Patents by Inventor Karen Shakespear Koenig

Karen Shakespear Koenig 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).

  • Publication number: 20200306997
    Abstract: A robotic surgical system includes a robotic arm comprising a first segment having a first plurality of links and a first plurality of actuated joint modules providing the robotic arm with at least five degrees of freedom, and a second segment having a proximal end coupled to a distal end of the first segment, and comprising a second plurality of links and a second plurality of actuated joint modules providing the robotic arm with at least two degrees or freedom. The robotic surgical system further comprises an instrument driver coupled to the second segment and configured to hold a surgical instrument. The second arm segment is configured to move the surgical instrument within a generally spherical workspace, and the first arm segment is configured to move the location of the spherical workspace.
    Type: Application
    Filed: April 17, 2020
    Publication date: October 1, 2020
    Inventors: Karen Shakespear Koenig, Pablo E. Garcia Kilroy
  • Patent number: 10786327
    Abstract: 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: Grant
    Filed: October 3, 2017
    Date of Patent: September 29, 2020
    Assignee: Verb Surgical Inc.
    Inventors: Kent Anderson, Joan Savall, Brent Nobles, Allegra Shum, Pablo E. Garcia Kilroy, Karen Shakespear Koenig
  • Patent number: 10711848
    Abstract: Methods and apparatus related to electrolaminate clutches and transmissions are disclosed. A device can include: an input shaft that can be coupled to an electrolaminate sheet; an output shaft that can be coupled rigidly to a spring positioned over the input shaft, where the spring includes a tab that fits a groove of a spring capture ring that can be positioned over the input shaft; and a drum connected to an electrical ground between the electrolaminate sheet and the spring capture ring, where the drum can be coupled rigidly to the spring capture ring. Then, when a voltage is applied to the electrolaminate sheet, the electrolaminate sheet can clamp to the drum and impart rotation of the input shaft to the drum. The imparted rotation can cause the spring capture ring and the spring to rotate and clamp down on the input shaft, imparting rotation to the output shaft.
    Type: Grant
    Filed: November 19, 2018
    Date of Patent: July 14, 2020
    Assignee: SRI International
    Inventors: Karen Shakespear Koenig, Pablo Eduardo Garcia Kilroy, Brian Keith McCoy, Allegra Anna Lenta Shum, Joseph Stephen Eckerle
  • Patent number: 10661453
    Abstract: A robotic surgical system includes a robotic arm comprising a first segment having a first plurality of links and a first plurality of actuated joint modules providing the robotic arm with at least five degrees of freedom, and a second segment having a proximal end coupled to a distal end of the first segment, and comprising a second plurality of links and a second plurality of actuated joint modules providing the robotic arm with at least two degrees or freedom. The robotic surgical system further comprises an instrument driver coupled to the second segment and configured to hold a surgical instrument. The second arm segment is configured to move the surgical instrument within a generally spherical workspace, and the first arm segment is configured to move the location of the spherical workspace.
    Type: Grant
    Filed: September 15, 2017
    Date of Patent: May 26, 2020
    Assignee: Verb Surgical Inc.
    Inventors: Karen Shakespear Koenig, Pablo E. Garcia Kilroy
  • Patent number: 10617484
    Abstract: User interface devices are disclosed. The device can include a body that can be held in a user's hand. The body has an outer surface that can be gripped by fingers of the user's hand to facilitate translation and rotation of the body by the user's hand. The device can include one or snore sensors disposed within the body. In some embodiments, the one or more sensor can provide one or both of position and orientation information of the body to a control system. The body can provide feedback to the user via the exterior surface of the body that is gripped by the user's fingers and/or can receive control inputs from the user via one or more of translation of the body, rotation of the body, pressing of the outer surface with the user's fingers, and changing of the angular orientation of the longitudinal axis of the body. Methods of using a user interface device are also provided.
    Type: Grant
    Filed: October 23, 2017
    Date of Patent: April 14, 2020
    Assignee: SRI International
    Inventors: Pablo Eduardo Garcia Kilroy, Karen Shakespear Koenig, Jose Luis Cordoba Matilla, Joan Savall
  • Publication number: 20200022775
    Abstract: A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.
    Type: Application
    Filed: August 2, 2019
    Publication date: January 23, 2020
    Inventors: Pablo Eduardo Garcia Kilroy, Thomas D. Egan, Karen Shakespear Koenig
  • Publication number: 20200008901
    Abstract: A hyperdexterous surgical system is provided. The system on include one or more surgical arms coupleable in a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.
