Patents by Inventor Pablo E. Garcia Kilroy
Pablo E. Garcia Kilroy 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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Patent number: 11484383Abstract: Assisting robotic arm setup in a surgical robotic system using augmented reality can include capturing a live video of a user setting up a robotic arm in a surgical robotic system. A visual guide representing a target pose of the robotic arm can be rendered onto the live video, resulting in an augmented live video for guiding the arm setup. The augmented live video can be displayed to the user while the user is following the visual guide to set up the robotic arm. The captured live video can be continuously processed to determine whether the robotic arm has reached the target pose.Type: GrantFiled: April 14, 2021Date of Patent: November 1, 2022Assignee: VERB SURGICAL INC.Inventors: Bernhard Adolf Fuerst, Pablo E. Garcia Kilroy
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Patent number: 11446097Abstract: A user console for controlling a remote surgical robotic instrument may include an adjustable ergonomic seat assembly comprising a seat pan, where the seat assembly is configurable between a seated configuration and an elevated configuration, and where the seat pan has a higher anteverted position in the elevated configuration than in the seated configuration. The user console may further include a display configured to receive real time surgical information, and one or more controls for remotely controlling the robotic instrument. The display and/or the one or more controls may have multiple positions and change position automatically according to a seating profile associated with at least one user.Type: GrantFiled: January 16, 2020Date of Patent: September 20, 2022Assignee: VERB SURGICAL INC.Inventors: Joan Savall, Pablo E. Garcia Kilroy, Brent Nobles, David Moore
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Patent number: 11439478Abstract: An immersive display for use in a robotic surgical system includes a support arm, a housing mounted to the support arm and configured to engage with a face of the user, at least two eyepiece assemblies disposed in the housing and configured to provide a three-dimensional display, and at least one sensor, wherein the sensor enables operation of the robotic surgical system, and wherein the support arm is actuatable to move the housing for ergonomic positioning.Type: GrantFiled: September 1, 2020Date of Patent: September 13, 2022Assignee: VERB SURGICAL INC.Inventors: Kent Anderson, Joan Savall, Brent Nobles, Allegra Shum, Pablo E. Garcia Kilroy, Karen Shakespear Koenig
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Patent number: 11389360Abstract: In some embodiments, an apparatus can include a surgical table and an adapter coupled thereto. The adapter includes an interface structure, a first link member coupled to a second link member, and a third link member coupled to a fourth link member. The first link member and the third link member are each pivotally coupled to the interface mechanism at a shared first pivot joint. The second link member and the fourth link member are each coupleable to a robotic arm. The first link member and the second link member collectively provide for movement of the first robotic arm in at least one of a lateral, longitudinal or vertical direction relative to the table top. The third link member and the fourth link member collectively provide for movement of the second robotic arm in at least one of a lateral, longitudinal or vertical direction relative to the table top.Type: GrantFiled: September 15, 2017Date of Patent: July 19, 2022Assignees: Verb Surgical Inc., Maquet GmbHInventors: Karen Shakespear Koenig, Joan Savall, Pablo E. Garcia Kilroy, Bernard Fai Kin Siu, Thomas D. Egan
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Publication number: 20220202512Abstract: A surgical robotic system comprising: a surgical robotic arm having a plurality of robotic arm links and a plurality of joints operable to move according to multiple degrees of freedom; a proximity sensor coupled to the surgical robotic arm, the proximity sensor comprising a plurality of sensing pads operable to detect a movement of a nearby controlling object prior to contact with the surgical robotic arm; and a processor configured to determine a desired position of the surgical robotic arm based on the detected movement of the nearby controlling object and drive a movement of more than one of the plurality of robotic arm links or the plurality of joints to achieve the desired position of the surgical robotic arm.Type: ApplicationFiled: March 21, 2022Publication date: June 30, 2022Inventors: Berk Gonenc, Xin Liu, Bernhard A. Fuerst, Jose Luis Cordoba, Pablo E. Garcia Kilroy
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Publication number: 20220192763Abstract: A user console for a surgical robotic system has a seat having an armrest and an electromagnetic (EM) transmitter coupled to the armrest to generate an EM field in an EM tracking space around the armrest. A user input device having a handheld housing is to be positioned within the EM tracking by an operator who is seated in the seat, during a surgical procedure. Other aspects are also described and claimed.Type: ApplicationFiled: January 28, 2022Publication date: June 23, 2022Inventors: Bernhard Adolf Fuerst, Pablo E. Garcia Kilroy, Berk Gonenc, Jose Luis Cordoba, Joan Savall
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Publication number: 20220183776Abstract: A tool driver for use in robotic surgery includes a base configured to couple to a distal end of a robotic arm, and a tool carriage slidingly engaged with the base and configured to receive a surgical tool. In one variation, the tool carriage may include a plurality of linear axis drives configured to actuate one or more articulated movements of the surgical tool. In another variation, the tool carriage may include a plurality of rotary axis drives configured to actuate one or more articulated movements of the surgical tool. Various sensors, such as a capacitive load cell for measuring axial load, a position sensor for measuring linear position of the guide based on the rotational positions of gears in a gear transmission, and/or a capacitive torque sensor based on differential capacitance, may be included in the tool driver.Type: ApplicationFiled: December 23, 2021Publication date: June 16, 2022Inventors: Pablo E. GARCIA KILROY, Jose Luis CORDOBA, Berk GONENC, Xin LIU
