FORCE TRANSMISSION MECHANISM FOR SURGICAL INSTRUMENT, AND RELATED SYSTEMS AND METHODS
Granted: November 4, 2021
Application Number:
20210338352
A surgical instrument may comprise a chassis, a shaft coupled to the chassis at the proximal end of the shaft, an end effector coupled to the shaft at the distal end of the shaft, a force transmission mechanism coupled to the chassis, and an actuation element connected between a lever arm of the force transmission mechanism and the end effector. The force transmission mechanism includes a worm drive, and the lever arm comprising a first end and a follower member at the first end of the…
BREAKAGE DETECTION OF TENSION ELEMENT FOR COUNTERBALANCE MECHANISM
Granted: October 21, 2021
Application Number:
20210322127
Implementations relate to breakage detection of a tension element for a counterbalance mechanism. In some implementations, a tension element breakage detection mechanism includes a tension element, a moveable detection element contacting the tension element, and an actuator. The moveable detection element is biased by the tension element toward a first configuration in a range of motion of the moveable detection element. The moveable detection element is biased toward a second…
SPLAYED CABLE GUIDE FOR A MEDICAL INSTRUMENT
Granted: October 21, 2021
Application Number:
20210322118
An apparatus includes a housing, a cable guide, a first cable, and a second cable. The housing is coupled to a shaft of a medical instrument. The cable guide is coupled to the housing, and defines a shaft opening into a passageway defined by the shaft. A first guide groove and a second guide groove are defined by the cable guide, with each of the first guide groove and the second guide groove being splayed outward from the shaft opening. The first cable is routed within the first guide…
SURGICAL INSTRUMENTS WITH REDUCED CAPACITANCE, RELATED DEVICES, AND RELATED METHODS
Granted: October 21, 2021
Application Number:
20210322042
An instrument comprises a plurality of elongate members having a proximal end and a distal end, a shaft, an actuation member extending through the shaft, and a tube member extending through the shaft and housing at least a portion of a length of the actuation members. An end effector is coupled to a distal end of, and a force transmission mechanism is coupled to a proximal region of, at least one of the plurality of elongate members. At least one of the plurality of elongate members…
Display Monitor Control of a Telesurgical Tool
Granted: October 21, 2021
Application Number:
20210321865
A robotic system includes a robotic arm configured to support an image capture device, the image capture device configured to capture source video of a field of view of the image capture device. The robotic system further includes a display device, and a processor communicatively coupled to the robotic arm and the display device. The processor is configured to render, on the display device, a first spatial subset of the source video, the first spatial subset corresponding to a first…
GEARED GRIP ACTUATION FOR MEDICAL INSTRUMENTS
Granted: October 14, 2021
Application Number:
20210315648
An actuation mechanism for a medical instrument includes a pinion and a face gear that move a push-pull element. The pinion has a mounting that permits rotation of the pinion by an external control system such as a robot. The face gear meshes with the pinion. The push-pull element may have a proximal end coupled to the face gear and a distal end coupled to a tool at a distal end of an instrument shaft. A manipulator coupled for manual rotation of the actuation mechanism may include a…
ANCHORED GUIDE TUBES FOR INSERTION AND STABILIZATION OF DEVICES IN BODY WALL, SYSTEMS, AND METHODS
Granted: October 14, 2021
Application Number:
20210315609
A medical device includes a tube comprising a proximal end, a distal end, a wall extending from the proximal end to the distal end of the tube and surrounding a hollow interior of the tube, and one or more engagement features on the lateral wall. An inflatable member is located at a distal end portion of the tube. The medical device also includes a repositionable anchor located on the tube proximal to the inflatable anchor and configured to engage the one or more features on the lateral…
ROTARY INPUT FOR LEVER ACTUATION
Granted: September 16, 2021
Application Number:
20210282793
A medical device includes a lever with an applied force position, a load position, and a fulcrum position. A first cable extends from the applied force position of the lever to a first capstan, the first cable wrapping around the first capstan. A second cable extends from the applied force position of the lever to a second capstan, the second cable wrapping around the second capstan. A rod couples the load position of the lever and a surgical end effector. The first and second capstans…
SURGICAL INSTRUMENT CONTROL
Granted: September 9, 2021
Application Number:
20210275207
A medical device may comprise an instrument comprising a shaft and a working end comprising a jaw mechanism, and a translating mechanism movable in a first direction and a second direction relative to the jaw mechanism, the first and second directions opposite to one another. The medical device may further comprise a controller configured to in response to a first input, control movement of the translating mechanism from a proximal position to an intermediate position relative to the jaw…
SURGICAL DRAPE AND SYSTEMS INCLUDING SURGICAL DRAPE AND ATTACHMENT SENSOR
Granted: September 2, 2021
Application Number:
