Systems and methods of registration for image-guided surgery
Granted: June 11, 2024
Patent Number:
12004820
A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways. The method may further include determining a set of matches between a second set of points and the first…
Mixed reality systems and methods for indicating an extent of a field of view of an imaging device
Granted: June 11, 2024
Patent Number:
12008721
A mixed reality presentation system identifies an operating condition associated with an operation performed on a body while an active imaging device captures imagery of an internal view of the body. The mixed reality presentation system also determines, based on the identified operating condition, that a display device is to toggle a display of a shape overlay that is displayed together with an external view of the body and that is indicative of an extent of a field of view of the…
Systems and methods for motion control of steerable devices
Granted: June 11, 2024
Patent Number:
12005574
A system may comprise a control device configured to receive user inputs and a manipulator system including an actuator configured to receive and drive a steerable device. The system may also comprise a control system communicatively coupled to the manipulator system. The control system may be configured to track a virtual user-instructed position based on a first user input, determine a device position of a portion of the steerable device, and determine a position discrepancy in a first…
Mounting teleoperated surgical arms
Granted: June 11, 2024
Patent Number:
12004912
A medical device system includes: an auxiliary rail including a frame and a flange extending from the frame; and a surgical arm mounting device including a coupler and a surgical arm interface. The frame is configured to be mounted on a side rail of an operating table. The coupler includes a clamp for the flange of the auxiliary table rail. The clamp of the coupler has a first mechanical state in which the mounting device is fixed to the auxiliary rail and a second mechanical state in…
Graphical user interface for catheter positioning and insertion
Granted: June 11, 2024
Patent Number:
12004850
A method comprises identifying a target location within a patient anatomy, receiving a position for a tip portion of an interventional instrument at a first location within the patient anatomy, and determining a three-dimensional distance between the first location and the target location. The method further comprises displaying on a display system an image that includes a symbol representing the target location and a symbol representing the tip portion of the instrument and displaying…
Medical tools having tension bands
Granted: June 11, 2024
Patent Number:
12004834
A medical device includes a first link, a second link, and a band. A proximal end portion of the first link is coupled to a shaft. A proximal end portion of the second link is rotatably coupled to a distal end portion of first link about a first axis. The distal end portion of the second link includes a connector coupled to a tool member that is rotatable relative to the second link about a second axis that is non-parallel to the first axis. The first link defines a first guide channel…
System and method for maintaining a tool position and orientation
Granted: June 11, 2024
Patent Number:
12004833
Techniques for maintaining instrument position and orientation include a computer-assisted device having a control unit and an articulated structure. The articulated structure includes a plurality of joints and is configured to support an instrument. The control unit is configured to determine an error that is introduced, by movement of a first joint of the plurality of joints, to a position of the instrument, an orientation of the instrument, or both the position of the instrument and…
Systems and methods for monitoring patient motion during a medical procedure
Granted: June 11, 2024
Patent Number:
12004830
A method of controlling an elongate instrument during a medical procedure involving motion of the elongate instrument relative to a patient is provided. The method includes generating, by a control system, a first model of the elongate instrument, and generating, by the control system, a second model of the elongate instrument based on a reference pose of the elongate instrument. The method further includes comparing, by the control system, the first model with the second model and…
System and method for providing feedback during manual joint positioning
Granted: June 11, 2024
Patent Number:
12004827
A system and method of providing feedback during manual joint positioning includes a computer-assisted device having an articulated structure including a joint and a control unit coupled to the articulated structure. To provide feedback to a user during manual positioning of the joint by the user, the control unit is configured to provide first haptic feedback indicating that the joint is moving in a correct direction when the joint is moving toward a first target position, provide…
Dual brake setup joint
Granted: June 11, 2024
Patent Number:
12004826
A system, e.g., a computer-aided medical system, includes a first link, a second link, a joint, and a dual brake assembly. The first link has a first end portion and a second end portion. The second link has a first end portion and a second end portion. The joint is connected to the second end portion of the first link and to the first end portion of the second link. The dual brake assembly is coupled to the first link and to the second link. The dual brake assembly includes a first…
Systems and methods for cleaning a minimally invasive instrument
Granted: June 4, 2024
Patent Number:
11998176
