44results about "Mechanical features of instrument" patented technology

Various embodiments are directed to an apparatus and method of driving an end effector coupled to an ultrasonic drive system of a surgical instrument. The method comprises generating at least one electrical signal. The at least one electrical signal is monitored against a first set of logic conditions.

A surgical tool system includes an electrosurgical tool for sealing and transecting tissue and a tactile feedback system integrated onto a handle of the tool that generates relevant feedback in at least the form of haptic effects to the user. The tactile feedback alerts the user of tissue properties, i.e., when tissue located within jaws of the tool is completely sealed, when the tissue is ready to be cut, the cutting rate or speed, the quantity of tissue located within jaws of the tool, and whether a blood vessel is fully located within jaws of tool. In addition, the tactile feedback alerts the user to the operating status of energy application during the procedure.

A surgical tool system including a laparoscopic surgical tool for heating, ablating, sealing, and / or dissecting tissue, a control system for monitoring impedance of the tissue during treatment thereof, and a tactile feedback system integrated onto a handle of the tool that generates relevant feedback from the control system in at least the form of haptic effects to the user. The tactile feedback alerts the tool user of changes in tissue properties, i.e., when the impedance of the tissue indicates that the treatment procedure is complete. In addition, the tactile feedback provided may supply information relating to the operating status of the control system to the user.

An electrode coupling output system associated with an electrode catheter that provides indication to the physician via the navigation system, concerning the electrical coupling of an electrode, such as an ablative or mapping electrode, with a patient. The indication may be provided by changing the color or other display characteristics of the electrode on the navigation system display or by way of providing a waveform indicating the electrode coupling. In this manner, electrode coupling information is provided to a physician in a manner that minimizes physician distraction.

A basket apparatus is described that assists in removing objects from within a patient. The apparatus includes a number of pull wires, each pull wire physically coupled to a different capstan that individually actuates one of the pull wires. The apparatus also includes an outer support shaft itself including a number of channels through which the pull wires traverse. The portions of the pull wires extending out of the outer support shaft form a basket of adjustable size, shape, and position. The pull wires are attached together at a tip located at a distal end of the basket apparatus. By controlling the actuation of the various pull wires, the basket's shape, position size can be manipulated to reposition the basket around an object located within a patient, independent of or in conjunction with motion of the remainder of the apparatus or an associated endoscope.

A surgical instrument for supplying energy to tissue can comprise a jaw member comprising an electrode, wherein the electrode is configured to supply energy from a power source to captured tissue. The surgical instrument comprises a tissue-cutting element to transect the captured tissue. The rate of distal translation of the tissue-cutting element during the operational stroke may be regulated by a damper. The damper may have barrel and a plunger.

A surgical instrument for supplying energy to tissue can comprise a jaw member comprising an electrode, wherein the electrode is configured to supply energy from a power source to captured tissue. The surgical instrument comprises a tissue-cutting element to transect the captured tissue. The rate of distal translation of the tissue-cutting element during the operational stroke may be regulated by a damper. The damper may have barrel and a plunger.

An electrode catheter and a method for assessing electrode-tissue contact and coupling are disclosed. An exemplary electrode catheter comprises an electrode adapted to apply electrical energy. A measurement circuit is adapted to measure impedance between the electrode and ground as the electrode approaches a target tissue. A processor determines a contact and coupling condition for the target tissue based at least in part on reactance of the impedance measured by the measurement circuit. In another exemplary embodiment, the electrode catheter determines the contact and coupling condition based at least in part on a phase angle of the impedance.

A surgical instrument including a housing, an elongated portion, an end effector, a drive beam and a force applier is provided. The housing includes a first actuator and a second actuator. The elongated portion extends distally from the housing and defines a longitudinal axis. The end effector is disposed adjacent a distal portion of the elongated portion, and includes a first jaw member and a second jaw member. The first jaw member has a cavity defined therein. Actuation of the first actuator causes distal translation of the drive beam to move the first jaw member relative to the second jaw member toward the approximated position, which applies a fist force against tissue disposed between the jaw members. Actuation of the second actuator causes distal translation of the force applier such that at least a portion of the force applier moves into the cavity of the first jaw member and applies an additional force against tissue disposed between the jaw members.

