Stereotaxic Device Patents (Class 606/130)
  • Patent number: 12376932
    Abstract: A drape covers robotic equipment in a medical environment to maintain sterility. The robotic equipment has an arm with an end surface which attaches to a tool, such as an active end effector. The drape has an extended drape portion that covers the arm, and a shaped drape portion that covers the end of the arm where the arm is clamped to the tool. The drape is clamped inside the clamp, and where the clamping occurs, the drape has a band of material that is reinforced by being thickened or by including a different material. The shape of the band corresponds to the portion of the arm that is clamped by the clamp.
    Type: Grant
    Filed: September 20, 2023
    Date of Patent: August 5, 2025
    Assignee: Globus Medical, Inc.
    Inventors: Kevin Zhang, Norbert Johnson, Mir Hussain, James Cascarano, Justin Larson, James Yau, Robert LeBoeuf, II, Michael Norcia
  • Patent number: 12376916
    Abstract: Devices, systems, and methods for providing a surveillance marker configured to detecting movement of a dynamic reference base attached to a patient a robot-assisted surgical procedure are provided. The surveillance marker and the dynamic reference base are connected to a bony structure independent of each other.
    Type: Grant
    Filed: March 19, 2024
    Date of Patent: August 5, 2025
    Assignee: Globus Medical, Inc.
    Inventors: Jeffrey Forsyth, Sanjay M. Joshi, Neil R. Crawford
  • Patent number: 12364562
    Abstract: A robot arm and method for using the robot arm. Embodiments may be directed to an apparatus comprising: a robot arm; an end effector coupled at a distal end of the robot arm and configured to hold a surgical tool; a plurality of motors operable to move the robot arm; and an activation assembly operable to send a move signal allowing an operator to move the robot arm.
    Type: Grant
    Filed: June 13, 2023
    Date of Patent: July 22, 2025
    Assignee: Globus Medical, Inc.
    Inventor: Norbert Johnson
  • Patent number: 12364556
    Abstract: Systems and methods for verification and calibration of robotic instruments are provided. A robotic system may include an instrument carriage to receive an elongate device, and the instrument carriage may comprise a set of drive sensors. The system may also include a tracking system configured to receive an indication that the elongate device is installed on the instrument carriage, operate a set of actuators to articulate a distal portion of the elongate device, and generate a set of drive sensor data from the set of drive sensors. The tracking system may also be configured to generate a set of articulation sensor data from a shape sensor of the elongate device, compare the set of drive sensor data to the set of articulation sensor data to generate a test profile, and determine whether the test profile corresponds to a reference profile. Corrective action may be determined.
    Type: Grant
    Filed: October 1, 2019
    Date of Patent: July 22, 2025
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Nicola Diolaiti, Wanxi Liu, Samuel B. Schorr
  • Patent number: 12364551
    Abstract: A surgical system is provided for robotically resecting tissue. The system includes a surgical robot with an end-effector configured to remove tissue along a path up to a planned boundary. A computing system interfaces with the surgical robot and includes one or more processors, non-transient storage memory, and software executable instructions. The computing system records deviations between the end-effector and the planned boundary while the end-effector removes tissue along the path during a first pass. The system then determines if the end-effector should perform a subsequent pass along at least a portion of the path based on the recorded deviations. A method for robotically resecting tissue along a path up to a planned boundary is also provided that determined on the recorded deviations, if the end-effector should perform a subsequent pass along at least a portion of the path.
    Type: Grant
    Filed: May 11, 2021
    Date of Patent: July 22, 2025
    Assignee: CUREXO, INC.
    Inventor: Steve Henderson
  • Patent number: 12350069
    Abstract: A method and system for nerve identification, monitoring, location marking, and location recognition system used during laparoscopic surgery.
    Type: Grant
    Filed: April 19, 2021
    Date of Patent: July 8, 2025
    Assignee: ProPep Surgical, LLC
    Inventor: Jann Bonfils-Rasmussen
  • Patent number: 12349987
    Abstract: A surgical tool tracking array can include a first marker holder, a second marker holder, and a tool holder. The first marker holder is configured to couple a first marker to the surgical tracking array in a first plane. The second marker holder is configured to couple a second marker to the surgical tool tracking array in a second plane that is independent and substantially parallel to the first plane. The tool holder is configured to couple a portion of a surgical tool to the surgical tool tracking array in a third plane that is independent from the first plane and the second plane.
    Type: Grant
    Filed: December 8, 2023
    Date of Patent: July 8, 2025
    Assignee: Globus Medical, Inc.
