Rotary input for lever actuation
Granted: September 3, 2024
Patent Number:
12076038
A medical device includes a lever with an applied force position, a load position, and a fulcrum position. A first cable extends from the applied force position of the lever to a first capstan, the first cable wrapping around the first capstan. A second cable extends from the applied force position of the lever to a second capstan, the second cable wrapping around the second capstan. A rod couples the load position of the lever and a surgical end effector. The first and second capstans…
Telescoping biopsy needle
Granted: September 3, 2024
Patent Number:
12075988
A medical device comprises an elongate sheath comprising a distal portion and a proximal portion and defining a first lumen. The medical device further comprises an elongate instrument slidably disposed at least partially within the first lumen. The elongate instrument comprises a rigid distal section defining a second lumen. The medical device further comprises a first extension member coupled to a proximal end of the elongate instrument and a second extension member coupled to a…
Interaction between user-interface and master controller
Granted: August 27, 2024
Patent Number:
12073013
A method is provided to control actuation of a click event by a hand-actuated selector moveably mounted to a mount structure, comprising: in a first control state, imparting a maintaining force to the hand-actuated selector; in a second control state, imparting a haptic force to the hand-actuated selector that increases as a function of increasing displacement of the hand-actuated selector from the neutral displacement position; imparting a click event signal to cause an occurrence of…
Detecting and representing anatomical features of an anatomical structure
Granted: August 20, 2024
Patent Number:
12067678
An exemplary processing system accesses a three-dimensional (3D) model of an anatomical structure of a patient and applies a detection process to the 3D model to detect a single-layer anatomical feature in the anatomical structure. The detection process includes generating, from the 3D model, a probability map of candidate points for the single-layer anatomical feature, and generating, based on the probability map of candidate points, a single-layer mesh representing the single-layer…
System and method for monitoring control points during reactive motion
Granted: August 20, 2024
Patent Number:
12064201
Techniques for monitoring control points of a computer-assisted device include one or more articulated arms having one or more control points and a control unit coupled to the one or more articulated arms. Each control point of the one or more control points is located based on a kinematic configuration of the one or more articulated arms. The control unit is configured to determine, during a movement of a table that causes a change in the kinematic configuration of the one or more…
System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement
Granted: August 20, 2024
Patent Number:
12064197
Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space…
Stapler cartridge assemblies and related devices, systems, and methods
Granted: August 20, 2024
Patent Number:
12064110
A stapler reload assembly includes a cartridge body defining a housing to receive staples. The cartridge body has a first side comprising a plurality of staple apertures configured to eject staples housed in the cartridge body. The cartridge body has a second side, opposite the first side, comprising a plurality of pusher apertures through which staple pushers of the cartridge body are accessible. A staple retainer is removably coupled to the first side of the cartridge body and at least…
Torque compensation
Granted: August 13, 2024
Patent Number:
12059152
In some embodiments, torque compensation in a clamping instrument includes control electronics obtaining an initial torque limit for the clamping instrument, adjusting the initial torque limit based on a temperature of a motor assembly used to operate the clamping instrument, and clamping the clamping instrument according to the adjusted torque limit. The adjusted torque limit corresponds to a maximum torque that may be applied by the clamping instrument to perform the clamping. In some…
Systems and methods for automatic grip adjustment during energy delivery
Granted: August 13, 2024
Patent Number:
12059311
Systems and methods for grip adjustment during energy delivery include an instrument comprising an end effector having a first jaw and a second jaw. Each of the first jaw and the second jaw have a corresponding electrode, The systems and methods further include one or more control units configured to actuate the end effector to grip a material, determine whether a force or torque limit of the actuation is above a first threshold, in response to determining that the force or torque limit…
Guide apparatus for delivery of a flexible instrument and methods of use
Granted: August 13, 2024
Patent Number:
12059223
A medical apparatus for guiding an elongated flexible instrument includes an elongated support assembly having a longitudinal axis. The elongated support assembly is adapted to laterally receive into engagement and longitudinally support the elongated flexible instrument. The elongated support assembly includes a guide channel configured to laterally receive the elongated flexible instrument, a fastener configured to laterally receive a mating fastener component of the elongated flexible…
Surgical instrument with flexible shaft and actuation element guide
Granted: August 13, 2024
Patent Number:
12059137
