Display of Computer Generated Image of an Out-of-View Portion of a Medical Device Adjacent a Real-Time Image of an In-View Portion of the Medical Device
Granted: June 21, 2018
Application Number:
20180168742
Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and methods allow an operator to selectively access and reference auxiliary information on the image display device during the performance of a surgical procedure.
CANULA FIXATION DEVICES, SYSTEMS, AND RELATED METHODS
Granted: June 21, 2018
Application Number:
20180168684
A cannula fixation device for insertion at a surgical incision includes a sleeve having a passage configured to receive a cannula, and a clamp configured to rotatably couple the cannula to the sleeve and to maintain an axial position of the cannula relative to the sleeve.
Surgical Instrument With Integral Knife Blade
Granted: June 21, 2018
Application Number:
20180168572
A cartridge of a surgical instrument includes a housing, a lead screw mounted for rotation in the housing, a drive member operatively coupled with the lead screw, and a knife member. The knife member is driven distally by the drive member and is configured to cut when moved distally. During an initial distal movement of the drive member, the knife member is coupled with the housing to restrain the knife member from moving distally. Subsequent to the initial distal movement of the drive…
Systems and Methods of Registration for Image Guided Surgery
Granted: June 7, 2018
Application Number:
20180153621
A method performed by a computing system comprises receiving a collected set of spatial information for a distal portion of an instrument at a plurality of locations within a set of anatomic passageways and receiving a set of position information for a reference portion of the instrument when the distal portion of the instrument is at each of the plurality of locations. The method also comprises determining a reference set of spatial information for the distal portion of the instrument…
SURGICAL INSTRUMENTS, RELATED SYSTEMS, AND RELATED METHODS
Granted: June 7, 2018
Application Number:
20180153612
A surgical instrument includes a shaft having a proximal end and a distal end. An end effector assembly includes an end effector body portion coupled to the distal end of the shaft. A cable having a distal end feature extending radially outwardly from the cable extends through the shaft between the proximal end of the shaft and the distal end of the shaft. A proximal surface of the distal end feature of the cable abuts a distal surface portion of the end effector body portion. A method…
Grip Force Control in a Robotic Surgical Instrument
Granted: May 24, 2018
Application Number:
20180140365
Surgical assemblies, instruments, and related methods are disclosed that control tissue gripping force. A method for controlling grip force in a robotic surgical instrument includes actuating an input link of a spring assembly. An actuation force is transferred from the input link to an output link of the spring assembly. Relative movement is inhibited between the input link and the output link when the transferred actuation force is below a predetermined level with a preloaded spring of…
ROBOTIC SURGICAL SYSTEM WITH PATIENT SUPPORT
Granted: May 24, 2018
Application Number:
20180140364
A robotic surgery system for supporting a patient and a robotic surgical manipulator. The robotic surgery system includes a base, a pillar coupled to the base at a first end and extending vertically upwardly to an opposing second end, and an attachment structure coupled to the second end of the pillar. A patient table is coupled to the attachment structure. A robot support arm has a first end coupled to the attachment structure. The robot support arm extends vertically upwardly from the…
CONSTRUCTION AND USE OF LOW TENSION MEDICAL INSTRUMENT
Granted: May 17, 2018
Application Number:
20180132957
A system includes a medical instrument that includes a termination fixture, an actuated element, and drive members coupled to the actuated element and extending to the termination fixture. The termination fixture provides an interface that exposes portions of the drive member to direct movement by an external system that may include a manipulator and a sterile barrier.
