ALIGNMENT AND ENGAGEMENT FOR TELEOPERATED ACTUATED SURGICAL INSTRUMENT
Granted: February 6, 2025
Application Number:
20250041015
A method of aligning a surgical instrument with the instrument sterile adapter for coupling the surgical instrument and an instrument carriage includes inserting the instrument shaft of the surgical instrument into an entry guide held in a fixed relation to the instrument carriage and the instrument sterile adapter, insertion of the instrument shaft into the entry guide constraining the surgical instrument to rotation around a first cylindrical axis of the instrument shaft and axial…
SURGICAL INSTRUMENT WITH ADJUSTABLE JAWS
Granted: February 6, 2025
Application Number:
20250040930
A surgical instrument, such as a tissue sealing instrument, is provided with an end effector having first and second movable jaws that define a gap therebetween in the closed position for clamping, sealing and/or stapling tissue. The jaws are movable relative to each other in the closed position to reduce a thickness of least one portion of this gap. This configuration allows the jaws to be moved closer together to reduce the overall size of the instrument when, for example, the…
ELECTRICALLY WELDABLE SUTURE MATERIAL, AND APPARATUS AND METHOD FOR FORMING WELDED SUTURE LOOPS AND OTHER WELDED STRUCTURES
Granted: February 6, 2025
Application Number:
20250040926
A device for positioning in the body of an animal, the device comprising a first portion and a second portion that may be positioned in contact with one other, the first portion and the second portion each comprising a biocompatible conductive thermoplastic material, such that when the device is positioned in the body of an animal and electric current flows from the first portion to the second portion, heat is generated by electrical resistance at the point of contact between the first…
GROUNDED VIRTUAL PORTAL FOR ROBOTIC MEDICAL SYSTEM
Granted: January 30, 2025
Application Number:
20250032206
A grounded virtual portal to interface with a robotic medical system is provided. The system can include an input controller coupled to a first structure via a plurality of linkages. The first structure can be mechanically coupled to a base structure. The input controller can control an object of a medical environment. A head mounted display can be coupled to a second structure extending the base structure. The head mounted display can be configured to render an extended reality…
SURGICAL INSTRUMENT WITH FLEXIBLE SHAFT AND ACTUATION ELEMENT GUIDE
Granted: January 30, 2025
Application Number:
20250032104
A surgical instrument includes a shaft, a force transmission mechanism disposed at a first end of the shaft, an end effector disposed at a second end of the shaft, an actuation element that extends along the shaft from the force transmission mechanism to the end effector, and an actuation element guide extending along the shaft. The actuation element guide defines a lumen in which the actuation element guide is received. The actuation element guide is compressed into a pre-compressed…
SURGICAL CANNULA MOUNTS AND RELATED SYSTEMS AND METHODS
Granted: January 23, 2025
Application Number:
20250025249
A surgical cannula includes a bowl section; a tube; and an attachment portion extending from the bowl section. The attachment portion is configured to engage with at least one of a cannula sterile adaptor and a cannula mount of a surgical system. The attachment portion extends from the bowl section along a radial direction with respect to a longitudinal axis of the cannula. The attachment portion tapers in a direction away from the bowl section.
TELEOPERATED SURGICAL SYSTEM WITH PATIENT HEALTH RECORDS BASED INSTRUMENT CONTROL
Granted: January 16, 2025
Application Number:
20250017673
A method is provided for intra-surgical use of a surgical patient health record in a teleoperated surgical system that includes a surgical instrument and a surgical instrument actuator, comprising: receiving user input commands to control movement of a robotic surgical instrument; tracking robotic surgical instrument actuator state in response to the user input commands; and transitioning robotic surgical instrument actuator state to a safety mode in response to the robotic surgical…
INSTRUMENT END EFFECTOR WITH JAW MECHANISM AND MOVEABLE COMPONENT AND RELATED DEVICES, SYSTEMS, AND METHODS
Granted: January 9, 2025
Application Number:
20250009413
A medical instrument may comprise a shaft (391) and an end effector (350) coupled to a distal end portion of the shaft. The end effector may comprise a jaw mechanism (350), a movable element (380) ranslatable relative to the jaw mechanism, a first actuation element (399) operably coupled to the end effector and translatable relative to the shaft, and a second actuation element (398) operably coupled to the end effector and translatable relative to the shaft. Translation of the first…
GUIDED TOOL CHANGE
Granted: January 9, 2025
Application Number:
20250010470
A computer-assisted medical system includes a manipulator arm, an actuator system, a sensor system, and a controller. The controller determines, using the sensor system, a kinematic configuration of a previous tool attached to the manipulator arm, determines a mounting of a replacement tool to the manipulator arm after removal of the previous tool from the manipulator arm, determines, based on the kinematic configuration of the previous tool, a trajectory for the replacement tool, and…
MEDICAL TOOLS HAVING TENSION BANDS
Granted: January 9, 2025
Application Number:
20250009455
A medical device includes a first link, a second link, and a band. A proximal end portion of the first link is coupled to a shaft. A proximal end portion of the second link is rotatably coupled to a distal end portion of first link about a first axis. The distal end portion of the second link includes a connector coupled to a tool member that is rotatable relative to the second link about a second axis that is non-parallel to the first axis. The first link defines a first guide channel…
