US 12,108,928 B2
Machine-learning-based visual-haptic system for robotic surgical platforms
Jagadish Venkataraman, Menlo Park, CA (US); and Denise Ann Miller, Scotts Valley, CA (US)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on Oct. 10, 2023, as Appl. No. 18/484,340.
Application 18/484,340 is a continuation of application No. 18/166,115, filed on Feb. 8, 2023, granted, now 11,819,188.
Application 18/166,115 is a continuation of application No. 17/362,620, filed on Jun. 29, 2021, granted, now 11,576,743, issued on Feb. 14, 2023.
Application 17/362,620 is a continuation of application No. 16/511,508, filed on Jul. 15, 2019, granted, now 11,058,505, issued on Jul. 13, 2021.
Application 16/511,508 is a continuation of application No. 16/129,593, filed on Sep. 12, 2018, granted, now 10,383,694, issued on Aug. 20, 2019.
Prior Publication US 2024/0099555 A1, Mar. 28, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/00 (2017.01); A61B 1/00 (2006.01); A61B 34/00 (2016.01); A61B 34/35 (2016.01); A61B 1/04 (2006.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01)
CPC A61B 1/00006 (2013.01) [A61B 1/000096 (2022.02); A61B 34/25 (2016.02); A61B 34/35 (2016.02); A61B 34/74 (2016.02); A61B 34/76 (2016.02); G06T 7/0012 (2013.01); A61B 1/04 (2013.01); A61B 34/20 (2016.02); A61B 2034/305 (2016.02); A61B 2034/743 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for generating a haptic feedback based on a surgical video containing interactions between surgical tools and their surrounding environment, the method comprising:
receiving a surgical video of a surgical procedure;
processing the surgical video to detect a type of surgical tool interaction that is captured in the surgical video;
applying a machine learning model to one or more video images in the surgical video, the one or more video image being associated with the detected type of surgical tool interaction, and wherein the machine learning model when applied to the one or more video images predicts a target interaction between a surgical tool and its surrounding environment; and
outputting the predicted target interaction to a surgeon performing the surgical procedure as a haptic feedback signal.