An ablation apparatus includes a flexible probe adapted for insertion into a heart of a living subject. The probe has a distally disposed ablation electrode to be brought into contact with a target tissue in the heart, and has facilities for measuring contact force with the target tissue. The apparatus includes a transmitter, operative to transmit an indication of the contact force to a wearable device having an actuator operative to haptically stimulate the operator responsively to the indication.

A surgical tool system includes an electrosurgical tool for sealing and transecting tissue and a tactile feedback system integrated onto a handle of the tool that generates relevant feedback in at least the form of haptic effects to the user. The tactile feedback alerts the user of tissue properties, i.e., when tissue located within jaws of the tool is completely sealed, when the tissue is ready to be cut, the cutting rate or speed, the quantity of tissue located within jaws of the tool, and whether a blood vessel is fully located within jaws of tool. In addition, the tactile feedback alerts the user to the operating status of energy application during the procedure.

An ablation apparatus includes a flexible probe adapted for insertion into a heart of a living subject. The probe has a distally disposed ablation electrode to be brought into contact with a target tissue in the heart, and has facilities for measuring contact force with the target tissue. The apparatus includes a transmitter, operative to transmit an indication of the contact force to a wearable device having an actuator operative to haptically stimulate the operator responsively to the indication.

A basket apparatus is described that assists in removing objects from within a patient. The apparatus includes a number of pull wires, each pull wire physically coupled to a different capstan that individually actuates one of the pull wires. The apparatus also includes an outer support shaft itself including a number of channels through which the pull wires traverse. The portions of the pull wires extending out of the outer support shaft form a basket of adjustable size, shape, and position. The pull wires are attached together at a tip located at a distal end of the basket apparatus. By controlling the actuation of the various pull wires, the basket's shape, position size can be manipulated to reposition the basket around an object located within a patient, independent of or in conjunction with motion of the remainder of the apparatus or an associated endoscope.

A surgical tool system including a laparoscopic surgical tool for heating, ablating, sealing, and / or dissecting tissue, a control system for monitoring impedance of the tissue during treatment thereof, and a tactile feedback system integrated onto a handle of the tool that generates relevant feedback from the control system in at least the form of haptic effects to the user. The tactile feedback alerts the tool user of changes in tissue properties, i.e., when the impedance of the tissue indicates that the treatment procedure is complete. In addition, the tactile feedback provided may supply information relating to the operating status of the control system to the user.

Various embodiments are directed to an apparatus and method of driving an end effector coupled to an ultrasonic drive system of a surgical instrument. The method comprises generating at least one electrical signal. The at least one electrical signal is monitored against a first set of logic conditions.

A hand-held, ergonomic instrument with an LED that emits actinic light in visible wavelengths mounts a replaceable applicator cup with a reservoir for a tooth whitening composition held in place against a user's tooth during a whitening procedure. Actinic light is directed onto the tooth surface through a window in the cup and the tooth whitening composition substantially without attenuation, delivering at least about 100 milliwatts per square centimeter of light energy to the tooth surface. The cup includes a rigid body for mounting the cup to the instrument and an opaque flexible sleeve molded in place over the outside of the body to form a seal with the tooth surface and prevent exposure of soft mouth surfaces to the actinic radiation during a whitening procedure. A safety switch disables the LED when the applicator cup is not in contact with a tooth surface.

A surgical instrument including a housing, an elongated portion, an end effector, a drive beam and a force applier is provided. The housing includes a first actuator and a second actuator. The elongated portion extends distally from the housing and defines a longitudinal axis. The end effector is disposed adjacent a distal portion of the elongated portion, and includes a first jaw member and a second jaw member. The first jaw member has a cavity defined therein. Actuation of the first actuator causes distal translation of the drive beam to move the first jaw member relative to the second jaw member toward the approximated position, which applies a fist force against tissue disposed between the jaw members. Actuation of the second actuator causes distal translation of the force applier such that at least a portion of the force applier moves into the cavity of the first jaw member and applies an additional force against tissue disposed between the jaw members.

