Patents by Inventor Andrew Dahdouh
Andrew Dahdouh 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: 20230346496Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An actuator or a motor of a tool driver is configured to operate a joint of a tool. One or more processors are configured to receive an initial joint command for the joint of the tool, determine a joint torque based on motor torque of the motor or actuator as well as motor to joint torque mapping, calculate a tip force based on an effective length associated with the joint and based on the joint torque, compare the tip force to a predetermined threshold, calculate an admittance control compensation term in response to the tip force exceeding the predetermined threshold, and generate a command for the motor or actuator based on the admittance control compensation term and the initial joint command.Type: ApplicationFiled: June 22, 2023Publication date: November 2, 2023Inventors: Ali Asadian, Alireza Hariri, Andrew Dahdouh
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Patent number: 11723739Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An actuator or a motor of a tool driver is configured to operate a joint of a tool. One or more processors are configured to receive an initial joint command for the joint of the tool, determine a joint torque based on motor torque of the motor or actuator as well as motor to joint torque mapping, calculate a tip force based on an effective length associated with the joint and based on the joint torque, compare the tip force to a predetermined threshold, calculate an admittance control compensation term in response to the tip force exceeding the predetermined threshold, and generate a command for the motor or actuator based on the admittance control compensation term and the initial joint command.Type: GrantFiled: March 10, 2020Date of Patent: August 15, 2023Assignee: Verb Surgical Inc.Inventors: Ali Asadian, Alireza Hariri, Andrew Dahdouh
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Patent number: 11696810Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. A tool driver is coupled to a distal end of a robotic arm and includes a roll drive disk driven by a rotary motor. One or more processors are configured to detect an attachment of a surgical tool to the tool driver. The surgical tool includes a roll tool disk to be engaged with the roll drive disk of the tool driver, actuate of the roll drive disk through the rotary motor, determine that a measured torque of the rotary motor exceeds a preset torque threshold for a preset period of time since the actuation, and report a successful engagement between the roll drive disk and the roll tool disk.Type: GrantFiled: March 10, 2020Date of Patent: July 11, 2023Assignee: Verb Surgical Inc.Inventors: Ali Asadian, Alireza Hariri, Andrew Dahdouh
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Publication number: 20230117447Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An end effector of the surgical tool is coupled to a tool driver. An actuator is driven by a motor of the tool driver and configured to drive a degree of freedom of the end effector. One or more processors are configured to receive a position command describing a desired position for the end effector, translate the desired position to a command for a joint associated with the end effector, calculate a compensation term to compensate for a source of hysteresis for backlash and/or compliance, and send a motor command for the motor coupled with the actuator based on the compensation term and the command for the end effector.Type: ApplicationFiled: December 14, 2022Publication date: April 20, 2023Inventors: Ali Asadian, Alireza Hariri, Andrew Dahdouh
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Patent number: 11547511Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An end effector of the surgical tool is coupled to a tool driver. An actuator is driven by a motor of the tool driver and configured to drive a degree of freedom of the end effector. One or more processors are configured to receive a position command describing a desired position for the end effector, translate the desired position to a command for a joint associated with the end effector, calculate a compensation term to compensate for a source of hysteresis for backlash and/or compliance, and send a motor command for the motor coupled with the actuator based on the compensation term and the command for the end effector.Type: GrantFiled: March 10, 2020Date of Patent: January 10, 2023Assignee: VERB SURGICAL INC.Inventors: Ali Asadian, Alireza Hariri, Andrew Dahdouh
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Patent number: 11497564Abstract: A surgical robotic system offers automation templates, such as surgical task templates, for collaborative control of the robot arms operating in an automated manner. This automated operation through integration of template selection and programming may reduce fatigue while maintaining accuracy and dexterity. For more routine parts of the surgery, the surgeon may select a template and use the template interface to set various parameters for a given surgery, such as the force to be applied, order of tasks, trajectory of movement, stop points, and/or distance of any given movement in automatic operation for surgeon verification. By automating parts of the surgery, the surgeon may use direct control for more sensitive aspects of the surgery while having a respite or assistance for more routine aspects of the surgery.Type: GrantFiled: June 7, 2019Date of Patent: November 15, 2022Assignee: Verb Surgical Inc.Inventor: Andrew Dahdouh
