Articulated Segments Patents (Class 600/141)
  • Patent number: 11925555
    Abstract: The present invention relates to a double steerable sheath, a delivery system comprising such a sheath and a method for deployment of a medical device, e.g. a replacement heart valve prosthesis, in a patient's heart.
    Type: Grant
    Filed: August 22, 2018
    Date of Patent: March 12, 2024
    Assignee: TRICARES SAS
    Inventors: Nadine Stappenbeck, Helmut Straubinger
  • Patent number: 11877815
    Abstract: A robotic surgical instrument comprising a shaft, an articulated section and a drive mechanism. The articulated section extends from the shaft and terminates at its distal end in a tip. The tip has an attachment for an end effector. The drive mechanism drives the articulated section via flexible driving elements thereby altering the angular orientation of the tip relative to the shaft. The drive mechanism is controlled so as to always fully compress the articulated section along at least one extent by which the articulated section connects the tip and the shaft whilst driving the articulated section from any one configuration to any other configuration. The drive mechanism constrains movement of the articulated section so as to permit the tip to move with two degrees of rotational freedom and no degrees of translational freedom relative to the shaft.
    Type: Grant
    Filed: August 11, 2021
    Date of Patent: January 23, 2024
    Assignee: CMR SURGICAL LIMITED
    Inventors: Steven James Randle, Luke David Ronald Hares, Keith Marshall
  • Patent number: 11839359
    Abstract: Endoscope systems with bending sections that can bend in four directions independent of the rotatable viewing configuration of the endoscope systems are provided. Methods of using the endoscope systems in a patient's body are further provided.
    Type: Grant
    Filed: June 8, 2021
    Date of Patent: December 12, 2023
    Assignee: Cook Medical Technologies LLC
    Inventors: John Crowder Sigmon, Jr., Shaun D. Gittard
  • Patent number: 11786106
    Abstract: An endoscope imaging system comprises a robotic controlled steerable catheter and an imaging device removably arranged in a tool channel of the catheter. One or more sensors or markers are configured to map a positional relation of the catheter with respect to an orientation of the imaging device. A controller drives the steerable catheter to manipulate the distal end thereof, while the imaging device acquires an image of a subject or sample. While the imaging device acquires the image, a processor calculates a change in positional relation of the catheter with respect to the orientation of the imaging device based on information provided by the one or more sensors or markers. An output unit provides an indication for remapping the orientation of the steerable catheter with respect to the orientation of the imaging device.
    Type: Grant
    Filed: May 5, 2021
    Date of Patent: October 17, 2023
    Assignees: Canon U.S.A., Inc., The Brigham and Women's Hospital Inc.
    Inventors: Fumitaro Masaki, Franklin King, Nobuhiko Hata, Takahisa Kato
  • Patent number: 11751755
    Abstract: A steerable device, such as a steerable catheter, may include a control handle and an insertion shaft extending outwardly therefrom. In use, the insertion shaft is navigated to an area of interest for examination and/or treatment thereof. The steerable device may include a steering system that controls the deflection angle of the distal end of the insertion shaft in two or more non-planar directions for navigating the insertion shaft to the area of interest. The steering system may also include a locking mechanism for arresting or partially arresting the movement of the distal end of the insertion shaft in a first direction independent of arresting or partially arresting the movement of the distal end in a second non-planar direction.
    Type: Grant
    Filed: September 9, 2020
    Date of Patent: September 12, 2023
    Assignee: Boston Scientific Scimed, Inc.
    Inventors: John B. Golden, Mark Monroe
  • Patent number: 11730552
    Abstract: A robotic electromechanical surgical instrument includes a housing, an elongated shaft that extends distally from the housing, a wrist assembly supported on the elongated shaft, an end effector coupled to the wrist assembly, a universal joint assembly supported within the wrist assembly, and cables coupled to the wrist assembly. The elongated shaft defines a longitudinal axis. The wrist assembly includes a first joint coupled to a second joint. The universal joint assembly is rotatable to actuate a function of the end effector. The plurality of cables is movable to manipulate the first and second joints to enable the universal joint assembly and the wrist assembly to articulate relative to the longitudinal axis.
    Type: Grant
    Filed: January 2, 2019
    Date of Patent: August 22, 2023
    Assignee: Covidien LP
    Inventor: Zachary Traina
  • Patent number: 11696671
    Abstract: A steerable endoscope is provided with active steering control. An endoscope includes a flexible tubular body with first and second articulating segments, and a camera. In an embodiment, the endoscope includes an orientation sensor. A controller for the endoscope performs an automated analysis of an alignment between the motion axis of the endoscope and the viewing axis of the camera, and actively steers the endoscope to improve the alignment.
