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…
Sealing multiple surgical instruments
Granted: February 27, 2024
Patent Number:
11911069
A cannula seal is presented. The cannula seal includes a cross-slit seal that can include a side wall that includes folded sidewalls; slits that are formed by the folded sidewalls when the cross-slit seal is in a closed position; and a concave end surface at the slits. The cross-slit seal can include energizing ribs formed to close the seal. The instrument guide includes a pyramidal shaped seal that seals against doors when no instrument is inserted and seals against an instrument when…
Techniques for input control visualization
Granted: February 27, 2024
Patent Number:
11911142
Techniques for input control visualization include a control console. The control console includes a first input control operable by an operator and outside of a field of view of the operator, a display within the field of view of the operator, and one or more sensors. The one or more sensors acquire information about the first input control and a physical environment surrounding the first input control. A representation of the first input control and the physical environment is…
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.…
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…
Systems and methods for cleaning endoscopic instruments
Granted: February 20, 2024
Patent Number:
11903777
A method for controlling fluid delivery to a medical instrument comprises releasing, from a reservoir of a known size and having fluid at a volume and a first fluid pressure, a released fluid volume of the fluid to the medical instrument. The method also comprises measuring a vented fluid volume and determining a discharged fluid volume through the medical instrument based on the released fluid volume and the vented fluid volume.
Determining position of medical device in branched anatomical structure
Granted: February 20, 2024
Patent Number:
11903693
Information extracted from sequential images captured from the perspective of a distal end of a medical device moving through an anatomical structure are compared with corresponding information extracted from a computer model of the anatomical structure. A most likely match between the information extracted from the sequential images and the corresponding information extracted from the computer model is then determined using probabilities associated with a set of potential matches so as…
Systems and methods for offscreen indication of instruments in a teleoperational medical system
Granted: February 20, 2024
Patent Number:
11903665
A medical imaging system comprises a teleoperational assembly which includes a medical instrument including an instrument tip and an imaging instrument including an imaging instrument tip. The medical imaging system also comprises a processing unit including one or more processors. The processing unit may be configured to determine an instrument tip position for the instrument tip, determine an instrument tip position error relative to the imaging instrument, and determine at least one…
Computer-assisted medical systems and methods
Granted: February 20, 2024
Patent Number:
11903664
A computer-assisted medical system includes a manipulator arm and an instrument holder physically coupled to the manipulator arm. The instrument holder is configured to releasably couple to an instrument. The instrument holder includes an adjustable assembly and a cannula clamp physically coupled to the adjustable assembly. A physical adjustment of the adjustable assembly moves the cannula clamp relative to the manipulator arm. The cannula clamp is configured to releasably couple to a…
Stapler cartridge with an integral knife
Granted: February 20, 2024
Patent Number:
11903583
Stapler cartridges and surgical apparatus that include a stapler cartridge can include a knife that retracts into the stapler cartridge after cutting stapled tissue to prevent an operator being cut by the knife during replacement of the used stapler cartridge with a new stapler cartridge. A stapler cartridge includes a staple pushing shuttle, a knife member slidably coupled with the staple pushing shuttle, and a cartridge body. The staple pushing shuttle is slidably coupled to the…
Manual release for medical device drive system
Granted: February 13, 2024
Patent Number:
11896338
A medical device drive system can include a rotational input, a coupling member engaged with the rotational input, a first gear having an engagement feature sized and shaped to engage with the coupling member, and a second gear coupled with the first gear, the second gear coupled to a movable element. The system can have a first system state and a second system state. In the first system state the coupling member is not engaged with the engagement feature and the first gear rotates…
Systems and methods for master/tool registration and control for intuitive motion
Granted: February 13, 2024
Patent Number:
11897127
A method is performed by a computing system. The method includes receiving image data from an imaging device, and determining, using the image data, a plurality of image-space tools, each image-space tool associated with a tool of a plurality of tools, each tool controlled by a manipulator of a plurality of manipulators. The method further includes determining a first correspondence between a first image-space tool of the plurality of image-space tools and a first tool of the plurality…
Systems and methods for registration of multiple vision systems
Granted: February 13, 2024
Patent Number:
11896364
A non-transitory machine-readable media storing instructions is provided. The instructions cause one or more processors to: define a subregion of a model of an anatomic region of a patient anatomy, the subregion corresponding to an area surrounding a tip of an image capture probe located within the anatomic region, the subregion including a plurality of virtual tissue structures—a set of virtual tissue structures of the plurality of virtual tissue structures is situated distally from…
