Patents by Inventor Pablo Eduardo Garcia Kilroy
Pablo Eduardo 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: 11944401Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. The virtual reality system may be used to expedite the R&D cycle during development of a robotic surgical system, such as by allowing simulation of potential design without the time and significant expense of physical prototypes. The virtual reality system may also be used to test a control algorithm or a control mode for a robotic surgical component.Type: GrantFiled: March 4, 2022Date of Patent: April 2, 2024Assignee: Verb Surgical Inc.Inventors: Haoran Yu, Pablo Eduardo Garcia Kilroy, Bernard Fai Kin Siu, Eric Mark Johnson
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Patent number: 11883245Abstract: Embodiments described herein provide a surgical duration estimation system for continuously predicting real-time remaining surgical duration (RSD) of a live surgical session of a given surgical procedure based on a real-time endoscope video of the live surgical session. In one aspect, the process receives a current frame of the endoscope video at a current time of the live surgical session, wherein the current time is among a sequence of prediction time points for making continuous RSD predictions during the live surgical session. The process next randomly samples N?1 additional frames of the endoscope video corresponding to the elapsed portion of the live surgical session between the beginning of the endoscope video corresponding to the beginning of the live surgical session and the current frame corresponding to the current time. The process then combines the N?1 randomly sampled frames and the current frame in the temporal order to obtain a set of N frames.Type: GrantFiled: March 22, 2021Date of Patent: January 30, 2024Assignee: VERB SURGICAL INC.Inventors: Mona Fathollahi Ghezelghieh, Jocelyn Elaine Barker, Pablo Eduardo Garcia Kilroy
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Patent number: 11580882Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. Within the virtual reality system, various user modes enable different kinds of interactions between a user and the virtual robotic surgical environment. For example, one variation of a method for facilitating navigation of a virtual robotic surgical environment includes displaying a first-person perspective view of the virtual robotic surgical environment from a first vantage point, displaying a first window view of the virtual robotic surgical environment from a second vantage point and displaying a second window view of the virtual robotic surgical environment from a third vantage point. Additionally, in response to a user input associating the first and second window views, a trajectory between the second and third vantage points can be generated sequentially linking the first and second window views.Type: GrantFiled: April 2, 2021Date of Patent: February 14, 2023Assignee: VERB SURGICAL INC.Inventors: Pablo Eduardo Garcia Kilroy, Eric Mark Johnson, Bernard Fai Kin Siu, Haoran Yu
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Publication number: 20220296334Abstract: Embodiments described herein provide a surgical duration estimation system for continuously predicting real-time remaining surgical duration (RSD) of a live surgical session of a given surgical procedure based on a real-time endoscope video of the live surgical session. In one aspect, the process receives a current frame of the endoscope video at a current time of the live surgical session, wherein the current time is among a sequence of prediction time points for making continuous RSD predictions during the live surgical session. The process next randomly samples N-1 additional frames of the endoscope video corresponding to the elapsed portion of the live surgical session between the beginning of the endoscope video corresponding to the beginning of the live surgical session and the current frame corresponding to the current time. The process then combines the N-1 randomly sampled frames and the current frame in the temporal order to obtain a set of N frames.Type: ApplicationFiled: March 22, 2021Publication date: September 22, 2022Inventors: Mona Fathollahi Ghezelghieh, Jocelyn Elaine Barker, Pablo Eduardo Garcia Kilroy
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Publication number: 20220192771Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. The virtual reality system may be used to expedite the R&D cycle during development of a robotic surgical system, such as by allowing simulation of potential design without the time and significant expense of physical prototypes. The virtual reality system may also be used to test a control algorithm or a control mode for a robotic surgical component.Type: ApplicationFiled: March 4, 2022Publication date: June 23, 2022Inventors: Haoran YU, Pablo Eduardo GARCIA KILROY, Bernard Fai Kin SIU, Eric Mark JOHNSON
