US 12,440,992 B2
Control modes and processes for positioning of a robotic manipulator
Renbin Zhou, Wellington, FL (US); Haoran Yu, Sunnyvale, CA (US); Sina Nia Kosari, Fremont, CA (US); Omar J. Vakharia, Palo Alto, CA (US); Bernard Fai Kin Siu, San Jose, CA (US); and Alex Kiturkes, Belmont, CA (US)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on Jul. 6, 2023, as Appl. No. 18/348,032.
Application 18/348,032 is a continuation of application No. 17/061,168, filed on Oct. 1, 2020, granted, now 11,712,805.
Application 17/061,168 is a continuation of application No. 15/840,990, filed on Dec. 13, 2017, granted, now 10,807,242, issued on Oct. 20, 2020.
Prior Publication US 2024/0017415 A1, Jan. 18, 2024
Int. Cl. B25J 9/16 (2006.01); A61B 34/37 (2016.01); A61B 90/00 (2016.01); A61B 90/50 (2016.01); A61B 90/57 (2016.01)
CPC B25J 9/1679 (2013.01) [A61B 34/37 (2016.02); A61B 90/03 (2016.02); B25J 9/1689 (2013.01); A61B 2090/5025 (2016.02); A61B 2090/571 (2016.02); G05B 2219/40117 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for setting up a robotic surgical system prior to a surgical procedure, the method comprising:
driving a plurality of joints of a surgical robotic arm, the arm having a first portion that is pivotally coupled to a second portion at an actuatable joint, to guide the robotic arm through an ordered sequence of progressively unfolded predetermined poses,
starting from a storage pose where the robotic arm is stored substantially underneath a patient table and in which the second portion is collapsed onto or nested adjacent to the first portion both portions underneath the patient table, then
a table clear pose in which the robotic arm is no longer entirely underneath the patient table and can unfold or reconfigure without colliding with the patient table and other objects, wherein the first portion comprises a link that, during a movement of the robotic arm from the storage pose to the table clear pose, pivots outward around a pin that is coupled to and underneath the patient table, wherein the first portion pivots outward relative to the patient table until the table clear pose is reached, then
a plurality of on-plane unfolded poses in which the second portion of the arm has unfolded away from the first portion, wherein in the table clear pose the first portion of the robotic arm is placed at an angle relative to a longitudinal axis of the patient table sufficient to enable the on-plane unfolded poses, and then
a docking position in which the robotic arm is positioned for receiving a surgical instrument.