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…
Devices and methods for spatially controllable illumination
Granted: November 12, 2024
Patent Number:
12140788
Described herein are devices, systems, and methods for illumination of a target that provide control over the beam divergence, beam shape, and/or direction of the illumination beam. Such illumination beam control may be based on images of the target, and may serve to direct light at one or more regions of interest.
Surgical cannulas and related systems and methods of identifying surgical cannulas
Granted: November 12, 2024
Patent Number:
12138130
A cannula for insertion of a medical instrument includes a tube portion and an attachment portion coupled to the tube portion. One or more magnets are arranged at the attachment portion and configured to encode identifying information of the cannula. The attachment portion comprises a plurality of encoding positions that each indicate part of the identifying information; and for each encoding position of the plurality of encoding positions, absence of one of the one or more magnets at…
Surgical drape installation aid
Granted: November 12, 2024
Patent Number:
12138006
A sterile adapter retaining device for mounting a surgical drape to a surgical drape installation aid comprises a body having a central portion and plurality of legs extending radially from the central portion. Each leg of the plurality of legs is configured to receive mounted thereon a respective instrument sterile adapter of a plurality of instrument sterile adapters attached to a surgical drape. The body is configured to fit within an interior volume of a surgical drape installation…
Variable-length guide apparatus for delivery of a flexible instrument and methods of use
Granted: November 12, 2024
Patent Number:
12138002
An apparatus for guiding a flexible instrument includes a first plurality of linkages forming a first side of a channel of a support assembly and a second plurality of linkages forming a second side opposite the first side. In an elongated configuration, each linkage of the first plurality of linkages is interlocked between two adjacent linkages of the second plurality of linkages. Each linkage of the first plurality of linkages is hingedly coupled to an adjacent linkage of the first…
Multiple port instrument access device
Granted: November 12, 2024
Patent Number:
12137936
An instrument access device of a teleoperated surgical system includes an envelope, a clamp, and a plurality of ports. The envelope includes a distal opening and a cavity. The clamp is in the distal opening of the envelope. The plurality of ports are coupled to the envelope. The plurality of ports are proximal to the clamp and the distal opening of the envelope. Each of the plurality of ports includes a seal, which is sized and shaped to seal an outer surface of a cannula and to fix a…
Low friction cannula seals for minimally invasive robotic surgery
Granted: November 12, 2024
Patent Number:
12137935
Embodiments of a cannula seal are disclosed. In some embodiments, a cannula seal can include a base portion that engages with a cannula; and a seal portion integrally formed with the base portion that slidebly engages with an instrument shaft such that an insertion frictional force between the seal portion and the instrument shaft for insertion of the instrument shaft is symmetrical and substantially equal with a retraction frictional force.
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…
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…
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…
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…
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 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…
