Systems and methods for using a robotic medical system
Granted: October 24, 2023
Patent Number:
11793585
A support structure for supporting an instrument manipulator comprises a proximal link and a distal link configured to extend from the proximal link. The support structure further comprises a base joint coupling the proximal link of the support structure to a base, and the proximal link is configured to rotate about a first axis associated with the base joint. The support structure further comprises a counterbalance mechanism comprising a counterweight block configured to move linearly…
Preloaded surgical instrument interface
Granted: October 24, 2023
Patent Number:
11793587
A surgical system includes a surgical instrument that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument is coupled to motors in a surgical instrument manipulator assembly via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical…
Surgical instrument ports configured for use with wound retractors, and related devices and methods
Granted: October 24, 2023
Patent Number:
11793985
A surgical port includes an end face with a channel extending through the end face. The channel has a cross section shaped to receive a surgical instrument cannula. A lateral wall extends around a perimeter of the end face. The lateral wall and end face enclose an open volume. A rim extends radially inward from the lateral wall and projects into the open volume. An apron portion extends radially outward from the lateral wall and in a direction axially away from the end face. Surgical…
Complex irrigation/suction flow path in a medical device
Granted: October 24, 2023
Patent Number:
11793990
A suction/irrigation medical device comprises a valve body having one or more conduits fluidically coupled thereto and a first channel extending through the valve body. The medical device also comprises a first valve plunger disposed along the first channel and configured to move along an axis to open and close the first channel. The first valve plunger has a first opening to permit a fluid to flow through the first channel. The medical device also comprises a second valve plunger…
Surgical system with obstacle indication system
Granted: October 24, 2023
Patent Number:
11793581
A patient side cart for a teleoperated surgical system may comprise a column extending from a base, the column having a first end connected to the base and a second end opposite the first end. The patient side cart may further include a surgical instrument manipulator arm coupled proximate the second end of the column, and an obstacle indication system comprising an illumination source mounted on the patient side cart at a height above a location the surgical instrument manipulator arm…
Systems and methods for non-rigid deformation of tissue for virtual navigation of interventional tools
Granted: October 17, 2023
Patent Number:
11786311
A system comprises one or more processors. The system further comprises memory having computer readable instructions stored thereon that, when executed by the one or more processors, cause the system to: obtain a reference tree of nodes and linkages for a reference three dimensional volumetric representation of a branched anatomical formation in a reference state; based on the reference tree, generate a reference three dimensional geometric model; based on measurements from a sensor…
Remotely controlling a system using video
Granted: October 17, 2023
Patent Number:
11786325
Systems and methods for remotely controlling a system using video are provided. A method in accordance the present disclosure includes detecting a video signal of an auxiliary system at a video input, wherein the video signal including images encoded with control information. The method also includes determining that the images included in the video signal include the control information. The method further includes extracting the control information from the images. Additionally, the…
Systems and methods for filtering localization data
Granted: October 17, 2023
Patent Number:
11791032
A medical system comprises a medical instrument system and an assembly removably coupled to the medical instrument system. The assembly is configured to operate the medical instrument system by moving it within an anatomic passageway. The medical system also comprises a sensor system coupled to the instrument system and configured to generate information including spatial data and shape data about the instrument system. The medical system also comprises a control system communicatively…
Medical devices, systems, and methods using eye gaze tracking for stereo viewer
Granted: October 17, 2023
Patent Number:
11792386
An eye tracking system may comprise an image display configured to display a stereo image of a surgical field to a user, a right eye tracker configured to measure data about a first gaze point of a right eye of the user, and a left eye tracker configured to measure data about a second gaze point of a left eye of the user. The eye tracking system may also comprise at least one processor configured to process the data about the first gaze point and the second gaze point to determine a…
Systems and methods for registering elongate devices to three dimensional images in image-guided procedures
Granted: October 10, 2023
Patent Number:
11779396
Methods for using registered real-time images and prior-time anatomic images during an image-guided procedure are provided herein. An exemplary method includes obtaining a three-dimensional image of a patient anatomy and a portion of a medical instrument disposed therein. The three-dimensional image includes image information characterizing a shape of the portion of the medical instrument. A processing device segments the portion of the medical instrument from the three-dimensional…
