With Chair, Table, Holder, Or Other Support Patents (Class 600/102)
  • Patent number: 11219358
    Abstract: A method of processing images captured using an endoscope comprising a camera is disclosed. According to this method, regular images captured by the camera are received while the endoscope travels through a human gastrointestinal (GI) tract. The regular images are mosaicked to determine any missed or insufficiently imaged area in a section of the human GI tract already travelled by the endoscope. If any missed or insufficiently imaged area is detected, information regarding any missed or insufficiently imaged area is provided. When a target area in the regular images is lack of parallax, the target area is determined as one missed area and an edge corresponding to a structure of the human lumen is highlighted. For a capsule endoscope, the endoscope can be configured to be controlled or steered to move so as to re-image the missed or insufficiently imaged area.
    Type: Grant
    Filed: February 16, 2021
    Date of Patent: January 11, 2022
    Assignee: Capso Vision Inc.
    Inventors: Kang-Huai Wang, Chenyu Wu, Mark Hadley, Gordon C. Wilson
  • Patent number: 11213362
    Abstract: An assembly for driving linear movement and roll movement of an elongate surgical tool, comprising: an elongate shaft comprising a central lumen extending along the shaft long axis; the elongate shaft comprising a plurality of apertures extending across walls of the elongate shaft and into the central lumen; a set of wheels positioned opposing each other and aligned on two sides of the central lumen, the set of wheels at least partially extending through the apertures beyond the walls of the elongate shaft and into the central lumen to contact an elongate surgical tool received therein; the set of wheels being coupled to the elongate shaft and configured to rotate with the elongate shaft as a single unit when the elongate shaft is rotated about the shaft long axis.
    Type: Grant
    Filed: March 1, 2021
    Date of Patent: January 4, 2022
    Assignees: Microbot Medical Ltd., Technion Research & Development Foundation Limited
    Inventors: Simon Sharon, Idan Boader, Moshe Shoham, Eran Cohen, Eyal Morag
  • Patent number: 11197728
    Abstract: Systems and methods for performing concomitant medical procedures are disclosed. In one aspect, the method involves controlling a first robotic arm to insert a first medical instrument through a first opening of a patient and controlling a second robotic arm to insert a second medical instrument through a second opening of the patient. The first robotic arm and the second robotic arm are part of a first platform and the first opening and the second opening are positioned at two different anatomical regions of the patient.
    Type: Grant
    Filed: September 3, 2019
    Date of Patent: December 14, 2021
    Assignee: Auris Health, Inc.
    Inventors: Joshua F. DeFonzo, Alexander Tarek Hassan, Frederic H. Moll, David Stephen Mintz, David M. Schummers, Paxton H. Maeder-York, Andrew F. O'Rourke
  • Patent number: 11198226
    Abstract: A robot main body driving mechanism; a robot main body including a hollow flexible shaft, a joint portion including a bending joint and a proximal end continuous with a distal end of the flexible shaft, the bending joint receiving driving force of the robot main body driving mechanism to perform a bending operation, an end effector provided at a distal end of the joint portion, and a driving force transmission mechanism connecting the bending joint and the robot main body driving mechanism and configured to transmit the driving force of the robot main body driving mechanism to the bending joint; and a rotation driving mechanism configured to rotate the robot main body around an axis of a proximal end of the flexible shaft.
    Type: Grant
    Filed: July 9, 2015
    Date of Patent: December 14, 2021
    Assignees: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventor: Kazutoshi Kan
  • Patent number: 11173000
    Abstract: The invention involves a system and method for controlling the movements of a multi-axis robot to perform a surgery at least on the spinal area of a human in vivo. The system includes controls and software coding to cause the robot to move in desired patterns to complete the surgery, which may include bone, disc and tissue removal, and may also include insertion of hardware for fusing adjacent bony structures.
    Type: Grant
    Filed: January 11, 2019
    Date of Patent: November 16, 2021
    Inventor: Peter L. Bono
  • Patent number: 11172950
    Abstract: According to an embodiment, an autonomous endoscopic system capable of controlling movement of an endoscope inserted into a protective sheath installed in the body of a patient may comprise: an endoscope operating device capable of operating a relative position of the endoscope with respect to the protective sheath, a rolling angle of the endoscope, and a bending angle of a bending portion which is located at the end of the endoscope and is bendable; and a control unit for controlling the endoscope operating device, wherein the control unit controls the endoscope operating device on the basis of a driving record of the endoscope.
    Type: Grant
    Filed: September 23, 2020
    Date of Patent: November 16, 2021
    Assignees: EASYENDO SURGICAL, INC., KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY
    Inventors: Byung Sik Cheon, Dong Soo Kwon, Deok Gyoon Chung
  • Patent number: 11172928
    Abstract: Surgical stapling systems and methods for stapling tissue during a surgical procedure are provided. In an exemplary embodiment, a control system is provided for controlling at least one motor coupled to a drive system on a surgical stapling device for driving one or more drive assemblies. The control system can be configured to communicate with the drive system of the stapling tool and to control and modify movement of one or more drive assemblies based on certain feedback.