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Publication number: 20220354606Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. A coupling device driven by a plurality of drive disks corresponds to a first motor and a second motor. One or more processors are configured to send a low torque command to a first motor, send the low torque command to a second motor, determine whether the first motor and the second motor meet one or more hold engagement criteria, send a high torque command to the first motor in response to the first motor and the second motor meeting the one or more hold engagement criteria, and send the high torque command to the second motor in response to the first motor and the second motor meeting the one or more hold engagement criteria.Type: ApplicationFiled: July 11, 2022Publication date: November 10, 2022Inventors: Ali Asadian, Alireza Hariri, Andrew Dahdouh
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Patent number: 11426246Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. A coupling device driven by a plurality of drive disks corresponds to a first motor and a second motor. One or more processors are configured to send a low torque command to a first motor, send the low torque command to a second motor, determine whether the first motor and the second motor meet one or more hold engagement criteria, send a high torque command to the first motor in response to the first motor and the second motor meeting the one or more hold engagement criteria, and send the high torque command to the second motor in response to the first motor and the second motor meeting the one or more hold engagement criteria.Type: GrantFiled: March 10, 2020Date of Patent: August 30, 2022Assignee: Verb Surgical Inc.Inventors: Ali Asadian, Alireza Hariri, Andrew Dahdouh
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Publication number: 20210045827Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An actuator or a motor of a tool driver is configured to operate a joint of a tool. One or more processors are configured to receive an initial joint command for the joint of the tool, determine a joint torque based on motor torque of the motor or actuator as well as motor to joint torque mapping, calculate a tip force based on an effective length associated with the joint and based on the joint torque, compare the tip force to a predetermined threshold, calculate an admittance control compensation term in response to the tip force exceeding the predetermined threshold, and generate a command for the motor or actuator based on the admittance control compensation term and the initial joint command.Type: ApplicationFiled: March 10, 2020Publication date: February 18, 2021Inventors: Ali Asadian, Alireza Hariri, Andrew Dahdouh
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Publication number: 20210045820Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An end effector of the surgical tool is coupled to a tool driver. An actuator is driven by a motor of the tool driver and configured to drive a degree of freedom of the end effector. One or more processors are configured to receive a position command describing a desired position for the end effector, translate the desired position to a command for a joint associated with the end effector, calculate a compensation term to compensate for a source of hysteresis for backlash and/or compliance, and send a motor command for the motor coupled with the actuator based on the compensation term and the command for the end effector.Type: ApplicationFiled: March 10, 2020Publication date: February 18, 2021Inventors: Ali Asadian, Alireza Hariri, Andrew Dahdouh
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Publication number: 20210045818Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. A coupling device driven by a plurality of drive disks corresponds to a first motor and a second motor. One or more processors are configured to send a low torque command to a first motor, send the low torque command to a second motor, determine whether the first motor and the second motor meet one or more hold engagement criteria, send a high torque command to the first motor in response to the first motor and the second motor meeting the one or more hold engagement criteria, and send the high torque command to the second motor in response to the first motor and the second motor meeting the one or more hold engagement criteria.Type: ApplicationFiled: March 10, 2020Publication date: February 18, 2021Inventors: Ali Asadian, Alireza Hariri, Andrew Dahdouh
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Publication number: 20210045826Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. A tool driver is coupled to a distal end of a robotic arm and includes a roll drive disk driven by a rotary motor. One or more processors are configured to detect an attachment of a surgical tool to the tool driver. The surgical tool includes a roll tool disk to be engaged with the roll drive disk of the tool driver, actuate of the roll drive disk through the rotary motor, determine that a measured torque of the rotary motor exceeds a preset torque threshold for a preset period of time since the actuation, and report a successful engagement between the roll drive disk and the roll tool disk.Type: ApplicationFiled: March 10, 2020Publication date: February 18, 2021Inventors: Ali Asadian, Alireza Hariri, Andrew Dahdouh
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Publication number: 20200383734Abstract: A surgical robotic system offers automation templates, such as surgical task templates, for collaborative control of the robot arms operating in an automated manner. This automated operation through integration of template selection and programming may reduce fatigue while maintaining accuracy and dexterity. For more routine parts of the surgery, the surgeon may select a template and use the template interface to set various parameters for a given surgery, such as the force to be applied, order of tasks, trajectory of movement, stop points, and/or distance of any given movement in automatic operation for surgeon verification. By automating parts of the surgery, the surgeon may use direct control for more sensitive aspects of the surgery while having a respite or assistance for more routine aspects of the surgery.Type: ApplicationFiled: June 7, 2019Publication date: December 10, 2020Inventor: Andrew Dahdouh