Force sensing in a distal region of an instrument including single-core or multi-core optical fiber
Granted: October 10, 2023
Patent Number:
11781857
An optical force sensor along with an optical processing apparatus and method are disclosed. The optical force sensor includes an optical fiber, a core included in the optical fiber, an instrument including the optical fiber, the instrument having a distal region, and a tubular structure encasing an end of the optical fiber and secured to the first conduit at the distal region of the instrument. When an optical interferometric system is coupled to the optical fiber, it processes…
System and method for rapid halt and recovery of motion deviations in repositionable arms
Granted: October 10, 2023
Patent Number:
11779415
A computer-assisted device includes a first repositionable arm configured to support a first end effector, a second repositionable arm configured to support a second end effector, and a control unit. The control unit configured to monitor an actual motion of at least one structure selected from the group consisting of the first repositionable arm and the first end effector, determine a deviation threshold based on at least one parameter selected from the group consisting of a mode of…
Systems and methods for entry point localization
Granted: October 10, 2023
Patent Number:
11779405
A teleoperative system includes a first medical instrument connected to and movable by a first manipulator assembly, a second medical instrument connected to and movable by a second manipulator assembly, a first alignment component positioned on at least one of the first manipulator assembly or the second manipulator assembly; a second alignment component positioned on an entry port; and a control system. The second medical instrument is sized and shaped to fit and move within the first…
Precision control systems for tissue visualization and manipulation assemblies
Granted: October 10, 2023
Patent Number:
11779195
A robotic assembly comprises a deployment catheter including a steerable distal region and further comprises a balloon assembly coupled to the steerable distal region.
Axial support structure for a flexible elongate device
Granted: October 3, 2023
Patent Number:
11771871
An axial support structure for a flexible elongate device may comprise a plurality of rigid links coupled by pin joints. Each of the plurality of rigid links may comprise a shaft, a pair of male joint connectors, and a pair of female joint connectors. Each male joint connector may comprise a male tab including an inner surface coplanar with an inner surface of the shaft and extending axially from a first end of the shaft. Each of the male joint connectors may include a pin extending…
Multi-function imaging
Granted: October 3, 2023
Patent Number:
11778340
An example method includes receiving a single frame comprising a first set of pixel data that includes a fluorescence scene component and a second set of pixel data that includes a combination of a visible color component scene and the fluorescence scene component; and generating, based on the first set of pixel data that includes the fluorescence scene component and the second set of pixel data that includes the combination of the visible color component scene and the fluorescence scene…
Techniques for controlling a moveable component
Granted: September 26, 2023
Patent Number:
11766301
Techniques for controlling a moveable component include a system, a method, and/or a non-transitory computer-readable medium. A controller coupled to the moveable component is configured to hold the moveable component at a first position, detect a disturbance that moves the moveable component from the first position, in response to a detection of the disturbance, move the moveable component according to a first motion, continue to move the moveable component according to the first motion…
Active and semi-active damping
Granted: September 26, 2023
Patent Number:
11766303
Techniques for active and semi-active damping include a system including a processor and a linkage having a first link, a second link, and a damper coupling the second link to the first link. The processor is configured to receive a movement command for moving the linkage; determine one or more first vibrations expected to occur in the linkage as a result of performing the movement command; determine a movement profile for moving the linkage to reduce the one or more first vibrations;…
Systems and methods for presenting augmented reality in a display of a teleoperational system
Granted: September 26, 2023
Patent Number:
11766308
A system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to display a surgical environment image. The surgical environment image includes a virtual control element for controlling a component of a surgical system. The virtual control element includes a real-time image of the component of the surgical system in the surgical environment image. The computer readable…
System and method for registering to a table
Granted: September 19, 2023
Patent Number:
11759265
Techniques for registering a computer-assisted device to a table include a computer-assisted device having an articulated arm and a control unit coupled to the articulated arm. The control unit is configured to receive information of a first motion of a table. The first motion of the table caused a corresponding second motion of a point associated with the articulated arm. The control unit further configured to receive information of the second motion and determine a first angular…
