US 12,150,725 B2
Unmatching/matching interface device to robot grasper for engaging teleoperation
Ellen Klingbeil, Mountain View, CA (US); and Haoran Yu, Milpitas, CA (US)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on Oct. 7, 2022, as Appl. No. 17/961,820.
Application 17/961,820 is a continuation of application No. 16/409,620, filed on May 10, 2019, granted, now 11,478,312.
Prior Publication US 2023/0145970 A1, May 11, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/35 (2016.01); A61B 17/28 (2006.01); G16H 40/67 (2018.01); A61B 17/00 (2006.01); A61B 34/00 (2016.01)
CPC A61B 34/35 (2016.02) [A61B 17/28 (2013.01); G16H 40/67 (2018.01); A61B 2017/00199 (2013.01); A61B 2017/00216 (2013.01); A61B 2017/00973 (2013.01); A61B 2034/252 (2016.02)] 20 Claims
OG exemplary drawing
 
9. A method of re-engaging teleoperation for a surgical robotic system, the method comprising the following operations while the system is in a non-teleoperation mode, wherein in the non-teleoperation mode, a robotic grasper is not being controlled by the system to follow an interface device, of the system:
executing, by one or more processors, a state machine having a plurality of states;
receiving a sequence of user actions through the interface device that cause the state machine to transition between the plurality of states;
determining, responsive to one of the sequence of user actions, that there is a mismatch between the interface device and a jaw angle or a grip force of the robotic grasper; and then
responsive to another of the sequence of user actions, determining that the state machine has reached a matched state corresponding to the interface device matching the jaw angle or the grip force of the robotic grasper, and then in response to the matched state, enabling the surgical robotic system to engage in teleoperation.