Rendering tool information as graphic overlays on displayed images of tools
Granted: March 26, 2024
Patent Number:
11941734
A robotic system may comprise a first robotic arm operatively coupleable to a first tool. The first tool has a first working end. The system may also comprise an image capture device, a display, and a processor. The processor may be configured to cause an image of a work site, which was captured by the image capture device from a perspective of an image reference frame, to be displayed on the display. The image of the work site includes an image of the first working end of the first…
Methods and apparatus for determining shape parameter(s) using a sensing fiber having a single core with multiple light propagating modes
Granted: March 26, 2024
Patent Number:
11940305
Example embodiments include an optical interrogation system with a sensing fiber having a single core, the single core having multiple light propagating modes. Interferometric apparatus probes the single core multimode sensing fiber over a range of predetermined wavelengths and detects measurement interferometric data associated with the multiple light propagating modes of the single core for each predetermined wavelength in the range. Data processing circuitry processes the measurement…
Guide apparatus for delivery of an elongate device and methods of use
Granted: March 26, 2024
Patent Number:
11938281
An apparatus for guiding an elongated flexible instrument comprises a variable-length support assembly. The variable-length support assembly includes a first end, a second end, a plurality of support member pairs, and a plurality of eyelets configured to receive the elongated flexible instrument. Each support member pair comprises a first support member linked to a second support member, and each of the plurality of eyelets is movably coupled to at least one of the plurality of support…
System and method for specular reflection detection and reduction
Granted: March 26, 2024
Patent Number:
11937899
An imaging system includes an illuminator for providing illumination on a region of interest, one or more first detectors for detecting reflections of the illumination, and a processing unit. The processing unit is configured to: receive a first image containing the region of interest; determine a first region of high specular reflection in the first image based on the reflections of the illumination on the region of interest; mask the first image by substituting a default color…
Direct drive for mechanical arm assembly
Granted: March 26, 2024
Patent Number:
11937890
Implementations relate to a direct drive for a mechanical arm assembly. In some implementations, a mechanical arm assembly includes a base member, a first arm member rotatably coupled to the base member at a first portion of the first arm member, and a second arm member having a first portion rotatably coupled to a second portion of the first arm member. The first arm member is rotatable with respect to the base member about a first axis, and the second arm member is rotatable with…
Graphical user interface for monitoring an image-guided procedure
Granted: March 26, 2024
Patent Number:
11937880
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…
Surgical instrument control
Granted: March 26, 2024
Patent Number:
11937841
A medical device may comprise an instrument comprising a shaft and a working end comprising a jaw mechanism, and a translating mechanism moveable in a first direction and a second direction relative to the jaw mechanism, the first and second directions opposite to one another. The medical device may further comprise a controller configured to in response to a first input, control movement of the translating mechanism from a proximal position to an intermediate position relative to the…
Adapter for a multi-stage console connector
Granted: March 26, 2024
Patent Number:
11937776
A medical device includes an instrument connector. The instrument connector includes a main body and a coupler fixedly attached to the mail body. The main body includes a first interface for a first operational channel for the medical device. The coupler is configured to receive a portion of a cable assembly including a second interface for a second operational channel for the medical device.
Systems and methods of device control with operator and motion sensing
Granted: March 19, 2024
Patent Number:
11934594
Systems and methods for operation of a medical device may include at least two sensors to confirm a command to control a medical instrument is intentionally made by an operator. The systems may include an operator-detection sensor associated with an input device and configured to detect a presence of an operator at the input device. The systems may also include a motion sensor associated with the input device and configured to detect a displacement distance of the input device. A control…
Apparatuses, systems, and methods for gaze-based auto-exposure management of image frames
Granted: March 19, 2024
Patent Number:
11936989
An illustrative apparatus may perform gaze-based auto-exposure management of image frames. For example, the apparatus may determine, for an image frame within an image frame sequence captured by an image capture system, auto-exposure values for pixel units into which the image frame is divided. The apparatus may then assign weight values to the pixel units based on a gaze direction of a viewer viewing the image frame sequence. Based on the auto-exposure values determined for the pixel…
Capacitive sensing of hand presence at control input device
Granted: March 19, 2024
Patent Number:
11933827
Implementations relate to capacitive sensing of hand presence at a control input device. In some implementations, a control input device includes a support structure, a handle moveable in one or more degrees of freedom with reference to the support structure, and a capacitive sensor circuit electrically coupled to the handle. The handle is isolated from electrical ground and is an antenna for the capacitive sensor circuit.