    Inventors: Thomas Calloway, Dana Wisniewski, Amaya Raphaelson, Michael Robinson
  • Patent number: 12349998
    Abstract: The present disclosure relates to surgical robotic systems having a master console and slave manipulators, with components and features for enabling a restart without comprising the sterility of the surgical robotic system. In some embodiments, an apparatus can include a restart of a surgical robotic system that is configured to be activated by a sterile user from within a sterile field without compromising the sterile field, and a controller operatively coupled to the restart that is configured to detect that the restart has been activated and, in response to detecting that the restart has been activated, restart the surgical robotic system.
    Type: Grant
    Filed: September 16, 2024
    Date of Patent: July 8, 2025
    Assignee: Distalmotion SA
    Inventors: Michael Friedrich, Romain Michel Miran Farkas, Philippe Allemann, Didier Christian Geffrotin, Nicolas Paul Marcel Boch, Christopher Emmanuel Lieberherr, Laurent Renaud Uldry, Werner Pirkl
  • Patent number: 12349988
    Abstract: A head-mounted device (HMD) and method for assisting a user during a surgical procedure. The HMD has a camera and display supported by a head-mountable structure. The display is positionable in front of eyes of the user. A controller accesses workflow data defining workflow steps associated with the surgical procedure. The controller obtains data from the camera related to an environment of the surgical procedure. The camera data is monitored to detect a deviation or a potential deviation from one or more of the workflow steps. The controller generates an instruction/recommendation to assist the user in taking action to address the deviation or the potential deviation. The instruction/recommendation is specifically tailored to workflow responsibilities of the user. A computer-generated image related to the instruction or the recommendation is provided on the display.
    Type: Grant
    Filed: October 26, 2023
    Date of Patent: July 8, 2025
    Assignee: MAKO Surgical Corp.
    Inventor: José Luis Moctezuma de la Barrera
  • Patent number: 12349994
    Abstract: A surgical system and method of operating the same. A manipulator supports and facilitates movement of a surgical tool along a tool path relative to a surgical site. A navigation system includes a localizer to monitor states of the manipulator and the surgical site. Controller(s) determine a commanded state of the surgical tool and an actual state of the surgical tool relative to the tool path for a given time step. The controller(s) detect a deviation between the commanded state and the actual state of the surgical tool for the given time step. The controller(s) respond to the deviation by modification of one or both of: a feed rate of the surgical tool; and the tool path. In some implementations, the controller(s) predict, based on the deviation, a future deviation between a future commanded state and a future actual state of the surgical tool for a given future time step.
    Type: Grant
    Filed: October 19, 2023
    Date of Patent: July 8, 2025
    Assignee: MAKO Surgical Corp.
    Inventors: Douglas Alan Staunton, Paul Hoekstra, Michael Dale Dozeman
  • Patent number: 12354497
    Abstract: The present disclosure provides systems and methods for visualizing various effects of consuming (e.g., inhaling) one or more substances, especially on the human brain and lungs.
    Type: Grant
    Filed: September 26, 2023
    Date of Patent: July 8, 2025
    Assignee: KMM Technology, Incorporated
    Inventors: Maury D. Cole, Kim N. Wilcox
  • Patent number: 12343097
    Abstract: Provided is a laparoscope-holding robot system for laparoscopic surgery, which belongs to the technical field of robot control and is used to solve the technical problem in the prior art of the operations of a laparoscope-holding robot for laparoscopic surgery being inflexible and same further requiring a doctor to assist in operations. The laparoscope-holding robot system for laparoscopic surgery of the present invention comprises a trolley rack, a surgical tool and a mechanical arm. Since the mechanical arm has at least six degrees of freedom, the mechanical arm can completely simulate the range of motion of a human arm and is no different from the human arm in terms of flexibility, so as to precisely locate the position of a lesion that actually needs to be operated without requiring a doctor to assist in operations.
    Type: Grant
    Filed: June 1, 2022
    Date of Patent: July 1, 2025
    Assignee: CHENGDU BORNS MEDICAL ROBOTICS INC.
    Inventor: Zhiqiang Li
  • Patent number: 12343095
    Abstract: An exemplary contextual assistance system identifies, during a surgical procedure, an operational context of the surgical procedure while a particular object is present at a surgical site depicted by a first version of an image. Based on the identified operational context, the contextual assistance system augments a depiction of the particular object within a second version of the image that is presented to a user associated with the surgical procedure. Corresponding systems and methods are also disclosed.
    Type: Grant
    Filed: January 13, 2021
    Date of Patent: July 1, 2025
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: A. Jonathan McLeod, Maximilian H. Allan, Mahdi Azizian, Daniel Proksch, Pourya Shirazian
  • Patent number: 12347545
    Abstract: An example device includes a surgical item for use in a surgical procedure; and a light on or within the surgical item. In this example, the light is controllable by an external device so as to identify the surgical item for use in the surgical procedure.
