Convolutional neural networks for efficient tissue segmentation
Granted: July 23, 2024
Patent Number:
12045318
An imaging system is provided for pixel-level segmentation of images comprising: a camera to capture images of an anatomical object and to represent the images in two-dimensional (2D) arrangements of pixels; one or more processors and a non-transitory computer readable medium with information including: CNN instructions to cause the one or more processors to implement a CNN configured to associate anatomical object classifications with pixels of the 2D arrangements of pixels; and…
Computer-assisted tele-operated surgery systems and methods
Granted: July 23, 2024
Patent Number:
12042238
Manipulator devices are used for computer-assisted tele-operated surgery. In some embodiments, the manipulator devices described herein include an arm with a proximal end that is configured to releasably couple with a set-up structure of a computer-assisted tele-operated surgery system. A first ring is rotatably coupled to a distal end portion the arm and is rotatably driven by a first gear motor within the arm. A second ring that is concentric with the first ring is also rotatably…
Touchscreen user interface for interacting with a virtual model
Granted: July 23, 2024
Patent Number:
12042236
Methods and systems are provided that can include accessing a three-dimensional (3D) model of an object with a visualization tool including a touchscreen, displaying, via the touchscreen, an image of the 3D model, detecting a pressure based and/or contact based input at the touchscreen, and changing a display parameter of a first component of the 3D model as a result of the input. Selecting the component and/or changing the display can be indicated by visual and/or haptic signals. A…
Medical imaging systems and methods
Granted: July 16, 2024
Patent Number:
12035997
A two-by-two pixel array within an image sensor includes a first pixel, a second pixel, a third pixel, and a fourth pixel. A red filter covers the first pixel, a first blue filter covers the second pixel, a second blue filter covers the third pixel, and a green filter covers the fourth pixel. The red filter is configured to allow the first pixel to collect a red component of visible light and prevent the first pixel from collecting blue and green components of the visible light. The…
Teleoperated surgical instruments
Granted: July 16, 2024
Patent Number:
12035992
Systems and methods for computer-assisted systems using robotic technology are described. For example, this disclosure describes systems and methods that can be used in various contexts such as, but not limited to, minimally invasive computer-assisted tele-operated surgery using robotic technology. The disclosure describes instruments and mechanisms for actuating and controlling the motions of such instruments. The instruments and actuator mechanisms may be used in medical operations and…
System and method for integrated surgical table motion
Granted: July 16, 2024
Patent Number:
12035987
A computer-assisted device includes an articulated arm configured to support an end effector and a control unit. When coupled to the articulated arm and a table, the control unit is configured to detect movement of the articulated arm caused by movement of the table, determine a movement of the table based on motion data received from the table, and drive one or more first joints of the articulated arm based on the movement of the articulated arm and the determined movement of the table.
Surgical instruments having a jaw locking mechanism
Granted: July 9, 2024
Patent Number:
12029473
A surgical instrument having a jaw lock includes first jaw and second jaws that are moveable from an open position to a closed position. At least one of the jaws includes a jaw slot having a jaw closing portion and a jaw locking portion. A pin positioned within the jaw slot is advanced by a blade. The blade includes a cutting edge and a notch defining a first edge configured to advance the pin to move the jaws to, and secure the jaws in, the closed position.
Systems and methods for segmentation of anatomical structures for image-guided surgery
Granted: July 9, 2024
Patent Number:
12033325
A method for image segmentation comprises receiving volumetric image data for an anatomical region and generating a first volumetric patch from the volumetric image data. The method also comprises generating a second volumetric patch from the first volumetric patch by weighting at least one of a plurality of volumetric units in the first volumetric patch and receiving the second volumetric patch as an input to a convolutional neural network. The weighting that at least one of the…
Software center and highly configurable robotic systems for surgery and other uses
Granted: July 9, 2024
Patent Number:
12029513
Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for…
Increased usable instrument life in telesurgical systems
Granted: July 9, 2024
Patent Number:
12029512
A telesurgical system may comprise a teleoperated manipulator and a control system to execute instructions to perform operations. The operations may comprise determining a remaining usable life value of a surgical instrument. The surgical instrument may comprise a distal end component and an actuation component coupled to move the distal end component when driven by the teleoperated manipulator. The operations may also comprise monitoring an amount of use of the actuation component…
Endoscopic purse string suture surgical device
Granted: July 9, 2024
Patent Number:
12029426
A surgical stapler for applying a suture to tissue includes a first jaw and a second jaw configured to receive a cartridge. An actuation mechanism translates a drive member distally through the first and second jaws to apply staples to tissue such that a suture, in combination with the staples, forms a purse string when the stapler activated. The cartridge includes a first upper portion and a second lower portion.