A surgical instrument includes a shaft, a force transmission mechanism disposed at a first end of the shaft, an end effector disposed at a second end of the shaft, an actuation element that extends along the shaft from the force transmission mechanism to the end effector, and an actuation element guide extending along the shaft. The actuation element guide defines a lumen in which the actuation element guide is received. The actuation element guide is compressed into a pre-compressed…
Surgical cannula mounts and related systems and methods
Granted: August 6, 2024
Patent Number:
12053252
A cannula mount for a surgical system includes a body configured to receive a portion of a cannula in a mounted state at the cannula mount; a pair of clamping components coupled to the body and configured to clamp the portion of the cannula in the mounted state of the cannula; and a latch assembly pivotably coupled to the body and slidably coupled to a clamping component of the pair of clamping components. At least one of the pair of clamping components is pivotable relative to the body…
System and method for variable velocity instrument
Granted: August 6, 2024
Patent Number:
12053179
A system and method of variable velocity control of an instrument by a computer-assisted device includes a computer-assisted device that includes an actuator and one or more processors. To perform an operation with an instrument coupled to the computer-assisted device, the one or more processors are configured to set a velocity set point of the actuator to an initial velocity, monitor force or torque applied by the actuator to actuate the instrument, when the applied force or torque is…
Symmetric trimming of strain gauges
Granted: July 30, 2024
Patent Number:
12050143
A circuit is provided that includes a strain gauge resistor having a center axis and multiple conductor layer segments and a trim region extending along the center axis; wherein a first portion of the strain gauge resistor is located on one side of the center axis and a second portion of the strain gauge resistor is located on an opposite side of the center axis.
Backend mechanism of a catheter control system
Granted: July 30, 2024
Patent Number:
12048817
A control system for an elongate member actuated via a pull wire comprises a chassis fixable in place relative to the elongate member during use and a pulley carried by the chassis, the pulley having a first pull wire-supporting surface structurally configured to support the pull wire, the pulley being rotatable about a first axis. The system further comprises a wall carried by the chassis and a capstan carried by the chassis and rotatable about a second axis aligned at an orthogonal…
Master control device and methods therefor
Granted: July 30, 2024
Patent Number:
12048505
Implementations relate to a master control device. In some implementations, a master control device includes a control body comprising a proximal end, a thumb grip portion, and a finger grip portion. The control body has a length configured to engage the proximal end of the control body in the palm of a hand of the user while the hand engages the thumb grip portion with a thumb of the hand and the finger grip portion with a finger of the hand. The control body is configured to allow the…
Cable drive limited slip capstan and shaft
Granted: July 30, 2024
Patent Number:
12048504
Capstan slip-stop shoulders limit relative rotation of capstans: a drive is shaft rotatably inserted within first and second axially aligned annular capstans, the first capstan including a first tooth extending parallel to the drive shaft in a first direction, the second capstan including a second tooth extending parallel to the drive shaft in a second direction opposite the first direction, the first tooth including first and second circumferentially spaced first tooth slip-stop…
Methods and apparatus to shape flexible entry guides for minimally invasive surgery
Granted: July 23, 2024
Patent Number:
12042120
An apparatus for performing surgical procedures is disclosed including a flexible entry guide tube and a first steering device. The guide tube has one or more lumens extending along its length from a proximal end to substantially at or near a distal end. At least one of the one or more lumens is an instrument lumen with open ends to receive a flexible shaft of a surgical tool. The first steering device is insertable into the instrument lumen to shape the guide tube as it is inserted…
Insert guide members for surgical instruments, and related devices, systems, and methods
Granted: July 23, 2024
Patent Number:
12042209
A surgical instrument includes a shaft, an end effector, and a wrist coupling the end effector to the shaft. The wrist has a central channel extending along a length of the wrist. An insert guide member is positioned in the central channel. The insert guide member has an exterior lateral wall extending between a first end and a second end of the insert guide member and an interior lateral wall extending between the first end and the second end. A passage extends from the first end of the…
Joint assemblies with cross-axis flexural pivots
Granted: July 23, 2024
Patent Number:
12042164
The embodiments described herein can be used in a variety of grasping, cutting, and manipulating operations. In some embodiments, an apparatus includes a first joint member, a second joint member, and a flexure. The first joint member includes a first connection portion and a contact surface. The second joint member including a second connection portion. A first end portion of the flexure is coupled to the first connection portion, and a second end portion of the flexure is coupled to…
