Stereotaxic Device Patents (Class 606/130)
  • Patent number: 11141859
    Abstract: A computer implemented method for determining a configuration of a medical robotic arm, wherein the configuration comprises a pose of the robotic arm and a position of a base of the robotic arm, comprising the steps of: —acquiring treatment information data representing information about the treatment to be performed by use of the robotic arm; —acquiring patient position data representing the position of a patient to be treated; and —calculating the configuration from the treatment information data and the patient position data.
    Type: Grant
    Filed: November 2, 2016
    Date of Patent: October 12, 2021
    Assignee: BRAINLAB AG
    Inventors: Wolfgang Steinle, Christoffer Hamilton, Nils Frielinghaus
  • Patent number: 11141223
    Abstract: Described is an apparatus for calibrating or measuring target points (1) for cerebral neuro-navigators, comprising a processor (2) comprising a video output (3) on which can be displayed a preloaded three-dimensional or two-dimensional map (4) of a brain of a patient, a rigid body (5) comprising a plurality of optical markers (6) and a supporting tip (7) designed to be rested on the head of the patient and a stereoscopic video camera (8) configured to detect a position of the optical markers (6) relative to the head of the patient at a preset point (9) of the head of the patient and sending the position to the processor (2) to allow the acquisition of the preset point (9). The stereoscopic video camera (8) is configured for detecting and sending to the processor (2) static positions and movements of the optical markers (6).
    Type: Grant
    Filed: November 6, 2018
    Date of Patent: October 12, 2021
    Assignee: EB Neuro S.P.A.
    Inventors: Cristian Brunelli, Marco Rossi
  • Patent number: 11141232
    Abstract: Systems and methods for computer-assisted systems using robotic technology are described. For example, this disclosure describes systems and methods that can be used in various contexts such as, but not limited to, minimally invasive computer-assisted tele-operated surgery using robotic technology. The disclosure describes instruments and mechanisms for actuating and controlling the motions of such instruments. The instruments and actuator mechanisms may be used in medical operations and non-medical operations.
    Type: Grant
    Filed: March 28, 2019
    Date of Patent: October 12, 2021
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: Ryan Charles Abbott
  • Patent number: 11134911
    Abstract: A method for supporting an evaluator in evaluation of a CT data set of a vascular system is provided. The vascular system is segmented, and an evaluation parameters are determined from the segmentation. An abstracted representation of the vascular system up to the limit generation is displayed, where each vascular segment is allocated at least one display element of a predefined minimum size that is the same for all vascular segments. Display elements of a path from the vascular segment of the zeroth generation to a vascular segment of the limit generation are represented in a first direction of the representation in succession, and display elements of the same generation allocated to different paths follow one another in a second direction transverse thereto. Each display element allocated to a vascular segment is represented in a type of representation corresponding to the value of the evaluation parameter for the vascular segment.
    Type: Grant
    Filed: September 16, 2020
    Date of Patent: October 5, 2021
    Assignee: Siemens Healthcare GmbH
    Inventors: Lutz Gündel, Grzegorz Soza
  • Patent number: 11129682
    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: July 15, 2015
    Date of Patent: September 28, 2021
    Assignee: SONY OLYMPUS MEDICAL SOLUTIONS INC.
    Inventors: Tetsuharu Fukushima, Wataru Kokubo, Toshimitsu Tsuboi, Atsushi Miyamoto, Kenichiro Nagasaka, Kenji Hirose
  • Patent number: 11123132
    Abstract: An inner guide assembly and surgical instrument including the same wherein the inner guide assembly includes a proximal tube guide defining first and second proximal channels extending longitudinally therealong, a distal tube guide defining first and second distal channels extending longitudinally therealong and disposed in alignment with the first and second proximal channels, respectively, and a wire clip disposed between the proximal and distal tube guides and defining a central channel having a first portion and a second portion. The first proximal channel, the first distal channel, and the first portion of the central channel are configured to cooperate to receive a first elongated component of a surgical instrument longitudinally therethrough. The second proximal channel, the second distal channel, and the second portion of the central channel are configured to cooperate to receive first and second lead wires of the surgical instrument longitudinally therethrough.
    Type: Grant
    Filed: April 9, 2018
    Date of Patent: September 21, 2021
    Assignee: Covidien LP
    Inventor: Zachary S. Heiliger
  • Patent number: 11116467
    Abstract: A method for recording image data of a moving, (e.g., cyclically moving), region of interest of a patient by a medical imaging system with an X-ray source and an X-ray detector, wherein a robotic device with a kinematic chain of moving components has a tactile connection with the patient, and wherein, the tactile connection is maintained at least for a prespecified period. The method includes acquiring measured values by sensors of the robotic device, evaluating the measured values and forwarding to the medical imaging system, wherein the evaluated measured values include information on the movement and/or position of the region of interest, and irradiation of the region of interest by the radiation source and recording of image data of the irradiated region of interest by the X-ray detector, and wherein the evaluated measured values are used to actuate the imaging system.