    Type: Grant
    Filed: August 29, 2017
    Date of Patent: November 16, 2021
    Assignee: CILAG GMBH INTERNATIONAL
    Inventors: Frederick E. Shelton, IV, Taylor W. Aronhalt, Jason L. Harris, Chester O. Baxter, III, Mark D. Overmyer, Vincenzo Barbato
  • Patent number: 11166778
    Abstract: The present disclosure provides a stabilizing unit for a medical device. The stabilizing unit includes a retaining arm having a surface configured to abut a surface of the medical device. The stabilizing unit also includes a stabilizing fork having a slot configured to receive the medical device. A biasing member is in contact with the stabilizing fork and is configured to urge the slot of the stabilizing fork towards the retaining arm. When the medical device is placed in the slot of the stabilizing fork, the basing member urges the stabilizing fork against an adjacent surface of the medical device, and an opposing surface of the medical device against the retaining arm.
    Type: Grant
    Filed: April 12, 2018
    Date of Patent: November 9, 2021
    Assignee: Edwards Lifesciences Corporation
    Inventors: Gregory Scott Tyler, II, Arnold Cruz Tuason, David M. Taylor, Matthew T. Winston, Alexander J. Siegel
  • Patent number: 11154322
    Abstract: An access system is provided for establishing an access path to a surgical site within a patient. The access system comprises an access portal defining a working channel with a central axis, and an adaptor with a mating section mountable to the access portal. The adaptor is selectively rotatable about the central axis. The access portal includes a plurality of openings and the adaptor includes a plurality of projections, each of the projections and openings being arranged so that, in a first orientation, the openings and projections align to allow mounting of the adaptor to the access portal and, in a second orientation, the openings and projections do not align to prevent disassociation between the adaptor and the access portal. The adaptor also includes a holder for a viewing device, the viewing device being movable with the adaptor about the access portal and vertically translatable relative to the access portal.
    Type: Grant
    Filed: May 7, 2019
    Date of Patent: October 26, 2021
    Assignee: Stryker European Operations Holdings LLC
    Inventors: Erika Corbin, Lori Dombrowski, David Talijan, Felix Eugenio Plaud Pagan
  • Patent number: 11123149
    Abstract: A method of visualizing a body cavity during a surgical procedure including positioning an elongated body of an angled endoscope in a first position within a body cavity of a patient, rotating the elongated body about a longitudinal axis in response to a command point, capturing a plurality of images with an image capture device positioned within the elongated body as the elongated body is rotated, and generating a panoramic view of the body cavity from the plurality of images. In the first position of the elongated body, a surgical site is within a field of view of the image capture device. The field of view of the image capture device capturing a first volume of the body cavity, including the surgical site, when the angled endoscope is in the first position.
    Type: Grant
    Filed: October 5, 2016
    Date of Patent: September 21, 2021
    Assignee: COVIDIEN LP
    Inventor: Dwight Meglan
  • Patent number: 11123143
    Abstract: A method for calibrating a surgical device is provided. The method includes acquiring first data including a position and/or an orientation of a first object disposed on the surgical device at a first location; acquiring second data including a position and/or an orientation of a second object disposed on the surgical device at a second location; determining third data including a position and/or an orientation of the first object relative to the second location; and determining a position and/or an orientation of the second object relative to the second location based at least in part on the first data, the second data, and the third data.
    Type: Grant
    Filed: July 12, 2019
    Date of Patent: September 21, 2021
    Assignee: MAKO Surgical Corp.
    Inventors: Hyosig Kang, Dennis Moses, Arthur Quaid
  • Patent number: 11051852
    Abstract: A connection device attached to one structure includes structures having adjacent slots that are alligned to receive and permit placement of an elongated member, and are subsequently relatively movable to retain the elongated member to restrict or occlude the adjacent slot opening restricting removal, and further provides a sheer force between the structures each having the slot to receive the elongated member, to engage and secure the outer surface of a tubular member received into an aperture common through 2 adjacent members, each member aperture having an axis parallel to and offset from the other, wherein rotation of one of the 2 members causes the surface of the offset aperture and the surface of the non-offset aperture to apply a shear force and/or friction to engage and retain the tubular member. Access to the aperture is provided by slot extending from the aperture to the member periphery.
    Type: Grant
    Filed: April 30, 2019
    Date of Patent: July 6, 2021
    Inventors: Dmitri Menn, Michael Golinder
  • Patent number: 11033338
    Abstract: [Problem] A surgical apparatus of the related art controls only the cropping position of a captured image, and thus only executes a limited range of image control in laparoscopic surgery. [Solution] A medical information processing apparatus including: an image control section that controls processing of a captured image from a camera; and an arm control section that controls a motion of an arm that supports the camera. One of the image control section and the arm control section executes control on a basis of control information from another control section.