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Publication number: 20220148702Abstract: Embodiments described herein provide various examples of a surgical video analysis system for segmenting surgical videos of a given surgical procedure into shorter video segments and labeling/tagging these video segments with multiple categories of machine learning descriptors. In one aspect, a process for processing surgical videos recorded during performed surgeries of a surgical procedure includes the steps of: receiving a diverse set of surgical videos associated with the surgical procedure; receiving a set of predefined phases for the surgical procedure and a set of machine learning descriptors identified for each predefined phase in the set of predefined phases; for each received surgical video, segmenting the surgical video into a set of video segments based on the set of predefined phases and for each segment of the surgical video of a given predefined phase, annotating the video segment with a corresponding set of machine learning descriptors for the given predefined phase.Type: ApplicationFiled: November 18, 2021Publication date: May 12, 2022Inventors: Jagadish Venkataraman, Pablo E. Garcia Kilroy
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Patent number: 11278361Abstract: A control system for surgical robots based on proximity sensing, the control system including a proximity sensor coupled to a component of a surgical robot, the surgical robot component including a table, robotic arms coupled to the table, and surgical tools mounted on the robotic arms, the proximity sensor configured to sense a movement of a nearby controlling object in one or more degrees of freedom; and a processor configured to drive the component of the surgical robot to follow the movement of the controlling object.Type: GrantFiled: May 21, 2019Date of Patent: March 22, 2022Assignee: VERB SURGICAL INC.Inventors: Berk Gonenc, Xin Liu, Bernhard A. Fuerst, Jose Luis Cordoba, Pablo E. Garcia Kilroy
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Patent number: 11266469Abstract: A user console for a surgical robotic system has a seat having an armrest and an electromagnetic (EM) transmitter coupled to the armrest to generate an EM field in an EM tracking space around the armrest. A user input device having a handheld housing is to be positioned within the EM tracking by an operator who is seated in the seat, during a surgical procedure. Other aspects are also described and claimed.Type: GrantFiled: June 13, 2019Date of Patent: March 8, 2022Assignee: VERB SURGICAL INC.Inventors: Bernhard Adolf Fuerst, Pablo E. Garcia Kilroy, Berk Gonenc, Jose Luis Cordoba, Joan Savall
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Patent number: 11259881Abstract: A tool driver for use in robotic surgery includes a base configured to couple to a distal end of a robotic arm, and a tool carriage slidingly engaged with the base and configured to receive a surgical tool. In one variation, the tool carriage may include a plurality of linear axis drives configured to actuate one or more articulated movements of the surgical tool. In another variation, the tool carriage may include a plurality of rotary axis drives configured to actuate one or more articulated movements of the surgical tool. Various sensors, such as a capacitive load cell for measuring axial load, a position sensor for measuring linear position of the guide based on the rotational positions of gears in a gear transmission, and/or a capacitive torque sensor based on differential capacitance, may be included in the tool driver.Type: GrantFiled: November 3, 2017Date of Patent: March 1, 2022Assignee: VERB SURGICAL INC.Inventors: Pablo E. Garcia Kilroy, Jose Luis Cordoba, Berk Gonenc, Xin Liu
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Publication number: 20220032480Abstract: A capacitive sensor for characterizing force or torque includes a first plurality of non-patterned conductive regions and a first plurality of patterned conductive regions, and a second plurality of non-patterned conductive regions and a second plurality of patterned conductive regions. The first and second pluralities of non-patterned conductive regions are facing and the first and second pluralities of patterned conductive regions are facing.Type: ApplicationFiled: August 4, 2021Publication date: February 3, 2022Inventors: Jose Luis Cordoba, Pablo E. Garcia Kilroy, Xin Liu
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Patent number: 11234779Abstract: Disclosed herein is a mobile interface device to control a robotically-assisted surgical system. The mobile interface device provides a surgeon with a direct view of the surgical robotic system and allows a surgeon to easily and intuitively select, control, or manipulate various target components of the surgical robotic system. The mobile interface device may capture a live image of the surgical robotic system to automatically identify a robotic arm that appears in the center of the captured live image as the target component selected by the surgeon. Based on the current pose or position of the target component, the mobile interface device may generate a list of target poses and control options. The surgeon may select a control option to select a target pose and to manipulate the target component to command a robotically-assisted movement of the selected robotic arm from the current pose to the target pose.Type: GrantFiled: September 10, 2019Date of Patent: February 1, 2022Assignee: VERB SURGICAL. INC.Inventors: Bernhard Adolf Fuerst, Pablo E. Garcia Kilroy