    Type: Grant
    Filed: August 17, 2020
    Date of Patent: July 11, 2023
    Assignee: Covidien AG
    Inventors: Derek Scot Tata, Alexandra Hause, Peter Douglas Colin Inglis, Craig Allen Patton
  • Patent number: 11678793
    Abstract: An endoscope including a handle and an insertion tube connected to the handle and having a bending section with a first elongate bending section part and a second elongate bending section part. The first elongate bending section part includes first annular members arranged in a row and interconnected by first bridges so as to form a first comb-like structure. The second elongate bending section part includes second annular members arranged in a row and interconnected by second bridges so as to form a second comb-like structure. An outer circumferential surface includes a groove adapted to receive a first bridge and a groove adapted to receive a second bridge of the first bending section part.
    Type: Grant
    Filed: October 18, 2021
    Date of Patent: June 20, 2023
    Assignee: AMBU A/S
    Inventors: Frederik Clausager Vemb Hansen, Ken Henrik Buch
  • Patent number: 11627866
    Abstract: The invention relates to a method for manufacturing an endoscope insertion tube (2).The insertion tube (2) has a proximal passive flexible section (20) and a distal angled section (A). The entire insertion tube, including the passive flexible section (20) and the angled section (A), is formed from a single tube element. The invention further relates to an endoscope having such an insertion tube (2).
    Type: Grant
    Filed: October 15, 2018
    Date of Patent: April 18, 2023
    Assignee: HOYA CORPORATION
    Inventors: Anh Minh Do, Thomas Viebach
  • Patent number: 11559191
    Abstract: The present invention discloses an insertion unit, a bending section and an intubation system for use in a body lumen of a patient. The insertion unit comprises an inner elongated shaft structure being capable of torque transmission around its length axis and having spring-like and flexibility properties and an outer elongated shaft structure at least partially surrounding the inner elongated shaft structure and having spring-like properties and a continuous and flat outer surface. The inner elongated shaft structure has a distal end, and is capable of being connected to an optical head. The insertion unit is configured to transmit pushing and rotation forces along a length of the insertion unit. The integral insertion unit is configured and operable to bend the distal tip in all directions and to fully rotate the distal tip.
    Type: Grant
    Filed: June 27, 2019
    Date of Patent: January 24, 2023
    Assignee: G.I. VIEW LTD.
    Inventors: Avraham Sinay, Yuval Raz, Zohar Deli, Ziv Rozenker, Albert Sviridovski
  • Patent number: 11547507
    Abstract: An apparatus for guiding an elongated flexible instrument, includes a first plurality of linkages forming a first side of a channel of a variable-length support assembly, a second plurality of linkages forming a second side of the channel, opposite the first side, a third plurality of linkages disposed between the first and second plurality of linkages and forming a third side of the channel, and a fourth plurality of linkages disposed between the first and second plurality of linkages and forming a fourth side of the channel, opposite the third side. Each of the first, second, third, and fourth pluralities of linkages are separable from each other to transition the variable-length support assembly from an elongated configuration to a compact configuration.
    Type: Grant
    Filed: May 5, 2020
    Date of Patent: January 10, 2023
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventor: Carolyn M. Fenech
  • Patent number: 11540819
    Abstract: The present application provides an endoscopic device having at least one shaft, which has at least one portion deflectable in at least one plane, and having at least one deflection mechanism, which is configured to deflect the deflectable portion and includes, arranged in series, at least one first connection member and at least one second connection member interacting for a deflection with the first connection member. The first connection member is formed at least partially from a first material, and the second connection member is formed at least partially from a second material, of which the elasticity differs from that of the first material.
    Type: Grant
    Filed: August 4, 2020
    Date of Patent: January 3, 2023
    Assignee: KARL STORZ SE & CO. KG
    Inventors: Sven Grüner, Jochen Stefan
  • Patent number: 11497387
    Abstract: A manipulator including joint mechanisms each including: first and second members extending along a central axis; the second member disposed at a distal end of the first member and being swivelable relative to the first member about a swivel axis; a guide sheath extending near the central axis, a distal end of the guide sheath being fixed to the second member; a manipulation wire introduced toward the distal end of the guide sheath; and a pulley provided in the second member such that the manipulation wire is wound at least partially around the pulley to cause a distal end of the wire to change direction towards the first member, the pulley being rotatable about an axis parallel to the swivel axis; wherein the distal end of the manipulation wire is fixed to the first member near the inner surface of the through hole.
    Type: Grant
    Filed: June 28, 2019
    Date of Patent: November 15, 2022
    Assignee: OLYMPUS CORPORATION
    Inventors: Shingo Nakayama, Kosuke Kishi
  • Patent number: 11452501
    Abstract: A bending neck for an articulating ultrasound probe has a variable configuration whereby different sections of the bending neck can be bent into different curvatures. In one implementation a rigid member is extended into the bending neck, setting the deflection point for a section of the bending neck at the end of the rigid member. In another implementation the links of the bending neck have different lengths, causing different sections to have different radii of maximum curvature. In another implementation the bending neck is encased in a sheath which exhibits regions of different durometer, thickness, or spacing of points of attachment to the bending neck.
