Patents by Inventor Pablo Garcia Kilroy

Pablo 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).

  • Publication number: 20220133420
    Abstract: Disclosed herein is a mobile interface device to control a robotically-assisted surgical system. The mobile interface device provides a surgeon with a direct view of the surgical robotic system and allows a surgeon to easily and intuitively select, control, or manipulate various target components of the surgical robotic system. The mobile interface device may capture a live image of the surgical robotic system to automatically identify a robotic arm that appears in the center of the captured live image as the target component selected by the surgeon. Based on the current pose or position of the target component, the mobile interface device may generate a list of target poses and control options. The surgeon may select a control option to select a target pose and to manipulate the target component to command a robotically-assisted movement of the selected robotic arm from the current pose to the target pose.
    Type: Application
    Filed: January 18, 2022
    Publication date: May 5, 2022
    Inventors: Bernhard Adolf Fuerst, Pablo Garcia Kilroy
  • Patent number: 11290689
    Abstract: Embodiments described herein provide various examples of synchronizing the playback of a recorded video of a surgical procedure with a live video feed of a user performing the surgical procedure. In one aspect, a system can simultaneously receive a recorded video of a surgical procedure and a live video feed of a user performing the surgical procedure in a training session. More specifically, the recorded video is shown to the user as a training reference, and the surgical procedure includes a set of surgical tasks. The system next simultaneously monitors the playback of a current surgical task in the set of surgical tasks in the recorded video and the live video feed depicting the user performing the current surgical task. Next, the system detects that the end of the current surgical task has been reached during the playback of the recorded video.
    Type: Grant
    Filed: September 21, 2020
    Date of Patent: March 29, 2022
    Assignee: VERB SURGICAL INC.
    Inventors: Pablo Garcia Kilroy, Jagadish Venkataraman
  • Publication number: 20220028525
    Abstract: This patent disclosure provides various embodiments of combining multiple modalities of non-text surgical data in forms of videos, images, and audios in a meaningful manner so that the combined data can be used to perform comprehensive data analytics for a surgical procedure. In some embodiments, the disclosed system can begin by receiving two or more modalities of surgical data during the surgical procedure. The system then time-synchronizes the two or more modalities of surgical data to generate two or more modalities of time-synchronized surgical data. Next, the system converts each modality of the time-synchronized surgical data into a corresponding array of values of a common format. The system then combines the two or more arrays of values to generate a combined set of values. The system subsequently performs comprehensive data analytics on the combined set of values to generate a surgical decision for the surgical procedure.
    Type: Application
    Filed: October 4, 2021
    Publication date: January 27, 2022
    Inventors: Jagadish Venkataraman, Pablo Garcia Kilroy
  • Publication number: 20220008133
    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: Application
    Filed: September 27, 2021
    Publication date: January 13, 2022
    Inventors: Bernhard Fuerst, Eric Johnson, Pablo Garcia Kilroy
  • Publication number: 20210353369
    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: Application
    Filed: July 29, 2021
    Publication date: November 18, 2021
    Inventors: Bernhard A. Fuerst, Dennis Moses, Miguel Piedrahita, Michael Wong, Pablo Garcia Kilroy, Jose Luis Cordoba
  • Publication number: 20210346094
    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: Application
    Filed: May 8, 2020
    Publication date: November 11, 2021
    Inventors: Bernhard Fuerst, Eric Johnson, Pablo Garcia Kilroy
  • Publication number: 20210350025
    Abstract: This patent disclosure provides various verification techniques to ensure that anonymized surgical procedure videos are indeed free of any personally-identifiable information (PII). In a particular aspect, a process for verifying that an anonymized surgical procedure video is free of PII is disclosed. This process can begin by receiving a surgical video corresponding to a surgery. The process next removes personally-identifiable information (PII) from the surgical video to generate an anonymized surgical video. Next, the process selects a set of verification video segments from the anonymized surgical procedure video. The process subsequently determines whether each segment in the set of verification video segments is free of PII. If so, the process replaces the surgical video with the anonymized surgical video for storage. If not, the process performs additional PII removal steps on the anonymized surgical video to generate an updated anonymized surgical procedure video.
    Type: Application
    Filed: July 20, 2021
    Publication date: November 11, 2021
    Inventors: Jagadish Venkataraman, Pablo Garcia Kilroy
  • 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
  • Publication number: 20210330405
    Abstract: For control about a remote center of motion (RCM) of a surgical robotic system, possible configurations of a robotic manipulator are searched to find the configuration providing a greatest overlap of the workspace of the surgical instrument with the target anatomy. The force at the RCM may be measured, such as with one or more sensors on the cannula or in an adaptor connecting the robotic manipulator to the cannula. The measured force is used to determine a change in the RCM to minimize the force exerted on the patient at the RCM. Given this change, the configuration of the robotic manipulator may be dynamically updated. Various aspects of this RCM control may be used alone or in combination, such as to optimize the alignment of workspace to the target anatomy, to minimize force at the RCM, and/or to dynamically control the robotic manipulator configuration based on workspace alignment and force measurement.
    Type: Application
    Filed: April 24, 2020
    Publication date: October 28, 2021
    Inventors: BERK GONENC, YIMING XU, MARGARET NICHOLSON, PABLO GARCIA KILROY
  • Publication number: 20210307831
    Abstract: Mobile virtual reality system for simulation, training or demonstration of a surgical robotic system can include a virtual reality processor. The processor can generate a virtual surgical robot and render the virtual surgical robot on a display. The virtual surgical robot can include a virtual surgical tool. A handheld user input device (UID) can sense a hand input from a hand. A foot input device can sense a foot input from a foot. The virtual reality processor can be configured to control a movement or action of the virtual surgical robot based on the hand input, and change which of the virtual surgical instruments is controlled by the one or more handheld UIDs based on the foot input. Other embodiments and aspects are disclosed and claimed.