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Patent number: 11205508Abstract: Embodiments described herein provide various examples of a surgical video analysis system for segmenting surgical videos of a given surgical procedure into shorter video segments and labeling/tagging these video segments with multiple categories of machine learning descriptors. In one aspect, a process for processing surgical videos recorded during performed surgeries of a surgical procedure includes the steps of: receiving a diverse set of surgical videos associated with the surgical procedure; receiving a set of predefined phases for the surgical procedure and a set of machine learning descriptors identified for each predefined phase in the set of predefined phases; for each received surgical video, segmenting the surgical video into a set of video segments based on the set of predefined phases and for each segment of the surgical video of a given predefined phase, annotating the video segment with a corresponding set of machine learning descriptors for the given predefined phase.Type: GrantFiled: May 23, 2018Date of Patent: December 21, 2021Assignee: VERB SURGICAL INC.Inventors: Jagadish Venkataraman, Pablo E. Garcia Kilroy
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Patent number: 11185455Abstract: In some embodiments, an apparatus can include a surgical table and an adapter coupled thereto. The adapter includes an interface structure, a first link member pivotally coupled to the interface structure at a first joint, and coupled to a second link member of the adapter at a second joint. The second link member can also be coupleable to a robotic arm via a coupling. The first joint can allow the first link member to rotate about a first axis defined in a vertical direction relative to the table top, and the second joint can allow the second link member and a robotic arm coupled thereto to move in a vertical direction relative to the table top. The first link member and the second link member collectively provide for movement of the robotic arm in at least one of a lateral, longitudinal or vertical direction relative to the table top.Type: GrantFiled: September 15, 2017Date of Patent: November 30, 2021Assignees: Verb Surgical Inc., Maquet GmbHInventors: David Cagle, Pablo E. Garcia Kilroy, Karen Shakespear Koenig, Jacob Spencer Gee, Wayne Grout, Michael P. Schaller
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Patent number: 11104012Abstract: A capacitive sensor for characterizing force or torque includes a first plurality of non-patterned conductive regions and a first plurality of patterned conductive regions, and a second plurality of non-patterned conductive regions and a second plurality of patterned conductive regions. The first and second pluralities of non-patterned conductive regions are facing and the first and second pluralities of patterned conductive regions are facing.Type: GrantFiled: March 26, 2020Date of Patent: August 31, 2021Assignee: Verb Surgical Inc.Inventors: Jose Luis Cordoba, Pablo E. Garcia Kilroy, Xin Liu
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Publication number: 20210251710Abstract: A surgical robotic user input apparatus has a fiber optic cable with a handheld user input device attached at one end, and a connector attached at another end. Multiple intrinsic sensors, such as fiber Bragg grating sensors, are in the fiber optic cable. The intrinsic sensors are used to detect a pose of the handheld user input device. Other embodiments are also described and claimed.Type: ApplicationFiled: May 4, 2021Publication date: August 19, 2021Inventors: Bernhard A. Fuerst, Berk Gonenc, Dennis Moses, Pablo E. Garcia Kilroy
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Publication number: 20210228309Abstract: Assisting robotic arm setup in a surgical robotic system using augmented reality can include capturing a live video of a user setting up a robotic arm in a surgical robotic system. A visual guide representing a target pose of the robotic arm can be rendered onto the live video, resulting in an augmented live video for guiding the arm setup. The augmented live video can be displayed to the user while the user is following the visual guide to set up the robotic arm. The captured live video can be continuously processed to determine whether the robotic arm has reached the target pose.Type: ApplicationFiled: April 14, 2021Publication date: July 29, 2021Inventors: Bernhard Adolf Fuerst, Pablo E. Garcia Kilroy
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Patent number: 11007027Abstract: A surgical robotic user input apparatus has a fiber optic cable with a handheld user input device attached at one end, and a connector attached at another end. Multiple intrinsic sensors, such as fiber Bragg grating sensors, are in the fiber optic cable. The intrinsic sensors are used to detect a pose of the handheld user input device. Other embodiments are also described and claimed.Type: GrantFiled: February 27, 2019Date of Patent: May 18, 2021Assignee: VERB SURGICAL INC.Inventors: Bernhard A. Fuerst, Berk Gonenc, Dennis Moses, Pablo E. Garcia Kilroy
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Patent number: 11007031Abstract: Assisting robotic arm setup in a surgical robotic system using augmented reality can include capturing a live video of a user setting up a robotic arm in a surgical robotic system. A visual guide representing a target pose of the robotic arm can be rendered onto the live video, resulting in an augmented live video for guiding the arm setup. The augmented live video can be displayed to the user while the user is following the visual guide to set up the robotic arm. The captured live video can be continuously processed to determine whether the robotic arm has reached the target pose.Type: GrantFiled: August 14, 2018Date of Patent: May 18, 2021Assignee: VERB SURGICAL INC.Inventors: Bernhard Adolf Fuerst, Pablo E. Garcia Kilroy