    Type: Grant
    Filed: November 28, 2016
    Date of Patent: June 15, 2021
    Assignee: SONY CORPORATION
    Inventors: Yuki Sugie, Daisuke Kikuchi, Tomoyuki Hirayama, Yasuhiro Matsuda, Daisuke Nagao, Takara Kasai
  • Patent number: 11033183
    Abstract: A new steerable endoscope for minimally invasive surgery is provided. The endoscope system includes: a wireless steerable endoscope (1), an external magnetic controller (2) and an image/video display (3). The wireless steerable endoscope (1) could be inserted through an incision (4-1) on the body skin (4) and be anchored/steered inside the body cavity by the external magnetic controller (2). It is shaftless, wireless, and can be steered inside the body, operating in a remote manner. Compared with existing endoscopes, it neither requires additional incision nor does it occupy trocar or port space. Without the endoscope shaft, the surgical access trauma and incision size can potentially be reduced, avoiding endoscope-instrument fencing. It can be placed remotely from the access incision, providing an improved and wider field of view. It is soft-bodied and compact in structure, therefore safety is high.
    Type: Grant
    Filed: January 19, 2017
    Date of Patent: June 15, 2021
    Assignee: The Chinese University of Hong Kong
    Inventors: Zheng Li, Calvin Sze Hang Ng, Philip Wai Yan Chiu, Joseph Jao Yiu Sung
  • Patent number: 10987129
    Abstract: An access device for accessing an intervertebral disc having an outer shield comprising an access shield with a larger diameter (˜16-30 mm) that reaches from the skin down to the facet line, with an inner shield having a second smaller diameter (˜5-12 mm) extending past the access shield and reaches down to the disc level. This combines the benefits of the direct visual microsurgical/mini open approaches and the percutaneous, “ultra-MIS” techniques.
    Type: Grant
    Filed: September 1, 2016
    Date of Patent: April 27, 2021
    Assignee: Medos International Sarl
    Inventors: Daniel Thommen, Joern Richter, Michael Wang, Richard Assaker, Richard Fessler, Christoph Mehren, Seang Beng Tan, William Taylor, Eric Buehlmann, Michael White
  • Patent number: 10973597
    Abstract: For controlling a robotic surgical system including arms, consoles, and a controller in communication with the arms and consoles, systems and methods are provided that include receiving a request for selection of a first arm for assignment to a first console, and in response to the request, determining whether the first arm is already assigned, assigning the first arm to the first console, if a determination is made that the first arm is not already assigned, determining whether the first arm is to be deselected from a previous assignment, if a determination is made that the first arm is already assigned, generating an error message, if a determination is made that the first arm is not to be deselected, and deselecting the first arm from the previous assignment and assigning the first arm to the first console, if a determination is made that the first arm is to be deselected.
    Type: Grant
    Filed: October 20, 2016
    Date of Patent: April 13, 2021
    Assignee: COVIDIEN LP
    Inventors: James Mccormick, Gabriel McHugh, William Peine, Renen Bassik
  • Patent number: 10952802
    Abstract: A computer-assisted surgical system comprises a master grip input mechanism, a surgical instrument comprising an end effector configured to apply a gripping force, and a controller. The controller is configured to receive a first input signal in response to grip input at the master grip input mechanism. The controller is further configured to receive a second input signal after receiving the first input signal, wherein the second input signal is received in response to a procedure input at a master input device, with the procedure input being different from the grip input at the master grip input mechanism and further being indicative of a user's readiness to operate the surgical instrument to perform a first surgical procedure. The controller is further configured to, in response to receiving the first input signal and the second input signal, cause one or more degrees of freedom of the surgical instrument to be placed in a locked state.
    Type: Grant
    Filed: November 15, 2019
    Date of Patent: March 23, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Gregory F. Richmond, Gary S. Guthart
  • Patent number: 10952751
    Abstract: A medical device having a body having a first bubble vane for measuring angle in one plane; said body having a second bubble vane for measuring an angle in another plane; said first bubble vane having angle indicia; said second bubble vane having angle indicia; said one plane being the in a different plane from said another plane and the angles in the two planes providing the entry point for an incision for the placement of an orthopedic device.
    Type: Grant
    Filed: November 9, 2016
    Date of Patent: March 23, 2021
    Assignee: MARKSMAN TARGETING, INC.
    Inventor: Roy Anthony Brown
  • Patent number: 10945586
    Abstract: The invention is directed to a method for operating a visualization system which includes a surgical microscope assembly for viewing a surgical region under magnification. The surgical microscope assembly is provided with a computer unit having a display for displaying image data. A detection arrangement is configured to detect endoscopic images in the surgical region and is operatively coupled to the surgical microscope assembly. A circuit actuable by a viewing person is configured to detect actuation data. The circuit is configured to set an operating state of the surgical microscope assembly matched to the detection arrangement in response to a presence of the actuation data for the surgical microscope assembly.
