Abstract: 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 position of the cannula relative to the port and the envelope.

Abstract: Gas-tight seal assemblies for use during minimally invasive surgery include various aspects. A wiper seal includes a sealing portion and a surrounding flex portion. Upper and lower faces of the sealing portions are angled with reference to an inserted instrument, the upper face's angle being more acute with reference to the instrument's shaft than the lower face's angle. The flex portion is corrugated, support ribs are in one or more corrugation grooves, and the support ribs allow the groove to easily collapse but resist the groove widening. The support ribs also prevent the sealing portion from inverting. An instrument insertion guide is positioned over the sealing portion and moves laterally with the sealing portion. A latch piece removably secures the seal assembly to a cannula. An anti-inversion piece prevents the wiper seal from inverting when an instrument is withdrawn.

Abstract: Gas-tight seal assemblies for us during minimally invasive surgery include various aspects. A wiper seal includes a sealing portion and a surrounding flex portion. Upper and lower faces of the sealing portions are angled with reference to an inserted instrument, the upper face's angle being more acute with reference to the instrument's shaft than the lower face's angle. The flex portion is corrugated, support ribs are in one or more corrugation grooves, and the support ribs allow the groove to easily collapse but resist the groove widening. The support ribs also prevent the sealing portion from inverting. An instrument insertion guide is positioned over the sealing portion and moves laterally with the sealing portion. A latch piece removably secures the seal assembly to a cannula. An anti-inversion piece prevents the wiper seal from inverting when an instrument is withdrawn.

Abstract: A medical device includes a device body and an insufflation fitting coupled to and extending from the device body. The insufflation fitting includes an annular high-flow fitting portion and an annular low-flow fitting portion extending away from the device body from the annular high-flow fitting portion. The annular high-flow fitting portion includes a first inner surface and a radially outward sealing surface generally reverse from the first inner surface. The annular low-flow fitting portion includes an inner sealing surface and a first radially outward surface generally reverse from the inner sealing surface. The first inner surface of the annular high-flow fitting portion and the inner sealing surface of the annular low-flow fitting portion define an insufflation gas flow passageway through the insufflation fitting.

Abstract: A medical device includes a device body and an insufflation fitting coupled to and extending from the device body. The insufflation fitting includes an annular low-flow fitting and an annular high-flow fitting. The annular low-flow fitting includes a radially outward surface generally reverse of a first inner sealing surface. The inner sealing surface defines a flow passageway for insufflation gas. The annular high-flow fitting includes a second inner sealing surface extending around and radially offset from the radially outward surface of the low-flow fitting.

Abstract: A cannula includes a tube having a central passage extending between a proximal end and a distal end of the tube along a longitudinal axis of the tube. A first cross section of the passage taken at or adjacent the distal end of the tube and in a plane normal to the longitudinal axis has a first cross-sectional shape, the first cross-sectional shape being non-circular. A second cross section of the passage taken through a portion of the tube proximal to the distal end of the tube and in a plane normal to the longitudinal axis has a second cross-sectional shape. The first cross-sectional shape is different from the second cross-sectional shape. Systems related to cannulas and tools for insertion through cannulas.

Abstract: 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 tissue probe frame using a second mapping. The first mapping maps motion in an input direction in the input frame to an instrument direction in the instrument frame. The second mapping maps motion in the input direction to a tissue probe direction in the tissue probe frame. The instrument direction corresponding with the input direction. The tissue probe direction not corresponding with the input direction.

Abstract: A teleoperational medical system comprises an input device and a manipulator configured to couple with and move an instrument. The system also comprises a control system including one or more processors. In response to a determination that the instrument is inserted into an instrument workspace in a corresponding direction to a field of view of the workspace, the control system is configured to map movement of the input device to movement of the instrument according to a first mapping. In response to a determination that the instrument is inserted into the instrument workspace in a non-corresponding direction to the field of view, the control system is configured to map movement of the input device to movement of the instrument according to a second mapping. The second mapping includes an inversion of the first mapping for at least one direction of motion of the instrument.

Abstract: A surgical drape for a patient side cart of a teleoperated surgical system may comprise a body sized and shaped to cover at least a portion of an arm or main column of the patient side cart, and an attachment device feature connected to the body, the attachment device feature being configured to install the surgical drape to the arm or main column so as to cover at least a portion of the arm or main column with the surgical drape. In an installed position of the surgical drape on the arm or the main column, the attachment device feature is positioned at a location in sensing proximity of a sensor of the patient side cart.

Abstract: 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 position of the cannula relative to the port and the envelope.

Abstract: A cover for an electrosurgical instrument having a wrist structure and an end effector is provided. The cover includes a hollow elongated structure, which includes a tip cover portion and a base cover portion integrally connected to the tip cover portion. The tip cover portion has a distal end with an opening therethrough sized to receive the end effector of the electrosurgical instrument and is composed of a first, electrically insulative material having a flexibility sufficient to allow the end effector to be manipulated while the end effector is received in the opening. The base cover portion is composed of a second material having a higher tear strength than the first material. The tip cover portion and the base cover portion overlap at an overlap region configured to receive the wrist structure of the electrosurgical instrument when the end effector is received in the opening.