    Type: Grant
    Filed: September 25, 2019
    Date of Patent: September 14, 2021
    Assignee: Siemens Healthcare GmbH
    Inventors: Peter Fischer, Philip Mewes, Gunter Müller
  • Patent number: 11109940
    Abstract: Embodiments of the disclosures made herein are directed to devices, apparatuses, systems and methods for facilitating cleaning of an imaging element of imaging devices used with robotic systems. Devices, apparatuses, systems and methods in accordance with the disclosures made herein provide a lens cleaning device configured to perform one or more cleaning events to remove contaminating matter from an imaging element (e.g., lens) of an imaging device (e.g., a laparoscope). In preferred embodiments, such devices, apparatuses, systems and methods are adapted specifically for facilitating in-vivo cleaning of an imaging element of imaging devices that are used with robotic surgical systems. Advantageously, embodiments of such robotic surgical system implementations enable a surgeon to readily resolve sub-optimal visualization of the surgical field during robotic (e.g., laparoscopic) surgical procedures.
    Type: Grant
    Filed: February 9, 2021
    Date of Patent: September 7, 2021
    Assignee: ClearCam Inc.
    Inventors: Alexander Ross Cohen, Christopher Robert Idelson, Mitchell Ross Gilkey
  • Patent number: 11109927
    Abstract: A joint driving actuator that includes an ultrasonic motor that generates driving force for driving a joint, the ultrasonic motor including a stator fixed to a side of one arm that relatively rotates in the joint and a rotor fixed to a side of another arm that relatively rotates in the joint, the stator including a piezoelectric element that generates ultrasonic vibration, a torque sensor that detects external force applied to the joint, and an encoder that detects a rotational angle of the ultrasonic motor, the encoder being mounted on the one arm, the stator being fixed on the side thereof, and the torque sensor being mounted on the another arm, the rotor being fixed on the side thereof.
    Type: Grant
    Filed: October 13, 2017
    Date of Patent: September 7, 2021
    Assignee: SONY CORPORATION
    Inventors: Wataru Kokubo, Tetsuharu Fukushima, Toshimitsu Tsuboi
  • Patent number: 11103990
    Abstract: Systems and methods for mounting a robotic arm for use in robotic-assisted surgery, including a mobile shuttle that includes a support member for mounting the robotic arm that extends at least partially over a gantry of an imaging device. Further embodiments include a mounting apparatus for mounting a robotic arm to a base or support column of an imaging device, to a patient table, to a floor or ceiling of a room, or to a cart that extends over the top surface of the patient table.
    Type: Grant
    Filed: September 15, 2017
    Date of Patent: August 31, 2021
    Assignee: Mobius Imaging LLC
    Inventors: Paul Sebring, Eugene A. Gregerson, Russell Stanton, Edward Daley, Gordon Row
  • Patent number: 11103695
    Abstract: A system and method for implanting devices into biological tissue (e.g., brain tissue). The system may include a biocompatible probe, an integrated circuit (IC) chip tethered to the probe, a cartridge comprising a temporary attachment surface by which the probe is removably coupled to the cartridge and a fastener for removably coupling the IC chip to the cartridge, a needle to reversibly engage with the probe, a robotic arm to hold the needle, a camera, and a microprocessor controller. The microprocessor controller may control the robotic arm and the needle using the to remove the probe from the temporary attachment surface using the needle, pierce the biological tissue with the needle and the probe, withdraw the needle while leaving the probe within the biological tissue; and detach the IC chip from the cartridge, leaving the IC chip with the biological tissue, the IC chip still tethered to the probe.
    Type: Grant
    Filed: September 12, 2019
    Date of Patent: August 31, 2021
    Assignee: NEURALINK CORP.
    Inventors: Robin E. Young, Philip N. Sabes
  • Patent number: 11107213
    Abstract: In one embodiment a medical scan correction system includes a medical instrument having a distal end and an image sensor disposed at the distal end, and configured to be inserted into a body-part of a living subject, and a controller to register a medical scan of the body-part with a coordinate frame of the medical instrument, the medical scan including initial tissue-type indications, render a first image including a representation of the body-part and the initial tissue-type indications based on the medical scan, and a representation of the medical instrument, render a second image captured by the image sensor of a portion of the body-part, and responsively to a comparison between an appearance of a tissue in the second image of the portion of the body-part and an initial tissue-type indication of the tissue, update the medical scan to modify the tissue-type indication associated with the tissue.
    Type: Grant
    Filed: August 9, 2019
    Date of Patent: August 31, 2021
    Assignee: Biosense Webster (Israel) Ltd.
