US 12,138,004 B2
Methods for actively engaging and disengaging teleoperation of a surgical robotic system
Taylor Joseph Cone, Belmont, CA (US); Joan Savall, Palo Alto, CA (US); Anette Lia Freiin von Kapri, Mountain View, CA (US); and Eric Mark Johnson, Pacific Grove, CA (US)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on Jan. 19, 2024, as Appl. No. 18/418,109.
Application 18/418,109 is a continuation of application No. 17/962,766, filed on Oct. 10, 2022, granted, now 11,903,667.
Application 17/962,766 is a continuation of application No. 16/236,163, filed on Dec. 28, 2018, granted, now 11,478,318, issued on Oct. 25, 2022.
Prior Publication US 2024/0156557 A1, May 16, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01); B25J 15/00 (2006.01); G06F 3/033 (2013.01); G06F 3/0346 (2013.01); G06F 3/0354 (2013.01)
CPC A61B 34/74 (2016.02) [A61B 34/25 (2016.02); A61B 34/35 (2016.02); B25J 15/0019 (2013.01); A61B 2034/301 (2016.02); A61B 34/76 (2016.02); G06F 3/0334 (2013.01); G06F 3/0346 (2013.01); G06F 3/03547 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for engaging a teleoperation mode of a surgical robotic system, the method comprising:
receiving a user input from one or more interface devices of the surgical robotic system, wherein the one or more interface devices comprise at least one handheld input device having a finger clutch operable to clutch a first surgical robotic arm and a clutch pedal operable to clutch the first surgical robotic arm and a second surgical robotic arm and the user input comprises a user action on the finger clutch or the clutch pedal;
receiving a docking input indicating the at least one handheld input device is undocked from a docking station;
determining, by one or more processors communicatively coupled to the one or more interface devices, whether docking input indicates an intentional engagement of a teleoperation mode in which the first surgical robotic arm or the second surgical robotic arm is controlled by the user input received from the interface devices; and
in response to determining engagement, transitioning the surgical robotic system into a teleoperation mode.