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…
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…
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…
UNIFORM SCALING OF HAPTIC ACTUATORS
Granted: December 5, 2024
Application Number:
20240398497
A surgical system is provided comprising: an input device; a first actuator and a second actuator; a controller for controlling the first actuator and the second actuator, the controller configured to apply a first scale factor to a first commanded output and a second commanded output for the first actuator the second actuator, respectively, when the first commanded output would fall outside a first predetermined working range of the first actuator, wherein the first scale factor adjusts…
HEAD MOVEMENT CONTROL OF A VIEWING SYSTEM
Granted: November 28, 2024
Application Number:
20240390092
A computer-assisted medical system includes a display unit configured to provide images to an operator of the display unit, a headrest configured to receive a mechanical input provided by a head of the operator in mechanical contact with the headrest, a headrest sensor interfacing with the headrest and configured to provide sensor signals based on the mechanical input, and a controller. The controller includes a computer processor, and is configured to process the sensor signals to…
LOW-FRICTION, SMALL PROFILE MEDICAL TOOLS HAVING EASY-TO-ASSEMBLE COMPONENTS
Granted: November 28, 2024
Application Number:
20240390090
A low-friction medical device includes a first link, a second link, and a tension member. The first link is coupled to an instrument shaft and a first guide path is defined in the first link. The second link is rotatable relative to the first link through an angular range. A distal end portion of the second link is rotatably coupled to a tool member. A curved guide path is defined within the second link between the tool member and the first guide path. A curved guide surface of the…
SYSTEMS AND METHODS FOR GENERATING WORKSPACE GEOMETRY FOR AN INSTRUMENT
Granted: November 28, 2024
Application Number:
20240390068
A computer-assisted system can comprise an instrument configured to be at least partially inserted through a body wall from an external workspace to an internal workspace within a body; and a controller configured to generate a first three-dimensional model of the internal workspace in which a first portion of the instrument is inserted during performance of a medical procedure using the instrument, generate a second three-dimensional model of an external workspace in which a second…
METHOD FOR POSITIONING AN ENDOSCOPE WITH FLEXIBLE SHAFT
Granted: November 28, 2024
Application Number:
20240389836
Systems and methods for endoscopic operations are described. For example, the disclosure provides an endoscopic system with an endoscope support configured to hold an endoscope. The endoscope includes a shaft and an image capturer positioned at a distal end of the shaft, the image capturer configured to capture an image. The endoscopic system further includes a cannula support configured to hold a cannula, with the image capturer being insertable through the cannula. The endoscopic…
COMPACT MECHANISM FOR SURGICAL TABLE MOTION
Granted: November 21, 2024
Application Number:
20240382361
A surgical table includes a tabletop with a top surface and an underside. The surgical table further includes a support column that elevates the tabletop relative to a floor along a column axis. In addition, the surgical table includes a compact tilt mechanism connecting the support column and the tabletop. The surgical table also includes at least one mechanical interface for attaching a device to the tabletop.
SURGICAL INSTRUMENT CABLE CONTROL AND ROUTING STRUCTURES
Granted: November 21, 2024
Application Number:
20240382279
A medical device includes a chassis component having a bottom and an opening defined in the bottom, and a capstan including an upper portion, a lower portion, and a spool between the upper and lower portions. The upper portion of the capstan is supported within the opening of the chassis component. The spool comprises a cable wrap surface and a side wall opposing the bottom of the upper chassis. The side wall of the spool can optionally slope away from the bottom of the chassis…
INTERACTION BETWEEN USER-INTERFACE AND INSTRUMENT MOTION CONTROLLER
Granted: November 7, 2024
Application Number:
20240370080
A method is provided to control actuation of a click event by a hand-actuated selector moveably mounted to a mount structure, comprising: in a first control state, imparting a maintaining force to the hand-actuated selector; in a second control state, imparting a haptic force to the hand-actuated selector that increases as a function of increasing displacement of the hand-actuated selector from the neutral displacement position; imparting a click event signal to cause an occurrence of…
CABLE DRIVE LIMITED SLIP CAPSTAN AND SHAFT
Granted: November 7, 2024
Application Number:
20240366329
Capstan slip-stop shoulders limit relative rotation of capstans: a drive is shaft rotatably inserted within first and second axially aligned annular capstans, the first capstan including a first tooth extending parallel to the drive shaft in a first direction, the second capstan including a second tooth extending parallel to the drive shaft in a second direction opposite the first direction, the first tooth including first and second circumferentially spaced first tooth slip-stop…
SYSTEM AND METHODS FOR POSITIONING A MANIPULATOR ARM BY CLUTCHING WITHIN A NULL-PERPENDICULAR SPACE CONCURRENT WITH NULL-SPACE MOVEMENT
Granted: November 7, 2024
Application Number:
20240366322
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…
SURGICAL INSTRUMENT WITH LINEAR AND PURSE STRING SUTURE STAPLES
Granted: October 24, 2024
Application Number:
20240350143
A surgical stapling instrument is configured to dissect tissue, apply a linear staple line along one side of the tissue dissection and apply a suture, such as a purse string suture, to the other side of the tissue dissection. The instrument comprises an elongate shaft, first and second jaws configured to open and close and a cutting element. The instrument includes a first row of staples in each of the first and second jaws having a suture extending therethrough and a second row of…