    Type: Application
    Filed: June 24, 2019
    Publication date: January 9, 2020
    Inventors: Pablo Eduardo Garcia Kilroy, Thomas D. Egan, Karen Shakespear Koenig
  • Publication number: 20190343594
    Abstract: A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.
    Type: Application
    Filed: April 15, 2019
    Publication date: November 14, 2019
    Inventors: Pablo Eduardo Garcia Kilroy, Thomas D. Egan, Karen Shakespear Koenig
  • Patent number: 10383699
    Abstract: A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.
    Type: Grant
    Filed: March 13, 2014
    Date of Patent: August 20, 2019
    Assignee: SRI INTERNATIONAL
    Inventors: Pablo Eduardo Garcia Kilroy, Thomas D. Egan, Karen Shakespear Koenig
  • Patent number: 10376337
    Abstract: A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.
    Type: Grant
    Filed: October 9, 2014
    Date of Patent: August 13, 2019
    Assignee: SRI INTERNATIONAL
    Inventors: Pablo Eduardo Garcia Kilroy, Thomas D. Egan, Karen Shakespear Koenig
  • Patent number: 10371237
    Abstract: A belt wave drive transmission system and method are shown involving a first rotor (10) having a first drum configured to rotate about its axis of rotation and a second rotor (20) having a second drum configured to rotate about its axis of rotation, where the first rotor (10) is constrained to orbit concentrically about the axis of rotation of the second drum. A belt (30) encircles the first and second drums to couple the first (10) and second (20) rotors such that the first rotor (10) moves concentrically around the second rotor (20) as the belt (30) advances about a circumference of the second drum. In further refinements, the system and method involve electrically controllably coupling at least one of the first and second rotors to the belt.
    Type: Grant
    Filed: May 5, 2017
    Date of Patent: August 6, 2019
    Assignee: SRI International
    Inventors: Karen Shakespear Koenig, Pablo Eduardo Garcia Kilroy
  • Patent number: 10299883
    Abstract: A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.
    Type: Grant
    Filed: October 9, 2014
    Date of Patent: May 28, 2019
    Assignee: SRI INTERNATIONAL
    Inventors: Pablo Eduardo Garcia Kilroy, Thomas D. Egan, Karen Shakespear Koenig
  • Publication number: 20190085913
    Abstract: Methods and apparatus related to electrolaminate clutches and transmissions are disclosed. A device can include: an input shaft that can be coupled to an electrolaminate sheet; an output shaft that can be coupled rigidly to a spring positioned over the input shaft, where the spring includes a tab that fits a groove of a spring capture ring that can be positioned over the input shaft; and a drum connected to an electrical ground between the electrolaminate sheet and the spring capture ring, where the drum can be coupled rigidly to the spring capture ring. Then, when a voltage is applied to the electrolaminate sheet, the electrolaminate sheet can clamp to the drum and impart rotation of the input shaft to the drum. The imparted rotation can cause the spring capture ring and the spring to rotate and clamp down on the input shaft, imparting rotation to the output shaft.
    Type: Application
    Filed: November 19, 2018
    Publication date: March 21, 2019
    Inventors: Karen Shakespear Koenig, Pablo Eduardo Garcia Kilroy, Brian Keith McCoy, Allegra Anna Lenta Shum, Joseph Stephen Eckerle
  • Publication number: 20180361568
    Abstract: Apparatus and methods for providing a robotic arm cart for transporting, delivering, and securing robotic arms to a surgical table having a tabletop on which a patient can be disposed are described herein. In some embodiments described herein an arm cart can contain multiple robotic arms. A robotic arm can be selected and moved from a storage position within the arm cart to a deployment position in which at least a portion of that robotic arm protrudes from the arm cart. A robotic arm in a deployment position can be coupled to a surgical table and decoupled from the arm cart.
    Type: Application
    Filed: October 16, 2017
    Publication date: December 20, 2018
    Applicant: Verb Surgical Inc.
    Inventors: David James CAGLE, Wayne GROUT, Seung Mo LIM, Karen Shakespear KOENIG, Robert T. WIGGERS
  • Publication number: 20180344421
    Abstract: In some embodiments, an apparatus can include a cart for a surgical robotic arm having a coupler releasably coupleable to a coupling site on a surgical table. The cart can include a base and a first engagement feature. The base can be freely movably on a support surface between a first location remote from the surgical table and a second location adjacent the surgical table. The first engagement feature can be configured for engagement with a second engagement feature associated with the surgical table such that, when the first engagement feature and the second engagement feature are engaged, the coupler of the robotic arm is disposed in a position in which the coupler of the robotic arm can be engaged by the coupler of the surgical table.
