US 12,303,218 B2
Surgical robotic system and method for transitioning control to a secondary robot controller
Jignesh Desai, Santa Clara, CA (US)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on Jan. 25, 2023, as Appl. No. 18/101,312.
Application 18/101,312 is a division of application No. 16/984,704, filed on Aug. 4, 2020, granted, now 11,589,931.
Prior Publication US 2023/0172672 A1, Jun. 8, 2023
Int. Cl. B25J 9/16 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01)
CPC A61B 34/25 (2016.02) [B25J 9/1602 (2013.01); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02)] 15 Claims
OG exemplary drawing
 
1. A robotic method, comprising:
controlling movement of a surgical robot by a primary robot controller based on input from a first input device, the primary robot controller comprising a first plurality of processes for controlling the surgical robot;
receiving heartbeat messages from the primary robot controller by a secondary robot controller, while the primary robot controller is controlling the surgical robot, the secondary robot controller comprising a hibernated copy of the first plurality of processes;
responsive to failing to receive one or more heartbeat messages, transitioning control of the surgical robot to the secondary robot controller;
controlling movement of the surgical robot by the secondary robot controller based on input from a second input device different from the first input device; and
responsive to determining that the secondary robot controller is unable to control movement of the surgical robot, transitioning control of the surgical robot to a backup robot controller coupled to the secondary input device.