SURGICAL SYSTEM INSTRUMENT MOUNTING
Granted: September 22, 2022
Application Number:
20220296322
A surgical system comprises a base, an arm assembly operably coupled to the base, and an instrument manipulator assembly coupled to a distal link of the arm assembly. The instrument manipulator assembly comprises an instrument manipulator interface to removably couple with a medical instrument and transfer actuation forces to the medical instrument. The instrument manipulator interface comprises a mounting surface and a plurality of actuator outputs to operably engage with respectively…
HEAD MOVEMENT CONTROL OF A VIEWING SYSTEM
Granted: September 15, 2022
Application Number:
20220287788
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…
SURGICAL INSTRUMENT WITH FLEXIBLE SHAFT AND ACTUATION ELEMENT GUIDE
Granted: September 15, 2022
Application Number:
20220287699
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…
FORCE TRANSMISSION MECHANISM FOR SURGICAL INSTRUMENT, AND RELATED DEVICES, SYSTEMS, AND METHODS
Granted: September 8, 2022
Application Number:
20220280254
A force transmission mechanism for a teleoperated surgical instrument includes a drive pulley, a drive cable operably coupled with the drive pulley, a driven pulley operably coupled with the drive cable, and an actuation member operably coupled to the driven pulley. The actuation member is configured to transmit force to actuate an end effector of the surgical instrument. Rotational motion of the driven pulley causes translational movement of the actuation element to actuate the end…
LOW CAPACITANCE ENDOSCOPE SYSTEM
Granted: September 8, 2022
Application Number:
20220280045
An endoscopic system for sensing one or more characteristics at an environment of a worksite comprises a shaft comprising a proximal end portion and a distal end portion; an electrically active sensor system comprising a sensor positioned to sense at least one characteristic of an environment in which the distal end portion of the shaft is located; an electrical power transmission line electrically coupled to the sensor and extending along the shaft, the electrical power transmission…
STEREOSCOPIC ENDOSCOPE
Granted: September 8, 2022
Application Number:
20220280031
A stereoscopic endoscope comprises a first lens train; a second lens train; a prism; and a continuous image sensor surface. The first lens train directs light along a first path through the first lens train and the prism to be incident on a first region of the continuous image sensor, and the second lens train directs light along a second path through the second lens train and the prism to be incident on a second region of the continuous image sensor.
METHOD FOR VIDEO PROCESSING USING A BUFFER
Granted: May 12, 2022
Application Number:
20220150444
A method for processing video comprises storing, at a video data buffer, an input video frame data received from a source, causing the stored video frame data to be output from the video data buffer at an output video frame rate, and varying the output video frame rate based on a comparison of an amount of video frame data stored at the video data buffer to a threshold amount of frame data. The threshold amount of frame data may be based on a target total latency between capture of the…
STAPLER CARTRIDGE ASSEMBLIES AND RELATED DEVICES, SYSTEMS, AND METHODS
Granted: May 12, 2022
Application Number:
20220142642
A stapler reload assembly includes a cartridge body defining a housing to receive staples. The cartridge body has a first side comprising a plurality of staple apertures configured to eject staples housed in the cartridge body. The cartridge body has a second side, opposite the first side, comprising a plurality of pusher apertures through which staple pushers of the cartridge body are accessible. A staple retainer is removably coupled to the first side of the cartridge body and at least…
AUXILIARY FUNCTION CONTROL APPARATUS FOR MEDICAL DEVICES, AND RELATED SYSTEMS, AND METHODS
Granted: May 5, 2022
Application Number:
20220133415
An apparatus may comprise first and second auxiliary function units each one or more connector interfaces configured to be operably connected to one or more medical devices via mating engagement with one or more transmission lines. The apparatus can further include a user interface overlay panel overlying at least a portion of each of the first auxiliary function unit and the second auxiliary function unit. The user interface overlay panel comprises a user interface control portion…
LEVER ACTUATED GIMBAL PLATE
Granted: April 28, 2022
Application Number:
20220128133
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…
DEVICES, SYSTEMS, AND METHODS FOR MAINTAINING A STERILE SURGICAL FIELD
Granted: April 28, 2022
Application Number:
20220125542
A sterile drape assembly may comprise a drape and a cable guide coupled or configured to be coupled to the drape. The drape may comprise a first portion configured to cover a medical device holder and a second portion configured to cover a portion of an arm that supports the medical device holder. The cable guide may comprise two opposing guidepost arms extending in a first direction and defining a first opening and a side arm extending laterally from one of the guidepost arms, the side…
