Patent application number | Description | Published |
20100099951 | SYSTEM FOR CONTROLLING AN INSTRUMENT USING SHAPE SENSORS - The present invention relates, generally, to controlling a steerable instrument having an elongate body. More particularly, the present invention relates to a system and method for sensing the shape of a steerable instrument and controlling the steerable instrument in response to a control signal from a user input device and a shape signal corresponding to the sensed shape of at least a portion of the steerable instrument. The present invention also relates to a system for sensing the shape of a flexible instrument with an optical shape sensor. | 04-22-2010 |
20110071347 | CANNULA MOUNTING FIXTURE - A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. The support fixtures include arms that swing in an arc to insert a curved cannula, repositionable arms coupled to a stable cannula base, and an insertion cap that holds a cannula. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed. | 03-24-2011 |
20110071473 | SURGICAL PORT FEATURE - A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. In one aspect, surgical instrument channels extend at different angles between top and bottom surfaces of a port feature. In another aspect, a funnel portion and a tongue portion are separated by a waist portion, and surgical instrument channels extend from the funnel portion through the waist portion. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed. | 03-24-2011 |
20110071541 | CURVED CANNULA - A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed. | 03-24-2011 |
20110245805 | CURVED CANNULA - The cross section of a curved portion of a curved cannula is oval shaped. The oval is oriented such that a major axis of the oval is generally aligned with the curved portion's bend radius. In one aspect, the cannula tube is ovalized so that the radius of curvature of an interior wall approaches the outer radius of an instrument component that contacts the curved portion during instrument insertion. In this first aspect, a wider contact patch area between the instrument component and the cannula results, which reduces friction and stick-slip during insertion. In another aspect, the cannula tube is ovalized so that the radius of curvature of an interior wall is less than the outer radius of an instrument component that contacts the curved portion during instrument insertion. In this second aspect, two contact patches are established between the instrument component and cannula, which also reduces friction and stick-slip during instrument insertion. Also disclosed is a cannula orientation marking that changes circumferential orientation along a length the curved cannula to help a person who is inserting the cannula to properly twist the cannula during insertion. | 10-06-2011 |
20130152657 | CURVED CANNULA - The cross section of a curved portion of a curved cannula is oval shaped. The oval is oriented such that a major axis of the oval is generally aligned with the curved portion's bend radius. In one aspect, the cannula tube is ovalized so that the radius of curvature of an interior wall approaches the outer radius of an instrument component that contacts the curved portion during instrument insertion. In this first aspect, a wider contact patch area between the instrument component and the cannula results, which reduces friction and stick-slip during insertion. In another aspect, the cannula tube is ovalized so that the radius of curvature of an interior wall is less than the outer radius of an instrument component that contacts the curved portion during instrument insertion. In this second aspect, two contact patches are established between the instrument component and cannula, which also reduces friction and stick-slip during instrument insertion. Also disclosed is a cannula orientation marking that changes circumferential orientation along a length the curved cannula to help a person who is inserting the cannula to properly twist the cannula during insertion. | 06-20-2013 |
20130267964 | CANNULA MOUNTING FIXTURE - A cannula mounting fixture may include a base, a first arm with a first cannula mounting bracket and a second arm with a second cannula mounting bracket. The first arm may be coupled to the base so that a first cannula mounted at the first mounting bracket is positioned within an opening in a patient's body. The second arm may be coupled to the base and includes a joint that allows a second cannula mounted at the second mounting bracket to be inserted through the opening. A cannula stabilizing fixture may include a base and a repositionable arm. The base may be configured to be securely and removably coupled to a first cannula that extends into an opening in a patient's body. The repositionable arm may include a first cannula holder coupled to the base and is configured to support a second cannula that extends into the opening. | 10-10-2013 |
20140066717 | SURGICAL PORT FEATURE - A surgical port feature may include a funnel portion, a tongue, a waist portion, and surgical instrument channels. The waist portion may be located between the funnel portion and the tongue. The surgical instrument channels may extend from the funnel portion through the waist portion. The surgical port feature may further include a second tongue, with the wait portion being located between the funnel portion, the tongue, and the second tongue. | 03-06-2014 |
