Articulated Segments Patents (Class 600/141)
  • 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
  • Patent number: 9642603
    Abstract: An instrument includes, a lumen, a handpiece affixed to the proximal end of the lumen and including an actuator, a proximal articulable segment, the proximal end of the proximal articulable segment pivotably attached to the distal end of the lumen via a proximal hinge pin extending in a direction generally perpendicular to a longitudinal axis of the lumen, an actuation cable extending from the actuator through the lumen and into the proximal articulable segment, and a cable router comprising a proximal pulley assembly rotatable about the proximal hinge pin, wherein the cable is wrapped about the proximal pulley assembly.
    Type: Grant
    Filed: September 29, 2014
    Date of Patent: May 9, 2017
    Assignee: MICROLINE SURGICAL, INC.
    Inventors: Steven B. Woolfson, Sharad H Joshi, Jean-Luc Boulnois, Albert A. LePage, Christopher Devlin
  • Patent number: 9579200
    Abstract: Devices, apparatus, and methods for catheter-based repair of cardiac valves, including transcatheter-mitral-valve-cerclage annuloplasty and transcatheter-mitral-valve reapposition. In particular, a target and capture device is provided for guiding a cerclage traversal catheter system through a cerclage trajectory, particularly through a reentry site of the cerclage trajectory. The target and capture device provides the user with a target through which the cerclage traversal catheter system must be guided, particularly under imaging guidance, so as to properly traverse the cerclage trajectory at any desired location, particularly at a reentry site. The target and capture device can, further, ensnare and externalize the cerclage traversal catheter system.
    Type: Grant
    Filed: September 15, 2011
    Date of Patent: February 28, 2017
    Assignee: The United States of America, as represented by the Secretary, Department of Health & Human Services
    Inventors: Robert J. Lederman, Ozgur Kocaturk
  • Patent number: 9498222
    Abstract: A circular stapler apparatus for stapling tissue has a circular stapling head operable to drive staples toward an anvil to form the staples in a circular array. The anvil includes an anvil head, a proximal shaft extending proximally from the anvil head and having a proximal end disposed in a first plane, and a first pivot connecting the anvil head to the proximal shaft. The first pivot is operable to be disposed in a second plane that is laterally offset from the first plane. The anvil is configured to rotate via movement through multiple pivot points. The anvil may be configured to rotate to a position in which a portion of the anvil head is disposed below the first pivot and between the first pivot and the proximal shaft such that the anvil head is acutely angled with respect to a longitudinal axis of the proximal shaft.
    Type: Grant
    Filed: November 29, 2012
    Date of Patent: November 22, 2016
    Assignee: Ethicon Endo-Surgery, LLC
    Inventors: Charles J. Scheib, Steven G. Hall, Frederick E. Shelton, IV
  • Patent number: 9486213
    Abstract: A tacker for applying a rotary tack, including a drive shaft coupled to a trigger assembly, wherein operating the trigger assembly causes rotation of the drive shaft, a distal portion of the drive shaft passing into an articulated arm that holds rotary tacks, wherein upon operation of the trigger assembly, the drive shaft rotates to cause deployment of the tacks distally out of the articulated arm, and wherein the drive shaft includes a cable on which are located a plurality of axially spaced drive links that transfer rotational motion of the drive shaft to rotation of the tacks.
    Type: Grant
    Filed: November 14, 2011
    Date of Patent: November 8, 2016
    Assignee: THD Lap Ltd.
    Inventors: Nir Altman, Izhak Fabian
  • Patent number: 9435750
    Abstract: A borescope includes a plurality of bending parts, a plurality of lens barrels, a plurality of joint parts, an objective lens device, a plurality of reflectors, a plurality of relay lenses, and a camera mount. The plurality of lens barrels are connected via the plurality of bending parts with predetermined bend angles, respectively. Rotation angles of the plurality of bending parts are changeable via the plurality of joint parts relative to the plurality of lens barrels. The objective lens device has an objective lens and is detachably provided at a front end side of the plurality of lens barrels. The plurality of reflectors are respectively disposed in the plurality of bending parts. The plurality of relay lenses are respectively disposed in the plurality of lens barrels. The camera mount is provided at a rear end side of the plurality of lens barrels.
    Type: Grant
    Filed: August 28, 2013
    Date of Patent: September 6, 2016
    Assignee: HONDA MOTOR CO., LTD.