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Publication number: 20220101745Abstract: A virtual reality system may generate a virtual robotic surgical environment using a client application, where the virtual robotic surgical environment includes at least one virtual robotic component. In response to a user input to move the at least one virtual robotic component in the virtual robotic surgical environment, the system may pass status information regarding the at least one virtual robotic component from the client application to a server application, generate an actuation command based on the user input and the status information using the server application, pass the actuation command from the server application to the client application, and move the at least one virtual robotic component based on the actuation command.Type: ApplicationFiled: December 9, 2021Publication date: March 31, 2022Inventors: Haoran YU, Pablo Eduardo GARCIA KILROY, Bernard Fai Kin SIU, Eric Mark JOHNSON
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Patent number: 11284955Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. The virtual reality system may be used to expedite the R&D cycle during development of a robotic surgical system, such as by allowing simulation of potential design without the time and significant expense of physical prototypes. The virtual reality system may also be used to test a control algorithm or a control mode for a robotic surgical component.Type: GrantFiled: June 25, 2018Date of Patent: March 29, 2022Assignee: VERB SURGICAL INC.Inventors: Haoran Yu, Pablo Eduardo Garcia Kilroy, Bernard Fai Kin Siu, Eric Mark Johnson
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Patent number: 11270601Abstract: A virtual reality system may generate a virtual robotic surgical environment using a client application, where the virtual robotic surgical environment includes at least one virtual robotic component. In response to a user input to move the at least one virtual robotic component in the virtual robotic surgical environment, the system may pass status information regarding the at least one virtual robotic component from the client application to a server application, generate an actuation command based on the user input and the status information using the server application, pass the actuation command from the server application to the client application, and move the at least one virtual robotic component based on the actuation command. The client application and the server application may be run on a shared processor device, or on separate processor devices.Type: GrantFiled: June 25, 2018Date of Patent: March 8, 2022Assignee: VERB SURGICAL INC.Inventors: Haoran Yu, Pablo Eduardo Garcia Kilroy, Bernard Fai Kin Siu, Eric Mark Johnson
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Publication number: 20210304637Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. Within the virtual reality system, various user modes enable different kinds of interactions between a user and the virtual robotic surgical environment. For example, one variation of a method for facilitating navigation of a virtual robotic surgical environment includes displaying a first-person perspective view of the virtual robotic surgical environment from a first vantage point, displaying a first window view of the virtual robotic surgical environment from a second vantage point and displaying a second window view of the virtual robotic surgical environment from a third vantage point. Additionally, in response to a user input associating the first and second window views, a trajectory between the second and third vantage points can be generated sequentially linking the first and second window views.Type: ApplicationFiled: April 2, 2021Publication date: September 30, 2021Inventors: Pablo Eduardo Garcia Kilroy, Eric Mark Johnson, Bernard Fai Kin Siu, Haoran Yu
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Patent number: 11013559Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. The virtual reality system may simulate a robotic surgical environment in which a user may operate both a robotically-controlled surgical instrument using a handheld controller and a manual laparoscopic surgical instrument while adjacent a patient table.Type: GrantFiled: February 24, 2020Date of Patent: May 25, 2021Assignee: VERB SURGICAL INC.Inventors: Eric Mark Johnson, Pablo Eduardo Garcia Kilroy, Bernard Fai Kin Siu, Haoran Yu
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Patent number: 11011077Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. Within the virtual reality system, various user modes enable different kinds of interactions between a user and the virtual robotic surgical environment. For example, one variation of a method for facilitating navigation of a virtual robotic surgical environment includes displaying a first-person perspective view of the virtual robotic surgical environment from a first vantage point, displaying a first window view of the virtual robotic surgical environment from a second vantage point and displaying a second window view of the virtual robotic surgical environment from a third vantage point. Additionally, in response to a user input associating the first and second window views, a trajectory between the second and third vantage points can be generated sequentially linking the first and second window views.Type: GrantFiled: June 26, 2018Date of Patent: May 18, 2021Assignee: VERB SURGICAL INC.Inventors: Pablo Eduardo Garcia Kilroy, Eric Mark Johnson, Bernard Fai Kin Siu, Haoran Yu