    Type: Grant
    Filed: December 10, 2020
    Date of Patent: July 1, 2025
    Assignee: HOWMEDICA OSTEONICS CORP.
    Inventors: Vincent Gaborit, Benjamin Dassonville, Sergii Poltaretskyi, Jean Chaoui, Damien Cariou, Yannick Morvan
  • Patent number: 12336863
    Abstract: An ear canal clamp for small animals includes a base and a clamping mechanism. The clamping mechanism includes two clamping arms movably mounted on the base, a biasing member mounted on the base and constrained between the clamping arms, and two ear canal positioning members mounted respectively to the clamping arms and facing each other. The clamping arms are configured to move toward each other and compress the biasing member to increase the distance between the ear canal positioning members. A biasing force generated by the biasing member when compressed is used to push the clamping arms to move oppositely with respect to each other.
    Type: Grant
    Filed: January 11, 2023
    Date of Patent: June 24, 2025
    Assignee: LEGO STONE CO., LTD.
    Inventors: Chih-Wei Peng, Chun-Wei Wu, Chun-Ying Cai, Yen Cheng
  • Patent number: 12329466
    Abstract: A method and a system for image-guided intervention such as a percutaneous treatment or diagnosis of a patient may include at least one of a pre-registration method and a re-registration method. The pre-registration method is configured to permit for an efficient virtual representation of a planned trajectory to target tissue during the intervention, for example, as a holographic light ray shown through an augmented reality system. In turn, this allows the operator to align a physical instrument such as a medical probe for the intervention. The re-registration method is configured to adjust for inaccuracy in the virtual representation generated by the pre-registration method, as determined by live imaging of the patient during the intervention. The re-registration method may employ the use of intersectional contour lines to define the target tissue as viewed through the augmented reality system, which permits for an unobstructed view of the target tissue for the intervention.
    Type: Grant
    Filed: July 12, 2024
    Date of Patent: June 17, 2025
    Assignee: MEDIVIEW XR, INC.
    Inventors: Charles Martin, III, Jeffrey H. Yanof, Karl West, Mina S. Fahim, John Black
  • Patent number: 12329593
    Abstract: Devices, Systems, and Methods for detecting a 3-dimensional position of an object, and surgical automation involving the same. The surgical robot system may include a robot having a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm. The end-effector, surgical instruments, the patient, and/or other objects to be tracked include active and/or passive tracking markers. Cameras, such as stereophotogrammetric infrared cameras, are able to detect the tracking markers, and the robot determines a 3-dimensional position of the object from the tracking markers.
    Type: Grant
    Filed: February 12, 2024
    Date of Patent: June 17, 2025
    Assignee: Globus Medical, Inc.
    Inventors: Neil R. Crawford, Stephen Cicchini, Norbert Johnson
  • Patent number: 12324930
    Abstract: Systems and methods for the automatic generation and optimization of radiation therapy treatment plans, and systems and methods for the automatic generation and optimization of an adapted plan in an adaptive radiation therapy workflow.
    Type: Grant
    Filed: March 21, 2024
    Date of Patent: June 10, 2025
    Assignee: SIEMENS HEALTHINEERS INTERNATIONAL AG
    Inventors: Jarkko Peltola, Pauli Suhonen, Christopher Boylan, Stephen Thompson, Esa Kuusela
  • Patent number: 12324615
    Abstract: In one embodiment, the present disclosure relates to a method of evaluating soft tissue tension surrounding a hip of a patient using navigation and software to track positions of the femur and a pelvis of the patient in real time. The method begins with intra-operative reduction of a femoral implant into an acetabulum of a patient and retrieval of first coordinates of a femoral head center of the femoral implant when the femoral implant is in a reduced position. Performance of a shuck test follows where the femur is distracted relative to the acetabulum. Retrieval of second coordinates of the femoral head center occurs when the femoral implant is distracted from the acetabulum, and a difference between the first coordinates and the second coordinates in a coronal plane is used to determine a shuck length vector.
    Type: Grant
    Filed: November 4, 2022
    Date of Patent: June 10, 2025
    Assignee: Mako Surgical Corp.
    Inventors: William Donnelly, Matthew Thompson
  • Patent number: 12318156
    Abstract: Various embodiments for a continuum manipulator are described for use in robotic surgical systems or other desired applications. The continuum manipulator includes an extensible continuum manipulator (ECM) body comprising a plurality of subsegments serially connected to one another. Adjacent ones of the subsegments are coupled by rack-and-pinion transmission sets that are configured to propagate subsegment motion to downstream ones of the subsegments. A multi-chain flexible parallel mechanism is provided in each of the subsegments that is configured to generate a desired spatial bending and extension mobility for each of the subsegments.
