Handleless Clamping Device
Granted: January 2, 2014
Application Number:
20140005697
The present invention relates to surgical clamps and clamp devices that provide a handle-free surgical field. The clamp jaws may be opened or closed by a rotationally or translationally moveable drive element that may be actuated from a position proximal or distal to the jaws. The surgical clamps may also be deployed using a clamp applier which slidably engages the clamp along a wire to releasably attach itself to the clamp.
CURVED CANNULA SURGICAL SYSTEM
Granted: January 2, 2014
Application Number:
20140005687
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. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and…
Stiffening Assembly
Granted: January 2, 2014
Application Number:
20140005639
A stiffenable structure is made of longitudinal beams that are positioned around a longitudinal axis. In one state, the longitudinal beams are bendable so that the structure is bendable. As the structure bends, the longitudinal beams slide longitudinally with reference to one another. In a second state, the beams are clamped in a fixed position relative to one another so that the structure is stiffened. In some aspects the longitudinal beams are made of two or more longitudinal laminar…
ARTICULATING MECHANISMS WITH ACTUATABLE ELEMENTS ACTUATABLE
Granted: December 26, 2013
Application Number:
20130340559
The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. The proximal and distal segments are connected by a set of cables in such a fashion that each proximal segment forms a discrete pair with a distal segment.…
MULTI-USER MEDICAL ROBOTIC SYSTEM FOR COLLABORATION OR TRAINING IN MINIMALLY INVASIVE SURGICAL PROCEDURES
Granted: December 12, 2013
Application Number:
20130331859
A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second…
INSTRUMENT INTERFACE OF A ROBOTIC SURGICAL SYSTEM
Granted: December 12, 2013
Application Number:
20130331858
An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including a base link operably coupled to a distal end of a manipulator arm, and a carriage link…
INSTRUMENT INTERFACE
Granted: December 12, 2013
Application Number:
20130331857
A mechanical interface for a robotic medical instrument permits engagement of the instrument and a drive system without causing movement of an actuated portion of the instrument. An instrument interface can include a symmetrical, tapered or cylindrical projection on one of a medical instrument or a drive system and a complementary bore in the other of the drive system or the medical instrument. Symmetry of the projection and the bore allows the projection to be compression fit to the…
Optic Fiber Connection for a Force Sensing Instrument
Granted: December 12, 2013
Application Number:
20130331650
A surgical instrument that includes a housing linkable with a manipulator arm of a robotic surgical system, a shaft coupled to the housing, a force transducer on a distal end of the shaft, and a plurality of fiber optic strain gauges on the force transducer is disclosed. The plurality of strain gauges are coupled to a fiber optic splitter or an arrayed waveguide grating (AWG) multiplexer, which can be coupled to a fiber optic connector. A wrist joint coupled to an end effector is coupled…
RETRACTION OF TISSUE FOR SINGLE PORT ENTRY, ROBOTICALLY ASSISTED MEDICAL PROCEDURES
Granted: November 28, 2013
Application Number:
20130317306
A single port entry surgical instrument has an elongated structure with lumens through which surgical tools and an image capturing device may be inserted and controllably extended out of its distal end for performing a medical procedure, a tubular-shaped balloon disposed around the elongated structure, and an expandable retractor disposed around the balloon so that when the balloon is inflated, the retractor expands and locks in an expanded configuration to retract extraneous tissue. The…
RETRACTION OF TISSUE FOR SINGLE PORT ENTRY, ROBOTICALLY ASSISTED MEDICAL PROCEDURES
Granted: November 28, 2013
Application Number:
20130317309
A single port entry surgical instrument has an elongated structure with lumens through which surgical tools and an image capturing device may be inserted and controllably extended out of its distal end for performing a medical procedure, a tubular-shaped balloon disposed around the elongated structure, and an expandable retractor disposed around the balloon so that when the balloon is inflated, the retractor expands and locks in an expanded configuration to retract extraneous tissue. The…
CLEANING OF A SURGICAL INSTRUMENT FORCE SENSOR
Granted: November 21, 2013
Application Number:
20130306112
A force transducer is coupled to a distal portion of a shaft of a surgical instrument. The force transducer includes proximal and distal portions, radial ribs, and a plurality of strain gauges. The radial ribs form a plurality of through passages. The surgical instrument further includes a flush manifold that receives a liquid from a proximal portion of the shaft, and that directs the liquid along a first subset of through passages of the plurality of through passages toward the distal…
FRICTION COMPENSATION IN A MINIMALLY INVASIVE SURGICAL APPARATUS
Granted: November 21, 2013
Application Number:
20130310847
Devices, systems, and methods for compensate for friction within powered automatic systems, particularly for telesurgery and other telepresence applications. Dynamic friction compensation may comprise applying a continuous load in the direction of movement of a joint, and static friction compensation may comprise applying alternating loads in positive and negative joint actuation directions whenever the joint velocity reading falls within a low velocity range.
