Disturbance compensation in computer-assisted devices
Granted: December 31, 2024
Patent Number:
12179359
Disturbance compensation in computer-assisted devices include an articulated arm comprising one or more first joints and one or more second joints and one or more processors coupled to the articulated arm. The articulated arm is configured to support an end effector. The one or more processors when executing instructions are configured to: detect a disturbance to the one or more first joints, the disturbance causing a point of interest associated with the end effector to move; determine…
System and method for distributed heat flux sensing of body tissue
Granted: December 31, 2024
Patent Number:
12178550
A system for distributed heat flux sensing of body tissue includes a distributed sensor, a thermal energy source, and one or more processors. The distributed sensor provides a plurality of temperature measurements corresponding to a plurality of points in a measurement range. The thermal energy source applies thermal energy to the body tissue along the measurement range. The one or more processors are configured to receive the plurality of temperature measurements from the distributed…
Protective cover installation and removal tool, systems, and methods
Granted: December 31, 2024
Patent Number:
12178541
According to an exemplary aspect, a tool for installing and/or removing a protective cover of an instrument includes a body portion having an open end and a closed end. The open end defines an interior passage that extends into the body portion along a longitudinal axis of the body portion toward the closed end of the body portion. The interior passage is configured to receive at least a portion of the protective cover in the interior passage. One or more members are connected to the…
Visual detection of electrocautery arcing
Granted: December 31, 2024
Patent Number:
12178529
An arc-detection system for detecting an arc during an electrocautery surgical procedure may comprise a camera portion and an image processing controller portion. The camera portion may be sized for minimally invasive penetration into a patient's body. The camera portion may comprise a wide-angle lens having a field of view wider than 45 degrees and wider than a field of view of a conventional endoscopic camera system. The image processing controller portion may be configured to monitor…
Surgical instrument guide with insufflation channels
Granted: December 31, 2024
Patent Number:
12178472
A cannula and instrument guide assembly includes a cannula with a proximal portion and a tube. An instrument guide is removably inserted into the proximal portion of the cannula and extends through the cannula to a distal end of the tube. The proximal portion of the cannula has an insufflation port. The instrument guide provides at least one interior passageway to support a shaft of a surgical instrument that passes through the instrument guide. One or more channels on an outer surface…
System and method for view restoration
Granted: December 31, 2024
Patent Number:
12178399
A system and method of view restoration include a computer-assisted device having an imaging device and a controller coupled to the imaging device. The controller is configured to record kinematic information, imaging information, or both the kinematic information and the imaging information before movement of the imaging device from a first repositionable arm to a second repositionable arm or from a first workspace port to a second workspace port; detect the movement of the imaging…
Electronic assemblies including a conformal moisture barrier
Granted: December 31, 2024
Patent Number:
12178398
A method includes forming, by atomic layer deposition, a first barrier layer on a surface of a printed circuit board (“PCB”) and on an outer surface of an electrical component attached to the surface of the PCB; forming an adhesion promotion layer on a surface of the first barrier layer; and forming, on the adhesion promotion layer, a second barrier layer including Parylene.
Augmented medical vision systems and methods
Granted: December 31, 2024
Patent Number:
12178387
A system directs an imaging device to continuously capture visible light and fluorescence illumination from a surgical area. The system generates a visible light image stream based on the captured visible light and a fluorescence image stream based on the captured fluorescence illumination. The system operates in a first display mode by directing a display device to display a first video stream based on a first set of at least one of the visible light image stream and the fluorescence…
Fake blood for use in simulated surgical procedures
Granted: December 24, 2024
Patent Number:
12175886
Artificial blood compositions for use in simulated surgery, and kits including the compositions, are disclosed. sues, organs, and organ blocks which include dissolvable clots are also disclosed. Further disclosed are methods for carrying out simulated surgical procedures using the compositions, tissues, organs, organ blocks, and kits described herein.