    Type: Grant
    Filed: May 27, 2021
    Date of Patent: June 3, 2025
    Assignee: VIRGINIA TECH INTELLECTUAL PROPERTIES, INC.
    Inventors: Pinhas Ben-Tzvi, Yujiong Liu
  • Patent number: 12318158
    Abstract: Embodiments of the present disclosure provide robotic systems, apparatuses, and methods. One such robotic system comprises a robotic surgical tool; and a steering system configured to steer the robotic surgical tool based on motion angle commands along X and Y axes as the robotic surgical tool moves in an Z axis direction within a tubular passageway. The system further comprises a computing device that executes an artificial intelligence program configured to control the steering system by computing the motion angle commands based on a current position of the robotic surgical tool along planar axes of the tubular passageway and center positions of the passageway along the planar axes. Other systems and methods are disclosed.
    Type: Grant
    Filed: February 12, 2021
    Date of Patent: June 3, 2025
    Assignee: Board of Regents of the University of Texas System
    Inventors: Amir Jafari, Miltiadis Alamaniotis, Teja Guda, Dimitrios Miserlis
  • Patent number: 12318117
    Abstract: The present invention provides, in various embodiments, systems and methods for robotic manipulation of a patient's anatomy, such as the uterus, during surgical procedures.
    Type: Grant
    Filed: April 3, 2020
    Date of Patent: June 3, 2025
    Assignee: Memorial Sloan Kettering Cancer Center
    Inventors: Richard Barakat, Paul Booth, Charles Kim, Kelsey Ann Tacca, Jordan Anthony Rivera, Samuel Thomas Pratt
  • Patent number: 12310671
    Abstract: A rotary tool includes a tool body and a powered rotary cutting tooltip that is oriented and positioned relative to the tool body by a plurality of processor-controlled actuators that provide degrees of freedom. The processor uses a surgical tracking system to identify the pose of the tool body and the tooltip relative to a patient's anatomy and controls the actuators to maintain the tooltip within a predetermined cutting plan to compensate for deviation of a surgeon's hand or a robotic arm controlling the tool body during a cutting operation.
    Type: Grant
    Filed: June 18, 2020
    Date of Patent: May 27, 2025
    Assignees: SMITH & NEPHEW, INC., SMITH & NEPHEW ORTHOPAEDICS AG, SMITH & NEPHEW ASIA PACIFIC PTE. LIMITED
    Inventor: Brett Bell
  • Patent number: 12299778
    Abstract: Provided is a method and an apparatus for generating an X-ray. The method for generating an X-ray image by the apparatus includes: obtaining a first camera image of the examinee's head by the camera image obtaining processor; obtaining a first projection image by photographing a first region of the examinee's head by the X-ray photographing unit; changing a relative position between the examinee's head and the X-ray photographing unit by the driving unit; obtaining a second camera image of the examinee's head by the camera image obtaining processor; obtaining a second projection image by photographing a second region of the examinee's head by the X-ray photographing unit; and generating the X-ray image by stitching and reconstructing the first projection image and the second projection image based on the first camera image and the second camera image by the X-ray image generation unit.
    Type: Grant
    Filed: July 17, 2019
    Date of Patent: May 13, 2025
    Assignee: OSSTEMIMPLANT CO., LTD.
    Inventor: Sun Jung Kim
  • Patent number: 12290941
    Abstract: An exemplary embodiment relates to an end effector (1), in particular a robot end effector, a device (20) with an operating element (25) for controlling an end effector (1), a robot with at least one end effector (1) and a medical telemanipulation system.
    Type: Grant
    Filed: July 21, 2022
    Date of Patent: May 6, 2025
    Assignee: KARL STORZ SE & Co. KG
    Inventors: Jochen Stefan, Sven Axel Grüner
  • Patent number: 12290321
    Abstract: A tracking device for a navigation system that includes a localizer. The tracking device has a tracking body. At least one tracking element is supported by the tracking body and configured to transmit a tracking signal for the localizer. A visual indicator is supported by the tracking body and has an emitter configured to generate a visible light. A tracker controller supported by the tracking body is configured to receive a signal from the navigation system indicative of the tracking signal being received by the localizer, and in response, control the visual indicator to activate the emitter to generate the visible light to produce a color to indicate to a user that the tracking signal is being received by the localizer.
    Type: Grant
    Filed: April 27, 2022
    Date of Patent: May 6, 2025
    Assignee: Stryker Corporation
    Inventors: Donald W. Malackowski, José Luis Moctezuma de la Barrera
  • Patent number: 12290416
    Abstract: A registration marker comprising a radiotransparent substrate and a pattern formed in at least two dimensions, which is disposed on the substrate and is optically visible. The registration marker also has a multiplicity of radiopaque elements, which are disposed in the substrate and are spatially arranged in at least two dimensions to provide a unique pattern.
