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: 20210244395Abstract: 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: April 28, 2021Publication date: August 12, 2021Inventors: Rene Robert, David Allen Zitnick, Peter John Kenneth Cameron, Leonard M. Faria, Andrea Bajo
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Patent number: 11071441Abstract: 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: April 20, 2018Date of Patent: July 27, 2021Assignee: VERB SURGICAL INC.Inventors: Haoran Yu, Renbin Zhou, Sina Nia Kosari, Andrea Bajo
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Patent number: 11071604Abstract: 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: December 19, 2017Date of Patent: July 27, 2021Assignee: 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: 11058508Abstract: A robotic surgical system may include an actuator including a plurality of linearly displaceable drive members, where at least one drive member actuates at least one degree of freedom of a surgical instrument, and a sterile adapter interposed between the actuator and the surgical instrument. The sterile adapter includes a flexible barrier and a plurality of extensible covers integrally formed with the flexible barrier, and the plurality of extensible covers are arranged to receive the plurality of drive members. In some variations, the system may include an interlocked arrangement coupling the actuator and the surgical instrument across the sterile adapter, the interlocked arrangement urging the actuator and the surgical instrument together when the actuator actuates the at least one degree of freedom of the surgical instrument.Type: GrantFiled: June 27, 2018Date of Patent: July 13, 2021Assignee: VERB SURGICAL INC.Inventors: Charles J. Scheib, Andrea Bajo, Kent M. Anderson
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Patent number: 11026666Abstract: An articulated tool positioning apparatus comprising a base member, an intermediate member, an end member and a first tool holder arranged in succession, each of the base member, intermediate member, end member and tool holder having a respective central opening. A first plurality of coupled guides id positioned between the base member and the intermediate member and a second plurality of coupled guides is positioned between the intermediate member and the end member. A third plurality of coupled guides is diposed between the end member and the tool holder. The base member, intermediate member, end member, first tool holder and first second and third pluralities of coupled guides all have a central opening and guide openings or securing points for securing pluralities of flexible control links to the base member or to an object separated from the base member.Type: GrantFiled: November 9, 2018Date of Patent: June 8, 2021Assignee: Titan Medical Inc.Inventors: Rene Robert, David Allen Zitnick, Peter John Kenneth Cameron, Leonard M. Faria, Andrea Bajo
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Patent number: 10918452Abstract: Generally, a sterile adapter for use in robotic surgery may include a frame configured to be interposed between a tool driver and a surgical tool, a plate assembly coupled to the frame, and at least one rotatable coupler supported by the plate assembly and configured to communicate torque from an output drive of the tool driver to an input drive of the surgical tool.Type: GrantFiled: December 20, 2017Date of Patent: February 16, 2021Assignee: Verb Surgical Inc.Inventors: Charles J. Scheib, Jaime Hernandez, Andrea Bajo
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Patent number: 10905513Abstract: 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: December 19, 2017Date of Patent: February 2, 2021Assignee: Verb Surgical Inc.Inventors: Charles J. Scheib, Matthew Colin Vargas, Andrea Bajo, Jaime Hernandez, Koray Sahin
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Publication number: 20200367872Abstract: 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 12, 2020Publication date: November 26, 2020Inventors: Rene Robert, David Allen Zitnick, Peter John Kenneth Cameron, Leonard M. Faria, Andrea Bajo
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Patent number: 10765486Abstract: 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: September 8, 2020Assignee: Verb Surgical Inc.Inventors: Andrea Bajo, Kent Anderson
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Patent number: 10736705Abstract: 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: December 19, 2017Date of Patent: August 11, 2020Assignee: Verb Surgical Inc.Inventors: Charles J. Scheib, Jaime Hernandez, Andrea Bajo
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Patent number: 10709512Abstract: 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: July 14, 2020Assignee: VERB SURGICAL INC.Inventors: Andrea Bajo, Jose Luis Cordoba, Kent Anderson
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Publication number: 20200138534Abstract: 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 16, 2019Publication date: May 7, 2020Applicant: Verb Surgical Inc.Inventors: Pablo E. Garcia Kilroy, Karen S. Koenig, Andrea Bajo, Robert T. Wiggers, Joan Savall, Eric M. Johnson
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Patent number: 10500002Abstract: A rotatable wrist connecting a gripper tool to the distal end of a positioning shaft. The rotatable wrist includes a wrist hub that is non-rotatably connected to the distal end of the shaft. A wrist capstan is rotatably connected to the wrist hub and non-rotatably connected to an actuatable device (e.g., a gripper). A flexible wire loop extends through the wrist hub and partially contacts the wrist capstan. Linear movement of the flexible wire loop through the shaft causes rotation of the wrist capstan due to friction between the flexible wire loop and the wrist capstan. The wrist also supports selective detachability and control of roll, pitch and roll, pitch yaw and roll according to different embodiments.Type: GrantFiled: June 8, 2017Date of Patent: December 10, 2019Assignee: Vanderbilt UniversityInventors: Nabil Simaan, Roger E. Goldman, Andrea Bajo
