Articulated Surgical Instrument for Performing Minimally Invasive Surgery With Enhanced Dexterity and Sensitivity
Granted: May 2, 2013
Application Number:
20130110131
An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus…
Surgical Instrument Motor Pack Latch
Granted: May 2, 2013
Application Number:
20130110129
A latch mechanism selectively retains a first assembly to a second assembly. The first and second assemblies are configured for sliding engagement along an engagement axis. The latch mechanism includes a latch shaft mounted to the first assembly to rotate about a latch shaft axis, a torsion spring to bias the latch shaft relative to the first assembly, and a transverse latch member coupled with the second assembly. The latch mechanism is configured to automatically latch in response to…
METHOD AND SYSTEM FOR STEREO GAZE TRACKING
Granted: May 2, 2013
Application Number:
20130107207
Stereo gaze tracking estimates a 3-D gaze point by projecting determined right and left eye gaze points on left and right stereo images. The determined right and left eye gaze points are based on one or more tracked eye gaze points, estimates for non-tracked eye gaze points based upon the tracked gaze points and image matching in the left and right stereo images, and confidence scores indicative of the reliability of the tracked gaze points and/or the image matching.
METHOD FOR GRAPHICALLY PROVIDING CONTINUOUS CHANGE OF STATE DIRECTIONS TO A USER OF MEDICAL ROBOTIC SYSTEM
Granted: April 25, 2013
Application Number:
20130103197
Continuous change of state directions are graphically provided on a display screen to assist a user in performing necessary action(s) for transitioning between operating modes in a medical robotic system or performing corrective action. A graphical representation of a target state of an element of the medical robotic system is displayed on a display screen viewable by the user. Current states of the element and indications directing the user to manipulate the element towards the target…
Method and Means for Transferring Controller Motion From a Robotic Manipulator to an Attached Instrument
Granted: April 25, 2013
Application Number:
20130103051
A method of transmitting controller motion from a robotic manipulator to a surgical instrument includes rotating a plate included in the robotic manipulator. The plate has a driving surface that bears against an inner gimbal of a gimbal assembly included in the surgical instrument. The plate is rotated about a center of motion that coincides with an intersection of two rotational axes of the gimbal assembly.
GRIP FORCE CONTROL FOR ROBOTIC SURGICAL INSTRUMENT END EFFECTOR
Granted: April 25, 2013
Application Number:
20130103050
Methods of controlling a gripping force of an end effector of a robotically-controlled surgical instrument are provided. The method includes receiving a first input signal indicative of a high grip level input at a master gripping mechanism that controls a slave gripping force of the end effector; receiving a second input signal indicative of a user's readiness to operate the surgical instrument to perform a surgical procedure; and outputting an actuation signal in response to receiving…
FLEXIBLE WRIST FOR SURGICAL TOOL
Granted: April 18, 2013
Application Number:
20130096540
The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. In one embodiment, a minimally invasive surgical instrument comprises includes an elongate shaft having a working end, a proximal end, a shaft axis between the working end and the proximal end, and an end effector. A wrist member has a flexible tube including an axis extending through an interior surrounded by a…
MODULAR MANIPULATOR SUPPORT FOR ROBOTIC SURGERY
Granted: April 18, 2013
Application Number:
20130096576
A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a…
CATHETER SENSOR SYSTEMS
Granted: April 18, 2013
Application Number:
20130096572
A medical system including a catheter or other flexible structure uses a combination of two different sensor systems to measure a pose of a section or tip of the catheter or flexible structure. The first sensor system, which may include an electromagnetic sensor, can measure a pose of a first section of the catheter, and the second sensor system can measure a pose of the second section relative to the first section. The second sensor system may employ a technology such as fiber shape…
ELECTRICAL CHARGE-DISSIPATING CANNULA
Granted: April 18, 2013
Application Number:
20130096555
An apparatus, a system and a method of dissipating an electrical charge are provided. The apparatus is a cannula for receiving a surgical instrument to perform a surgical operation on a body. The cannula includes a hollow elongated structure having a proximal end opening and a distal end opening leading to a hollow interior passage dimensioned to receive a surgical instrument. The hollow elongated structure includes a polymer material and an electrically conductive material. The…
CATHETERS WITH CONTROL MODES FOR INTERCHANGEABLE PROBES
Granted: April 18, 2013
Application Number:
20130096497
A medical system including a catheter containing a mechanical system that is remotely operable uses a sensor to at least partly measure a pose of the catheter and a control system coupled to the mechanical system. The control system has multiple operating modes including one or more holding modes in which the control system operates the mechanical system to maintain a working configuration of the catheter based on feedback from the sensor.