    Inventor: Kenji Matsumoto
  • Patent number: 9431887
    Abstract: An actuator includes an inner element coupled to an outer element by a linear-motion bearing that provides a single degree of translational movement of the inner element with respect to the outer element along a longitudinal axis. The inner element includes a permanent magnet and the outer element includes a conductive winding with a first coil wound in first direction around a first pole of the permanent magnet and a second coil wound in a second direction around a second pole of the permanent magnet.
    Type: Grant
    Filed: June 6, 2014
    Date of Patent: August 30, 2016
    Assignee: Align Technology, Inc.
    Inventor: Rami Boltanski
  • Patent number: 9421343
    Abstract: A catheter includes a proximal portion and a distal portion, the distal portion including an arcuate portion. The catheter further includes a rotating portion, the rotating portion connecting the proximal portion and distal portion, the rotating portion including a first piece and a second piece, wherein the first piece and second piece create a snap fit. Methods of using the catheter include threading the inserted catheter through the vasculature and allowing the distal portion to freely rotate about an axis defined by the rotating portion responsive to any tortuosity in the vasculature.
    Type: Grant
    Filed: April 6, 2010
    Date of Patent: August 23, 2016
    Assignee: Medtronic Vascular, Inc.
    Inventors: William Berthiaume, Gianfranco Pellegrini, Scott Doig
  • Patent number: 9386911
    Abstract: A steerable multi-linked device. The device includes a first multi-linked mechanism and a second multi-linked mechanism. The first mechanism defines a first plurality of grooves. The second mechanism defines a second plurality of grooves. The first and second pluralities of grooves cooperate to define at least two working ports along a length of the device. At least one of the first and second mechanisms are steerable.
    Type: Grant
    Filed: November 7, 2012
    Date of Patent: July 12, 2016
    Assignee: Carnegie Mellon University
    Inventors: Brett Zubiate, Amir Degani, Howie Choset
  • Patent number: 9351751
    Abstract: Disclosed is an articulation mechanism for a surgical instrument including a housing defining a longitudinal axis. The housing has a first slot extending at least partially through the housing and a second slot extending at least partially through the housing offset from the first slot. The articulation mechanism further includes a first bar member which is adapted for insertion into the first slot. The articulation mechanism further includes a second bar member which is adapted for insertion into the second slot. Each bar member is rotatable within its respective slot to articulate a cable. Each end portion of each bar member includes a pulley inserted into a channel of the end portion which is adapted for the engagement with a cable.
    Type: Grant
    Filed: July 9, 2012
    Date of Patent: May 31, 2016
    Assignee: Covidien LP
    Inventor: Jaroslaw T. Malkowski
  • Patent number: 9254123
    Abstract: An instrument having a flexible and elongated body includes at least a lumen and a flex member disposed within the lumen. The flex member may be capable of providing steering control to a first portion of the elongate body while providing load bearing support to a second portion of the elongate body. A pull wire may be disposed within the flex member, and at least a distal portion of the pull wire may be coupled to the elongate body and a proximal portion of the pull wire may be operatively coupled to a control unit. The control unit may be coupled to a proximal portion of the elongate body. In addition, a control member may be operatively coupled to the control unit such that a distal portion of the control member may be positioned near a proximal portion of the flex member. The control member may be configured to support the flex member and control the movement or displacement of the flex member.
    Type: Grant
    Filed: April 29, 2009
    Date of Patent: February 9, 2016
    Assignee: HANSEN MEDICAL, INC.
    Inventors: Jeffery B. Alvarez, Casey Lewis, Francis MacNamara, Enrique Romo, Neal A. Tanner, William K. Yee
  • Patent number: 9198561
    Abstract: This invention is directed to a flexible device, a first elongate member configured to move the flexible device in a first direction, and a second elongate member configured to move the flexible device in a second direction. The flexible device can include a plurality of articulation links, wherein at least one of the plurality of articulation links can include a body configured to receive the first elongate member and the second elongate member. A cinching element may engage the first elongate member to substantially limit movement between the plurality of articulation links when a tensile force is applied to the first elongate member and may disengage the first elongate member to permit movement between the plurality of articulation links when a tensile force is applied to the second elongate member.
    Type: Grant
    Filed: January 27, 2012
    Date of Patent: December 1, 2015
    Assignee: Boston Scientific Scimed, Inc.