    Type: Grant
    Filed: May 10, 2019
    Date of Patent: March 16, 2021
    Assignee: Carl Zeiss Meditec AG
    Inventors: Joachim Steffen, Gerald Panitz, Christoph Hauger, Roland Guckler, Konstantinos Filippatos
  • Patent number: 10945751
    Abstract: Surgical instruments and surgical systems including the surgical instrument and a morcellator. The surgical instrument includes a tool assembly having an articulating joint and a screw positioned at a distal end of the articulating joint. The articulating joint is configured to articulate a distal portion of the tool assembly at an angle in relation to the longitudinal axis of the surgical instrument. The screw is configured to engage tissue, for example, a myoma in the uterine wall of a patient, and is configured to pitch and roll the tissue to expose cutting planes. The morcellator is configured to engage the tissue to morcellate the tissue and remove the tissue from a patient.
    Type: Grant
    Filed: May 22, 2017
    Date of Patent: March 16, 2021
    Assignee: Covidien LP
    Inventors: Joe D. Sartor, David N. Heard
  • Patent number: 10932878
    Abstract: A surgical robotic drape for enveloping a surgical robotic arm includes a covering for enveloping the robotic arm to define a sterile boundary thereover; an interface element attached to the covering, the interface element being configured to engage a drive assembly interface and an instrument interface to couple the drive assembly to an instrument to thereby provide drive to the instrument through the drape; and a guiding structure attached to the covering for locating the interface element relative to the drive assembly interface. The guiding structure is deformable between a storage configuration for when the drape is to be stored, and an operative configuration in which the guiding structure is configured to attach to the robotic arm to position the interface element with respect to the interface of the drive assembly for engagement therewith.
    Type: Grant
    Filed: May 6, 2016
    Date of Patent: March 2, 2021
    Assignee: CMR Surgical Limited
    Inventors: Luke David Ronald Hares, Keith Marshall, Rebecca Anne Cuthbertson, Nikki Priyam Su-Ling Phoolchund
  • Patent number: 10905421
    Abstract: Systems and methods for stapling tissue during surgery are provided. In one exemplary embodiment, a surgical stapling system is provided that includes a staple shaft assembly having a staple advancing and forming assembly and a shaft with a plurality of staples, a drive system operably coupled to the staple shaft assembly and operably coupled to at least one motor, and a control system. The drive system can have a plurality of stages of operation that drive the staple advancing and forming assembly to form a staple around tissue. The control system can be configured to actuate the at least one motor to drive the drive system and thereby control movement of the staple advancing and forming assembly and to modify a force applied to the drive system by the at least one motor during at least one stage of operation based on at least one predetermined threshold.
    Type: Grant
    Filed: August 29, 2017
    Date of Patent: February 2, 2021
    Assignee: Ethicon LLC
    Inventors: Frederick E. Shelton, IV, Michael J. Vendely, Jason L. Harris
  • Patent number: 10898283
    Abstract: Devices, systems and methods for detecting a position of an object with a robot surgical system having an articulable, separable camera stand. The surgical robot system may include a robot having a robot base with a robot arm and an end-effector coupled to the robot arm. The end-effector, surgical instruments, the patient, other objects, or any combination thereof, may be tracked via active and/or passive tracking markers. A camera, such as an infrared camera, a bifocal camera or a stereophotogrammetric infrared camera, is mounted on a separable camera stand and is able to detect the tracking markers when in use. Using the camera, the robot determines a position of the object from the tracking markers, which may be a three-dimensional position of the object or the markers. When convenient, the camera base may be assembled into the robot base, e.g., by sliding the camera base into the robot.
    Type: Grant
    Filed: January 9, 2019
    Date of Patent: January 26, 2021
    Assignee: Globus Medical, Inc.
    Inventors: David Cleary, Norbert Johnson, Kevin Zhang
  • Patent number: 10893912
    Abstract: Embodiments of the present disclosure provide a surgical robot system may include an end-effector element configured for controlled movement and positioning and tracking of surgical instruments and objects relative to an image of a patient's anatomical structure. In some embodiments the end-effector may be tracked by surgical robot system and displayed to a user. In some embodiments the end-effector element may be configured to restrict the movement of an instrument assembly in a guide tube. In some embodiments, the end-effector may contain structures to allow for magnetic coupling to a robot arm and/or wireless powering of the end-effector element. In some embodiments, tracking of a target anatomical structure and objects, both in a navigation space and an image space, may be provided by a dynamic reference base located at a position away from the target anatomical structure.
