool driver.Type: GrantFiled: July 8, 2021Date of Patent: June 20, 2023Assignee: Verb Surgical Inc.Inventors: Matthew Colin Vargas, Charles J. Scheib, Andrea Bajo, Koray Sahin, Jaime Hernandez, Robert Elliott DeCou
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Patent number: 11607206Abstract: A laparoscopic surgical apparatus for performing a surgical procedure through a single incision in a patient's body includes a gross positioning arm supported on a moveable platform, the gross positioner including a head; at least one articulated tool positioning apparatus coupled via a tool controller to an underside of the head, the articulated tool positioning apparatus being configured to receive a tool for performing surgical operations, the tool controller being actuated by the head to cause movements of the articulated tool positioning apparatus for performing surgical operations; and wherein the gross positioner is configured to permit the head to be positioned to facilitate insertion of the articulated tool positioning apparatus through the incision into the patient's body.Type: GrantFiled: August 15, 2022Date of Patent: March 21, 2023Assignee: TITAN MEDICAL INC.Inventors: Rene Robert, David Allen Zitnick, Peter John Kenneth Cameron, Leonard M. Faria, Andrea Bajo
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Patent number: 11607108Abstract: A first input coupling and a second input coupling are coupled to rotatably drive an output coupling at the same time. In one embodiment, the output coupling rotates a robotic surgery endoscope about a longitudinal axis of the output coupling. A first motor drives the first input coupling while being assisted by a second motor that is driving the second input coupling. A first compensator produces a first motor input based on a position error and in accordance with a position control law, and a second compensator produces a second motor input based on the position error and in accordance with an impedance control law. In another embodiment, the second compensator receives a measured torque of the first motor. Other embodiments are also described and claimed.Type: GrantFiled: June 29, 2021Date of Patent: March 21, 2023Assignee: VERB SURGICAL INC.Inventors: Haoran Yu, Renbin Zhou, Sina Nia Kosari, Andrea Bajo
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Publication number: 20220387011Abstract: A laparoscopic surgical apparatus for performing a surgical procedure through a single incision in a patient's body includes a gross positioning arm supported on a moveable platform, the gross positioner including a head; at least one articulated tool positioning apparatus coupled via a tool controller to an underside of the head, the articulated tool positioning apparatus being configured to receive a tool for performing surgical operations, the tool controller being actuated by the head to cause movements of the articulated tool positioning apparatus for performing surgical operations; and wherein the gross positioner is configured to permit the head to be positioned to facilitate insertion of the articulated tool positioning apparatus through the incision into the patient's body.Type: ApplicationFiled: August 15, 2022Publication date: December 8, 2022Inventors: Rene Robert, David Allen Zitnick, Peter John Kenneth Cameron, Leonard M. Faria, Andrea Bajo
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Publication number: 20220313232Abstract: A laparoscopic surgical apparatus for performing a surgical procedure through a single incision in a patient's body includes a gross positioning arm supported on a moveable platform, the gross positioner including a head; at least one articulated tool positioning apparatus coupled via a tool controller to an underside of the head, the articulated tool positioning apparatus being configured to receive a tool for performing surgical operations, the tool controller being actuated by the head to cause movements of the articulated tool positioning apparatus for performing surgical operations; and wherein the gross positioner is configured to permit the head to be positioned to facilitate insertion of the articulated tool positioning apparatus through the incision into the patient's body.Type: ApplicationFiled: June 17, 2022Publication date: October 6, 2022Inventors: Rene Robert, David Allen Zitnick, Peter John Kenneth Cameron, Leonard M. Faria, Andrea Bajo
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Patent number: 11439377Abstract: A laparoscopic surgical apparatus for performing a surgical procedure through a single incision in a patient's body includes a gross positioning arm supported on a moveable platform, the gross positioner including a head; at least one articulated tool positioning apparatus coupled via a tool controller to an underside of the head, the articulated tool positioning apparatus being configured to receive a tool for performing surgical operations, the tool controller being actuated by the head to cause movements of the articulated tool positioning apparatus for performing surgical operations; and wherein the gross positioner is configured to permit the head to be positioned to facilitate insertion of the articulated tool positioning apparatus through the incision into the patient's body.Type: GrantFiled: May 17, 2021Date of Patent: September 13, 2022Assignee: TITAN MEDICAL INC.Inventors: Rene Robert, David Allen Zitnick, Peter John Kenneth Cameron, Leonard M. Faria, Andrea Bajo
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Patent number: 11369353Abstract: A laparoscopic surgical apparatus for performing a surgical procedure through a single incision in a patient's body includes a gross positioning arm supported on a moveable platform, the gross positioner including a head; at least one articulated tool positioning apparatus coupled via a tool controller to an underside of the head, the articulated tool positioning apparatus being configured to receive a tool for performing surgical operations, the tool controller being actuated by the head to cause movements of the articulated tool positioning apparatus for performing surgical operations; and wherein the gross positioner is configured to permit the head to be positioned to facilitate insertion of the articulated tool positioning apparatus through the incision into the patient's body.Type: GrantFiled: April 28, 2021Date of Patent: June 28, 2022Assignee: TITAN MEDICAL INC.Inventors: Rene Robert, David Allen Zitnick, Peter John Kenneth Cameron, Leonard M. Faria, Andrea Bajo
