PORCINE LEAF FAT MEMBRANE USED IN TISSUE MODELS FOR SURGICAL TRAINING AND ASSOCIATED METHODS
Granted: August 29, 2024
Application Number:
20240290222
A method for making a porcine leaf fat membrane may include exposing a porcine leaf fat tissue sample to a detergent solution. The porcine leaf fat tissue sample includes a porcine leaf fat membrane and porcine leaf fat connected thereto. The method includes mechanically stripping the porcine leaf fat from the porcine leaf fat membrane after exposing the porcine leaf fat tissue sample to the detergent solution. The porcine leaf fat membrane may be incorporated within a tissue model for…
DEVICES FOR INSTRUMENT USE RECORDING, DEVICES FOR RECORDING INSTRUMENT REPROCESSING EVENTS, AND RELATED SYSTEMS AND METHODS
Granted: August 15, 2024
Application Number:
20240268822
An instrument can include a shaft with a proximal end portion and a distal end portion, an end effector at the distal end portion, and a transmission mechanism at the proximal end portion. The transmission mechanism can include a driven input device engageable with an external drive mechanism. The instrument can include an indicator operably coupled to the driven input device and moveable through each of a plurality of consecutive positions, each of the plurality of consecutive positions…
STAPLE CARTRIDGE FOR A SURGICAL INSTRUMENT
Granted: August 8, 2024
Application Number:
20240260959
The present disclosure provides a staple cartridge for a surgical instrument, such as a tissue sealing instrument. The staple cartridge includes a housing and one or more staple assemblies within the housing. The staple assemblies each include one or more staple pushers and associated staples. The staple pushers and housing include coupling elements configured to cooperate with each other to retain the staple assemblies to the housing prior to use in surgery. The coupling elements, along…
SURGICAL INSTRUMENTS HAVING A REINFORCED STAPLE CARTRIDGE
Granted: August 1, 2024
Application Number:
20240252171
The present disclosure provides a surgical instrument, such as a tissue sealing instrument, with an elongate shaft and first and second jaws movably coupled to the shaft. The second jaw comprises a cavity for receiving a staple cartridge and a substantially longitudinal reinforcing wall extending through the cavity. The instrument further includes a drive member configured to translate through the end effector to close the jaws and to engage a plurality of staples within the staple…
SHARED-LEG VOLTAGE SOURCE INVERTER
Granted: July 18, 2024
Application Number:
20240243675
A system includes a first motor, a second motor, and a third motor, each respective motor comprising three phases. The system further includes a voltage source inverter circuit comprising multiple respective inverter legs. Each respective inverter leg coupled to drive at least one phase of at least one of the respective motors, with a first shared inverter leg coupled to drive a third phase of the first motor and drive a first phase of the second motor. A second shared inverter leg is…
CAPACITIVE SENSING OF HAND PRESENCE AT CONTROL INPUT DEVICE
Granted: June 27, 2024
Application Number:
20240210454
Implementations relate to capacitive sensing of hand presence at a control input device. In some implementations, a control input device includes a support structure, a handle moveable in one or more degrees of freedom with reference to the support structure, and a capacitive sensor circuit electrically coupled to the handle. The handle is isolated from electrical ground and is an antenna for the capacitive sensor circuit.
DEVICES, SYSTEMS, AND METHODS FOR PERFORMING SUTURING PROCEDURES
Granted: June 27, 2024
Application Number:
20240206869
A needle driver device comprises a needle track defining a curved path and a drive system configured to operably engage with and drive a needle along the needle track. The drive system comprises a first drive member, a second drive member, and a needle driver link. The first drive member is rotatable about a first drive member axis, and the second drive member is rotatable about a second drive member axis spaced apart from the first drive member axis. The needle driver link comprises a…
SURGICAL INSTRUMENT STEERING INPUTS
Granted: June 20, 2024
Application Number:
20240197424
A surgical instrument includes an input device supported by a housing and coupled to a shaft. The input device comprises a drive shaft comprising a first bore, a capstan comprising a second bore, and a set screw coupling the capstan to the drive shaft. The set screw extends through at least a portion of the first bore of the drive shaft and the second bore of the capstan. The first bore of the drive shaft and the set screw are in threaded engagement with each other.
MANUAL RELEASE FOR MEDICAL DEVICE DRIVE SYSTEM
Granted: June 20, 2024
Application Number:
20240197423
A medical device drive system can include a rotational input, a coupling member engaged with the rotational input, a first gear having an engagement feature sized and shaped to engage with the coupling member, and a second gear coupled with the first gear, the second gear coupled to a movable element. The system can have a first system state and a second system state. In the first system state the coupling member is not engaged with the engagement feature and the first gear rotates…
MECHANISM FOR MANAGING AND RETAINING A SURGICAL DRAPE
Granted: June 13, 2024
Application Number:
20240189056
A sterile drape assembly for a surgical system can comprise a sterile drape and a cinch assembly affixed to the sterile drape. A surgical support system can include a manipulator arm assembly comprising a first manipulator link extending between opposite ends; a drape guide lip extending from one end of the opposite ends of the first actively controlled manipulator link; and a second manipulator link coupled to the first manipulator link wherein the drape guide lip is a barrier between…
COMPUTER-ASSISTED TELEOPERATED SURGERY SYSTEMS AND METHODS
Granted: June 13, 2024
Application Number:
20240189055
A joint mechanism includes a first end joint member; a middle joint member; a second end joint member; a first linkage member comprising a first annular band, the first linkage member pivotably coupled with the first end joint member and pivotably coupled with the middle joint member; and a second linkage member comprising a second annular band, the second linkage member pivotably coupled with the middle joint member and pivotably coupled with the second end joint member.