    Type: Grant
    Filed: April 11, 2024
    Date of Patent: May 6, 2025
    Assignee: AUGMEDICS LTD.
    Inventors: Nissan Elimelech, Stuart Wolf
  • Patent number: 12290329
    Abstract: A surgical robot and a surgical instrument are disclosed. The surgical instrument includes a wire transmission and an end section. The wire transmission includes a base and n transmission modules each including at least one end drive shaft, two traction elements and two guide pulleys. Each of the guide pulleys comprises a groove for receiving therein a respective one of the traction elements. The groove has a plane of rotation, an entry point of tangency and an exit point of tangency. An angle between the traction element defined by the end drive shaft and the entry point of tangency and the plane of rotation is in the range of 0-0.2°. Projections of all the traction elements at the respective exit points of tangency on the proximal end portion are circumferentially arranged in the same order as the circumferential arrangement of the respective through holes.
    Type: Grant
    Filed: August 13, 2020
    Date of Patent: May 6, 2025
    Assignee: SHANGHAI MICROPORT MEDBOT (GROUP) CO., LTD.
    Inventors: Yuyuan He, Chao He, Youkun Jiang
  • Patent number: 12283062
    Abstract: A system for measuring distances within a surgical site includes a camera positionable to capture 3D image data corresponding to a treatment site. Using the image data, the system determines the relative 3D positions of identified measurement points at the treatment site captured in the images, and it estimates or determines the distance between the measurement points. Output is generated communicating the measured distances to the user. The measurement taken follows the 3D topography of the tissue positioned between the measurement points.
    Type: Grant
    Filed: November 16, 2020
    Date of Patent: April 22, 2025
    Assignees: Asensus Surgical US, Inc., Asensus Surgical Europe S.àR.L.
    Inventors: Kevin Andrew Hufford, Tal Nir, Lior Alpert, Gal Wiezman, Alexander John Maret, Mohan Nathan
  • Patent number: 12279839
    Abstract: A robotic surgical system can include an end effector coupled to a robotic arm. A reamer operable to ream bone can be coupled to the end effector (e.g., via a retainer). The reamer can include a primary driveshaft and a cutting head. The primary driveshaft can be rotatable about a first axis of rotation and the cutting head can be rotatable about a second axis of rotation, for example parallel to and offset from the first axis of rotation.
    Type: Grant
    Filed: April 7, 2021
    Date of Patent: April 22, 2025
    Assignee: Orthosoft ULC
    Inventors: Jean-Guillaume Abiven, Karine Dupuis, Trong-Tin Nguyen
  • Patent number: 12279840
    Abstract: A surgical instrument includes an end effector, a shaft assembly, a drive, and an activating mechanism. The end effector includes first and second jaws. At least one of the first and second jaws is pivotable relative to the other of the first and second jaws between open and closed positions. The shaft assembly extends proximally from the end effector. The drive is operatively connected to a portion of at least one of the end effector or the shaft assembly. The activating mechanism includes an actuation body operatively connected to the drive. The portion is configured to perform a first actuation profile in response to the actuation body moving along a first predetermined path or perform a second actuation profile in response to the actuation body moving along a second predetermined path. Selection of the first predetermined path is configured to prevent the actuation body from accessing the second predetermined path.
    Type: Grant
    Filed: April 30, 2021
    Date of Patent: April 22, 2025
    Assignee: Cilag GmbH International
    Inventors: Christopher A. Denzinger, Mark D. Overmyer, Charles J. Scheib, Neil T. Markwardt, Brian D. Black
  • Patent number: 12279832
    Abstract: Systems and methods for femoral medial condyle spherical center identification and tracking are described herein. Once the spherical center of the medial condyle is identified, the spherical center is tracked using a pin or internal reference. The spherical center may be used to provide a key kinematic motion reference, such as when the medial condyle is adjusted during a surgical procedure. The tracking may be used to provide optical tracking, inertial tracking, or other tracking. In contrast with surface-mounted optical trackers, the spherical center tracking is not lost during resection (e.g., removal) of a bone surface. Tracking the medial condyle spherical center may reduce or eliminate the need for a surface-mounted optical tracker or preoperative 3-D modeling or of the joint.
