SURGICAL SYSTEM INSTRUMENT MANIPULATOR
Granted: June 18, 2015
Application Number:
20150164597
An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument…
THREE-DIMENSIONAL TARGET DEVICES, ASSEMBLIES AND METHODS FOR CALIBRATING AN ENDOSCOPIC CAMERA
Granted: June 4, 2015
Application Number:
20150150435
The present disclosure relates to calibration target devices, assemblies and methods for use with imaging systems, such as a stereoscopic endoscope. A calibration assembly includes: a target surface extends in three dimensions with calibration markers and a body with an interface that engages an endoscope so the markers are within the field of view. A first calibration marker extends along a first plane of the target surface and a second marker extends along a second plane of the target…
CONNECTOR DEVICE FOR A CONTROLLABLE INSTRUMENT
Granted: May 14, 2015
Application Number:
20150133858
A connector assembly for controllable articles is described herein. The connector assembly engages force transmission elements used to transmit force from one or more force generators with the force transmission elements used to manipulate a controllable article. Additionally, the connector assembly provides organization thereby simplifying the process of connecting a plurality of elements, usually with a quick, single movement.
Indicator For Tool State and Communication in Multi-Arm Robotic Telesurgery
Granted: March 12, 2015
Application Number:
20150073437
Medical and/or robotic devices, systems and methods provide an indicator associated with a manipulator assembly of a multi-arm telerobotic or telesurgical system. An example of an indicator comprises as 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 system…
CURVED CANNULA SURGICAL SYSTEM CONTROL
Granted: February 12, 2015
Application Number:
20150045814
A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed. The flexible shaft…
INSTRUMENT HAVING RADIO FREQUENCY IDENTIFICATION SYSTEMS AND METHODS FOR USE
Granted: February 5, 2015
Application Number:
20150038788
One RFID equipped instrument includes an elongate body with a plurality of uniquely identified radio frequency identification chips spaced along the length of the elongate body. One system used for determining the position of an instrument includes an instrument; a plurality of radio frequency identification chips attached to the instrument; a reader connected to an antenna and adapted to communicate with each radio frequency identification chip using the antenna. One method for…
SOFTWARE CENTER AND HIGHLY CONFIGURABLE ROBOTIC SYSTEMS FOR SURGERY AND OTHER USES
Granted: January 29, 2015
Application Number:
20150032126
Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their…
EFFICIENT 3-D TELESTRATION FOR LOCAL AND REMOTE ROBOTIC PROCTORING
Granted: January 22, 2015
Application Number:
20150025392
An apparatus is configured to show telestration in 3-D to a surgeon in real time. A proctor is shown one side of a stereo image pair, such that the proctor can draw a telestration line on the one side with an input device. Points of interest are identified for matching to the other side of the stereo image pair. In response to the identified points of interest, regions and features are identified and used to match the points of interest to the other side. Regions can be used to match the…
CUT AND SEAL INSTRUMENT
Granted: January 8, 2015
Application Number:
20150011996
A surgical system including a cartridge having a first tissue sealing electrode and a surgical instrument including a first jaw and a second jaw, wherein the first jaw comprises a second tissue sealing electrode facing the second jaw, and wherein the second jaw is configured to removably receive the cartridge in a position where the first tissue sealing electrode is opposite the second tissue sealing electrode. The surgical system further includes a cut and seal controller, wherein the…
ADAPTABLE INTEGRATED ENERGY CONTROL SYSTEM FOR ELECTROSURGICAL TOOLS IN ROBOTIC SURGICAL SYSTEMS
Granted: January 8, 2015
Application Number:
20150012134
A method for a minimally invasive surgical system is disclosed including reading first tool information from a storage device in a first robotic surgical tool mounted to a first robotic arm to at least determine a first tool type; reading equipment information about one or more remote controlled equipment for control thereof; comparing the first tool information with the equipment information to appropriately match a first remote controlled equipment of the one or more remote controlled…
STEERABLE SEGMENTED ENDOSCOPE AND METHOD OF INSERTION
Granted: January 1, 2015
Application Number:
20150005576
A system for determining the shape of a surgical instrument includes an elongate instrument body having a selectively steerable distal tip, a pair of automatically controlled segments proximal to the selectively steerable distal tip, and a joint that couples the pair of adjacent automatically controlled segments together. An actuator changes an angle of the joint and a position encoder provides information associated with the joint angle. A controller receives the information associated…
