US 11,806,104 B2
Interlock mechanisms to disengage and engage a teleoperation mode
Joan Savall, Palo Alto, CA (US); Denise Ann Miller, Scotts Valley, CA (US); Anette Lia Freiin von Kapri, Mountain View, CA (US); Paolo Invernizzi, Milan (IT); and John Magnasco, San Jose, CA (US)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on Apr. 20, 2022, as Appl. No. 17/725,351.
Application 17/725,351 is a continuation of application No. 16/415,992, filed on May 17, 2019, granted, now 11,337,767.
Prior Publication US 2022/0323168 A1, Oct. 13, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/35 (2016.01); G06F 3/01 (2006.01); A61B 34/00 (2016.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); A61B 34/30 (2016.01)
CPC A61B 34/35 (2016.02) [A61B 34/25 (2016.02); B25J 9/0009 (2013.01); B25J 9/1689 (2013.01); G06F 3/012 (2013.01); G06F 3/013 (2013.01); G06F 3/017 (2013.01); A61B 2034/305 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A method for engaging and disengaging a surgical instrument of a surgical robotic system, the method comprising:
receiving a plurality of interlock inputs from one or more interlock detection components of the surgical robotic system, and wherein at least one of the one or more interlock detection components comprises a transport sensor for detecting whether the surgical robotic system is in a transportation mode as one of the plurality of interlock inputs;
determining, by one or more processors communicatively coupled to the interlock detection components, whether the plurality of interlock inputs indicate each of the following interlock requirements are satisfied: (1) a user is looking toward a display of the surgical robotic system, (2) at least one or more user interface devices of the surgical robotic system are configured in a usable manner, and (3) the transport sensor detects the surgical robotic system is not in the transportation mode; and
in response to determining each of the interlock requirements are satisfied, transition the surgical robotic system into a teleoperation mode in which the surgical instrument is controlled by at least one or more of the user interface devices.