Tool Memory-Based Software Upgrades for Robotic Surgery
Granted: December 8, 2011
Application Number:
20110301754
Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor…
WIRELESS COMMUNICATION IN A ROBOTIC SURGICAL SYSTEM
Granted: November 24, 2011
Application Number:
20110288561
In one embodiment, an insertion axis of a robotic manipulator is provided, the insertion axis including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including a remote printed circuit assembly and transceiver for wirelessly communicating with a main printed circuit assembly external to the insertion axis. A robotic surgical system including such an insertion axis and a…
SURGICAL SYSTEM ENTRY GUIDE
Granted: November 17, 2011
Application Number:
20110282351
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…
DRIVE FORCE CONTROL IN MEDICAL INSTRUMENT PROVIDING POSITION MEASUREMENTS
Granted: November 17, 2011
Application Number:
20110282491
Control systems and methods for a remote joint use position measurements to determine and control the force that an actuator applies to the joint through a linkage. The use of force and feedback allows control of a medical instrument having a linkage that provides non-negligible compliance between the joint and a proximal actuator and particularly allows precise instrument operation even when the position of the distal joint cannot be directly related to the proximal motor position.
SURGICAL SYSTEM COUNTERBALANCE
Granted: November 17, 2011
Application Number:
20110282359
A counterbalancing link, a surgical system, and a method of adjusting a counterbalancing link are provided. In one embodiment, a counterbalancing link of a robotic surgical system includes a housing, and a compression spring disposed along a lengthwise axis of the housing, the compression spring having a first end and a second end. The counterbalancing link further includes a base at a first end of the housing, the base coupled to the first end of the compression spring and including at…
SURGICAL SYSTEM INSTRUMENT MOUNTING
Granted: November 17, 2011
Application Number:
20110282358
Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; and a distal link operably coupled to the proximal link. A plurality of instrument manipulators are rotatably coupled to a distal end of the distal link, each of…
SURGICAL SYSTEM ARCHITECTURE
Granted: November 17, 2011
Application Number:
20110282357
Robotic surgical systems are provided. In one embodiment, the system includes a setup link for locating a remote center of motion for the robotic surgical system; a manipulator arm assembly including an active proximal link and an active distal link, the proximal link operably coupled to the setup link; and a plurality of instrument manipulators operably coupled to a distal end of the distal link, the plurality of instrument manipulators rotatable about an instrument manipulator assembly…
SURGICAL SYSTEM INSTRUMENT MANIPULATOR
Granted: November 17, 2011
Application Number:
20110282356
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…
SHAPE-TRANSFERRING CANNULA SYSTEM AND METHOD OF USE
Granted: November 17, 2011
Application Number:
20110282149
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.
METHOD AND SYSTEM OF SEE-THROUGH CONSOLE OVERLAY
Granted: November 17, 2011
Application Number:
20110282141
In a minimally invasive surgical system, a plurality of video images is acquired. Each video image includes images of the surgeon's hand(s), and of a master manipulator. The images of the surgeon's hand(s) and the master manipulator are segmented from the video image. The segmented images are combined with an acquired surgical site image. The combined image is displayed to the person at the surgeon's console so that the console functions as a see-through console.
METHOD AND SYSTEM OF HAND SEGMENTATION AND OVERLAY USING DEPTH DATA
Granted: November 17, 2011
Application Number:
20110282140
In a minimally invasive surgical system, a plurality of video images is acquired. Each image includes a hand pose image. Depth data for the hand pose image is also acquired or synthesized. The hand pose image is segmented from the image using the depth data. The segmented image is combined with an acquired surgical site image using the depth data. The combined image is displayed to a person at a surgeon's console of the minimally invasive surgical system. Processing each of the video…
SURGICAL SYSTEM STERILE DRAPE
Granted: November 17, 2011
Application Number:
20110277776
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…
SURGICAL SYSTEM INSTRUMENT STERILE ADAPTER
Granted: November 17, 2011
Application Number:
20110277775
A sterile adapter, a drape including the adapter, and a method of draping a manipulator arm are provided. In one embodiment, the sterile adapter includes a housing configured to receive a distal face of an instrument manipulator having a plurality of manipulator actuator outputs, and a membrane interface disposed at a distal end of the housing, the membrane interface including a plurality of actuator interfaces. The adapter further includes a pair of supports coupled to the housing, the…
Force Transmission for Robotic Surgical Instrument
Granted: November 17, 2011
Application Number:
20110277580
A force transmission transmits a force received by an input gimbal plate having two degrees of freedom to an output gimbal plate. The input gimbal plate is coupled to a first end of least three lever arms supported by a pivot. The output gimbal plate is coupled to a second end of the lever arms. The output gimbal plate may be coupled to the lever arms by flexible cables. The cables may be substantially contained within a tube. The output gimbal plate may be substantially smaller than the…
Cable Re-ordering Device
Granted: November 17, 2011
Application Number:
20110277579
A cable guide re-orders a plurality of cables. A first guide plate has a plurality of first guide holes that receive a plurality of cables in a first order. A second guide plate has a plurality of second guide holes that receive the plurality of cables in a different second order. An intermediate guide plate is located between the first and second guide plates. The intermediate guide plate has a plurality of intermediate guide holes. Each of the intermediate guide holes receives one of…
Overforce Protection Mechanism
Granted: November 17, 2011
Application Number:
20110277576
A overload protection mechanism protects a driven load, such as a driven lever. An overload lever is pivotally coupled to a first part of the driven load. The overload lever has a first end that receives an applied force and an opposing second end. A zero length spring mechanism is coupled to a second part of the driven load spaced apart from the first part and to the second end of the overload lever. The zero length spring mechanism urges the second end of the overload lever toward the…
Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses
Granted: November 10, 2011
Application Number:
20110276059
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…
Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses
Granted: November 3, 2011
Application Number:
20110270271
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…
Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses
Granted: October 27, 2011
Application Number:
20110264108
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…
Software Center and Highly Configurable Robotic Systems for Surgery and Other Uses
Granted: October 27, 2011
Application Number:
20110264109
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…