    Type: Grant
    Filed: April 11, 2016
    Date of Patent: January 19, 2021
    Assignee: Globus Medical Inc.
    Inventors: Neil R. Crawford, Nicholas A. Theodore, Mitchell Foster, Norbert Johnson, Timothy Moulton, Kevin Zhang, Jeffrey Forsyth, Chris Major, Robert LeBoeuf, David Cleary
  • Patent number: 10881284
    Abstract: A cleaning device for a surgical tool includes a housing having at least one opening for accessing an interior of the housing; a sponge and a heater assembly positioned in the interior of the housing; and a connector. The connector includes a first arm and a second arm extending from an outer surface of the housing. An inner surface of the first arm and an inner surface of the second arm define at least a first recess sized to receive a sidewall of a first tubular body having a first diameter, and a second recess sized to receive a sidewall of a second tubular body having a second diameter, different than the first diameter. The connector is configured to removably attach the housing to the sidewall of the first tubular body or to the sidewall of the second tubular body to supporting the housing relative to the tubular body.
    Type: Grant
    Filed: February 28, 2019
    Date of Patent: January 5, 2021
    Assignee: Medix3d LLC
    Inventor: Claude Fiset
  • Patent number: 10869729
    Abstract: 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: Grant
    Filed: February 27, 2017
    Date of Patent: December 22, 2020
    Assignee: Covidien LP
    Inventors: Chi Min Seow, Jaimeen Kapadia, Mark Macleod, Michael Zemlok
  • Patent number: 10856770
    Abstract: A surgical system comprises a display screen, an endoscopic device, and a non-transitory, computer-readable storage medium that stores a plurality of instructions for execution by one or more computer processors. The instructions are for: determining a current position of a reference point on the endoscopic device relative to a reference frame; determining a first vector from the current position to a position of a first landmark relative to the reference frame; transforming the first vector from the reference frame to an image reference frame that corresponds to a perspective of an image capturing device disposed at a tip of the endoscopic device; displaying a graphical representation of the transformed first vector along with a current image captured by the image capturing device—the displayed graphical representation indicates a direction to steer the tip of the endoscopic device towards the first landmark; and periodically repeating the above processes.
    Type: Grant
    Filed: August 5, 2014
    Date of Patent: December 8, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Giuseppe Maria Prisco, Vincent Duindam
  • Patent number: 10842529
    Abstract: A surgical access port comprises a seal and an instrument guide, which comprises proximal and distal ends, a plurality of instrument guide channels, and an outside surface that fits closely to an inner wall surface of a cannula into which the instrument guide is inserted. The seal is positioned to seal between the instrument guide and the inner wall surface as the instrument guide rotates within the cannula. A first guide channel is configured to support a first surgical instrument at a first defined position within the cannula. A second guide channel is configured to support a second surgical instrument at a second defined position within the cannula. A first guide channel opening is defined along a length of the first guide channel to be open to the outside surface of the instrument guide and place a portion of the first surgical instrument adjacent the inner wall surface.
    Type: Grant
    Filed: January 9, 2018
    Date of Patent: November 24, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Thomas G. Cooper, Anthony K. McGrogan, Paul E. Lilagan, Daniel H. Gomez, Giuseppe Maria Prisco
  • Patent number: 10842576
    Abstract: A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.
    Type: Grant
    Filed: March 26, 2019
    Date of Patent: November 24, 2020
    Assignee: VICARIOUS SURGICAL INC.
    Inventors: Adam Sachs, Sammy Khalifa, Barry Stuart Greene
  • Patent number: 10835326
    Abstract: A medical robot system, including a robot coupled to an effectuator element with the robot configured for controlled movement and positioning. The system may include a transmitter configured to emit one or more signals, and the transmitter is coupled to an instrument coupled to the effectuator element. The system may further include a motor assembly coupled to the robot and a plurality of receivers configured to receive the one or more signals emitted by the transmitter. A control unit is coupled to the motor assembly and the plurality of receivers, and the control unit is configured to supply one or more instruction signals to the motor assembly. The instruction signals can be configured to cause the motor assembly to selectively move the effectuator element.
    Type: Grant
    Filed: July 13, 2017
    Date of Patent: November 17, 2020
    Assignee: Globus Medical Inc.
    Inventors: Neil R. Crawford, Nicholas Theodore, Mitchell A. Foster
  • Patent number: 10820951
    Abstract: An apparatus for use during robotic surgery, where the apparatus includes a robotic arm; a tool driver connected to the robotic arm; a cannula including a proximal portion and a distal portion wherein the proximal portion is coupled to the tool driver; and a damping element connected to one of the robotic arm, the tool driver and the cannula. Also, a method including guiding a surgical tool coupled to a robotic arm into a patient, wherein the surgical tool is disposed through a cannula and coupled to a tool driver coupled to a distal portion of the robotic arm; and maneuvering the tool driver by way of the robotic arm, wherein vibrations generated by the maneuvering are inhibited by a damping element coupled to one of the robotic arm, the tool driver and the cannula.
