System and method of displaying images from imaging devices
Granted: May 28, 2024
Patent Number:
11992273
A system and method of displaying images from an imaging device includes a display device and one or more processors. The one or more processors are configured to track movement of an imaging device, determine a display-device-to-imaging-window transform based on the tracked movement and a corresponding command to move the imaging device, and render an image received from the imaging device on the display device at a position and orientation on the display device based on the…
Systems and methods for detecting environmental forces on an elongate device
Granted: May 28, 2024
Patent Number:
11992188
A medical system includes a flexible elongate instrument and a control unit. The control unit is configured to determine a force exerted by the flexible elongate instrument on tissue of a patient, determine a driving state of the flexible elongate instrument, set a force threshold based on the driving state, and provide feedback to an operator in response to the determined force being higher than the force threshold. Different driving states are associated with different force…
Stent delivery under direct visualization
Granted: May 21, 2024
Patent Number:
11986409
A system includes a deployment catheter having a lumen, a delivery sheath configured for positioning within the lumen of the deployment catheter, and a first measurement instrument configured for positioning within the delivery sheath. The first measurement instrument includes a plurality of expandable members each having a known diameter in an expanded state. The first measurement instrument is configured to determine a diameter of an anatomical lumen based on the known diameter of a…
Controller controlled instrument preload mechanism
Granted: May 21, 2024
Patent Number:
11986262
A computer-assisted system includes an instrument manipulator assembly including a preload assembly and a motor, an insertion assembly configured to control a position of the instrument manipulator assembly, and a motor controller coupled to the preload assembly. The motor controller is configured to actuate the preload assembly to control an amount of preload applied by the preload assembly to the motor and actuate the preload assembly to apply a low preload in response to detecting…
Association processes and related systems for manipulators
Granted: May 21, 2024
Patent Number:
11986259
A computer-assisted medical system includes manipulators, a user input system, a user output system comprising a display device, and a controller configured to execute instructions to perform operations. The operations include, in a pairing mode and in response to a first set of signals generated by the user input system, causing a virtual selector shown on the display device to move relative to an imagery shown on the display device. The operations further include, in the pairing mode,…
Electrically conductive reducer device, related systems, and related methods
Granted: May 21, 2024
Patent Number:
11986211
A reducer device for insertion into a surgical cannula includes a tubular member having a proximal opening and a distal opening and an electrically conductive component configured and positioned to provide an electrically conductive path from an interior of the tubular member to an exterior of the tubular member. The electrically conductive path is localized along an axial length of the tubular member. A method of configuring a surgical device includes positioning a surgical cannula…
Entry guide for multiple instruments in a single port surgical system
Granted: May 21, 2024
Patent Number:
11986208
A surgical access port comprises an instrument guide. The instrument guide comprises a proximal end, a distal end, a plurality of instrument guide channels between the proximal and distal ends, and an outside surface that fits closely to an inner wall surface of a cannula into which the instrument guide is inserted. The instrument guide also comprises a first guide channel opening defined along a length of a first guide channel of the plurality of instrument guide channels. The…
Surgical instrument with lockout mechanism
Granted: May 21, 2024
Patent Number:
11986184
Surgical clamping and cutting instruments are disclosed. In one aspect, a surgical instrument comprises an elongate shaft with an end effector having first and second jaws, a release member movably coupled to the end effector and a drive member configured to translate relative to the end effector. The instrument further includes a locking member movable from a first position permitting distal translation of the drive member, to a second position preventing distal translation of the drive…
Devices and methods for minimally invasive suturing
Granted: May 21, 2024
Patent Number:
11986179
Devices and methods for minimally invasive suturing are disclosed. One suturing device for minimally invasive suturing includes a proximal section a distal end, and an intermediate region therebetween. The device includes a suture head assembly having a suturing needle with a pointed end and a second end. The suturing needle is capable of rotating about an axis approximately perpendicular to a longitudinal axis of the device, wherein the pointed end of the suturing needle is positioned…
Fiber Bragg grating end effector force sensor
Granted: May 14, 2024
Patent Number:
11980504
