Denise E Miller

US Patent:

D446099, Jan 26, 1999

Filed:

Apr 19, 1994

Appl. No.:

D/021557

Inventors:

Alan B. Miller - San Jose CA
Denise Miller - San Jose CA

International Classification:

0799

US Classification:

D 7400

US Patent:

20220323168, Oct 13, 2022

Filed:

Apr 20, 2022

Appl. No.:

17/725351

Inventors:

- Santa Clara CA, US
Denise Ann Miller - Scotts Valley CA, US
Anette Lia Freiin von Kapri - Mountain View CA, US
Paolo Invernizzi - Milano, IT
John Magnasco - San Jose CA, US

International Classification:

A61B 34/35
A61B 34/00
B25J 9/00
B25J 9/16
G06F 3/01

Abstract:

A method for engaging and disengaging a surgical instrument of a surgical robotic system comprising: receiving a plurality of interlock inputs from one or more interlock detection components of the surgical robotic system; 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, (2) at least one or more user interface devices of the surgical robotic system are configured in a usable manner, and (3) a surgical workspace of the surgical robotic system is configured in a usable manner; in response to determining each of the interlock requirements are satisfied, transition the surgical robotic system into a teleoperation mode; and in response to determining less than all of the interlock requirements are satisfied, transition the surgical robotic system out of a teleoperation mode.

US Patent:

20220179483, Jun 9, 2022

Filed:

Nov 16, 2021

Appl. No.:

17/527502

Inventors:

- Santa Clara CA, US
Denise Ann Miller - Scotts Valley CA, US
Paolo Invernizzi - Milano, IT
Joan Savall - Palo Alto CA, US
John Magnasco - San Jose CA, US

International Classification:

G06F 3/01
A61B 34/00
A61B 34/35

Abstract:

A method for disengaging a surgical instrument of a surgical robotic system comprising receiving a gaze input from an eye tracker; determining, by one or more processors, whether the gaze input indicates the gaze of the user is outside or inside of the display; in response to determining the gaze input indicates the gaze of the user is outside of the display, determining an amount of time the gaze of the user is outside of the display; in response to determining the gaze of the user is outside of the display for less than a maximum amount of time, pause the surgical robotic system from a teleoperation mode; and in response to determining the gaze of the user is outside of the display for more than the maximum amount of time, disengage the surgical robotic system from the teleoperation mode.

US Patent:

20210382551, Dec 9, 2021

Filed:

Aug 23, 2021

Appl. No.:

17/409443

Inventors:

- Santa Clara CA, US
Denise Miller - Scotts Valley CA, US
Joan Savall - Palo Alto CA, US

International Classification:

G06F 3/01
A61B 34/30
A61B 34/00

Abstract:

A method for passively calibrating and verifying eye tracking in a surgical robotic system. The gaze of a user facing a user display of a user console of a surgical robotic system is tracked while the user is using a user interface device (UID). When a user interaction to the UID is detected, an expected gaze position on the display of the user console is determined without instructing the user to look at the expected gaze position. The latter becomes a reference gaze point of the user at the time of detected user action. The measured gaze point of the user is compared with an acceptable threshold of the reference gaze point, and in response to a determination of a mismatch, calibration parameters used by the tracking are adjusted according to the reference gaze point. Other aspects are also described and claimed.

US Patent:

20210322121, Oct 21, 2021

Filed:

Jun 29, 2021

Appl. No.:

17/362620

Inventors:

- Santa Clara CA, US
Denise Ann Miller - Scotts Valley CA, US

International Classification:

A61B 34/00
A61B 34/35

Abstract:

Embodiments described herein provide various examples of a machine-learning-based visual-haptic system for constructing visual-haptic models for various interactions between surgical tools and tissues. In one aspect, a process for constructing a visual-haptic model is disclosed. This process can begin by receiving a set of training videos. The process then processes each training video in the set of training videos to extract one or more video segments that depict a target tool-tissue interaction from the training video, wherein the target tool-tissue interaction involves exerting a force by one or more surgical tools on a tissue. Next, for each video segment in the set of video segments, the process annotates each video image in the video segment with a set of force levels predefined for the target tool-tissue interaction. The process subsequently trains a machine-learning model using the annotated video images to obtain a trained machine-learning model for the target tool-tissue interaction.

US Patent:

20210030495, Feb 4, 2021

Filed:

Jul 29, 2019

Appl. No.:

16/525417

Inventors:

- Mountain View CA, US
Denise Ann Miller - Scotts Valley CA, US
Hamid Reza Sani - Belmont CA, US

International Classification:

A61B 34/35
A61B 34/20
A61B 34/00

Abstract:

Surgical systems including a user console for controlling a surgical robotic tool are described. A witness sensor and a reference sensor can be mounted on the user console to measure an electromagnetic field distortion near a location, and to measure deformation of the location, respectively. Distortion in the electromagnetic field can be detected based on the measurements from the witness sensor and the reference sensor. An alert can be generated, or teleoperation of the surgical tool can be adjusted or paused, when a user interface device used to control the surgical tool is within a range of the distortion. The distortion can be from a known source, such as from actuation of a haptic motor of the user interface device, and the user console can adjust the actuation to reduce the likelihood that the distortion will disrupt surgical tool control. Other embodiments are described and claimed.

US Patent:

20200401219, Dec 24, 2020

Filed:

Jun 21, 2019

Appl. No.:

16/449170

Inventors:

- Mountain View CA, US
Denise Miller - Scotts Valley CA, US
Joan Savall - Palo Alto CA, US

International Classification:

G06F 3/01
A61B 34/30
A61B 34/00

Abstract:

A method for passively calibrating and verifying eye tracking in a surgical robotic system. The gaze of a user facing a user display of a user console of a surgical robotic system is tracked while the user is using a user interface device (UID). When a user interaction to the UID is detected, an expected gaze position on the display of the user console is determined without instructing the user to look at the expected gaze position. The latter becomes a reference gaze point of the user at the time of detected user action. The measured gaze point of the user is compared with an acceptable threshold of the reference gaze point, and in response to a determination of a mismatch, calibration parameters used by the tracking are adjusted according to the reference gaze point. Other aspects are also described and claimed.

US Patent:

20200360096, Nov 19, 2020

Filed:

May 17, 2019

Appl. No.:

16/415992

Inventors:

- Mountain View CA, US
Denise Ann Miller - Scotts Valley CA, US
Anette Lia Freiin von Kapri - Mountain View CA, US
Paolo Invernizzi - Milano, IT
John H. Magnasco - San Jose CA, US

International Classification:

A61B 34/35
A61B 34/00
B25J 9/16
B25J 9/00
G06F 3/01

Abstract:

A method for engaging and disengaging a surgical instrument of a surgical robotic system comprising: receiving a plurality of interlock inputs from one or more interlock detection components of the surgical robotic system; 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, (2) at least one or more user interface devices of the surgical robotic system are configured in a usable manner, and (3) a surgical workspace of the surgical robotic system is configured in a usable manner; in response to determining each of the interlock requirements are satisfied, transition the surgical robotic system into a teleoperation mode; and in response to determining less than all of the interlock requirements are satisfied, transition the surgical robotic system out of a teleoperation mode.