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…
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…
