ROTARY INPUT FOR LEVER ACTUATION
Granted: June 24, 2021
Application Number:
20210186544
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…
REUSABLE SURGICAL INSTRUMENT WITH SINGLE-USE TIP AND INTEGRATED TIP COVER
Granted: June 17, 2021
Application Number:
20210177534
A surgical instrument includes a reusable instrument portion and a disposable tip assembly. The disposable tip assembly includes an end effector assembly that in turn includes an end effector. The disposable tip assembly also includes a locking tip cover that locks the disposable tip assembly to a lock interface element of a tip interface of the reusable instrument portion. To facilitate mounting the disposable tip assembly on the tip interface of the reusable instrument portion, the…
NEEDLE DRIVER DEVICES AND RELATED SYSTEMS AND METHODS
Granted: June 17, 2021
Application Number:
20210177399
A needle driver device includes an arc-shaped track and an arc-shaped needle configured to be received in the arc-shaped track. The arc-shaped needle is moveable along a curved path including the arc-shaped track. The needle driver device further includes a rotary drive mechanism and a needle driver link. The needle driver link has a distal end portion configured to removably engage the arc-shaped needle and a proximal end portion coupled to the rotary drive mechanism. The needle driver…
SURGICAL PATIENT SIDE CART WITH DRIVE SYSTEM AND METHOD OF MOVING A PATIENT SIDE CART
Granted: June 10, 2021
Application Number:
20210169600
A cart for supporting one or more instruments during a computer-assisted remote procedure can comprise a base; a steering interface having a portion configured to be grasped by a user; a sensor mechanism configured to detect a force applied to the steering interface by a user; and a switch operable between an engaged position and a disengaged position. The cart may further include a drive system comprising a control module operably coupled to receive an input from the sensor mechanism in…
MEDICAL TOOLS HAVING TENSION BANDS
Granted: June 10, 2021
Application Number:
20210169597
A medical device includes a first link, a second link, and a band. A proximal end portion of the first link is coupled to a shaft. A proximal end portion of the second link is rotatably coupled to a distal end portion of first link about a first axis. The distal end portion of the second link includes a connector coupled to a tool member that is rotatable relative to the second link about a second axis that is non-parallel to the first axis. The first link defines a first guide channel…
ADAPTABLE INTEGRATED ENERGY CONTROL SYSTEM FOR ELECTROSURGICAL TOOLS IN ROBOTIC SURGIAL SYSTEMS
Granted: June 10, 2021
Application Number:
20210169592
A user interface for a surgical system can include a display configured to output video images of a remote surgical site at which one or more electrosurgical instruments of the surgical system are deployed; and a graphical user interface configured to be output on the display with the video images. The graphical user interface may comprise a visual indication of a state of the one or more electrosurgical instruments that indicates a state of the one or more electrosurgical instruments…
METHOD AND SYSTEM FOR TRANSITIONING BETWEEN STATES IN FLEXIBLE ROBOT DEVICES
Granted: June 3, 2021
Application Number:
20210162174
A medical system involves a flexible catheter, an instrument carriage, an actuator, and a controller coupled to the actuator. The flexible catheter includes a flexible body having a proximal portion and a distal portion. The distal portion is articulable along an articulation degree of freedom of the flexible catheter. The instrument carriage supports the flexible catheter at the proximal portion of the flexible body. The actuator is disposed on the instrument carriage and configured to…
COMPUTER-ASSISTED MEDICAL SYSTEMS AND METHODS
Granted: May 27, 2021
Application Number:
20210153961
A computer-assisted medical system includes a manipulator arm and an instrument holder physically coupled to the manipulator arm. The instrument holder is configured to releasably couple to an instrument. The instrument holder includes an adjustable assembly and a cannula clamp physically coupled to the adjustable assembly. A physical adjustment of the adjustable assembly moves the cannula clamp relative to the manipulator arm. The cannula clamp is configured to releasably couple to a…
LATCH TO SECURE TELEOPERATED SURGICAL INSTRUMENT TO ACTUATOR
Granted: May 13, 2021
Application Number:
20210137627
An instrument sterile adapter couples a surgical instrument and an instrument carriage. The instrument sterile adapter includes an instrument plate that provides a first surface to receive the surgical instrument and a latch plate joined to the instrument plate. The latch plate includes a second surface to receive the instrument carriage and latch structures. Each latch structure has a carriage latch arm that extends away from the second surface of the latch plate and an instrument latch…
SURGICAL INSTRUMENT HOUSING, AND RELATED SYSTEMS, AND METHODS
Granted: May 13, 2021
Application Number:
20210138633