INSERT GUIDE MEMBERS FOR SURGICAL INSTRUMENTS, AND RELATED DEVICES, SYSTEMS, AND METHODS
Granted: January 9, 2025
Application Number:
20250009410
A surgical instrument includes a shaft, an end effector, and a wrist coupling the end effector to the shaft. The wrist has a central channel extending along a length of the wrist. An insert guide member is positioned in the central channel. The insert guide member has an exterior lateral wall extending between a first end and a second end of the insert guide member and an interior lateral wall extending between the first end and the second end. A passage extends from the first end of the…
MACHINE LEARNING BASED MEDICAL PROCEDURE ANALYSIS WITH INTERPRETABLE MODEL CONFIDENCE RANKINGS
Granted: January 2, 2025
Application Number:
20250006372
The solution for an ML-based medical procedure analysis with interpretable model confidence rankings is disclosed. The solution can include a system having one or more processors, coupled with memory. The system can receive a plurality of input features associated with a prediction for a video stream that captures a procedure performed with a robotic medical system. The prediction can be made via a first model trained with machine learning. The system can determine, via a second model…
SYMMETRIC TRIMMING OF STRAIN GAUGES
Granted: January 2, 2025
Application Number:
20250003815
A circuit is provided that includes a strain gauge resistor having a center axis and multiple conductor layer segments and a trim region extending along the center axis; wherein a first portion of the strain gauge resistor is located on one side of the center axis and a second portion of the strain gauge resistor is located on an opposite side of the center axis.
MECHANISM FOR MANUALLY ACTIVATED TOOL ADJUSTMENT
Granted: January 2, 2025
Application Number:
20250000598
A medical device includes a manual drive structure having a manual drive input member and a manual drive coupling member. The medical device also includes a first tool drive member including a first motor drive input member and a second tool drive member including a second motor drive input member. The first tool drive member is coupled to and driven by the manual drive input member via the manual drive coupling member and the second tool drive member is coupled to and driven by the…
IMAGING INSTRUMENT AND METHODS OF IMAGING A TARGET LOCATION
Granted: January 2, 2025
Application Number:
20250000343
Systems and methods are provided for imaging a target location. Accordingly, an imaging instrument includes an imaging system positioned within an elongated body. The imaging system includes an optics chamber that is hermetically sealed within the elongated body. A focusing element is movably positioned within the optics chamber. An image sensor is operably coupled to the focus element. A focus driver is positioned within the optics chamber and operably coupled to the focusing element.…
TENSION CONTROL IN ACTUATION OF JOINTED INSTRUMENTS
Granted: December 26, 2024
Application Number:
20240423740
A medical instrument system includes actuators, a medical instrument, and a control system operably connected to the actuators. The medical instrument includes a reconfigurable portion and transmission systems, each of which couples the reconfigurable portion to an actuator of the actuators such that the actuators are operable to drive the transmission systems to move the end portion. The control system is configured to execute operations including determining a difference between a…
ADJUSTABLE HEADREST FOR A DISPLAY UNIT
Granted: December 19, 2024
Application Number:
20240415605
A display unit of a user control system of a telesurgical system includes a support structure, a headrest, and a lens. The headrest is movably connected to the support structure. The lens is below the headrest and includes an optical axis. The headrest is movable to a plurality of positions along a position adjustment axis that is parallel to the optical axis. And, the headrest includes a curved user-facing surface that is shaped to receive a user's head in a way that comfortably aligns…
FORCE TRANSMISSION SYSTEMS USING PLANETARY GEAR ASSEMBLY, AND RELATED DEVICES AND METHODS
Granted: December 19, 2024
Application Number:
20240415591
An instrument includes a shaft, a moveable component coupled to the shaft, and an actuation member drive assembly coupled to the shaft. The actuation member drive assembly may include a rotatable drive member, a ring gear operably coupled to the rotatable drive member and configured to rotate in response to rotation of the rotatable drive member, and a planet gear meshed with the ring gear. The instrument further includes an actuation member extending through the shaft and operably…
ACTUATION MECHANISMS FOR SURGICAL INSTRUMENTS
Granted: December 12, 2024
Application Number:
20240407782
The present disclosure provides a surgical instrument, such as a tissue sealing instrument, with an elongate shaft and an end effector. The end effector includes a first jaw and a second jaw that includes a staple cartridge with a plurality of staples for engaging tissue. The instrument further includes a drive member for closing the jaws and engaging the staples, and an actuation mechanism, such as a coil, in contact with the drive member. The actuation mechanism is configured to…
REDUCING ENERGY BUILDUP IN SERVO-CONTROLLED MECHANISMS
Granted: December 12, 2024
Application Number:
20240407868
A computer-assisted medical system includes a manipulator arm and a controller. The controller includes a computer processor. The controller is configured to servo at least one joint associated with at least one manipulator arm segment of the manipulator arm, the servoing including executing a servo loop. Executing the servo loop includes obtaining an actual state of the manipulator arm, computing a difference between a commanded state and the actual state, where the commanded state is…