    Inventors: Assaf Govari, Vadim Gliner
  • Patent number: 11106284
    Abstract: In one embodiment, a processor accesses sensor input data received from one or more sensors. The sensor input data represents one or more gestures. The processor determines, based on the sensor input data representing the one or more gestures, action data representing an action to be performed by a robot. The action includes physical movements of the robot. The processor evaluates the action data representing the action to be performed by the robot in light of evaluation data.
    Type: Grant
    Filed: May 14, 2020
    Date of Patent: August 31, 2021
    Assignee: AT&T INTELLECTUAL PROPERTY I, L.P.
    Inventors: Robert Dailey, Eric Zavesky, James Pratt, Yupeng Jia
  • Patent number: 11096637
    Abstract: The invention concerns an X-ray imaging apparatus for imaging a skull or a partial area of the skull, which apparatus comprises between the X-ray source and detector a patient support means (17). The patient support means (17) comprise a rear rest structure (170) containing a support part (171) arranged to get positioned at occipital area and a safety mechanism (173) in an area between its mounting point to the X-ray imaging apparatus (10) and said support pan (171). The safety mechanism (173) is arranged to go off when a force greater titan predetermined is acting on said support pan (171) and to release said support part (171) from its patient support position.
    Type: Grant
    Filed: March 19, 2018
    Date of Patent: August 24, 2021
    Assignee: PLANMECA OY
    Inventors: Mikko Jarva, Kari Malmen, Lauri Seppala, Tero Pihlajamaki, Pentti Hyvarinen, Timo Muller
  • Patent number: 11096751
    Abstract: The invention may provide a puncture robot that can precisely move a needle in the puncture direction by setting needle position in a CT gantry. Provided is a puncture robot comprising a puncture unit, puncture robot being configured such that: the puncture unit comprises a puncture needle, an arm unit, a frame unit, and a base unit; the frame unit comprises a first frame and a second frame that are each provided with an advancing and retracting shaft, and a connecting rod; the arm unit comprises an upper arm and a lower arm, with the puncture needle being mounted to be parallel to the advancing and retracting shaft and the upper arm and the lower arm are advanced and retracted along the advancing and retracting shaft.
    Type: Grant
    Filed: September 29, 2016
    Date of Patent: August 24, 2021
    Assignee: NATIONAL UNIVERSITY CORPORATION, OKAYAMA UNIVERSITY
    Inventors: Hiroki Kitamura, Akira Heya, Takafumi Namba, Tetsushi Kamegawa, Takayuki Matsuno, Takao Hiraki
  • Patent number: 11099119
    Abstract: An inspection system includes a base plate, an array of fixtures, a plurality of light sources, and a drive mechanism. Each fixture has a first portion rotatably secured to the base plate and configured to rotate about a yaw axis and a second portion rotatably secured to the first portion and configured to rotate about a pitch axis. Each light source is secured to one of the fixtures and is configured to direct light at yaw and pitch angles relative to the base plate. The drive mechanism is configured to rotate the first portions of each fixture about each respective yaw axis and to rotate the second portions of each fixture about each respective pitch axis to adjust yaw and pitch angles of each light source, respectively.
    Type: Grant
    Filed: July 28, 2020
    Date of Patent: August 24, 2021
    Assignee: General Inspection, LLC
    Inventors: Greg Nygaard, Nathan Kujacznski, Dikshant Sharma
  • Patent number: 11090126
    Abstract: An input device handle for controlling a robotic system includes a body and a cylinder. The body defines an opening that rotatably receives the cylinder. The cylinder defines a roll axis such that rotation of the cylinder relative to the body about the roll axis is configured to rotate a tool of a robot about a first axis defined by the tool.
    Type: Grant
    Filed: March 2, 2017
    Date of Patent: August 17, 2021
    Assignee: COVIDIEN LP
    Inventor: William Peine
  • Patent number: 11071604
    Abstract: Generally, a system for use in a robotic surgical system may be used to determine an attachment state between a tool driver, sterile adapter, and surgical tool of the system. The system may include sensors used to generate attachment data corresponding to the attachment state. The attachment state may be used to control operation of the tool driver and surgical tool. In some variations, one or more of the attachment states may be visually output to an operator using one or more of the tool driver, sterile adapter, and surgical tool. In some variations, the tool driver and surgical tool may include electronic communication devices configured to be in close proximity when the surgical tool is attached to the sterile adapter and tool driver.
    Type: Grant
    Filed: December 19, 2017
    Date of Patent: July 27, 2021
    Assignee: VERB SURGICAL INC.
    Inventors: Matthew Colin Vargas, Charles J. Scheib, Andrea Bajo, Koray Sahin, Jaime Hernandez, Robert Elliott DeCou
  • Patent number: 11071554
    Abstract: A motorized surgical instrument is disclosed. The surgical instrument includes a displacement member. A motor is coupled to the displacement member and a control circuit. A position sensor is coupled to the control circuit and a timer circuit to measure elapsed time. The control circuit is configured to determine a position of the displacement member, determine an error between directed and actual velocity and adjust the directed velocity based on the error in comparison to one or more thresholds. The control circuit also is configured to adjust the rate of change of the directed velocity based on the one or more thresholds. The control circuit also is configured to determine a zone in which the displacement member is located and set the directed velocity based on the zone in which the displacement member is located.