Various embodiments of surgical robot control systems are disclosed. In one example embodiment, the surgical robot control system comprises a housing. A controller is located within the housing and is coupled to a socket. The socket receives a handheld surgical user interface therein to control a surgical instrument. The surgical instrument is connected to the surgical robot and comprises an end effector and a mechanical interface to manipulate the end effector. The mechanical interface is coupled to the controller. At least one sensor is coupled to the controller and the socket to convert movement of the handheld surgical user interface into electrical signals corresponding to the movement of the surgical instrument. At least one feedback device is coupled to the controller to provide feedback to a user. The feedback is associated with a predetermined function of the surgical instrument.

The invention relates to the technical field of medical robots, in particular to a mechanical arm anti-collision method and system and a medical robot. The mechanical arm anti-collision method comprises the steps that discrete points are arranged on mechanical arms, according to the calculated relative distance between the discrete points on different mechanical arms, the mutual acting force borneby each discrete point is obtained so as to obtain resultant force of the mutual acting force borne by the discrete points, the decare acting force borne by each mechanical arm is obtained, an operator can sense the decare acting force in real time, and therefore the risk that mechanical arms are likely to interfere and collide with each other is effectively lowered.

Various embodiments are directed to an apparatus, system, and method for driving an end effector coupled to an ultrasonic transducer in a surgical instrument. The method comprises generating a first ultrasonic drive signal by a generator coupled to an ultrasonic drive system, actuating the ultrasonic transducer with the first ultrasonic drive signal for a first period, generating a second ultrasonic drive signal by the generator, and actuating the ultrasonic transducer with the second ultrasonic drive signal for a second period, subsequent to the first period. The first drive signal is different from the second drive signal over the respective first and second periods. The first and second drive signals define a step function waveform over the first and second periods. The apparatus comprises a generator configured to couple to an ultrasonic instrument. The system comprises a generator coupled to an ultrasonic instrument. The ultrasonic instrument comprises an ultrasonic drive system comprising an ultrasonic transducer coupled to a waveguide and an end effector coupled to the waveguide, and wherein the ultrasonic drive system is configured to resonate at a resonant frequency.

Apparatus and methods for treating and monitoring conditions such as rhinitis are disclosed herein. The technology utilizes ultrasound scans to identify target treatment sites, and monitor the treatment of a patient undergoing a treatment. The treatment may be an ablation treatment of a nasal nerve, for example the PNN for the treatment of nasal conditions, such as rhinitis. The ultrasound scans are performed within the nasal cavity with an ultrasound probe or a combined ultrasound and ablation probe and may use Doppler, A-mode, B-mode, M-mode or other ultrasound and non-ultrasound modalities to detect and monitor the target treatment sites.

A catheter assembly comprises a catheter including a catheter wall and a lumen extending lengthwise of the wall. The wall has inner and outer surfaces. The wall includes plural openings that extend through the wall and communicate with the lumen. An elongated hollow needle includes a proximal end portion and a distal end portion. The needle is movable in the lumen to move the distal end portion between the openings. The distal end portion is directed radially outward so as to extend into an adjacent opening. The distal end portion has a configuration that stores potential energy when in the lumen. The potential energy is converted to kinetic energy to produce movement of the proximal end portion as the distal end portion moves from the inner surface of the catheter wall across an edge of an opening. The movement of the proximal end portion is haptically perceptible.

A replica control tool (70) for remotely controlling a control handle (42) of an interventional tool (e.g., a probe, a catheter and a flexible scope) is robotically controlled by a robotic actuator (50). The replica control tool (70) employs a replica control handle (71) is substantially a replica of a structural configuration of the control handle (42) of the interventional tool. A control input device (72) (e.g., a joystick or a trackball) is movable relative to the replica control handle (71). The replica control tool (70) further employs a robotic actuator controller (75) for remotely controlling the robotic actuator (50) in response to any movement of the control input device (72) relative to the replica control handle. The replica control tool (70) may further employ an electromechanical device (73) (e.g., an accelerometer) co-rotatable with the replica control handle (71) whereby the controller (75) remotely controls the robotic actuator (50) in response to a rotation of the electromechanical device (73).

A hand-held, ergonomic instrument with an LED that emits actinic light in visible wavelengths mounts a replaceable applicator cup with a reservoir for a tooth whitening composition held in place against a user's tooth during a whitening procedure. Actinic light is directed onto the tooth surface through a window in the cup and the tooth whitening composition substantially without attenuation, delivering at least about 100 milliwatts per square centimeter of light energy to the tooth surface. The cup includes a rigid body for mounting the cup to the instrument and an opaque flexible sleeve molded in place over the outside of the body to form a seal with the tooth surface and prevent exposure of soft mouth surfaces to the actinic radiation during a whitening procedure. A safety switch disables the LED when the applicator cup is not in contact with a tooth surface.

