Instruments Patents (Class 606/1)
  • Patent number: 10016244
    Abstract: A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.
    Type: Grant
    Filed: August 14, 2014
    Date of Patent: July 10, 2018
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Thomas G. Cooper, Robert E. Holop
  • Patent number: 10010375
    Abstract: Provided is a surgical robot system for realizing single-port surgery and multi-port surgery, the system comprising: an operating device; and a controlling device for electro-mechanically controlling the operating device, wherein the operating device includes an alignment section having a plurality of main robot arms, and a plurality of manipulating sections each having a plurality of auxiliary robot arms, and in the multi-port surgery mode, the plurality of main robot arms and at least a portion of the plurality of auxiliary robot arms are operated so that each surgical tool coupled to each of the plurality of manipulating sections can be placed in correspondence with each of a plurality of incisions, and in the single-port surgery mode, the plurality of main robot arms and at least a portion of the plurality of auxiliary robot arms are operated so that each surgical tool coupled to each of the plurality of manipulating sections can be aligned in correspondence with one incision.
    Type: Grant
    Filed: April 14, 2011
    Date of Patent: July 3, 2018
    Inventors: Chang Wook Jeong, Hyung Tae Kim
  • Patent number: 10004639
    Abstract: Configurations are described for conducting ophthalmic procedures to address cataract-related clinical challenges. In one embodiment, a one-piece patient contact interface may be utilized to couple a diagnostic and/or interventional system to a cornea of a patient; in another embodiment, a two-part configuration may be utilized; in another embodiment, a liquid interface two-part embodiment may be utilized.
    Type: Grant
    Filed: May 11, 2016
    Date of Patent: June 26, 2018
    Assignee: OptiMedica Corporation
    Inventors: Phillip H. Gooding, David Angeley
  • Patent number: 10004568
    Abstract: An articulated probe assembly comprises a base, an outer support rod extending through the base, an articulating control portion at a proximal end of the outer support rod, and a steerable portion comprising a plurality of outer links coupled to a distal end of the outer support rod. The steerable portion is manipulated in response to the articulating control portion.
    Type: Grant
    Filed: December 19, 2014
    Date of Patent: June 26, 2018
    Assignee: MEDROBOTICS CORPORATION
    Inventors: Michael Salvatore Castro, Joseph Karcsmar, R. Maxwell Flaherty, J. Christopher Flaherty
  • Patent number: 10005181
    Abstract: An initialization method for a manipulator includes: a reference angle maintaining step of setting a rotational angle of a joint part to a reference angle that has been predetermined, and maintaining the reference angle in a state where a driving force relay part is switched to a driving force release state; a drive part coupling step of switching the driving force relay part to a driving force relay state in a state where the joint part is arranged at a position where an initialization operation is performed after the reference angle maintaining step is performed; and an origin setting step of performing matching of a drive origin of a drive part according to a state of the rotational angle.
    Type: Grant
    Filed: August 15, 2016
    Date of Patent: June 26, 2018
    Assignee: OLYMPUS CORPORATION
    Inventors: Mitsuaki Hasegawa, Toshihiro Yoshii
  • Patent number: 10004562
    Abstract: Described herein is a surgical instrument holder for use with a robotic surgical system, for example, during spinal surgery. In certain embodiments, the surgical instrument holder is an interface between the robotic arm and a surgical instrument used during surgery. This interface may hold the surgical instrument precisely, rigidly, and in a stable manner while permitting a surgeon to easily and quickly install or withdraw the instrument in case of emergency.
    Type: Grant
    Filed: April 24, 2015
    Date of Patent: June 26, 2018
    Assignee: Globus Medical, Inc.
    Inventors: Szymon Kostrzewski, Billy Nussbaumer
  • Patent number: 9999470
    Abstract: A robotic surgical manipulator provides a robotic controlled manipulator which deploys from an insertion configuration to a wider deployed configuration using two arms and a web therebetween. The web supported by the arms can then hold back a larger mass than has been previously supported by prior art techniques.
    Type: Grant
    Filed: March 6, 2014
    Date of Patent: June 19, 2018
    Inventor: Leslie Passons
  • Patent number: 9987093
    Abstract: A medical data processing method for determining the spatial relationship of a first medical device relative to a second medical device, the method being constituted to be executed by a computer and comprising the following steps: d) acquiring first medical device position data comprising first medical device position information describing the position of the first medical device, wherein the first medical device position data is acquired based on reading, from a marker device having for example a fixed spatial relationship relative to the first medical device, the first medical device position information or information which allows access to the first medical device position information; e) acquiring second medical device position data comprising second medical position information describing the position of the second medical device; f) determining, based on the first medical device position data and the second medical device position data, relative position data comprising relative position information d
    Type: Grant
    Filed: July 8, 2013
    Date of Patent: June 5, 2018
    Assignee: Brainlab AG
    Inventors: Georg Christian, Thomas Feilkas, Ingmar Hook
  • Patent number: 9987032
    Abstract: The present disclosure relates to a cutting tool that includes an outer tubular member having a first magnet and an inner tubular member having a second magnet wherein the inner tubular member is slidably disposed within the outer tubular member. A force, such as an attractive force, is created between the first magnet and the second magnet. The attractive force creates a preload force between the inner tubular member and the outer tubular member. A method of creating a force between an inner and outer tubular member is also disclosed.