20210267703
A surgical drape for a patient side cart of a teleoperated surgical system may comprise a body sized and shaped to cover at least a portion of an arm or main column of the patient side cart, and an attachment device feature connected to the body, the attachment device feature being configured to install the surgical drape to the arm or main column so as to cover at least a portion of the arm or main column with the surgical drape. In an installed position of the surgical drape on the arm…
PROTECTIVE COVER INSTALLATION AND REMOVAL TOOL, SYSTEMS, AND METHODS
Granted: August 26, 2021
Application Number:
20210259795
According to an exemplary aspect, a tool for installing and/or removing a protective cover of an instrument includes a body portion having an open end and a closed end. The open end defines an interior passage that extends into the body portion along a longitudinal axis of the body portion toward the closed end of the body portion. The interior passage is configured to receive at least a portion of the protective cover in the interior passage. One or more members are connected to the…
GRIP FORCE CONTROL FOR ROBOTIC SURGICAL INSTRUMENT END EFFECTOR
Granted: August 26, 2021
Application Number:
20210259793
A computer-assisted surgical system comprises a master grip input mechanism, a surgical instrument comprising an end effector configured to apply a gripping force, and a controller. The controller is configured to receive a first input signal in response to grip input at the master grip input mechanism. The controller is further configured to receive a second input signal after receiving the first input signal, wherein the second input signal is received in response to a procedure input…
INSTRUMENT FLUSHING SYSTEM
Granted: August 19, 2021
Application Number:
20210251719
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…
CONTROL SWITCH POSITION SENSING ACROSS A ROTATIONAL JOINT
Granted: August 19, 2021
Application Number:
20210251707
Implementations relate to control switch position sensing across a rotational joint. In some implementations, a control input device includes a base member and a roll member rotatable about a central axis with respect to the base member in a roll degree of freedom. A switch contact portion is rotatable with the roll member and moveable to multiple positions in a switch degree of freedom. A first sensor element is coupled to and moveable with the switch contact portion and can be a…
SYSTEMS AND METHODS RELATED TO REGISTRATION FOR IMAGE GUIDED SURGERY
Granted: July 29, 2021
Application Number:
20210233263
A system is configured to perform operations includes accessing a set of model points of a model of an anatomic structure of a patient, the model points being associated with a model space. A set of measured points of the anatomic structure of the patient are collected, the measured points being associated with a patient space. The set of model points are registered to the set of measured points using a first set of initial parameters to generate a first transformation. One or more sets…
SURGICAL SYSTEM INSTRUMENT MANIPULATOR
Granted: July 22, 2021
Application Number:
20210220066
An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument…
GEARED ROLL DRIVE FOR MEDICAL INSTRUMENT
Granted: July 22, 2021
Application Number:
20210220062
A medical instrument includes a roll mechanism that rotates an instrument shaft. The roll mechanism may include a first gear coupled to the instrument shaft and meshed with a second gear. One of gears may be a spur gear while the other gear may be a beveloid gear. Further, the spur gear and the beveloid gear may be in a gear train containing a compressible gear, e.g., a gear with an inner center piece, an outer ring, and a flexible interconnecting structure between the inner center piece…
CLEANING DEVICES FOR INSTRUMENTS, AND RELATED METHODS
Granted: July 22, 2021
Application Number:
20210219832
In accordance with at least one embodiment of the present disclosure, a system includes an imaging instrument with a shaft including a proximal end, a distal end, and a lens at a distal end portion of the shaft. The system also includes a collar at a proximal end portion of the shaft. A cleaning device coupled to the imaging instrument includes a tubular member sized to receive the shaft of the imaging instrument. The cleaning device also includes a latching element coupled to the…
ANATOMICAL MODEL AND METHOD FOR SURGICAL TRAINING
Granted: July 8, 2021
Application Number:
20210209966
Implementations relate to anatomical models and surgical training. In some implementations, an anatomical training model includes a base portion and a top portion that form a hollow space between the base portion and top portion. A plurality of holes are positioned in the top portion. The model includes a plurality of cannula supports, where each cannula support is aligned with one or more corresponding holes in the top portion.
COUPLER TO TRANSFER MOTION TO SURGICAL INSTRUMENT FROM TELEOPERATED ACTUATOR
Granted: July 1, 2021
Application Number:
20210196420
A sterile adapter for coupling a surgical instrument and a surgical instrument manipulator includes a bottom component and a coupling component. The bottom component includes a bottom component opening with a bottom lip having a locking mechanism. The coupling component is rotatably coupled to the bottom component. The coupling component includes an engagement feature that engages the surgical instrument manipulator. The coupling component further includes a locking mechanism opening…
