US 11,944,401 B2
Emulation of robotic arms and control thereof in a virtual reality environment
Haoran Yu, Menlo Park, CA (US); Pablo Eduardo Garcia Kilroy, Menlo Park, CA (US); Bernard Fai Kin Siu, San Jose, CA (US); and Eric Mark Johnson, Sunnyvale, CA (US)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on Mar. 4, 2022, as Appl. No. 17/687,452.
Application 17/687,452 is a continuation of application No. 16/018,028, filed on Jun. 25, 2018, granted, now 11,284,955.
Claims priority of provisional application 62/526,910, filed on Jun. 29, 2017.
Prior Publication US 2022/0192771 A1, Jun. 23, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/00 (2016.01); A61B 34/10 (2016.01); G02B 27/01 (2006.01); G06T 19/00 (2011.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/70 (2016.02) [A61B 34/10 (2016.02); A61B 34/25 (2016.02); G02B 27/0172 (2013.01); G06T 19/006 (2013.01); A61B 2034/101 (2016.02); A61B 2034/102 (2016.02); A61B 2034/107 (2016.02); A61B 2034/256 (2016.02); A61B 34/30 (2016.02); A61B 2090/3983 (2016.02); G02B 2027/0138 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A virtual reality system for verifying a model of a robotic arm for surgery, the virtual reality system having one or more processors configured to:
generate a virtual robotic arm according to the model of the robotic arm;
test the virtual robotic arm in response to input from a user input device in view of a virtual surgical procedure;
modify the model of the robotic arm in response to the testing, by changing a length of one or more arm links of the virtual robotic arm; and
export the modified model of the robotic arm for designing the robotic arm.