CONFIGURATION MARKER DESIGN AND DETECTION FOR INSTRUMENT TRACKING
Granted: July 1, 2010
Application Number:
20100168763
The present disclosure relates to systems, methods, and tools for tool tracking using image-derived data from one or more tool located reference features. A method includes: directing illuminating light from a light source onto a robotic surgical tool within a patient body, wherein the tool includes a plurality of primitive features having known positions on the tool, and wherein each feature includes a spherical reflective surface; capturing stereo images of the plurality of primitive…
OBTAINING FORCE INFORMATION IN A MINIMALLY INVASIVE SURGICAL PROCEDURE
Granted: July 1, 2010
Application Number:
20100168918
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…
VISUAL FORCE FEEDBACK IN A MINIMALLY INVASIVE SURGICAL PROCEDURE
Granted: July 1, 2010
Application Number:
20100169815
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…
LUBRICATING TENDONS IN A TENDON-ACTUATED SURGICAL INSTRUMENT
Granted: July 1, 2010
Application Number:
20100168721
A flexible surgical instrument employs sheaths around tendons that actuate an end effector or other mechanisms in the instrument. A liquid lubricant can be introduced in the sheaths to reduce friction. Disclosed combinations of tendon, sheath, and lubricant compositions reduce friction to suitable levels for operation of a minimally invasive instrument and are not harmful or toxic to a patient.
METHOD AND APPARATUS FOR REDUCING AT LEAST ONE FRICTION FORCE OPPOSING AN AXIAL FORCE EXERTED THROUGH AN ACTUATOR ELEMENT
Granted: June 24, 2010
Application Number:
20100154578
Actuator elements such as cables or push rods in an instrument are used for manipulating an end effector or distal end of the instrument. Each actuator element extends within a tubular housing and either the tubular housing is axially rotated about the actuator element or the actuator element is axially rotated within the tubular housing to reduce at least one force opposing an axial force exerted through or movement of the actuator element.
FLEXIBLE SURGICAL INSTRUMENT WITH LINKS UNDERGOING SOLID-STATE TRANSITIONS
Granted: June 24, 2010
Application Number:
20100160724
A surgical instrument has a tip section with several degrees of freedom of articulation and at least one link that may be too long for insertion through an entry guide that follows a curved path. Each long link is made of a shape memory alloy or another material having a state in which the link is sufficiently flexible to bend as needed to pass through the entry guide. Once through the entry guide, the material of the link makes a transition to a state in which the link returns to a…
SYSTEM AND METHOD FOR ADJUSTING AN IMAGE CAPTURING DEVICE ATTRIBUTE USING AN UNUSED DEGREE-OF-FREEDOM OF A MASTER CONTROL DEVICE
Granted: June 24, 2010
Application Number:
20100161129
An image capturing device is robotically positioned and oriented in response to operator manipulation of a master control device. An unused degree-of-freedom of the master control device is used to adjust an attribute such as focusing of the image capturing device relative to a continually updated set-point. A deadband is provided to avoid inadvertent adjusting of the image capturing device attribute and haptic feedback is provided back to the master control device so that the operator…
ROBOTIC SURGICAL SYSTEM WITH JOINT MOTION CONTROLLER ADAPTED TO REDUCE INSTRUMENT TIP VIBRATIONS
Granted: June 10, 2010
Application Number:
20100145521
A robotic surgical system has a robot arm holding an instrument for performing a surgical procedure, and a control system for controlling movement of the arm and its instrument according to user manipulation of a master manipulator. The control system includes a filter in its forward path to attenuate master input commands that may cause instrument tip vibrations, and an inverse filter in a feedback path to the master manipulator configured so as to compensate for delay introduced by the…
Multiaxis Counterbalance and Positioning System Using a Spatial Linkage
Granted: May 13, 2010
Application Number:
20100116082
A spatial linkage including an inboard gimbal plate that provides a ground for the spatial linkage, an outboard gimbal plate, and at least three links that couple the outboard gimbal plate to the inboard gimbal plate. Each link has a longitudinal axis and two pivotal couplings disposed at opposite ends of the longitudinal axis. Each link is pivotally coupled to the outboard gimbal plate at a first end of the longitudinal axis and pivotally coupled to the inboard gimbal plate at a second…
METHOD AND SYSTEM FOR STEERABLE MEDICAL DEVICE PATH DEFINITION AND FOLLOWING DURING INSERTION AND RETRACTION
Granted: May 13, 2010
Application Number:
20100121151
Waypoints for a steerable medical device are stored as the steerable medical device is moved within a patient. The stored waypoints are an ordered sequence of locations. The ordered sequence of locations defines a safe path within the patient for moving an articulatable portion of the steerable medical device. The articulatable portion of the steerable medical device is constrained to follow the safe path as the articulatable portion moves within the patient. For example, the…
METHOD AND SYSTEM FOR STEERABLE MEDICAL DEVICE PATH DEFINITION AND FOLLOWING DURING INSERTION AND RETRACTION