    Type: Grant
    Filed: December 23, 2021
    Date of Patent: April 22, 2025
    Assignee: Biomet Manufacturing, LLC
    Inventors: Michael E. Berend, Pierre Couture
  • Patent number: 12274512
    Abstract: An indicator system for a surgical robotic system for indicating a state of at least a portion of patient anatomy, the surgical robotic system comprising a robot having abase and an arm extending from the base, the arm holding an endoscope at an end of the arm distal from the base, the endoscope being configured for insertion into a body cavity of the patient for observing a surgical site internal to a body of the patient, the indicator system comprising: a receiver configured to receive video data of at least a portion of patient anatomy at the surgical site from the endoscope; and a processor configured to:detect a spatio-temporal change in a pixel region of the received video data; identify, in response to the detected spatio-temporal change, a parameter of the patient anatomy; generate a health indicator indicative of the identified parameter or indicative of a profile of the identified parameter; and output the generated health indicator.
    Type: Grant
    Filed: October 3, 2019
    Date of Patent: April 15, 2025
    Assignee: CMR SURGICAL LIMITED
    Inventors: Steven Bishop, Ricardo Michael Henderson Da Silva
  • Patent number: 12268460
    Abstract: Robotic medical systems may perform robotic movement that is saturated according to one or more constraints of the system. A robotic system can include a robotic arm configured to control a medical instrument. The robotic system can receive a first user input from a user for moving the robotic arm to control the medical instrument. The robotic system can guide the movement of the robotic arm along a collision boundary surrounding an object in accordance with the first user input and one or more secondary constraints.
    Type: Grant
    Filed: May 10, 2022
    Date of Patent: April 8, 2025
    Assignee: Auris Health, Inc.
    Inventors: Yanan Huang, Nima Sarli, Ying Mao, David Stephen Mintz
  • Patent number: 12262963
    Abstract: Provided is a surgical imaging apparatus that includes a multi-link, multi-joint structure including a plurality of joints that interconnect a plurality of links to provide the multi-link, multi-joint structure with a plurality of degrees of freedom, at least one video camera being disposed on a distal end of the multi-link, multi-joint structure; at least one actuator that drives at least one of the plurality of joints; and circuitry that detects a joint force experienced at the at least one of the plurality of joints in response to an applied external force, and controls the at least one actuator based on the joint force so as to position the video camera.
    Type: Grant
    Filed: August 12, 2021
    Date of Patent: April 1, 2025
    Assignee: Sony Olympus Medical Solutions Inc.
    Inventors: Tetsuharu Fukushima, Wataru Kokubo, Toshimitsu Tsuboi, Atsushi Miyamoto, Kenichiro Nagasaka, Kenji Hirose
  • Patent number: 12257006
    Abstract: Systems and methods for electromagnetic (EM) distortion detection and compensation are disclosed. In one aspect, the system includes an instrument, the system configured to: determine a reference position of the distal end of the instrument at a first time based on EM location data, determine that the distal end of the instrument at a second time is static, and determine that the EM location data at the second time is indicative of a position of the distal end of the instrument having changed from the reference position by greater than a threshold distance. The system is further configured to: determine a current offset based on the distance between the position at the second time and the reference position at the first time, and determine a compensated position of the distal end of the instrument based on the EM location data and the current offset.
    Type: Grant
    Filed: January 4, 2024
    Date of Patent: March 25, 2025
    Assignee: Auris Health, Inc.
    Inventors: Chauncey F. Graetzel, Subashini Srinivasan, Yuriy Malinin, Shyamprasad Konduri
  • Patent number: 12257007
    Abstract: There is provided a computer implemented method of providing a surgical controller with instructions to restrict a manipulation of an endoscopic tool during an endoscopic medical procedure in an intrabody cavity, comprising: inputting into classifier(s), indication(s) of instructions for manipulation of the endoscopic tool outputted by sensor(s), classifying by the classifier(s), the indication of instructions into an envelope defining a volume that restricts therein manipulation of the endoscopic tool, wherein the classifier(s) classifies the envelope based on previously obtained indications of instructions for manipulation of endoscopic tools during other endoscopic medical procedures performed in intrabody cavities of other patients, analyzing the indication of instructions for manipulation of the endoscopic tool according to the envelope to determine when the instructions are for manipulation of the endoscopic tool externally to the envelope, and providing the surgical controller with an indication of ina
    Type: Grant
    Filed: December 12, 2022
    Date of Patent: March 25, 2025
    Assignee: Momentis Surgical Ltd
    Inventors: Dvir Cohen, Yaron Levinson
  • Patent number: 12257009
    Abstract: An articulated robotic platform is provided as an end-actuator intended to be fitted to an articulated robotic arm. One use of the articulated robotic platform is to more accurately guide surgical tools during a surgical intervention making it possible to achieve positional accuracy on the level of millimeters or fractions of a millimeter. The articulated robotic platform includes support members attached to the patient or anchoring the articulated robotic platform onto a clamp. The support members of the articulated robotic platform are capable of changing in length, and this change can be monitored by an extension measurement sensor fitted to one or more of the support members. The controller, when provided with feedback information of the extension measurement and direction of several of the legs, can calculate accurately the position of the articulated robotic platform relative to an intervention area of a patient.
