Patents by Inventor Joseph KRALICKY
Joseph KRALICKY 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: 11779419Abstract: In some embodiments, correcting an alignment error between an end effector of a tool associated with a slave and a master actuator associated with a master in a robotic system involves receiving at the master, master actuator orientation signals (RMCURR) representing the orientation of the master actuator relative to a master reference frame and generating end effector orientation signals (REENEW) representing the end effector orientation relative to a slave reference frame, producing control signals based on the end effector orientation signals, receiving an enablement signal for selectively enabling the control signals to be transmitted from the master to the slave, responsive to a transition of the enablement signal from not active state to active state, computing the master-slave misalignment signals (R?) as a difference between the master actuator orientation signals (RMCURR) and the end effector orientation signals (REENEW), and adjusting the master-slave misalignment signals (R?) to reduce the alignmenType: GrantFiled: November 19, 2021Date of Patent: October 10, 2023Assignee: Titan Medical Inc.Inventors: Joseph Kralicky, Peter Cameron
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Patent number: 11744658Abstract: A method of operating a robotic control system comprising a master apparatus in communication with an input device having a handle and a slave system having a tool having an end effector whose position and orientation is determined in response to a position and orientation of the handle. The method involves producing a desired end effector position and a desired end effector orientation of the end effector, in response to a current position and a current orientation of the handle. The method further involves causing the input device to provide haptic feedback that impedes translational movement of the handle, while permitting rotational movement of the handle and preventing movement of the end effector, when a rotational alignment difference between the handle and the end effector meets a first criterion. The method further involves re-enabling translational movement of the handle when the rotational alignment difference meets a second criterion.Type: GrantFiled: August 27, 2021Date of Patent: September 5, 2023Assignee: TITAN MEDICAL INC.Inventors: Joseph Kralicky, Peter Cameron, Rene Robert
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Publication number: 20220071722Abstract: In some embodiments, correcting an alignment error between an end effector of a tool associated with a slave and a master actuator associated with a master in a robotic system involves receiving at the master, master actuator orientation signals (RMCURR) representing the orientation of the master actuator relative to a master reference frame and generating end effector orientation signals (REENEW) representing the end effector orientation relative to a slave reference frame, producing control signals based on the end effector orientation signals, receiving an enablement signal for selectively enabling the control signals to be transmitted from the master to the slave, responsive to a transition of the enablement signal from not active state to active state, computing the master-slave misalignment signals (R?) as a difference between the master actuator orientation signals (RMCURR) and the end effector orientation signals (REENEW), and adjusting the master-slave misalignment signals (R?) to reduce the alignmenType: ApplicationFiled: November 19, 2021Publication date: March 10, 2022Inventors: Joseph KRALICKY, Peter CAMERON
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Publication number: 20220047340Abstract: A method of operating a robotic control system comprising a master apparatus in communication with an input device having a handle and a slave system having a tool having an end effector whose position and orientation is determined in response to a position and orientation of the handle. The method involves producing a desired end effector position and a desired end effector orientation of the end effector, in response to a current position and a current orientation of the handle. The method further involves causing the input device to provide haptic feedback that impedes translational movement of the handle, while permitting rotational movement of the handle and preventing movement of the end effector, when a rotational alignment difference between the handle and the end effector meets a first criterion. The method further involves re-enabling translational movement of the handle when the rotational alignment difference meets a second criterion.Type: ApplicationFiled: August 27, 2021Publication date: February 17, 2022Inventors: Joseph Kralicky, Peter Cameron, Rene Robert
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Patent number: 11179209Abstract: In some embodiments, correcting an alignment error between an end effector of a tool associated with a slave and a master actuator associated with a master in a robotic system involves receiving at the master, master actuator orientation signals (RMCURR) representing the orientation of the master actuator relative to a master reference frame and generating end effector orientation signals (REENEW) representing the end effector orientation relative to a slave reference frame, producing control signals based on the end effector orientation signals, receiving an enablement signal for selectively enabling the control signals to be transmitted from the master to the slave, responsive to a transition of the enablement signal from not active state to active state, computing the master-slave misalignment signals (R?) as a difference between the master actuator orientation signals (RMCURR) and the end effector orientation signals (REENEW), and adjusting the master-slave misalignment signals (R?) to reduce the alignmenType: GrantFiled: October 1, 2020Date of Patent: November 23, 2021Assignee: Titan Medical Inc.Inventors: Joseph Kralicky, Peter Cameron
