Direct pull surgical gripper
Granted: November 12, 2024
Patent Number:
12137926
A surgical end effector includes a clevis and two jaws rotatably coupled to the clevis. A rocking pin in the form of a solid of revolution is pivotally supported by the clevis. The rocking pin may be pivotally supported by the clevis at the midpoint between the first and second ends. The opposite ends of the rocking pin engage the jaws to constrain the jaws to have opposite motions around the axes of rotation of the jaws. The clevis may be coupled to an elongate shaft to provide an…
Surgical instrument with lockout mechanism
Granted: November 12, 2024
Patent Number:
12137903
Locking assemblies for surgical clamping and cutting instruments include a locking member and a switch. A drive member may be configured to releasably engage a knife and/or a shuttle of the surgical instrument for translating the knife and/or shuttle in a distal direction through a firing stroke. The locking member is movable from a first position permitting distal translation of the drive member through the firing stroke, and a second position inhibiting distal translation of the drive…
Cleaning devices for instruments, and related methods
Granted: November 12, 2024
Patent Number:
12137880
In accordance with at least one embodiment of the present disclosure, a system includes an imaging instrument with a shaft including a proximal end, a distal end, and a lens at a distal end portion of the shaft. The system also includes a collar at a proximal end portion of the shaft. A cleaning device coupled to the imaging instrument includes a tubular member sized to receive the shaft of the imaging instrument. The cleaning device also includes a latching element coupled to the…
Connector assembly with a radio frequency communication device and with an induction coil for a surgical instrument and a corresponding receiver assembly
Granted: November 12, 2024
Patent Number:
12137874
An exemplary connection system includes a connector assembly and a receiver assembly. The connector assembly includes a hermetically-sealed housing, a first RF communication device within the housing and communicatively coupled to a surgical instrument and a first induction coil within the housing and electrically coupled to the surgical instrument. The receiver assembly includes a second RF communication device communicatively coupled to a controller of the surgical instrument, a second…
Teleoperated surgical system with patient health records based instrument control
Granted: November 5, 2024
Patent Number:
12133702
A method is provided for intra-surgical use of a surgical patient health record in a teleoperated surgical system that includes a surgical instrument and a surgical instrument actuator, comprising: receiving user input commands to control movement of a robotic surgical instrument; tracking robotic surgical instrument actuator state in response to the user input commands; and transitioning robotic surgical instrument actuator state to a safety mode in response to the robotic surgical…
Systems and methods for controlling a robotic manipulator or associated tool
Granted: November 5, 2024
Patent Number:
12133700
A system comprises a robotic manipulator for control of motion of a medical tool. The robotic manipulator including a joint and a link connected to the joint. The link is configured to connect to the medical tool. A processing unit of the system is configured to receive first data from an encoder of the joint. A first tool tip estimate of a first parameter of a tool tip coupled at a distal end of the medical tool is generated using the first data. The first parameter of the tool tip is a…
Off-axis visualization systems
Granted: November 5, 2024
Patent Number:
12133631
A system for visualizing a tissue region of interest includes an imaging element, a sheath, and a dilator. The imaging element is configured to visualize tissue. The sheath includes a channel configured to receive the imaging element. The imaging element is positionable along a central longitudinal axis of the sheath and positionable in an off-axis position relative to the central longitudinal axis. The sheath comprises a flexible section defining at least a portion of the channel. The…
Medical tools having tension bands
Granted: October 29, 2024
Patent Number:
12127809
A medical device includes a first link, a second link, and a band. A proximal end portion of the first link is coupled to a shaft. A proximal end portion of the second link is rotatably coupled to a distal end portion of first link about a first axis. The distal end portion of the second link includes a connector coupled to a tool member that is rotatable relative to the second link about a second axis that is non-parallel to the first axis. The first link defines a first guide channel…
Techniques for virtually recreating devices
Granted: October 29, 2024
Patent Number:
12131172
Techniques for virtually recreating devices include a replay service configured to access a log associated with a first device, extract a first log entry from the log, recreate a first recreated service request for the one or more shared services based on information associated with the first log entry, and send the first recreated service request to a shared service to recreate an event associated with the first log entry; one or more shared services configured to receive and respond to…
Guided tool change
Granted: October 29, 2024
Patent Number:
12128566
A computer-assisted medical system includes a manipulator arm and a controller. The controller includes a computer processor and is configured to determine a kinematic configuration, the kinematic configuration being prior to an installation of a replacement tool on the manipulator arm. The kinematic configuration is of the manipulator arm and a previous tool attached to the manipulator arm and with an end effector of the previous tool located at an insertion location. The controller is…
