Multiple band pass Bayer pattern filter
Granted: October 1, 2024
Patent Number:
12108170
An image sensing apparatus including a pixel array comprising two or more photo-sensor elements, a first optical filter disposed on a first photo-sensor element of the pixel array and a second optical filter disposed on a second photo-sensor element of the pixel array. The first optical filter is configured such that a spectral response of the first optical filter includes a first passband in a first wavelength range and a second passband in a second wavelength range, where the first…
System and method for repositioning input control devices
Granted: October 1, 2024
Patent Number:
12102406
A system and method of repositioning input control devices includes an operator workstation for controlling a computer-assisted device includes an input control device for use by an operator, one or more sensors, and a controller coupled to the one or more sensors and the input control device. The controller is configured to determine whether the operator is interacting with the input control device using the one or more sensors and in response to determining a lack of operator…
Latch release for surgical instrument
Granted: September 24, 2024
Patent Number:
12097006
A medical instrument comprises an instrument control surface configured to mate with an instrument sterile adapter to receive input drive forces through the sterile adapter to control actuation of the surgical instrument, the instrument control surface comprising a first opening defined in the instrument control surface. A latch structure of the instrument comprises a locking surface configured to engage a latch arm in response to the latch arm being received in the opening, wherein in…
Medical robotic system with coupled control modes
Granted: September 24, 2024
Patent Number:
12097002
In a coupled control mode, an operator directly controls movement of an associated manipulator with an input device while indirectly controlling movement of one or more non-associated manipulators, in response to commanded motion of the directly controlled manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the operator's need to switch to another direct mode to manually…
Systems and methods for instrument insertion control
Granted: September 24, 2024
Patent Number:
12097001
Techniques for instrument insertion control include a manipulator system. The manipulator system includes a manipulator configured to support an instrument and a control system coupled to the manipulator. The control system is configured to determine an insertion profile associated with at least one of the instrument or a cannula through which the instrument is configured to be inserted and resist or assist a manual insertion of the instrument through the cannula according to the…
Systems and methods for robotic medical system integration with external imaging
Granted: September 24, 2024
Patent Number:
12097000
A medical robotic system and method of operating such comprises taking intraoperative external image data of a patient anatomy, and using that image data to generate a modeling adjustment for a control system of the medical robotic system (e.g., updating anatomic model and/or refining instrument registration), and/or adjust a procedure control aspect (e.g., regulating substance or therapy delivery, improving targeting, and/or tracking performance).
Reducing energy buildup in servo-controlled mechanisms
Granted: September 24, 2024
Patent Number:
12096998
A computer-assisted medical system includes a manipulator arm and a controller. The controller includes a computer processor. The controller is configured to servo at least one joint associated with at least one manipulator arm segment of the manipulator arm, the servoing including executing a servo loop. Executing the servo loop includes obtaining an actual state of the manipulator arm, computing a difference between a commanded state and the actual state, where the commanded state is…
Systems and methods of registration for image-guided procedures
Granted: September 24, 2024
Patent Number:
12096996
A device comprises an instrument usable to collect location data for one or more passageways. The device further comprises one or more processors coupled to the instrument. The one or more processors are configured to organize a plurality of points within the location data by clustering the plurality of points based on distances between points of the plurality of points. The processor(s) are further configured to create a passageway tree based on the organized points and to identify at…
Medical systems that implement a common-mode choke to reduce voltage transients
Granted: September 24, 2024
Patent Number:
12096970
A medical system includes a first electrical circuit, a second electrical circuit electrically isolated from the first electrical circuit, an optical isolator circuit coupled between the first and second electrical circuits, and a common-mode choke comprising a plurality of wires wound around a core and configured to reduce a voltage transient at an input of the optical isolator circuit to a level within a tolerance of the optical isolator circuit. A first end of the wires is…
Tension control in actuation of jointed instruments
Granted: September 17, 2024
Patent Number:
12089909
A medical instrument system includes actuators, a medical instrument, and a control system operably connected to the actuators. The medical instrument includes an end portion and transmission systems, each of which couples the end portion to an actuator of the actuators such that the actuators are operable to drive the transmission systems to move the end portion. The control system is configured to execute operations including determining a difference between a current configuration of…