Granted: May 13, 2010
Application Number:
20100121148
Waypoints for a steerable medical device are stored as the steerable medical device is moved within a patient. The stored waypoints are an ordered sequence of locations. The ordered sequence of locations defines a safe path within the patient for moving an articulatable portion of the steerable medical device. The articulatable portion of the steerable medical device is constrained to follow the safe path as the articulatable portion moves within the patient. For example, the…
ROBOTIC LINKAGE
Granted: May 13, 2010
Application Number:
20100116081
Methods and apparatus for manufacturing and controlling an elongate robotic instrument, or robotic endoscope, are provided which may include any number of features. One feature is a robotic link that can be easily manufactured and can withstand the forces related to use within a robotic instrument. Another feature is a joint on the link that increases compressive strength and minimizes stress between links. Yet another feature is an elongate robotic instrument that is constructed from a…
ROBOTIC LINKAGE
Granted: May 13, 2010
Application Number:
20100116080
Methods and apparatus for manufacturing and controlling an elongate robotic instrument, or robotic endoscope, are provided which may include any number of features. One feature is a robotic link that can be easily manufactured and can withstand the forces related to use within a robotic instrument. Another feature is a joint on the link that increases compressive strength and minimizes stress between links. Yet another feature is an elongate robotic instrument that is constructed from a…
Operator Input Device for a Robotic Surgical System
Granted: April 1, 2010
Application Number:
20100080669
An input device for a robotic surgical instrument includes an operator input on a handle that is rotatably supported by a supporting link structure. A primary winding of a rotary transformer is fixed to the supporting link structure and connected to an electric power source. A secondary winding is fixed to the handle. An axial passage extends through the primary and secondary windings. An optical data transmitter is connected to the operator input to transmit data from the operator input…
METHOD FOR GRAPHICALLY PROVIDING CONTINUOUS CHANGE OF STATE DIRECTIONS TO A USER OF A MEDICAL ROBOTIC SYSTEM
Granted: April 1, 2010
Application Number:
20100082039
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…
Identification of Surgical Instrument Attached to Surgical Robot
Granted: February 4, 2010
Application Number:
20100026456
A radio frequency identification (RFID) tag is embedded on a surgical instrument and a radio frequency identification (RFID) reader is provided on a surgical robot to allow identification of the attached surgical instrument. The RFID tag includes an RFID circuit assembly, a first pot core half, and a first toroidal wire coil that fits within the first pot core half and is electrically coupled to the RFID circuit assembly to modulate received radio frequency (RF) energy. The RFID reader…
BACKEND MECHANISM FOR FOUR-CABLE WRIST
Granted: January 21, 2010
Application Number:
20100011900
A transmission or backend mechanism for a medical instrument connects four cables to three motorized degrees of freedom. The transmission employs a first drive mechanism attached to first and second cables and a second drive mechanism attached to third and fourth cables, where each mechanism can include a capstan or a lever system that pulls in one cable while simultaneously feeding out another cables. A third drive mechanism has a first pivot about which a portion of the first drive…
FOUR-CABLE WRIST WITH SOLID SURFACE CABLE CHANNELS
Granted: January 21, 2010
Application Number:
20100011901
A wrist mechanism for an instrument used in minimally invasive medical procedures employs only four drive cables for control of the pitch, yaw, and grip of an effector. To reduce part count, no pulleys are used. Instead, solid surfaces of devises in the wrist mechanism cradle the drive cables and are curved in multiple directions to maintain a fixed moment arm for cable torques and eliminate the need for large cable wrap angles. Further, the stiffness of each of the four drive cables can…
MEDICAL INSTRUMENT ELECTRONICALLY ENERGIZED USING DRIVE CABLES
Granted: January 21, 2010
Application Number:
20100016852
An electrically energized medical instrument uses one or more drive cables to both actuate mechanical components of a wrist mechanism or an effector and to electrically energize the effector. Electrical isolation can be achieved using an insulating main tube through which drive cables extend from a backend mechanism to the effector, an insulating end cover that leaves only the desired portions of the effector exposed, and one or more seals to prevent electrically conductive liquid from…
BIPOLAR CAUTERY INSTRUMENT
Granted: January 21, 2010
Application Number:
20100016853
A cautery instrument includes a brush-type contact providing a sliding electrical connection to a jaw of the instrument. To provide isolation, the jaws may have ends in cavities in a clevis made of an insulating material. Non-conducting drive cables can be attached to the jaws using high friction paths that prevent or resist slippage of the cables relative to the jaws.
