FLUX DISAMBIGUATION FOR TELEOPERATED SURGICAL SYSTEMS
Granted: May 8, 2014
Application Number:
20140128886
A method includes receiving at a controller of a teleoperated surgical system a first signal indicating that a surgical instrument is in an installed position at a patient side cart of the teleoperated surgical system, receiving at the controller a second signal indicating that the surgical instrument is in a flux connection state, and outputting a signal via the controller to provide feedback indicating that the surgical instrument is in the flux connection state. A system for detecting…
SYSTEMS AND METHODS FOR MAPPING FLUX SUPPLY PATHS
Granted: May 8, 2014
Application Number:
20140128885
A method of supplying flux may include receiving first data at a control system identifying which of a plurality of remotely-controllable kinematic flux delivery structures is operationally coupled to which of a plurality of flux supply pathways and receiving second data at the control system identifying which of the remotely-controllable kinematic flux delivery structures is operationally coupled to which of a plurality of kinematic support structures. A system for supplying flux may…
STEERABLE ENDOSCOPE AND IMPROVED METHOD OF INSERTION
Granted: May 1, 2014
Application Number:
20140121461
A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion.…
Complex Shape Steerable Tissue Visualization and Manipulation Catheter
Granted: April 24, 2014
Application Number:
20140114129
Complex steerable catheter visualization and tissue manipulation systems and their methods of use are disclosed herein. The deployment catheter is articulated using various steering mechanisms. Tissue visualization is accomplished from the visualization hood at the distal end of the deployment catheter, the hood having an ability to expand and other features to facilitate visualization and articulation at the tissue surface.
STEREO IMAGING SYSTEM WITH AUTOMATIC DISPARITY ADJUSTMENT FOR DISPLAYING CLOSE RANGE OBJECTS
Granted: April 24, 2014
Application Number:
20140111623
A stereo imaging system comprises a stereoscopic camera having left and right image capturing elements for capturing stereo images; a stereo viewer; and a processor configured to modify the stereo images prior to being displayed on the stereo viewer so that a disparity between corresponding points of the stereo images is adjusted as a function of a depth value within a region of interest in the stereo images after the depth value reaches a target depth value.
WIRELESS FORCE SENSOR ON A DISTAL PORTION OF A SURGICLA INSTRUMENT AND METHOD
Granted: April 17, 2014
Application Number:
20140107627
A surgical instrument includes a distal portion. A force sensor is operatively mounted on the distal portion. The force sensor includes a wireless package, which wirelessly provides (1) identification information of the surgical instrument and (2) strain data related to the distal portion. A surgical end effector includes a jaw and the distal portion is on a non-contact portion of the jaw. The wireless package includes a surface acoustic wave strain sensor with identification…
WIRELESS FORCE SENSOR ON A DISTAL PORTION OF A SURGICAL INSTRUMENT AND METHOD
Granted: April 10, 2014
Application Number:
20140100588
A surgical instrument includes a distal portion. A force sensor is operatively mounted on the distal portion. The force sensor includes a wireless package, which wirelessly provides (1) identification information of the surgical instrument and (2) strain data related to the distal portion. A surgical end effector includes a jaw and the distal portion is on a non-contact portion of the jaw. The wireless package includes a surface acoustic wave strain sensor with identification…
OFFSET REMOTE CENTER MANIPULATOR FOR ROBOTIC SURGERY
Granted: April 3, 2014
Application Number:
20140094824
Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.
