Abstract: A spatial linkage including an inboard gimbal plate that provides a ground for the spatial linkage, an outboard gimbal plate, and three links that couple the outboard gimbal plate to the inboard gimbal plate. Each link has a longitudinal axis and two pivotal couplings disposed at opposite ends of the longitudinal axis. Each link is pivotally coupled to the outboard gimbal plate at a first end of the longitudinal axis and pivotally coupled to the inboard gimbal plate at a second end of the longitudinal axis opposite the first end. The pivotal couplings allow the outboard gimbal plate to move relative to the inboard gimbal plate and preventing relative rotation between the outboard gimbal plate and the inboard gimbal plate.

Abstract: A sterile drape with integrated sterile adaptor, a telerobotic surgical system, and method of use are provided for draping portions of a telerobotic surgical system to maintain a sterile barrier between the sterile surgical field and the non-sterile robotic system while also providing an interface for transferring mechanical and electrical energy and signals.

Abstract: A radio frequency identification (RFID) tag is embedded on a surgical instrument and a radio frequency identification (RFID) reader is provided on a surgical robot to allow identification of the attached surgical instrument. The RFID tag includes an RFID circuit assembly, a first pot core half, and a first toroidal wire coil that fits within the first pot core half and is electrically coupled to the RFID circuit assembly to modulate received radio frequency (RF) energy. The RFID reader includes an RFID transceiver circuit, a second pot core half, and a second toroidal wire coil that fits within the second pot core half and is electrically coupled to the transceiver circuit to transmit RF energy and receive modulated RF energy from the first wire coil only when the first pot core half is substantially aligned with and proximate to the second pot core half.

Abstract: A wrist mechanism for an instrument used in minimally invasive medical procedures employs only four drive cables for control of the pitch, yaw, and grip of an effector. To reduce part count, no pulleys are used. Instead, solid surfaces of devises in the wrist mechanism cradle the drive cables and are curved in multiple directions to maintain a fixed moment arm for cable torques and eliminate the need for large cable wrap angles. Further, the stiffness of each of the four drive cables can be controlled for improved clinical performance. In particular, the stiffness of the two drive cables that cause grips to close can be greater than the stiffness of the remaining two drive cables that cause the grips to open. The arrangement can minimize cable slack, improving fidelity of motion.

Abstract: A transmission or backend mechanism for a medical instrument connects four cables to three motorized degrees of freedom. The transmission employs a first drive mechanism attached to first and second cables and a second drive mechanism attached to third and fourth cables, where each mechanism can include a capstan or a lever system that pulls in one cable while simultaneously feeding out another cables. A third drive mechanism has a first pivot about which a portion of the first drive mechanism rotates, a second pivot about which a portion of the second drive mechanism rotates, and a third pivot about which the third drive mechanism rotates. Rotation of the third drive mechanism about the third pivot pulls in at least one of the first and second cables and feeds out at least one of the third and fourth cables.

Abstract: A cautery instrument includes a brush-type contact providing a sliding electrical connection to a jaw of the instrument. To provide isolation, the jaws may have ends in cavities in a clevis made of an insulating material. Non-conducting drive cables can be attached to the jaws using high friction paths that prevent or resist slippage of the cables relative to the jaws.

Abstract: An electrically energized medical instrument uses one or more drive cables to both actuate mechanical components of a wrist mechanism or an effector and to electrically energize the effector. Electrical isolation can be achieved using an insulating main tube through which drive cables extend from a backend mechanism to the effector, an insulating end cover that leaves only the desired portions of the effector exposed, and one or more seals to prevent electrically conductive liquid from entering the main tube. Component count and cost may be further reduced using a pair of pulleys that are shared by four drive cables.

Abstract: A link is positioned to pivot at the distal end of a surgical instrument shaft. The link includes a pulley portion. A first control cable that pivots the link in one direction extends out of the surgical instrument shaft and crosses the width of the instrument in a first crossing direction. The first control cable is then routed around the pulley portion of the link in a first circumferential direction. Similarly, a second control cable that pivots the link in the opposite direction extends out of the surgical instrument shaft and crosses the width of the instrument in a second crossing direction. The second control cable is then routed around the pulley portion of the link in a second circumferential direction that is opposite the first circumferential direction.

Abstract: A spring counterbalance mechanism balances a load with a spring. A cable has a protrusion fixed to the cable midway between two ends of the cable. The two free ends of the cable are fixedly coupled to one of the load or the spring, and a cable attachment is coupled to the remaining member. The cable passes through the cable attachment such that the protrusion is captive in the cable attachment and is movable between two stops in the cable attachment. The cable forms two segments each of which couples the spring to the load. The two segments of the cable pass over a pulley. A sensor coupled to the pulley senses rotation of the pulley allowing cable breakage to be detected by the anomalous rotation of the pulley.

