Systems and methods of device control with operator and motion sensing
Granted: April 8, 2025
Patent Number:
12271541
A system comprises an input device structurally configured to be utilized by an operator to control a medical device. The system further comprises a motion sensor associated with the input device and configured to detect a displacement distance of the input device. The system further comprises a control unit configured to determine a velocity cap defining a maximum velocity of the medical device based on the detected displacement distance. The control system is further configured to…
Medical imaging systems and methods that facilitate use of different fluorescence imaging agents
Granted: April 8, 2025
Patent Number:
12268469
An exemplary medical imaging system includes a visible light illumination system configured to selectively emit one of a first visible light biased to a first wavelength and a second visible light biased to a second wavelength, a fluorescence excitation illumination system configured to selectively emit one of a first fluorescence excitation illumination having a third wavelength and a second fluorescence excitation illumination having a fourth wavelength, and an illumination source…
Physical medical element affixation systems, methods, and materials
Granted: April 8, 2025
Patent Number:
12268459
An exemplary system is configured to access image data representative of an image of an internal space of a patient, the image depicting a physical medical element positioned over an anatomical surface within the internal space, identify a region, within the image, that depicts a fiducial marker on the physical medical element, determine, based on the identified region, an affixation target location on the physical medical element, and assist, based on the determined affixation target…
Steerable apparatus having a slideable imaging probe and associated methods of use
Granted: April 8, 2025
Patent Number:
12268363
An apparatus of the present technology generally includes an elongated shaft having a proximal portion and a distal portion, a first elongated channel extending from the proximal portion to the distal portion, a second channel extending from the proximal portion to the distal portion, and a slidable imaging probe disposed within the first elongated channel. The apparatus can be manually, robotically, and/or teleoperably steerable and is configured for delivery to a subject and/or…
Imaging systems and methods of use
Granted: April 8, 2025
Patent Number:
12268361
A system may comprise a catheter including a wall having an inner surface defining a main lumen. The system may also comprise a device including an elongate flexible shaft configured to be slideably inserted within the catheter main lumen and a structure disposed around an outer surface of the elongate flexible shaft. The structure may be configured to engage with a plurality of flat surfaces comprising a portion of the inner surface to prevent rotation of the device within the main…
Quantitative three-dimensional visualization of instruments in a field of view
Granted: April 1, 2025
Patent Number:
12262951
A system is provided that includes a Q3D endoscope disposed to image a field of view and a processor that produces a Q3D model of a scene and identifies target instruments and structures. The processor is configured to display the scene from a virtual field of view of an instrument, to determine a no fly zone around targets, to determine a predicted path for said instruments or to provide 3D tracking of said instruments.
Rendering tool information as graphic overlays on displayed images of tools
Granted: April 1, 2025
Patent Number:
12266040
A system comprises: a robotic arm operatively coupleable to a tool comprising a working end; and an input device communicatively coupled to the robotic arm. The input device is manipulatable by an operator. The system further comprises a processor configured to cause an image of a work site, captured by an image capture device from a perspective of an image reference frame, to be displayed on a display. The image of the work site includes an image of the working end of the tool. The…
Counterbalance mechanism including drive ratio
Granted: April 1, 2025
Patent Number:
12263583
Implementations relate to a counterbalance mechanism including a force transformation mechanism that provides a drive ratio. In some implementations, a counterbalance apparatus includes a spring, a first tension element, a second tension element, a force transformation mechanism coupled to the spring by the first tension element and coupled to the second tension element, and a plurality of counterbalance pulleys coupled to the second tension element. At least one of the counterbalance…
Association processes and related systems for manipulators
Granted: April 1, 2025
Patent Number:
12262970
A computer-assisted medical system includes robotic manipulators, a user input system operable to generate signals to control the manipulators, and a controller configured to execute instructions to perform operations. A portion of the user input system is movable relative to the plurality of manipulators. The operations include, in a pairing mode, associating a first manipulator of the plurality of manipulators with the portion of the user input system based on movement of the portion…
Systems and methods for using a robotic medical system
Granted: April 1, 2025
Patent Number:
12262965