METHODS AND APPARATUS FOR DISPLAYING THREE-DIMENSIONAL ORIENTATION OF A STEERABLE DISTAL TIP OF AN ENDOSCOPE
Granted: April 3, 2014
Application Number:
20140094648
A system for graphically visualizing an orientation of a steerable distal portion of an elongate instrument is disclosed. The system includes an instrument having an elongate body. The elongate body includes a proximal portion and a steerable distal portion. The system also includes at least one tensioning member attached to said steerable distal portion, wherein the actuation of said at least one tensioning member results in an approximate y-bend and an approximate x-bend of said…
Force Sensor Temperature Compensation
Granted: March 27, 2014
Application Number:
20140088614
A force sensor apparatus includes a tube portion having a plurality of radial ribs and at least one fiber optic strain gauge positioned over each of the plurality of radial ribs. The strain gauges comprise a negative thermo-optic coefficient optical fiber material. A proximal end of the tube portion is operably couplable to a shaft of a surgical instrument and a distal end of the tube portion is proximally couplable to a wrist joint. Optionally, a thermal shunt shell is over an outer…
METHODS AND SYSTEMS FOR ASSIGNING INPUT DEVICES TO TELEOPERATED SURGICAL INSTRUMENT FUNCTIONS
Granted: March 20, 2014
Application Number:
20140081455
A method of assigning an auxiliary input device to control a surgical instrument in a robotic surgical system can include automatically assigning an auxiliary input device to control an auxiliary function of a surgical instrument based on a position of the auxiliary input device and which of a user's hands is operating another input device operably coupled to control movement of the surgical instrument. A system for controlling a surgical instrument may include an input device of a…
LEVER ACTUATED OUTPUT GIMBALS
Granted: March 20, 2014
Application Number:
20140076077
A force transmission transmits a force to a primary output gimbal plate and a secondary output gimbal plate. The secondary output gimbal plate supports the primary output gimbal plate. Each of three primary levers is supported by a primary pivot. Each primary lever is coupled to the primary output gimbal plate such that the three couplings are not collinear. Each of three secondary levers is supported by a secondary pivot. Each secondary lever is coupled to one of the primary levers by a…
GIMBAL AND LEVERS WITH EQUALIZER
Granted: March 20, 2014
Application Number:
20140076076
A force transmission includes a gimbal plate having two degrees of freedom. Each of three lever arms is supported by a pivot between two ends of the lever arm. One end of each lever arm is coupled to the gimbal plate such that the three couplings are not collinear. An equalizer cable has two opposing ends, each end fixedly coupled to one of the lever arms. The equalizer cable is routed over a lever arm pulley pivotally coupled to another of the lever arms between the pivot and one end of…
ROBOTIC ENDOSCOPIC RETRACTOR FOR USE IN MINIMALLY INVASIVE SURGERY
Granted: March 13, 2014
Application Number:
20140073856
Minimally invasive surgical retractors and methods of using the retractors are provided. This retractor may be introduced through a sealed port, controlled by a robotic system, have full articulation, and need not require assembly within the patient's body. As a result, fully endoscopic mitral valve surgery may be performed.
PASSIVE GUIDE SYSTEMS FOR LAMINATED SPRING ASSEMBLIES
Granted: March 13, 2014
Application Number:
20140070470
In one embodiment of the invention, a patient side-system is provided that includes a column with a rail and a counterbalance subsystem. The patient side-system may further include a braking subsystem. The counterbalance subsystem includes a spring assembly coupled at one end to the column with a spring member, and a housing movably coupled to the rail. The housing includes a drum to receive the spring member and a plurality of roller elements to guide a movement of the spring member…
SURGICAL PORT FEATURE
Granted: March 6, 2014
Application Number:
20140066717
A surgical port feature may include a funnel portion, a tongue, a waist portion, and surgical instrument channels. The waist portion may be located between the funnel portion and the tongue. The surgical instrument channels may extend from the funnel portion through the waist portion. The surgical port feature may further include a second tongue, with the wait portion being located between the funnel portion, the tongue, and the second tongue.
VISUAL FORCE FEEDBACK IN A MINIMALLY INVASIVE SURGICAL PROCEDURE
Granted: February 27, 2014
Application Number:
20140058564
Methods of and a system for providing a visual representation of force information in a robotic surgical system. A real position of a surgical end effector is determined. A projected position of the surgical end effector if no force were applied against the end effector is also determined. Images representing the real and projected positions are output superimposed on a display. The offset between the two images provides a visual indication of a force applied to the end effector or to…
JOINTED LINK STRUCTURES EXHIBITING PREFERENTIAL BENDING, AND RELATED METHODS
Granted: February 27, 2014
Application Number:
20140058364
In accordance with various exemplary embodiments of the present teachings, a surgical device can include a first pair of articulably coupled links, a second pair of articulably coupled links, and a tension member coupled to the first pair of links and the second pair of links such that altering tension in the tension member exerts a force tending to articulate the first pair of links and the second pair of links so as to bend the first pair of links and the second pair of links. The…
RENDERING TOOL INFORMATION AS GRAPHIC OVERLAYS ON DISPLAYED IMAGES OF TOOLS
Granted: February 27, 2014
Application Number:
20140055489
An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.
ANATOMICAL MODEL AND METHOD FOR SURGICAL TRAINING
Granted: February 20, 2014
Application Number:
20140051049
Implementations relate to anatomical models and surgical training. In some implementations, an anatomical training model includes a base portion and a top portion that form a hollow space between the base portion and top portion. A plurality of holes are positioned in the top portion. The model includes a plurality of cannula supports, where each cannula support is aligned with one or more corresponding holes in the top portion.