    Type: Grant
    Filed: November 28, 2014
    Date of Patent: June 5, 2018
    Assignee: Smith & Nephew, Inc.
    Inventor: Rafal Jezierski
  • Patent number: 9980777
    Abstract: An apparatus includes an interface assembly and a shaft assembly. The interface assembly is configured for use with a robotic system and includes a first drive assembly and a mounting plate. The mounting plate includes an opening. The first drive assembly is positioned within the opening such that the first drive assembly is laterally translatable within the opening from a first position to a second position. The shaft assembly is removably coupled with the interface assembly. The shaft assembly includes an end effector and a first coupling feature. The first drive assembly of the interface assembly actuates the end effector of the shaft assembly. The first coupling feature is longitudinally aligned with the first drive assembly. The first drive assembly engages the first coupling feature of the shaft assembly when the first drive assembly is laterally translated from the first position to the second position.
    Type: Grant
    Filed: November 16, 2015
    Date of Patent: May 29, 2018
    Assignee: Ethicon, LLC
    Inventors: Shailendra K. Parihar, David T. Martin, Gregory W. Johnson, William J. White, Thomas W. Lytle, IV, Jason L. Harris, Michael L. Stokes, Omar J. Vakharia
  • Patent number: 9984437
    Abstract: A registration system and method includes a configurable device (104) having one or more moveable features (122) such that movement of the moveable features can be determined relative to a reference to define a specific configuration of the configurable device. An imaging system (110) has a display on which the configurable device is viewable. A processing device (112) is configured to register the configurable device with a coordinate system of the imaging system based on the specific configuration of the configurable device.
    Type: Grant
    Filed: September 5, 2012
    Date of Patent: May 29, 2018
    Assignee: Koninklijke Philips N.V.
    Inventors: Paul Thienphrapa, Bharat Ramachandran, Aleksandra Popovic
  • Patent number: 9974673
    Abstract: A system for deploying a shape memory catheterization device within a patient, includes a catheter for endovascular insertion of the shape memory catheterization device. A heat source heats the shape memory catheterization device above the transition temperature. A transformation data generator includes a circuit driver for driving a circuit that includes at least one inductive element of the shape memory catheterization device and a detection circuit for generating transformation data based on an inductance of the at least one inductive element, wherein the transformation data indicates a shape transformation of the shape memory catheterization device from a catheterization shape to a transformed shape.
    Type: Grant
    Filed: August 1, 2013
    Date of Patent: May 22, 2018
    Assignee: Memory Effect Medical, LLC
    Inventors: Christine Laramy, Bruce Stuckman
  • Patent number: 9974619
    Abstract: A modular reconfigurable surgical robot for use in association with a surgical tool is disclosed. The surgical robot includes a linear module for linear movement; a turret module for rotational movement, and elbow roll module for rotational movement, and a wrist tilt module for rotational movement. The turret module has a turret rotational axis. The elbow roll module for rotational has an elbow roll rotational axis at an angle to the turret rotational axis. The wrist tilt module has a wrist tilt rotational axis at an angle to the turret rotational axis and the elbow roll rotational axis. The linear module, turret module, elbow roll module and wrist tilt module are operably connectable together to form the surgical robot and one of the modules is operably connectable to the surgical tool. The surgical robot may include an arch device unit attachable to one of the other modules.
    Type: Grant
    Filed: February 11, 2015
    Date of Patent: May 22, 2018
    Assignees: ENGINEERING SERVICES INC., THE HOSPITAL FOR SICK CHILDREN
    Inventors: Andrew A. Goldenberg, Yi Yang, Liang Ma, Joao Guilherme Amaral, James Drake, Thomas Looi
  • Patent number: 9962253
    Abstract: The present disclosure relates to a loop vascular device and a method to retrieve said device from the body vessel of a patient. The loop vascular device comprises a loop having a first portion extending distally to a splitting portion, and a second portion also extending distally to the splitting portion, defining a close state of the loop. The splitting portion may be split such that the first portion is separated from the second portion when in the body vessel, defining an open state of the loop. In the open state, the loop may be easily retrieved through ingrowth in the body vessel, reducing or eliminating possible negative effects to the vessel wall.