    Type: Grant
    Filed: March 12, 2018
    Date of Patent: November 3, 2020
    Assignee: VERB SURGICAL INC.
    Inventors: Vijay Soundararajan, David James Cagle
  • Patent number: 10820896
    Abstract: A surgical retractor is disclosed herein. In some embodiments, a surgical retractor includes a body extending from a proximal end to a distal end and having a first portion coupled to a second portion via a hinged connection, wherein the first and second portions are configured to rotate about a body axis; a first radiolucent tip coupled to a distal portion of the first portion; a second radiolucent tip coupled to a distal portion of the second portion; a holder coupled to one of the first or second portions; and a deformable member extending through the holder, wherein the deformable member is configured to be deformed to facilitate fixation of the surgical retractor at a desired location.
    Type: Grant
    Filed: June 7, 2018
    Date of Patent: November 3, 2020
    Assignee: Globus Medical Inc.
    Inventors: David Laird, Jr., Andrew Davison, Gabrielle Zingalis, Michelle Gray
  • Patent number: 10792819
    Abstract: An information processing apparatus includes a controller. The controller controls, in accordance with a touch on one or plural devices by a user, execution of a cooperative function that uses the one or plural devices.
    Type: Grant
    Filed: March 8, 2018
    Date of Patent: October 6, 2020
    Assignee: FUJI XEROX CO., LTD.
    Inventor: Kengo Tokuchi
  • Patent number: 10798339
    Abstract: A telepresence apparatus includes a first computer assembly configured to interface with a first memory assembly configured to tangibly store programmed coded instructions. The programmed coded instructions are configured to urge the first computer assembly to compute whether to suspend transmission of an aspect of a telepresence data unit to the second computer assembly via the communication network depending on a match made between a user gesture signal and a predetermined user gesture.
    Type: Grant
    Filed: June 13, 2018
    Date of Patent: October 6, 2020
    Assignee: RoboRep Inc.
    Inventors: Steven Robert McMillan, Andrew Hogue
  • Patent number: 10786142
    Abstract: A surgical instrument, such as an ureteroscope. The surgical instrument including an elongated shaft tube with at least two working channels arranged in an interior of the shaft tube. In at least a distal end area of the shaft tube, the at least two working channels, in cross-section, each have a profile edge.
    Type: Grant
    Filed: November 29, 2017
    Date of Patent: September 29, 2020
    Assignee: OLYMPUS WINTER & IBE GMBH
    Inventor: Gregor Kiedrowski
  • Patent number: 10751136
    Abstract: The various inventions relate to robotic surgical devices, consoles for operating such surgical devices, operating theaters in which the various devices can be used, insertion systems for inserting and using the surgical devices, and related methods.
    Type: Grant
    Filed: May 18, 2017
    Date of Patent: August 25, 2020
    Assignee: Virtual Incision Corporation
    Inventors: Shane Farritor, Dmitry Oleynikov, John Murphy, Sabrina Varanelli, Jeff Shasho, Nathan Wood, Jack Wilson, Eleanora Pea Allen
  • Patent number: 10736494
    Abstract: According to exemplary embodiments of the present disclosure, apparatus, device and method can be provided which can provide imaging of biological tissues, e.g., luminal organs in vivo, using optical techniques in an automatic or semiautomatic manner. The exemplary apparatus, device and method can utilize a tethered capsule catheter with a mechanism for manual, semi-automatic or automatic traversing in the luminal organ with a controlled velocity and/or image quality. The exemplary apparatus can include feedback information about tension applied to the catheter during its movement that can be used to adjust velocity and assure patient comfort and safety for example during passing through natural sphincters and/or narrowing of the luminal organs and preventing from breaking of the catheter. The exemplary apparatus can also adjust velocity in order to provide good quality of acquired images, for example to engaged peristalsis and provide contact with the tissue.
    Type: Grant
    Filed: January 30, 2015
    Date of Patent: August 11, 2020
    Assignee: The General Hospital Corporation
    Inventors: Michalina Gora, Guillermo J. Tearney, Robert Carruth
  • Patent number: 10709513
    Abstract: A robotic surgical system including a control system that controls the movement of a robotic arm coupled to a tool assembly having an end effector is described. The control system can also assist with controlling either the articulation or rotation of the end effector. Furthermore, the control system can detect and monitor one or more properties (e.g., articulation, rotation, etc.), which can be used by the control system to determine one or more appropriate movement parameters of either the robotic arm (e.g., velocity of movement) or the tool assembly coupled to the robotic arm (e.g., rotational speed of the end effector). The control system can detect any number of characteristics related to the end effector and use such information to control a variety of movement parameters associated with either the robotic arm or the tool assembly.
