CONNECTOR DEVICE FOR A CONTROLLABLE INSTRUMENT
Granted: March 7, 2019
Application Number:
20190069763
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…
METHOD FOR VIDEO PROCESSING USING A BUFFER
Granted: February 28, 2019
Application Number:
20190068922
A method for processing video can include storing input video frame data at a video data buffer and outputting the stored video frame data from the video data buffer at an output video frame rate based on at least an amount of video frame data stored at the video data buffer.
INSTRUMENT SHAFT FOR COMPUTER-ASSISTED SURGICAL SYSTEM
Granted: February 28, 2019
Application Number:
20190060017
A shaft for a surgical instrument comprises an outer tube having a proximal end and a distal end, a central lumen extending through the outer tube, and a plurality of stiffening rods positioned around the central lumen. The plurality of stiffening rods may comprise a nonconductive material. The shaft may form part of an electrosurgical instrument. In another embodiment, a surgical instrument may comprise an end effector and a shaft having an outer tube having a proximal end and a distal…
IMAGING CANNULA WITH A HINGED TIP
Granted: February 28, 2019
Application Number:
20190059942
A surgical cannula includes a camera disposed at the distal end to permit visualization of tissue. A hinge pivotably couples the camera to the cannula and permits the camera to pivot from a first position at the distal end of the cannula to a second position different than the first position at the distal end of the cannula. Some implementations include a pointed distal tip that carries the camera. Some implementations include two cameras posed back to back.
SYSTEM AND METHOD FOR COLLISION AVOIDANCE USING VIRTUAL BOUNDARIES
Granted: February 21, 2019
Application Number:
20190054620
A system and method of collision avoidance includes determining first positions of first joints of a first repositionable arm and second positions of second joints of a second repositionable arm. Distal ends of the first and second repositionable arms are configured to support first and second instruments, respectively. The system and method further include determining first and second virtual boundaries around the first and second repositionable arms, determining an overlap between the…
SYSTEMS AND METHODS OF POSE ESTIMATION AND CALIBRATION OF PERSPECTIVE IMAGING SYSTEM IN IMAGE GUIDED SURGERY
Granted: February 7, 2019
Application Number:
20190038365
A method performed by a computing system comprises receiving, from a fluoroscopic imager, having a first set of parameters, first fluoroscopic image data of a first fiducial marker within a surgical coordinate space. The method comprises receiving a configuration of the first fiducial marker within the surgical coordinate space. The method comprises determining a second set of parameters of the fluoroscopic imager in the surgical coordinate space based on the first flouroscopic image…
STEREOSCOPIC ENDOSCOPE
Granted: January 31, 2019
Application Number:
20190029501
A stereoscopic endoscope includes at least one illumination source disposed at a distal end portion in a position to project light to illuminate an object. The endoscope also includes an image capture assembly mounted at the distal end portion. The assembly includes first and second lens trains extending proximally from the distal end portion. The assembly includes an image sensor having a surface with a right side image area and a left side image area. The sensor surface lies in a plane…
REDUCTION OF ENDOSCOPE HIGH FREQUENCY LEAKAGE CURRENT USING A COMMON-MODE CHOKE
Granted: January 31, 2019
Application Number:
20190029499
An endoscope includes a body and a circuit board mounted within the body. A cable couples the circuit board to an imaging system. A common-mode choke is mounted within the body and is configured to electrically isolate the cable from the body at cautery frequencies. A method includes twisting a plurality of wires together to form a twisted set of wires. The twisted set of wires is wound around a core so that windings do not overlap, and so that a first winding and a last winding are…
SHEATHES FOR SURGICAL INSTRUMENTS, AND RELATED DEVICES AND METHODS
Granted: January 24, 2019
Application Number:
20190021805
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…
INCREASED RESOLUTION AND DYNAMIC RANGE IMAGE CAPTURE UNIT IN A SURGICAL INSTRUMENT AND METHOD
Granted: January 24, 2019
Application Number:
20190025569
In a minimally invasive surgical system, an image capture unit includes a prism assembly and sensor assembly. The prism assembly includes a beam splitter, while the sensor assembly includes coplanar image capture sensors. Each of the coplanar image capture sensors has a common front end optical structure, e.g., the optical structure distal to the image capture unit is the same for each of the sensors. A controller enhances images acquired by the coplanar image capture sensors. The…
END EFFECTOR WITH REDUNDANT CLOSING MECHANISMS