    Type: Grant
    Filed: September 24, 2015
    Date of Patent: May 8, 2018
    Assignee: COOK MEDICAL TECHNOLOGIES LLC
    Inventor: Jeppe Dufresne Johnsen
  • Patent number: 9962219
    Abstract: A surgical instrument includes a housing, a shaft extending from the housing, and an end effector assembly that is disposed at a distal end of the shaft. The end effector assembly includes a tubular portion, a connection arm, and a toolbox. The tubular portion defines a lumen and the connection arm is extendable from the lumen. The toolbox has a micro-tip that is configured to be selectively secured to a connection tip of the connection arm. The toolbox has a transport configuration where the toolbox is disposed within the lumen and a deployed configuration where the toolbox is disposed entirely outside of the lumen.
    Type: Grant
    Filed: June 12, 2015
    Date of Patent: May 8, 2018
    Assignee: Covidien LP
    Inventor: Anthony Ceniccola
  • Patent number: 9955988
    Abstract: Surgical devices are disclosed herein that generally include an intracorporeal elbow joint to facilitate translational movement of an end effector while allowing a body portion of the surgical device and a trocar or working channel through which the device is inserted to be maintained in a fixed angular orientation relative to the patient. This allows a plurality of such devices to be used effectively with a single incision or access device. Such devices also generally provide end effector movement with six degrees of freedom, while maintaining a mechanical linkage between the user and the end effector and while mimicking and/or mirroring natural user movement. Various methods related to such devices are also disclosed.
    Type: Grant
    Filed: November 10, 2015
    Date of Patent: May 1, 2018
    Assignee: Ethicon Endo-Surgery, LLC
    Inventors: David Stefanchik, Omar J. Vakharia
  • Patent number: 9956385
    Abstract: A method of forming a coated medical device is described in which a coating including a therapeutic agent dispersed in a polymer or oligomer matrix is applied to an outer surface of the medical device. The coating is then post-processed to selectively remove a substantial portion of the polymer or oligomer matrix from the coating. The post-processed coating is then sterilized.
    Type: Grant
    Filed: June 25, 2013
    Date of Patent: May 1, 2018
    Inventor: Patrick H. Ruane
  • Patent number: 9955970
    Abstract: Devices, systems and methods are disclosed for the formation of an arteriovenous fistula in the limb of the patient. Embodiments include a device for the creation, modification and maintenance of a fistula that includes an integral fistula creation assembly near its distal end that passes through the skin of the patient, through a first vessel such as an artery, and into a second vessel such as a vein. The fistula creation assembly preferably includes an anastomotic implant that is placed within the fistula to maintain long-term blood flow therethrough. The devices, systems and methods can be used to treat patients with one or more numerous ailments including chronic obstructive pulmonary disease, congestive heart failure, hypertension, hypotension, respiratory failure, pulmonary arterial hypertension, lung fibrosis and adult respiratory distress syndrome.
    Type: Grant
    Filed: September 29, 2015
    Date of Patent: May 1, 2018
    Assignee: Rox Medical, Inc.
    Inventors: Rodney Brenneman, Dean A. Schaefer, J. Christopher Flaherty
  • Patent number: 9956097
    Abstract: A medical device includes a polymer scaffold crimped to a catheter having an expansion balloon. The scaffold has a structure that produces a low late lumen loss when implanted within a peripheral vessel and also exhibits a high axial fatigue life. In a preferred embodiment the scaffold forms ring structures interconnected by links, where a ring has 12 crowns and at most two links connecting adjacent rings.
    Type: Grant
    Filed: March 15, 2013
    Date of Patent: May 1, 2018
    Assignee: ABBOTT CARDIOVASCULAR SYSTEMS INC.
    Inventors: Syed Hossainy, Chad J. Abunassar, Michael Huy Ngo, Erik David Eli, Santosh V. Prabhu, Mikael Trollsas, Richard Rapoza
  • Patent number: 9949790
    Abstract: A system for performing single port laparoscopic procedures includes a transcutaneous seal and a plurality of tools. The tools comprise a substantially rigid tubular seal having a core which is translatably and rotatably disposed in the sleeve. The handle at the proximal end of the tool controls an end effector at the distal end of the tool. The sleeves of the tools are locked in the transcutaneous seals so that they remain in a fixed geometric relationship which prevents the tools from interfering with each other during laparoscopic procedures.
    Type: Grant
    Filed: May 12, 2015
    Date of Patent: April 24, 2018
    Inventor: Maciej J. Kieturakis
  • Patent number: 9949795
    Abstract: Disclosed herein is a fortified plastic connector mount having a plastic generally conical nose with a top and bottom, the bottom formed as part of or affixed to the flat top of a body and the top of the nose having a square channel guide with corners. The channel is formed axial and centered in the nose and of a size to accept a tool or shaft. At 90 degree orientation from each other are four pairs of force buttressing ribs “FBR” wherein the FBR have a bottom affixed at said flat top, and the FBR has a support edge affixed to an annular outer wall of the nose. The four pairs of FBR each pair being positioned along one of the four sides of the square channel. In some instances, each FBR further comprises an interior edge and an outer edge and each outer edge is aligned with a corner.