A force sensing device is provided for use with a surgical instrument shaft having a two degree-of-freedom wrist mounted end effector portion having a working surface; a housing defines an annular collar sized to snugly fit about the two degree-of-freedom wrist and defines a cap sized to snugly fit about the end effector portion; an optical fiber including a segment is embedded within the annular collar and including a segment embedded within the cap; a first fiber Bragg grating (FBG)…
Systems and methods for control of end effectors
Granted: May 14, 2024
Patent Number:
11980434
A system and method of controlling an end effector includes a drive unit having a first actuator and a second actuator, a moveable platform drivably coupled to the first actuator, first and second engagement members drivably coupled to the second actuator; and a control unit. The control unit is configured to actuate the first actuator to drive the platform, detect engagement of the first engagement member with a third engagement member of an instrument, detect engagement of the second…
Combining near-infrared information with colored images in image-guided surgery
Granted: May 14, 2024
Patent Number:
11980347
The technology described herein can be embodied in a method that includes receiving data representing information captured using a first sensor and a second sensor of a multi-sensor camera. The sensors are configured to capture a surgical scene illuminated by a light source configured to emit wavelengths in the visible spectrum corresponding to sensing capabilities of the first and second sensors, respectively. The method also includes receiving data representing information captured…
Systems and methods for instrument buckling detection
Granted: May 14, 2024
Patent Number:
11980344
A method comprises measuring, with a sensor, a shape of a section of an elongated flexible instrument and comparing the measured shape of the section of the elongated flexible instrument to an expected shape. The method also comprises determining whether the measured shape of the section of the elongated flexible instrument differs from the expected shape by a predefined threshold.
Robotic system providing user selectable actions associated with gaze tracking
Granted: May 7, 2024
Patent Number:
11977678
A medical robotic system includes a viewer for displaying an image of a work site, a gaze tracker for tracking a gaze point of a user on the viewer, and a processor. The processor is configured to: draw an area or volume defining shape, overlaid on the image of the work site, in a position determined by the gaze tracker; assign a fixed virtual constraint to the shape and constrain movement of a robotic tool according to the fixed virtual constraint; receive a user selected action command…
Techniques for operating a kinematic structure by manual motion of link coupled to the kinematic structure
Granted: May 7, 2024
Patent Number:
11974828
Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system having a kinematic structure configured to support an instrument and a processor. The processor is configured to place the system in a clutching mode; transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure; while in the set-up mode, determine an input displacement of a link from an…
Association processes and related systems for manipulators
Granted: May 7, 2024
Patent Number:
11974827
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…
Computer-assisted teleoperated surgery systems and methods
Granted: May 7, 2024
Patent Number:
11974826
A computer-assisted teleoperated surgical system includes one or more manipulator devices and other components. A manipulator device includes a first link, a second link coupled to a distal end of the first link, a third link coupled to the second link, and an instrument actuator coupled to the third link. A joint that couples the second link to the first link defines a yaw axis. A joint that couples the third link to the second link defines a pitch axis. The instrument actuator defines…
System and method for multi-mode imaging device control
Granted: April 30, 2024
Patent Number:
11969147
Techniques for multi-mode imaging device control include determining, by a controller, if an orientational mode command or a translational mode command is entered; in response to determining that the orientational mode command is entered, constraining, by the controller, movement of an imaging device so that a focal point of the imaging device moves along a concave virtual surface in response to translational movement of one or more input devices; and in response to determining that the…
Systems and methods for positioning medical instruments
Granted: April 30, 2024
Patent Number:
11969227
A medical instrument system comprises an instrument manipulator configured to control a position of a medical instrument with respect to a base. The instrument manipulator comprises an instrument carriage comprising a medical instrument connector configured to engage the medical instrument. The instrument carriage is configured to translate along a linear axis to advance or retract the medical instrument with respect to the base. The medical instrument system also comprises an insertion…
End effector force feedback to master controller
Granted: April 30, 2024
Patent Number:
11969225
A teleoperated surgical system is provided that includes a surgical instrument that includes an end effector mounted for rotation about a slave pivot axis; a master control input includes a mount member, first and second master grip rotatably secured at the mount member for rotation about a master pivot axis; sensor to produce a sensor signal indicative of a slave grip counter-force about the slave pivot axis; one or more motors to impart a shear force to the mount member, perpendicular…
