Increased usable instrument life in telesurgical systems
Granted: April 4, 2023
Patent Number:
11617628
A telesurgical system operates in a first operating mode and in a second operating mode. In the first operating mode, a moveable component is driven within a first range of an operating parameter. In the second operating mode, the moveable component is driven with a second range of the operating parameter, less than the first range. Usable instrument life is increased by decreasing mechanical degradation of the moveable component as a result of operating in the second range. A surgeon…
System for determining the shape of a bendable instrument
Granted: April 4, 2023
Patent Number:
11617499
A system comprises an instrument having a bendable portion with first and control elements extending in the bendable portion and a control system operably coupled to an actuator and a sensor. The control system operates to, while the bendable portion is in a neutral position, command the actuator to move the first control element a first amount until slack is removed from the first control element and command the actuator to move the second control element a second amount until slack is…
Increased usable instrument life in telesurgical systems
Granted: April 4, 2023
Patent Number:
11617628
A telesurgical system operates in a first operating mode and in a second operating mode. In the first operating mode, a moveable component is driven within a first range of an operating parameter. In the second operating mode, the moveable component is driven with a second range of the operating parameter, less than the first range. Usable instrument life is increased by decreasing mechanical degradation of the moveable component as a result of operating in the second range. A surgeon…
System for determining the shape of a bendable instrument
Granted: April 4, 2023
Patent Number:
11617499
A system comprises an instrument having a bendable portion with first and control elements extending in the bendable portion and a control system operably coupled to an actuator and a sensor. The control system operates to, while the bendable portion is in a neutral position, command the actuator to move the first control element a first amount until slack is removed from the first control element and command the actuator to move the second control element a second amount until slack is…
Medical devices having three tool members
Granted: March 28, 2023
Patent Number:
11612447
A medical device includes a link, a first tool member, a second tool member and a third tool member, which each have a proximal end portion movably coupled to the link and a distal end portion. The distal end portion of the first tool member can engage a first object and be associated with a first medical function, the distal end portion of the second tool member can engage a second object and be associated with a second medical function, and the distal end portion of the third tool…
Combinational scissor-grasper tool for use in laparoscopy
Granted: March 28, 2023
Patent Number:
11612406
Disclosed is a four-jawed combinational scissor-grasper surgical tool for use in laparoscopy. Cutting and grasping functionalities are respectively enabled via movement of a pair of such specially contoured jaw members sliding against or splaying apart from the other pair. Also disclosed are means for achieving selectable interlocking of jaw members and mechanical linkage for their actuation by human user.
Graphical user interface for displaying guidance information in a plurality of modes during an image-guided procedure
Granted: March 28, 2023
Patent Number:
11612384
A method for displaying guidance information using a graphical user interface during an medical procedure comprises displaying, in a first mode of the graphical user interface, first image data from a perspective corresponding to a distal end of an elongate device. The first image data includes a virtual roadmap. The method also comprises transitioning from the first mode of the graphical user interface to a second mode of the graphical user interface. The transition is based on an…
Auto-locking wound retractor
Granted: March 21, 2023
Patent Number:
11607210
A wound retractor includes a sleeve with proximal and distal ends, an inner ring inside the sleeve between the proximal and distal ends, and an outer ring outside the sleeve between the proximal and distal ends. The inner ring includes a tapered outer surface that increases in diameter from a proximal end of the inner ring toward a distal end of the inner ring. The outer ring includes a tapered inner surface that increases in diameter from a proximal end of the outer ring toward a distal…
Control input accuracy for teleoperated surgical instrument
Granted: March 21, 2023
Patent Number:
11607282
A surgical system comprises a patient side cart, a motor, and a telesurgically operated instrument. The telesurgically operated instrument is coupled to the patient side cart and comprises a transmission and a surgical end effector having a plurality of end effector components. The transmission is driven by the motor and comprises a first effector drivetrain comprising a first gear, a first input gear, and a first locker arm, and a camshaft defining a longitudinal axis, the camshaft…
Detecting uncontrolled movement
Granted: March 21, 2023
Patent Number:
11607281
A system includes a manually movable input control configured to generate signals when a movement of one or more mechanical degrees of freedom of the input control is detected and a control module. The control module is configured to determine whether a movement of the input control is anticipated to cause an instrument to move outside of a safe range of movement of the instrument and command the system to switch from an operating mode to a safe mode in response to determining that the…