    Type: Grant
    Filed: June 20, 2017
    Date of Patent: July 27, 2021
    Assignee: Cilag GmbH International
    Inventors: Raymond E. Parfett, Shane R. Adams, Frederick E. Shelton, IV, Jason L. Harris
  • Patent number: 11065133
    Abstract: A prosthesis that can be actuated by external force includes a prosthesis shaft and an exoprosthesis with at least one prosthesis motor that can be activated by a prosthesis control device and a joint. The prosthesis control device includes a housing, a microcontroller and display device, so that a gripping process can be replicated by the prosthesis motor controllable by the prosthesis control device and parameters of the gripping process are displayed on a display, in which case recording and evaluation of the electromyography signals are dispensed with. The display displays the chosen parameters of an imminent gripping process and the prosthesis control device includes an input device by which a desired gripping force and/or gripping time can be actively set on the microcontroller before performance of the gripping process by a prosthesis wearer directly on the prosthesis control device and can be readjusted during the gripping process.
    Type: Grant
    Filed: September 20, 2017
    Date of Patent: July 20, 2021
    Assignee: APPSOCIAL.ORG STIFTUNG
    Inventors: Fabian Schollenberger, Wilfried J. Elspass, Lukas Lengacher, Tobias Moser
  • Patent number: 11065079
    Abstract: Systems and methods for estimating contact force on an anatomical structure during a surgical procedure are disclosed. A system may include at least one processor configured to receive, from at least one image sensor in an operating room, image data of a surgical procedure and analyze the received image data to determine an identity of an anatomical structure and to determine a condition of the anatomical structure as reflected in the image data. The processor may select a contact force threshold associated with the anatomical structure, the selected contact force threshold being based on the determined condition of the anatomical structure, receive an indication of actual contact force on the anatomical structure, and compare the indication of actual contact force with the selected contact force threshold. The processor may then output a notification based on a determination that the indication of actual contact force exceeds the selected contact force threshold.
    Type: Grant
    Filed: February 27, 2020
    Date of Patent: July 20, 2021
    Assignee: THEATOR INC.
    Inventors: Tamir Wolf, Dotan Asselmann
  • Patent number: 11058502
    Abstract: A support arm device includes a first drive part that is fixed to a base part and cause a first drive shaft to perform shaft rotation, a second drive part that is fixed to the base part and cause a second drive shaft to perform shaft rotation, and an arm part including at least one parallel link and that supports a predetermined tool. The arm part is caused to change an attitude to cause the predetermined tool to perform a predetermined rotational motion by the first drive part and the second drive part being driven.
    Type: Grant
    Filed: August 9, 2016
    Date of Patent: July 13, 2021
    Assignee: SONY CORPORATION
    Inventors: Kazuo Hongo, Kenichiro Nagasaka
  • Patent number: 11058495
    Abstract: A surgical navigation system comprises a computer system, a tracking system and a projector. The computer system includes instructions for performing a surgical plan. The tracking system is electronically connected to the computer system and has a viewing area in which markers can be located within a three-dimensional space relative to the viewing area. The projector is electronically connected to the computer system and has a beam projectable into the viewing area to display a step of the surgical plan based on a location of a marker. A method for guiding a surgical instrument comprises tracking a surgical instrument within a three-dimensional space using a computer-operated tracking system, matching the surgical instrument to a step in a surgical plan for conducting the surgical procedure using the surgical instrument, and projecting a visual instruction into the three-dimensional space for the step in the surgical plan related to the instrument.
    Type: Grant
    Filed: April 26, 2017
    Date of Patent: July 13, 2021
    Assignee: Biomet Manufacturing, LLC
    Inventors: Brian M. May, William Hartman
  • Patent number: 11058574
    Abstract: An intraocular injection system for injecting a substance into an eye globe of an animal or human eye, the system comprising an injection device with a piercing member for injection of the substance into the eye globe, the intraocular injection system providing an automated piercing of the eye globe by the piercing member. The system further comprises a robotic manipulator carrying the injection device, the robotic manipulator adapted and configured to move the injection device to a pre-injection position, a detection device adapted and configured to detect a position of a patch placed onto the eye globe and to control the robotic manipulator to move the injection device to the pre-injection position, the pre-injection position being based upon the detected position of the patch on the eye globe.