Stereoscopic endoscope
Granted: July 2, 2024
Patent Number:
12023006
A stereoscopic endoscope comprises a first lens train; a second lens train; a prism; and a continuous image sensor surface. The first lens train directs light along a first path through the first lens train and the prism to be incident on a first region of the continuous image sensor, and the second lens train directs light along a second path through the second lens train and the prism to be incident on a second region of the continuous image sensor.
Beacon-based systems and methods for generating medical facility metrics
Granted: July 2, 2024
Patent Number:
12027257
A beacon-based metrics system may track events associated with a user device located within a medical facility, determine that the user device detects a beacon emitted by a beacon generator located within the medical facility, and identify information included in the beacon. The beacon-based metrics system may generate medical facility metrics data representative of the tracked events by identifying a set of tracked events that occur during a time period in which the user device detects…
Systems and methods for control of steerable devices
Granted: July 2, 2024
Patent Number:
12023803
Systems and methods for controlling an elongate device are provided herein. In some embodiments, a robotic system may comprise a manipulator assembly configured to drive an elongate device and a control device configured to receive user input commanding the elongate device. The robotic system may also comprise a control system communicatively coupled to the manipulator assembly and the control device. The control system may be configured to monitor movement of the elongate device during…
Breakage detection of tension element for counterbalance mechanism
Granted: July 2, 2024
Patent Number:
12023205
Implementations relate to breakage detection of a tension element for a counterbalance mechanism. In some implementations, a tension element breakage detection mechanism includes a tension element, a moveable detection element contacting the tension element, and an actuator. The moveable detection element is biased by the tension element toward a first configuration in a range of motion of the moveable detection element. The moveable detection element is biased toward a second…
Ungrounded master control devices and methods of use
Granted: July 2, 2024
Patent Number:
12023122
A mechanically ungrounded master control device comprises a rigid chassis for engagement with one or more fingers of a user's hand and at least one pivotable finger engagement device for controlling movement of a tool end effector. The control device also includes at least one sensor for detecting a position and orientation of the rigid chassis in a surgical environment and a switch coupled to the rigid chassis and manipulatable by a finger of the user's hand while another finger of the…
Surgical instrument sterile adapter with optical coupler
Granted: July 2, 2024
Patent Number:
12023118
A connector system is provided to connect a carriage that includes a rotatable drive member to a surgical instrument that includes a driven member, comprising. a mechanical interface that includes a drive transmission member configured to receive a rotational drive force provided by the drive member at the internal surface region and to provide a corresponding rotational drive force to the driven member at the external surface region; and a support to mount an end portion of an optical…
Passive preload and capstan drive for surgical instruments
Granted: July 2, 2024
Patent Number:
12023114
An instrument system includes a flexible shaft having a proximal portion and a distal portion, a backend mechanism coupled to the proximal portion of the flexible shaft, and a plurality of tendons. The backend mechanism includes a plurality of capstans. Each capstan engages a respective drive motor that rotates to cause rotation of the capstan. A first capstan of the plurality of capstans is engageable with a first respective drive motor while a second capstan of the plurality of…
Method and system for operating a teleoperated surgical instrument and a manual instrument
Granted: July 2, 2024
Patent Number:
12023113
A system comprises a teleoperated manipulator, a manually operated instrument, and a position sensor coupled to the manually operated instrument. The position sensor is configured to generate pose information for the manually operated instrument. The system further comprises a controller configured to map a pose of the manipulator to a fixed world reference frame based on three-dimensional pose information for the manipulator known internally within the system. The controller is further…
Systems and methods for dynamic trajectory control
Granted: July 2, 2024
Patent Number:
12023066
A non-transitory computer readable medium stores instructions which, when executed by one or more processors, are adapted to cause the one or more processors to: receive a command to initiate a medical procedure at a target location with a medical instrument; retrieve a predefined dynamic trajectory for the medical procedure; move the medical instrument according to the predefined dynamic trajectory to perform the medical procedure at the target location; detect a force received at a…