METHOD AND SYSTEM FOR ANALYZING A TASK TRAJECTORY
Granted: December 25, 2014
Application Number:
20140378995
A computer-implemented method of analyzing a sample task trajectory including obtaining, with one or more computers, position information of an instrument in the sample task trajectory, obtaining, with the one or more computers, pose information of the instrument in the sample task trajectory, comparing, with the one or more computers, the position information and the pose information for the sample task trajectory with reference position information and reference pose information of the…
FORCE TRANSMISSION MECHANISM FOR TELEOPERATED SURGICAL SYSTEM
Granted: November 20, 2014
Application Number:
20140338477
A force transmission mechanism for a teleoperated surgical instrument may include a gear, a push/pull drive element, and a connection element. The push/pull drive element may be configured to transmit force to actuate an end effector of the surgical instrument and to rotate with a shaft of the surgical instrument when the shaft is rotated by the force transmission mechanism. The connection element may operatively couple the gear and the push/pull drive element. The connection element may…
SURGICAL PATIENT SIDE CART WITH SUSPENSION SYSTEM
Granted: November 20, 2014
Application Number:
20140343570
A patient side cart for a teleoperated surgical system comprises a base, a manipulator portion extending from the base and configured to hold one or more surgical instruments, four wheels mounted to the base to permit movement of the cart, and a suspension system. The suspension system may be configured to transition the cart between a first state in which the cart behaves as a three-wheeled cart and a second state in which the cart behaves as a four-wheeled cart.
GRIP FORCE NORMALIZATION FOR SURGICAL INSTRUMENT
Granted: November 20, 2014
Application Number:
20140343569
A teleoperated surgical system includes a surgical instrument with an end effector and a master input device. A servomechanism may be operatively coupled to the end effector to apply a force to the end effector, and at least one processor may operatively couple the servomechanism to the master input device to apply a grip force with the first and second gripping elements in response to input at the master input device. The applied grip force may be based at least in part on a mechanical…
GUIDE APPARATUS FOR DELIVERY OF A FLEXIBLE INSTRUMENT AND METHODS OF USE
Granted: November 20, 2014
Application Number:
20140343568
An apparatus for guiding a flexible instrument comprises an elongated support assembly having a longitudinal axis. The elongated support assembly is adapted to laterally receive into engagement and longitudinally support an elongated flexible instrument.
SYSTEMS AND METHODS FOR ROBOTIC MEDICAL SYSTEM INTEGRATION WITH EXTERNAL IMAGING
Granted: November 20, 2014
Application Number:
20140343416
A medical robotic system and method of operating such comprises taking intraoperative external image data of a patient anatomy, and using that image data to generate a modeling adjustment for a control system of the medical robotic system (e.g., updating anatomic model and/or refining instrument registration), and/or adjust a procedure control aspect (e.g., regulating substance or therapy delivery, improving targeting, and/or tracking performance).
STEREOSCOPIC ENDOSCOPE
Granted: November 13, 2014
Application Number:
20140336460
Two side-by-side optical paths transmit stereoscopic right side and left side images onto the surface of a single image sensing chip. The single image sensing chip may be placed at various orientations with respect to the lens trains in the optical paths. In some embodiments a single prism is used to turn the light for both the right side and left side images onto the single image sensing chip. In other embodiments one prism is used to turn the light for the right side image and another…
SYSTEM FOR CONTROLLING AN INSTRUMENT USING SHAPE SENSORS
Granted: November 6, 2014
Application Number:
20140330080
The present invention relates, generally, to controlling a steerable instrument having an elongate body. More particularly, the present invention relates to a system and method for sensing the shape of a steerable instrument and controlling the steerable instrument in response to a control signal from a user input device and a shape signal corresponding to the sensed shape of at least a portion of the steerable instrument. The present invention also relates to a system for sensing the…
SURGICAL SYSTEM STERILE DRAPE
Granted: November 6, 2014
Application Number:
20140326254
A sterile drape, a surgical system with the drape, and a draping method are provided. In one embodiment, a sterile drape includes a plurality of drape pockets, each of the drape pockets including an exterior surface to be adjacent a sterile field for performing a surgical procedure and an interior surface to be adjacent a non-sterile instrument manipulator coupled to a manipulator arm of a robotic surgical system. The drape further includes a plurality of flexible membranes at a distal…
