Patents by Inventor Mark Macleod
Mark Macleod has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11896332Abstract: A surgical instrument holder includes a carriage and a drive coupler. The carriage is configured for movable engagement to a surgical robotic arm. The drive coupler includes an outer member and a first gear rotatably disposed therein. The outer member extends from the carriage and defines a lateral slot configured for lateral receipt of a surgical instrument. The first gear defines a lateral slot and is rotatable within the outer member to a first position, in which the lateral slot of the first gear is in alignment with the lateral slot of the outer member such that a surgical instrument is receivable within the drive coupler through the lateral slots of the outer member and the first gear.Type: GrantFiled: September 3, 2021Date of Patent: February 13, 2024Assignee: COVIDIEN LPInventors: Chi Min Seow, Mark Macleod, Michael Zemlok
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Publication number: 20230414304Abstract: An instrument drive unit includes a hub, a motor pack, and an annular member disposed between the hub and the motor pack. The hub and motor pack each have a surface feature. The motor pack is rotatably coupled to the hub. The annular member defines an upper annular channel, and a lower annular channel. The annular member has a stop formed in each of the upper and lower annular channels. Upon the motor pack achieving a threshold amount of rotation relative to the hub, the surface feature of the motor pack abuts the stop of the lower annular channel to rotate the annular member. Upon the annular member achieving a threshold amount of rotation relative to the hub, the stop of the upper annular channel abuts the surface feature of the hub stopping further rotation of the motor pack.Type: ApplicationFiled: September 12, 2023Publication date: December 28, 2023Inventors: Chi Min Seow, Jaimeen Kapadia, Mark MacLeod, Michael Zemlok
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Patent number: 11759273Abstract: An instrument drive unit includes a hub, a motor pack, and an annular member disposed between the hub and the motor pack. The hub and motor pack each have a surface feature. The motor pack is rotatably coupled to the hub. The annular member defines an upper annular channel, and a lower annular channel. The annular member has a stop formed in each of the upper and lower annular channels. Upon the motor pack achieving a threshold amount of rotation relative to the hub, the surface feature of the motor pack abuts the stop of the lower annular channel to rotate the annular member. Upon the annular member achieving a threshold amount of rotation relative to the hub, the stop of the upper annular channel abuts the surface feature of the hub stopping further rotation of the motor pack.Type: GrantFiled: December 10, 2020Date of Patent: September 19, 2023Assignee: Covidien LPInventors: Chi Min Seow, Jaimeen Kapadia, Mark MacLeod, Michael Zemlok
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Patent number: 11607284Abstract: A surgical instrument holder includes a carriage, a housing, and a drive assembly. The carriage is configured for engagement to a surgical robotic arm and for supporting an instrument drive unit. The housing extends from the carriage and defines a channel. The drive assembly includes a pulley, a belt, and an annular member. The pulley is rotatably disposed within the housing and in operable engagement with a motor of the carriage such that actuation of the motor rotates the pulley. The belt is rotatably disposed within the housing and in operable engagement with the pulley such that rotation of the pulley effects rotation of the belt. The annular member is disposed within the channel of the housing and configured for non-rotatable receipt of an instrument drive unit. The annular member is in operable engagement with the belt such that rotation of the belt effects rotation of the annular member.Type: GrantFiled: May 23, 2017Date of Patent: March 21, 2023Assignee: COVIDIEN LPInventors: Mike Zemlok, Jaimeen Kapadia, Mark MacLeod, Chi Min Seow, Josiah Rosmarin
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Patent number: 11547508Abstract: A sterile interface module for coupling an electromechanical robotic surgical instrument to a robotic surgical assembly is provided. The surgical instrument includes an end effector and is configured to be actuated by the robotic surgical assembly. The sterile interface module includes a body member and a drive assembly. The body member is configured to selectively couple the surgical instrument to the robotic surgical assembly. The body member is formed of a dielectric material. The drive assembly is supported within the body member and is configured to transmit rotational forces from the robotic surgical assembly to the surgical instrument to actuate the surgical instrument to enable the surgical instrument to perform a function.Type: GrantFiled: May 23, 2017Date of Patent: January 10, 2023Assignee: COVIDIEN LPInventors: Jaimeen Kapadia, Mark MacLeod, Brian Rockrohr
