Patents Assigned to Verb Surgical Inc.
  • Patent number: 11229494
    Abstract: A surgical robotic system has a surgical robotic arm, and a programmed processor that determines a longest principal axis of a velocity ellipsoid for a first configuration of the arm, applies a maximum task space velocity (that is in the direction of the longest principal axis) to an inverse kinematics equation which computes a potential joint space velocity, computes a ratio of i) the potential joint space velocity and ii) a joint space velocity limit of the arm, and applies the ratio to an initial joint space velocity, to produce a regulated joint space velocity. Other aspects are also described and claimed.
    Type: Grant
    Filed: October 24, 2019
    Date of Patent: January 25, 2022
    Assignee: VERB SURGICAL INC.
    Inventor: Haoran Yu
  • Patent number: 11204640
    Abstract: A method for disengaging a surgical instrument of a surgical robotic system comprising receiving a gaze input from an eye tracker; determining, by one or more processors, whether the gaze input indicates the gaze of the user is outside or inside of the display; in response to determining the gaze input indicates the gaze of the user is outside of the display, determining an amount of time the gaze of the user is outside of the display; in response to determining the gaze of the user is outside of the display for less than a maximum amount of time, pause the surgical robotic system from a teleoperation mode; and in response to determining the gaze of the user is outside of the display for more than the maximum amount of time, disengage the surgical robotic system from the teleoperation mode.
    Type: Grant
    Filed: May 17, 2019
    Date of Patent: December 21, 2021
    Assignee: VERB SURGICAL INC.
    Inventors: Anette Lia Freiin von Kapri, Denise Ann Miller, Paolo Invernizzi, Joan Savall, John Magnasco
  • Patent number: 11205508
    Abstract: 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: Grant
    Filed: May 23, 2018
    Date of Patent: December 21, 2021
    Assignee: VERB SURGICAL INC.
    Inventors: Jagadish Venkataraman, Pablo E. Garcia Kilroy
  • Publication number: 20210386481
    Abstract: Embodiments described herein provide various examples of mitigating electrical burn risks when using a monopolar electrosurgery tool on a patient in an electrosurgery procedure. In one aspect, a process receives an electrode configuration of the monopolar electrosurgery tool which includes a location of an active electrode of the monopolar electrosurgery tool at a surgical site on the patient's body and a location of a return electrode of the monopolar electrosurgery tool elsewhere on the patient's body. The process further obtains information of a metal implant inside the patient's body. Next, the process computes a plurality of potential current paths between the locations of the active electrode and the return electrode. The process then determines if one or more current paths in the plurality of computed potential current paths flow through the metal implant. If so, the process informs a surgical staff of potential electrical burn injuries associated with the electrode configuration.
    Type: Application
    Filed: August 30, 2021
    Publication date: December 16, 2021
    Applicant: Verb Surgical Inc.
    Inventor: Jagadish Venkataraman
  • Patent number: 11185455
    Abstract: 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: Grant
    Filed: September 15, 2017
    Date of Patent: November 30, 2021
    Assignees: Verb Surgical Inc., Maquet GmbH
    Inventors: David Cagle, Pablo E. Garcia Kilroy, Karen Shakespear Koenig, Jacob Spencer Gee, Wayne Grout, Michael P. Schaller
  • Patent number: 11179215
    Abstract: Some embodiments described herein relate to an arm cart operable to transport a robotic arm to and/or from a surgical table. The robotic arm can be coupled to the arm cart via a connector. The connector can be slideably mounted to the arm cart such that the connector and the robotic arm, collectively, can move relative to the arm cart. For example, when the arm cart is adjacent to the surgical table, the connector and the robotic arm can be movable to provide final, fine adjustments to align the robotic arm with a coupling portion of the surgical table.
    Type: Grant
    Filed: October 15, 2019
    Date of Patent: November 23, 2021
    Assignee: VERB SURGICAL INC.
    Inventor: Robert T. Wiggers
  • Patent number: 11166765
    Abstract: A virtual surgical robot being built from kinematic data is rendered to a display. A user input is received to effect a movement or a configuration of the virtual surgical robot. The kinematic data is modified based on evaluation of the movement or the configuration of the virtual surgical robot.
    Type: Grant
    Filed: May 8, 2020
    Date of Patent: November 9, 2021
    Assignee: VERB SURGICAL INC.
