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…
PRELOADED SURGICAL INSTRUMENT INTERFACE
Granted: July 6, 2023
Application Number:
20230210614
A surgical system includes a surgical instrument that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument is coupled to motors in a surgical instrument manipulator assembly via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical…
SURGICAL INSTRUMENT WITH ELECTRICAL CONNECTION, AND RELATED DEVICES, SYSTEMS, AND METHODS
Granted: July 6, 2023
Application Number:
20230210584
An apparatus configured to deliver electrical energy to energize an end effector coupled via a clevis to a shaft of a medical instrument comprises an electrical transmission conduit configured to extend along the shaft from a proximal portion to a distal portion and configured to deliver electrical energy to energize the end effector, and a connector assembly configured to couple to the end effector. The connector assembly comprises an electrically conductive contact portion configured…
MEDICAL DEVICES HAVING THREE TOOL MEMBERS
Granted: June 22, 2023
Application Number:
20230190398
A medical device includes a link, a first tool member, a second tool member and a third tool member, which each have a proximal end portion movably coupled to the link and a distal end portion. The distal end portion of the first tool member can engage a first object and be associated with a first medical function, the distal end portion of the second tool member can engage a second object and be associated with a second medical function, and the distal end portion of the third tool…
SAMPLE RETRIEVAL TOOL WITH COMPLIANT RETENTION MEMBER
Granted: June 22, 2023
Application Number:
20230190246
The embodiments described herein can be used in a variety of sample retrieval, grasping, cutting, and manipulating operations. In some embodiments, an apparatus includes an elongated member and a retention member movably coupled to the elongated member. The elongated member includes a cutting portion configured to cut a target sample when moved, and defines an internal volume within which at least a portion of the target sample can be received. The retention member includes an engagement…
INSTRUMENT TRANSMISSION CONVERTING ROLL TO LINEAR ACTUATION
Granted: June 15, 2023
Application Number:
20230184313
A force transmission mechanism includes a chassis that supports a rotatable arm, which includes a slot. A rotatable lever is supported by the chassis. A protrusion at an end of the lever engages the slot. A sliding drive element is supported by the chassis. A proximal termination of the drive element engages a second end of the lever. The chassis may support an elongate tube with an end effector fixed to the tube. The drive element may extend through the elongate tube. The elongate tube…
MECHANICAL WRIST JOINTS WITH ENHANCED RANGE OF MOTION, AND RELATED DEVICES AND METHODS
Granted: June 8, 2023
Application Number:
20230173692
A wrist joint comprises first and second joint features, the first joint feature having a first end surface profile defining a central protrusion, a first outer protrusion, a second outer protrusion, a first recess, and a second recess, wherein the first recess and the second recess are on opposite sides of the central protrusion and between the first outer protrusion and the second outer protrusion, and the second joint feature having a second end surface profile defining a central…
MEDICAL INSTRUMENT HAVING SINGLE INPUT FOR DRIVING MULTIPLE CABLES
Granted: June 8, 2023
Application Number:
20230172680
A medical instrument includes a shaft, a wrist, a mechanical structure, a first cable, and a second cable. The wrist is coupled to the distal end portion of the shaft. The mechanical structure is coupled to a proximal end portion of the shaft and includes a capstan assembly. The capstan assembly includes a first cable drum having a first radius and a second cable drum having a second, different radius. The first cable is routed along the shaft. A distal end portion of the first cable is…
CURVED GIMBAL LINK GEOMETRY
Granted: May 18, 2023
Application Number:
20230149109
A control input assembly including a first link and a second link. A link housing extends from a second link first end portion to a second link second end portion. The second link first end portion is coupled to a first link second end portion via a joint shaft. An actuator is mounted within the link housing and the actuator defines an actuator axis. The actuator is configured to exert a torque on the joint shaft. The actuator axis and a rotational axis of the join shaft defines an…
STEREO IMAGING SYSTEM WITH AUTOMATIC DISPARITY ADJUSTMENT FOR DISPLAYING CLOSE RANGE OBJECTS
Granted: May 11, 2023
Application Number:
20230142214
A stereo imaging system comprises a depth sensing system, a stereo viewer, and a processor configured to receive captured stereo worksite images, compare a depth value to a predetermined threshold value, and generate stereo images for display by adjusting or not adjusting native disparities based on the comparison of the depth value to the threshold value.
STEREO IMAGING SYSTEM WITH AUTOMATIC DISPARITY ADJUSTMENT FOR DISPLAYING CLOSE RANGE OBJECTS
Granted: May 11, 2023
Application Number:
20230142214
A stereo imaging system comprises a depth sensing system, a stereo viewer, and a processor configured to receive captured stereo worksite images, compare a depth value to a predetermined threshold value, and generate stereo images for display by adjusting or not adjusting native disparities based on the comparison of the depth value to the threshold value.
INSTRUMENT FLUSHING SYSTEM
Granted: April 20, 2023
Application Number:
20230119775
A medical instrument includes an instrument shaft with exit holes near a distal end of the shaft, a tool coupled to the distal end of the shaft, and a backend. The backend may include a mechanism that manipulates a drive element that extends through the shaft and couples to the tool, a fluid inlet, and a fluid channel assembly providing fluid communication between the fluid inlet and the proximal end of the shaft. Cleaning fluid is directed into the fluid inlet, through the fluid channel…
JOINTED CONTROL PLATFORM
Granted: April 20, 2023
Application Number:
20230119001
A medical device having a force transmission mechanism that includes a chassis having a pivotal support that defines a first axis. An axle is supported by the pivotal support and is free to rotate around the first axis of rotation. The axle defines a second axis of rotation perpendicular to the first axis of rotation. A first control arm is coupled to a first end of the axle and is free to rotate around the second axis of rotation. A second control arm is coupled to an opposite second…
DEVICES FOR INSTRUMENT USE RECORDING, DEVICES FOR RECORDING INSTRUMENT REPROCESSING EVENTS, AND RELATED SYSTEMS AND METHODS
Granted: April 13, 2023
Application Number:
20230115444
An instrument can include a shaft with a proximal end portion and a distal end portion, an end effector at the distal end portion of the shaft, and a transmission mechanism at the proximal end portion of the shaft. The transmission mechanism can include a driven input device engageable with an external drive mechanism. The instrument can include an indicator operably coupled to the driven input device and moveable through each of a plurality of consecutive positions, each of the…
METHODS OF ELECTROSURGICAL INSTRUMENTS WITH OTOMY FEATURE FOR TELEOPERATED MEDICAL SYSTEMS
Granted: April 13, 2023
Application Number:
20230111832
An electrosurgical end effector for a surgical tool to perform teleoperated surgical operations. The electrosurgical end effector comprises a first end effector jaw; a second end effector jaw coupled to the first end effector jaw; and a coupling pin configured to rotatingly couple the first end effector jaw to the second end effector jaw so as to cooperatively rotate open and close about an axis of rotation. The electrosurgical end effector further comprises an actuation mechanism…
DETECTION OF USER TOUCH ON CONTROLLER HANDLE
Granted: April 6, 2023
Application Number:
20230106285
Implementations relate to detecting user touch on a controller handle. In some implementations, a non-controlling mode of a control system is activated, and in the non-controlling mode, one or more actuators are controlled to cause a vibration to be provided on a handle of a controller. The vibration is sensed with one or more sensors, and a difference in the vibration is determined to have occurred relative to a reference vibration using the one or more sensors, where the difference…