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Patent number: 11547512Abstract: A torque transducer for mounting a motor includes a mounting flange, a motor flange, a body, and a strain gauge. The mounting flange is configured to secure the torque transducer to a fixed structure. The motor flange is configured to secure to a motor. The body interconnects the mounting and motor flanges. The body defines a channel about a longitudinal axis of the body and is configured to flex in response to the mounting flange and the motor flange rotating relative to one another in response to torque of the motor. The strain gauge is positioned on the body to measure flexation of the body.Type: GrantFiled: June 30, 2021Date of Patent: January 10, 2023Assignee: COVIDIEN LPInventors: Michael Zemlok, Chi Min Seow, Jaimeen Kapadia, Richard Lech, Mark MacLeod
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Patent number: 11523509Abstract: An integrated circuit includes a nexus and a first, a second, a third, and a fourth circuit board. Each of the first and second circuit boards is coupled to opposing sides of the nexus, and each of the third and fourth circuit boards is coupled to opposing sides of the second circuit board. The integrated circuit is transitionable between a first, open configuration, in which the first, second, third and fourth circuit boards and the nexus are substantially coplanar, and a second configuration, in which the first, second, third and fourth circuit boards and the nexus are coupled to one another to define a cavity therein.Type: GrantFiled: March 4, 2021Date of Patent: December 6, 2022Assignee: Covidien LPInventors: Chi Min Seow, Jaimeen Kapadia, Richard Lech, Michael Zemlok, Mark Macleod
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Patent number: 11510747Abstract: A drape for covering a robotic surgical system includes a first end portion, a second end portion, and an intermediate portion extending between the first and second end portion. The first end portion defines a cavity therein and has an outer surface and an inner surface and defines an inlet through the outer and inner surfaces. The cavity is dimensioned for receipt of an instrument drive unit and is in fluid communication with the inlet. The second end portion has an outer surface and an inner surface and defines an outlet through the outer and inner surfaces. The second end portion defines a cavity therein that is in fluid communication with the outlet. The intermediate portion defines an elongated conduit therethrough dimensioned for receipt of a surgical robotic arm.Type: GrantFiled: May 7, 2018Date of Patent: November 29, 2022Assignee: Covidien LPInventors: Michael Zemlok, Chi Min Seow, Mark MacLeod, Jaimeen Kapadia, Richard Lech
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Patent number: 11406465Abstract: A sterile interface module includes a body member that couples a surgical instrument to a robotic surgical assembly, a first drive transfer assembly supported by the body member, and a rotatable collar supported on the body member. The first drive transfer assembly includes a drive coupler and a transfer shaft extending from the drive coupler. The drive coupler is engagable with the robotic surgical assembly and the transfer shaft is engagable with the surgical instrument. The drive coupler and the transfer assembly are robotically movable to operate an end effector of the surgical instrument. The rotatable collar is operably associated with the first drive transfer assembly and is manually movable relative to the body member to manually operate the end effector of the surgical instrument.Type: GrantFiled: May 23, 2017Date of Patent: August 9, 2022Assignee: Covidien LPInventors: Mike Zemlok, Jaimeen Kapadia, Mark MacLeod, Chi Min Seow
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Publication number: 20220170809Abstract: A method of calibrating a torque sensor for a motor with a controller includes determining a gain of the torque sensor, zeroing a torque reading of the torque sensor, accelerating the motor at a known rate, and determining an inertia of the motor in response to accelerating the motor. Zeroing the torque reading occurs when the motor is in an unloaded and unactivated condition and accelerating the motor occurs when the motor is in an unloaded condition.Type: ApplicationFiled: June 5, 2019Publication date: June 2, 2022Inventors: Jaimeen Kapadia, Richard Lech, Mark MacLeod, Chi Min Seow, Michael Zemlok
