Verb Surgical Inc.

Leland Stanford Junior University

Sri International

Sandia Corporation

Verily Life Sciences LLC

Maquet Gmbh

Johnson & Johnson Innovation-jjdc, Inc.

Joan Savall

Anette Lia Freiin Von Kapri

Denise Ann Miller

Pablo E Garcia Kilroy

Taylor Joseph Cone

Brent Michael Nobles

Karen Shakespear Koenig

Allegra Anna Lenta Shum

Bernhard A Fuerst

Eric Mark Johnson

Jose Luis Cordoba

John Harry Magnasco

Paolo Invernizzi

Hamid Reza Sani

Kent M Anderson

Allegra Shum

Hyun Jin Kim

Berk Gonenc

Mark Jacob Schnitzer

Yiqi Zeng

Geoffrey Robert Russell

Hossein Mousavi Hondori

Jerome Anthony-Jean Lecoq

Tong Zhang

Robert Thomas Wiggers

Andrea Bajo

Pablo Eduardo Garcia Kilroy

Karan Handa

David Moore

Oleg Rumyantsev

J Kenneth Salisbury, Jr

Scott Matthew Anderson

Thomas D Egan

Mark R Cutkosky

Bernard Fai Kin Siu

Jason W Wheeler

Alexander Barthel

Mufaddal Jhaveri

Randall Blake Hellman

Seungkook Yun

Jose Luis Cordoba Matilla

Brent Nobles

Karlin Y Bark

Richard Edward DeMartini

Allegra Anna Shum

Bernhard Adolf Fuerst

User interface devices for manipulating a robotic surgical tool in a surgical robotic system are described. A user interface device can include a device body containing a tracking sensor to generate a spatial state signal in response to movement of the device body. The spatial state signal can be used to control a spatial motion of a surgical robotic system actuator. Several grip linkages can be pivotally coupled to the device body. A grip linkage displacement sensor may monitor movement of the grip linkages relative to the device body, and generate a grip signal in response to the movement. The grip signal can be used to control a grip motion of a robotic surgical tool mounted on the surgical robotic system actuator. Other embodiments are also described and claimed.

User interface device having grip linkages

A method of determining a location of a user input device of a surgical robotic system within a surgical workspace using a virtual workspace including determining, by one or more processors communicatively coupled to a user input device, that a user is engaging with the user input device within a surgical workspace; in response to determining the user is engaging with the user input device, displaying a virtual user input device within a first virtual workspace boundary, wherein at least a portion of the first virtual workspace boundary is operable to move in response to a movement of the user input device; displaying a second virtual workspace boundary that represents a second workspace limit beyond which the user input device is inoperable to control the surgical robotic instrument in the teleoperation mode; and determining a location of the user input device within the surgical workspace.

Training and feedback for a controller workspace boundary

A method performed by a surgical robotic system that includes a seat that is arranged for a user to sit and a display column that includes at least one display for displaying a three-dimensional (3D) surgical presentation. The method includes receiving an indication that the user has manually adjusted the seat and in response, determining, while the user is sitting on the seat, a position of the user's eyes, determining a configuration for the display column based on the determined position of the user's eyes, and adjusting the display column by actuating one or more actuators of the display column according to the determined configuration.

Adjustable user console for a surgical robotic system

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.

Immersive three-dimensional display for robotic surgery

A surgical robotic system is disclosed to include an operating table, a plurality of robotic arms and surgical instruments, a user console, and a control tower. The plurality of robotic arms are mounted on the operating table and can be stowed folded under the table for storage. The user console has one or more user interface devices, which function as master devices to control the plurality of surgical instruments.

Surgical robotic system

A method for engaging and disengaging a surgical instrument of a surgical robotic system comprising: receiving a plurality of interlock inputs from one or more interlock detection components of the surgical robotic system; determining, by one or more processors communicatively coupled to the interlock detection components, whether the plurality of interlock inputs indicate each of the following interlock requirements are satisfied: (1) a user is looking toward a display, (2) at least one or more user interface devices of the surgical robotic system are configured in a usable manner, and (3) a surgical workspace of the surgical robotic system is configured in a usable manner; in response to determining each of the interlock requirements are satisfied, transition the surgical robotic system into a teleoperation mode; and in response to determining less than all of the interlock requirements are satisfied, transition the surgical robotic system out of a teleoperation mode.