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Patent number: 11103318Abstract: A method of operating a robotic control system comprising a master apparatus in communication with an input device having a handle and a slave system having a tool having an end effector whose position and orientation is determined in response to a position and orientation of the handle. The method involves producing a desired end effector position and a desired end effector orientation of the end effector, in response to a current position and a current orientation of the handle. The method further involves causing the input device to provide haptic feedback that impedes translational movement of the handle, while permitting rotational movement of the handle and preventing movement of the end effector, when a rotational alignment difference between the handle and the end effector meets a first criterion. The method further involves re-enabling translational movement of the handle when the rotational alignment difference meets a second criterion.Type: GrantFiled: October 31, 2018Date of Patent: August 31, 2021Assignee: Titan Medical Inc.Inventors: Joseph Kralicky, Peter Cameron, Rene Robert
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Publication number: 20210045839Abstract: Methods and apparatuses for positioning a camera of a surgical robotic system to capture images inside a body cavity of a patient during a medical procedure are disclosed. In some embodiments, the method involves receiving location information at a controller of a surgical robotic system performing the medical procedure, the location information defining a location of at least one tool with respect to a body cavity frame of reference, and in response to receiving an align command signal at the controller, causing the controller to produce positioning signals operable to cause the camera to be positioned within the body cavity frame of reference to capture images of the at least one tool for display to an operator of the surgical robotic system.Type: ApplicationFiled: September 11, 2020Publication date: February 18, 2021Inventor: Joseph Kralicky
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Publication number: 20210015569Abstract: In some embodiments, correcting an alignment error between an end effector of a tool associated with a slave and a master actuator associated with a master in a robotic system involves receiving at the master, master actuator orientation signals (RMCURR) representing the orientation of the master actuator relative to a master reference frame and generating end effector orientation signals (REENEW) representing the end effector orientation relative to a slave reference frame, producing control signals based on the end effector orientation signals, receiving an enablement signal for selectively enabling the control signals to be transmitted from the master to the slave, responsive to a transition of the enablement signal from not active state to active state, computing the master-slave misalignment signals (R?) as a difference between the master actuator orientation signals (RMCURR) and the end effector orientation signals (REENEW), and adjusting the master-slave misalignment signals (R?) to reduce the alignmenType: ApplicationFiled: October 1, 2020Publication date: January 21, 2021Inventors: Joseph KRALICKY, Peter CAMERON
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Patent number: 10820953Abstract: In some embodiments, correcting an alignment error between an end effector of a tool associated with a slave and a master actuator associated with a master in a robotic system involves receiving at the master, master actuator orientation signals (RMCURR) representing the orientation of the master actuator relative to a master reference frame and generating end effector orientation signals (REENEW) representing the end effector orientation relative to a slave reference frame, producing control signals based on the end effector orientation signals, receiving an enablement signal for selectively enabling the control signals to be transmitted from the master to the slave, responsive to a transition of the enablement signal from not active state to active state, computing the master-slave misalignment signals (R?) as a difference between the master actuator orientation signals (RMCURR) and the end effector orientation signals (REENEW), and adjusting the master-slave misalignment signals (R?) to reduce the alignmenType: GrantFiled: May 14, 2019Date of Patent: November 3, 2020Assignee: Titan Medical Inc.Inventors: Joseph Kralicky, Peter Cameron
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Patent number: 10772703Abstract: Methods and apparatuses for positioning a camera of a surgical robotic system to capture images inside a body cavity of a patient during a medical procedure are disclosed. In some embodiments, the method involves receiving location information at a controller of a surgical robotic system performing the medical procedure, the location information defining a location of at least one tool with respect to a body cavity frame of reference, and in response to receiving an align command signal at the controller, causing the controller to produce positioning signals operable to cause the camera to be positioned within the body cavity frame of reference to capture images of the at least one tool for display to an operator of the surgical robotic system.Type: GrantFiled: August 25, 2017Date of Patent: September 15, 2020Assignee: Titan Medical Inc.Inventor: Joseph Kralicky
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Publication number: 20190269472Abstract: In some embodiments, correcting an alignment error between an end effector of a tool associated with a slave and a master actuator associated with a master in a robotic system involves receiving at the master, master actuator orientation signals (RMCURR) representing the orientation of the master actuator relative to a master reference frame and generating end effector orientation signals (REENEW) representing the end effector orientation relative to a slave reference frame, producing control signals based on the end effector orientation signals, receiving an enablement signal for selectively enabling the control signals to be transmitted from the master to the slave, responsive to a transition of the enablement signal from not active state to active state, computing the master-slave misalignment signals (R?) as a difference between the master actuator orientation signals (RMCURR) and the end effector orientation signals (REENEW), and adjusting the master-slave misalignment signals (R?) to reduce the alignmenType: ApplicationFiled: May 14, 2019Publication date: September 5, 2019Inventors: Joseph KRALICKY, Peter CAMERON
