COMPACT COUNTER BALANCED ARMS
Granted: June 9, 2016
Application Number:
20160157946
In one embodiment of the invention, a counter balanced arm is disclosed including, a first link having a first rotating transmission device, a second link having a first rotating transmission device and a compression spring, a third rotating transmission device coupled between the first and second links, and a cable routed over the rotating transmission devices coupled between the second link and the compression spring. The compression spring forms a tension in the cable to counter…
INDICATOR FOR TOOL STATE AND COMMUNICATION IN MULTIARM ROBOTIC TELESURGERY
Granted: June 9, 2016
Application Number:
20160157943
Medical and/or robotic devices, systems and methods can provide an indicator associated with each manipulator assembly of a multi-arm telerobotic or telesurgical system. The exemplary indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical…
TENDON-ACTUATED ARTICULATING INSTRUMENTS, AND RELATED SYSTEMS
Granted: June 2, 2016
Application Number:
20160151908
A steerable device may comprise an elongate, flexible body comprising a plurality of articulatable segments along at least part of a length of the body, a plurality of coil pipes extending in a spiral configuration along the articulatable segments, a plurality of tendons respectively received within the plurality of coil pipes, and an actuator coupled to the plurality of tendons, the actuator being configured to apply an actuation force to the tendons to selectively actuate articulation…
VESSEL SEALING INSTRUMENT WITH STEPPED JAW
Granted: May 26, 2016
Application Number:
20160143688
A vessel sealer has a stepped jaw that allows the jaw to have an overall shape and a width that provides desired strength, shape, and functionality while permitting a smaller raised portion to apply the sealing pressure. The smaller area applying the sealing pressure allows an actuating mechanism to apply a clinically desired sealing pressure without exceeding the force or torque limitations of the actuating mechanism and can limit thermal spread during a sealing procedure.
FLOW INDICATORS FOR SURGICAL INSTRUMENT REPROCESSING, AND RELATED SYSTEMS AND METHODS
Granted: May 19, 2016
Application Number:
20160135899
A surgical instrument flow indicator comprises a body defining a flow passage comprising an inlet and an outlet, wherein the inlet is configured to be fluidically coupled to a fluid supply source and wherein the outlet is configured to be fluidically coupled to the surgical instrument. The flow indicator further comprises a flow indication mechanism in flow communication with the flow passage, the flow indication mechanism being configured to transition from a first state to a second…
INSTRUMENT ACTUATION PROCESS
Granted: May 12, 2016
Application Number:
20160128792
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.
CURVED CANNULA SURGICAL SYSTEM
Granted: May 12, 2016
Application Number:
20160128791
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…
SYSTEMS AND METHODS FOR REDUCING MEASUREMENT ERROR USING OPTICAL FIBER SHAPE SENSORS
Granted: April 14, 2016
Application Number:
20160101263
An apparatus comprises an instrument including an elongated, flexible body and a shape sensor including an optical fiber extending at least partially along the elongated, flexible body. The apparatus also includes a radiopaque material incorporated with the optical fiber at least partially along a length of the optical fiber.
COMBINATIONAL SCISSOR-GRASPER TOOL FOR USE IN LAPAROSCOPY
Granted: March 31, 2016
Application Number:
20160089176
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.
SURGICAL INSTRUMENT WITH FLEXIBLE SHAFT AND ACTUATION ELEMENT GUIDE
Granted: March 31, 2016
Application Number:
20160089213
A surgical instrument includes a shaft, a force transmission mechanism disposed at a first end of the shaft, an end effector disposed at a second end of the shaft, an actuation element that extends along the shaft from the force transmission mechanism to the end effector, and an actuation element guide extending along the shaft. The actuation element guide defines a lumen in which the actuation element guide is received. The actuation element guide is compressed into a pre-compressed…
SEALS AND SEALING METHODS FOR A SURGICAL INSTRUMENT HAVING AN ARTICULATED END EFFECTOR ACTUATED BY A DRIVE SHAFT
Granted: March 10, 2016
Application Number:
20160067002
Sealing assemblies and methods are disclosed for sealing a surgical instrument having an internal drive shaft subject to lateral displacement. A sealing assembly includes a rigid portion shaped to interface with an instrument shaft of the surgical instrument. A laterally oriented slot is open at a radially perimeter location and configured to receive an o-ring seal via the perimeter location. Apertures are disposed on opposing sides of the slot and open to the slot. The apertures are…
SURGICAL EQUIPMENT CONTROL INPUT VISUALIZATION FIELD
Granted: March 10, 2016
Application Number:
20160066815
A teleoperated medical device includes a sensor that senses information that represents a position of a control input out of an operator's field of view and displays the information to the operator. The displayed information may be combined with an image of a surgical site, so that the operator can locate and operate the control input while continuously viewing the image of the surgical site.