    Type: Grant
    Filed: July 3, 2015
    Date of Patent: July 13, 2021
    Assignee: OPHTHOROBOTICS AG
    Inventors: Stephan Michels, Matthias Becker, Bradley Nelson, Franziska Ullrich
  • Patent number: 11064126
    Abstract: A multi-positioning camera system includes an industrial endoscope having an imaging device provided in a tip portion of a flexible soft portion; a reel mechanism which pays out and takes up the soft portion by rotating, in a normal direction and a reverse direction, a reel drum; a support pipe which supports the soft portion inserted from a tip of the support pipe in a pay-out direction; a distributor which switches and places a tip portion of the soft portion paid out from a support pipe opening formed at an insertion tip of the support pipe at one of a plurality of different positions; and plural branch pipes which have reception holes formed corresponding to the plural different positions, and observation windows that communicate with the reception holes and are located at the plural different positions, and each of which receives the soft portion inserted through the reception hole.
    Type: Grant
    Filed: May 27, 2020
    Date of Patent: July 13, 2021
    Assignee: PANASONIC I-PRO SENSING SOLUTIONS CO., LTD.
    Inventor: Haruo Kogane
  • Patent number: 11054457
    Abstract: In one embodiment, a method generally comprises monitoring real-time electrical data for Power Sourcing Equipment (PSE) transmitting power over a cable to a Powered Device (PD), and identifying changes in the real-time electrical data indicating strain on one or more wires in the cable due to stretching in the one or more wires.
    Type: Grant
    Filed: November 26, 2019
    Date of Patent: July 6, 2021
    Assignee: CISCO TECHNOLOGY, INC.
    Inventors: Joel Richard Goergen, Chad M. Jones, Christopher Daniel Bullock, Dylan T. Walker
  • Patent number: 11051894
    Abstract: The various inventions relate to robotic surgical devices, consoles for operating such surgical devices, operating theaters in which the various devices can be used, insertion systems for inserting and using the surgical devices, and related methods. A positionable camera is disposed therein, and the system is configured to execute a tracking and positioning algorithm to re-position and re-orient the camera tip.
    Type: Grant
    Filed: September 27, 2018
    Date of Patent: July 6, 2021
    Assignee: Virtual Incision Corporation
    Inventors: Shane Farritor, Dmitry Oleynikov, Nathan Wood, Jason Dumpert, Mark Reichenbach, Lou Cubrich
  • Patent number: 11045273
    Abstract: A sterile barrier assembly includes a linear drive section and a rotation drive section. The linear drive section includes a corrugated portion interfacing with an axial output of an instrument driving unit on a non-sterile side and an engaging portion interfacing with a tool assembly of a surgical instrument on a sterile side. The rotational drive section includes a first engaging portion interfacing with a rotational output of the instrument driving unit on the non-sterile side and a second engaging portion interfacing with the tool assembly of the surgical instrument on the sterile side.
    Type: Grant
    Filed: September 22, 2016
    Date of Patent: June 29, 2021
    Assignee: Covidien LP
    Inventors: Chi Min Seow, Michael Zemlok, Robert Allen
  • Patent number: 11045274
    Abstract: An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A sensor fixed relative to the instrument carriage detects a position of the detection pin. A carriage controller coupled to the sensor, provides a signal that indicates at least a first state and a second state responsive to a distance between the distal end of the detection pin and the control surface. The signal may indicate if an instrument sterile adapter is coupled to the control surface of the instrument carriage. A third state of the signal may indicate if a surgical instrument is coupled to the instrument sterile adapter.
    Type: Grant
    Filed: January 21, 2020
    Date of Patent: June 29, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Gregory W. Dachs, II, Bruce Michael Schena, Amir H. Chaghajerdi, Niels Smaby, Tyler J. Morrissette
  • Patent number: 11045258
    Abstract: An apparatus for guiding an elongated flexible instrument comprises a variable-length support assembly including a first end, a second end, a plurality of support member pairs, and a plurality of eyelets movably coupled to at least one support member pair and configured to receive the elongated flexible instrument. The variable-length support assembly is configured to selectively transition from a compressed configuration to an expanded configuration along a longitudinal central axis, and the plurality of eyelets are adapted to support the elongated flexible instrument as the elongated flexible instrument is advanced along the longitudinal central axis. Each of the plurality of eyelets includes a tapered alignment member configured to contact a tapered alignment member of an adjacent eyelet to move the plurality of eyelets into alignment along the longitudinal axis as the variable length assembly transitions from the expanded configuration to the compressed configuration.
    Type: Grant
    Filed: July 7, 2017
    Date of Patent: June 29, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Matthew D. Inouye, David W. Bailey, Stephen J. Blumenkranz, Matthew D. Rohr Daniel
  • Patent number: 11039857
    Abstract: A cannula assembly for use in robotic surgery is disclosed that includes a robotic cannula having a housing with an open end and a tubular portion extending distally from the housing, the tubular portion being dimensioned to accommodate passage of a surgical instrument having a 12 mm diameter, an adapter assembly configured for engagement within the open end of the cannula housing and including a tubular body with a passage supporting a primary seal dimensioned to accommodate passage of a surgical instrument having a 12 mm diameter, and an insert tube dimensioned to extend through the passage of the body portion of the adapter assembly and the tubular portion of the robotic cannula, the insert tube including a head portion with a passage supporting a secondary seal dimensioned to accommodate a surgical instrument having an 8 mm diameter.