Abstract: A surgical drape for a patient side cart of a teleoperated surgical system may include a body and an attachment device feature. The body may be sized and shaped to cover at least a portion of an arm or main column of the patient side cart. The attachment device feature may be connected to the body. The attachment device feature may be configured to install the surgical drape to the arm or main column so as to cover at least a portion of the arm or main column with the surgical drape. The attachment device feature may be detectable by a sensor in an installed position of the surgical drape on the arm or main column. At least one of the main column and the arm may include a sensor to detect an attachment device feature of a surgical drape.

Abstract: An articulable medical device includes a link, a transfer member, a tool member, and a non-drive wire. The tool member has a base portion movably coupled to the transfer member, and a contact portion configured to engage a target tissue. The transfer member is rotatably coupled to the link to rotate with the tool member relative to the link from a first orientation to a second orientation. The non-drive wire has a first end portion coupled to an energy source, a second end portion coupled to the tool member contact portion, and a central portion between the first and second end portions that includes a transition portion disposed within a cavity defined within the base portion of the tool member, a distal portion of the link, or the transfer member, which has a compact first configuration in the first orientation and an expanded second configuration in the second orientation.

Abstract: Gas-tight seal assemblies for us during minimally invasive surgery include various aspects. A wiper seal includes a sealing portion and a surrounding flex portion. Upper and lower faces of the sealing portions are angled with reference to an inserted instrument, the upper face's angle being more acute with reference to the instrument's shaft than the lower face's angle. The flex portion is corrugated, support ribs are in one or more corrugation grooves, and the support ribs allow the groove to easily collapse but resist the groove widening. The support ribs also prevent the sealing portion from inverting. An instrument insertion guide is positioned over the sealing portion and moves laterally with the sealing portion. A latch piece removably secures the seal assembly to a cannula. An anti-inversion piece prevents the wiper seal from inverting when an instrument is withdrawn. An assembly may include device. The seal assembly may rotate within a cannula.

Abstract: A teleoperational medical system comprises an input device and a manipulator configured to couple with and move an instrument. The system also comprises a control system including one or more processors. In response to a determination that the instrument is inserted into an instrument workspace in a corresponding direction to a field of view of the workspace, the control system is configured to map movement of the input device to movement of the instrument according to a first mapping. In response to a determination that the instrument is inserted into the instrument workspace in a non-corresponding direction to the field of view, the control system is configured to map movement of the input device to movement of the instrument according to a second mapping. The second mapping includes an inversion of the first mapping for at least one direction of motion of the instrument.

Abstract: Gas-tight seal assemblies for use during minimally invasive surgery include various aspects. A wiper seal includes a sealing portion and a surrounding flex portion. Upper and lower faces of the sealing portions are angled with reference to an inserted instrument, the upper face's angle being more acute with reference to the instrument's shaft than the lower face's angle. The flex portion is corrugated, support ribs are in one or more corrugation grooves, and the support ribs allow the groove to easily collapse but resist the groove widening. The support ribs also prevent the sealing portion from inverting. An instrument insertion guide is positioned over the sealing portion and moves laterally with the sealing portion. A latch piece removably secures the seal assembly to a cannula. An anti-inversion piece prevents the wiper seal from inverting when an instrument is withdrawn.

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 cover for an electrosurgical instrument having a wrist structure and an end effector is provided. The cover includes a hollow elongated structure, which includes a tip cover portion and a base cover portion integrally connected to the tip cover portion. The tip cover portion has a distal end with an opening therethrough sized to receive the end effector of the electrosurgical instrument and is composed of a first, electrically insulative material having a flexibility sufficient to allow the end effector to be manipulated while the end effector is received in the opening. The base cover portion is composed of a second material having a higher tear strength than the first material. The tip cover portion and the base cover portion overlap at an overlap region configured to receive the wrist structure of the electrosurgical instrument when the end effector is received in the opening.

Abstract: A cover for an electrosurgical instrument having a wrist structure and an end effector is provided. The cover includes a hollow elongated structure, which includes a tip cover portion and a base cover portion integrally connected to the tip cover portion. The tip cover portion has a distal end with an opening therethrough sized to receive the end effector of the electrosurgical instrument and is composed of a first, electrically insulative material having a flexibility sufficient to allow the end effector to be manipulated while the end effector is received in the opening. The base cover portion is composed of a second material having a higher tear strength than the first material. The tip cover portion and the base cover portion overlap at an overlap region configured to receive the wrist structure of the electrosurgical instrument when the end effector is received in the opening.

Abstract: The present disclosure relates to calibration target devices, assemblies and methods for use with imaging systems, such as a stereoscopic endoscope. A calibration assembly includes: a target surface extends in three dimensions with calibration markers and a body with an interface that engages an endoscope so the markers are within the field of view. A first calibration marker extends along a first plane of the target surface and a second marker extends along a second plane of the target surface. The planes are different and asymmetric relative to the field of view as seen through the endoscope. Three-dimensional targets, in particular, enable endoscopic calibration using a single image (or pair of images for a stereoscopic endoscope) to reduce the calibration process complexity, calibration time and chance of error as well as allow the efficient calibration of cameras at different focus positions.