VISION PROBE AND CATHETER SYSTEMS
Granted: April 18, 2013
Application Number:
20130096385
A medical system includes a catheter and a vision probe that can be removed from the catheter and replaced with a medical probe. Functionality for the system is divided between the catheter and the vision probe. In particular, the removable vision probe can provide imaging, illumination, irrigation, and suction that may be employed before a medical probe is deployed. The catheter can include actuation and sensing structures that are useful with or necessary for both vision and medical…
CATHETER WITH REMOVABLE VISION PROBE
Granted: April 18, 2013
Application Number:
20130096377
A medical system includes a catheter and a vision probe that can be removed from the catheter and replaced with a medical probe. The vision probe can thus be used to steer and pose the catheter, and then be removed and replaced with the medical probe when a medical task such as a lung biopsy is performed. A sensor system in the catheter at least partly measures a pose of the catheter, and control logic controls actuation of the catheter to maintain the desired working configuration when…
SHAPE-TRANSFERRING CANNULA SYSTEM AND METHOD OF USE
Granted: April 11, 2013
Application Number:
20130090598
The present invention is directed to a novel shape-transferring cannula system, which provides access to tortuous and unsupported paths. The shape-transferring cannula system and method enables exploration of hollow body structures, and creates a custom-contoured access port for insertion and removal of, for example, diagnostic, surgical, or interventional instruments to and from a site within the body to which the physician does not have line-of-sight access.
THREE-DIMENSIONAL TARGET DEVICES, ASSEMBLIES AND METHODS FOR CALIBRATING AN ENDOSCOPIC CAMERA
Granted: April 4, 2013
Application Number:
20130085329
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…
SURGICAL SYSTEM ENTRY GUIDE
Granted: March 28, 2013
Application Number:
20130079794
An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably…
ARTICULATING MECHANISM WITH FLEX HINGED LINKS
Granted: March 7, 2013
Application Number:
20130060239
The invention provides articulating mechanisms, and flexible members and flexible segments that can form such articulating mechanisms. The mechanisms are useful, for example, for remote steering, guidance and/or manipulation of various instruments and tools at a targeted location. The mechanisms, members or segments include links connected by flexible hinges. The proximal and distal ends of the mechanisms are connected by at least one set of cables in such a fashion that a proximal…
SIDE LOOKING MINIMALLY INVASIVE SURGERY INSTRUMENT ASSEMBLY
Granted: February 28, 2013
Application Number:
20130053868
A surgical instrument is inserted through a guide tube. The surgical instrument exits at an intermediate position of the guide tube and is oriented to be substantially parallel to the guide tube's longitudinal axis as it exits. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The guide tube is jointed…
MEDICAL INSTRUMENT WITH FLEXIBLE WRIST MECHANISM
Granted: February 21, 2013
Application Number:
20130046317
A medical instrument includes a unitary wrist structure having: a first connector portion having a lower stop surface, a compact flexure integral with the first connector portion, and a second connector portion integral with the compact flexure with the second connector portion having an upper stop surface integral with the compact flexure below the lower stop surface and forming an angle with the lower stop surface.
SURGICAL INSTRUMENT AND METHOD WITH MULTIPLE IMAGE CAPTURE SENSORS
Granted: February 21, 2013
Application Number:
20130046137
A surgical instrument has a distal end portion with an outer surface with an outer radius. One or more image capture elements are movably mounted in the distal end portion. In a first state, the one or more image capture elements are un-deployed. In the first state, a surface having an aperture of at least one of the one or more image capture elements is enclosed within the outer surface of the surgical instrument so that the surface having the aperture does not extend beyond the outer…
