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1.发明申请
公开(公告)号：WO2023281332A1
公开(公告)日：2023-01-12
申请号：PCT/IB2022/055441
申请日：2022-06-13
Applicant: VERB SURGICAL INC.
Inventor： SHRIVASTAVA, Apoorv , YU, Haoran , ZHOU, Renbin , YUN, Seungkook , KLINGBEIL, Ellen
Abstract: For teleoperation of a surgical robotic system, the control of the surgical robotic system accounts for a limited degree of freedom of a tool in a surgical robotic system. A projection from the greater DOF of the user input commands to the lesser DOF of the tool is included within or as part of the inverse kinematics. The projection identifies feasible motion in the end-effector domain. This projection allows for a general solution that works for tools having different degrees of freedom and will converge on a solution.
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公开(公告)号：WO2021251989A1
公开(公告)日：2021-12-16
申请号：PCT/US2020/038098
申请日：2020-06-17
Applicant: VERB SURGICAL INC.
Inventor： ZHOU, Renbin , YU, Haoran , YUN, Seungkook Nia , KLINGBEIL, Ellen , SHRIVASTAVA, Apoorv
IPC: A61B34/35 , A61B34/00 , A61B17/00 , B25J9/16 , A61B34/30 , A61B34/37 , B25J9/02 , B25J9/101 , B25J9/1607 , B25J9/1648 , B25J9/1651
Abstract: Various approaches to solve for inverse kinematics may be used for teleoperation of a surgical robotic system. In one approach, an iterative solver solves for the linear component of motion independently from solving for the angular component of motion. One solver may be used to solve for both together. In another approach, all limits (e.g., position, velocity, and acceleration) are handled in one solution. Where a limit is reached, the limit is used as a bound in the intermediate solution, allowing solution even where a bound is reached. In another approach, a ratio of limits of position are used to create a slow-down region near the bounds to more naturally control motion. In yet another approach, the medical-based teleoperation uses a bounded Gauss-Siedel solver, such as with successive-over-relaxation.
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3.发明申请
公开(公告)号：WO2023281333A1
公开(公告)日：2023-01-12
申请号：PCT/IB2022/055446
申请日：2022-06-13
Applicant: VERB SURGICAL INC.
Inventor： KLINGBEIL, Ellen , ZHOU, Renbin , YU, Haoran
Abstract: For teleoperation of a surgical robotic system, the user command for the pose of the end effector is projected into a subspace reachable by the end effector. For example, a user command with six DOF is projected to a five DOF subspace. The six DOF user interface device may be used to more intuitively control, based on the projection, the end effector with the limited DOF relative to the user interface device.
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Patent Agency Ranking
公开(公告)号：EP4161429A1
公开(公告)日：2023-04-12
申请号：EP20939915.3
申请日：2020-06-17
Applicant: VERB SURGICAL INC.
Inventor： ZHOU, Renbin , YU, Haoran , YUN, Seungkook , KLINGBEIL, Ellen , SHRIVASTAVA, Apoorv
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5.发明公开
公开(公告)号：EP4366648A1
公开(公告)日：2024-05-15
申请号：EP22837111.8
申请日：2022-06-13
Applicant: Verb Surgical Inc.
Inventor： KLINGBEIL, Ellen , ZHOU, Renbin , YU, Haoran
CPC classification number: A61B2017/0020320130101 , A61B2017/0021620130101 , A61B34/30 , A61B2034/30520160201 , A61B2034/74220160201
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公开(公告)号：EP4203830A1
公开(公告)日：2023-07-05
申请号：EP20951779.6
申请日：2020-08-27
Applicant: Verb Surgical, Inc.
Inventor： ZHOU, Renbin , YUN, Seungkook , YU, Haoran , KLINGBEIL, Ellen , SHRIVASTAVA, Apoorv
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7.发明公开
公开(公告)号：EP4366647A1
公开(公告)日：2024-05-15
申请号：EP22837110.0
申请日：2022-06-13
Applicant: Verb Surgical Inc.
Inventor： SHRIVASTAVA, Apoorv , YU, Haoran , ZHOU, Renbin , YUN, Seungkook , KLINGBEIL, Ellen
CPC classification number: A61B2017/0020320130101 , A61B2017/0021620130101 , A61B34/30 , B25J9/1689 , G05B2219/3907920130101 , G05B2219/4512320130101
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公开(公告)号：EP3965686A1
公开(公告)日：2022-03-16
申请号：EP19928753.3
申请日：2019-05-13
Applicant: VERB SURGICAL INC.
Inventor： KLINGBEIL, Ellen , YU, Haoran
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