SURGICAL CANNULAS AND RELATED SYSTEMS AND METHODS OF IDENTIFYING SURGICAL CANNULAS
Granted: October 19, 2023
Application Number:
20230329836
A cannula for insertion of a medical instrument includes a tube portion and an attachment portion coupled to the tube portion. One or more magnets are arranged at the attachment portion and configured to encode identifying information of the cannula. The attachment portion comprises a plurality of encoding positions that each indicate part of the identifying information; and for each encoding position of the plurality of encoding positions, absence of one of the one or more magnets at…
DEVICES, SYSTEMS, AND METHODS FOR SURGICAL INSTRUMENT REPROCESSING
Granted: October 19, 2023
Application Number:
20230329814
A method of reprocessing a surgical instrument includes flowing a flow of irrigation fluid through an accessory drive device operably coupled to the surgical instrument, the accessory drive device comprising inflatable bladders, and the flow of irrigation fluid causing inflation of the bladders. The method further includes converting inflation of the bladders to motion of an input drive member of the surgical instrument; converting the motion of the input drive member to motion of an…
SURGICAL INSTRUMENTS WITH SWITCHES FOR DEACTIVATING AND/OR IDENTIFYING STAPLER CARTRIDGES
Granted: October 19, 2023
Application Number:
20230329711
Surgical stapling instruments include mechanisms for identifying and/or deactivating stapler cartridge for use with the instruments. The stapling instrument includes a drive member for actuating a staple cartridge and a locking member movable from a disabled position permitting distal translation of the drive member through a staple firing stroke, to a locking position inhibiting distal translation of the drive member through the staple firing stroke. The staple cartridge may include a…
LIGHT LEVEL ADAPTIVE FILTER AND METHOD
Granted: October 12, 2023
Application Number:
20230325984
An example method includes determining an estimated pixel noise parameter based on a signal level of a first pixel of the first frame of pixel data; determining a difference between the signal level of the first pixel and at least a signal level of a second pixel; obtaining a filtered pixel based at least in part on a comparison of the difference to the estimated pixel noise parameter; and outputting the filtered pixel to an output frame of filtered pixel data.
BACKUP LATCH RELEASE FOR SURGICAL INSTRUMENT
Granted: October 12, 2023
Application Number:
20230320804
A surgical instrument that can include a proximal control mechanism that includes an opening through which a resilient latch arm is inserted into the proximal control mechanism and engages a locking surface of a fixed latch structure contained within the proximal control mechanism; means for receiving a release tool through an outer periphery of the proximal control mechanism and beyond the opening through which the resilient latch arm enters the proximal control mechanism, the means for…
STAGED FORCE FEEDBACK TRANSITIONING BETWEEN CONTROL STATES
Granted: October 12, 2023
Application Number:
20230320802
A surgical system is provided comprising: an input device; and a controller for receiving control inputs from the input device and for providing haptic feedback at the input device, the controller configured to apply a staged transition from a first haptic feedback profile at the input device to a second haptic feedback profile at the input device.
ARTICULATION CONTROL OF FLEXIBLE MEDICAL SYSTEMS
Granted: October 12, 2023
Application Number:
20230320711
Methods and systems for controlling articulation of a system are described. In some embodiments, a parameter related to a curvature of one or more portions of an articulable portion of elongated body may be determined. The elongated body may include a channel through which a tool may be inserted. Articulation of the articulable portion of the elongated body may be controlled based at least in part on the determined parameter in some modes of operation including when a tool is moved…
MASTER CONTROL DEVICE AND METHODS THEREFOR
Granted: September 28, 2023
Application Number:
20230301738
Implementations relate to a master control device. In some implementations, a master control device includes a control body comprising a proximal end, a thumb grip portion, and a finger grip portion. The control body has a length configured to engage the proximal end of the control body in the palm of a hand of the user while the hand engages the thumb grip portion with a thumb of the hand and the finger grip portion with a finger of the hand. The control body is configured to allow the…
SURGICAL INSTRUMENT WRIST
Granted: September 21, 2023
Application Number:
20230293160
A medical device includes a wrist link, an inner pulley, an outer pulley support, an outer pulley, a first tension member, and a second tension member. The wrist list includes a wrist link body and an inner pulley support extending outward from the wrist link body. The inner pulley is rotatably mounted on the inner pulley support and the inner pulley support extending a first distance away from the wrist link. The outer pulley support is coupled to the wrist link body and extends spaced…
SURGICAL INSTRUMENT WRIST
Granted: September 21, 2023
Application Number:
20230293160
A medical device includes a wrist link, an inner pulley, an outer pulley support, an outer pulley, a first tension member, and a second tension member. The wrist list includes a wrist link body and an inner pulley support extending outward from the wrist link body. The inner pulley is rotatably mounted on the inner pulley support and the inner pulley support extending a first distance away from the wrist link. The outer pulley support is coupled to the wrist link body and extends spaced…
SURGICAL TRAINING MODEL INCLUDING A SIMULATED HUMAN UTERUS AND ASSOCIATED METHODS
Granted: September 14, 2023
Application Number:
20230290280
A surgical training model for simulating gynecological surgery may include a simulated human uterus. A first inner portion may include harvested porcine uterus and a second outer portion may include harvested porcine tissue that surrounds the first inner portion. The simulated human uterus may be sized and shaped to replicate a human uterus. A simulated human broad ligament may include porcine tissue.