Interlock mechanisms to disengage and engage a teleoperation mode

A method for disengaging a surgical instrument of a surgical robotic system comprising receiving a gaze input from an eye tracker; determining, by one or more processors, whether the gaze input indicates the gaze of the user is outside or inside of the display; in response to determining the gaze input indicates the gaze of the user is outside of the display, determining an amount of time the gaze of the user is outside of the display; in response to determining the gaze of the user is outside of the display for less than a maximum amount of time, pause the surgical robotic system from a teleoperation mode; and in response to determining the gaze of the user is outside of the display for more than the maximum amount of time, disengage the surgical robotic system from the teleoperation mode.

Methods for determining if teleoperation should be disengaged based on the user's gaze

A foot pedal assembly for controlling a robotic surgical system. The foot pedal assembly including a foot pedal base, a foot pedal and a sensor. The foot pedal moves relative to the foot pedal base and has a contact surface extending from a distal end to a proximal end of the foot pedal. The contact surface is to come into contact with a foot of a user during use of the foot pedal assembly for controlling the robotic surgical system and the distal end is farther away from a heel of the foot than the proximal end during use of the assembly for controlling the robotic surgical system. The sensor is coupled to the contact surface of the foot pedal at a position closer to the proximal end than the distal end, and the sensor is operable to sense a target object positioned a distance over the contact surface.

Robotic surgical pedal with integrated foot sensor

A method for engaging and disengaging a surgical instrument of a surgical robotic system including receiving a sequence of user inputs from one or more user interface devices of the surgical robotic system; determining, by one or more processors communicatively coupled to the user interface devices and the surgical instrument, whether the sequence of user inputs indicates an intentional engagement or disengagement of a teleoperation mode in which the surgical instrument is controlled by user inputs received from the user interface devices; in response to determining of engagement, transition the surgical robotic system into the teleoperation mode; and in response to determining of disengagement, transition the surgical robotic system out of the teleoperation mode such that the user interface devices are prevented from controlling the surgical instrument.

Methods for actively engaging and disengaging teleoperation of a surgical robotic system

Surgical systems including a user console for controlling a surgical robotic tool are described. A witness sensor and a reference sensor can be mounted on the user console to measure an electromagnetic field distortion near a location, and to measure deformation of the location, respectively. Distortion in the electromagnetic field can be detected based on the measurements from the witness sensor and the reference sensor. An alert can be generated, or teleoperation of the surgical tool can be adjusted or paused, when a user interface device used to control the surgical tool is within a range of the distortion. The distortion can be from a known source, such as from actuation of a haptic motor of the user interface device, and the user console can adjust the actuation to reduce the likelihood that the distortion will disrupt surgical tool control. Other embodiments are described and claimed.

Mitigating electromagnetic field distortion for a surgical robotic system

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.

Systems and methods for three-dimensional visualization during robotic surgery

User interface devices for manipulating a robotic surgical tool in a surgical robotic system are described. A user interface device can include a device housing having a gripping surface symmetrically disposed about a central axis. The gripping surface can include a surface of revolution about the central axis. A tracking sensor can be mounted within the device housing to generate spatial state signals in response to movement of the device housing. The spatial state signals can be used to control motion of robotic system actuators. A finger clutch can be disposed at an end of the device housing, and can generate a clutch signal in response to a touch by a user. The clutch signal can be used to pause the motion of the robotic system actuators. Other embodiments are also described and claimed.

User interface device having finger clutch

Surgical robotic systems, and methods of verifying functionality of a user interface device of such systems, are described. During a surgical procedure, the user interface device controls motion of a surgical tool. Proximity sensors of the user interface device generate proximity measures throughout the surgical procedure. The proximity measures are used to detect whether the user interface device is dropped and to responsively halt motion of the surgical tool. To verify an accuracy of the proximity sensors that provide the drop detection, a test is performed when the user interface device is placed in a dock. The test compares the generated proximity measures to expected proximity data. When the proximity measures match the expected proximity data, the system determines that the proximity sensors are functioning accurately and verifies that the user interface device is functioning safely. Other embodiments are described and claimed.

System and method of verifying user interface device function

Growing community of inventors

Palo Alto, CA, United States of America

Joan Savall