ELECTRICALLY INSULATIVE ELECTRODE SPACERS, AND RELATED DEVICES, SYSTEMS, AND METHODS
Granted: April 28, 2022
Application Number:
20220125501
A method for making an electrode assembly comprises overlaying an electrode on an electrode support, the electrode comprising a plurality of openings extending at least partially through a thickness of the electrode; supporting the electrode support with a jaw body; stitching a filament made of electrically insulative material comprising a first inset segment and exposed segment into a first opening of the plurality of openings such that the first inset segment is positioned in the first…
WRIST ARCHITECTURE
Granted: April 28, 2022
Application Number:
20220125428
A surgical device includes an elongated shaft, an end effector, and a wrist assembly. The wrist assembly includes a first outer link, a first inner link, and a second outer link. The first outer link is connected to the shaft and includes first gear teeth. The first inner link is pivotally coupled with the first outer link. The second outer link is pivotally coupled with the first inner link. The second outer link includes second gear teeth that interface with the first gear teeth and…
TENSION REGULATION OF REMOTELY ACTUATED INSTRUMENTS, AND RELATED DEVICES, SYSTEMS, AND METHODS
Granted: April 14, 2022
Application Number:
20220110704
A surgical instrument includes a shaft with a proximal end and a distal end, a movable component coupled at the distal end of the shaft, a force transmission mechanism coupled at the proximal end of the shaft, and an actuation element with a first end coupled to the force transmission mechanism and a second end coupled to the movable component. The actuation element being configured to transmit an actuation force from the force transmission mechanism to the movable component. A coil…
SUPPORT APPARATUS FOR A MEDICAL RETRACTOR DEVICE
Granted: March 24, 2022
Application Number:
20220087668
A support apparatus for a medical device includes a first sleeve, a second sleeve, and a flexible contact member. The first sleeve is configured to be coupled to a first tool member of an end effector assembly that includes the first tool member, a second tool member, and a clevis, in which the first and second tool members are each rotatably coupled to the clevis such that second tool member can be moved relative to the first tool member between a first and a second orientation. The…
SURGICAL CANNULA MOUNTS AND RELATED SYSTEMS AND METHODS
Granted: March 17, 2022
Application Number:
20220079695
A cannula mount for a surgical system includes pivotable clamping arm with a first feature configured to engage a second feature of the cannula positioned in the cannula mount. The clamping arm comprises a cam follower surface. The cannula mount further comprises a latch member movable between at least a first position and a second position, and the latch member comprises a cam surface. On the condition that the latch member is in the first position, the cam surface engages the cam…
MULTI-CABLE MEDICAL INSTRUMENT
Granted: March 10, 2022
Application Number:
20220071727
A medical instrument includes cable pairs respectively wound around input spindles and connected to actuate degrees of freedom of an instrument shaft structure. The cables may connect so that rotating the input spindles actuates corresponding degrees of freedom. First pulleys in the instrument may receive first cables from the input spindles and redirect the first cables toward the instrument shaft, and second pulleys may receive second cables from the input spindles and redirect the…
Stapler Beam Architecture
Granted: March 10, 2022
Application Number:
20220071719
An end effector that can have an upper jaw and a lower jaw. A wrist can connect the end effector to an elongated shaft. A beam member can be arranged to translate within the upper and lower jaw. An actuation assembly can have a pushing assembly configured to transfer compressive force to the beam member and a pulling assembly configured to transfer tensile force to the beam member.
Stapler Cartridge With an Integral Knife
Granted: March 10, 2022
Application Number:
20220071633
Stapler cartridges and surgical apparatus that include a stapler cartridge can include a knife that retracts into the stapler cartridge after cutting stapled tissue to prevent an operator being cut by the knife during replacement of the used stapler cartridge with a new stapler cartridge. A stapler cartridge includes a staple pushing shuttle, a knife member slidably coupled with the staple pushing shuttle, and a cartridge body. The staple pushing shuttle is slidably coupled to the…
ARTICULATABLE MEMBERS HAVING CONSTRAINED MOTION AND RELATED DEVICES AND METHODS
Granted: February 24, 2022
Application Number:
20220054208
An articulatable member includes a distal end, a proximal end, an actuation member, and a constraint member. The actuation member extends from the proximal end to the distal end. The actuation member transmits force to bend the articulatable member from a neutral position. The constraint member extends from the proximal end to the distal end. The constraint member may have opposite ends that are fixed to the distal end and the proximal end. In one embodiment, the constraint member…