    Inventors: Paul Smith, John Golden, Barry Weitzner
  • Patent number: 9186049
    Abstract: The current invention presents an extensible and guidable apparatus and methods to evaluate tubular or cavitary structure. The apparatus has a power, control and display unit and a flexible tubular device having a proximal end and a distal end. A stretchable conduit and a plurality of extensible channels run longitudinally inside the flexible tubular device. The flexible tubular device comprises a non-extensible tubular shaft and a reversibly extensible tubular shaft, connected longitudinally in tandem. The reversibly extensible tubular shaft comprises a plurality of reversible extension segments and is controllably longitudinally extensible and bendable by changes in pressure and volume of a medium in said reversible extension segments. Said tubular device is directionally bendable at the distal end by selective negative changes in pressure in said distal end. Said tubular device obtains visual information of target area and material samples, and is capable of manipulation of the target area.
    Type: Grant
    Filed: October 25, 2012
    Date of Patent: November 17, 2015
    Inventor: Choon Kee Lee
  • Patent number: 9188773
    Abstract: An endoscope comprising, in a part of an insertion portion having flexibility, a bending portion formed by covering an outermost circumference with a covering rubber. Respective end portions of the covering rubber being tightly bound to a rigid portion near the bending portion with a thread and fixed by applying an adhesive. In at least one end portion of both fixed end portions of the covering rubber, hardness of at least a portion in a range from an end portion in a center portion side of a portion tightly bound with the thread to an end portion in a center portion side of a portion to which the adhesive is applied is set higher than hardness in a center portion of the covering rubber.
    Type: Grant
    Filed: October 5, 2012
    Date of Patent: November 17, 2015
    Assignee: OLYMPUS CORPORATION
    Inventor: Masanao Abe
  • Patent number: 9146576
    Abstract: A rotation mechanism (rotating device) that can be easily accessed by the surgeon's finger to rotate an endoscope or similar instrument. The rotation mechanism is a device/component with a “starfish” configuration, which can be attached to the endoscope/arthroscope just distal to the eyepiece (or to an alternate attachment to a camera). The starfish component has a plurality of projections that extend radially from the endoscope axis, and beyond the diameter of the mechanism on the camera head that grasps the arthroscope eyecup. The projections can be easily accessed by the surgeon's finger to rotate the endoscope.
    Type: Grant
    Filed: January 28, 2013
    Date of Patent: September 29, 2015
    Assignee: ARTHREX, INC.
    Inventors: Reinhold Schmieding, Craig Speier, Martin A. Frith, Sabine Pauli, Daniel Seeh
  • Patent number: 9144370
    Abstract: A sheath apparatus includes, a plurality of node rings configured to be tilted with respect to each other, each node ring defining a substantially cylindrical wall and having at least one hole passing through said cylindrical wall, the plurality of node rings being arranged next to each other along a linear axis such that consecutive node rings contact each other at a contact plane; a manipulating wire going through the holes in said stacked node rings; and a position restoring component configured to restore said stacked node rings from a tilted position to an original position, wherein said position restoring component is located inside or outside of the stacked node rings.
    Type: Grant
    Filed: March 15, 2013
    Date of Patent: September 29, 2015
    Assignees: Canon USA Inc., The Brigham and Women's Hospital
    Inventors: Takahisa Kato, Ichiro Okumura, Nobuhiko Hata
  • Patent number: 9095253
    Abstract: The invention provides articulating mechanisms, and flexible members and flexible segments that can form such articulating mechanisms. The mechanisms are useful, for example, for remote steering, guidance and/or manipulation of various instruments and tools at a targeted location. The mechanisms, members or segments include links connected by flexible hinges. The proximal and distal ends of the mechanisms are connected by at least one set of cables in such a fashion that a proximal active flexible segment forms a discrete pair with a distal active flexible segment. Movement of active flexible segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. This configuration allows each flexible segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations.
    Type: Grant
    Filed: November 2, 2012
    Date of Patent: August 4, 2015
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Cameron D. Hinman, David J. Danitz
  • Patent number: 9089354
    Abstract: Featured are systems, devices and apparatuses for use in minimally invasive surgical, diagnostic or therapeutic methods and/or techniques, in particular methods and/or techniques for a mammalian throat. In particular embodiments, a dexterity apparatus including one or more dexterity devices is featured, where each of the dexterity devices comprises surgical tools and each is configured and arranged with end-tip dexterity for enhanced manipulation. A portion of the dexterity devices is snake like, which is re-configurable (i.e., can be bent) so as to in effect maneuver the surgical tool and put the tool in a desired position with respect to the surgical site. Another portion of the dexterity device includes the surgical tool thereby providing the capability of performing surgical actions such as sewing, gripping, soft tissue manipulation, cutting and suction of saliva, blood and other materials from the surgical site.
