Integrated Fiber Bragg Grating Accelerometer in a Surgical Instrument
Granted: February 1, 2018
Application Number:
20180031600
An accelerometer is included within the confined space and limited volume of a distal portion of a surgical instrument. The surgical instrument includes an end component, a joint coupled to the end component, a shaft coupled to the joint, and a force transducer and accelerometer apparatus. The force transducer and accelerometer apparatus is coupled between the joint and the shaft. The force transducer and accelerometer apparatus includes a force sensor and an accelerometer. The…
RATCHETING FOR MASTER ALIGNMENT OF A TELEOPERATED MINIMALLY INVASIVE SURGICAL INSTRUMENT
Granted: February 1, 2018
Application Number:
20180028270
A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the…
CANNULAS HAVING WALL STRENGTHENING FEATURES, AND RELATED SYSTEMS AND METHODS
Granted: January 25, 2018
Application Number:
20180021517
A cannula may include a bowl portion comprising a first opening and a second opening, and an insertion tube extending from the bowl portion. The insertion tube defines a passage extending from the second opening and terminating in a distal end opening. The passage is configured to receive an instrument to be advanced through the cannula. The insertion tube has a transparent portion extending proximally from the distal end opening, and a strengthened portion extending proximally from the…
SURGICAL CANNULAS, AND RELATED SYSTEMS AND METHODS
Granted: January 25, 2018
Application Number:
20180021098
A surgical cannula includes an electrically conductive portion, an electrical connector interface configured to removably engage with an electrical connector electrically coupled to a patient return electrode, and an electrical connector sensing device configured to sense whether the electrical connector interface is engaged or disengaged with the electrical connector. Surgical systems include surgical cannulas. Methods relate to surgical cannulas.
CANNULAS HAVING BODY WALL RETENTION FEATURES, AND RELATED SYSTEMS AND METHODS
Granted: January 25, 2018
Application Number:
20180021061
A cannula may include a cannula bowl having an opening to receive an instrument configured to be advanced through the cannula, and a cannula tube extending distally from the cannula bowl. The cannula tube may have a proximal end opening, a distal end opening disposed at an opposite end of the cannula from the proximal end opening, and lateral wall defining a passage extending from the proximal end opening to the distal end opening. The lateral wall can have outer dimensions defining a…
SURGICAL SYSTEM INSTRUMENT MOUNTING
Granted: January 18, 2018
Application Number:
20180014852
Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; and a distal link operably coupled to the proximal link. A plurality of instrument manipulators are rotatably coupled to a distal end of the distal link, each of…
Method of Synthesizing Near IR, Closed Chain Sulfo-Cyanine Dyes
Granted: January 11, 2018
Application Number:
20180009987
Compositions and methods of synthesizing near IR, closed chain, sulfo-cyanine dyes are provided.
PSMA TARGETED FLUORESCENT AGENTS FOR IMAGE GUIDED SURGERY
Granted: January 11, 2018
Application Number:
20180009767
Compositions and methods for visualizing tissue under illumination with near-infrared radiation, including compounds comprising near-infrared, closed chain, sulfo-cyanine dyes and prostate specific membrane antigen ligands are disclosed.
ROBOTIC LINKAGE
Granted: January 11, 2018
Application Number:
20180008125
A robotic link may include a link having an outer wall surface and an inner wall surface, and a pair of outer hinge portions on a first end of the link. Each outer hinge portion may have an inner bearing surface positioned between the inner wall surface and an outer ear. The link may include a pair of inner hinge portions on a second end of the link. Each inner hinge portion may have an outer bearing surface positioned between the outer wall surface and an inner ear.
