US 12,213,756 B2
Interlock mechanisms to disengage and engage a teleoperation mode
Joan Savall, Palo Alto, CA (US); Denise Ann Miller, Scotts Valley, CA (US); Anette Lia Freiin von Kapri, Mountain View, CA (US); Paolo Invernizzi, Milan (IT); and John Magnasco, San Jose, CA (US)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on Sep. 19, 2023, as Appl. No. 18/470,252.
Application 18/470,252 is a continuation of application No. 17/725,351, filed on Apr. 20, 2022, granted, now 11,806,104.
Application 17/725,351 is a continuation of application No. 16/415,992, filed on May 17, 2019, granted, now 11,337,767, issued on May 24, 2022.
Prior Publication US 2024/0081929 A1, Mar. 14, 2024
Int. Cl. A61B 34/35 (2016.01); A61B 34/00 (2016.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); G06F 3/01 (2006.01); A61B 34/30 (2016.01)
CPC A61B 34/35 (2016.02) [A61B 34/25 (2016.02); B25J 9/0009 (2013.01); B25J 9/1689 (2013.01); G06F 3/012 (2013.01); G06F 3/013 (2013.01); G06F 3/017 (2013.01); A61B 2034/305 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A method for disengaging a surgical instrument of a surgical robotic system, the method 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 the following interlock conditions are satisfied: (1) at least one or more user interface devices of the surgical robotic system having a tracker that indicates the at least one or more user interface devices are outside a trackable workspace of the surgical robotic system or the at least one or more user interface devices are in a stored configuration, and (2) a user's gaze is outside a display of the surgical robotic system; and
in response to determining the interlock conditions are satisfied, transition the surgical robotic system out of a teleoperation mode such that the at least one or more user interface devices is prevented from controlling the surgical instrument.