    Type: Grant
    Filed: July 22, 2015
    Date of Patent: April 24, 2018
    Assignee: ECA MEDICAL INSTRUMENTS
    Inventors: John Nino, David Ivinson
  • Patent number: 9949787
    Abstract: An endoscopic bipolar forceps includes a housing and a shaft affixed to the housing including a longitudinal axis defined therethrough and a pair of jaw members attached to a distal end thereof. The forceps also includes a drive assembly for moving one of the jaw members relative to the other jaw member from a first, spaced position relative to each other to a second, closed position for manipulating tissue. A handle is included which is rotatable to force a drive flange of the handle into mechanical cooperation with the drive assembly to move the jaw members from the open and closed positions. The pivot is located a fixed distance from the longitudinal axis and the drive flange is located along the longitudinal axis. The forceps connects to an energy source such that the jaw members are capable of conducting bipolar energy through tissue held therebetween to effect a seal.
    Type: Grant
    Filed: May 29, 2015
    Date of Patent: April 24, 2018
    Assignee: COVIDIEN AG
    Inventors: Sean T. Dycus, Duane E. Kerr, Darion R. Peterson
  • Patent number: 9949785
    Abstract: A surgical instrument system includes an end effector, a generator, and a controller. The end effector includes an ultrasonic blade and at least one electrode surface. The generator provides power to the end effector. The end effector applies ultrasonic energy to tissue via the blade or RF energy to tissue via the at least one electrode surface. The controller is configured to select between one or both of ultrasonic energy or RF energy, and thereby control the generator to provide the selected one or both of ultrasonic energy or RF energy at the end effector, based on a sensed operating condition of the end effector. The controller may select between ultrasonic energy and RF energy based on whether a clamp arm is in an open position relative to the blade, based on which button is being activated, and based on whether tissue is sensed at the end effector.
    Type: Grant
    Filed: November 21, 2013
    Date of Patent: April 24, 2018
    Assignee: Ethicon LLC
    Inventors: Daniel W. Price, Benjamin D. Dickerson
  • Patent number: 9943440
    Abstract: An injector (1) for folding and injecting into the eye of a patient a flexible intraocular lens, the injector comprising an assembly of an injection nozzle (202), a lens compartment that holds an unfolded flexible intraocular lens (400) and is in communication with the injection nozzle, an injector body (3) communicating with the lens compartment and a plunger (2) that is inserted in the free end of the injector body, wherein lens compartment and injector body comprise a mechanism whereby the lens is first folded by forces compressing the lens in a non-axial direction in response to an axial movement of the plunger over a first distance and is subsequently expelled from the injector through the injection nozzle in response to an axial movement of the plunger over a second distance.
    Type: Grant
    Filed: September 10, 2014
    Date of Patent: April 17, 2018
    Assignee: ALTACOR LIMITED
    Inventors: Sebastien Putallaz, Laurent Pivard
  • Patent number: 9936961
    Abstract: Surgical feedback systems and methods include a surgical tool having a functional tool and a handle for manipulation by a surgeon in a surgical environment. At least one sensor connected to the surgical tool generates a signal indicative of an acoustic signal and/or a vibration signal generated by the functional tool. The signal may be modified and supplied to an output device.
    Type: Grant
    Filed: September 26, 2014
    Date of Patent: April 10, 2018
    Assignee: DEPUY SYNTHES PRODUCTS, INC.
    Inventors: Dennis Chien, Michael O'Neil, Mark Hall, Riley Hawkins, Roman Lomeli
  • Patent number: 9937626
    Abstract: An end effector for use and connection to a robot arm of a robotic surgical system, wherein the end effector is controlled and/or articulated by at least one cable extending from a respective motor of a control device of the robot surgical system, is provided. The end effector includes a wrist assembly, and a jaw assembly. The jaw assembly includes a cam pulley rotatably supported on at least one support plate of the jaw assembly, wherein the cam pulley is operatively connected to a proximal end of each of the jaws of the jaw assembly such that rotation of the cam pulley results in one of an opening and closing of the jaw assembly.
    Type: Grant
    Filed: October 20, 2014
    Date of Patent: April 10, 2018
    Assignee: Covidien LP
    Inventor: Brian Rockrohr
  • Patent number: 9937008
    Abstract: The present invention generally provides methods and devices for controlling movement of an end effector, and in particular for causing mimicked motion between an input tool and an end effector during a surgical procedure. In an exemplary embodiment, a surgical system is provided having a master assembly with an input tool and a slave assembly with an end effector. The master assembly and the slave assembly can be coupled together by a mechanical assembly that is configured to mechanically transfer mimicked, rather than mirrored, motion from the input tool to the end effector. A floating frame is also provided and can be utilized with the surgical system. The floating frame can have a counterbalance that allows the surgical system to “float” above a patient and provide a weightless feel to movement of the surgical system. In addition, the floating frame can provide a number of additional degrees of freedom for ease of movement of the surgical system around the patient and/or the operating room.