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Publication number: 20190320874Abstract: 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: April 20, 2018Publication date: October 24, 2019Inventors: Haoran Yu, Renbin Zhou, Sina Nia Kosari, Andrea Bajo
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Patent number: 10300599Abstract: Methods and systems are described for controlling movement and an applied force at the tip of the continuum robot that includes a plurality of independently controlled segments along its length. An estimated force at the tip of the continuum robot is determined based on measurements of loads and positions of each segment. A reference position command and a force command are received from a user interface. The reference position command indicates a desired movement for the distal end of the continuum robot and the force command indicates a desired force to be applied by the tip of the continuum robot to a tissue surface. The position of the continuum robot is adjusted to cause the tip of the continuum robot to apply the desired force to the tissue surface based on the estimated force at the tip of the continuum robot, the reference position command, and the force command.Type: GrantFiled: January 6, 2017Date of Patent: May 28, 2019Assignee: Vanderbilt UniversityInventors: Nabil Simaan, Andrea Bajo, James L. Netterville, C. Gaelyn Garrett, Roger E. Goldman
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Publication number: 20190150904Abstract: An articulated tool positioning apparatus comprising a base member, an intermediate member, an end member and a first tool holder arranged in succession, each of the base member, intermediate member, end member and tool holder having a respective central opening. A first plurality of coupled guides id positioned between the base member and the intermediate member and a second plurality of coupled guides is positioned between the intermediate member and the end member. A third plurality of coupled guides is diposed between the end member and the tool holder. The base member, intermediate member, end member, first tool holder and first second and third pluralities of coupled guides all have a central opening and guide openings or securing points for securing pluralities of flexible control links to the base member or to an object separated from the base member.Type: ApplicationFiled: November 9, 2018Publication date: May 23, 2019Inventors: Rene Robert, David Allen Zitnick, Peter John Kenneth Cameron, Leonard M. Faria, Andrea Bajo
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Patent number: 10278683Abstract: An articulated tool positioning apparatus comprising a base member, an intermediate member, an end member and a first tool holder arranged in succession, each of the base member, intermediate member, end member and tool holder having a respective central opening. A first plurality of coupled guides id positioned between the base member and the intermediate member and a second plurality of coupled guides is positioned between the intermediate member and the end member. A third plurality of coupled guides is diposed between the end member and the tool holder. The base member, intermediate member, end member, first tool holder and first second and third pluralities of coupled guides all have a central opening and guide openings or securing points for securing pluralities of flexible control links to the base member or to an object separated from the base member.Type: GrantFiled: December 20, 2013Date of Patent: May 7, 2019Assignee: Titan Medical Inc.Inventors: Rene Robert, David Allen Zitnick, Peter John Kenneth Cameron, Leonard M. Faria, Andrea Bajo
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Publication number: 20190000580Abstract: A robotic surgical system may include an actuator including a plurality of linearly displaceable drive members, where at least one drive member actuates at least one degree of freedom of a surgical instrument, and a sterile adapter interposed between the actuator and the surgical instrument. The sterile adapter includes a flexible barrier and a plurality of extensible covers integrally formed with the flexible barrier, and the plurality of extensible covers are arranged to receive the plurality of drive members. In some variations, the system may include an interlocked arrangement coupling the actuator and the surgical instrument across the sterile adapter, the interlocked arrangement urging the actuator and the surgical instrument together when the actuator actuates the at least one degree of freedom of the surgical instrument.Type: ApplicationFiled: June 27, 2018Publication date: January 3, 2019Inventors: Charles J. SCHEIB, Andrea BAJO, Kent M. ANDERSON
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Publication number: 20180168761Abstract: 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: December 19, 2017Publication date: June 21, 2018Inventors: Matthew Colin VARGAS, Charles J. SCHEIB, Andrea BAJO, Koray SAHIN, Jaime HERNANDEZ, Robert Elliott DeCOU
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Publication number: 20180168752Abstract: Generally, a sterile adapter for use in robotic surgery may include a frame configured to be interposed between a tool driver and a surgical tool, a plate assembly coupled to the frame, and at least one rotatable coupler supported by the plate assembly and configured to communicate torque from an output drive of the tool driver to an input drive of the surgical tool.Type: ApplicationFiled: December 20, 2017Publication date: June 21, 2018Inventors: Charles J. SCHEIB, Jaime HERNANDEZ, Andrea BAJO