CABLE DRIVE LIMITED SLIP CAPSTAN AND SHAFT
Granted: November 7, 2024
Application Number:
20240366329
Capstan slip-stop shoulders limit relative rotation of capstans: a drive is shaft rotatably inserted within first and second axially aligned annular capstans, the first capstan including a first tooth extending parallel to the drive shaft in a first direction, the second capstan including a second tooth extending parallel to the drive shaft in a second direction opposite the first direction, the first tooth including first and second circumferentially spaced first tooth slip-stop…
SYSTEM AND METHODS FOR POSITIONING A MANIPULATOR ARM BY CLUTCHING WITHIN A NULL-PERPENDICULAR SPACE CONCURRENT WITH NULL-SPACE MOVEMENT
Granted: November 7, 2024
Application Number:
20240366322
Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space…
HARD STOP PROTECTION SYSTEM AND METHOD
Granted: October 24, 2024
Application Number:
20240350219
Disclosed herein are apparatus and method for resisting external articulation of one or more joints of a manipulator assembly when the joints are approaching mechanical limits. For example, an articulable system may include a joint mechanism, an actuator coupled to the joint mechanism, a sensor system for sensing a joint state and a controller. The controller can operate the articulable system in an external articulation facilitation mode. The controller can command the actuator to…
SURGICAL INSTRUMENT WITH LINEAR AND PURSE STRING SUTURE STAPLES
Granted: October 24, 2024
Application Number:
20240350143
A surgical stapling instrument is configured to dissect tissue, apply a linear staple line along one side of the tissue dissection and apply a suture, such as a purse string suture, to the other side of the tissue dissection. The instrument comprises an elongate shaft, first and second jaws configured to open and close and a cutting element. The instrument includes a first row of staples in each of the first and second jaws having a suture extending therethrough and a second row of…
LOW-FRICTION MEDICAL TOOLS HAVING ROLLER-ASSISTED TENSION MEMBERS
Granted: October 17, 2024
Application Number:
20240341887
A low-friction medical device is provided having roller-assisted tension members and a friction-reducing curved guide path. The device includes a first link, a second link, and a tension member. A proximal end portion of the first link is coupled to an instrument shaft. A proximal end portion of the second link is rotatably coupled to a distal end portion of first link about a first axis. The second link defines a curved guide path and a cable extends from the first link through the…
ELECTRICALLY CONDUCTIVE REDUCER DEVICE, RELATED SYSTEMS, AND RELATED METHODS
Granted: October 17, 2024
Application Number:
20240341807
A method of making a reducer device for a cannula comprising forming a tubular member having a proximal end opening, a distal end opening, and an interior passage extending between the proximal end opening and the distal end opening; forming a protrusion extending radially outwardly from an exterior surface of the tubular member; and coupling an electrically conductive structure to the tubular member such that the electrically conductive structure forms an electrically conductive pathway…
SURGICAL INSTRUMENT SHEARS
Granted: October 17, 2024
Application Number:
20240341799
A medical device includes a blade support, a blade supported by the blade support, and a pin. The blade support includes a bore with an inner portion oriented toward the blade and an outer portion oriented away from the blade. A discontinuity is located at a boundary between the inner and outer portions of the bore. The pin includes a longitudinal axis and a yaw plane is defined perpendicular to the longitudinal axis. A rotational yaw degree of freedom is defined about the longitudinal…
JOINT ASSEMBLIES WITH CROSS-AXIS FLEXURAL PIVOTS
Granted: October 17, 2024
Application Number:
20240341793
The embodiments described herein can be used in a variety of grasping, cutting, and manipulating operations. In some embodiments, an apparatus includes a first joint member, a second joint member, and a flexure. The first joint member includes a first connection portion and a contact surface. The second joint member including a second connection portion. A first end portion of the flexure is coupled to the first connection portion, and a second end portion of the flexure is coupled to…
SURGICAL INSTRUMENT WITH LOCKOUT MECHANISM
Granted: October 10, 2024
Application Number:
20240335194
Locking assemblies for surgical clamping and cutting instruments include a locking member and a switch. A drive member may be configured to releasably engage a knife and/or a shuttle of the surgical instrument for translating the knife and/or shuttle in a distal direction through a firing stroke. The locking member is movable from a first position permitting distal translation of the drive member through the firing stroke, and a second position inhibiting distal translation of the drive…
CONVOLUTIONAL NEURAL NETWORKS FOR EFFICIENT TISSUE SEGMENTATION
Granted: October 10, 2024
Application Number:
20240338421
An imaging system is provided for pixel-level segmentation of images comprising: a camera to capture images of an anatomical object and to represent the images in two-dimensional (2D) arrangements of pixels; one or more processors and a non-transitory computer readable medium with information including: CNN instructions to cause the one or more processors to implement a CNN configured to associate anatomical object classifications with pixels of the 2D arrangements of pixels; and…
SYSTEM AND METHOD TO RECOMMEND TOOL SET FOR A ROBOTIC SURGICAL PROCEDURE
Granted: October 3, 2024
Application Number:
20240331856
A computer-implemented method is provided to receive skill data and patient data, the skill data indicative of a skill level associated with a surgeon, and the patient data corresponding to a patient, determine, using a model trained with machine learning and receiving as input the skill data and the patient data, tool data indicative of a recommended tool, and cause, based on the tool data, an indication to be presented to a user to install the recommended tool onto the…
MULTI-CABLE MEDICAL INSTRUMENT
Granted: September 26, 2024
Application Number:
20240315792
A medical instrument includes cable pairs respectively wound around input spindles and connected to actuate degrees of freedom of an instrument shaft structure. The cables may connect so that rotating the input spindles actuates corresponding degrees of freedom. First pulleys in the instrument may receive first cables from the input spindles and redirect the first cables toward the instrument shaft, and second pulleys may receive second cables from the input spindles and redirect the…
SURGICAL INSTRUMENTS HAVING A JAW LOCKING MECHANISM
Granted: September 26, 2024
Application Number:
20240315761
A surgical instrument having a jaw lock includes first jaw and second jaws that are moveable from an open position to a closed position. At least one of the jaws includes a jaw slot having a jaw closing portion and a jaw locking portion. A pin positioned within the jaw slot is advanced by a blade. The blade includes a cutting edge and a notch defining a first edge configured to advance the pin to move the jaws to, and secure the jaws in, the closed position.