    Type: Grant
    Filed: August 28, 2015
    Date of Patent: April 10, 2018
    Assignee: Ethicon Endo-Surgery, LLC
    Inventors: David Stefanchik, Michael J. Stokes
  • Patent number: 9931131
    Abstract: A method of performing surgery includes the steps of providing a forceps having a housing including a shaft that extends therefrom and at least one handle moveable relative to the housing and providing an end effector assembly configured to selectively engage a distal end of the shaft. The method also includes the steps of inserting the forceps through a first opening formed in a body; inserting the end effector assembly through a second opening formed in the body; engaging the end effector assembly with the distal end of the shaft in vivo; and actuating the end effector assembly by moving the handle relative to the housing. The method may also include the steps of providing a coupling at the distal end of the shaft, and engaging, via the coupling, the distal end of the shaft with the end effector assembly.
    Type: Grant
    Filed: May 11, 2015
    Date of Patent: April 3, 2018
    Assignee: COVIDIEN LP
    Inventors: Patrick L. Dumbauld, Edward Cosgriff
  • Patent number: 9931109
    Abstract: A retractor for implanting a paddle lead of an electrical stimulation system includes a shaft defining a length, an interior lumen, a first end for receiving tools or paddle lead, and a second end opposite the first end and configured and arranged for insertion into tissue of a patient; a handle coupled to the shaft; and at least one divider disposed within the interior lumen and dividing a portion of the interior lumen into at least two compartments, wherein the at least one divider extends from at or near the first end of the shaft and no more than 70% of the length of the shaft. At least one of the compartments is sized for implantation of a paddle lead of an electrical stimulation system therethrough.
    Type: Grant
    Filed: February 9, 2016
    Date of Patent: April 3, 2018
    Assignee: Boston Scientific Neuromodulation Corporation
    Inventors: Laura Burckhardt, Michael X. Govea
  • Patent number: 9925000
    Abstract: A device carries a use monitoring element that possesses a state or condition that changes in response to use of the device and that is sensed when the device is presented for use. Reuse of the device is not permitted, if the use monitoring element indicates a prior use.
    Type: Grant
    Filed: September 25, 2015
    Date of Patent: March 27, 2018
    Assignee: Mederi Therapeutics, Inc.
    Inventors: Robin Bek, Jay Qin, John Gaiser, David S. Utley, James J. Bernitt
  • Patent number: 9925028
    Abstract: A surgical device for assisting in the placement of a prosthetic implant within a surgical pocket of a patient such that placement minimizes tissue stress along and inside the surgical pocket. The surgical device comprises a bag shaped as a conical frustum in which a proximal end of the conical frustum is sealed and a distal end of the conical frustum is open, with an elongated slit extending from the distal end towards the proximal end. An opening formed by the distal opening and the elongated slit is sufficiently large enough to accept the prosthetic implant into the bag. According to one embodiment, an adhesive is affixed along a portion of the elongated slit to seal the elongated slit such that the distal end remains open, thereby allowing for egress of the implant from the bag and placement into the surgical pocket.
    Type: Grant
    Filed: November 15, 2016
    Date of Patent: March 27, 2018
    Assignee: PROXIMATE CONCEPTS LLC
    Inventor: Paul Rosenberg
  • Patent number: 9924964
    Abstract: An atherectomy device with an exchangeable drive shaft is disclosed, having a drive shaft gear at a distal end of the exchangeable drive shaft for meshing engagement with a prime mover gear on the output shaft of the prime mover. The exchangeable drive shaft is inserted into an opening at the distal end of the handle housing and moved axially in a proximal direction. Surface features on at least the prime mover housing and the engageable drive shaft help to align the drive shaft gear with the prime mover gear for meshing engagement.
    Type: Grant
    Filed: September 4, 2014
    Date of Patent: March 27, 2018
    Assignee: Cardiovascular Systems, Inc.
    Inventors: Kraig A. Karasti, Nicholas W. Rydberg, Christopher M. Narveson, Gregory H. Smith
  • Patent number: 9918787
    Abstract: A monitoring, managing and protecting system is provided that includes a monitoring probe working in conjunction with an ablating device. The probe is configured to be positioned in close proximity to a region of non-targeted tissue proximate an ablation site of targeted tissue and to be operatively connected to an electrical response assessment system or component. The probe includes an elongate shaft having proximal and distal ends, with a handle disposed at the proximal end thereof and a tissue monitoring and protecting apparatus disposed at the distal end thereof. The ablating device includes an elongate shaft having proximal and distal ends, with a handle mounted at the proximal end thereof and an ablation element mounted at the distal end thereof. The monitoring probe measures electrical characteristics of the non-targeted tissue and/or of the tissue between the monitoring electrode and the ablation electrode.