    Type: Application
    Filed: October 16, 2017
    Publication date: December 6, 2018
    Applicant: Verb Surgical Inc.
    Inventors: David James CAGLE, Wayne GROUT, Karen Shakespear KOENIG, Bernard Fai Kin SIU, Jose Luis CORDOBA
  • Patent number: 10138953
    Abstract: Methods and apparatus related to electrolaminate clutches and transmissions are disclosed. A device can include: an input shaft that can be coupled to an electrolaminate sheet; an output shaft that can be coupled rigidly to a spring positioned over the input shaft, where the spring includes a tab that fits a groove of a spring capture ring that can be positioned over the input shaft; and a drum connected to an electrical ground between the electrolaminate sheet and the spring capture ring, where the drum can be coupled rigidly to the spring capture ring. Then, when a voltage is applied to the electrolaminate sheet, the electrolaminate sheet can clamp to the drum and impart rotation of the input shaft to the drum. The imparted rotation can cause the spring capture ring and the spring to rotate and clamp down on the input shaft, imparting rotation to the output shaft.
    Type: Grant
    Filed: July 25, 2016
    Date of Patent: November 27, 2018
    Assignee: SRI International
    Inventors: Karen Shakespear Koenig, Pablo Eduardo Garcia Kilroy, Brian Keith McCoy, Allegra Anna Lenta Shum, Joseph Stephen Eckerle
  • Patent number: 10086147
    Abstract: Described herein is a smart dose monitoring device. The dose monitoring device may include electronics such as motion sensors, orientation sensors, and timers related to monitoring the time of and amount of dose administered during an injection event.
    Type: Grant
    Filed: January 22, 2016
    Date of Patent: October 2, 2018
    Assignee: Becton, Dickinson and Company
    Inventors: Mircea Stefan Despa, Andrew Richards, Sundeep Kankanala, Jonathan Hofius, Thomas P. Low, Jose Luis Cordoba Matilla, Pablo Eduardo Garcia Kilroy, Karen Shakespear Koenig, Joseph Eckerle
  • Patent number: 10034721
    Abstract: Apparatuses and methods described herein relate to arm carts for transporting and coupling a robotic arm to a surgical table. In some embodiments, an arm cart may include a damping mechanism (e.g., a spring, a dashpot) configured to damp an impact force imparted to the robotic arm due to the arm contacting another object, such as a surgical table. In other embodiments, an arm cart may include a backstop with an inclined surface configured to damp an impact force imparted to the robotic arm. In other embodiments, the arm cart may include a compliant arm support that is bendable to damp an impact force imparted to a robotic arm. In some embodiments, the arm cart may include a damping mechanism configured to move from an extended position to a retracted position to permit a robotic arm to couple to a surgical table.
    Type: Grant
    Filed: September 27, 2017
    Date of Patent: July 31, 2018
    Assignee: Verb Surgical Inc.
    Inventors: Richard William Timm, Seung Mo Lim, Robert T. Wiggers, Bernard Fai Kin Siu, Karen Shakespear Koenig
  • Publication number: 20180168759
    Abstract: User interface devices are disclosed. The device can include a body that can be held in a user's hand. The body has an outer surface that can be gripped by fingers of the user's hand to facilitate translation and rotation of the body by the user's hand. The device can include one or snore sensors disposed within the body. In some embodiments, the one or more sensor can provide one or both of position and orientation information of the body to a control system. The body can provide feedback to the user via the exterior surface of the body that is gripped by the user's fingers and/or can receive control inputs from the user via one or more of translation of the body, rotation of the body, pressing of the outer surface with the user's fingers, and changing of the angular orientation of the longitudinal axis of the body. Methods of using a user interface device are also provided.
    Type: Application
    Filed: October 23, 2017
    Publication date: June 21, 2018
    Inventors: Pablo Eduardo Garcia KILROY, Karen Shakespear KOENIG, Jose Luis Cordoba MATILLA, Joan SAVALL
  • Publication number: 20180092706
    Abstract: 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: Application
    Filed: October 3, 2017
    Publication date: April 5, 2018
    Inventors: Kent ANDERSON, Joan SAVALL, Brent NOBLES, Allegra SHUM, Pablo E. GARCIA KILROY, Karen Shakespear KOENIG