An elongate flexible instrument includes an elongate flexible instrument, an image capture instrument, and at least one heat transfer element. The elongate flexible instrument defines an internal channel. The internal channel is configured to receive a fluid from a fluid source. The image capture instrument is disposed within the internal channel in a distal portion of the elongate flexible instrument. The at least one heat transfer element is configured to transfer heat from the image…
Determining chromophore concentrations in tissues
Granted: June 4, 2024
Patent Number:
12002208
Technology described herein can be embodied in a method that includes obtaining, using an endoscopic camera, a plurality of images of the surgical scene, each image in the plurality of images being obtained under illumination by electromagnetic radiation in a corresponding wavelength range. The corresponding wavelength ranges are selected in accordance with a set of chromophores present in the surgical scene, and any two of the corresponding wavelength ranges partially non-overlapping.…
User-installable part installation detection techniques
Granted: June 4, 2024
Patent Number:
12000753
Techniques are described for testing whether an end effector, or component thereof, is correctly or incorrectly installed to a manipulation system. A manipulation system can include a manipulator arm configured to receive an end effector having a first moveable jaw, a transducer configured to provide first effort information of the end effector as the end effector moves, and a processor configured to provide a command signal to effect a first test move of the first moveable jaw, and to…
System and method for force or torque limit compensation
Granted: June 4, 2024
Patent Number:
11998398
A system and method of force or torque limit compensation includes a surgical instrument for use with a computer-assisted medical device. The surgical instrument includes an end effector located at a distal end of the instrument, a drive unit for operating a degree of freedom of the instrument, a shaft coupled to the drive unit, and one or more drive mechanisms in the shaft for coupling force or torque from the drive unit to the end effector and the articulated wrist. To control the…
Hard stop protection system and method
Granted: June 4, 2024
Patent Number:
11998296
Disclosed herein are apparatus and method for resisting external articulation of one or more joints of a manipulator assembly when the joints are approaching mechanical limits. For example, an articulable system may include a joint mechanism, an actuator coupled to the joint mechanism, a sensor system for sensing a joint state and a controller. The controller can operate the articulable system in an external articulation facilitation mode. The controller can command the actuator to…
Systems and methods for entering and exiting a teleoperational state
Granted: June 4, 2024
Patent Number:
11998293
A teleoperational medical system includes a teleoperational control system, a teleoperational manipulator configured for operating a medical instrument in a medical environment, and an operator controller. The teleoperational control system includes a processing unit including one or more processors. The processing unit is configured to determine whether a head portion of an operator of the operator controller is directed toward or away from a display region of a display device based on…
Control of computer-assisted tele-operated systems
Granted: June 4, 2024
Patent Number:
11998292
An instrument system includes an instrument, a drive system, and a controller operably connected to a first drive mechanism and a second drive mechanism of the drive system. The controller is configured to operate the first drive mechanism and the second drive mechanism drive a flexible tensioning member of the instrument to cause movement of an end effector of the instrument while maintaining a tension applied to the flexible tensioning member of the instrument in a tension range.
Systems and methods for teleoperated control of an imaging instrument
Granted: June 4, 2024
Patent Number:
11998282
A medical imaging system comprises a teleoperated assembly including a medical instrument, a first imaging instrument, a second imaging instrument, a tracking fixture, and a processor. The first imaging instrument generates a first image of a field of view of the first imaging instrument and the second imaging instrument generates a second image. The tracking fixture is engageable along at least a portion of the second imaging instrument. The tracking fixture includes one or more…
Devices for instrument use recording, devices for recording instrument reprocessing events, and related systems and methods
Granted: June 4, 2024
Patent Number:
11998197
An instrument can include a shaft with a proximal end portion and a distal end portion, an end effector at the distal end portion of the shaft, and a transmission mechanism at the proximal end portion of the shaft. The transmission mechanism can include a driven input device engageable with an external drive mechanism. The instrument can include an indicator operably coupled to the driven input device and moveable through each of a plurality of consecutive positions, each of the…
Instrument with multiple articulation locks
Granted: June 4, 2024
Patent Number:
11998195
An articulation tool includes proximal and distal links, an elongated shaft therebetween, and first and second locks. Movement of the proximal link about proximal first and second axes causes corresponding movement of the distal link about distal first and second axes. The first and second locks have unlocked configurations in which the proximal and distal links are movable with respect to the elongated shaft about the first axes, or the second axes, respectively, and locked…
