US 12,133,704 B2
Mitigating electromagnetic field distortion for a surgical robotic system
Joan Savall, Palo Alto, CA (US); Denise Ann Miller, Scotts Valley, CA (US); and Hamid Reza Sani, Belmont, CA (US)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on Apr. 21, 2023, as Appl. No. 18/305,199.
Application 18/305,199 is a continuation of application No. 16/525,417, filed on Jul. 29, 2019, granted, now 11,653,988.
Prior Publication US 2023/0293251 A1, Sep. 21, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/35 (2016.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 17/00 (2006.01); A61B 34/30 (2016.01)
CPC A61B 34/35 (2016.02) [A61B 34/20 (2016.02); A61B 34/74 (2016.02); A61B 34/76 (2016.02); A61B 2017/00199 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/00973 (2013.01); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/302 (2016.02); A61B 2034/742 (2016.02); A61B 2034/743 (2016.02); A61B 2034/744 (2016.02)] 20 Claims
OG exemplary drawing
 
15. A method of detecting distortions in an electromagnetic (EM) tracking field in a surgical system, the method comprising:
receiving, from a surgical device of the surgical system, surgical device EM readings of the EM tracking field;
receiving witness EM readings of the EM tracking field;
receiving deformation readings in response to a non-electromagnetic event around a user console within the surgical system; and
detecting distortion of the EM field based on one or more of the surgical device EM readings, the witness EM readings, and the deformation readings.