    Type: Grant
    Filed: July 11, 2017
    Date of Patent: June 22, 2021
    Assignee: Conmed Corporation
    Inventors: Michael J. Augelli, Dominick Mastri, Kenneth Blier
  • Patent number: 11033348
    Abstract: A robotic surgical instrument comprises an articulation at its shaft's distal end and an instrument interface at its proximal end. The articulation is driveable by pairs of driving elements to articulate an end effector. The instrument interface comprises instrument interface elements configured to drive the driving elements. The instrument interface elements engage drive assembly interface elements of a drive assembly interface of a surgical robot arm when the robotic surgical instrument engages the surgical robot arm. A guide bar is located at an external face of the instrument interface, which, on engaging the instrument interface with the drive assembly interface, is received in the drive assembly interface prior to the instrument interface elements. Once received in the drive assembly interface, the guide bar constrains a relative orientation at which the instrument interface and the drive assembly interface are permitted to engage so as to align their longitudinal attitudes.
    Type: Grant
    Filed: December 9, 2016
    Date of Patent: June 15, 2021
    Assignee: CMR Surgical Limited
    Inventors: Ben Robert Chaplin, Keith Marshall, Nikki Priyam Su-Ling Phoolchund, Rebecca Anne Cuthbertson
  • Patent number: 11036402
    Abstract: This control device is connected to a master device and controls a drive target on the basis of the content of communication with the master device, and includes a communication unit which periodically transmits to and receives from the master device first information, which is information relating to control of the drive target, and second information, which is information relating to safety; a first processing unit which controls the drive target by processing the first information; a second processing unit which, by processing the second information, performs processing to ensure safety of the drive target; and an abnormality determining unit which determines that an abnormality has occurred if both the first information and the second information have not been processed within a prescribed period.
    Type: Grant
    Filed: January 30, 2018
    Date of Patent: June 15, 2021
    Assignee: OMRON Corporation
    Inventors: Kenji Nakajima, Satoshi Yamawaki, Kentaro Hirao
  • Patent number: 11026754
    Abstract: A method of surgical robot operation includes moving a surgical instrument through a medium using the surgical robot, where the surgical robot attempts to move the surgical instrument to a desired position. The method further includes measuring an actual position of the surgical instrument, and calculating a difference between the actual position and the desired position. The actual position of the surgical instrument is adjusted to the desired position using the surgical robot.
    Type: Grant
    Filed: May 19, 2020
    Date of Patent: June 8, 2021
    Assignee: Verily Life Sciences LLC
    Inventors: Joëlle K. Barral, Blake Hannaford
  • Patent number: 11026757
    Abstract: A surgical cannula includes an electrically conductive portion, an electrical connector interface configured to removably engage with an electrical connector electrically coupled to a patient return electrode, and an electrical connector sensing device configured to sense whether the electrical connector interface is engaged or disengaged with the electrical connector. Surgical systems include surgical cannulas. Methods relate to surgical cannulas.
    Type: Grant
    Filed: June 15, 2017
    Date of Patent: June 8, 2021
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: Jason Hemphill
  • Patent number: 11026560
    Abstract: There is provided a medical display control apparatus including: a display control section configured to control a display of a medical captured image for a right eye and a medical captured image for a left eye captured by an imaging device that images an observation target on a display screen and a display of a pointer object on the display screen. The display control section causes the pointer object to be displayed in correspondence with a depth position of the medical captured image for the right eye and the medical captured image for the left eye.
    Type: Grant
    Filed: February 13, 2019
    Date of Patent: June 8, 2021
    Assignee: SONY OLYMPUS MEDICAL SOLUTIONS INC.
    Inventor: Takaaki Yamada
  • Patent number: 11007641
    Abstract: A continuum robot having at least two independently manipulatable bendable section for advancing the robot through a passage, without contacting fragile elements within the passage, wherein the robot incorporates control algorithms that enable the continuum robot to operate and advance into the passage, as well as the systems and procedures associated with the continuum robot and said functionality.
    Type: Grant
    Filed: July 6, 2018
    Date of Patent: May 18, 2021
    Assignee: Canon U.S.A., Inc.
    Inventors: Kiyoshi Takagi, Yusuke Tanaka, Takahisa Kato, Hitoshi Nakamura
  • Patent number: 11007013
    Abstract: Systems, methods and apparatus register a bone for milling during a procedure. A surgeon mills the bone without first performing an explicit registration of a tool relative to the bone. Tool location measurements in combination with a 3-dimensional (3D) model of the patient's bone, such as a segmented CT scan, are used to automatically construct a registration. The 3D model identifies a border where cancellous bone within the bone ends and the cortical bone begins at an inner cortical bone surface. Responsive to movement of the tool within the bone along an initial trajectory, and, using a localizing system to identify the location of tool when in contact with the inner cortical bone surface, a shape/map of the cortical bone is generated and fit to the 3D model automatically to obtain a registration. An updated trajectory may be output such as from 3D implant plan information to guide further milling.