A force transmission mechanism of a surgical instrument, the force transmission mechanism being configured to releasably engage with a drive interface device located at a patient side cart of a teleoperated surgical system may comprise a housing comprising a side wall surrounding an interior of the housing, one or more drive components in the interior of the housing, a releasable coupling mechanism configured to releasably engage the force transmission mechanism with the drive interface…
WHEELED CART WITH VIBRATION REDUCTION DEVICE, AND RELATED SYSTEMS AND METHODS
Granted: April 29, 2021
Application Number:
20210122067
A method includes moving a stabilization device comprising a stabilization surface relative to a base of a surgical cart, wherein the moving comprises moving the stabilization device from a retracted position in which the stabilization surface is spaced from the ground surface to a deployed position in which the stabilization surface is in contact with the ground surface, and wherein the moving comprises overcoming a biasing force biasing the stabilization device toward the retracted…
SURGICAL SYSTEM INSTRUMENT STERILE ADAPTER
Granted: March 25, 2021
Application Number:
20210085411
A sterile drape comprises a plurality of sleeves and a plurality of sterile adapters each at a distal end of a corresponding drape sleeve. Each sterile adapter includes a housing configured to receive a distal face of an instrument manipulator having a plurality of manipulator actuator outputs, a membrane interface at a distal end of the housing that includes a plurality of actuator interfaces, and a pair of supports coupled to the housing to retain a surgical instrument having a…
USER INTERFACES AND DISPLAYS FOR FLUX SUPPLY UNITS
Granted: March 25, 2021
Application Number:
20210085408
A surgeon console for a teleoperated surgical system includes a user input mechanism configured to be actuated to command a flux supply unit to supply a flux to a surgical instrument operatively coupled to the surgeon console; and a user interface configured to display setting information of the flux supply unit, wherein the user interface comprises actuatable control features configured to change a control setting of the flux supply unit.
FLUX DISAMBIGUATION FOR TELEOPERATED SURGICAL SYSTEMS
Granted: March 18, 2021
Application Number:
20210077207
A method includes receiving at a controller of a teleoperated surgical system a first signal indicating that a surgical instrument is in an installed position at a patient side cart of the teleoperated surgical system, receiving at the controller a second signal indicating that the surgical instrument is in a flux connection state, and outputting a signal via the controller to provide feedback indicating that the surgical instrument is in the flux connection state.
CONNECTOR DEVICE FOR A CONTROLLABLE INSTRUMENT
Granted: February 4, 2021
Application Number:
20210030260
A medical instrument may comprise a first articulatable segment having a first diameter, and a second articulatable segment having a second diameter smaller than the first diameter, wherein the second articulatable segment is coupled to the first articulatable segment and extends in a distal direction past the first articulatable segment. The instrument may also comprise a first force transmission element coupled to the first articulatable segment and extending in a proximal direction…
ARTICULABLE MEDICAL DEVICES HAVING FLEXIBLE WIRE ROUTING
Granted: January 28, 2021
Application Number:
20210022819
An articulable medical device includes a link, a transfer member, a tool member, and a non-drive wire. The tool member has a base portion movably coupled to the transfer member, and a contact portion configured to engage a target tissue. The transfer member is rotatably coupled to the link to rotate with the tool member relative to the link from a first orientation to a second orientation. The non-drive wire has a first end portion coupled to an energy source, a second end portion…
METHODS AND SYSTEMS FOR OPTIMIZING VIDEO STREAMING
Granted: January 14, 2021
Application Number:
20210007577
A method for performing a surgical procedure includes adjusting an encoding configuration of a video encoder in response to receiving an input associated with a change of state of a surgical system performing the surgical procedure, and encoding image data of the surgical procedure captured after the change of state based on the adjusted encoding configuration.
LOW-FRICTION, SMALL PROFILE MEDICAL TOOLS HAVING EASY-TO-ASSEMBLE COMPONENTS
Granted: December 24, 2020
Application Number:
20200397522
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…
SURGICAL INSTRUMENT DRIVE ELEMENT, AND RELATED DEVICES, SYSTEMS, AND METHODS
Granted: December 24, 2020
Application Number:
20200397502
A surgical instrument includes a shaft having a proximal end and a distal end and end effector coupled to the distal end of the shaft. An electrical transmission conduit extends along the shaft from the proximal end to the distal end and is configured to deliver electrical energy to energize the end effector. A connector assembly electrically couples the electrical transmission conduit to the end effector, and the end effector is pivotably coupled to the connector assembly. In another…
LOW-FRICTION, SMALL PROFILE MEDICAL TOOLS HAVING EASY-TO-ASSEMBLE COMPONENTS
Granted: December 17, 2020
Application Number:
20200390430
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…