    Type: Grant
    Filed: March 2, 2016
    Date of Patent: September 27, 2022
    Assignee: KONINKLIJKE PHILIPS N.V.
    Inventors: Dino Francesco Cuscuna, Kathryn Jinks
  • Patent number: 11371437
    Abstract: A tool for inserting into a cavity is provided. The tool includes a plurality of segments moveably coupled to one another, each segment moveable relative to an adjacent segment between a bent position and a coupled position, the plurality of segments including a first segment, the first segment including: a core formed of a first material; and a shell formed of a second material and comprising or defining a guide feature, a drive feature, a line guide, or a combination thereof; wherein the first material defines a greater stiffness than the second material.
    Type: Grant
    Filed: March 10, 2020
    Date of Patent: June 28, 2022
    Assignee: Oliver Crispin Robotics Limited
    Inventors: Trevor Owen Hawke, Andrew Crispin Graham, Jason Ralph Gordon Curle, Grant David Paul Westgarth
  • Patent number: 11350815
    Abstract: A medical manipulation assembly comprises a catheter including distal and proximal steerable portions with working channels. The assembly further comprises a steerable sheath through which the steerable portions extend. A distal steering mechanism, including a first lumen extending along a longitudinal axis of the catheter, bends the distal steerable portion. A proximal steering mechanism, including a second lumen extending along the axis and defined by a wall, bends the proximal steerable portion by rotational movement of the proximal steering mechanism independently of the distal steerable portion. The wall is rotatable about the axis. Distal pullwires extend between the distal steerable portion and the distal steering mechanism. Proximal pullwires extend between the proximal steerable portion and the proximal steering mechanism.
    Type: Grant
    Filed: July 9, 2015
    Date of Patent: June 7, 2022
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Christopher A. Rothe, Juan Diego Perea, David Miller, Vahid Saadat, Zachary J. Malchano, Ruey-Feng Peh
  • Patent number: 11344188
    Abstract: An actively bendable sheath such as ureteral access sheath (UAS) and a method for delivering a medical instrument (e.g. a ureteroscope) therethrough are disclosed. The sheath's tubular wall includes a deflectable or bendable segment at or adjacent to the distal sheath end. Two pull/control wires are slidably disposed within two separate dedicated channels/lumens and attached to points distally beyond the deflectable segment. The bendable segment may be passively bended by force from a bending medical instrument within it or by the force of a surgeon pulling one of the two pull/control wires.
    Type: Grant
    Filed: May 30, 2021
    Date of Patent: May 31, 2022
    Assignee: OTU Medical Inc.
    Inventors: Xibo Wei, Geping Liu
  • Patent number: 11305420
    Abstract: An articulated multi-link robotic tail (MLRT) system is provided comprising a rigid housing, an actuation unit coupled to the rigid housing, and an MLRT having a proximal end that is coupled to the rigid housing and a distal end opposite the proximal end. The MLRT comprises N segments, where N is a positive integer that is greater than or equal to one. Each segment comprises i links, where i is a positive integer that is greater than or equal to two. Each link is mechanically coupled to an actuator of the actuation unit and capable of being actuated by the actuator to which it is mechanically coupled to adjust a pitch, yaw and roll of the MLRT. The articulated MLRT system is well suited for being integrated with a mobile robot to assist in stabilizing and maneuvering the mobile robot.
    Type: Grant
    Filed: May 31, 2019
    Date of Patent: April 19, 2022
    Assignee: VIRGINIA TECH INTELLECTUAL PROPERTIES, INC.
    Inventors: Pinhas Ben-Tzvi, Wael Saab, William Rone, Yujiong Liu
  • Patent number: 11304769
    Abstract: A surgical instrument is inserted through a guide tube. The surgical instrument exits at an intermediate position of the guide tube and is oriented to be substantially parallel to the guide tube's longitudinal axis as it exits. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The guide tube is jointed to allow the image capture component to be moved. The surgical instruments and the guide tube are telemanipulatively controlled.
    Type: Grant
    Filed: September 11, 2019
    Date of Patent: April 19, 2022
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Thomas G. Cooper, David J. Rosa, Matthew R. Williams, Eugene F. Duval
  • Patent number: 11122962
    Abstract: A scope system is provided including an elongate tube with a distal portion and a lumen extending therethrough. The scope system also includes at least one accessory channel including a tubular structure with an accessory lumen extending therethrough, the at least one accessory channel movably disposed at least partially within the lumen of the elongate tube. The at least one accessory channel includes a distal section and a forward-viewing configuration and a side-viewing configuration. In the forward-viewing configuration, the distal section of the at least one accessory channel is substantially parallel to the distal portion of the elongate tube and in the side-viewing configuration, the distal section of the at least one accessory channel is arced at a radius greater than a radius of the distal portion of the elongate tube.