Devices, Systems, and Methods for Anchoring Actuation Wires to a Steerable Instrument
Granted: January 4, 2018
Application Number:
20180001058
A pull wire attachment system for a minimally invasive medical instrument comprises an anchoring element fixedly attached to the medical instrument. The anchoring element has a first outer diameter. The system also includes a pull wire assembly comprising an elongate pull wire having a proximal end and a distal end and a securing element coupled to the distal end of the pull wire. The securing element includes a second outer diameter sized smaller than the first outer diameter of the…
DISSIMILAR CORES IN MULTICORE OPTICAL FIBER FOR STRAIN AND TEMPERATURE SEPARATION
Granted: December 28, 2017
Application Number:
20170370704
An optical fiber includes multiple optical waveguides configured in the fiber. An interferometric measurement system mitigates or compensates for the errors imposed by differences in a shape sensing optical fiber's response to temperature and strain. A 3-D shape and/or position are calculated from a set of distributed strain measurements acquired for a multi-core optical shape sensing fiber that compensates for these non-linear errors using one or more additional cores in the multicore…
Flexible Electromagnetic Sensor
Granted: December 28, 2017
Application Number:
20170367767
A medical system employs a sensing coil that includes a flexible core containing a magnetically permeable material and an electrical conductor wound around the flexible core. The electrical conductor may be wound in a manner that permits use of the sensing coil in a range of configurations from straight to bent with a minimum radius of curvature.
Surgical Instrument With Single Drive Input for Two End Effector Mechanisms
Granted: November 23, 2017
Application Number:
20170333065
Methods for treating tissue, and surgical assemblies and related methods are disclosed in which a single input is used to sequentially articulate two members. A medical device includes an input link movable through an input link range of motion, a jaw coupled with the input link, and a tissue manipulation member coupled to the input link and positioned to manipulate a tissue gripped by the jaw. The input link range of motion includes a first portion and a second portion. The input link…
Surgical Instrument With Stowing Knife Blade
Granted: November 23, 2017
Application Number:
20170333037
A surgical instrument with a stowing knife blade includes an elongated shaft, an end effector coupled to the shaft and including two opposed jaws, a housing included in one of the jaws, a first member mounted in the housing and movable distally, a knife pivotally coupled with the first member, and a second member. The knife is configured to cut when advanced distally. The first and second members are moved distally at the same rate during a cutting motion of the knife and the second…
METHOD AND SYSTEM FOR HAND PRESENCE DETECTION IN A MINIMALLY INVASIVE SURGICAL SYSTEM
Granted: November 9, 2017
Application Number:
20170319284
In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller…
MEDICAL DEVICE WITH ACTIVE BRAKE RELEASE CONTROL
Granted: November 2, 2017
Application Number:
20170312047
A computer-assisted medical device includes an articulated arm with a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to send a command to a plurality of brakes in the articulated arm to begin a release of the plurality of brakes in a predetermined staggered manner. In some embodiments the predetermined staggered manner prevents the simultaneous release of the plurality of breaks. In some examples, the predetermined staggered manner…
Determining Position of Medical Device in Branched Anatomical Structure
Granted: November 2, 2017
Application Number:
20170311844
Information extracted from sequential images captured from the perspective of a distal end of a medical device moving through an anatomical structure are compared with corresponding information extracted from a computer model of the anatomical structure. A most likely match between the information extracted from the sequential images and the corresponding information extracted from the computer model is then determined using probabilities associated with a set of potential matches so as…
COMBINATIONAL SCISSOR-GRASPER TOOL FOR USE IN LAPAROSCOPY
Granted: October 26, 2017
Application Number:
20170303951
Disclosed is a four-jawed combinational scissor-grasper surgical tool for use in laparoscopy, Cutting and grasping functionalities are respectively enabled via movement of a pair of such specially contoured jaw members sliding against or splaying apart from the other pair. Also disclosed are means for achieving selectable interlocking of jaw members and mechanical linkage for their actuation by human user.
DEVICES, SYSTEMS, AND METHODS USING MATING CATHETER TIPS AND TOOLS
Granted: October 19, 2017
Application Number:
20170296038
A medical instrument system comprises an imaging probe including a distal tip terminating at a first distal end of the imaging probe and a lens disposed at the first distal end. The imaging probe including a first sealing feature on an external surface of the imaging probe. The medical instrument also comprises an elongated medical instrument including a distal portion terminating at a second distal end and including a working channel configured to slidably receive the imaging probe. The…
STAPLING CARTRIDGE
Granted: October 12, 2017
Application Number:
20170290586
A stapling cartridge having an elongated rail that provides support to a moveable clamping element and resists pulling or spreading forces caused by compressing and cutting tissue. The elongated rail can directly connect the stapling cartridge to the lower jaw and completely carry the moveable clamping element, which can couple and decouple to an anvil of an upper jaw.
