Locally positioned EM tracker

{
  "publication_number": "US11266469B2",
  "country": "US",
  "kind": "B2",
  "title": "Locally positioned EM tracker",
  "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.",
  "claims": [
    "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."
  ],
  "description_excerpt": "This non-provisional patent application claims the benefit of the earlier filing date of U.S. provisional application No. 62/685,821 filed Jun. 15, 2018.\n\nEmbodiments related to robotic systems are disclosed. More particularly, embodiments related to surgical robotic systems and corresponding user input devices are disclosed.\n\nEndoscopic surgery involves looking into a patient's body and performing surgery inside the body using endoscopes and other surgical tools. For example, laparoscopic surgery can use a laparoscope to access and view an abdominal cavity. Endoscopic surgery can be performed using manual tools and/or a surgical robotic system having robotically-assisted tools.\n\nA surgical robotic system may be remotely operated by a surgeon operator to control a robotically-assisted tool located at an operating table. The surgeon may use a computer console located in the operating room, or it may be located in a different city, to command a robot to manipulate the surgical tool mounted on the operating table. The robotically-controlled surgical tool can be a grasper mounted on a robotic arm. Accordingly, the surgical robotic system may be controlled by the remote surgeon to grasp tissue during a robotic surgery.\n\nControl of the surgical robotic system may require control inputs from the surgeon.",
  "cpc": [
    "A61B 34/25",
    "A47C 1/00",
    "A47C 7/723",
    "A61B 2017/00212",
    "A61B 2017/00973",
    "A61B 2034/2048",
    "A61B 2034/2051",
    "A61B 2034/2057",
    "A61B 2090/3937",
    "A61B 34/30",
    "A61B 34/37",
    "A61B 34/74",
    "A61B 90/37",
    "A61B 90/60",
    "B25J 13/00",
    "B25J 13/087",
    "B25J 9/16",
    "B25J 9/1694",
    "G06F 3/0346",
    "G06F 3/03547"
  ],
  "ipc": [
    "A47C 1/00",
    "A47C 7/72",
    "A61B 34/00",
    "A61B 34/20",
    "A61B 34/30",
    "A61B 34/37",
    "A61B 90/00",
    "A61B 90/60",
    "B25J 13/08"
  ],
  "assignees": [
    "Verb Surgical Inc"
  ],
  "inventors": [
    "Bernhard Adolf Fuerst",
    "Pablo E. Garcia Kilroy",
    "Berk Gonenc",
    "Jose Luis Cordoba",
    "Joan Savall"
  ],
  "filing_date": "2019-06-13",
  "publication_date": "2022-03-08",
  "grant_date": "2022-03-08",
  "priority_date": "2018-06-15",
  "application_number": "US-201916440844-A",
  "family_id": "68838870",
  "cited_by_count": 7,
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}