ELECTRICALLY CONDUCTIVE REDUCER DEVICE, RELATED SYSTEMS, AND RELATED METHODS
Granted: February 17, 2022
Application Number:
20220047299
A reducer device for insertion into a surgical cannula includes a tubular member having a proximal opening and a distal opening and an electrically conductive component configured and positioned to provide an electrically conductive path from an interior of the tubular member to an exterior of the tubular member. The electrically conductive path is localized along an axial length of the tubular member. A method of configuring a surgical device includes positioning a surgical cannula…
TENSION REGULATOR FOR ACTUATION ELEMENTS, AND RELATED REMOTELY ACTUATED INSTRUMENTS, SYSTEMS, AND METHODS
Granted: February 10, 2022
Application Number:
20220039893
A device to regulate tension of an actuation element for actuating movement of a surgical instrument includes an elastically deformable body configured to be coupled to the actuation element. The deformable body is configured to elastically deform in response to a state of slack occurring in the actuation element. As slack occurs in the actuation element, the deformable body is configured to divert a path of the actuation element to accommodate the slack so the path of the actuation…
SYSTEM AND METHODS FOR MANAGING MULTIPLE NULL-SPACE OBJECTIVES AND SLI BEHAVIORS
Granted: February 3, 2022
Application Number:
20220032453
A medical system includes a manipulator arm including a movable distal portion, a proximal portion coupled to a base, and joints between the distal portion and the base. A processor coupled to the manipulator arm performs operations including calculating a first movement of the joints in a null-space of a Jacobian of the manipulator arm, the first movement being calculated in accordance with a first objective for arm-to-patient collision avoidance. The operations further include…
SURGICAL PATIENT SIDE CART WITH DRIVE SYSTEM AND METHOD OF MOVING A PATIENT SIDE CART
Granted: February 3, 2022
Application Number:
20220031417
A cart for supporting one or more instruments for a computer-assisted, remote procedure can include a base and a support structure extending from the base and adjustable to different configurations, the support structure being configured to support one or more instruments to perform a remote procedure. The cart can further include a steering interface configured to be grasped by a user and a sensor mechanism configured to detect a force applied to the steering interface. The cart also…
MEDICAL INSTRUMENT ELECTRICALLY ENERGIZED USING DRIVE CABLES
Granted: January 27, 2022
Application Number:
20220022943
An electrically energized medical instrument uses one or more drive cables to both actuate mechanical components of a wrist mechanism or an effector and to electrically energize the effector. Electrical isolation can be achieved using an insulating main tube through which drive cables extend from a backend mechanism to the effector, an insulating end cover that leaves only the desired portions of the effector exposed, and one or more seals to prevent electrically conductive liquid from…
CANNULAS HAVING WALL STRENGTHENING FEATURES, AND RELATED SYSTEMS AND METHODS
Granted: January 20, 2022
Application Number:
20220016349
A cannula may include a bowl portion comprising a first opening and a second opening, and an insertion tube extending from the bowl portion. The insertion tube defines a passage extending from the second opening and terminating in a distal end opening. The passage is configured to receive an instrument to be advanced through the cannula. The insertion tube has a transparent portion extending proximally from the distal end opening, and a strengthened portion extending proximally from the…
CANNULAS WITH NON-CIRCULAR CROSS-SECTIONS, SYSTEMS, AND METHODS
Granted: January 13, 2022
Application Number:
20220008100
A cannula includes a tube having a central passage extending between a proximal end and a distal end of the tube along a longitudinal axis of the tube. A first cross section of the passage taken at or adjacent the distal end of the tube and in a plane normal to the longitudinal axis has a first cross-sectional shape, the first cross-sectional shape being non-circular. A second cross section of the passage taken through a portion of the tube proximal to the distal end of the tube and in a…
STRAIN SENSOR WITH CONTOURED DEFLECTION SURFACE
Granted: January 6, 2022
Application Number:
20220003615
A force sensor includes an annular diaphragm that includes an inner perimeter and an outer perimeter; the diaphragm has an outer annular portion having a tapered thickness that increases with decreasing radial distance from the outer perimeter; the diaphragm has an inner annular portion having a tapered thickness that increases with decreasing radial distance from the inner perimeter; a first strain gauge at the outer annular portion; and a second strain gauge at the inner annular…
SHEATHES FOR SURGICAL INSTRUMENTS, AND RELATED DEVICES AND METHODS
Granted: December 30, 2021
Application Number:
20210401530
A sheath for a surgical instrument may include a sleeve having a distal end and proximal end, and a retention mechanism at a proximal end portion of the sleeve. The retention mechanism may comprise a sleeve attachment portion configured to be attached to the sleeve at the proximal end portion, and a locking collar extending from the sleeve attachment portion, wherein the locking collar is configured to receive a connector portion of a surgical instrument. The locking collar further may…
SURGICAL CANNULAS AND RELATED SYSTEMS AND METHODS OF IDENTIFYING SURGICAL CANNULAS
Granted: December 30, 2021
Application Number:
20210401538