    Type: Grant
    Filed: October 5, 2018
    Date of Patent: July 14, 2020
    Assignee: Ethicon LLC
    Inventors: David C. Yates, Frederick E. Shelton, IV, Michael J. Vendely, Jason L. Harris, Mark D. Overmyer
  • Patent number: 10706544
    Abstract: Apparatus for an automatic identification of medically relevant video elements, the apparatus including a data input, configured to receive a data stream of image slices, wherein the data stream of image slices represents a temporal course of a view of image slices defined by a masking strip of video images from a video which has been recorded during a medical surgery on a patient an analysis apparatus configured to analyze the data stream of image slices via an analysis including at least one predefined analysis step for the presence of at least one sought-for feature and to output a result of the presence, and a processing device configured to output a start mark which indicates a correspondence between the presence and a position in the data stream of image slices if the result indicates the presence of the sought-for feature. Also, a corresponding method is disclosed.
    Type: Grant
    Filed: November 10, 2017
    Date of Patent: July 7, 2020
    Assignee: KARL STORZ SE & CO. KG
    Inventors: Christoph Hiltl, Heinz-Werner Stiller, Nader Hassanzadeh, Mélissa Wiemuth, Frank Stock, Lars Mündermann, Bernd Münzer
  • Patent number: 10702384
    Abstract: A heart valve anchor apparatus may include a body having a proximal portion and a distal portion. The body may include a first radially expandable portion at the proximal portion of the body, a second radially expandable portion at the distal portion of the body, and a root portion extending from the first radially expandable portion to the second radially expandable portion, the root portion having an outer extent. The first radially expandable portion may be configured to self-expand to an outer extent greater than the outer extent of the root portion when radially unconstrained. The second radially expandable portion may be configured to self-expand to an outer extent greater than the outer extent of the root portion when radially unconstrained. In an unstressed configuration, the body may define a longitudinal centerline that extends away from a plane tangent to the root portion.
    Type: Grant
    Filed: August 16, 2017
    Date of Patent: July 7, 2020
    Assignee: Boston Scientific Scimed, Inc.
    Inventors: Katherine L. Baldwin, James P. Rohl, James K. Cawthra, Jr., Joseph A. Dearani, Daniel Shuey, Dale Groth
  • Patent number: 10695136
    Abstract: Collisions between a minimally invasive surgical instrument and patient tissue are prevented in various ways. A real time image of a surgical site is mosaiced over a previously recorded more distal image of the site. Surgical instruments are visible in the real time image, and representations of the surgical instruments as they would appear in the previously recorded image are generated and displayed on the previously recorded image. Consequently, a person moving the surgical instruments sees a representation of the instruments outside the field of view of an imaging system taking the real time images.
    Type: Grant
    Filed: January 5, 2018
    Date of Patent: June 30, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: David Q. Larkin
  • Patent number: 10694933
    Abstract: A medical imaging apparatus including a controller including circuitry configured to control display on a display area of a medical image, control display on the display area of a superimposed image corresponding to the medical image such that the superimposed image is displayed overlapped on the medical image, detect a position of an important element within the medical image, and determine a position of the superimposed image within the display area, based on the detected position of the important element, such that the superimposed image does not overlap on the important element within the medical image.
    Type: Grant
    Filed: June 1, 2015
    Date of Patent: June 30, 2020
    Assignee: SONY CORPORATION
    Inventor: Kenta Yamaguchi
  • Patent number: 10682190
    Abstract: A system and method of monitoring control points during reactive motion includes a computer-assisted medical device. The computer-assisted medical device includes one or more articulated arms each having a control point and a control unit coupled to the one or more articulated arms. The one or more articulated arms and corresponding control points are configured to track movement of a surgical table. The control unit monitors a spatial configuration of the one or more control points by determining an expected spatial configuration of the one or more control points during the movement of the surgical table, determining an actual spatial configuration of the one or more control points during the movement of the surgical table, and determining a difference between the expected spatial configuration and the actual spatial configuration.
    Type: Grant
    Filed: October 27, 2015
    Date of Patent: June 16, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Paul G. Griffiths, Brandon D. Itkowitz, Goran A. Lynch
  • Patent number: 10668869
    Abstract: A camera unit for capturing images of the outer region of a motor vehicle includes a housing in which the camera unit is accommodated, a cover element, and a drive unit for moving the camera unit and for moving the cover element. A pivot element is movably mounted about a first axis of rotation and has a first arm, which is motionally connected to the cover element, and a second arm. A lever element, which is movably mounted about a second axis of rotation, is operatively connected to the cover element. A guide element, which is mounted about a third axis of rotation, includes a first guide arm that is operatively connected to the second arm of the pivot element and a second guide arm which is motionally coupled to the camera unit.