    Type: Grant
    Filed: July 18, 2019
    Date of Patent: March 25, 2025
    Assignee: Brainlab AG
    Inventors: Bálint Várkut, Dirk Schöttle
  • Patent number: 12260561
    Abstract: A system for tracking at least one object in computer-assisted surgery may include a processing unit and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for: obtaining orientation data from at least one inertial sensor unit on at least one object; concurrently obtaining position and orientation data for a robot arm relative to a frame of reference; registering the at least one object with the robot arm to determine a position of the at least one object in the frame of reference; and continuously tracking and outputting the position and orientation of the at least one object in the frame of reference, using the orientation data from the at least one inertial sensor unit on the at least one object and the position and orientation data for the robot arm.
    Type: Grant
    Filed: June 15, 2022
    Date of Patent: March 25, 2025
    Assignee: ORTHOSOFT ULC
    Inventors: Pierre Couture, Louis-Philippe Amiot, Alain Richard, Karine Duval, Bruno Andre, Delphine Cirette, Yann Zimmermann, Ronan Lacour
  • Patent number: 12251185
    Abstract: A robotic surgical system and method for providing a stadium view with arm set-up guidance is provided. In one embodiment, a robotic surgical system comprises a plurality of robotic arms, a display device, and a processor. The processor is configured to render, on the display device, a graphical representation of the plurality of robotic arms in their current positions, as well as user-guidance information on how to move the plurality of robotic arms to a different position. Other embodiments are provided.
    Type: Grant
    Filed: February 18, 2020
    Date of Patent: March 18, 2025
    Assignee: Verb Surgical Inc.
    Inventors: Eric Johnson, Francois Brahic
  • Patent number: 12251140
    Abstract: Embodiments are directed to a medical robot system including a robot coupled to an end-effectuator element with the robot configured to control movement and positioning of the end-effectuator in relation to the patient. One embodiment is a method for removing bone with a robot system comprising: taking a two-dimensional slice through a computed tomography scan volume of target anatomy; placing a perimeter on a pathway to the target anatomy; and controlling a drill assembly with the robot system to remove bone along the pathway in the intersection of the perimeter and the two-dimensional slice.
    Type: Grant
    Filed: May 18, 2023
    Date of Patent: March 18, 2025
    Assignee: Globus Medical, Inc.
    Inventors: Neil Crawford, Nicholas Theodore
  • Patent number: 12245830
    Abstract: An articulable wrist for an end effector includes a first linkage, a second linkage rotatably coupled to the first linkage at a first articulation joint, and a flexible member extending at least partially through a central channel cooperatively defined by the first and second linkages. A first pivot guide is rotatably coupled to the second linkage at the first articulation joint and rotatable about a first pivot axis extending through the first articulation joint, the first pivot guide defining a central aperture alignable with the central channel and sized to accommodate the flexible member therethrough. The first pivot guide supports an outer diameter of the flexible member at the first articulation joint and prevents the flexible member from flexing beyond the first pivot axis during articulation.
    Type: Grant
    Filed: September 7, 2023
    Date of Patent: March 11, 2025
    Assignee: Cilag GmbH International
    Inventors: William George Saulenas, Tyler N. Brehm
  • Patent number: 12239389
    Abstract: Systems and methods for generating patient-specific surgical guides comprising: capturing a first and second images of an orthopedic element in different reference frames using a radiographic imaging technique, detecting spatial data defining anatomical landmarks on or in the orthopedic element using a neural network, applying a mask to the orthopedic element defined by an anatomical landmark, projecting the spatial data from the first image and the second image to define volume data, applying the neural network to the volume data to generate a reconstructed three-dimensional (“3D”) model of the orthopedic element; and calculating dimensions for a patient-specific surgical guide configured to abut the orthopedic element.
    Type: Grant
    Filed: July 19, 2022
    Date of Patent: March 4, 2025
    Assignee: MicroPort Orthopedics Holdings Inc.
    Inventors: Fred W. Bowman, C. Brian McDaniel, Sr., Paul S. Bryant, Brian R. Harris, Jr.
  • Patent number: 12239407
    Abstract: A surgical computing system may receive usage data associated with movement of a surgical instrument and user inputs to the surgical instrument. The surgical computing system may receive motion and biomarker sensor data from sensing systems applied to the operator of the surgical instrument. The surgical computing system may determine, based on at least one of the usage data and/or the sensor data, a control feature for implementation by the surgical instrument. The surgical computing system may communicate the determined control feature(s) to the surgical instrument. The surgical instrument may modify its operation based on the control features.