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Patent number: 10987192Abstract: 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: GrantFiled: June 24, 2019Date of Patent: April 27, 2021Assignee: SRI InternationalInventors: Pablo Eduardo Garcia Kilroy, Thomas D. Egan, Karen Shakespear Koenig
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Publication number: 20210045817Abstract: A robotic arm according to various implementations includes: a tool driver configured to hold a surgical tool; a first section comprising a first end coupled to a base, a second end distal from first end; a first link that includes a motor configured to rotate at least a portion of the first section around a pitch axis; a second link coupled to the first link, the second link including a motor configured to rotate at least a portion of the first section around a roll axis; and a second section comprising: a first end coupled to the second end of the first section, a second end distal from the first end, a first link that includes a motor configured to rotate at least a portion of the second section around a roll axis, a second link coupled to the first link.Type: ApplicationFiled: October 30, 2020Publication date: February 18, 2021Inventors: Karen Shakespear KOENIG, Pablo Eduardo GARCIA KILROY, Sina NIA KOSARI, Thomas D. EGAN
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Patent number: 10842577Abstract: Systems and methods for embodiments of a hyperdexterous robotic system using groundless user input devices (UIDs). In some embodiments, the hyperdexterous system allows for the slave control to follow the master control even when the two are misaligned. The motion of the master control occurring in multiple degrees of freedom may be decoupled into its component parts and processed differently. Each degree of freedom may be processed independently and scaled differently. For example, in some embodiments, only the roll motion of the groundless user interface device is transferred, in some embodiments, the master slave control is only allowed when the master and slave are within a certain region of each other.Type: GrantFiled: July 30, 2015Date of Patent: November 24, 2020Assignee: SRI InternationalInventors: Pablo Eduardo Garcia Kilroy, Seungkook Yun, Karen Shakespear Koenig, Joan Savall
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Patent number: 10828115Abstract: A robotic arm according to various implementations includes: a tool driver configured to hold a surgical tool; a first section comprising a first end coupled to a base, a second end distal from first end; a first link that includes a motor configured to rotate at least a portion of the first section around a pitch axis; a second link coupled to the first link, the second link including a motor configured to rotate at least a portion of the first section around a roll axis; and a second section comprising: a first end coupled to the second end of the first section, a second end distal from the first end, a first link that includes a motor configured to rotate at least a portion of the second section around a roll axis, a second link coupled to the first link.Type: GrantFiled: July 22, 2016Date of Patent: November 10, 2020Assignee: SRI InternationalInventors: Karen Shakespear Koenig, Pablo Eduardo Garcia Kilroy, Sina Nia Kosari, Thomas D. Egan
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Publication number: 20200261159Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. The virtual reality system may simulate a robotic surgical environment in which a user may operate both a robotically-controlled surgical instrument using a handheld controller and a manual laparoscopic surgical instrument while adjacent a patient table.Type: ApplicationFiled: February 24, 2020Publication date: August 20, 2020Inventors: Eric Mark Johnson, Pablo Eduardo GARCIA KILROY, Bernard Fai Kin SIU, Haoran YU
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Patent number: 10711848Abstract: 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: GrantFiled: November 19, 2018Date of Patent: July 14, 2020Assignee: SRI InternationalInventors: Karen Shakespear Koenig, Pablo Eduardo Garcia Kilroy, Brian Keith McCoy, Allegra Anna Lenta Shum, Joseph Stephen Eckerle
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Patent number: 10617484Abstract: 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: GrantFiled: October 23, 2017Date of Patent: April 14, 2020Assignee: SRI InternationalInventors: Pablo Eduardo Garcia Kilroy, Karen Shakespear Koenig, Jose Luis Cordoba Matilla, Joan Savall
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Patent number: 10610303Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. The virtual reality system may simulate a robotic surgical environment in which a user may operate both a robotically-controlled surgical instrument using a handheld controller and a manual laparoscopic surgical instrument while adjacent a patient table.Type: GrantFiled: June 25, 2018Date of Patent: April 7, 2020Assignee: VERB SURGICAL INC.Inventors: Eric Mark Johnson, Pablo Eduardo Garcia Kilroy, Bernard Fai Kin Siu, Haoran Yu
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Publication number: 20200022775Abstract: 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: ApplicationFiled: August 2, 2019Publication date: January 23, 2020Inventors: Pablo Eduardo Garcia Kilroy, Thomas D. Egan, Karen Shakespear Koenig