Systems and methods implementing distance-based image sensor windowing
Granted: December 24, 2024
Patent Number:
12177411
An illustrative system may include a stereoscopic imaging device comprising: a first image sensor having a first pixel array and configured to provide a first windowed output comprising first image information associated with pixels included within a first window of the first pixel array, the first window having a first position; and a second image sensor having a second pixel array and configured to provide a second windowed output comprising second image information associated with…
Systems and methods for registration of a medical device using a reduced search space
Granted: December 24, 2024
Patent Number:
12171543
A medical system includes an elongate instrument, a tracking system, and one or more processors. The tracking system is disposed along at least a portion of the elongate instrument. The one or more processors are coupled to the tracking system and are configured to: generate a plurality of linked bounded-surface elements corresponding to a set of connected passageways of a patient anatomy; receive shape information from the tracking system, the shape information indicating a shape of at…
Inter-operative switching of tools in a robotic surgical system
Granted: December 24, 2024
Patent Number:
12171517
A system includes first and second manipulating means, and a means for detecting mounting of an imaging means to the first manipulating means, a means for determining a first reference frame for the imaging means while the imaging means is mounted to the first manipulating means, a means for controlling a tool means relative to the first reference frame by maintaining a position and orientation of a distal portion of the tool means relative to the imaging means in the first reference…
Computer-assisted tele-operated surgery systems and methods
Granted: December 24, 2024
Patent Number:
12171516
Systems and methods for minimally invasive computer-assisted telesurgery are described. A computer-assisted teleoperated surgery system includes a teleoperated instrument actuation pod. The surgical instrument actuation pod includes a plurality of linear actuators arranged around a surgical instrument. The linear actuators engage with actuator engagement members on the instrument and so drive movable parts on the instrument. The actuation pod is mounted on a teleoperated manipulator.…
Systems and methods for entry point localization
Granted: December 24, 2024
Patent Number:
12171505
A teleoperative system includes a first manipulator assembly, a second manipulator assembly, a first medical instrument movable by the first manipulator assembly, a second medical instrument movable by the second manipulator assembly, a first alignment component positioned on the first manipulator assembly, a second alignment component positioned on an entry port, and a control system configured to record a position of the first manipulator assembly in response to receiving a user input…
Low capacitance endoscope system
Granted: December 24, 2024
Patent Number:
12171401
An endoscopic system for sensing one or more characteristics at an environment of a worksite comprises a shaft comprising a proximal end portion and a distal end portion; an electrically active sensor system comprising a sensor positioned to sense at least one characteristic of an environment in which the distal end portion of the shaft is located; an electrical power transmission line electrically coupled to the sensor and extending along the shaft, the electrical power transmission…
Systems and methods for high-speed data transmission across an electrical isolation barrier
Granted: December 24, 2024
Patent Number:
12171398
An illustrative system includes first and second electrical circuits, a free space optics interface assembly, and a feedthrough assembly. The free space optics interface assembly may include an optical transmitter having an input that is electrically coupled to the first electrical circuit, and an optical receiver having an output that is electrically coupled to the second electrical circuit. The feedthrough assembly electrically connects the input of the optical transmitter to the first…
System and method for an articulated arm based tool guide
Granted: December 17, 2024
Patent Number:
12167943
A method of controlling a medical tool includes determining an insertion path and pose for the tool based on a target and deploying first and second articulated arms of a computer-assisted medical device based on a size and shape of a tool guide. The arms include respective pluralities of moveable links actuated by at least one respective actuator and forming respective kinematic chains extending from a base. The method further includes receiving the tool guide for coupling with the arms…
Methods and systems for controlling staple firing
Granted: December 10, 2024
Patent Number:
12161321
Systems and methods for controlling staple firing include a manipulator, a drive system, and a processor. The manipulator is configured to be releasably coupled to an instrument. The instrument has an end effector comprising a first jaw and a second jaw. The drive system is configured to apply a force or torque to the instrument to cause staple firing to occur using the end effector. The processor is configured to monitor a force or torque applied by the drive system to cause staple…
Systems and methods for master/tool registration and control for intuitive motion
Granted: December 10, 2024
Patent Number:
12162143
A method is performed by a computing system. The method includes receiving image data from an imaging device, and determining, using the image data, a plurality of image-space tools, each image-space tool associated with a tool of a plurality of tools, each tool controlled by a manipulator of a plurality of manipulators. The method further includes determining a first correspondence between a first image-space tool of the plurality of image-space tools and a first tool of the plurality…
Systems and methods for integrating imagery captured by different imaging modalities into composite imagery of a surgical space
Granted: December 10, 2024
Patent Number:
12161512
An exemplary system accesses imagery of a surgical space captured by different imaging modalities and, based on the accessed imagery, generates composite imagery that includes integrated representations of the surgical space as captured by the different imaging modalities. An exemplary composite image includes a representation of the surgical space as captured by a first imaging modality augmented with an integrated representation of the surgical space as captured by a second imaging…