CONSTRAINT MECHANISMS, SYSTEMS, AND METHODS
Granted: September 14, 2023
Application Number:
20230286179
A tool includes a transmission mechanism, a shaft, and a rotary device. The shaft is rotatable with reference to the transmission mechanism through a defined range of rotational motion about a first axis of rotation and includes a protrusion extending from the shaft in a direction normal to the first axis of rotation. The rotary device includes a first stop surface, a second stop surface, and a notch between the first stop surface and the second stop surface, with the notch configured to…
END EFFECTOR FORCE FEEDBACK TO MASTER CONTROLLER
Granted: September 14, 2023
Application Number:
20230285100
A teleoperated surgical system is provided that includes a surgical instrument that includes an end effector mounted for rotation about a slave pivot axis; a master control input includes a mount member, first and second master grip rotatably secured at the mount member for rotation about a master pivot axis; sensor to produce a sensor signal indicative of a slave grip counter-force about the slave pivot axis; one or more motors to impart a shear force to the mount member, perpendicular…
LEVER ACTUATED GIMBAL PLATE
Granted: September 7, 2023
Application Number:
20230279931
A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. The three axes of rotation for the three levers are parallel. Two of the levers may have half-cylinder surfaces at an end of the lever to receive a support point of the input gimbal plate. Two of the levers may be supported with one degree of rotational freedom orthogonal…
METHOD AND SYSTEM FOR COORDINATED MULTIPLE-TOOL MOVEMENT USING A DRIVABLE ASSEMBLY
Granted: August 24, 2023
Application Number:
20230263585
A robotic system includes a manipulator assembly and a processing system. The manipulator assembly includes a first manipulator, a second manipulator, and a drivable structure. The first manipulator and the second manipulator are mechanically coupled to the drivable structure. The processing system is configured to determine a drivable structure motion for effecting a commanded motion for a first end effector of a first tool mechanically coupled to the first manipulator. Performing only…
ACTUATED GRIPS FOR CONTROLLER
Granted: August 3, 2023
Application Number:
20230240775
Implementations relate to actuated grips for a controller. In some implementations, a controller includes a central member, a grip member coupled to the central member and moveable in a grip degree of freedom, a shaft coupled to the grip member, and an actuator coupled to the shaft and operative to output an actuator force on the shaft. The actuator force causes a grip force to be applied via the shaft to the grip member in the grip degree of freedom.
DEVICES AND METHODS FOR STRESS/STRAIN ISOLATION ON A FORCE SENSOR UNIT
Granted: July 20, 2023
Application Number:
20230225817
A medical device includes a shaft comprising a proximal end portion and a distal end portion. A beam has a proximal end portion, a distal end portion, and a middle portion, and one or more strain sensors are on the middle portion. The proximal end portion of the beam is matingly coupled to the distal end portion of the shaft to form an interface. The beam comprises a discontinuity between the interface and the middle portion of the beam. In some embodiments, the medical device includes a…
ROBOTIC SURGICAL SYSTEM WITH PATIENT SUPPORT
Granted: July 20, 2023
Application Number:
20230225808
A robotic surgery system for supporting a patient and a robotic surgical manipulator. The robotic surgery system includes a base, a pillar coupled to the base at a first end and extending vertically upwardly to an opposing second end, and an attachment structure coupled to the second end of the pillar. A patient table is coupled to the attachment structure. A robot support arm has a first end coupled to the attachment structure. The robot support arm extends vertically upwardly from the…
STAPLE CARTRIDGE AND DRIVE MEMBER FOR SURGICAL INSTRUMENT
Granted: July 20, 2023
Application Number:
20230225731
The present disclosure provides a surgical instrument, such as a tissue sealing instrument, having a staple cartridge with a staple pusher and a staple; and a drive member configured to translate distally through the instrument. The drive member includes a lateral projection configured to engage the staple pusher and drive the staple into tissue. The lateral projection of the drive member has a height substantially less than the height of the staple cartridge, thereby requiring less…
SYSTEM AND METHODS FOR POSITIONING A MANIPULATOR ARM BY CLUTCHING WITHIN A NULL-PERPENDICULAR SPACE CONCURRENT WITH NULL-SPACE MOVEMENT
Granted: July 6, 2023
Application Number:
20230210617
Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space…
