SURGICAL PORT FEATURES WITH ELECTRICALLY CONDUCTIVE PORTIONS, RELATED DEVICES, AND RELATED METHODS
Granted: August 9, 2018
Application Number:
20180221639
A surgical port includes a first end, a second end opposite the first end, and a longitudinal axis extending through the first end and the second end. An outer sidewall extends between the first end and the second end. First and second channels extend through the port from the first end to the second end. A first electrically conductive portion extends from the first channel to the outer sidewall, and a second electrically conductive portion extends from the second channel to the outer…
CURVED CANNULA SURGICAL SYSTEM CONTROL
Granted: August 9, 2018
Application Number:
20180221101
A robotic system includes a master device and a slave manipulator configured to support an instrument. The instrument includes an instrument shaft having a proximal end and a distal end, and an end effector coupled to the distal end. The instrument shaft is optionally configured to be inserted into an inserted position through a port so as to provide the end effector with access to a site. A control system is operably coupled to the master device and to the slave manipulator. In response…
MINIMALLY INVASIVE SURGICAL INSTRUMENT TO PROVIDE NEEDLE-BASED THERAPY
Granted: August 9, 2018
Application Number:
20180221095
A surgical instrument is provided that includes a first input mechanism having axial slots formed in a periphery and a second input mechanism having helical slots formed in a surface. The instrument also includes an insert having pins extending from a surface thereof, the insert coupled to the second input mechanism such that the one or more pins extend into the helical slots, and a surgical device coupled to an end. The surgical device is moved in a first degree of freedom in response…
SURGICAL INSTRUMENT PORTS CONFIGURED FOR USE WITH WOUND RETRACTORS, AND RELATED DEVICES AND METHODS
Granted: August 2, 2018
Application Number:
20180214681
A surgical port includes an end face with a channel extending through the end face. The channel has a cross section shaped to receive a surgical instrument cannula. A lateral wall extends around a perimeter of the end face. The lateral wall and end face enclose an open volume. A rim extends radially inward from the lateral wall and projects into the open volume. An apron portion extends radially outward from the lateral wall and in a direction axially away from the end face. Surgical…
SURGICAL SYSTEM INSTRUMENT MANIPULATOR
Granted: August 2, 2018
Application Number:
20180214176
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…
MEDICAL ROBOTIC SYSTEM WITH IMAGE REFERENCED CAMERA CONTROL USING PARTITIONABLE ORIENTATIONAL AND TRANSLATIONAL MODES
Granted: August 2, 2018
Application Number:
20180214014
A medical robotic system includes an entry guide with articulatable instruments such as surgical tools and a camera extending out of its distal end. The camera instrument is manipulatable by a camera manipulator, which has a first mechanism for pivoting a focal point of the camera instrument about a pivot of the camera instrument and a second mechanism for positioning the pivot within a three-dimensional space in response to translational commands received from one or a coupled pair of…
CURVED CANNULA SURGICAL SYSTEM
Granted: July 26, 2018
Application Number:
20180206927
A method may include coupling a proximal end of a first cannula to a first manipulator of a surgical system, the first manipulator being configured to remotely actuate movement of the first cannula, wherein the first cannula comprises a rigid portion disposed between the proximal end and a distal end of the first cannula, the rigid portion having a curved longitudinal axis, and coupling a proximal end of a second cannula to a second manipulator of a surgical system, the second…
CONTROL OF MULTIPLE DEVICES
Granted: July 26, 2018
Application Number:
20180206925
Methods, systems, and apparatuses for controlling surgical systems. In one aspect, a method includes obtaining, at a control subsystem associated with a surgical system, hardware configuration information from a first patient side subsystem that is communicatively coupled to and controlled by the control subsystem; determining a software version to be used by the control subsystem and the first patient side subsystem, wherein determining the software version includes selecting the…
CONTROLLER ASSISTED RECONFIGURATION OF AN ARTICULATED INSTRUMENT DURING MOVEMENT INTO AND OUT OF AN ENTRY GUIDE
Granted: July 26, 2018
Application Number:
20180206924
To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its configuration is changed to an entry pose while avoiding collisions with other objects so that it may fit in the entry guide. After the tool exchange is completed, a new tool is inserted in the…
SURGICAL SYSTEM WITH OBSTACLE INDICATION SYSTEM
Granted: July 5, 2018
Application Number:
20180185106
A patient side cart for a teleoperated surgical system may comprise a column extending from a base, the column having a first end connected to the base and a second end opposite the first end. The patient side cart may further include a surgical instrument manipulator arm coupled proximate the second end of the column, and an obstacle indication system comprising an illumination source mounted on the patient side cart at a height above a location the surgical instrument manipulator arm…
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…
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.
