COMPUTER-ASSISTED MEDICAL SYSTEMS AND METHODS
Granted: August 1, 2019
Application Number:
20190231458
Systems and methods for a computer-assisted instrument motion are described. For example, the disclosure provides mechanisms and techniques for holding an instrument with a computer-assisted manipulator assembly, and methods for actuating computer-assisted motions of the instrument.
INSTRUMENT STERILE ADAPTER DRIVE FEATURES
Granted: August 1, 2019
Application Number:
20190231455
A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is…
GEARED ROLL DRIVE FOR MEDICAL INSTRUMENT
Granted: August 1, 2019
Application Number:
20190231451
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…
COMPUTER-ASSISTED TELE-OPERATED SURGERY SYSTEMS AND METHODS
Granted: August 1, 2019
Application Number:
20190231450
Systems and methods for minimally invasive computer-assisted telesurgery are described. For example, this disclosure describes cannula devices for use with computer-assisted teleoperated surgery systems. The cannula devices can facilitate enlargement of a minimally invasive surgical workspace by creating a tissue tent. The devices and methods described herein can be used in conjunction with computer-assisted teleoperated surgery systems that use either hardware-constrained remote centers…
TELESCOPING MEDICAL DEVICE ASSEMBLY AND STERILE DRAPE
Granted: July 25, 2019
Application Number:
20190223969
A surgical system includes an insertion assembly and a drape shroud assembly mounted on the insertion assembly. When a sleeve of a surgical drape draping the insertion assembly is fastened to the drape shroud assembly, the sleeve is divided into two pockets. Instead of managing one long tube, the management problem of the drape sleeve is reduced to managing a plurality of shorter tubes. Shorter tubes make it easier for excess sleeve material to accordion as the tube length shortens…
SHAPE-TRANSFERRING CANNULA SYSTEM AND METHOD OF USE
Granted: July 25, 2019
Application Number:
20190223693
A rigidizable medical device may include an inner element and an outer element. The outer element of the device may be positioned at least in part around the inner element so as to define a space radially between the inner element and the outer element. The medical device may further include a stiffening material positioned in the space between the inner and outer elements. The stiffening material may be transitionable between a first relatively compliant state and a second relatively…
SURGICAL INSTRUMENT WITH RETAINING FEATURE FOR CUTTING ELEMENT
Granted: July 18, 2019
Application Number:
20190216561
A surgical instrument comprises an end effector coupled to a distal end of a shaft. The end effector comprises a pair of jaw members configured to be moved relative to each other between open and closed positions, and a cutting element configured to cut material gripped between the jaw members. The cutting element is further configured to translate between and along a lengthwise direction of the jaw members. The cutting element and a first jaw member comprise complementary retaining…
ELECTRODE CONFIGURATIONS FOR ELECTRICAL FLUX DELIVERY INSTRUMENTS, AND RELATED SYSTEMS AND METHODS
Granted: July 11, 2019
Application Number:
20190209233
An electrosurgical instrument may comprise a pair of jaw members configured to move between an open position and a closed position. In the closed position, the pair of jaw members may be configured to exert a gripping force on material placed between working surfaces of the pair of jaw members. A first jaw member of the pair of jaw members may comprise a first electrode, and a second jaw member of the pair of jaw members may comprise a second electrode and a third electrode.