Teleoperated surgical system with surgeon skill level based instrument control
Granted: March 19, 2024
Patent Number:
11931122
A teleoperated surgical system is provided comprising: a first robotic surgical instrument; an image capture; a user display; a user input command device coupled to receive user input commands to control movement of the first robotic surgical instrument; and a movement controller coupled to scale a rate of movement of the first robotic surgical instrument, based at least in part upon a surgical skill level at using the first robotic surgical instrument of the user providing the received…
Teleoperated surgical system equipment with user interface
Granted: March 19, 2024
Patent Number:
11931092
A method comprises operably coupling a surgical instrument to a first connector port of a plurality of connector ports of a flux supply unit. The method further comprises, in response to operably coupling the surgical instrument, altering an appearance of a first graphical user interface section of a plurality of graphical user interface sections presented on a display, each of the plurality of graphical user interface sections being aligned with a differing connector port of the…
Wheeled cart with vibration reduction device, and related systems and methods
Granted: March 5, 2024
Patent Number:
11919154
A method includes moving a stabilization device comprising a stabilization surface relative to a base of a surgical cart, wherein the moving comprises moving the stabilization device from a retracted position in which the stabilization surface is spaced from the ground surface to a deployed position in which the stabilization surface is in contact with the ground surface, and wherein the moving comprises overcoming a biasing force biasing the stabilization device toward the retracted…
Counterbalance mechanism including drive ratio
Granted: March 5, 2024
Patent Number:
11919153
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…
Systems and methods for communicating over a reduced number of conductors in a teleoperational system
Granted: March 5, 2024
Patent Number:
11918422
A system and method for a teleoperational medical system is provided is provided that can include one or more processors, conductors can extend through a shaft with an interface positioned at a proximal end of the shaft and a sensor(s) positioned at a distal end of the shaft, and the conductors can electrically couple the sensor(s) to the processor via the interface. Signals can be transmitted over the conductors between the sensor(s) and the processor(s). The signals can include power…
Electromagnetic sensor with probe and guide sensing elements
Granted: March 5, 2024
Patent Number:
11918340
A medical system comprises a probe comprising a coil and a terminal distal end. The medical system further comprises a guide instrument comprising a terminal distal end, a sensor, and a lumen sized to receive the probe. The probe is configured to be inserted through the lumen to reach a worksite. At the worksite, the terminal distal end of the probe is configured to reach at least the terminal distal end of the guide instrument. The medical system further comprises processing hardware…
Multi-dimensional visualization in computer-assisted tele-operated surgery
Granted: March 5, 2024
Patent Number:
11918306
The technology described in this document can be embodied in a method of displaying images of portions of a human body on a display device. The method includes receiving a representation of a plurality of images that includes images of at least two different modalities, and location information corresponding to at least a subset of the plurality of images. A first image of a first modality is displayed on the display device in accordance with the corresponding location information. A…
Endoscope including a plurality of individually testable subassemblies
Granted: February 27, 2024
Patent Number:
11911000
An endoscope includes a first subassembly, a second subassembly, a third subassembly, and a fourth subassembly, which are sequentially assembled and tested in making the endoscope. The first subassembly includes a pressure-sealed electrical cable connected to an image capture unit. The second subassembly includes the first subassembly, a shell, a light pipe, and a lid. The third subassembly includes the second subassembly, a central tube, and a flange. The fourth subassembly includes the…
Simultaneous white light and hyperspectral light imaging systems
Granted: February 27, 2024
Patent Number:
11911003
A computer-assisted surgical system simultaneously provides visible light and alternate modality images that identify tissue or increase the visual salience of features of clinical interest that a surgeon normally uses when performing a surgical intervention using the computer-assisted surgical system. Hyperspectral light from tissue of interest is used to safely and efficiently image that tissue even though the tissue may be obscured in the normal visible image of the surgical field.…