    Inventors: Bernhard Fuerst, Eric Johnson, Pablo Garcia Kilroy
  • Patent number: 11141230
    Abstract: A robotic surgical system includes at least one robotic arm comprising at least one movable joint and an actuator configured to drive the at least one movable joint, and a controller configured to generate a first signal, the first signal comprising a first oscillating waveform having a first frequency and being modulated by a second oscillating waveform having a second frequency, wherein the second frequency is higher than the first frequency. The actuator is configured to drive the at least one movable joint based on the first signal to at least partially compensate for friction in the at least one movable joint.
    Type: Grant
    Filed: September 28, 2020
    Date of Patent: October 12, 2021
    Assignee: Verb Surgical Inc.
    Inventors: Renbin Zhou, Sina Nia Kosari, Dennis Moses
  • Patent number: 11139062
    Abstract: This patent disclosure provides various embodiments of combining multiple modalities of non-text surgical data of different formats, in particular in forms of videos, images, and audios in a meaningful manner so that the combined data from the multiple modalities are compatible with text data. In some embodiments, prior to combining the multiple modalities of surgical data, multiple segmentation engines are used to segment and convert a corresponding modality of surgical data into a corresponding set of metrics and parameters. The multiple sets of metrics and parameters corresponding to the multiple modalities are then combined to generate a combined feature set. The combined feature set can be provided to a data analytics tool for performing comprehensive data analyses on the combined feature set to generate one or more predictions for the surgical procedure.
    Type: Grant
    Filed: May 21, 2019
    Date of Patent: October 5, 2021
    Assignee: VERB SURGICAL INC.
    Inventors: Jagadish Venkataraman, Pablo Garcia Kilroy
  • Patent number: 11135030
    Abstract: User interface devices for manipulating a robotic surgical tool in a surgical robotic system are described. A user interface device can include a device housing having a gripping surface symmetrically disposed about a central axis. The gripping surface can include a surface of revolution about the central axis. A tracking sensor can be mounted within the device housing to generate spatial state signals in response to movement of the device housing. The spatial state signals can be used to control motion of robotic system actuators. A finger clutch can be disposed at an end of the device housing, and can generate a clutch signal in response to a touch by a user. The clutch signal can be used to pause the motion of the robotic system actuators. Other embodiments are also described and claimed.
    Type: Grant
    Filed: June 15, 2018
    Date of Patent: October 5, 2021
    Assignee: VERB SURGICAL INC.
    Inventors: Joan Savall, Allegra Anna Lenta Shum
  • Patent number: 11135031
    Abstract: User interface devices for manipulating a robotic surgical tool in a surgical robotic system are described. A user interface device can includes a device body containing a tracking sensor to generate a spatial state signal in response to movement of the device body. The spatial state signal can be used to control a spatial motion of a surgical robotic system actuator. Several grip linkages can be pivotally coupled to the device body. A grip linkage displacement sensor may monitor movement of the grip linkages relative to the device body, and generate a grip signal in response to the movement. The grip signal can be used to control a grip motion of a robotic surgical tool mounted on the surgical robotic system actuator. Other embodiments are also described and claimed.
    Type: Grant
    Filed: June 15, 2018
    Date of Patent: October 5, 2021
    Assignee: VERB SURGICAL INC.
    Inventors: Joan Savall, Allegra Anna Lenta Shum
  • Publication number: 20210275264
    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.
    Type: Application
    Filed: March 3, 2020
    Publication date: September 9, 2021
    Applicant: Verb Surgical Inc.
    Inventors: Eric Mark Johnson, Michal Levin, Anette Lia Freiin Von Kapri
  • Patent number: 11104012
    Abstract: 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: Grant
    Filed: March 26, 2020
    Date of Patent: August 31, 2021
    Assignee: Verb Surgical Inc.
    Inventors: Jose Luis Cordoba, Pablo E. Garcia Kilroy, Xin Liu
  • Patent number: 11103312
    Abstract: Embodiments described herein provide various examples of predicting potential current paths from an active electrode of a monopolar electrosurgery tool to a return electrode of the monopolar electrosurgery tool based on analyzing electrical properties of tissues inside a patient's body, and evaluating and eliminating tissue burn risks associated with the predicted current paths. In some embodiments, a current-path-prediction technique is used to predict a set of potential current paths from the active electrode to the return electrode for any given geometrical configuration of the two electrodes on the patient's body. These predicted current paths can then be pictorially displayed on a 3D scan of the patient's body or an endoscopic view of the patient's body and in relation to the display of any existing metal implant inside the patient's body, which allows for visualizing points of tissue burn risks inside the patient's body.
    Type: Grant
    Filed: April 2, 2019
    Date of Patent: August 31, 2021
    Assignee: VERB SURGICAL INC.
