US 11,903,667 B2
Methods for actively engaging and disengaging teleoperation of a surgical robotic system
Taylor Joseph Cone, Belmont, CA (US); Joan Savall, Palo Alto, CA (US); Anette Lia Freiin von Kapri, Mountain View, CA (US); and Eric Mark Johnson, Pacific Grove, CA (US)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on Oct. 10, 2022, as Appl. No. 17/962,766.
Application 17/962,766 is a continuation of application No. 16/236,163, filed on Dec. 28, 2018, granted, now 11,478,318.
Prior Publication US 2023/0084165 A1, Mar. 16, 2023
Int. Cl. A61B 34/00 (2016.01); A61B 34/35 (2016.01); B25J 15/00 (2006.01); G06F 3/033 (2013.01); G06F 3/0346 (2013.01); G06F 3/0354 (2013.01); A61B 34/30 (2016.01)
CPC A61B 34/74 (2016.02) [A61B 34/25 (2016.02); A61B 34/35 (2016.02); B25J 15/0019 (2013.01); A61B 34/76 (2016.02); A61B 2034/301 (2016.02); G06F 3/0334 (2013.01); G06F 3/0346 (2013.01); G06F 3/03547 (2013.01)] 25 Claims
OG exemplary drawing
 
1. A method for engaging and disengaging a surgical instrument of a surgical robotic system, the method comprising:
receiving a user input from one or more user interface devices of the surgical robotic system, wherein the one or more user interface devices comprise at least one handheld user input device having a finger clutch operable to clutch a first surgical robotic arm and a clutch pedal operable to clutch the first surgical robotic arm and a second surgical robotic arm, and the user input comprises a tap of the finger clutch or a tap of the clutch pedal over a predetermined interval comprising a predetermined amount of time between the tap of the finger clutch or the tap of the clutch pedal and a subsequent tap of the finger clutch or tap of the clutch pedal;
determining, by one or more processors communicatively coupled to the one or more user interface devices and the surgical instrument, whether the user input indicates an intentional engagement or disengagement of a teleoperation mode in which the surgical instrument is controlled by the user input received from the user interface devices;
in response to determining engagement, transitioning the surgical robotic system into the teleoperation mode; and
in response to determining disengagement, transitioning the surgical robotic system out of the teleoperation mode such that the one or more user interface devices are prevented from controlling the surgical instrument.