Locally positioned EM tracker

Patent metadata

Field	Value
Publication number	US-11266469-B2
Application number	US-201916440844-A
Country	US
Kind code	B2
Filing date	Jun 13, 2019
Priority date	Jun 15, 2018
Publication date	Mar 8, 2022
Grant date	Mar 8, 2022

Abstract

A user console for a surgical robotic system has a seat having an armrest and an electromagnetic (EM) transmitter coupled to the armrest to generate an EM field in an EM tracking space around the armrest. A user input device having a handheld housing is to be positioned within the EM tracking by an operator who is seated in the seat, during a surgical procedure. Other aspects are also described and claimed.

First claim

What is claimed is:

1. A user console for a surgical robotic system, comprising:
a seat having an armrest; and
a first electromagnetic (EM) transmitter that is part of an EM tracking subsystem and is configured to generate a first EM field in a first tracking space, wherein the first EM transmitter is mounted on a free end of the armrest such that the first EM field is localized around the free end of the armrest.

2. The user console of claim 1 , wherein the seat includes a second armrest, and further comprising a second EM transmitter mounted on the second armrest to generate a second EM field in a second EM tracking space around the second armrest.

3. The user console of claim 1 further comprising a boom mounted on the armrest, wherein the boom is movable relative to the armrest, and wherein the first EM transmitter is mounted on the boom.

4. The user console of claim 1 further comprising:
a user input device, UID, having a housing and an EM sensor within the housing, wherein the EM sensor is to produce a spatial state signal in six degrees of freedom that is responsive to the first EM field in the first tracking space while the UID is being held in a hand of an operator and is located within the first tracking space.

5. The user console of claim 4 wherein the UID is an ungrounded UID.

6. A user console for a surgical robotic system, comprising:
a seat having a seat portion and backrest portion; and
an electromagnetic (EM) transmitter that is part of an EM tracking subsystem, wherein the EM transmitter is mounted on the backrest portion behind the seat portion and is configured to generate an EM field in a tracking space in front of the seat portion.

7. The user console of claim 6 further comprising:
a user input device, UID, having a housing and an EM sensor within the housing, wherein the EM sensor is to produce a spatial state signal in six degrees of freedom that is responsive to the EM field in the tracking space while the UID is being held in a hand of an operator sitting between the backrest portion and the tracking space.

8. A user console for a surgical robotic system, comprising:
a seat;
a display;
a stand on which the display is supported; and
an electromagnetic (EM) transmitter that is part of an EM tracking subsystem, and is mounted on the stand to generate an EM field in a tracking space in front of the seat.

9. The user console of claim 8 wherein the EM transmitter is positioned at a height above the ground on which the stand is to rest that is closer to the bottom of the display than to the ground.

10. The user console of claim 8 further comprising:
a user input device, UID, having a housing and an EM sensor within the housing, wherein the EM sensor is to produce a spatial state signal in six degrees of freedom that is responsive to the EM field in the tracking space while the UID is being held in a hand of an operator and is located within the tracking space.

11. A user console for a surgical robotic system, comprising:
a seat;
a display; and
an electromagnetic (EM) transmitter that is part of an EM tracking subsystem, and is mounted on the display to generate an EM field in a tracking space in front of the seat.

12. The user console of claim 11 wherein the EM transmitter is mounted closer to the bottom of the display than to the top of the display.

Assignees

• Verb Surgical Inc

Inventors

• Fuerst Bernhard Adolf
• Garcia Kilroy Pablo E
• Gonenc Berk
• Cordoba Jose Luis
• Savall Joan

Classifications

• G06F3/03547 Primary

  Touch pads, in which fingers can move on a surface · CPC title

• G06F3/0346

  with detection of the device orientation or free movement in a three-dimensional [3D] space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors · CPC title

• A61B2017/00212

  using remote controls · CPC title

• B25J9/1694

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• B25J9/16

  Program controls (total factory control, i.e. centrally controlling a plurality of machines, G05B19/418) · CPC title