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Publication number: 20190201147Abstract: A method of operating a robotic control system comprising a master apparatus in communication with an input device having a handle and a slave system having a tool having an end effector whose position and orientation is determined in response to a position and orientation of the handle. The method involves producing a desired end effector position and a desired end effector orientation of the end effector, in response to a current position and a current orientation of the handle. The method further involves causing the input device to provide haptic feedback that impedes translational movement of the handle, while permitting rotational movement of the handle and preventing movement of the end effector, when a rotational alignment difference between the handle and the end effector meets a first criterion. The method further involves re-enabling translational movement of the handle when the rotational alignment difference meets a second criterion.Type: ApplicationFiled: October 31, 2018Publication date: July 4, 2019Inventors: Joseph Kralicky, Peter Cameron, Rene Robert
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Patent number: 10327856Abstract: In some embodiments, correcting an alignment error between an end effector of a tool associated with a slave and a master actuator associated with a master in a robotic system involves receiving at the master, master actuator orientation signals (RMCURR) representing the orientation of the master actuator relative to a master reference frame and generating end effector orientation signals (REENEW) representing the end effector orientation relative to a slave reference frame, producing control signals based on the end effector orientation signals, receiving an enablement signal for selectively enabling the control signals to be transmitted from the master to the slave, responsive to a transition of the enablement signal from not active state to active state, computing the master-slave misalignment signals (R?) as a difference between the master actuator orientation signals (RMCURR) and the end effector orientation signals (REENEW), and adjusting the master-slave misalignment signals (R?) to reduce the alignmenType: GrantFiled: January 8, 2016Date of Patent: June 25, 2019Assignee: Titan Medical Inc.Inventors: Joseph Kralicky, Peter Cameron
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Publication number: 20190060029Abstract: Methods and apparatuses for positioning a camera of a surgical robotic system to capture images inside a body cavity of a patient during a medical procedure are disclosed. In some embodiments, the method involves receiving location information at a controller of a surgical robotic system performing the medical procedure, the location information defining a location of at least one tool with respect to a body cavity frame of reference, and in response to receiving an align command signal at the controller, causing the controller to produce positioning signals operable to cause the camera to be positioned within the body cavity frame of reference to capture images of the at least one tool for display to an operator of the surgical robotic system.Type: ApplicationFiled: August 25, 2017Publication date: February 28, 2019Inventor: Joseph KRALICKY
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Patent number: 10159536Abstract: A method, a non-transitory computer readable medium, and an apparatus for operating the robotic control system comprising a master apparatus (64) in communication with an input device (58, 60) having a handle (102) and a slave system (54, 74) having a tool (66, 67) having an end effector (73) whose position and orientation is determined in response to a current position and current orientation of the handle. The method involves producing a desired end effector position and orientation in response to a current position and orientation of the handle. The method involves causing the input device to provide haptic feedback that impedes translational movement of the handle, while permitting rotational movement of the handle and preventing movement of the end effector, when a rotational alignment difference between the handle and the end effector meets a disablement criterion.Type: GrantFiled: January 8, 2016Date of Patent: December 25, 2018Assignee: Titan Medical Inc.Inventors: Joseph Kralicky, Peter Cameron, Rene Robert
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Publication number: 20180271607Abstract: A method and apparatus for correcting an alignment error between an end effector of a tool associated with a slave and a master actuator in a master-slave robotic system in which an orientation of the end effector is remotely controlled by an orientation of the master actuator by producing, transmitting, receiving and/or generating control signals: master actuator orientation signals (RMCURR), end effector orientation signals (REENEW) and master-slave misalignment signals (R?). Producing control signals from the master to the slave involves receiving and transmitting an enablement signal when the enablement signal is active and not active. In response, computing the master-slave misalignment signals (R?) and detecting a second difference between the master actuator orientation (RMCURR) and the end effector orientation (REENEW) signals.Type: ApplicationFiled: January 8, 2016Publication date: September 27, 2018Inventors: Joseph KRALICKY, Peter CAMERON
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Publication number: 20170367777Abstract: A method, a non-transitory computer readable medium, and an apparatus for operating the robotic control system comprising a master apparatus (64) in communication with an input device (58, 60) having a handle (102) and a slave system (54, 74) having a tool (66, 67) having an end effector (73) whose position and orientation is determined in response to a current position and current orientation of the handle. The method involves producing a desired end effector position and orientation in response to a current position and orientation of the handle. The method involves causing the input device to provide haptic feedback that impedes translational movement of the handle, while permitting rotational movement of the handle and preventing movement of the end effector, when a rotational alignment difference between the handle and the end effector meets a disablement criterion.Type: ApplicationFiled: January 8, 2016Publication date: December 28, 2017Inventors: Joseph KRALICKY, Peter CAMERON, Rene ROBERT