The invention relates to a heating and / or cooling device (10) for delivering heating and / or cooling energy to the body of a living being (28). The heating and / or cooling device (10) comprises a heating and / or cooling pad (12) which can be connected to the body of the person (28). The heating and / or cooling pad has an upper face (122) and a lower face (121), and an adhesive surface (1210) is provided on the lower face (121) for attaching the heating and / or cooling pad (12) to the surface of the skin of the person (28). The heating and / or cooling pad comprises at least one heating and / or cooling element (26) by means of which electrical energy output by an electrical energy source (22) can be converted into heating and / or cooling energy. The heating and / or cooling device (10) further comprises a control unit (14) which is provided for fixedly or detachably accommodating the energy source (22) and has a signal processor (16). Furthermore, the control unit (14) is provided for outputting an open-loop and / or closed-loop control signal, by means of which the energy output from the energy source (22) to the heating and / or cooling element (26) can be controlled. The heating and / or cooling pad (12) and the control unit (14) can be electrically and mechanically connected to one another by at least one electrical connector (18a, 18b), via which the electrical energy can be transmitted to the heating and / or cooling element (26), and by at least one mechanical and / or magnetic connector (20a, 20b).

An electrosurgical device for cutting and sealing tissue includes an upper jaw located at a distal end of the electrosurgical device that opposes a lower jaw. The lower jaw is pivotally connected to the upper jaw by a pivot connection. The pivot connection includes a passage that contains a portion of the upper jaw. The upper jaw is axially displaceable through the passage to pivot the upper jaw relative to the lower jaw between a relatively open condition and a relatively closed condition. The upper jaw and lower jaw are operable in the relatively closed condition to deliver RF energy to tissue.

The presented methods and devices may provide at least one treatment action leading to one or more treatment effects including influencing the tissue to enhance, renew or improve biosynthesis of at least one component of an extracellular matrix. In one embodiment, the methods and devices may provide treatment effects to skin fibroblasts and / or fasciacytes of the patient, influencing the skin fibroblasts and / or fasciacytes to enhance, renew or improve biosynthesis of hyaluronic acid.

A catheter assembly comprises a catheter including a catheter wall and a lumen extending lengthwise of the wall. The wall has inner and outer surfaces. The wall includes plural openings that extend through the wall and communicate with the lumen. An elongated hollow needle includes a proximal end portion and a distal end portion. The needle is movable in the lumen to move the distal end portion between the openings. The distal end portion is directed radially outward so as to extend into an adjacent opening. The distal end portion has a configuration that stores potential energy when in the lumen. The potential energy is converted to kinetic energy to produce movement of the proximal end portion as the distal end portion moves from the inner surface of the catheter wall across an edge of an opening. The movement of the proximal end portion is haptically perceptible.

A bipolar electrosurgical instrument includes first and second shafts each having a jaw member extending from its distal end. Each jaw member is adapted to connect to a source of electrosurgical energy such that the jaw members are capable of selectively conducting energy through tissue held therebetween. A knife channel is configured to reciprocate a cutting mechanism therealong. An actuator selectively advances the cutting mechanism. A switch is disposed on the first shaft and is configured to be depressed between a first position and at least one subsequent position upon biasing engagement with a mechanical interface disposed on the second shaft. The first position of the switch relays information to the user corresponding to a desired pressure on tissue and the at least one subsequent position is configured to activate the source of electrosurgical energy to supply electrosurgical energy to the jaw members.

An electrosurgical device for puncturing tissue comprises an electrically conductive elongate member which is capable of force transmission from a distal portion of the electrosurgical device to a proximal portion of the electrosurgical device to thereby provide tactile feedback to a user. The proximal portion comprises a connector system for connecting a source of energy and a source of fluid to an electrosurgical device. The connector system includes a hub which includes an electrically conductive lengthwise member having a lengthwise member distal region and a lengthwise member proximal region. The lengthwise member defines a hub lumen therebetween and is configured to be operatively coupled to an electrosurgical device.