Systems and methods for medical instrument force sensing
Granted: March 21, 2023
Patent Number:
11607107
A medical system comprising a medical instrument including at least one elongated actuation member used to move at least a portion of the medical instrument, a motor coupled to the medical instrument and used to operate the at least one elongated actuation member, and a control system in communication with the medical instrument and with the motor. The control system is configured to receive at least one input from the medical instrument and determine a force on a tip of the medical…
System and methods for managing multiple null-space objectives and SLI behaviors
Granted: March 14, 2023
Patent Number:
11602840
A medical system includes a manipulator arm including a movable distal portion, a proximal portion coupled to a base, and joints between the distal portion and the base. A processor coupled to the manipulator arm performs operations including calculating a first movement of the joints in a null-space of a Jacobian of the manipulator arm, the first movement being calculated in accordance with a first objective for arm-to-patient collision avoidance. The operations further include…
Sample retrieval tool with compliant retention member
Granted: March 14, 2023
Patent Number:
11602336
The embodiments described herein can be used in a variety of sample retrieval, grasping, cutting, and manipulating operations. In some embodiments, an apparatus includes an elongated member and a retention member movably coupled to the elongated member. The elongated member includes a cutting portion configured to cut a target sample when moved, and defines an internal volume within which at least a portion of the target sample can be received. The retention member includes an engagement…
Surgical instruments and systems and methods for determining condition information thereof
Granted: March 14, 2023
Patent Number:
11602258
An exemplary system includes a memory storing instructions and a processor communicatively coupled to the memory. The processor is configured to execute the instructions to receive, from a sensor of a surgical instrument, environmental condition information associated with the surgical instrument and detected by the sensor while the surgical instrument is disconnected from an external power source, the surgical instrument including circuitry configured to be powered and operate only…
Deployable tube apparatus for delivery of an elongate device and methods of use
Granted: March 7, 2023
Patent Number:
11596767
A deployable tube apparatus may include a spool and a flexible sheet coiled about the spool in a laterally unfurled condition. The flexible sheet may have a first lateral margin and a second lateral margin, and may be deployable from the laterally unfurled condition with the first and the second lateral margins spaced from each other to a deployed tubular condition where the first and the second lateral margins are coupled to each other to form an enclosed lumen. The deployable tube…
Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
Granted: March 7, 2023
Patent Number:
11596490
A teleoperative system includes an input device and a controller. The controller is configured to receive input associated with movement of the input device, determine a commanded pose of an instrument coupled to the teleoperative system based on the received input, determine a first preferred pose of the instrument based on at least one parameter selected from a group consisting of: a type of the instrument and an operating mode of the instrument, determine a first feedback force…
Surgical system instrument mounting
Granted: March 7, 2023
Patent Number:
11596488
An instrument manipulator may comprise a frame comprising an outer shell and an inner frame, the inner frame being movably coupled to the outer shell. The instrument manipulator may also include a plurality of actuator outputs protruding in a distal direction from the frame and an instrument support feature coupled to the outer shell. The instrument manipulator may further comprise a latching mechanism, the latching mechanism being configured to move the inner frame, the outer shell, or…
Computer-assisted tele-operated surgery systems and methods
Granted: March 7, 2023
Patent Number:
11596486
Systems and methods for minimally invasive tele-surgery are described. For example, the disclosure describes methods for independently controlling motions of the robotic manipulator, cannula, and surgical instrument in various surgical contexts.
Postioning method for stapler with compliant tip
Granted: March 7, 2023
Patent Number:
11596401
A surgical stapler is provided that includes a first jaw and a second jaw. The first jaw includes a proximal end portion and a distal end portion. The second jaw includes a proximal end portion and a distal end portion. The proximal end portion of the first jaw is pivotally mounted to the proximal end portion of the second jaw. A flexible guide is secured to the distal end portion of the first jaw.
Systems and methods for constraining a virtual reality surgical system
Granted: February 28, 2023
Patent Number:
11589937
A method of operating a surgical control system comprises displaying an image of a surgical environment, from a field of view of an imaging instrument, on a display system. The display system is configured for mounting to a head of a user. The method also includes detecting an imaging control input from the user and responsive to the detection of the imaging control input, enabling an imaging control mode of the surgical control system. The method also includes detecting a movement of…