    Type: Grant
    Filed: January 22, 2021
    Date of Patent: March 4, 2025
    Assignee: Cilag GmbH International
    Inventors: Frederick E. Shelton, IV, Jason L. Harris, Chad E. Eckert, Andrèas N Ward
  • Patent number: 12239584
    Abstract: An interface for moveably interconnecting a surgical table with a stationary gantry supporting a surgical robotic system is provided. The interface includes a collar portion, an actuator portion, and a locking portion. The collar portion is attached relative to a longitudinal cross-member of the surgical table via receipt of a portion of the longitudinal cross-member through the collar portion. The actuator portion is one of attached to the collar portion and attached to and/or supported by the gantry, and includes gearing operatively engaged to gearing attached to the longitudinal cross member. The locking portion is attached to and/or supported relative to the gantry, and includes a shoulder portion configured to contact an exterior surface of the collar portion, and at least one engagement portion moveable between a disengaged position and an engaged position.
    Type: Grant
    Filed: June 22, 2022
    Date of Patent: March 4, 2025
    Assignee: WARSAW ORTHOPEDIC, INC.
    Inventors: Roy K. Lim, Katharine E. Darling, Mark C. Dace
  • Patent number: 12239344
    Abstract: Systems and methods for joint replacement are provided. The systems and methods include a surgical orientation device and at least one orthopedic fixture. The surgical orientation device and orthopedic fixtures can be used to locate the orientation of an axis in the body, to adjust an orientation of a cutting plane or planes along a bony surface, to distract a joint, or to otherwise assist in an orthopedic procedure or procedures.
    Type: Grant
    Filed: December 1, 2023
    Date of Patent: March 4, 2025
    Assignee: OrthAlign, Inc.
    Inventors: Nicholas van der Walt, Santiago P. Borja
  • Patent number: 12239293
    Abstract: Disclosed are systems and methods for an endoscope or other surgical instruments to automatically sense when it's placed inside or outside of a trocar or a cannula. Operational setting of the endoscope may be adjusted as a function of the detected environmental condition to improve the function of the endoscope and the safety of a surgical procedure. The endoscope may include a sensor to sense a tag embedded in a trocar or cannula. The endoscope may transmit sensing information to a controller of a surgical robotic system to indicate that the endoscope has been inserted into the trocar or cannula. The controller may generate configuration information corresponding to the sensed state. The controller may transmit the configuration information to the endoscope to configure the endoscope to operate in the state. In another aspect, the endoscope may wirelessly communicate with another surgical instrument to receive operational information from the surgical instrument.
    Type: Grant
    Filed: October 2, 2020
    Date of Patent: March 4, 2025
    Assignee: Verb Surgical Inc.
    Inventor: Geoffrey Robert Russell
  • Patent number: 12232768
    Abstract: A cannula for use in a surgical procedure includes a tubular shaft and a tether coupled to a distal end portion of the tubular shaft. The distal end portion of the tubular shaft is configured to turn inside out in response to a threshold proximally-oriented force applied to the tether. Sections of the distal end portion may break apart or separate from one another about a groove formed in the tubular shaft.
    Type: Grant
    Filed: June 12, 2020
    Date of Patent: February 25, 2025
    Assignee: Covidien LP
    Inventor: William J. Dickhans
  • Patent number: 12232863
    Abstract: Orthopedic systems and methods are provided for use in preparing joints for implants. Specifically, hip preparation systems and methods are disclosed which can include a surgical orientation device. The hip preparation systems and methods can be used, for example, to orient the hip during the procedure, determine the orientation of an anatomical plane or planes, and orient a prosthetic component or components.
    Type: Grant
    Filed: December 29, 2022
    Date of Patent: February 25, 2025
    Assignee: OrthAlign, Inc.
    Inventor: Santiago P. Borja
  • Patent number: 12233547
    Abstract: A control system for a surgical robotic system, the surgical robotic system comprising a remote surgeon console having a surgeon input device, and a surgical robot arm comprising a series of joints extending from a base to a terminal end for attaching to a surgical instrument, the surgical robot arm operable in a full power mode in which the joints of the surgical robot arm are powered by a first power source and a reduced power mode in which the joints of the surgical robot arm are powered by a second power source, the control system configured to: whilst the surgical robot arm is operating in the full power mode, control the surgical robot arm in a surgical mode by converting movements of the surgeon input device to control signals for moving joints of the surgical robot arm; detect a power failure of the first power source; in response to detecting the power failure, enable the reduced power mode, and transition control of the surgical robot arm from the surgical mode to a standby mode; whilst in the reduc
    Type: Grant
    Filed: April 21, 2021
    Date of Patent: February 25, 2025
    Assignee: CMR SURGICAL LIMITED
    Inventor: Gordon Thomas Deane