    Type: Grant
    Filed: January 14, 2013
    Date of Patent: July 28, 2015
    Assignee: The Johns Hopkins University
    Inventors: Nabil Simaan, Russell H. Taylor, Paul Flint, Gregory Chirikjian, David Stein
  • Patent number: 9085085
    Abstract: The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. The proximal and distal segments are connected by a set of cables in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations. The articulating mechanisms may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue.
    Type: Grant
    Filed: August 28, 2013
    Date of Patent: July 21, 2015
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David J. Danitz, Adam Gold
  • Patent number: 9039607
    Abstract: A shaft element for an endoscopic instrument includes a first, proximal shaft segment and a second, distal shaft segment, such that the second shaft segment is connected with the first shaft segment by three connecting elements, such that the connecting elements each include a first two-axis joint, such that the first joints form a triangle and such that the first connecting element is connected with the first shaft segment in such a way that it cannot slide with respect to the latter in a longitudinal direction, and a second and third connecting elements can each be slid with respect to the first shaft segment in a longitudinal direction independently of one another. The invention also relates to an endoscopic instrument, in particular an endoscope with such a shaft segment.
    Type: Grant
    Filed: August 12, 2011
    Date of Patent: May 26, 2015
    Assignee: KARL STORZ GMBH & CO. KG
    Inventor: Florian Buehs
  • Patent number: 9028397
    Abstract: A medical apparatus includes a distal end portion provided at a distal end of an insertion portion that has functions of performing inspection, treatment or observation, a bending portion provided with first and second ends and configured so as to bend in two or more directions by connecting the first end to the distal end portion and connecting a plurality of bending pieces, a bending portion operation unit provided in an operation section connected to a proximal end of the insertion portion that causes the bending portion to perform bending operation and a neutral position restoring elastic member fixed to the first end side and the second end side that generates elasticity for causing the bending portion to restore to a neutral position.
    Type: Grant
    Filed: September 20, 2011
    Date of Patent: May 12, 2015
    Assignee: Olympus Medical Systems Corp.
    Inventor: Kimihiko Naito
  • Patent number: 9011318
    Abstract: A highly articulated robotic probe (HARP) is comprised of a first mechanism and a second mechanism, one or both of which can be steered in desired directions. Each mechanism can alternate between being rigid and limp. In limp mode the mechanism is highly flexible. When one mechanism is limp, the other is rigid. The limp mechanism is then pushed or pulled along the rigid mechanism. The limp mechanism is made rigid, thereby assuming the shape of the rigid mechanism. The rigid mechanism is made limp and the process repeats. These innovations allow the device to drive anywhere in three dimensions. The device can “remember” its previous configurations, and can go anywhere in a body or other structure (e.g. jet engine). When used in medical applications, once the device arrives at a desired location, the inner core mechanism can be removed and another functional device such as a scalpel, clamp or other tool slid through the rigid sleeve to perform.
    Type: Grant
    Filed: June 24, 2005
    Date of Patent: April 21, 2015
    Assignee: Carnegie Mellon University and University of Pittsburg—Of the Commonwealth System of Higher Education
    Inventors: Howard M. Choset, Alon Wolf, Marco A. Zenati
  • Patent number: 9005114
    Abstract: An articulated device may include a first steerable multi-linked mechanism and a second steerable multi-linked mechanism. The second steerable multi-linked mechanism may include a first link, a plurality of intermediate links and a second link movably coupled to a second one of the intermediate links. A first one of the intermediate links may be movably coupled to the first link. The articulated device may include a camera located within at least a portion of the second link and a protective shield connected to a distal end of the second link. The protective shield may surround at least a portion of the camera.
