US 12,133,707 B2
Evaluation of calibration for surgical tool
Xiaobin Zhang, Santa Clara, CA (US); and Alireza Hariri, Santa Clara, CA (US)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on Aug. 9, 2021, as Appl. No. 17/397,248.
Prior Publication US 2023/0046044 A1, Feb. 16, 2023
Int. Cl. A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01); B25J 9/10 (2006.01); B25J 9/16 (2006.01)
CPC A61B 34/71 (2016.02) [A61B 34/35 (2016.02); B25J 9/1045 (2013.01); B25J 9/1641 (2013.01); B25J 9/1692 (2013.01); A61B 2034/305 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for evaluating calibrations of a surgical tool, the method comprising:
fixating a joint of the surgical tool at a first angle, the joint being driven by an actuator;
measuring an actuator position corresponding to the first angle;
accessing a calibrated offset corresponding to the first angle;
determining an expected joint angle based on the measured actuator position and the calibrated offset; and
reporting a first difference between the expected joint angle and the first angle.