    Type: Grant
    Filed: May 5, 2011
    Date of Patent: March 20, 2018
    Assignee: St. Jude Medical, Atrial Fibrillation Division, Inc.
    Inventors: Reed R. Heimbecher, Saurav Paul, John M. Berns, Jeffrey A. Schweitzer
  • Patent number: 9913680
    Abstract: A surgical system includes a module for compiling a plurality of operational parameters of the surgical system during a plurality of treatment cycles performed by the surgical system. The module includes a processor and a memory unit, the processor configured to store in the memory unit values of the plurality of operational parameters associated with each of the plurality of treatment cycles, wherein the processor is configured to identify a subset of the stored values of the plurality of operational parameters temporally proximate to an intervening event.
    Type: Grant
    Filed: April 15, 2014
    Date of Patent: March 13, 2018
    Assignee: Ethicon LLC
    Inventors: Aaron C. Voegele, Kevin L. Houser, Robert A. Kemerling, Gregory A. Trees
  • Patent number: 9911225
    Abstract: Methods, apparatuses, and systems are provided for live capturing of light map image sequences for image-based lighting of medical data. Patient volume scan data for a target area is received over time by a processor. Lighting environment data for the target area is captured over time by a camera. The camera transmits the lighting environment data to the processor over time. The processor lights the patient volume scan data with the lighting environment data into lighted volume data over time. The processor renders an image of the lighted volume data over time.
    Type: Grant
    Filed: September 29, 2015
    Date of Patent: March 6, 2018
    Assignee: Siemens Healthcare GmbH
    Inventors: Klaus Engel, Daphne Yu, Gianluca Paladini
  • Patent number: 9907547
    Abstract: A tissue anchor (200, 258, 300) includes a shaft (122), a tissue-coupling element (128), and a flexible elongate tension member (202). The tissue-coupling element (128) includes a wire (150), which is shaped as an open loop (154) having more than one turn when the tissue anchor (200, 258, 300) is unconstrained. The tension member (202) includes a distal portion (204) that is fixed to a site (206) on the open loop (154), a proximal portion (208), which has a longitudinal segment (209) that runs alongside at least a portion (210) of the shaft (122), and a crossing portion (212), which (i) is disposed between the distal and the proximal N portions (204, 208) along the tension member (202), and (ii) crosses at least a portion of the open loop (154) when the tissue anchor (200, 258, 300) is unconstrained.
    Type: Grant
    Filed: December 2, 2015
    Date of Patent: March 6, 2018
    Assignee: 4TECH INC.
    Inventors: Michael Gilmore, Paolo Denti, John Mullins, Charlotte Murphy, Kevin Lynn, Andrea Guidotti, Hugo Vanermen, Thomas Campbell
  • Patent number: 9905398
    Abstract: An apparatus may include a shaft and a base, where the base is affixed to a first end portion of the shaft, the base comprising a first end and a second end. The apparatus may further include a first end effector, where the first end effector is rotatably coupled to the first end of the base, wherein the first end effector is rotatable from a first closed position to a first open position. The apparatus may include a second end effector, where the second end effector is rotatably coupled to the second end of the base, wherein the second end effector is rotatable from a second closed position to a second open position. The apparatus may also include a spring, including a first spring end coupled to the first end effector, and a second spring end, coupled to the second end effector.
    Type: Grant
    Filed: April 17, 2017
    Date of Patent: February 27, 2018
    Assignee: Varian Semiconductor Equipment Associates, Inc.
    Inventors: Michael J. Blanchard, Nevin H. Clay, Joshua R. Conahan, Christopher Lupoli
  • Patent number: 9901371
    Abstract: A surgical access port and method for achieving articulation is disclosed, the surgical access port including a housing, at least one lumen extending through the housing, and an articulation structure. The housing comprises an access member having a proximal end and a distal end, and defines a longitudinal axis. The lumen in the housing extends from the proximal to the distal end of the access member along the longitudinal axis. The articulation structure comprises a first tubular member and a second tubular member, the second tubular member hingably attached to the first tubular member, and an articulation element slidably attached to the first tubular member.