    Type: Grant
    Filed: April 14, 2009
    Date of Patent: April 14, 2015
    Assignee: Carnegie Mellon University
    Inventors: Brett Zubiate, Howard Choset, Amir Degani, Sarjoun Skaff
  • Patent number: 8992421
    Abstract: A highly articulated robotic probe comprises an outer sleeve and an inner core. The outer sleeve and inner core include a plurality of links. The links of the outer sleeve and inner core are configured to pivot relative to one another. Various characteristics of the links determine the overall pivot angle of the articulated probe. Each of the plurality of links may have one or more channels. The channels form a semi-continuous passage from link to link and are configured to receive an elongated member such as an inner core, tool or cable. One or more cables may be used to control the outer links of the outer sleeve and the inner links of the inner core. Various characteristics of the cables determine the overall performance of the articulated probe.
    Type: Grant
    Filed: October 21, 2011
    Date of Patent: March 31, 2015
    Assignee: Medrobotics Corporation
    Inventors: Joseph A. Stand, Robert A. Didomenico, Brett Zubiate, Ian J. Darisse, J. Christopher Flaherty
  • Patent number: 8986196
    Abstract: A surgical instrument extends through a guide tube and exits at an intermediate position of the guide tube. The instrument includes a parallel motion mechanism that changes the position of a distal end of the surgical instrument without changing the orientation of the distal end. An image capture component is at the distal end of the guide tube, and a joint allows the image capture component to move while the intermediate position remains stationary. The configuration allows a cross section of the guide tube to be oblong. In some aspects, a joint for the image capture component is placed between exit ports for surgical instruments, which allows the guide tube cross section to be further reduced.
    Type: Grant
    Filed: June 13, 2007
    Date of Patent: March 24, 2015
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: David Q. Larkin, Thomas G. Cooper, David C. Shafer, David J. Rosa, Matthew R. Williams, Eugene F. Duval
  • Patent number: 8979739
    Abstract: Included are a bending tube; slits; wire guides; an outer coat member; and hole portions that are formed between particular slits in a distal end region that is forward from a central region on an outer circumference of a cylindrical member, each of the hole portions being communicated with any one of the slits, the wire guides covered by the outer coat member being respectively fixed to the hole portions while being attached to the cylindrical member from an outside thereof.
    Type: Grant
    Filed: February 18, 2014
    Date of Patent: March 17, 2015
    Assignee: Olympus Medical Systems Corp.
    Inventors: Hideyuki Seto, Takashi Nara
  • Patent number: 8974375
    Abstract: An actuatable joint is disclosed having a transmission member, for example a ring gear, associated with a member of a joint and rotatable about a longitudinal axis through the member. In particular a two degree of freedom actuatable joint is disclosed comprising tendon driven joint arrangements having a transmission member disposed around or inside a body of the joint arrangement, to provide transmission of a force from a driving means to two tendons actuating a rotational degree of freedom of the joint arrangement. Further disclosed is a segmented device, for example an endoscope, comprising a plurality of such joints, for example to define a flexible and steerable conduit for an instrument.
    Type: Grant
    Filed: June 24, 2010
    Date of Patent: March 10, 2015
    Assignee: Imperial Innovations Ltd.
    Inventors: Guang-Zhong Yang, David Paul Noonan, Jianzhong Shang, Valentina Vitiello
  • Patent number: 8974372
    Abstract: A path-following robot, such as for creating a path to a target surgical site, includes a series of interconnected elements including a lead element at one end thereof, and a plurality of actuators each operably coupled to one of the plurality of elements. Each actuator is capable of effecting rotational and spherical motion of one element with respect to another element. The actuators are arranged to receive commands which individually control the relative position of one element compared with another element, where a position of the lead element determines a path and corresponding positions for all subsequent elements to create a path-following motion.
    Type: Grant
    Filed: August 25, 2011
    Date of Patent: March 10, 2015
    Inventor: Barry M. Fell
  • Patent number: 8961401
    Abstract: A joint-ring for an endoscope-bending-tube that fits with and is fixed to a rigid-member on a distal end side, the joint-ring being formed by plastically deforming a tube-material, the joint-ring including a joint-ring-convex portion provided in the tube-material before the plastic deformation, configured to fit with distal end rigid concave portions of the distal end rigid-member to perform positioning, and protrudingly provided to the distal end side, a plastically deformed shape portion provided in the joint-ring such that an axial direction position thereof overlaps the joint-ring-convex-portion and formed by force of stretching along a circumferential surface in the plastic deformation, and joint-ring-convex-portions provided in the tube-material before the plastic deformation near both sides in the circumferential direction of the joint-ring-convex-portion to interrupt the force of stretching along the circumferential surface to keep the force from reaching the joint-ring-convex-portion to thereby preve
    Type: Grant
    Filed: July 26, 2013
    Date of Patent: February 24, 2015
    Assignee: Olympus Medical Systems Corp.