Surgical system instrument mounting
Granted: October 29, 2024
Patent Number:
12127807
A surgical system comprises a base, an arm assembly operably coupled to the base, and an instrument manipulator assembly coupled to a distal link of the arm assembly. The instrument manipulator assembly comprises an instrument manipulator interface to removably couple with a medical instrument and transfer actuation forces to the medical instrument. The instrument manipulator interface comprises a mounting surface and a plurality of actuator outputs to operably engage with respectively…
Catheter sensor systems
Granted: October 29, 2024
Patent Number:
12127797
A medical system may comprise a catheter that includes an elongate body and a main lumen extending longitudinally through the elongate body. The medical system may also comprise a vision probe that includes a tube extendable through the main lumen of the catheter and comprising a flexible body having an outermost wall and an innermost wall, the innermost wall defining a central lumen. The flexible body contains a plurality of channels formed within the flexible body of the tube and…
Anatomical structure visualization systems and methods
Granted: October 29, 2024
Patent Number:
12127792
In certain examples, an anatomical structure visualization system determines a distance between a point on an anatomical surface visible to an endoscope and a point on an embedded anatomical object that is visually occluded from the viewpoint of the endoscope by the anatomical surface. The anatomical structure visualization system may determine, based on the determined distance, a display parameter for a pixel of an image representative of a view of the anatomical surface from the…
Systems and methods for navigating an onscreen menu in a teleoperational medical system
Granted: October 22, 2024
Patent Number:
12121309
A system comprises a teleoperational manipulator configured to control operation of a medical instrument in a surgical environment. The system further comprises an operator input system including an input device and a processing unit including one or more processors. The processing unit is configured to display an image of a field of view of the surgical environment and display a menu including a set of directionally arranged menu options. The processing unit is further configured to…
Systems and methods of registration for image guided surgery
Granted: October 22, 2024
Patent Number:
12121204
A method performed by a computing system comprises receiving a collected set of spatial information for a distal portion of an instrument at a plurality of locations within a set of anatomic passageways and receiving a set of position information for a reference portion of the instrument when the distal portion of the instrument is at each of the plurality of locations. The method also comprises determining a reference set of spatial information for the distal portion of the instrument…
Shape sensor systems with redundant sensing
Granted: October 15, 2024
Patent Number:
12114936
A method of operating a shape sensing apparatus comprises receiving shape data from a first shape sensor. The first shape sensor includes a first plurality of optical cores extending between a first section and a second section of an elongated optical fiber. The method further comprises receiving shape data from a second shape sensor. The second shape sensor includes a second plurality of optical cores extending between the first and second sections of the elongated optical fiber. The…
Systems and methods for coupling medical components
Granted: October 15, 2024
Patent Number:
12114952
A system may comprise a connection member configured to be connected to an anatomic orifice device. The anatomic orifice device may be configured for insertion into a patient. The system may also comprise a mounting bracket coupled to a robot-assisted medical system. The mounting bracket may also include a movable mounting component coupled to a fixed mounting component. The movable mounting component may have a first configuration for mounting to the connection member in a first…
Detecting uncontrolled movement
Granted: October 15, 2024
Patent Number:
12114948
A system includes a manually manipulatable component configured to generate signals when movements of the component are detected and a control module. The control module is configured to determine that there is uncontrolled movement of the component by determining that a distance of a movement of the component relative to a previous position of the component is greater than a threshold distance or determining that a first mechanical degree of freedom (DOF) of the component has moved and…
Systems and methods for controlling a surgical instrument
Granted: October 15, 2024
Patent Number:
12114947
A teleoperational system receives a movement command in response to movement of an input device, in response to determining an instrument is being controlled based on the movement of the input device, maps the movement command to a first movement of the instrument in an instrument frame using a first mapping, and in response to determining a tissue probe is being controlled based on the movement of the input device, maps the movement command to a second movement of the tissue probe in a…
Wrist articulation by linked tension members
Granted: October 15, 2024
Patent Number:
12114941
Methods of articulating and actuating an end effector of a surgical tool include equal rate rotation of an input shaft of the end effector via a drive shaft. A method includes supporting an end effector base of the end effector by an elongate shaft of the surgical tool via a wrist assembly of the surgical tool. Orientation of the end effector base relative to the elongate shaft is controlled via four tension members. An input shaft of a shaft driven mechanism of the end effector is…