20140194895 | SURGICAL INSTRUMENTS HAVING IMPROVED WEAR RESISTANCE, AND METHODS OF MAKING THE SAME - A surgical apparatus includes a cannula and a surgical instrument. The cannula includes a curved longitudinal axis along at least a portion of its length. The surgical instrument includes an elongated shaft having a distal end and a proximal end, and an end effector coupled to the distal end of the elongated shaft. At least a portion of the end effector is configured to contact an inner surface of the cannula during insertion of the surgical instrument into the curved cannula. A threshold galling stress between the portion of the end effector and an inner surface of the curved cannula is at least 10,000 pounds per square inch. | 07-10-2014 |
20140288468 | METHODS AND DEVICES FOR ATTACHING A BELT CARTRIDGE TO A CHEST COMPRESSION DEVICE - Devices and methods for attaching a belt cartridge to a belt drive platform. A clip attached to the belt is inserted into a slot in the drive spool of the belt drive platform. The cover plate of the belt cartridge fits into a channel beam in the housing of the belt drive platform, thereby securing the cartridge to the housing. Belt guards, for protecting the cartridge, belt drive platform, patient and rescuer, are rotatably attached to the cover plate and are secured around spindles disposed on the sides of the housing. | 09-25-2014 |
20140330080 | SYSTEM FOR CONTROLLING AN INSTRUMENT USING SHAPE SENSORS - The present invention relates, generally, to controlling a steerable instrument having an elongate body. More particularly, the present invention relates to a system and method for sensing the shape of a steerable instrument and controlling the steerable instrument in response to a control signal from a user input device and a shape signal corresponding to the sensed shape of at least a portion of the steerable instrument. The present invention also relates to a system for sensing the shape of a flexible instrument with an optical shape sensor. | 11-06-2014 |
Patent application number | Description | Published |
20090129721 | FIBER OPTIC GAS SENSOR - A gas sensor includes an in-fiber resonant wavelength device provided in a fiber core at a first location. The fiber propagates a sensing light and a power light. A layer of a material is attached to the fiber at the first location. The material is able to absorb the gas at a temperature dependent gas absorption rate. The power light is used to heat the material and increases the gas absorption rate, thereby increasing sensor performance, especially at low temperatures. Further, a method is described of flash heating the gas sensor to absorb more of the gas, allowing the sensor to cool, thereby locking in the gas content of the sensor material, and taking the difference between the starting and ending resonant wavelengths as an indication of the concentration of the gas in the ambient atmosphere. | 05-21-2009 |
20100061678 | COMPACT FIBER OPTIC SENSORS AND METHOD OF MAKING SAME - A compact, optically double-ended sensor probes with at least one 180° bend provided in the optical fiber in close proximity to a fiber Bragg grating temperature sensor suspends the optical fiber within a casing in such a way that the expansion and contract of the probe casing will not materially influence the temperature reading of the fiber Bragg grating by adding time varying or temperature varying stress components. | 03-11-2010 |
20110058768 | COMPACT FIBER OPTIC SENSORS AND METHOD OF MAKING SAME - A compact, optically double-ended sensor probe with at least one 180° bend provided in the optical fiber in close proximity to a fiber Bragg grating temperature sensor suspends the optical fiber within a casing in such a way that the expansion and contract of the probe casing will not materially influence the temperature reading of the fiber Bragg grating by adding time varying or temperature varying stress components. | 03-10-2011 |
20130139606 | METHOD AND APPARATUS FOR FIXING STRAINED OPTICAL FIBERS AGAINST CREEP AND TEMPERATURE AND STRAIN SENSORS USING SAID TECHNOLOGY - Optical fiber anchors accomplishing low creep confinement or fixing of a section of optical fiber in an assembly compact enough to be used conveniently as an anchor or as an enabling part of a strain or temperature sensor while retaining low optical losses and the original buffer coating to prevent the fiber from being exposed to abrasion and other influences that could lead to breakage. A rigid body is used that is mechanically stiff and hard enough to prevent said fiber from cutting into it or distorting said medium or substrate when subjected to stress, even over a long period of years. Trapping can be accomplished by molding the bent fiber into the substrate or body, adhesively bonding or soldering the optical fiber into a confining curved groove in a body or substrate. | 06-06-2013 |
20140185998 | METHOD AND APPARATUS FOR FIXING STRAINED OPTICAL FIBERS AGAINST CREEP AND TEMPERATURE AND STRAIN SENSORS USING SAID TECHNOLOGY - Optical fiber anchors accomplishing low creep confinement or fixing of a section of optical fiber in an assembly compact enough to be used conveniently as an anchor or as an enabling part of a strain or temperature sensor while retaining low optical losses and the original buffer coating to prevent the fiber from being exposed to abrasion and other influences that could lead to breakage. A rigid body is used that is mechanically stiff and hard enough to prevent the fiber from cutting into it or distorting the medium or substrate when subjected to stress, even over a long period of years. Trapping can be accomplished by molding the bent fiber into the substrate or body, adhesively bonding or soldering the optical fiber into a confining curved groove in a body or substrate. | 07-03-2014 |