System and method for breakaway clutching in an articulated arm
Granted: September 17, 2024
Patent Number:
12089904
A system and method of breakaway clutching in a device includes an arm having a first joint and a control unit coupled to the arm. The control unit includes one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold. Movement of the first joint is more restricted in the first state than in the second state. The control unit…
Systems and methods for inserting an elongate flexible instrument into an environment
Granted: September 17, 2024
Patent Number:
12089903
Illustrative systems and methods for inserting an elongate flexible instrument into a target environment are described. An illustrative system includes a guide device positioned near an opening to the target environment and having a rotary mechanism and a motor configured to drive the rotary mechanism. The system further includes a sensor system associated with insertion of the elongate flexible instrument along an insertion axis and a processor communicatively coupled to the motor and…
Minimally invasive surgical system
Granted: September 17, 2024
Patent Number:
12089809
A surgical instrument manipulator comprises a manipulator arm and an instrument mounting structure rotatably mounted to the manipulator arm. The instrument mounting structure comprises: an attachment interface configured to removably couple to a surgical instrument; and a passage within the instrument mounting structure. When the surgical instrument is coupled to the attachment interface, the surgical instrument is fixed to the instrument mounting structure. An elongate body of the…
Method for positioning an endoscope with flexible shaft
Granted: September 10, 2024
Patent Number:
12082780
Systems and methods for endoscopic operations are described. For example, the disclosure provides mechanisms for sensing and controlling a field of view of an endoscope by determining a pose of the field of view using a first location and a second location, and controlling the pose of the field of view by moving at least one of: the first portion and the second portion. The first location is of a first portion of the endoscope and the second location is of a second portion of the…
Systems and methods for deformation compensation using shape sensing
Granted: September 10, 2024
Patent Number:
12082920
A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of…
Head movement control of a viewing system
Granted: September 10, 2024
Patent Number:
12082902
A computer-assisted medical system includes a display unit configured to provide images to an operator of the display unit, a headrest configured to receive a mechanical input provided by a head of the operator in mechanical contact with the headrest, a headrest sensor interfacing with the headrest and configured to provide sensor signals based on the mechanical input, and a controller. The controller includes a computer processor, and is configured to process the sensor signals to…
Systems and methods for constraining a field of view in a virtual reality surgical system
Granted: September 10, 2024
Patent Number:
12082897
A method of operating a surgical control system comprises generating an image of a surgical environment from a viewpoint of an imaging tool. The image includes a field of view. The method further comprises displaying the image on a display system configured to be mounted to a head of a user. The method further comprises detecting a movement of the head of the user and determining if the movement of the user's head is within a boundary corresponding to the field of view. The method…
Motor interface for parallel drive shafts within an independently rotating member
Granted: September 10, 2024
Patent Number:
12082894
Minimally invasive surgical methods employ an offset drive shaft to actuate an end effector. A minimally invasive surgical method includes introducing an end effector to an internal surgical site. The end effector includes an end effector base that is coupled to the instrument shaft via a wrist. An end effector articulation mechanism is operated to reorient the end effector base relative to the instrument shaft. A surgical task is performed by operating a motor to rotate an offset drive…
System and method for inter-arm registration
Granted: September 10, 2024
Patent Number:
12082887
Systems and methods for inter-arm registration include a computer-assisted system having a control unit coupled to a repositionable arm of a computer-assisted device. The control unit is configured to: receive, from an imaging device, successive images of an instrument mounted to the repositionable arm; determine an observed velocity of a feature of the instrument; determine an expected velocity of the feature of the instrument based on kinematics of the repositionable arm; transform the…
Systems and methods of steerable elongate device
Granted: September 10, 2024
Patent Number:
12082793
A method comprises deploying a tool to a passageway exit site through a lumen of a flexible elongate device. The flexible elongate device comprises a proximal end, a distal end, and the lumen therebetween, and the tool comprises a needle. The method further comprises puncturing a passageway wall at the passageway exit site with the needle. The method further comprises deploying the needle through the passageway wall and through target tissue at a target location beyond the passageway…