    Inventor: Jagadish Venkataraman
  • Patent number: 11106279
    Abstract: A method for passively calibrating and verifying eye tracking in a surgical robotic system. The gaze of a user facing a user display of a user console of a surgical robotic system is tracked while the user is using a user interface device (UID). When a user interaction to the UID is detected, an expected gaze position on the display of the user console is determined without instructing the user to look at the expected gaze position. The latter becomes a reference gaze point of the user at the time of detected user action. The measured gaze point of the user is compared with an acceptable threshold of the reference gaze point, and in response to a determination of a mismatch, calibration parameters used by the tracking are adjusted according to the reference gaze point. Other aspects are also described and claimed.
    Type: Grant
    Filed: June 21, 2019
    Date of Patent: August 31, 2021
    Assignee: VERB SURGICAL INC.
    Inventors: Anette Lia Freiin von Kapri, Denise Miller, Joan Savall
  • Patent number: 11096746
    Abstract: A handheld user interface device for controlling a robotic system may include a member, a housing at least partially disposed around the member and configured to be held in the hand of a user, and a tracking sensor system disposed on the member and configured to detect at least one of position and orientation of at least a portion of the device. At least one of the detected position of the portion of the device and detected orientation of the portion of the device is correlatable to a control of the robotic system.
    Type: Grant
    Filed: May 29, 2020
    Date of Patent: August 24, 2021
    Assignee: VERB SURGICAL INC.
    Inventors: Joan Savall, Allegra Anna Lenta Shum, Jose Luis Cordoba, Yiqi Zeng
  • Publication number: 20210251706
    Abstract: A robotic surgical system and method for providing a stadium view with arm set-up guidance is provided. In one embodiment, a robotic surgical system comprises a plurality of robotic arms, a display device, and a processor. The processor is configured to render, on the display device, a graphical representation of the plurality of robotic arms in their current positions, as well as user-guidance information on how to move the plurality of robotic arms to a different position. Other embodiments are provided.
    Type: Application
    Filed: February 18, 2020
    Publication date: August 19, 2021
    Applicant: Verb Surgical Inc.
    Inventors: Eric Johnson, Francois Brahic
  • Patent number: 11090122
    Abstract: A surgical robotic system has a tool drive coupled to a distal end of a robotic arm that has a plurality of actuators. The tool drive has a docking interface to receive a trocar. One or more sensors in the docking interface sense a magnetic field generated by the trocar. One or more processors are configured to determine a position and orientation of the trocar based on the sensed magnetic field, and then drive the actuators to orient the docking interface to the determined orientation of the trocar, or otherwise guide the robotic arm toward the determined position of the trocar. Other aspects are also described and claimed.
    Type: Grant
    Filed: February 25, 2019
    Date of Patent: August 17, 2021
    Assignee: VERB SURGICAL INC.
    Inventors: Bernhard A. Fuerst, Dennis Moses, Miguel Piedrahita, Michael Wong, Pablo Garcia Kilroy, Jose Luis Cordoba
  • Patent number: 11080424
    Abstract: This patent disclosure provides various embodiments for anonymizing raw surgical procedure videos recorded by a recording device, such as an endoscope camera, during a surgical procedure performed on a patient inside an operating room (OR). In one aspect, a process for anonymizing raw surgical procedure videos recorded by a recording device within an OR is disclosed. This process can begin by receiving a set of raw surgical videos corresponding to a surgical procedure performed within the OR. The process next merges the set of raw surgical videos to generate a surgical procedure video corresponding to the surgical procedure. Next, the process detects image-based personally-identifiable information embedded in the set of raw video images of the surgical procedure video. When image-based personally-identifiable information is detected, the process automatically de-identifies the detected image-based personally-identifiable information in the surgical procedure video.
    Type: Grant
    Filed: May 21, 2019
    Date of Patent: August 3, 2021
    Assignee: VERB SURGICAL INC.
    Inventors: Jagadish Venkataraman, Pablo Garcia Kilroy
  • Patent number: 11078945
    Abstract: An apparatus can include a coupler for coupling a robotic arm to a surgical table having a table top on which a patient can be disposed. The coupler can include a first portion configured to couple to a surgical table and a second portion configured to couple to a robotic arm. The second portion may include a post that may translate into the first portion. The first portion may comprise a locking mechanism having one or more stages to constrain movement of the second portion relative to the first portion in six degrees of freedom. The coupler can thus provide secure coupling of the robotic arm to the surgical table.
    Type: Grant
    Filed: March 23, 2018
    Date of Patent: August 3, 2021
    Assignee: VERB SURGICAL INC.
    Inventors: Wayne Grout, David James Cagle, Richard William Timm, Brendan C. Reese, Michael P. Schaller, Robert J. Campbell