STAPLER CARTRIDGE ASSEMBLIES AND RELATED DEVICES, SYSTEMS, AND METHODS
Granted: September 26, 2024
Application Number:
20240315693
A method of installing a stapler reload cartridge in a stapler instrument includes removing a cover from a side of a stapler reload cartridge housing a plurality of staples, the side having a plurality of pusher apertures configured to receive staple pushers during loading of the stapler reload cartridge; after removing the cover, installing the stapler reload cartridge in the stapler instrument by placing the stapler reload cartridge in a jaw of the stapler instrument such that the side…
END EFFECTOR FORCE FEEDBACK TO MASTER CONTROLLER
Granted: September 19, 2024
Application Number:
20240307139
A teleoperated surgical system is provided that includes a surgical instrument that includes an end effector mounted for rotation about a slave pivot axis; a master control input includes a mount member, first and second master grip rotatably secured at the mount member for rotation about a master pivot axis; sensor to produce a sensor signal indicative of a slave grip counter-force about the slave pivot axis; one or more motors to impart a shear force to the mount member, perpendicular…
STAPLER RELOAD ASSEMBLIES AND RELATED DEVICES, SYSTEMS, AND METHODS
Granted: September 12, 2024
Application Number:
20240299029
A stapler reload assembly includes a cartridge body. The cartridge body comprises a plurality of staple apertures configured to eject staples housed in the cartridge body and a staple retainer removably coupled to the cartridge body. The staple retainer comprises a main body portion configured to at least partially cover the plurality of staple apertures in a position of the staple retainer coupled to the cartridge body, a first handling portion extending from the main body portion at a…
SPLIT BRIDGE CIRCUIT FORCE SENSOR
Granted: September 12, 2024
Application Number:
20240302227
A force sensor comprising a beam having a longitudinal axis and a proximal end portion and a distal end portion; a first Wheatstone bridge disposed on a first face of the beam, including multiple tension gauge resistors and multiple compression gauge resistors; a second Wheatstone bridge disposed on the first face of the beam, including multiple tension gauge resistors and multiple compression gauge resistors; wherein at least one tension gauge resistor and at least one compression gauge…
MEDICAL GAS DUCTS FOR MEDICAL GAS EVACUATION DEVICES AND RELATED SYSTEMS AND METHODS
Granted: September 12, 2024
Application Number:
20240299677
A medical system can include a medical gas duct comprising a first end, a second end opposite the first end, a first opening at the first end of the duct, and a second opening at the second end of the duct. The first opening can be positioned to receive medical gas exiting an exhaust port of a medical gas evacuation unit. On the condition a medical suction supply provides a suction at the second opening of the duct, medical gas exiting the exhaust port of the medical gas evacuation unit…
SURGICAL DRAPE AND SYSTEMS INCLUDING SURGICAL DRAPE AND ATTACHMENT SENSOR
Granted: September 12, 2024
Application Number:
20240299113
A patient side cart can have a first sensor at an arm and a second sensor at a main column. A sterile barrier system can include a first drape to cover at least a portion of the arm of the cart, a first attachment device connected to the first drape, a second drape to cover at least a portion of the main column of the cart, and a second attachment device connected to the second drape. In an installed position of the first drape, the first sensor can detect he first attachment device and…
CONTROLLING CONDUCTIVE PATHS BETWEEN ELECTRODES IN ELECTROSURGICAL INSTRUMENTS AND RELATED SYSTEMS AND METHODS
Granted: September 12, 2024
Application Number:
20240299080
An electrosurgical instrument may comprise electrodes provided on the working surfaces of each jaw member that can be set to different electrical potentials and/or polarities to perform electrosurgical operations, such as sealing and cutting. Different combinations of electrodes can be selectively activated to create different pathways for the transfer of electrical energy through the material, to achieve the desired effects.