SINGLE-CHIP SENSOR MULTI-FUNCTION IMAGING
Granted: November 14, 2013
Application Number:
20130300836
Mixed mode imaging is implemented using a single-chip image capture sensor with a color filter array. The single-chip image capture sensor captures a frame including a first set of pixel data and a second set of pixel data. The first set of pixel data includes a first combined scene, and the second set of pixel data includes a second combined scene. The first combined scene is a first weighted combination of a fluorescence scene component and a visible scene component due to the leakage…
Systems and Methods for Deformation Compensation Using Shape Sensing
Granted: November 14, 2013
Application Number:
20130303893
A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of…
Systems and Methods for Navigation Based on Ordered Sensor Records
Granted: November 14, 2013
Application Number:
20130303892
A method of tracking a medical instrument comprises receiving a model of an anatomical passageway formation and receiving a set of ordered sensor records for the medical instrument. The set of ordered sensor records provide a path history of the medical instrument. The method further comprises registering the medical instrument with the model of the anatomical passageway formation based on the path history.
Systems and Methods for Registration of a Medical Device Using Rapid Pose Search
Granted: November 14, 2013
Application Number:
20130303891
A method comprises identifying linked anatomical structures in stored images of a patient anatomy and modeling a structure of linkage elements. Each linkage element corresponds to one of the linked anatomical structures. The method also includes modeling a portion of the patient anatomy as a plurality of search slabs and assigning each of the linkage elements to one of the plurality of search slabs. The method also includes receiving tracking data corresponding to a sensed instrument…
Systems And Methods For Registration Of A Medical Device Using A Reduced Search Space
Granted: November 14, 2013
Application Number:
20130303890
A method comprises identifying connected anatomical structures in stored images of a patient anatomy and generating a plurality of cylindrical linkage elements representing the connected anatomical structures. The method also comprises receiving tracking data corresponding to a point on an instrument positioned within at least one of the connected anatomical structures; and matching the point on the instrument to one of the plurality of cylindrical linkage elements.
OPT0-MECHANICAL DEVICES WITH SHARP-EDGE LENSES
Granted: November 14, 2013
Application Number:
20130301149
An opto-mechanical device, such as a lens cell, includes a housing having an axially extending chamber and an intermediate internal spacer that positions a sharp-edged lens in the chamber. The sharp-edged lens has first and second optical surfaces that intersect in a circumferential sharp edge. The housing positions an image sensor proximal to the sharp-edged lens for processing light therefrom.
OPT0-MECHANICAL APPARATUS ADAPTED FOR MOUNTING OPTICAL ELEMENTS WITH SMALL CROSS SECTIONS
Granted: November 14, 2013
Application Number:
20130301148
An opto-mechanical assembly including a housing and an internally supported optical element, such as a lens, mounted along an axis. At least one of the housing and optical element includes a radially extending chamber. Adhesive disposed in the chamber interacts with the housing and the optical element to prevent axial motion between the optical element and housing.
METHOD AND SYSTEM FOR VIDEO PROCESSING
Granted: November 14, 2013
Application Number:
20130300846
A method for processing video can include storing input video frame data at a video data buffer and outputting the stored video frame data from the video data buffer at an output video frame rate based on at least an amount of video frame data stored at the video data buffer.
