Inventor
HARIRI ALIREZA
US24 patents
⚠️ This page may combine multiple inventors who share the name “HARIRI ALIREZA”. Patents are grouped by organization below to help distinguish them — per-person disambiguation is on the roadmap.
VERB SURGICAL INC
23 patentsUS10166082B1Jan 1, 2019
System and method for controlling a robotic wrist
VERB SURGICAL INC99 citations97
US12178534B2Dec 31, 2024
Engagement, homing, and control of robotics surgical instrument
VERB SURGICAL INC14 citations93
US11723739B2Aug 15, 2023
Admittance compensation for surgical tool
VERB SURGICAL INC20 citations93
US11696810B2Jul 11, 2023
Engagement, homing, and control of robotics surgical instrument
VERB SURGICAL INC20 citations93
US11547511B2Jan 10, 2023
Joint calibration for surgical tool
VERB SURGICAL INC21 citations93
US11426246B2Aug 30, 2022
Closure joint engagement for surgical tool
VERB SURGICAL INC22 citations93
US12046363B2Jul 23, 2024
Scalable filtering infrastructure for variable control rates in a distributed system such as a surgical robotic system
VERB SURGICAL INC17 citations92
US11844580B2Dec 19, 2023
Control of a surgical instrument having backlash, friction, and compliance under external load in a surgical robotic system
VERB SURGICAL INC19 citations92
US11406457B2Aug 9, 2022
Method and system for engagement of a surgical tool with actuators of a tool drive in a surgical robotic system
VERB SURGICAL INC10 citations84
US11723744B2Aug 15, 2023
Systems and methods for controlling grip force of jaws when transitioning between position control mode and force mode
VERB SURGICAL INC16 citations81
US12133707B2Nov 5, 2024
Evaluation of calibration for surgical tool
VERB SURGICAL INC3 citations74
US11697207B2Jul 11, 2023
Estimating joint friction and tracking error of a robotics end effector
VERB SURGICAL INC2 citations73
US11478928B2Oct 25, 2022
Estimating joint friction and tracking error of a robotics end effector
VERB SURGICAL INC2 citations73
US12478451B2Nov 25, 2025
Hardstop detection and handling for surgical tool
VERB SURGICAL INC0 citations62
US12409000B2Sep 9, 2025
Method and system for engagement of a surgical tool with actuators of a tool drive in a surgical robotic system
VERB SURGICAL INC0 citations62
US12311548B2May 27, 2025
Estimating joint friction and tracking error of a robotics end effector
VERB SURGICAL INC0 citations62
US12064290B2Aug 20, 2024
Hardstop detection and handling for surgical tool
VERB SURGICAL INC0 citations62
US12409006B2Sep 9, 2025
Joint calibration for surgical tool
VERB SURGICAL INC0 citations61
US12582491B2Mar 24, 2026
Control of a surgical instrument having backlash, friction, and compliance under external load in a surgical robotic system
VERB SURGICAL INC0 citations60
US12456549B2Oct 28, 2025
Scalable filtering infrastructure for variable control rates in a distributed system such as a surgical robotic system
VERB SURGICAL INC0 citations60
US12035991B2Jul 16, 2024
Detecting cable breakage on cable driven tools
VERB SURGICAL INC0 citations47
US11969297B2Apr 30, 2024
Systems and methods for limiting grip force of closing jaws in position control mode
VERB SURGICAL INC0 citations47
US12023124B2Jul 2, 2024
Detection of disengagement in cable driven tool
VERB SURGICAL INC0 citations41