A teleoperable medical system comprises a manipulator arm and a cannula mount coupled to the manipulator arm. The manipulator arm comprises an interface configured to operably couple with a medical instrument. The cannula mount is configured to removably mount a cannula to the manipulator arm in a position to permit removable insertion of the medical instrument through the cannula. The cannula mount comprises a receptacle configured to receive an attachment portion of the cannula in a…
DECOUPLING TOOL SHAFT FROM CABLE DRIVE LOAD
Granted: December 30, 2021
Application Number:
20210401524
A surgical tool is provided that includes a hollow shaft and a cable extending within the shaft such that the cable is isolated from external forces imparted to the shaft; the shaft and a carriage are included as links of a 4-bar linkage that also includes first and second side links that are rotatably mounted to the carriage at respective first and second distal pivot axes and that are rotatably mounted to the shaft at respective first and second proximal pivot axes; the segment of the…
SURGICAL INSTRUMENT WITH SENSOR ALIGNED CABLE GUIDE
Granted: December 30, 2021
Application Number:
20210401523
Control cables in a surgical instrument are kept parallel to the instrument's longitudinal axis to prevent transverse forces from the cables being sensed by a transverse force sensor in the instrument. A surgical instrument includes an elongated hollow shaft having a longitudinal center axis. Multiple cables extend within the shaft. A force sensor includes a beam disposed within the shaft and one or more strain gauges disposed on the beam. A proximal anchor is disposed within the shaft…
CLEANING DEVICES FOR IMAGING INSTRUMENTS, DEVICES, AND METHODS
Granted: December 16, 2021
Application Number:
20210386507
A device for cleaning an instrument includes a manifold comprising one or more fluid inlets, and a tubular member rotatable relative to and extending distally from the manifold. The tubular member includes a proximal end, a distal end, and a fluid outlet at the distal end. The fluid outlet is configured to direct a flow of fluid generally across the distal end of the tubular member. The tubular member also includes one or more fluid passages fluidically coupled to the fluid outlet, and…
INSTRUMENT TRANSMISSION CONVERTING ROLL TO LINEAR ACTUATION
Granted: December 2, 2021
Application Number:
20210372508
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…
COMPLIANT MECHANISMS HAVING INVERTED TOOL MEMBERS
Granted: December 2, 2021
Application Number:
20210369371
The embodiments described herein can be used in a variety of grasping, cutting, and manipulating operations. In some embodiments, an apparatus includes a shaft, a tool member, and a flexure. The shaft has a distal end portion and a proximal end portion, and defines a longitudinal axis. The distal end portion includes a ground portion. The tool member has an engagement portion and an actuation portion. The engagement portion is disposed distally from the actuation portion, and can exert…
SYSTEM AND METHODS FOR POSITIONING A MANIPULATOR ARM BY CLUTCHING WITHIN A NULL-PERPENDICULAR SPACE CONCURRENT WITH NULL-SPACE MOVEMENT
Granted: November 18, 2021
Application Number:
20210353375
A system includes a manipulator arm configured to support an instrument having an end effector, the manipulator arm including a distal portion, a proximal portion coupled to a base, and a multitude of joints between the distal portion and the base, the multitude of joints providing sufficient degrees of freedom to allow a range of differing joint states of the multitude of joints for a state of the distal portion. The system also includes a processor coupled to the manipulator arm. The…
HARD STOP THAT PRODUCES A REACTIVE MOMENT UPON ENGAGEMENT FOR CANTILEVER-BASED FORCE SENSING
Granted: November 18, 2021
Application Number:
20210353373
A medical device includes a shaft, a beam, a hard stop structure, and a link. A proximal end portion of the beam is coupled to the distal end portion of the shaft and a distal end portion of the beam is coupled to the link. A strain sensor is on the beam. A hard stop structure includes a proximal end portion, a distal end portion, and first opposing stop surfaces. The proximal end portion of the hard stop structure is coupled to a distal end portion of the shaft, and the distal end…
METHODS AND SYSTEMS FOR DETECTING STAPLE CARTRIDGE MISFIRE OR FAILURE
Granted: November 18, 2021
Application Number:
20210353292
A system comprises a surgical instrument comprising an end effector comprising a first jaw member and a second jaw member, the second jaw member comprising or being configured to receive a plurality of staples; and an actuation mechanism operably coupled to the end effector to actuate the end effector to perform at least one of a clamping procedure or a staple firing procedure. The system further comprises a drive system configured to drive the actuation mechanism, a controller operably…
Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses
Granted: November 11, 2021
Application Number:
20210346107
Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for…
SURGICAL CANNULAS, AND RELATED SYSTEMS AND METHODS
Granted: November 4, 2021
Application Number:
20210338353
A method comprise positioning an electrode in conductive contact with an electrically conductive body; engaging an electrical connector operatively coupled to the electrode to an electrical connector interface of a surgical cannula; and changing a state of an electrical connector sensing device responsive to the engaging of the electrical connector and the electrical connector interface of the surgical cannula. The engaging electrically couples the electrical connector and the electrical…