    Type: Grant
    Filed: October 30, 2015
    Date of Patent: February 27, 2018
    Assignee: Covidien LP
    Inventors: Gennady Kleyman, Eric Taylor
  • Patent number: 9901342
    Abstract: A surgical instrument assembly can comprise a handle including an electric motor, a shaft assembly including a drive member, and a magnet configured to generate a magnetic field. The surgical instrument assembly further comprises, one, a rotatable output shaft operably coupled with the electric motor and the drive member and, two, a wire coil wound around the output shaft which is positioned in the magnetic field. The wire coil is rotated within the magnetic field when the output shaft is rotated about a longitudinal axis which induces a current in the wire coil. The surgical instrument assembly further comprises a strain gauge mounted to the output shaft configured to detect strain created within the output shaft and, in addition, a circuit mounted to the output shaft, wherein the circuit and/or the strain gauge is powered by the current induced in the wire coil.
    Type: Grant
    Filed: March 6, 2015
    Date of Patent: February 27, 2018
    Assignee: Ethicon Endo-Surgery, LLC
    Inventors: Frederick E. Shelton, IV, David C. Yates, Jason L. Harris
  • Patent number: 9895200
    Abstract: Example embodiments relate to surgical systems having end-effector assembly, first and second arm assemblies, and elbow joint assembly. End-effector assembly includes instrument assembly and wrist assembly. Instrument assembly includes a first instrument. First arm assembly includes a body, first and second instrument drive assemblies, wrist drive assembly, and first arm drive assembly. First instrument drive assembly is configurable to move first instrument relative to first axis. Wrist drive assembly is configurable to move instrument assembly relative second axis. First arm drive assembly is configurable to rotate end-effector assembly relative to third axis. Elbow joint assembly includes elbow pitch joint portion configurable to be driven to move first arm assembly relative to fourth axis. Elbow joint assembly also includes elbow sway joint portion configurable to be driven to move first arm assembly relative to fifth axis.
    Type: Grant
    Filed: May 25, 2017
    Date of Patent: February 20, 2018
    Assignee: BIO-MEDICAL ENGINEERING (HK) LIMITED
    Inventors: Chung Kwong Yeung, Wing Fai Lam, Wai Leung William Cheng
  • Patent number: 9888966
    Abstract: The various embodiments herein relate to robotic surgical systems and devices that use force and/or torque sensors to measure forces applied at various components of the system or device. Certain implementations include robotic surgical devices having one or more force/torque sensors that detect or measure one or more forces applied at or on one or more arms. Other embodiments relate to systems having a robotic surgical device that has one or more sensors and an external controller that has one or more motors such that the sensors transmit information that is used at the controller to actuate the motors to provide haptic feedback to a user.
    Type: Grant
    Filed: March 14, 2014
    Date of Patent: February 13, 2018
    Assignee: Board of Regents of the University of Nebraska
    Inventors: Shane Farritor, Thomas Frederick, Kearney Lackas, Joe Bartels, Jacob Greenburg
  • Patent number: 9888974
    Abstract: Devices, systems, and methods for compensate for friction within powered automatic systems, particularly for telesurgery and other telepresence applications. Dynamic friction compensation may comprise applying a continuous load in the direction of movement of a joint, and static friction compensation may comprise applying alternating loads in positive and negative joint actuation directions whenever the joint velocity reading falls within a low velocity range.
    Type: Grant
    Filed: October 14, 2016
    Date of Patent: February 13, 2018
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: Gunter D. Niemeyer
  • Patent number: 9888917
    Abstract: In one general aspect, a medical device can include an implant having a medial portion and a distal portion. The medical device can include a delivery member including a dilator having a distal portion, and a tube coupled to the dilator. The tube can define a lumen in fluid communication with an opening in the tube. The opening can be disposed between the distal portion of the implant and the distal portion of the dilator of the delivery member. The medical device can include a sleeve having a lumen. The distal portion of the implant and at least a portion of the delivery member can be disposed within the lumen portion of the sleeve.
    Type: Grant
    Filed: May 7, 2014
    Date of Patent: February 13, 2018
    Assignee: Boston Scientific Scimed, Inc.
    Inventor: Michael S. H. Chu
  • Patent number: 9883867
    Abstract: A medical instrument including a first joint including a first member and a second member, the first member configured to be repositionable with respect to the second member in a first degree of freedom, a second joint operatively coupled to the first joint, the second joint including a third member and a fourth member, the third member configured to be repositionable with respect to the fourth member in a second degree of freedom, a pair of repositionable jaws operatively coupled to the first joint and the second joint, an open-ended occlusion clip detachably mounted to the pair of repositionable jaws, and a controller operatively coupled to the first joint, the second joint, and the pair of repositionable jaws, the controller including a control with a line operatively coupled to the first and second jaws in at least a gun tackle pulley configuration.
    Type: Grant
    Filed: November 6, 2015
    Date of Patent: February 6, 2018
    Assignee: AtriCure, Inc.
