US 12,433,704 B2
Correcting a robotic surgery user interface device tracking input
Hasan Tutkun Sen, San Mateo, CA (US); and Sina Nia Kosari, Fremont, CA (US)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on Jan. 9, 2024, as Appl. No. 18/408,332.
Application 17/110,928 is a division of application No. 15/900,552, filed on Feb. 20, 2018, granted, now 10,881,472, issued on Jan. 5, 2021.
Application 18/408,332 is a continuation of application No. 17/878,670, filed on Aug. 1, 2022, granted, now 11,883,119.
Application 17/878,670 is a continuation of application No. 17/110,928, filed on Dec. 3, 2020, granted, now 11,413,101, issued on Aug. 16, 2022.
Prior Publication US 2024/0216088 A1, Jul. 4, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/32 (2016.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); B25J 3/00 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); B25J 15/00 (2006.01); G06F 3/0346 (2013.01); G06F 3/038 (2013.01)
CPC A61B 34/32 (2016.02) [A61B 34/30 (2016.02); A61B 34/74 (2016.02); B25J 3/00 (2013.01); B25J 9/161 (2013.01); B25J 13/088 (2013.01); B25J 15/0019 (2013.01); G06F 3/0346 (2013.01); G06F 3/038 (2013.01); Y10S 901/02 (2013.01); Y10S 901/41 (2013.01); Y10S 901/46 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A method comprising:
receiving an input sequence of input samples that track a changing position or orientation of an input device of a robotic surgery system,
computing a current output sample, wherein the current output sample is computed based on i) a previously computed output sample, and ii) a velocity term that comprises a slope of a line fitted to a plurality of previously computed output samples, and
when an input sample is received, computing a new output sample based on i) a previously computed output sample, and ii) the input sample;
producing an output sequence that includes the current output sample and the new output sample; and
translating, by a feedback control system controller, the output sequence into actuator commands of a surgical robotic arm to which a surgical tool is attached so that the surgical tool mimics the changing position or orientation of the input device.