Verb Surgical Inc.

Maquet Gmbh

Bernard Fai Kin Siu

Haoran Yu

Pablo E Garcia Kilroy

Eric Mark Johnson

Karen Shakespear Koenig

Omar J Vakharia

Renbin Zhou

Sina Nia Kosari

Alex Kiturkes

David James Cagle

Jose Luis Cordoba

Wayne Grout

Richard William Timm

Joan Savall

Thomas D Egan

Robert Thomas Wiggers

Seung Mo Lim

Pablo Eduardo Garcia Kilroy

A method for controlling a robotic arm in a robotic surgical system includes defining a reference plane at a predetermined reference location for a robotic arm, where the robotic arm includes a plurality of joints, and driving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane.

Control modes and processes for positioning of a robotic manipulator

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.

Emulation of robotic arms and control thereof in a virtual reality environment

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.

Virtual reality training, simulation, and collaboration in a robotic surgical system

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 am is disposed in a position in which the coupler of the robotic arm can be engaged by the coupler of the surgical table.

Cart for robotic arms and method and apparatus for registering cart to surgical table

In some embodiments, an apparatus can include a surgical table and an adapter coupled thereto. The adapter includes an interface structure, a first link member coupled to a second link member, and a third link member coupled to a fourth link member. The first link member and the third link member are each pivotally coupled to the interface mechanism at a shared first pivot joint. The second link member and the fourth link member are each coupleable to a robotic arm. The first link member and the second link member collectively provide for movement of the first robotic arm in at least one of a lateral, longitudinal or vertical direction relative to the table top. The third link member and the fourth link member collectively provide for movement of the second robotic arm in at least one of a lateral, longitudinal or vertical direction relative to the table top.

Linkage mechanisms for mounting robotic arms to a surgical table

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.

Virtual reality system for simulating a robotic surgical environment

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. For example, the virtual reality system f may include one or more processors configured to generate a virtual robotic surgical environment comprising at least one virtual robotic arm and at least one virtual manual laparoscopic tool, a first handheld device communicatively coupled to the virtual reality controller for manipulating the at least one virtual robotic arm in the virtual robotic surgical environment, and a second handheld device comprising a handheld portion and a tool feature representative of at least a portion of a manual laparoscopic tool, wherein the second handheld device is communicatively coupled to the virtual reality controller for manipulating the at least one virtual manual laparoscopic tool in the virtual robotic surgical environment.

Virtual reality laparoscopic tools

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.

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.

Growing community of inventors

San Jose, CA, United States of America

Bernard Fai Kin Siu