    Inventors: Yasuo Takeuchi, Keigo Takeshima, Kiwamu Fujitani, Motohiro Kuroda
  • Patent number: 8951188
    Abstract: An element for transmitting pushing and pulling forces as well as torque having a straight configuration and a bent configuration comprises a base plate, an end plate and bellows arranged between the base plate and the end plate. The base plate and the end plate are connected with a connecting element. A plurality of washers is arranged within the bellows, the washers having a tronconical shape at at least one of their major surfaces. The washers are in mutual contact with each other or with the base plate or the end plate respectively, both in the straight configuration and the bent configuration, such that element can transmit pushing and pulling forces both in the straight configuration and the bent configuration without substantially changing the length of the element.
    Type: Grant
    Filed: August 17, 2010
    Date of Patent: February 10, 2015
    Assignee: University of Dundee
    Inventor: J. Duncan S. Martin
  • Patent number: 8939899
    Abstract: Each of the first hinge portions includes a first central planar portion, and first both-sides planar portion, and each of second hinge portions includes a second central planar portion, and second both-sides planar portion which is arranged on the same plane as the first both-sides planar portion. At least one of each first hinge portion and each second hinge portion includes/include an axial step portion which is provided between the first central planar portion and the first both-sides planar portion and/or between the second central planar portion and the second both-sides planar portion over the entire length of the nodal ring in the longitudinal direction and allows/allow the first central planar portion to be arranged to an outer peripheral side than the second central planar portion by a distance corresponding to a wall thickness of the nodal ring.
    Type: Grant
    Filed: August 29, 2011
    Date of Patent: January 27, 2015
    Assignees: Olympus Corporation, Olympus Medical Systems Corp.
    Inventors: Hideya Kitagawa, Shunichi Imai
  • Patent number: 8932277
    Abstract: In an instrument for laparoscopic surgery, with an operating handle, a rectilinear first shaft section connected to the operating handle, a flexible second shaft section arranged at the distal end of the first shaft section and having an end part located at the distal tip of the second shaft section, wherein the second shaft section can be moved from a rectilinear extension position to a curved position in a predetermined plane of curvature with the aid of a tensioning means engaging on the end part, provision is made for a flexible connecting means to extend between the first shaft section and the end part, and the flexible connecting means has a restoring function with which the flexible second shaft section can be restored automatically to a rectilinear or predetermined extension position.
    Type: Grant
    Filed: November 27, 2009
    Date of Patent: January 13, 2015
    Assignee: Q Medical International AG
    Inventor: Andre Timmerman
  • Publication number: 20140378767
    Abstract: Provided is a manufacturing method of a bending module that forms a plurality of joint members by press-processing sheet material, with each joint member having a joint member body, a connection protrusion and a wire guide protrusion having a wire guide hole formed at one side corner of the joint member body, and connection protrusion is formed at another side corner of the joint member body. The wire guide protrusions are folded with respect to the joint member bodies; a joint member assembly is formed by arranging the plurality of joint members in parallel and connecting neighboring connection members to connect the joint members together; the joint member assembly are bent to a ring shape; and each joint member is connect to each other by welding corners thereof.
    Type: Application
    Filed: December 18, 2012
    Publication date: December 25, 2014
    Inventors: Jin-won Lee, Mun-kue Park, Su-Kwang Lim
  • Patent number: 8905919
    Abstract: An endoscope includes a distal rigid portion, a bending portion comprising a first bending portion and a second bending portion and a flexible tube portion. The endoscope further includes an operation wire, a wire guide member, a bending operation portion. The endoscope further includes a regulation wire, the regulation wire being longer than the bending portion, the regulation wire being inserted through the first bending portion and the second bending portion, the regulation wire being provided to face the operation wire in the diametrical direction of the bending portion, the regulation wire regulating the bending of the bending portion so that the second bending portion is bent in a direction opposite to the bending direction of the first bending portion and the bending portion is bent in an S-shape when the first bending portion is bent.
    Type: Grant
    Filed: October 15, 2013
    Date of Patent: December 9, 2014
    Assignee: Olympus Medical Systems Corp.
    Inventors: Shigeki Matsuo, Suguru Okaniwa