SURGICAL INSTRUMENT STEERING INPUT DEVICE
Granted: June 13, 2024
Application Number:
20240189054
A drive assembly of an instrument includes an input drive interface removably engageable with an external actuator device and configured to receive drive actuation force from the external actuator device in a state of engagement with the external actuator device, a drive shaft configured to be driven in rotation, a capstan, and a splined snap-fit connection mechanism between the drive shaft and the capstan. The splined snap-fit connection mechanism includes splined engagement features…
CONTROLLED RESISTANCE IN BACKDRIVABLE JOINTS
Granted: June 13, 2024
Application Number:
20240189051
A computer-assisted system includes a manipulator arm including a joint, an actuator mechanism configured to drive the joint, and a controller including a computer processor. The controller is communicatively coupled to the manipulator arm and configured with a first control mode and a second control mode. In each of the first control mode and the second control mode, the controller commands the actuator mechanism to allow an external articulation to reconfigure the manipulator arm by…
LATCH TO SECURE TELEOPERATED SURGICAL INSTRUMENT TO ACTUATOR
Granted: May 30, 2024
Application Number:
20240173092
A method for attaching a surgical instrument to an instrument carriage includes engaging an instrument sterile adapter with an instrument carriage using a first latch mechanism of the instrument sterile adapter; and engaging a surgical instrument with the instrument sterile adapter using a second latch mechanism of the instrument sterile adapter. In an engaged state of the second latch mechanism with surgical instrument the first latch mechanism is not disengageable from the instrument…
COUNTERBALANCE MECHANISM INCLUDING DRIVE RATIO
Granted: May 16, 2024
Application Number:
20240157585
Implementations relate to a counterbalance mechanism including a force transformation mechanism that provides a drive ratio. In some implementations, a counterbalance apparatus includes a spring, a first tension element, a second tension element, a force transformation mechanism coupled to the spring by the first tension element and coupled to the second tension element, and a plurality of counterbalance pulleys coupled to the second tension element. At least one of the counterbalance…
INSTRUMENT RELEASE
Granted: May 16, 2024
Application Number:
20240156555
A medical instrument includes a backend and a pair of release elements. The backend includes a docking feature shaped to engage a docking structure such as a docking port of a surgical robot or a sterile adaptor for a surgical robot. Each release element is coupled to the backend and may include an activation feature on one side of the backend and a push tab extending from either an opposite side or the same side of the backend. Movement of the activation features moves the push tabs…
GEARED ROLL DRIVE FOR MEDICAL INSTRUMENT
Granted: May 16, 2024
Application Number:
20240156551
A medical instrument includes a roll mechanism that rotates an instrument shaft. The roll mechanism may include a first gear coupled to the instrument shaft and meshed with a second gear. One of gears may be a spur gear while the other gear may be a beveloid gear. Further, the spur gear and the beveloid gear may be in a gear train containing a compressible gear, e.g., a gear with an inner center piece, an outer ring, and a flexible interconnecting structure between the inner center piece…
DEVICES, SYSTEMS AND METHODS FOR CONTROLLING CABLE DRIVE MECHANISMS
Granted: May 9, 2024
Application Number:
20240149438
A cable-driven device, such as a joint or instrument of a computer-assisted manipulator system, may comprise a capstan mechanism to wind/unwind cables. The capstan mechanism comprises a capstan that has a groove in an outer surface of the capstan to guide the cables, which are routed from a take-up pulley, to spool onto the capstan as the capstan rotates. A guide element is engaged with the groove. The guide element is held translationally stationary relative to the take-up pulley, while…
SURGICAL TOOL WITH NESTED SHAFT TUBES
Granted: May 9, 2024
Application Number:
20240148405
A surgical instrument includes a chassis, an outer tube having a proximal end operably coupled to the chassis, and an inner tube extending within the outer tube. The inner tube has a proximal end operably coupled to the chassis to allow slidable movement of the inner tube relative to the outer tube in response to a force imparted to a distal end of the inner tube, and such that frictional force imparted to an outer surface of the outer tube is not imparted to the inner member.
SURGICAL SYSTEM WITH OBSTACLE INDICATION SYSTEM
Granted: May 2, 2024
Application Number:
20240138937
A medical system includes a mobile cart configured to support one or more medical instruments; an illumination source mounted on the mobile cart, the illumination source configured to direct light in a direction of a path of the mobile cart during movement relative to a ground surface; and a control system operably coupled to the illumination source and the mobile cart. The control system is configured to in response to the illuminating, storing a threshold height in a memory; and…