SIMULTANEOUS WHITE LIGHT AND HYPERSPECTRAL LIGHT IMAGING SYSTEMS
Granted: July 4, 2019
Application Number:
20190200848
A computer-assisted surgical system simultaneously provides visible light and alternate modality images that identify tissue or increase the visual salience of features of clinical interest that a surgeon normally uses when performing a surgical intervention using the computer-assisted surgical system. Hyperspectral light from tissue of interest is used to safely and efficiently image that tissue even though the tissue may be obscured in the normal visible image of the surgical field.…
SURGICAL CANNULAS AND RELATED SYSTEMS AND METHODS OF IDENTIFYING SURGICAL CANNULAS
Granted: June 27, 2019
Application Number:
20190192254
A cannula for a surgical system may include a magnet located in a position to be sensed by the surgical system in a mounted position of the cannula to the surgical system. At least one of a presence of the magnet and a polarity of the magnet is sensed in the mounted position of the cannula to provide identification information relating to the cannula. Exemplary embodiments further encompass a patient side cart for a teleoperated surgical system, the patient side cart including a base, a…
TELEOPERATED SURGICAL SYSTEM EQUIPMENT WITH USER INTERFACE
Granted: June 27, 2019
Application Number:
20190192211
A method comprises simultaneously presenting on a display a plurality of graphical screen sections, each graphical screen section comprising adjustable control settings. The plurality of graphical screen sections respectively align with a plurality of connector ports, and each connector port is configured to be operably coupled with a surgical instrument.
SURGICAL INSTRUMENT CONTROL
Granted: June 27, 2019
Application Number:
20190192182
A medical device can include a working end comprising a jaw mechanism configured to perform a clamping function and a translating cutting mechanism configured to perform a cutting function in response to translating movement of the translating cutting mechanism. The medical device can further include at least two user-actuated input mechanisms, and a computer processor operably coupled to the working end and to the at least two user-actuated control input mechanisms. In an operational…
SURGICAL PORT FEATURE
Granted: June 27, 2019
Application Number:
20190192132
A surgical port feature may include a funnel portion, a tongue, a waist portion, and surgical instrument channels. The waist portion may be located between the funnel portion and the tongue. The surgical instrument channels may extend from the funnel portion through the waist portion. The surgical port feature may further include a second tongue, with the wait portion being located between the funnel portion, the tongue, and the second tongue.
METHODS AND SYSTEMS FOR DETECTING STAPLE CARTRIDGE MISFIRE OR FAILURE
Granted: June 13, 2019
Application Number:
20190175174
A surgical stapler system may include a surgical instrument comprising an end effector configured to receive a removable staple cartridge, and an actuation mechanism operably coupled to actuate the end effector to perform a stapling procedure. The surgical stapler system also may include a drive system operably coupled to transmit an actuation force to the actuation mechanism and a controller operably coupled to the drive system. The controller may be configured to measure an actuation…
SURGICAL PATIENT SIDE CART WITH DRIVE SYSTEM AND METHOD OF MOVING A PATIENT SIDE CART
Granted: May 30, 2019
Application Number:
20190159857
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…
SURGICAL PATIENT SIDE CART WITH DRIVE SYSTEM AND METHOD OF MOVING A PATIENT SIDE CART
Granted: May 30, 2019
Application Number:
20190159856
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…
SHAPE-TRANSFERRING CANNULA SYSTEM AND METHOD OF USE
Granted: May 30, 2019
Application Number:
20190159657
A rigidizable medical device comprising a rigidizable element actuatable between a first state and a second state, wherein the rigidizable element is flexible in the first state and rigid in the second state. The rigidizable medical device further comprises a passive element coupled to the rigidizable element and extending parallel to the rigidizable element, wherein the passive element is more rigid than the rigidizable element in the first state of the rigidizable element and is more…
STERILE CHANNEL PRE-DRAPE ASSEMBLY
Granted: May 16, 2019
Application Number:
20190142540
An apparatus includes a sterile channel pre-drape assembly comprising a plurality of legs radiating from a common center region. Each of the plurality of legs has one or more sterile interior surfaces and one or more outer surfaces. The sterile interior surfaces of a pair of the plurality of legs define a sterile channel that is bounded by the outer surfaces of the pair of the plurality of legs. The sterile channel pre-drape assembly also includes an attachment element affixed to the…
MEDICAL INSTRUMENT ELECTRICALLY ENERGIZED USING DRIVE CABLES
Granted: March 28, 2019
Application Number:
20190090940
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…
FORCE TRANSMISSION MECHANISM FOR SURGICAL INSTRUMENT, AND RELATED DEVICES, SYSTEMS, AND METHODS
Granted: March 7, 2019
Application Number:
20190069967
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…