    Type: Grant
    Filed: January 22, 2020
    Date of Patent: September 21, 2021
    Assignee: Cook Medical Technologies LLC
    Inventors: Vihar C. Surti, John C. Sigmon, Jr., William S. Gibbons, Jr.
  • Patent number: 11116588
    Abstract: A robotic surgical instrument comprising a shaft, an articulated section and a drive mechanism. The articulated section extends from the shaft and terminates at its distal end in a tip. The tip has an attachment for an end effector. The drive mechanism drives the articulated section via flexible driving elements thereby altering the angular orientation of the tip relative to the shaft. The drive mechanism is controlled so as to always fully compress the articulated section along at least one extent by which the articulated section connects the tip and the shaft whilst driving the articulated section from any one configuration to any other configuration. The drive mechanism constrains movement of the articulated section so as to permit the tip to move with two degrees of rotational freedom and no degrees of translational freedom relative to the shaft.
    Type: Grant
    Filed: July 6, 2016
    Date of Patent: September 14, 2021
    Assignee: CMR Surgical Limited
    Inventors: Steven James Randle, Luke David Ronald Hares, Keith Marshall
  • Patent number: 11104008
    Abstract: A robot gripper includes two fingers of a grasper assembly configured to perform grasping motions via actuation of independent cable ends of a plurality of cables, and configured to move toward or away from each other to perform the grasping motion. Wherein each gripper finger is actuated by a pair of cables, a cable of the pair slides in a flexible sheath when actuated by a motor, moving the gripper finger in an opposite direction of another cable of the pair also in a flexible sheath, providing equal motions of each cable in the pair in opposite directions. A motor assembly including the motors is mounted at a location separate from the grasper assembly with the flexible sheathing extending between the assemblies. Such that the separate assembly mounting arrangement provides an improved ratio between a gripping force of the grippers versus the robot-lifted mass of the grasper assembly.
    Type: Grant
    Filed: March 27, 2019
    Date of Patent: August 31, 2021
    Assignee: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: William Yerazunis, Parthasarathi Ainampudi, Nakul Gopalan
  • Patent number: 11033678
    Abstract: In one embodiment, an injector includes a sleeve, a drive assembly, and a drive assembly housing. The sleeve is configured to receive a reservoir having a plunger therein. The drive assembly is configured to pressurize the reservoir and includes a tip, an actuator, and mechanical segments. The tip is configured to be secured to the plunger. The actuator is configured to supply a motive force to the tip for moving it between retracted and extended positions. The mechanical segments are configured to transmit motive force from the actuator to the tip. The drive assembly housing has a housing length in a direction parallel to a central longitudinal axis of the tip. The reservoir has a reservoir length L. A package length is defined by the housing length and the reservoir length L. The package length is less than 2L.
    Type: Grant
    Filed: November 19, 2018
    Date of Patent: June 15, 2021
    Assignee: AGIST MEDICAL SYSTEMS, INC.
    Inventor: Judson A. Herrig
  • Patent number: 11011726
    Abstract: A bendable backplate structure is configured to support a display panel and includes a supporting plate including at least a shaft channel extending to opposite sides of the supporting plate. A surface of the supporting plate is attached with the display panel. A bendable module disposed in the shaft channel includes a flexible covering portion and at least a magnet accommodated in and along the covering portion. The backplate structure and the display panel are foldable through the bendable module in a direction toward the display panel.
    Type: Grant
    Filed: November 2, 2018
    Date of Patent: May 18, 2021
    Inventor: Yun Li
  • Patent number: 10980607
    Abstract: A steerable introduction system for deploying an interventional tool (e.g., a replacement valve) within an anatomical object (e.g. a heart). The steerable introduction system employs a steerable introducer (20) including an end-effector for positioning the interventional tool within the anatomical object (e.g., the end-effector passively guides or actively steers the interventional tool within the anatomical object). The steerable introduction system further employs an image guidance workstation (120) controlling an actuation of a translation, a pivoting and/or a rotation of the end-effector within the anatomical object responsive to surgical image data illustrative of a position of the end-effector within the anatomical object (e.g., ultrasound or X-ray image data illustrative of a surgical position of the end-effector within a heart).
    Type: Grant
    Filed: March 28, 2017
    Date of Patent: April 20, 2021
    Assignee: KONINKLIJKE PHILIPS N.V.
