US 12,478,451 B2
Hardstop detection and handling for surgical tool
Xiaobin Zhang, Santa Clara, CA (US); Renbin Zhou, 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 Jul. 16, 2024, as Appl. No. 18/774,132.
Application 18/774,132 is a continuation of application No. 17/498,988, filed on Oct. 12, 2021, granted, now 12,064,290.
Prior Publication US 2024/0366332 A1, Nov. 7, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 90/00 (2016.01); A61B 34/00 (2016.01); A61B 34/35 (2016.01)
CPC A61B 90/06 (2016.02) [A61B 34/35 (2016.02); A61B 34/71 (2016.02); A61B 2034/715 (2016.02); A61B 2090/066 (2016.02)] 20 Claims
OG exemplary drawing
 
1. An apparatus for detecting a hardstop for a surgical tool including a plurality of sensors and a plurality of cables, the apparatus comprising:
a memory configured to store a hardstop detection program; and
a controller configured to execute the hardstop detection program to select a highest tension cable from the plurality of cables based on a comparison of the forces associated with the plurality of cables, calculate a torque threshold based at least on the highest tension cable, and detect a hardstop based on a comparison of a received joint torque value to the torque threshold.