Association processes and related systems for manipulators
Granted: April 1, 2025
Patent Number:
12262970
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…
Systems and methods for using a robotic medical system
Granted: April 1, 2025
Patent Number:
12262965
A support structure comprises a base joint coupling a proximal link of the support structure to a base. The proximal link is configured to rotate about a first axis associated with the base joint. The support structure further comprises a linkage mechanism. The linkage mechanism maintains an orientation of an instrument support relative to the base as the support structure is moved from a first configuration to a second configuration. In the second configuration, the support structure is…
Quantitative three-dimensional visualization of instruments in a field of view
Granted: April 1, 2025
Patent Number:
12262951
A system is provided that includes a Q3D endoscope disposed to image a field of view and a processor that produces a Q3D model of a scene and identifies target instruments and structures. The processor is configured to display the scene from a virtual field of view of an instrument, to determine a no fly zone around targets, to determine a predicted path for said instruments or to provide 3D tracking of said instruments.
Medical instrument electrically energized using drive cables
Granted: April 1, 2025
Patent Number:
12262938
An electrically energized medical instrument uses one or more drive cables to both actuate mechanical components of a wrist mechanism or an effector and to electrically energize the effector. Electrical isolation can be achieved using an insulating main tube through which drive cables extend from a backend mechanism to the effector, an insulating end cover that leaves only the desired portions of the effector exposed, and one or more seals to prevent electrically conductive liquid from…
Staple cartridge and drive member for surgical instrument
Granted: April 1, 2025
Patent Number:
12262891
The present disclosure provides a surgical instrument, such as a tissue sealing instrument, having a staple cartridge with a staple pusher and a staple; and a drive member configured to translate distally through the instrument. The drive member includes a lateral projection configured to engage the staple pusher and drive the staple into tissue. The lateral projection of the drive member has a height substantially less than the height of the staple cartridge, thereby requiring less…
Systems and methods for performance of depth sensor and auxiliary sensor-based operations associated with a computer-assisted surgical system
Granted: April 1, 2025
Patent Number:
12262868
An exemplary operation management system is configured to obtain, from a depth sensor included in an imaging device, depth data representative of a depth map for an internal space of a patient, obtain auxiliary sensor data from an auxiliary sensor not included in the imaging device, and perform, based on the depth data and the auxiliary sensor data, an operation associated with a computer-assisted surgical system configured to perform a procedure within the internal space of the patient.
Surgical instrument with retaining feature for cutting element
Granted: March 25, 2025
Patent Number:
12257012
A surgical instrument comprises a pair of jaw members comprising a first jaw member comprising a groove along a length portion of the first jaw member, the groove extending from a gripping surface of the first jaw member in a first direction, and a slot along the length portion of the first jaw member and extending from the groove in a second direction, the second direction being different than the first direction. The instrument further comprises a cutting element comprising a first…
Apparatuses, systems, and methods for managing auto-exposure of image frames depicting color-biased content
Granted: March 25, 2025
Patent Number:
12262123
An illustrative apparatus may determine a color-skew metric for an image frame captured by an image capture system. The color-skew metric may be indicative of an extent to which the image frame skews to a particular color. Based on the color-skew metric and an adaptive target control function, the apparatus may determine a frame auto-exposure target. Based on the frame auto-exposure target, the apparatus may update one or more auto-exposure parameters for use by the image capture system…
Constraint mechanisms, systems, and methods
Granted: March 25, 2025
Patent Number:
12257700
A tool includes a transmission mechanism, a shaft, and a rotary device. The shaft is rotatable with reference to the transmission mechanism through a defined range of rotational motion about a first axis of rotation and includes a protrusion extending from the shaft in a direction normal to the first axis of rotation. The rotary device includes a first stop surface, a second stop surface, and a notch between the first stop surface and the second stop surface, with the notch configured to…
Devices and methods for crimp interface for cable tension sensor
Granted: March 25, 2025
Patent Number:
12257014
A medical device comprises an end effector, a mechanical structure, a connector, and a force sensor unit. The connector extends from a drive component of the mechanical structure to the end effector. Motion of the drive component produces a tension force within the connector, which is associated with an end effector torque or force exerted by the end effector. The force sensor unit comprises a body, and the body is coupled in-line with the connector so that strain in the connector is…
Association processes and related systems for manipulators
Granted: March 25, 2025
Patent Number:
12257011
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 insulative electrode spacers, and related devices, systems, and methods
Granted: March 25, 2025
Patent Number:
12256978
A method for making an electrode assembly comprises overlaying an electrode on an electrode support, the electrode comprising a plurality of openings extending at least partially through a thickness of the electrode; supporting the electrode support with a jaw body; stitching a filament made of electrically insulative material comprising a first inset segment and exposed segment into a first opening of the plurality of openings such that the first inset segment is positioned in the first…
Operating self-antagonistic drives of medical instruments
Granted: March 25, 2025
Patent Number:
12256911
A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.