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Publication number: 20220096120Abstract: An apparatus for attaching a cannula to a robotic surgical system, the apparatus comprising: a first clamp component configured to transition between an open position and a closed position; a second clamp component spaced from the first clamp component, the first and second clamp components defining a region configured to receive a portion of the cannula and configured to retain the portion of the cannula in the region when the first clamp component is in the closed position; and a locking component configured to lock the first clamp component in the open position and allow the first clamp component to automatically transition to the closed position based on a position of the portion of the cannula within the region.Type: ApplicationFiled: September 30, 2020Publication date: March 31, 2022Inventors: Andrea Bajo, Nathan Wang, Matthew Vargas, Alec Gordon, Koray Sahin
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Publication number: 20220096200Abstract: An apparatus for attachment of a cannula to a robotic surgical system, the apparatus comprising: a clamp operable to transition between an open position configured to receive a cannula and a closed position to attach the cannula to a robotic surgical system; an actuator operable to transition the clamp between the open position and the closed position; and a linking member pivotally coupled to the camp at a first pivot point and the actuator at a second pivot point, and wherein in the closed position, the second pivot point is over center relative to the first pivot point.Type: ApplicationFiled: September 30, 2020Publication date: March 31, 2022Inventors: Matthew Vargas, Alec Gordon, Nathan Wang, Andrea Bajo
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Publication number: 20220031415Abstract: Generally, a system for use in a robotic surgical system may be used to determine an attachment state between a tool driver, sterile adapter, and surgical tool of the system. The system may include sensors used to generate attachment data corresponding to the attachment state. The attachment state may be used to control operation of the tool driver and surgical tool. In some variations, one or more of the attachment states may be visually output to an operator using one or more of the tool driver, sterile adapter, and surgical tool. In some variations, the tool driver and surgical tool may include electronic communication devices configured to be in close proximity when the surgical tool is attached to the sterile adapter and tool driver.Type: ApplicationFiled: July 8, 2021Publication date: February 3, 2022Inventors: Matthew Colin Vargas, Charles J. Scheib, Andrea Bajo, Koray Sahin, Jaime Hernandez, Robert Elliott DeCou
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Publication number: 20210321855Abstract: A first input coupling and a second input coupling are coupled to rotatably drive an output coupling at the same time. In one embodiment, the output coupling rotates a robotic surgery endoscope about a longitudinal axis of the output coupling. A first motor drives the first input coupling while being assisted by a second motor that is driving the second input coupling. A first compensator produces a first motor input based on a position error and in accordance with a position control law, and a second compensator produces a second motor input based on the position error and in accordance with an impedance control law. In another embodiment, the second compensator receives a measured torque of the first motor. Other embodiments are also described and claimed.Type: ApplicationFiled: June 29, 2021Publication date: October 21, 2021Inventors: Haoran Yu, Renbin Zhou, Sina Nia Kosari, Andrea Bajo
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Publication number: 20210299862Abstract: Systems and methods for constrained motion control of medical instruments are provided. In one aspect, a robotic system includes an instrument having an end effector, a robotic arm configured to control movement of the instrument and the end effector, and an input device configured to receive an input for controlling movement of the instrument and end effector. The instrument is capable of moving in a different number of degrees-of-freedom (DOFs) than the input device. The system is configured to determine a Jacobian matrix relating the input to the input device to robotic arm commands for achieving a motion of the end effector indicated by the input, modify the Jacobian matrix via discarding at least one row of the Jacobian matrix, and determine a robotic arm command for achieving the motion of the instrument indicated by the input based on the modified Jacobian matrix.Type: ApplicationFiled: January 21, 2021Publication date: September 30, 2021Inventor: Andrea Bajo
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Publication number: 20210267580Abstract: A laparoscopic surgical apparatus for performing a surgical procedure through a single incision in a patient's body includes a gross positioning arm supported on a moveable platform, the gross positioner including a head; at least one articulated tool positioning apparatus coupled via a tool controller to an underside of the head, the articulated tool positioning apparatus being configured to receive a tool for performing surgical operations, the tool controller being actuated by the head to cause movements of the articulated tool positioning apparatus for performing surgical operations; and wherein the gross positioner is configured to permit the head to be positioned to facilitate insertion of the articulated tool positioning apparatus through the incision into the patient's body.Type: ApplicationFiled: May 17, 2021Publication date: September 2, 2021Inventors: Rene Robert, David Allen Zitnick, Peter John Kenneth Cameron, Leonard M. Faria, Andrea Bajo