    Type: Grant
    Filed: May 2, 2019
    Date of Patent: May 18, 2021
    Assignee: INTELLIJOINT SURGICAL INC.
    Inventors: Andre Novomir Hladio, Joseph Arthur Schipper
  • Patent number: 11000334
    Abstract: Systems and methods for performing surgery based on an analysis of images captured in at least two different planes are disclosed. According to some embodiments, a first X-ray image of a spine in a first plane and a second X-ray image of the spine in a second plane are obtained, and a curve is drawn on the first and second X-ray images so that the curve tracks the vertebral bodies of the spine. The coordinates of the curve in the first and second X-ray images are determined by performing image processing to detect the curve in the X-ray images. A three-dimensional model of the spine is constructed based on the coordinates. The model is analyzed based on medical data relating to the spine and models of other spines to determine parameters of a spinal device. The spinal device is constructed and deployed in the spine based on the parameters.
    Type: Grant
    Filed: July 12, 2017
    Date of Patent: May 11, 2021
    Assignee: K2M, Inc.
    Inventors: Anthony Young, Margaret Redford, Jennifer McCool, John Schmidt
  • Patent number: 10997733
    Abstract: Rigid body configuration method, apparatus, terminal device, and computer storage medium are provided.
    Type: Grant
    Filed: November 15, 2017
    Date of Patent: May 4, 2021
    Assignee: SHENZHEN REALIS MULTIMEDIA TECHNOLOGY CO., LTD.
    Inventors: Yue Wang, Qiuzi Xu
  • Patent number: 10994415
    Abstract: The invention relates to a robot, a robot control system, and a method for controlling a robot. The robot comprises a movable, multi-membered robot structure (102) that can be driven by means of actuators (101), at least one marked structural element S being defined on the movable robot structure (102), with at least one point PS marked on the structural element S. The robot is designed such that, in an input mode, it learns positions POSPS of the point PS and/or poses of the structural element S in a work space of the robot, the user exerting an input force FEING on the movable robot structure in order to move the structural element S, which is conveyed to the point PS as FEING,PS, and/or to the structural element S as torque MEING,S.
    Type: Grant
    Filed: October 25, 2016
    Date of Patent: May 4, 2021
    Assignee: FRANKA EMIKA GMBH
    Inventor: Sami Haddadin
  • Patent number: 10987180
    Abstract: The technology disclosed herein is directed to a flexible manipulator used to prevent a loss of control of a movable part by reducing the friction applied to the power transmission member and to be able to suppress the occurrence of a path length difference of a plurality of power transmission members with regard to various curvature length of an insertion part. The flexible manipulator includes an elongated member formed in the shape of a long flexible tube and having two or more paths that pass through in a longitudinal direction on the outside in the radial direction with regard to a center axis. Respective movable and driving parts is disposed on respective tip and base ends of the elongated member. Power transmission members are arranged to pass through the path of the elongated member and that transfer the power of the driving part to the movable part.
    Type: Grant
    Filed: October 26, 2018
    Date of Patent: April 27, 2021
    Assignee: OLYMPUS CORPORATION
    Inventor: Mitsuaki Hasegawa
  • Patent number: 10980534
    Abstract: A surgical tool configured for operation in connection with a robotic system. The surgical tool includes a shaft and an end effector extending distally from the shaft. The end effector comprises a first jaw member and a second jaw member movable relative to the first jaw member from a closed position to an open position in response to at least one axial motion. In addition, the surgical tool includes a motor configured to generate at least one rotational motion and a motion conversion assembly operably coupled to the motor and the second jaw member, wherein the motion conversion assembly is configured to convert the at least one rotational motion to the at least one axial motion.
    Type: Grant
    Filed: September 28, 2018
    Date of Patent: April 20, 2021
    Assignee: Ethicon LLC
    Inventors: David C. Yates, Frederick E. Shelton, IV, Jerome R. Morgan, Brett E. Swensgard
  • Patent number: 10980608
    Abstract: Generally, a sterile adapter for use in robotic surgery may include a frame configured to be interposed between a tool driver and a surgical tool, a plate assembly coupled to the frame, and at least one rotatable coupler supported by the plate assembly and configured to communicate torque from an output drive of the tool driver to an input drive of the surgical tool.
    Type: Grant
    Filed: December 20, 2017
    Date of Patent: April 20, 2021
    Assignee: Verb Surgical Inc.