Abstract: A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations are displayed along with indications of range of motion limitations on a display screen from the perspective of a specified viewing point.

Abstract: A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations and displayed on a display screen from the perspective of a specified viewing point.

Abstract: A medical robotic system includes an entry guide with articulatable instruments extending out of its distal end, an entry guide manipulator providing controllable four degrees-of-freedom movement of the entry guide, and a controller configured to limit joint velocities in the entry guide manipulator so as to prevent movement of tips of the articulatable instruments from exceeding a maximum allowable linear velocity when the entry guide manipulator is being used to move the entry guide.

Abstract: Devices, systems, and methods for compensate for friction within powered automatic systems, particularly for telesurgery and other telepresence applications. Dynamic friction compensation may comprise applying a continuous load in the direction of movement of a joint, and static friction compensation may comprise applying alternating loads in positive and negative joint actuation directions whenever the joint velocity reading falls within a low velocity range.

Abstract: A vessel sealer has a stepped jaw that allows the jaw to have an overall shape and a width that provides desired strength, shape, and functionality while permitting a smaller raised portion to apply the sealing pressure. The smaller area applying the sealing pressure allows an actuating mechanism to apply a clinically desired sealing pressure without exceeding the force or torque limitations of the actuating mechanism and can limit thermal spread during a sealing procedure.

Abstract: A shape sensing system to determine the position and orientation of one link with respect to another link in a kinematic chain. An optical fiber is coupled to two or more links in a kinematic chain. A shape sensing segment is defined to start at a proximal link and to end at a distal link, crossing one or more joints. A reference frame is defined at the start of the shape sensing segment. As the joints move, an interrogator senses strain in the shape sensing segment. The sensed strain is used to output a Cartesian position and orientation of the end of the shape sensing segment with respect to the reference frame defined at the start of the shape sensing segment. The pose of the kinematic chain is determined from the Cartesian positions and orientations of one or more shape sensing segments defined for the kinematic chain and from an a priori model and constraints of the kinematic chain.

Abstract: Localized strain is effectively eliminated in a shape sensing optical fiber where the fiber exits a link in a kinematic chain. In one aspect, the fiber is positioned in a channel within a fiber fixture portion of the link, and a surface of a lip of the channel is curved. The curved surface of the lip begins tangent to a wall of the channel and has a maximum radius of curvature that is less than the minimum bend radius that the fiber will experience during shape sensing. In another aspect the fiber is positioned within a shape memory alloy tube that extends from the link.

Abstract: A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations and displayed on a display screen from the perspective of a specified viewing point. Intuitive control is provided to an operator with respect to the auxiliary view while the operator controls the positioning and orienting of the camera.

Abstract: A medical robotic system includes an entry guide with articulatable instruments such as surgical tools and a camera extending out of its distal end. The camera instrument is manipulatable by a camera manipulator, which has a first mechanism for pivoting a focal point of the camera instrument about a pivot of the camera instrument and a second mechanism for positioning the pivot within a three-dimensional space in response to translational commands received from one or a coupled pair of input devices. The system also includes a controller which is configured to receive sensed movement of the input devices, and cause actuation of the first mechanism in response to the sensed movement if the system is in an orientational mode and cause actuation of the second mechanism in response to the sensed movement if the system is in a translational mode.

Abstract: A counterbalance mechanism counterbalances an eccentric mass on a rotating shaft supported by a frame. A first pulley is coupled to and concentric with the shaft. An arm is coupled to the shaft to rotatably support a second at a first distance from the first pulley. A third pulley is fixedly coupled to the frame at a second distance from the first pulley. A fourth pulley is rotatably coupled to and concentric with the third pulley. A spring is fixed at a first end to the frame and has a second end that is coupled to the fourth pulley such that the spring provides a restoring force as the fourth pulley is rotated. A first cable has a first end that is coupled to the fourth pulley and a second end that is coupled to the frame through the third pulley after passing over the first and second pulleys.

Abstract: A stiffenable structure is made of longitudinal beams that are positioned around a longitudinal axis. In one state, the longitudinal beams are bendable so that the structure is bendable. As the structure bends, the longitudinal beams slide longitudinally with reference to one another. In a second state, the beams are clamped in a fixed position relative to one another so that the structure is stiffened. In some aspects the longitudinal beams are made of two or more longitudinal laminar elements. As each beam bends, the laminar elements slide longitudinally with reference to one another. Each beam, and accordingly the structure, is stiffened by preventing the laminar elements from sliding longitudinally relative to one another.