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Patent number: 11284956Abstract: A robotic surgical system includes a robotic arm, a carriage coupled to the robotic arm, a drive belt, and a motor supported by the carriage. The carriage rotatably supports an instrument rotation pulley and a motor axis pulley. The drive belt is coupled to the instrument rotation pulley and the motor axis pulley. The motor includes a coupling that is driven by the motor upon an actuation of the motor. The coupling is engaged with the motor axis pulley such that rotation of the motor axis pulley rotates the drive belt to rotate the instrument rotation pulley.Type: GrantFiled: May 23, 2017Date of Patent: March 29, 2022Assignee: Covidien LPInventors: Mike Zemlok, Jaimeen Kapadia, Mark MacLeod, Chi Min Seow, Josiah Rosmarin
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Patent number: 11272992Abstract: An instrument drive unit includes a housing configured to be coupled to a surgical robotic arm, a motor assembly, and a flex spool assembly. The motor assembly is rotatably disposed within the housing. The flex spool assembly includes a first printed circuit board mounted to the housing, a second printed circuit board configured to be non-rotatably coupled to and electrically connected to the motor assembly, and a first flex circuit. The first flex circuit has a first end portion connected to the first printed circuit board, a second end portion connected to the second printed circuit board, and an intermediate portion coiled about the second printed circuit board such that rotation of the motor assembly relative to the housing effects movement of the second end portion of the first flex circuit along an annular path.Type: GrantFiled: June 2, 2017Date of Patent: March 15, 2022Assignee: Covidien LPInventors: Chi Min Seow, Richard Lech, Michael Zemlok, Jaimeen Kapadia, Mark MacLeod
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Publication number: 20220031407Abstract: A surgical robotic system includes a robotic arm including a plurality of elongate members rotationally coupled to one another, a first activation button coupled to one of the elongate members, a first force sensor coupled to one of the elongate members, and a processor. One of the elongate members is configured to have a surgical instrument attached thereto. The first activation button is configured to actuate a function, and the first force sensor is configured to sense a force associated with an actuation of the first activation button. The processor is in communication with the first force sensor and is configured to determine whether an actuation of the first activation button is intentional or accidental based on data received from the first force sensor.Type: ApplicationFiled: September 10, 2019Publication date: February 3, 2022Inventors: Jaimeen Kapadia, Mark Macleod, Colin H. Murphy
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Publication number: 20210393352Abstract: A surgical instrument holder includes a carriage and a drive coupler. The carriage is configured for movable engagement to a surgical robotic arm. The drive coupler includes an outer member and a first gear rotatably disposed therein. The outer member extends from the carriage and defines a lateral slot configured for lateral receipt of a surgical instrument. The first gear defines a lateral slot and is rotatable within the outer member to a first position, in which the lateral slot of the first gear is in alignment with the lateral slot of the outer member such that a surgical instrument is receivable within the drive coupler through the lateral slots of the outer member and the first gear.Type: ApplicationFiled: September 3, 2021Publication date: December 23, 2021Inventors: Chi Min Seow, Mark Macleod, Michael Zemlok
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Publication number: 20210322122Abstract: A torque transducer for mounting a motor includes a mounting flange, a motor flange, a body, and a strain gauge. The mounting flange is configured to secure the torque transducer to a fixed structure. The motor flange is configured to secure to a motor. The body interconnects the mounting and motor flanges. The body defines a channel about a longitudinal axis of the body and is configured to flex in response to the mounting flange and the motor flange rotating relative to one another in response to torque of the motor. The strain gauge is positioned on the body to measure flexation of the body.Type: ApplicationFiled: June 30, 2021Publication date: October 21, 2021Inventors: Michael Zemlok, Chi Min Seow, Jaimeen Kapadia, Richard Lech, Mark MacLeod
