USER SELECTION OF ROBOTIC SYSTEM OPERATING MODES USING MODE DISTINGUISHING OPERATOR ACTIONS
Granted: August 15, 2013
Application Number:
20130211590
A robotic system has a plurality of user selectable operating modes. To select one of the operating modes, a user performs a distinguishing action which uniquely identifies a desired operating mode among the plurality of user selectable operating modes. A method implemented by a processor in the robotic system identifies the distinguishing action and places the robotic system in the user selected operating mode.
SWITCHING CONTROL OF AN INSTRUMENT TO AN INPUT DEVICE UPON THE INSTRUMENT ENTERING A DISPLAY AREA VIEWABLE BY AN OPERATOR OF THE INPUT DEVICE
Granted: August 15, 2013
Application Number:
20130211588
An operator telerobotically controls instruments to perform a procedure on an object at a work site while viewing real-time images of the work site on a display screen. An assistant controls movement of another instrument towards or away from the work site to relieve the operator from such task. Control of the instrument is automatically switched from the assistant to the operator upon the working end of the instrument entering the view on the display screen.
LOW FRICTION CANNULA SEALS FOR MINIMALLY INVASIVE ROBOTIC SURGERY
Granted: August 15, 2013
Application Number:
20130211423
Embodiments of a cannula seal are disclosed. In some embodiments, a cannula seal can include a base portion that engages with a cannula; and a seal portion integrally formed with the base portion that slidebly engages with an instrument shaft such that an insertion frictional force between the seal portion and the instrument shaft for insertion of the instrument shaft is symmetrical and substantially equal with a retraction frictional force.
COMPACT ROTARY ACTUATOR WITH INTERNAL PLANETARY
Granted: August 15, 2013
Application Number:
20130211422
A rotary actuator for use in surgical instruments is provided, including a plurality of engine elements placed symmetrically around a rotation axis; a disk in contact with the engine elements, centered on the rotation axis, the engine elements providing a first rotation to the disk; an input shaft coupled to the disk to rotate with the first rotation; and a coupling mechanism to provide a second rotation to an output shaft from the first rotation of the input shaft. A surgical…
Systems and Methods for Controlling a Robotic Surgical System
Granted: August 8, 2013
Application Number:
20130204271
A method comprises generating a command to move a surgical robotic manipulator to a predetermined safety configuration and locking the robotic manipulator in the safety configuration in response to receiving the command. The method further comprises detecting if a mock instrument has been mounted on the robotic manipulator when the robotic manipulator is in the safety configuration. If the mock instrument is detected, an override command is generated to unlock the robotic manipulator…
STEERABLE FLEXIBLE NEEDLE WITH EMBEDDED SHAPE SENSING
Granted: August 8, 2013
Application Number:
20130204124
A surgical system includes a flexible steerable needle and a shape sensor for measuring the shape of the needle. The surgical system can be manual (e.g., laparoscopic), robotic, or any combination of the two. By directly measuring the shape of the needle, complex and potentially inaccurate modeling of the needle to determine trajectory and insertion depth can be avoided in favor of much more robust direct measurement and modeling of needle shape and/or pose.
Pass-Through Controller for Cascaded Proportional-Integral-Derivative Control Loops
Granted: August 1, 2013
Application Number:
20130197672
A cascade control system includes pass-through controller and a Proportional-Integral-Derivative (PID) controller, wherein the PID controller controls a first output of a device to generate an input to drive the device. The pass-through controller provides a setpoint to the PID controller and controls a second output of the device. The first output and optionally also a derivative of the first output is passed to the pass-through controller so that a pass-through control algorithm can be…
EXTENDABLE SUCTION SURFACE FOR BRACING MEDICAL DEVICES DURING ROBOTICALLY ASSISTED MEDICAL PROCEDURES
Granted: August 1, 2013
Application Number:
20130197541
Medical devices robotically manipulated by a medical robotic system for performing a medical procedure on a patient are bundled together as a bundled unit and inserted into the patient through a single entry port. Bracing of the bundled unit at a surgical site is performed by extending a suction surface disposed at a distal end of the bundled unit towards a bracing surface at the surgical site and applying a suction force between the suction surface and the bracing surface. The suction…
ROBOTIC SURGICAL SYSTEM WITH PATIENT SUPPORT
Granted: July 11, 2013
Application Number:
20130178870
A robotic surgery system for supporting a patient and a robotic surgical manipulator. The robotic surgery system includes a base, a pillar coupled to the base at a first end and extending vertically upwardly to an opposing second end, and an attachment structure coupled to the second end of the pillar. A patient table is coupled to the attachment structure. A robot support arm has a first end coupled to the attachment structure. The robot support arm extends vertically upwardly from the…
OBTAINING FORCE INFORMATION IN A MINIMALLY INVASIVE SURGICAL PROCEDURE
Granted: June 27, 2013
Application Number:
20130166070
Methods of and a system for providing force information for a robotic surgical system. The method includes storing first kinematic position information and first actual position information for a first position of an end effector; moving the end effector via the robotic surgical system from the first position to a second position; storing second kinematic position information and second actual position information for the second position; and providing force information regarding force…
FORCE SENSING FOR SURGICAL INSTRUMENTS
Granted: June 27, 2013
Application Number:
20130165869
An apparatus, system, and method for improving force and torque sensing and feedback to the surgeon performing a telerobotic surgery are provided. In one embodiment, a surgical instrument, a robotic surgical system, a cannula, a cannula seal, and a method for improved sensing of z-axis forces on a robotic surgical instrument are disclosed.