    Inventors: Aleksandra Popovic, David Paul Noonan
  • Patent number: 10842963
    Abstract: A manually articulated stylet assembly for placing an endotracheal tube. The stylet assembly has a steering shaft that carries a flexible distal tip at one end and is attached to a handle at the other end. The distal tip is manipulated via sheathed cables controlled by a remote actuator in the handle. A biasing member inside the remote actuator maintains continuous tension on the cables to improve control. A video camera is carried in a recessed lens pocket in the steering shaft but spaced from the distal tip. The camera FOV captures movement of the distal tip with foreshortened perspective. A collar seat in the handle receives the collar connector of a standard endotracheal tube, providing quick disconnect when removing the stylet assembly upon placement.
    Type: Grant
    Filed: June 29, 2017
    Date of Patent: November 24, 2020
    Assignee: Brio Device, LLC
    Inventors: Laura McCormick, Gregg D. Niven
  • Patent number: 10792061
    Abstract: The present invention relates to mechanical transmission system (100, MTS) having a proximal (20) and distal end (40), for a longitudinal steerable tube (500), which MTS (100) comprises a set of longitudinal members, LM, (110) arranged in a longitudinal direction around a fictive tube (180) maintained at an essentially constant circumferential and radial position with respect to the fictive tube (180) and being slidable relative to the fictive tube (180), and has a transmission bendable proximal part (134, TBPP), transmission bendable distal part (130, TBDP), and transmission shaft region, TSR (132) between the TBDP (130) and TBPP (134) wherein movements of the TBPP (134) are transmitted to the TBDP (130) along the TSR (132) by the LMs (110), wherein the MTS (100) comprises a sub-region that is a transmission amplifier region, TAR, (135) in which the fictive tube (180) contains at least one plane-section (182) larger than that (184) of the TBDP (130).
    Type: Grant
    Filed: December 8, 2015
    Date of Patent: October 6, 2020
    Assignee: Steerable Instruments NV
    Inventors: Frank Dewaele, Cyriel Mabilde, Bart Blanckaert, Alain Kalmar, Lieven Maene
  • Patent number: 10775315
    Abstract: Systems for inserting and orienting a soft robotic probe into an apparatus and capturing images and methods of using the same are generally disclosed. For example, the system includes a cable, an actuation assembly, and a camera at the tip of the probe. The cable includes an adjustable sheath at an exterior of the cable defined around a probe centerline extending the length of the probe. The adjustable sheath extends and contracts the cable between a first length and a second length different from the first length and is defined within the adjustable sheath. The actuation assembly extends or contracts the cable between the first length and the second length and further adjusts an orientation of the cable, an orientation of the tip of the probe, or both along at least one axis. The camera captures images at least partially around a circumferential direction relative to a camera centerline.
    Type: Grant
    Filed: March 7, 2018
    Date of Patent: September 15, 2020
    Assignee: General Electric Company
    Inventors: Rajesh Mekala, Bellary Madhusudan Rao, Vinay Chaugule, Ileana Prisabel Corona, Ramon Reyes, Ramon Ulises Villarreal, Ramakrishnan Sethuraman
  • Patent number: 10750934
    Abstract: This invention may be directed to an endoscopic device. The endoscopic device comprising an elongate member having a distal end, and a cap positioned at the distal end. The cap may have a proximal end and a distal end. The proximal end may define at least one recess that does not extend through the cap to the distal end of the cap. The endoscopic device may further include at least one illumination device disposed in the at least one recess.
    Type: Grant
    Filed: January 17, 2019
    Date of Patent: August 25, 2020
    Assignee: Boston Scientific Scimed, Inc.
    Inventors: Christopher Benning, Paul Aquilino, John Hutchins, Scott Tupper
  • Patent number: 10750942
    Abstract: An adaptive blade for a laryngoscope includes a proximal end, a distal end, a first chain arranged between the ends and composed of a plurality of chain links connected in pairs in an articulated manner, a second chain arranged between the ends and composed of a plurality of chain links connected in pairs in an articulated manner, and a spacer component, connected at a first end in an articulated manner to the first chain, and connected at a second end in an articulated manner to the second chain. One or more or all of the articulated connections between the chain links of the first chain, the chain links of the second chain and the spacer component are provided as a form-fit hinge.
    Type: Grant
    Filed: July 21, 2017
    Date of Patent: August 25, 2020
    Assignee: KARL STORZ SE & CO. KG
    Inventor: Martina Aleckner
  • Patent number: 10743747
    Abstract: An articulation joint manufacturing process comprises cutting an elongated tube to form a multiplicity of links wherein adjacent links are connected by a bridge. The method comprises forming a fracturable portion on each bridge and connecting a multiplicity of springs to adjacentts links to form a workpiece. The method further comprises applying a torsional force to the workpiece about its longitudinal axis to fracture each bridge to form an articulation joint comprising a series of links wherein adjacent links are connected by at least one spring. Certain steps are formed by a laser. In one method, the springs are positioned on a mandrel and the springs are welded to the workpiece. The fracturable portion on the bridges may be produced by forming an indentation which may be a score, a perforation, an elongated indentation or an oval shaped indentation.
