A patient introducer for use with a surgical robotic system is disclosed. In one aspect, the patient introducer may include an introducer tube extending between (i) a distal end connectable to a port and (ii) a proximal end configured to receive a surgical tool. The introducer tube may be configured to guide the surgical tool into the port. The patient introducer may also include an alignment member connected to the introducer tube and including a first shape and a first alignment marking. The alignment member may be configured to interface with a manipulator assembly of a robotic system. The manipulator assembly may include a second shape and a second alignment marking, the first shape being complementary to the second shape. The first alignment marking of the alignment member may facilitate rotational alignment of the alignment member and the manipulator assembly.

Patient introducer alignment

Certain aspects relate to a handle mechanism that permits control of linear motion of a shaft secured within the handle via two different interfaces for actuating the linear motion. In some aspects, a rotational interface can allow for fine control linear positioning of the shaft, for example by allowing a user to rotate the rotational interface to extend or retract the shaft. In some aspects, a plunging interface can enable a faster linear motion, for example by implementing a biasing mechanism that releases to drive rapid linear motion.

Shaft actuating handle

Certain aspects relate to a superelastic medical instrument that of bending elastically through the tortuous pathways of an endoscope, returning to a straight shape upon deployment from the endoscope, and deploying straight along the axis of the end of the bronchoscope (within a tolerated margin) to distances of 2 cm or more.

Superelastic medical instrument

A robotic system can include a high force instrument that amplifies input forces such that output forces are greater than input forces. The high force instrument can include an end effector. The high force instrument can further include a first pulley configured to rotate about a pulley axis and a first jaw member connected to the first pulley by a first drive pin. The high force instrument can also include a second pulley configured to rotate about the pulley axis and a second jaw member connected to the second pulley by a second drive pink. A link can provide a first pivot point about which the first jaw member can pivot and a second pivot point about which the second jaw member can pivot.

Robotic medical systems with high force instruments

Certain aspects relate to systems and techniques for an articulating monopolar medical instrument. In one aspect, the medical instrument includes a wrist comprising a proximal clevis and a distal clevis; an end effector coupled to the distal clevis via a distal axle; at least one proximal pulley in the proximal clevis; at least one distal pulley in the distal clevis and coupled to the distal axle; a first cable configured to engage with the at least one proximal pulley and the at least one distal pulley; and a second cable configured to engage with the at least one proximal pulley without engaging the at least one distal pulley.

Medical instruments for tissue cauterization

The present invention is directed toward devices and methods for use in minimally invasive needlescopic procedures whereby an improved bowel grasper incorporates a means for measuring the pressure applied to a body part is translated to a visual representation. In addition, in an embodiment a rubberized bowel grasper device having a chevron style surface which is used to facilitate grabbing and manipulating body parts is provided. In another embodiment of the present invention and system a device and method for measuring distances inside the abdomen is provided. Further embodiments include bowel graspers with a combination of the above features and functions.

Multifunction surgical instrument for use in laparoscopic surgery

The present invention relates to devices and methods for use in minimally invasive procedures whereby at least one, and preferably a plurality of laparoscopic instrument heads can be delivered through a single trocar and made accessible for attachment within a body cavity to the distal end of a needlescopic instrument under direct visualization via a laparoscope. The system and procedure will produce less scarring, less pain, and a reduced risk of infection at the surgical site. An addition benefit is that, because only 1 trocar is used instead of 3-5 trocars, there is a significant cost saving in each case and the surgeon is freer to move instrument locations and add/remove instruments since a new trocar does not need to be inserted every time.

Needlescopic instrument system

A surgical instrument includes an instrument shaft having a proximal end and a distal end, and an interior passageway extending from the proximal end to the distal end, a first conduit fluidly coupled to the instrument shaft and being configured for selective connection to an irrigation source, and a second conduit fluidly coupled to the instrument shaft and being configured for selective connection to a vacuum source, wherein the instrument shaft is configured for percutaneous insertion without use of a trocar.

System, method and apparatus for providing multiple functions in a surgical procedure

The present invention relates to a specialized laparoscopic device and method used for attachment of instrument heads to thin shafts in the abdomen of a patient. The device allows quick attachment of oversized instrument heads minimizing the scaring and recovery time of the patient. A specialized instrument head having a tether and a grabbing device are used to perform this process.

Method and apparatus for intra-abdominal assembly, disassembly and retrieval of laparoscopic instruments

A laparoscopic anti-clogging device suitable for abdominal surgeries whose main function is to overcome the deficiencies caused by the clogging of a suction tool used in suction irrigation. More specifically an improved suction unclogging means used in. Laparoscopic Suction Irrigator Systems (LSIS) that is used in the removal of bodily fluids, exudate and or bodily materials from the abdomen of a patient, allowing suction of a high-volume fluid in deep cavities and prevents interrupting fluid flow due to tissues clogging the device, and having the ability of being modified intra-abdominally to then focus all of its vacuum force on the distal opening, thereby facilitating blood clot busting and suction of solidified fluids as well as directed irrigation.

Gomez Ricardo Alexander

Papers

Multifunction surgical instrument for use in laparoscopic surgery

Needlescopic instrument system

System, method and apparatus for providing multiple functions in a surgical procedure

Method and apparatus for intra-abdominal assembly, disassembly and retrieval of laparoscopic instruments

Specialized suction irrigator with clot busting and anti-clogging features