    Type: Application
    Filed: April 3, 2020
    Publication date: October 7, 2021
    Inventors: Bernhard Fuerst, Eric Johnson, Pablo Garcia Kilroy
  • 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
  • Publication number: 20210290311
    Abstract: A surgical robotic system senses position or orientation of an object, which may be a trocar that has a magnetic field. Magnetic field sensors are coupled to a surgical robotic arm. A machine learning model coupled to the magnetic field sensors is trained to output three-dimensional position and/or three-dimensional orientation of the trocar or other object. Other aspects are also described.
    Type: Application
    Filed: March 19, 2020
    Publication date: September 23, 2021
    Inventors: Bernhard A. Fuerst, Dennis Moses, Pablo Garcia Kilroy
  • Publication number: 20210290466
    Abstract: Several solutions are described for making it easier to move a surgical robotics patient table, either from rest or to turn it. The table has a base, a support, and a table top on which the patient is supported. A number of casters are mounted to a body of the base. In one case, controllable jacks lift the body to release the casters thereby allowing them to swivel to a desired orientation. In another case, a drive assembly is rotatably coupled to the body of the base and includes an electric drive motor and a drive wheel to drive the table across the floor. Other aspects are also described and claimed.
    Type: Application
    Filed: March 19, 2020
    Publication date: September 23, 2021
    Inventors: Karen Shakespear Koenig, Pablo Garcia Kilroy, Richard W. Timm, Wayne Grout, Robert T. Wiggers
  • 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
  • Publication number: 20210128260
    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. The system also includes one or more sensors that are operable to visually sense a surface feature of the trocar. One or more processors determine a position and orientation of the trocar, based on the visually sensed surface feature. In response, the processor controls the actuators to orient the docking interface to the determined orientation of the trocar and to guide the robotic arm toward the determined position of the trocar. Other aspects are also described and claimed.
    Type: Application
    Filed: October 31, 2019
    Publication date: May 6, 2021
    Inventors: Berk Gonenc, Xin Liu, Jose Luis Cordoba, Bernhard A. Fuerst, Dennis Moses, Pablo Garcia Kilroy
  • Publication number: 20210134448
    Abstract: Embodiments described herein provide various examples of a system for extracting an actual procedure duration composed of actual surgical tool-tissue interactions from an overall procedure duration of a surgical procedure on a patient. In one aspect, the system is configured to obtain the actual procedure duration by: obtaining an overall procedure duration of the surgical procedure; receiving a set of operating room (OR) data from a set of OR data sources collected during the surgical procedure, wherein the set of OR data includes an endoscope video captured during the surgical procedure; analyzing the set of OR data to detect a set of non-surgical events during the surgical procedure that do not involve surgical tool-tissue interactions; extracting a set of durations corresponding to the set of non-surgical events; and determining the actual procedure duration by subtracting the set of extracted durations from the overall procedure duration.
    Type: Application
    Filed: January 12, 2021
    Publication date: May 6, 2021
    Inventors: Jagadish Venkataraman, Pablo Garcia Kilroy
  • Publication number: 20210121233
    Abstract: A virtual operating room (OR) is generated that includes virtual surgical equipment based on existing OR models and existing equipment models. Sensor feedback is received that defines a physical OR having physical equipment, the physical equipment including a surgical robotic system within the physical OR. The virtual OR and the virtual surgical equipment is updated based on the sensor feedback. A layout of the virtual surgical equipment is optimized in the virtual OR. The virtual OR and the virtual surgical equipment are rendered on a display.
    Type: Application
    Filed: October 29, 2019
    Publication date: April 29, 2021
    Inventors: Bernhard Fuerst, Eric Johnson, Pablo Garcia Kilroy
  • Publication number: 20210121232
    Abstract: Planning surgical robotic workflow with a surgical robotic system can include generating a virtual surgical environment, the virtual surgical environment including a virtual surgical robotic arm and a virtual patient. A workspace can be determined in the virtual patient. A position of a virtual tool, attached to the virtual surgical robotic arm, can be determined. A position of the virtual surgical robotic arm can be determined to maintain a reach of the virtual tool in the workspace.
    Type: Application
    Filed: October 29, 2019
    Publication date: April 29, 2021
    Inventors: Bernhard Fuerst, Eric Johnson, Pablo Garcia Kilroy
  • Publication number: 20210088807
    Abstract: An autostereoscopic three-dimensional display system for surgical robotics has an autostereoscopic three-dimensional display configured to receive and display video from a surgical robotics camera, and a first sensor assembly and a second sensor assembly. A processor is configured to detect and track an eye position or a head position of a user relative to the display based on processing output data of the first sensor assembly, and to detect and track a gaze of the user based on processing output data of the second sensor assembly. The processor further is configured to modify or control an operation of the display system based on the detected gaze of the user. A spatial relationship of the display also can be automatically adjusted in relation to the user based on the detected eye or head position of the user to optimize the user's visualization of three-dimensional images on the display.
    Type: Application
    Filed: December 4, 2020
    Publication date: March 25, 2021
    Inventors: Bernhard A. Fuerst, Pablo Garcia Kilroy, Joan Savall, Anette Lia Freiin Von Kapri