Apparatus and method for increasing heat dissipation capacity of a medical instrument
Granted: March 25, 2025
Patent Number:
12256902
A method includes generating thermal energy at a distal end of an elongate member and transferring the thermal energy between the elongate member and a housing coupled to a proximal end of the elongate member by activating a heat pump device thermally coupled between the elongate member and the housing. The heat pump device is disposed at least partially outside the housing. In some examples, a plurality of heat pump devices each located at least partially outside the housing and along a…
Methods and apparatus for displaying three-dimensional orientation of a steerable distal tip of an endoscope
Granted: March 25, 2025
Patent Number:
12256891
A method for controlling an orientation of a steerable distal portion of an elongate instrument, said instrument comprising at least one tensioning member attached to said steerable distal portion may include receiving an input command at a controller for articulation of said steerable distal portion, the articulation correlating to an approximate y-bend and an approximate x-bend of said steerable distal portion; calculating an approximate overall bend from said approximate y-bend and…
Low-friction, small profile medical tools having easy-to-assemble components
Granted: March 18, 2025
Patent Number:
12251088
A low-friction medical device includes a first link, a second link, and a tension member. The first link is coupled to an instrument shaft and a first guide path is defined in the first link. The second link is rotatable relative to the first link through an angular range. A distal end portion of the second link is rotatably coupled to a tool member. A curved guide path is defined within the second link between the tool member and the first guide path. A curved guide surface of the…
Systems and methods for onscreen identification of instruments in a teleoperational medical system
Granted: March 18, 2025
Patent Number:
12251184
A method comprises obtaining, for one or more medical instruments coupled to a teleoperational medical system, one or more corresponding medical instrument positions relative to a field of view of at least one imaging instrument coupled to the teleoperation medical system. The method also comprises initiating, for a selected medical instrument of the one or more medical instruments, generation of a corresponding indicator to a user. The corresponding indicator may be based on a position…
Robotic surgery system including position sensors using fiber Bragg gratings
Granted: March 18, 2025
Patent Number:
12251181
A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the…
Configuration marker design and detection for instrument tracking
Granted: March 18, 2025
Patent Number:
12251170
A system may comprise a tool including at least one reference feature. a processor, and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, may cause the system to receive image data including an image of the tool and the at least one reference feature, determine a pose of the tool from the image data, and modify the image data to visually decrement a portion of the image data corresponding to the at least one…
Surgical instruments having mechanisms for identifying and/or deactivating stapler cartridges
Granted: March 18, 2025
Patent Number:
12251107
Surgical stapling instruments include mechanisms for identifying and/or deactivating stapler cartridges for use with the instruments. The stapling instrument includes a drive member for actuating a staple cartridge and a locking member movable from a disabled position permitting distal translation of the drive member through a staple firing stroke, to a locking position inhibiting distal translation of the drive member through the staple firing stroke. The staple cartridge may include a…
