Graphical user interface for monitoring an image-guided procedure
Granted: January 7, 2025
Patent Number:
12186031
A system and method of monitoring a procedure includes a medical device. The medical device includes an elongate device including a flexible body, a tracking system disposed along at least a portion of the flexible body, and one or more processors communicatively coupled to the tracking system. The one or more processors are configured to receive a route to a target location in an anatomy, determine one or more features of the route based on a first anatomical representation, generate a…
Beacon-based systems and methods for managing access to application features associated with a medical session
Granted: January 7, 2025
Patent Number:
12191031
An application management system may provide, while a user device detects a beacon associated with a medical system, a user of the user device with access to a first set of medical session features of an application executed by the user device. The application management system may also provide, while the user device does not detect the beacon, the user with access to a second set of medical session features of the application, the second set of medical session features being different…
Compact, differential, coaxial inductive force sensor
Granted: January 7, 2025
Patent Number:
12188838
A variety of applications can include apparatus and/or methods that provide an axial force transducer. Two coils wound coaxially with respect to each other can be used with a magnet to determine a distance traveled based on application of an axial force to an instrument component. The two coils and magnet can be configured in a number of ways with respect to the instrument component. In various embodiments, the difference between an inductance associated with one of the two coils along…
Telescoping medical device assembly and sterile drape
Granted: January 7, 2025
Patent Number:
12186048
A drape shroud assembly comprises a body and a plurality of tabs. The body comprises a first end, a second end, an outer surface extending between the first end and the second end, and an inner surface extending between the first end and the second end. The inner surface of the body bounds an inner volume sized to permit at least part of a surgical instrument manipulator insertion assembly to be contained within the inner volume. The body is configured for attachment to the insertion…
Compliant mechanisms having inverted tool members
Granted: January 7, 2025
Patent Number:
12186047
The embodiments described herein can be used in a variety of grasping, cutting, and manipulating operations. In some embodiments, an apparatus includes a shaft, a tool member, and a flexure. The shaft has a distal end portion and a proximal end portion, and defines a longitudinal axis. The distal end portion includes a ground portion. The tool member has an engagement portion and an actuation portion. The engagement portion is disposed distally from the actuation portion, and can exert…
Grip force control for robotic surgical instrument end effector
Granted: January 7, 2025
Patent Number:
12186044
A computer-assisted surgical system comprises a master grip input mechanism, a surgical instrument comprising an end effector configured to apply a gripping force, and a controller. The controller is configured to receive a first input signal in response to grip input at the master grip input mechanism. The controller is further configured to receive a second input signal after receiving the first input signal, wherein the second input signal is received in response to a procedure input…
Reusable surgical instrument with single-use tip and integrated tip cover
Granted: January 7, 2025
Patent Number:
12186038
A surgical instrument includes a reusable instrument portion and a disposable tip assembly. The disposable tip assembly includes an end effector assembly that in turn includes an end effector. The disposable tip assembly also includes a locking tip cover that locks the disposable tip assembly to a lock interface element of a tip interface of the reusable instrument portion. To facilitate mounting the disposable tip assembly on the tip interface of the reusable instrument portion, the…
Systems and methods for tag-based instrument control
Granted: January 7, 2025
Patent Number:
12186035
A system may render, within a graphical user interface associated with a computer-assisted medical system, a graphical tag element associated with a physical location within a region of interest. The system may detect a user interaction with the graphical tag element. The system may further direct, in response to the detecting of the user interaction with the graphical tag element, the computer-assisted medical system to adjust a pose of an instrument based on the physical location…
System for moveable element position indication
Granted: January 7, 2025
Patent Number:
12186034
Systems and methods for moveable element indication include a system. The system includes a robotic assembly configured to support an instrument and a processor. The instrument includes an end effector and a moveable element. The end effector includes a first jaw and a second jaw. The moveable element is moveable from a first position to a second position. The processor is configured to display, on a user interface display, an image of the instrument clamping a material using the first…
System and method for registering to a table
Granted: January 7, 2025
Patent Number:
12186033
Techniques for registering a computer-assisted device to a table include a computer-assisted device having an articulated arm and a control unit. The control unit is configured to receive information of a first motion of a table, the first motion comprising a first rotation about a first axis and causing a second motion of a point associated with the articulated arm; receive information of the second motion; receive information of a third motion of the table, the third motion of the…
Surgical tool with nested shaft tubes
Granted: January 7, 2025
Patent Number:
12185974
A surgical instrument includes a chassis, an outer tube having a proximal end operably coupled to the chassis, and an inner tube extending within the outer tube. The inner tube has a proximal end operably coupled to the chassis to allow slidable movement of the inner tube relative to the outer tube in response to a force imparted to a distal end of the inner tube, and such that frictional force imparted to an outer surface of the outer tube is not imparted to the inner member.
Techniques for controlling an end effector
Granted: January 7, 2025
Patent Number:
12185947
Techniques for controlling an end effector include a computer-assisted device having a drive system configured to actuate a moveable element to a first commanded position and a control unit coupled to the drive system. The control unit is configured to actuate, using the drive system, the moveable element to the first commanded position. The control unit is further configured to monitor a force or torque applied by the drive system to actuate the moveable element to the first commanded…
Method and apparatus for manipulating tissue
Granted: January 7, 2025
Patent Number:
12185930
A method and apparatus for manipulating tissue. A tissue control point is displayed over an image of the tissue in a user interface. An input is received that moves the tissue control point within the user interface. A first instrument that is physically associated with the tissue is operated based on the received input to thereby manipulate the tissue.
Surgical instruments and systems and methods for determining condition information thereof
Granted: January 7, 2025
Patent Number:
12185907
An exemplary system includes a memory storing instructions and a processor communicatively coupled to the memory. The processor is configured to execute the instructions to receive, from a sensor of a surgical instrument, environmental condition information associated with the surgical instrument and detected by the sensor while the surgical instrument is disconnected from an external power source, the surgical instrument including circuitry configured to be powered and operate only…
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…
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…
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…