    Inventors: Charles J. Scheib, Jaime Hernandez, Omar J. Vakharia
  • Patent number: 10973587
    Abstract: Provided is a reference array holder, including a first segment configured to be mounted to a reference structure, and a second segment supporting a reference array having at least one tracking marker, wherein the second segment is movably coupled to the first segment via at least one coupling, and wherein the at least one coupling includes a sensor that provides information as to the spatial position of the second segment relative to the first segment. Also provided is tracking and/or navigation system including such reference array holder and to a computer implemented method of controlling a reference array holder.
    Type: Grant
    Filed: August 19, 2015
    Date of Patent: April 13, 2021
    Assignee: BRAINLAB AG
    Inventors: Wolfgang Steinle, Christoffer Hamilton, Nils Frielinghaus
  • Patent number: 10973600
    Abstract: A surgical tool includes a drive housing and an elongate shaft extending from the drive housing. A wrist couples an end effector to the elongate shaft and includes a distal clevis having a first axle that rotatably mounts the end effector to the distal clevis, and a proximal clevis coupled to the elongate shaft and having a second axle that rotatably mounts the distal clevis to the proximal clevis. A plurality of drive cables extend between the drive housing and the end effector, and movement of the drive cables causes the end effector to articulate about a first pivot axis extending through the first axle. A power axle cable extending from the drive housing and mounted to the distal clevis such that movement of the power axle cable correspondingly pivots the end effector about a second pivot axis at the second axle.
    Type: Grant
    Filed: September 29, 2017
    Date of Patent: April 13, 2021
    Assignee: ETHICON LLC
    Inventors: Michel Bruehwiler, Cole Constantineau, Andrew Ryan, Khodabakhsh Saeedi
  • Patent number: 10973598
    Abstract: A manipulator for articulating a surgical tool during surgery includes an instrument holder, a parallelogram linkage assembly, an offset extension link, a yaw joint, and a mounting base. The instrument holder is configured to couple with the surgical tool. The parallelogram linkage assembly produces motion of the instrument holder that is limited to rotation about a pitch axis that intersects a remote center of manipulation. The offset extension link has an offset extension link distal end and an offset extension link proximal end. The yaw joint is connected to the offset extension link proximal end and produces motion of the instrument holder that is limited to rotation about a yaw axis that intersects the remote center of manipulation. The offset extension link distal end is offset from the yaw axis. The mounting base is coupled with the yaw joint.
    Type: Grant
    Filed: November 1, 2018
    Date of Patent: April 13, 2021
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Bruce Michael Schena, Roman L. Devengenzo, Gary C. Ettinger, Eugene F. Duval, Nicola Diolaiti, Daniel H. Gomez
  • Patent number: 10973595
    Abstract: A method is for controlling a system including an imaging modality. The method includes receiving an image and/or a series of images of a portion of a patient from the imaging modality, the field of view of the image and/or of the series of images covering at least a part of an instrument; determining whether the part of the instrument is located within a defined portion of the field of view and/or in a given state selected from a plurality of first states and/or the part of the instrument executes a given movement selected from a plurality of movements; and generating a control command for performing an action depending on whether the part of the instrument is located within the defined portion of the field of view and/or the part of the instrument is in the given state and/or the part of the instrument executes the given movement.
    Type: Grant
    Filed: August 5, 2016
    Date of Patent: April 13, 2021
    Assignee: SIEMENS HEALTHCARE GMBH
    Inventors: Philip Mewes, Peter Mountney, Manish Sahu
  • Patent number: 10966747
    Abstract: A surgical control system is disclosed including a controller, a feedback device operably coupled to the controller, and a user interface operably coupled to the controller. The user interface is configured to provide an input to the controller. The controller is configured to provide a control signal to a robotic surgical system to control a function of the robotic surgical system, receive a feedback signal from the robotic surgical system, and provide the feedback signal to the feedback device. The feedback device is configured to provide feedback associated with the robotic surgical system to a user in response to the feedback signal.
    Type: Grant
    Filed: May 24, 2019
    Date of Patent: April 6, 2021
    Assignee: Ethicon LLC
    Inventors: Barry C. Worrell, Geoffrey S. Strobl, Gregory A. Trees, Jonathan T. Batross, Nicholas G. Molitor, Kristen T. Shoger, David K. Norvell, Michael J. Andreyko, Gregory W. Johnson, Shawn C. Snyder
  • Patent number: 10966599
    Abstract: An endoscopic stereo matching method and apparatus using a direct attenuation model is provided. A method for generating a depth image according to an embodiment includes: generating a stereo image; and estimating a depth image from the stereo image based on an attenuation trend of light of an illumination used to generate the stereo image. Accordingly, a dense depth image can be obtained by using images obtained from a capsule endoscope, and thus the geometric structure of the inside of the GI tract can be estimated.
    Type: Grant
    Filed: May 29, 2019
    Date of Patent: April 6, 2021
    Assignee: Korea Electronics Technology Institute
    Inventors: Min Gyu Park, Young Bae Hwang, Ju Hong Yoon