ELECTRICALLY CONDUCTIVE REDUCER DEVICE, RELATED SYSTEMS, AND RELATED METHODS
Granted: May 17, 2018
Application Number:
20180132890
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…
SURGICAL INSTRUMENT HOUSING, AND RELATED SYSTEMS, AND METHODS
Granted: May 10, 2018
Application Number:
20180126546
A force transmission mechanism of a surgical instrument, which is configured to releasably engage with a drive interface device located at a patient side cart of a teleoperated surgical system, includes a housing. The housing is configured to cover one or more drive components of the force transmission mechanism. The housing includes a releasable coupling mechanism configured to releasably engage with the drive interface device. The housing and the releasable coupling mechanism are a…
ELECTRODE ASSEMBLIES WITH ELECTRICALLY INSULATIVE ELECTRODE SPACERS, AND RELATED DEVICES, SYSTEMS, AND METHODS
Granted: May 10, 2018
Application Number:
20180126149
An electrode assembly may include an electrode support made of a first electrically insulative material and an electrode on the electrode support, the electrode having a working surface extending generally transverse to a thickness of the electrode. The electrode assembly may further include an insulative spacer retained in the electrode and made of a second electrically insulative material. The second electrically insulative material may be different from the first electrically…
ELECTRICALLY INSULATIVE ELECTRODE SPACERS, AND RELATED DEVICES, SYSTEMS, AND METHODS
Granted: May 10, 2018
Application Number:
20180125569
An electrode assembly comprises an electrode support, an electrode on the electrode support, the electrode having a working surface extending generally transverse to a thickness of the electrode, and a filament of electrically insulative material overlying a portion of the working surface of the electrode and at least partially extending through the thickness of the electrode. An electrosurgical may include an end effector having a jaw member comprising such an electrode assembly.
METHOD AND SYSTEM FOR FLUORESCENT IMAGING WITH BACKGROUND SURGICAL IMAGE COMPOSED OF SELECTIVE ILLUMINATION SPECTRA
Granted: May 3, 2018
Application Number:
20180116756
A surgical site is simultaneously illuminated by less than all the visible color components that make up visible white light, and a fluorescence excitation illumination component by an illuminator in a minimally invasive surgical system. An image capture system acquires an image for each of the visible color components illuminating the surgical site and a fluorescence image, which is excited by the fluorescence excitation component from the illuminator. The minimally invasive surgical…
TENSION REGULATOR FOR ACTUATION ELEMENTS, AND RELATED REMOTELY ACTUATED INSTRUMENTS, SYSTEMS, AND METHODS
Granted: May 3, 2018
Application Number:
20180116743
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…
MEDICAL INSTRUMENT ELECTRICALLY ENERGIZED USING DRIVE CABLES
Granted: May 3, 2018
Application Number:
20180116708
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…
MASTER-TO-SLAVE ORIENTATION MAPPING WHEN MISALIGNED
Granted: March 22, 2018
Application Number:
20180078321
A controller stores the orientations of a master tool grip and a slave surgical instrument tip upon completion of a master-slave alignment process, and enters following. During following each commanded movement of the slave surgical instrument tip from the master tool grip is processed by the controller to compensate for any alignment error between the master tool grip and the slave surgical instrument tip before following was entered. The result of this processing is that the motion of…
SHAPE-TRANSFERRING CANNULA SYSTEM AND METHOD OF USE
Granted: March 8, 2018
Application Number:
20180064904
A medical cannula system comprises a conduit; an endoscope comprising a distal steerable tip, wherein the endoscope is inside the conduit, and wherein the distal steerable tip of the endoscope extends out of the conduit; a tip liner surrounding the distal steerable tip of the endoscope; and a wiper link surrounding the tip liner at a close tolerance.
GRIP FORCE CONTROL FOR ROBOTIC SURGICAL INSTRUMENT END EFFECTOR
Granted: March 1, 2018
Application Number:
20180055587
A method of controlling an end effector of a robotically-controlled surgical instrument may include receiving a first input signal indicative of a high grip level input at a master grip input mechanism that controls a slave gripping force of the end effector; receiving a second input signal indicative of a user's readiness to operate the surgical instrument to perform a first surgical procedure; and outputting a locking signal in response to receiving the first input signal and the…
ADAPTABLE INTEGRATED ENERGY CONTROL SYSTEM FOR ELECTROSURGICAL TOOLS IN ROBOTIC SURGICAL SYSTEMS
Granted: February 22, 2018
Application Number:
20180049828
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…
METHODS AND SYSTEMS FOR ASSIGNING INPUT DEVICES TO TELEOPERATED SURGICAL INSTRUMENT FUNCTIONS
Granted: February 8, 2018
Application Number:
20180036087
A system for controlling a surgical instrument comprises an input device operably coupled to remotely control movement of a surgical instrument operably coupled to a computer-assisted surgical system; a first auxiliary input device configured to transmit an auxiliary function control signal to activate an auxiliary function of a surgical instrument in an operably coupled state of the first auxiliary input device and the surgical instrument. The system further comprises a control system…