Granted: January 24, 2019
Application Number:
20190021733
End effectors with redundant closing mechanisms, and related tools and methods are disclosed. The disclosed end effectors may be particularly beneficial when used for minimally invasive surgery. An example surgical tool comprises an elongate shaft having a proximal end and a distal end, a tool body disposed at the distal end of the shaft, a jaw movable relative to the tool body between a clamped configuration and an open configuration, a first actuation mechanism coupled with the jaw and…
ELECTROSURGICAL TOOL COVER
Granted: January 17, 2019
Application Number:
20190015148
A cover for an electrosurgical instrument having a wrist structure and an end effector is provided. The cover includes a hollow elongated structure, which includes a tip cover portion and a base cover portion integrally connected to the tip cover portion. The tip cover portion has a distal end with an opening therethrough sized to receive the end effector of the electrosurgical instrument and is composed of a first, electrically insulative material having a flexibility sufficient to…
METHOD OF COUPLING OPTICAL FIBER BUNDLES
Granted: January 10, 2019
Application Number:
20190011648
A method and apparatus for coupling fiber bundles. A plurality of fibers are secured within a channel of a fastener system to place the plurality of fibers in a packing configuration within the channel. The fastener system and the plurality of fibers secured by the fastener system are cut through to create a first fiber bundle and a second fiber bundle. The first fiber bundle is coupled with the second fiber bundle.
SYSTEM AND METHOD FOR RAPID HALT AND RECOVERY OF MOTION DEVIATIONS IN MEDICAL DEVICE REPOSITIONABLE ARMS
Granted: January 10, 2019
Application Number:
20190008599
A system and method for rapid halt and recovery of motion deviations in a medical device includes a computer-assisted medical device having a first repositionable arm having one or more first repositionable elements, a second repositionable arm having one or more second repositionable elements, and a control unit communicably coupled to the first and second repositionable arms. The control unit is configured to control motion of the first repositionable arm and the first end effector…
ROTARY INPUT FOR LEVER ACTUATOR
Granted: January 3, 2019
Application Number:
20190000494
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 SYSTEM INSTRUMENT MANIPULATOR
Granted: December 13, 2018
Application Number:
20180353204
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…
SYSTEMS AND METHODS FOR CONFIGURING COMPONENTS IN A MINIMALLY INVASIVE INSTRUMENT
Granted: November 15, 2018
Application Number:
20180325417
A catheter system includes an elongate flexible catheter and a support structure mounted on a proximal portion of the elongate flexible catheter. The support structure includes a first alignment feature configured to mate with a first sensor such that the first sensor is maintained parallel to a longitudinal axis of the support structure, and a second alignment feature configured to mate with a second sensor such that the second sensor is maintained parallel to the longitudinal axis of…
MAXIMIZING ILLUMINATION FIBER IN AN ENDOSCOPE
Granted: November 15, 2018
Application Number:
20180329199
A stereoscopic endoscope includes a proximal main body, an outer tube extended to a distal end of the endoscope and a pair of optical train subassemblies. Distal and proximal inserts in the distal and proximal ends of the outer tube, respectively, support the optical train subassemblies. First and second optical fiber bundles substantially fill all of the voids between the inner surface of the outer tube and the outer surfaces of the inserts and the optical train subassemblies.
Reconfigurable End Effector Architecture
Granted: November 15, 2018
Application Number:
20180325611
Systems and related methods control movement of an end effector. A method of controlling movement of an end effector includes receiving, by a controller, a command to close or open an end effector that includes a first jaw member, a second jaw member, a wrist, and an instrument shaft. In response to the command, the controller controls movement of the end effector to simultaneously move the first jaw member relative to the second jaw member and actuate the wrist to orient the end…
SYSTEMS AND METHODS FOR NAVIGATION BASED ON ORDERED SENSOR RECORDS
Granted: November 15, 2018
Application Number:
20180325419
A method of tracking a medical instrument comprises receiving a model of an anatomical passageway formation and receiving a set of ordered sensor records for the medical instrument. The set of ordered sensor records provide a path history of the medical instrument. The method further comprises registering the medical instrument with the model of the anatomical passageway formation based on the path history. The method further includes displaying a virtual visualization image in a display…