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Patent number: 11129685Abstract: A robotic surgical system includes a robotic arm, a carriage coupled to the robotic arm, a drive belt, and a motor supported by the carriage. The carriage rotatably supports an instrument rotation pulley and a motor axis pulley. The drive belt is coupled to the instrument rotation pulley and the motor axis pulley. The motor includes a coupling that is driven by the motor upon an actuation of the motor. The coupling is engaged with the motor axis pulley such that rotation of the motor axis pulley rotates the drive belt to rotate the instrument rotation pulley.Type: GrantFiled: May 23, 2017Date of Patent: September 28, 2021Assignee: Covidien LPInventors: Mike Zemlok, Jaimeen Kapadia, Mark MacLeod, Chi Min Seow, Josiah Rosmarin
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Publication number: 20210275265Abstract: A robotic surgical system includes a robotic arm, a carriage coupled to the robotic arm, a drive belt, and a motor supported by the carriage. The carriage rotatably supports an instrument rotation pulley and a motor axis pulley. The drive belt is coupled to the instrument rotation pulley and the motor axis pulley. The motor includes a coupling that is driven by the motor upon an actuation of the motor. The coupling is engaged with the motor axis pulley such that rotation of the motor axis pulley rotates the drive belt to rotate the instrument rotation pulley.Type: ApplicationFiled: May 23, 2017Publication date: September 9, 2021Inventors: Mike Zemlok, Jaimeen Kapadia, Mark MacLeod, Chi Min Seow, Josiah Rosmarin
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Patent number: 11109926Abstract: A surgical instrument holder includes a carriage and a drive coupler. The carriage is configured for movable engagement to a surgical robotic arm. The drive coupler includes an outer member and a first gear rotatably disposed therein. The outer member extends from the carriage and defines a lateral slot configured for lateral receipt of a surgical instrument. The first gear defines a lateral slot and is rotatable within the outer member to a first position, in which the lateral slot of the first gear is in alignment with the lateral slot of the outer member such that a surgical instrument is receivable within the drive coupler through the lateral slots of the outer member and the first gear.Type: GrantFiled: February 7, 2017Date of Patent: September 7, 2021Assignee: Covidien LPInventors: Chi Min Seow, Mark Macleod, Michael Zemlok
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Publication number: 20210220060Abstract: A sterile interface module for coupling an electromechanical robotic surgical instrument to a robotic surgical assembly is provided. The surgical instrument includes an end effector and is configured to be actuated by the robotic surgical assembly. The sterile interface module includes a body member and a drive assembly. The body member is configured to selectively couple the surgical instrument to the robotic surgical assembly. The body member is formed of a dielectric material. The drive assembly is supported within the body member and is configured to transmit rotational forces from the robotic surgical assembly to the surgical instrument to actuate the surgical instrument to enable the surgical instrument to perform a function.Type: ApplicationFiled: May 23, 2017Publication date: July 22, 2021Inventors: Jaimeen Kapadia, Mark MacLeod, Brian Rockrohr
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Patent number: 11051898Abstract: A torque transducer for mounting a motor includes a mounting flange, a motor flange, a body, and a strain gauge. The mounting flange is configured to secure the torque transducer to a fixed structure. The motor flange is configured to secure to a motor. The body interconnects the mounting and motor flanges. The body defines a channel about a longitudinal axis of the body and is configured to flex in response to the mounting flange and the motor flange rotating relative to one another in response to torque of the motor. The strain gauge is positioned on the body to measure flexation of the body.Type: GrantFiled: May 13, 2020Date of Patent: July 6, 2021Assignee: COVIDIEN LPInventors: Michael Zemlok, Chi Min Seow, Jaimeen Kapadia, Richard Lech, Mark MacLeod