    Inventors: Keith Edward Martin, Frank M. Fago, David Wilson
  • Patent number: 9883914
    Abstract: An apparatus comprises a robotic manipulator and a surgical instrument mounted to the robotic manipulator. The surgical instrument comprises an elongate arm including an actively controlled bendable region including at least one joint region and an end effector and a passively bendable region including a distal end coupled to the actively controlled bendable region. An actuation mechanism extends through the passively bendable region and is coupled to the at least one joint region to control the actively controlled bendable region. A channel extends through the elongate arm, and an optical fiber is positioned in the channel. The optical fiber includes an optical fiber bend sensor in at least one of the passively bendable region or the actively controlled bendable region.
    Type: Grant
    Filed: July 30, 2015
    Date of Patent: February 6, 2018
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: David Q. Larkin, David C. Shafer
  • Patent number: 9883858
    Abstract: A surgical instrument includes cartridge receiving assembly, a shaft assembly, and an interface assembly. The cartridge receiving assembly is operable to receive a needle driving cartridge. The shaft assembly includes a first actuation member that is operable to actuate the cartridge receiving assembly to thereby drive a needle from a needle driving cartridge received in the cartridge receiving assembly. The interface assembly includes a base and a plurality of drive shafts extending upwardly from the base. The drive shafts extend along respective axes that are perpendicular to the longitudinal axis of the shaft assembly. The drive shafts are rotatable independently relative to each other. A first drive shaft of the plurality of drive shafts is operable to drive the first actuation member. The interface assembly is configured to couple with a robotic control system.
    Type: Grant
    Filed: June 15, 2015
    Date of Patent: February 6, 2018
    Assignee: Ethicon Endo-Surgery, LLC
    Inventors: David T. Martin, Christopher J. Hess, William J. White, Daniel J. Mumaw, Andrew C. Deck, Daniel L. Geiger, Frederick E. Shelton, IV
  • Patent number: 9877717
    Abstract: Disclosed is a surgical system for positioning an implant in a patient. The surgical system includes an insertion needle and a connector. The insertion needle has a distal end with a channel formed therein. The channel has a first end and a second end. The first end extends to the distal end. The second is laterally offset from the first end and does not extend to the distal end. The connector has a first end and a second end. The first end is attached to the implant that is to be positioned in the patient. The second end has a recess formed therein. The recess generally conforms to the distal end of the insertion needle. The connector has an inwardly directed extension that extends into the recess. The inwardly directed extension engages the insertion needle through the channel.
    Type: Grant
    Filed: February 25, 2011
    Date of Patent: January 30, 2018
    Assignee: Boston Scientific Scimed, Inc.
    Inventors: Jason Westrum Ogdahl, John F. Otte, Mark S. Bouchier, Brian P. Watschke
  • Patent number: 9877784
    Abstract: Provided herein is a light transmitting cable for laser treatment, the cable including a first optical fiber configured to generate a high energy particle by a laser beam transmitted from a light source and to transmit the high energy particle to a target; and an image transmitting cable configured to transmit an image surrounding the target, thereby being capable of treating a tumor with relatively low power output while identifying a location of the tumor.
    Type: Grant
    Filed: March 19, 2015
    Date of Patent: January 30, 2018
    Assignee: ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE
    Inventors: Moon Youn Jung, Dong Hoon Song, Won Bae Cho
  • Patent number: 9872673
    Abstract: A surgical instrument includes an outer housing shell defining a cavity, the outer housing shell defining an upper outer housing half and a lower outer housing half, wherein the upper outer housing half defines a longitudinal axis and an instrument module selectively insertable into the cavity of the outer housing shell. The instrument module includes an inner housing shell, at least one motor disposed within the inner housing shell, a control board being in electrical communication with the at least one motor and an energy source being in electrical communication with the at least one motor and the control board. The instrument module is inserted into the cavity of the outer housing shell in such a manner that the operative axis of the at least one motor is substantially parallel to the longitudinal axis of the upper outer housing half.
    Type: Grant
    Filed: January 7, 2016
    Date of Patent: January 23, 2018
    Assignee: Covidien LP
    Inventors: John Beardsley, Matthew Chowaniec, Russell Pribanic
  • Patent number: 9855108
    Abstract: Example embodiments relate to surgical systems comprising an end-effector assembly and first arm assembly. The end-effector assembly may include a first instrument assembly, which includes a first instrument configurable to move relative to a first axis, and a wrist assembly having a wrist driven portion configurable to be driven so as to move the first instrument relative to a second axis. The first arm assembly may include a first arm assembly joint portion for joining the first arm assembly to a second arm assembly, wrist drive portion configurable to drive the wrist driven portion, and elbow driven portion configurable to be driven so as to move the first arm assembly relative to a third axis. The second arm assembly may include an elbow drive assembly having a first integrated motor and elbow drive portion controllable by the first integrated motor to drive the elbow driven portion.
    Type: Grant
    Filed: November 1, 2016
    Date of Patent: January 2, 2018
    Assignee: Bio-Medical Engineering (HK) Limited
    Inventor: Chung Kwong Yeung