    Type: Grant
    Filed: June 1, 2017
    Date of Patent: June 2, 2020
    Assignee: Huf Huelsbeck & Fuerst GmbH & Co. KG
    Inventor: Joachim Barthel
  • Patent number: 10667875
    Abstract: Provided are systems and techniques for providing multiple perspectives during medical procedures. In one aspect, a method includes positioning a plurality of cannulas in a plurality of anatomical quadrants of a patient, inserting first and second surgical tools coupled to corresponding robotic arms into the respective cannulas. The method may include inserting an articulatable camera coupled to another robotic arm into another of the cannulas, where the articulatable camera is capable of showing a first view including the first surgical tool in a first anatomical quadrant and articulating to show a second view including the second surgical tool in a second anatomical quadrant. The method may further involve performing a surgical procedure in at least one of the first anatomical quadrant or the second anatomical quadrant.
    Type: Grant
    Filed: April 16, 2019
    Date of Patent: June 2, 2020
    Assignee: Auris Health, Inc.
    Inventors: Joshua F. DeFonzo, Andrew F. O'Rourke, Travis Michael Schuh, Yanan Huang, Jason Tomas Wilson
  • Patent number: 10595715
    Abstract: The overtube includes an interlocking member which is configured to be movable forward and backward inside an overtube body—and has an endoscope-coupled part and a treatment tool-coupled part. A side hole that is formed to pass through a side wall of the overtube body in communication with a passage in the overtube body for sending a fluid into a body cavity, and a side wall is configured to be openable and closable by the forward and backward movement of the interlocking member.
    Type: Grant
    Filed: November 14, 2018
    Date of Patent: March 24, 2020
    Assignee: FUJIFILM Corporation
    Inventor: Takumi Dejima
  • Patent number: 10588766
    Abstract: A steerable intravascular anchor comprises an anchor portion that is steerable to a position and then pinned thereto by an external device protruding through the superficial temporal artery. The pin is steered through the skin into the anchor under, for example, by fluoroscopic guidance. The anchor portion, in one embodiment, may have a figure-eight shape, and that comprises two wires, each wire forming a ring. The rings may be located in the same plane or at an angle with respect to one other. Alternatively, the anchor portion comprises a plurality of wires, each wire forming a ring, each ring being connected to at least one other ring. It will be appreciated that other wire shapes may be used, including loops, triangles, squares, pentagons, hexagons, and the like, and combinations thereof.
    Type: Grant
    Filed: March 4, 2015
    Date of Patent: March 17, 2020
    Assignee: RAM MEDICAL INNOVATIONS, LLC
    Inventor: Mubin I. Syed
  • Patent number: 10582977
    Abstract: The invention relates to a device and a method to assist with the operation of an instrument by means of said device, the device and the method using leverage effects in order to calculate the data relative to any point of an instrument axis, instead of using low-accuracy sensors. Other improvements are also described that allow higher-quality usage performance for the operator, which reduces the risk of errors and simplifies the operations.
    Type: Grant
    Filed: February 5, 2016
    Date of Patent: March 10, 2020
    Assignees: CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE (CNRS), SORBONNE UNIVERSITE, ENDOCONTROL
    Inventors: Guillaume Morel, Lin Dong, Florian Richer, Nicolas Perrin, Clément Vidal, Bérengère Bardou
  • Patent number: 10575910
    Abstract: A system and method of maintaining a tool position and orientation for a computer-assisted medical device include a device with an articulated structure including a plurality of joints and a control unit. The articulated structure is configured to support a tool distal to the joints. The control unit is configured to determine an initial position and orientation of the tool prior to movement of a first joint, determine, while the first joint is moving, a current position and orientation of the tool, determine a difference between the current and the initial position and orientation, and drive at least a second joint based on the difference to maintain a position and orientation of the tool at the initial position and orientation. In some embodiments, the position and orientation of the tool are maintained relative to a reference coordinate frame based on a cause of the moving of the first joint.
    Type: Grant
    Filed: August 10, 2018
    Date of Patent: March 3, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Brandon D. Itkowitz, Nitish Swarup, Paul G. Griffiths, Goran Lynch
  • Patent number: 10568706
    Abstract: Methods and devices are provided for supporting an elongate shaft on a surgical tool during robotic surgery. For example, a tool holder is provided with an elongate carrier arm configured to couple to a distal end of a surgical robotic arm. The tool holder has a housing that is removably mounted on the carrier arm and that is configured to be positioned adjacent to a tissue surface without extending into tissue. The tool holder thus simulates a trocar. The housing has an opening formed therethrough for receiving an elongate shaft of a surgical tool, and the opening has an inner diameter that is configured to dynamically adjust in size to adapt to and resist movement of elongate shafts of varying diameters inserted therethrough.
    Type: Grant
    Filed: December 15, 2016
    Date of Patent: February 25, 2020
    Assignee: Ethicon LLC
    Inventors: Katherine J. Schmid, Eric W. Thompson, Cara Shapiro