SIDE LOOKING MINIMALLY INVASIVE SURGERY INSTRUMENT ASSEMBLY
Granted: March 10, 2016
Application Number:
20160066773
A surgical instrument is inserted through a guide tube. The surgical instrument exits at an intermediate position of the guide tube and is oriented to be substantially parallel to the guide tube's longitudinal axis as it exits. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The guide tube is jointed…
MEDICAL INSTRUMENT ELECTRICALLY ENERGIZED USING DRIVE CABLES
Granted: February 25, 2016
Application Number:
20160051318
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…
METHOD AND SYSTEM FOR MOVING A PLURALITY OF ARTICULATED INSTRUMENTS IN TANDEM BACK TOWARDS AN ENTRY GUIDE
Granted: February 18, 2016
Application Number:
20160045272
A medical robotic system includes articulated instruments extending out of a distal end of an entry guide. Prior to pivoting the entry guide to re-orient it and the instruments, the instruments are moved in tandem back towards the entry guide. Haptic cues and velocity limits are provided to assist the operator in the retraction of the instruments. After retraction, the entry guide may then be pivoted without concern that the instruments will harm patient anatomy. The movement of the…
MEDICAL ROBOTIC SYSTEM WITH IMAGE REFERENCED CAMERA CONTROL USING PARTITIONABLE ORIENTATIONAL AND TRANSLATIONAL MODES
Granted: February 11, 2016
Application Number:
20160038011
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…
ROLL-PITCH-ROLL SURGICAL TOOL
Granted: January 28, 2016
Application Number:
20160022366
A robotic surgical tool includes an elongate shaft having a working end and a shaft axis, and a pair of linking arms each having a proximal end and a distal end. The proximal end is pivotally mounted on the working end of the shaft to rotate around a first pitch axis to produce rotation in first pitch. A wrist member has a proximal portion pivotally connected to the distal end of the linking arm to rotate around a second pitch axis to produce rotation in second pitch. An end effector is…
SURGICAL PATIENT SIDE CART WITH DRIVE SYSTEM AND METHOD OF MOVING A PATIENT SIDE CART
Granted: January 28, 2016
Application Number:
20160022360
A patient side cart for a teleoperated surgical system can include at least one manipulator arm portion for holding a surgical instrument, a steering interface, and a drive system. The steering interface may be configured to detect a force applied by a user to the steering interface indicating a desired movement for the teleoperated surgical system. The drive system can include at least one driven wheel, a control module, and a model section. The control module may receive as input a…
SURGICAL INSTRUMENT CONTROL
Granted: January 21, 2016
Application Number:
20160015447
A computer-controlled surgical system may include a surgical instrument having a working end, the working end having a moveable mechanical component, and movement of the mechanical component performing a clamping and cutting function by the working end. The surgical system may further include a computer control system operably coupled to the surgical instrument and to first and second input devices. In response to a first command received from the first input device, the computer control…
DOUBLE UNIVERSAL JOINT
Granted: January 21, 2016
Application Number:
20160015462
Surgical tools having a two degree-of-freedom wrist, wrist articulation by linked tension members, mechanisms for transmitting torque through an angle, and minimally invasive surgical tools incorporating these features are disclosed. An elongate intermediate wrist member is pivotally coupled with a distal end of an instrument shaft so as to rotate about a first axis transverse to the shaft, and an end effector body is pivotally coupled with the intermediate member so as to rotate about a…