    Type: Grant
    Filed: October 24, 2018
    Date of Patent: August 18, 2020
    Assignee: Okay Industries, Inc.
    Inventor: Shawn H. Russell
  • Patent number: 10646107
    Abstract: An endoscope having a handle with a handle housing arranged at a proximal end of the endoscope and an insertion tube extending from said handle and terminating in a tip part of a bending section at the distal end of the endoscope, the bending section comprises a distal tubular end segment and a plurality of articulated bending segments, the bending section comprises an intermediate segment between the proximal distal end segment and the plurality of articulated bending segments, wherein the intermediate segment is longer than a bending segment and the distal end segment.
    Type: Grant
    Filed: May 26, 2016
    Date of Patent: May 12, 2020
    Assignee: AMBU A/S
    Inventors: Kaspar Mat Matthison-Hansen, Thomas Bachgaard Jensen, Jakob Bønnelykke Kristensen, Lasse Kjeld Gjøske Petersen
  • Patent number: 10478051
    Abstract: An endoscopic instrument with a shank which includes at least two segments which are connected to one another via diametrically opposite joints. Between axial face edges of the opposite joints facing one another a gap is present. The gap runs with at least one angular bend.
    Type: Grant
    Filed: February 19, 2015
    Date of Patent: November 19, 2019
    Assignee: RICHARD WOLF GMBH
    Inventors: Rudolf Heimberger, Sebastian Buccheri
  • Patent number: 10406324
    Abstract: An actuating member for making a flexible elongated member perform a predetermined action includes a push/pull member having a tip side and a base end side, the push/pull member including: a first moving portion and a second moving portion that are located on the base end side of the push/pull member and are movable relative to one another along an axis of the push/pull member, a first extending portion that extends from the first moving portion towards the tip side of the push/pull member, and a second extending portion that extends from the second moving portion towards the tip side of the push/pull member; an operating member that is rotatable about an axis that intersects an axis of the push/pull member, the operating member being configured such that rotation of the operating member causes movement of the first moving portion and the second moving portion.
    Type: Grant
    Filed: February 19, 2014
    Date of Patent: September 10, 2019
    Assignee: TERUMO KABUSHIKI KAISHA
    Inventor: Satoru Suehara
  • Patent number: 10390687
    Abstract: An endoscopic surgical instrument may include: two surgical instrument modules, each of which is provided with a surgical instrument portion; and/or an endoscopic module configured to form a triangular shape with the two surgical instrument modules and configured to capture operations of the surgical instrument modules at different angles using a plurality of joints. Wires connecting respective members coupled by the plurality of joints may be configured to amplify drive forces of a drive portion applied to the plurality of joints. The plurality of joints may include rolling joints at which teeth of gears engage and rotate with each other. The plurality of joints may provide three or more degrees of freedom to the endoscopic module.
    Type: Grant
    Filed: March 10, 2014
    Date of Patent: August 27, 2019
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Byung June Choi, Yong Jae Kim, Jeong Hun Kim, Kyung Shik Roh, Se Gon Roh, Youn Baek Lee, Jong Won Lee
  • Patent number: 10335177
    Abstract: A medical instrument includes a snake wrist structure further including: a first joint disk having a first rim having a first tooth slot and a first toothed gear with the first tooth slot opposite the first toothed gear along the first rim; and a first strut having a first slot bearing and a first hole bearing connected by a first connection strut with the first slot bearing in the first tooth slot.
    Type: Grant
    Filed: September 15, 2015
    Date of Patent: July 2, 2019
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: John Ryan Steger
  • Patent number: 10238271
    Abstract: The traction balance adjustment mechanism 1 includes a movable part 2 that goes into operation through at least one degree of freedom, wires 7 connected to the movable part 2, and a traction part 6 that pulls one of the wires 7 and pushes out the other, wherein the length of the one wire 7 pulled by the traction part 6 is longer than the length of the other wire 7 pushed out.
    Type: Grant
    Filed: August 4, 2016
    Date of Patent: March 26, 2019
    Assignee: OLYMPUS CORPORATION
    Inventor: Masafumi Haraguchi
  • Patent number: 10231608
    Abstract: An illumination system for variable direction of view instruments is disclosed generally comprising an endoscope having a longitudinal axis and a variable view vector that pivots about a pivot axis angularly offset from the longitudinal axis. The view vector has an attendant viewing field that travels along a path as the view vector pivots, defining a viewing range. A source of illumination is arranged in a plane offset from the plane in which the view vector pivots and provides an annular, solid angle of illumination that covers the viewing range. In certain embodiments, the pivot axis is perpendicular to the longitudinal axis and the illumination plane is parallel to the pivot plane. In some embodiments, the source of illumination is a plurality of light emitting diodes arranged around the pivot axis.