SURGICAL SYSTEMS WITH ROBOTIC SURGICAL TOOL HAVING PLUGGABLE END-EFFECTORS
Granted: June 20, 2013
Application Number:
20130158542
In one embodiment of the invention, a replaceable electrosurgical end effector cartridge is provided to couple to a mechanical wrist of a surgical instrument for a robotic surgical system. The replaceable electrosurgical end effector cartridge includes two pluggable end effectors and a pair of spring latches. The two end effectors are moveable end effectors having a jaw portion, an off-center portion, and a base portion in one embodiment. The replaceable electrosurgical end effector…
CURVED CANNULA
Granted: June 20, 2013
Application Number:
20130152657
The cross section of a curved portion of a curved cannula is oval shaped. The oval is oriented such that a major axis of the oval is generally aligned with the curved portion's bend radius. In one aspect, the cannula tube is ovalized so that the radius of curvature of an interior wall approaches the outer radius of an instrument component that contacts the curved portion during instrument insertion. In this first aspect, a wider contact patch area between the instrument component and the…
METHOD AND SYSTEM FOR PROVIDING VISUAL GUIDANCE TO AN OPERATOR FOR STEERING A TIP OF AN ENDOSCOPIC DEVICE TOWARD ONE OR MORE LANDMARKS IN A PATIENT
Granted: June 6, 2013
Application Number:
20130144124
Landmark directional guidance is provided to an operator of an endoscopic device by displaying graphical representations of vectors adjacent a current image captured by an image capturing device disposed at a tip of the endoscopic device and being displayed at the time on a display screen, wherein the graphical representations of the vectors point in directions that the endoscope tip is to be steered in order to move towards associated landmarks such as anatomic structures in a patient.
SURGICAL INSTRUMENT CONTROL AND ACTUATION
Granted: June 6, 2013
Application Number:
20130144116
Two or more telemanipulated surgical instruments are inserted through a guide tube. Each instrument has a transmission mechanism that transmits actuating forces from actuators to components of the instrument. The transmission mechanisms are arranged around an extended centerline of the guide tube and are wedge-shaped so that they can be positioned more closely to the extended centerline.
Surgical Instrument with Stowing Knife Blade
Granted: May 16, 2013
Application Number:
20130123822
A surgical instrument with a stowing knife blade includes an elongated shaft, an end effector coupled to the shaft and including two opposed jaws, a housing included in one of the jaws, a first member mounted in the housing and movable distally, a knife pivotally coupled with the first member, and a second member. The knife is configured to cut when advanced distally. The first and second members are moved distally at the same rate during a cutting motion of the knife and the second…
SHEATH FOR SURGICAL INSTRUMENT
Granted: May 16, 2013
Application Number:
20130123805
A surgical apparatus includes a shaft having a proximal end and a distal end, an end effector coupled to the distal end of the shaft, and a sheath disposed on an external surface of the instrument shaft. The sheath includes a material that is permeable to gas so as to permit equalization of a pressure differential after insertion of the sheath and shaft into an environment at a surgical insufflation gas pressure. The pressure differential is between an insufflation gas pressure and an…
APPARATUS AND METHOD FOR ENDOSCOPIC COLECTOMY
Granted: May 9, 2013
Application Number:
20130116712
Apparatus and methods for endoscopic colectomy are described herein. A colectomy device having a first and a second tissue approximation device is mounted on a colonoscope separated from one another. During deployment of the colectomy device, a diseased portion of the colon is positioned inbetween the tissue approximation devices. The tissue approximation devices are radially expanded such that they contact and grasp the colon wall at two sites adjacent to the diseased portion of the…
Surgical Instrument with Integral Knife Blade
Granted: May 2, 2013
Application Number:
20130105545
A cartridge of a surgical instrument includes a housing, a lead screw mounted for rotation in the housing, a drive member operatively coupled with the lead screw, and a knife member. The knife member is driven distally by the drive member and is configured to cut when moved distally. During an initial distal movement of the drive member, the knife member is coupled with the housing to restrain the knife member from moving distally. Subsequent to the initial distal movement of the drive…
Cartridge Status and Presence Detection
Granted: May 2, 2013
Application Number:
20130105552
Surgical systems and related methods verify the presence of an unfired surgical cartridge mounted to a surgical instrument. The cartridge includes an input that is actuated in a firing direction to operate the cartridge. An actuation input that is limited to less than or equal to a predetermined magnitude is generated. The actuation input includes at least one of a torque or a force. The actuation input is transferred to an output of a surgical instrument to attempt to actuate the output…