A support structure comprises a base joint coupling a proximal link of the support structure to a base. The proximal link is configured to rotate about a first axis associated with the base joint. The support structure further comprises a linkage mechanism. The linkage mechanism maintains an orientation of an instrument support relative to the base as the support structure is moved from a first configuration to a second configuration. In the second configuration, the support structure is…
Medical instrument electrically energized using drive cables
Granted: April 1, 2025
Patent Number:
12262938
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…
Staple cartridge and drive member for surgical instrument
Granted: April 1, 2025
Patent Number:
12262891
The present disclosure provides a surgical instrument, such as a tissue sealing instrument, having a staple cartridge with a staple pusher and a staple; and a drive member configured to translate distally through the instrument. The drive member includes a lateral projection configured to engage the staple pusher and drive the staple into tissue. The lateral projection of the drive member has a height substantially less than the height of the staple cartridge, thereby requiring less…
Systems and methods for performance of depth sensor and auxiliary sensor-based operations associated with a computer-assisted surgical system
Granted: April 1, 2025
Patent Number:
12262868
An exemplary operation management system is configured to obtain, from a depth sensor included in an imaging device, depth data representative of a depth map for an internal space of a patient, obtain auxiliary sensor data from an auxiliary sensor not included in the imaging device, and perform, based on the depth data and the auxiliary sensor data, an operation associated with a computer-assisted surgical system configured to perform a procedure within the internal space of the patient.
Methods and apparatus for displaying three-dimensional orientation of a steerable distal tip of an endoscope
Granted: March 25, 2025
Patent Number:
12256891
A method for controlling an orientation of a steerable distal portion of an elongate instrument, said instrument comprising at least one tensioning member attached to said steerable distal portion may include receiving an input command at a controller for articulation of said steerable distal portion, the articulation correlating to an approximate y-bend and an approximate x-bend of said steerable distal portion; calculating an approximate overall bend from said approximate y-bend and…
Constraint mechanisms, systems, and methods
Granted: March 25, 2025
Patent Number:
12257700
A tool includes a transmission mechanism, a shaft, and a rotary device. The shaft is rotatable with reference to the transmission mechanism through a defined range of rotational motion about a first axis of rotation and includes a protrusion extending from the shaft in a direction normal to the first axis of rotation. The rotary device includes a first stop surface, a second stop surface, and a notch between the first stop surface and the second stop surface, with the notch configured to…
Devices and methods for crimp interface for cable tension sensor
Granted: March 25, 2025
Patent Number:
12257014
A medical device comprises an end effector, a mechanical structure, a connector, and a force sensor unit. The connector extends from a drive component of the mechanical structure to the end effector. Motion of the drive component produces a tension force within the connector, which is associated with an end effector torque or force exerted by the end effector. The force sensor unit comprises a body, and the body is coupled in-line with the connector so that strain in the connector is…
Surgical instrument with retaining feature for cutting element
Granted: March 25, 2025
Patent Number:
12257012
A surgical instrument comprises a pair of jaw members comprising a first jaw member comprising a groove along a length portion of the first jaw member, the groove extending from a gripping surface of the first jaw member in a first direction, and a slot along the length portion of the first jaw member and extending from the groove in a second direction, the second direction being different than the first direction. The instrument further comprises a cutting element comprising a first…
Electrically insulative electrode spacers, and related devices, systems, and methods
Granted: March 25, 2025
Patent Number:
12256978
A method for making an electrode assembly comprises overlaying an electrode on an electrode support, the electrode comprising a plurality of openings extending at least partially through a thickness of the electrode; supporting the electrode support with a jaw body; stitching a filament made of electrically insulative material comprising a first inset segment and exposed segment into a first opening of the plurality of openings such that the first inset segment is positioned in the first…
Operating self-antagonistic drives of medical instruments
Granted: March 25, 2025
Patent Number:
12256911
A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.
Apparatus and method for increasing heat dissipation capacity of a medical instrument
Granted: March 25, 2025
Patent Number:
12256902
A method includes generating thermal energy at a distal end of an elongate member and transferring the thermal energy between the elongate member and a housing coupled to a proximal end of the elongate member by activating a heat pump device thermally coupled between the elongate member and the housing. The heat pump device is disposed at least partially outside the housing. In some examples, a plurality of heat pump devices each located at least partially outside the housing and along a…