    Type: Grant
    Filed: October 13, 2010
    Date of Patent: March 19, 2019
    Assignee: KARL STORZ Imaging
    Inventors: Hans David Hoeg, Eric L. Hale, Nathan Jon Schara, John C. Tesar
  • Patent number: 10213919
    Abstract: A flexible tool comprising: a plurality of rigid members spaced along a longitudinal axis; a plurality of flexible members extending between the plurality of rigid members and being arranged to enable the plurality of rigid members to diverge from the longitudinal axis and define a work volume for the flexible tool, at least some of the plurality of flexible members being unevenly spaced around the longitudinal axis, and/or a physical characteristic of at least some of the plurality of flexible members varying along the longitudinal axis, to cause the work volume and/or stiffness of the flexible tool to be asymmetric relative to the longitudinal axis.
    Type: Grant
    Filed: March 7, 2016
    Date of Patent: February 26, 2019
    Assignee: ROLLS-ROYCE plc
    Inventors: Dragos Aurelian Axinte, Xin Dong, Mark Hugh Raffles, Adam Nagy, James Kell
  • Patent number: 10188275
    Abstract: In a first aspect the invention is a video camera head comprising an objective lens assembly and a solid state imager (SSI) comprised of a solid state pick up device and integrated circuitry adapted to produce an output video signal. The SSI is configured to allow video signals to be sent from the SSI and power to be supplied to the SSI by means of four or less electrically connecting pads. In a second aspect the invention is a video camera head comprising a 0.7 mm×0.7 mm sensor and an integral 1.4 mm inner diameter light ring. In a third aspect the invention is a visualization probe comprising illumination means and a video camera head of the first aspect. The visualization probe has a maximum outer diameter of 2.8 mm or less. In a fourth aspect the invention is a medical device comprising a visualization probe of the third aspect. The medical device has a maximum outer diameter of 3.2 mm or less.
    Type: Grant
    Filed: February 23, 2016
    Date of Patent: January 29, 2019
    Assignee: MEDIGUS LTD.
    Inventors: Elazar Sonnenschein, Ariel Smoliar, Yuval Malka
  • Patent number: 10124493
    Abstract: An end effector (60) comprises a base (63), a first gripper (64) connected with the base (63) so as to swivel around a gripper axis (68), and a positioning element (66) which is guided on the base displaceably along an end effector axis (76) and interacts with the gripper (64) via a guide slot system. The gripper axis (68) extends outside of a guide slot (70) of the guide slot system.
    Type: Grant
    Filed: June 26, 2015
    Date of Patent: November 13, 2018
    Assignee: ABB GOMTEC GMBH
    Inventors: Patrick Rothfuss, Bernd Gombert
  • Patent number: 10105036
    Abstract: A connector assembly for controllable articles is described herein. The connector assembly engages force transmission elements used to transmit force from one or more force generators with the force transmission elements used to manipulate a controllable article. Additionally, the connector assembly provides organization thereby simplifying the process of connecting a plurality of elements, usually with a quick, single movement.
    Type: Grant
    Filed: November 10, 2014
    Date of Patent: October 23, 2018
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Christopher A. Julian, Amir Belson, Aaron W. Brown, Mark Harasym, Marc S. Kreidler, Robert M. Ohline, Scott J. Reiner, Enrique Romo, Charles E. Swinehart, Katherine Whitin
  • Patent number: 10039902
    Abstract: An actuating member includes: a first movement member and a second movement member which are located at a proximal side of the elongated member and are configured to be relatively movable toward and away from each other along an axial direction of the elongated member; a push-pull member that includes a first connection portion configured to be connected to the first movement member, a first extension portion extending from the first connection portion toward a distal side in the axial direction of the elongated member, a second connection portion configured to be connected to the second movement member, and a second extension portion extending from the second connection portion toward the distal side in the axial direction of the elongated member; and an operation member configured to operate the movement of the first movement member and the second movement member.
    Type: Grant
    Filed: December 16, 2014
    Date of Patent: August 7, 2018
    Assignee: TERUMO KABUSHIKI KAISHA
    Inventors: Satoru Suehara, Ryousuke Yamazaki
  • Patent number: 10035000
    Abstract: An apparatus for imparting a tensile force to deflect a distal portion of a catheter while maintaining its exterior dimensions may include a handle grip including a cross-section of generally predetermined exterior dimensions, and a longitudinal axis. A flexible elongate member may include proximal and distal end portions, with the proximal end portion being coupled to the handle grip. An adjustment knob may include a cross-section of generally predetermined exterior dimensions, and is rotatably coupled to the handle grip around the longitudinal axis. An elongate deflection member may be operably coupled to the adjustment knob and to the distal end portion of the elongate member. Rotation of the adjustment knob may impart a tensile force to the deflection member thereby causing the distal end portion of the elongate member to deflect from a prior configuration while maintaining the generally predetermined exterior dimensions of the handle grip and the adjustment knob.
