US 11,786,315 B2
Surgical robotic system having grip-dependent control
Joan Savall, Palo Alto, CA (US); Denise Ann Miller, Scotts Valley, CA (US); and Karan Handa, San Mateo, CA (US)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on Sep. 18, 2020, as Appl. No. 17/26,085.
Prior Publication US 2022/0087748 A1, Mar. 24, 2022
Int. Cl. G09G 5/00 (2006.01); A61B 34/20 (2016.01); A61B 34/00 (2016.01); A61B 34/37 (2016.01); A61B 34/30 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 34/25 (2016.02); A61B 34/37 (2016.02); A61B 34/74 (2016.02); A61B 34/76 (2016.02); A61B 2034/2046 (2016.02); A61B 2034/301 (2016.02); A61B 2562/0257 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of controlling a surgical robotic system based on a user's grip on a user interface device, the method comprising:
determining a grip configuration of a user's hand on a user interface device of a surgical robotic system;
determining, based on the grip configuration, a virtual center of rotation of the user interface device; and
generating, based on the virtual center of rotation of the user interface device, control commands to actuate a component of the surgical robotic system.