    Type: Grant
    Filed: September 11, 2015
    Date of Patent: July 31, 2018
    Assignee: St. Jude Medical, Atrial Fibrillation Division, Inc.
    Inventors: Michael C. Bednarek, Eric J. Wilkowske, Richard E. Stehr, William E. Butler
  • Patent number: 10028816
    Abstract: Articles and procedures for preventing or treating vaginal prolapse, urinary incontinence, and other disorders of the pelvic floor.
    Type: Grant
    Filed: December 24, 2014
    Date of Patent: July 24, 2018
    Assignee: Boston Scientific Scimed, Inc.
    Inventors: Karen Pilney Montpetit, James E. Cox, Kimberly A. Anderson
  • Patent number: 9993308
    Abstract: The present disclosure relates to a tube continuum robot and a robot system for operation using the same, and the tube continuum robot includes a basic tube body including a basic straight section extending straight, and a basic curved section extending in front of the basic straight section and bent to a predetermined curvature, and a connection tube body having a connection flexible section which is flexibly bendable, the connection tube body formed to be inserted into the basic tube body or to surround an exterior of the basic tube body, the connection tube body being connected to the basic tube body.
    Type: Grant
    Filed: December 9, 2015
    Date of Patent: June 12, 2018
    Assignee: Korea Institute of Science and Technology
    Inventors: Woosub Lee, Sung Chul Kang, Dong-Eun Choi, Keri Kim
  • Patent number: 9901410
    Abstract: A system for performing a medical procedure is provided comprising at least one tool and a tool support for supporting a distal portion of the tool. An operator manipulates a human interface device and produces control signals sent to a controller. The controller manipulates the tool support based on the received control signals.
    Type: Grant
    Filed: July 21, 2011
    Date of Patent: February 27, 2018
    Assignee: Medrobotics Corporation
    Inventors: Arnold Oyola, Joseph Stand, Kevin Gilmartin, Ian Darisse, Robert Didomenico, J. Christopher Flaherty
  • Patent number: 9883880
    Abstract: An articulation mechanism for a surgical instrument includes an articulation assembly, a plurality of cables, and a trigger. The cables are coupled to the articulation assembly at a proximal end thereof and extend distally therefrom. The cables are configured to engage an end effector assembly of the surgical instrument at a distal end thereof. The trigger is coupled to the articulation assembly and is selectively moveable from a shipping position to a use position. In the shipping position, the cables are substantially un-tensioned. In the use position, the cables are disposed in an initial tensioned position. In the use position, the trigger is moveable between an unlocked position and a locked position. In the unlocked position, the cables are selectively tensionable to articulate the end effector assembly. In the locked position, the tensions on the cables are maintained to lock the end effector assembly in position.
    Type: Grant
    Filed: March 2, 2015
    Date of Patent: February 6, 2018
    Assignee: Covidien LP
    Inventors: Jaroslaw T. Malkowski, Ramiro Cabrera, Richard Fortier, Andrew Ziegler, Amos Cruz, Gene A. Stellon, Steve Evans
  • Patent number: 9699417
    Abstract: A device for searching for defects on parts that are masked, such as turbine engine blades, the device including a tubular sheath, a light-guide guiding light, an image-transmission mechanism transmitting images housed inside the sheath, an examination head at a distal end of the sheath including an illumination mechanism and an image-taking mechanism connected to the light-guide and to the image-transmission mechanism housed in the sheath, a mechanism spraying a succession of penetrant test materials on the part for inspection including a capillary slidably guided in a duct housed in the sheath, and a mechanism adjusting orientation of the examination head at the distal end of the sheath.
    Type: Grant
    Filed: February 28, 2012
    Date of Patent: July 4, 2017
    Assignee: SNECMA
    Inventors: Sadia Bousquet, Pascal Cendrier, Jean-Claude Lemoal, Jean Rovegno
  • Patent number: 9687986
    Abstract: Methods and apparatus for manufacturing and controlling an elongate robotic instrument, or robotic endoscope, are provided which may include any number of features. One feature is a robotic link that can be easily manufactured and can withstand the forces related to use within a robotic instrument. Another feature is a joint on the link that increases compressive strength and minimizes stress between links. Yet another feature is an elongate robotic instrument that is constructed from a single type of link.
    Type: Grant
    Filed: November 10, 2009
    Date of Patent: June 27, 2017
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Christoph Matthias Pistor, Joshua T. Oen