Devicor Medical Products, Inc.

Ethicon Endo-surgery, Inc.

Ethicon, Gmbh

Cilag International Gmbh

Michael J Andreyko

Shailendra Kumar Parihar

John A Hibner

Gregory A Trees

Kyle P Moore

Gregory W Johnson

Timothy G Dietz

David Keith Norvell

Shawn C Snyder

Jonathan T Batross

Barry C Worrell

Geoffrey S Strobl

Trevor W V Speeg

Chad Paul Boudreaux

Wells D Haberstich

William Eugene Clem

Richard P Nuchols

Edward A Rhad

Michael A Murray

Keshava Datta

Mark Tsonton

James R Giordano

Richard F Schwemberger

John V Hunt

Gavin Martin Monson

David T Martin

William D Dannaher

Michael S Cropper

Andrew Paul Nock

Kevin D Felder

Jessica Pyzoha Leimbach

Scott A Woodruff

Michele D'Arcangelo

Eric B Smith

Nicholas G Molitor

Kristen T Shoger

Robert Joseph Hughes

James Janszen

Gordon Jenks

Martin B Albini

John R Andrisek

Haresh D Patil

Jessica Mary Pyzoha

Kent Swendseid

Michael E Johnson

Jay Wilkins

Randolph C Stewart

Robert F Weikel

Paul G Ritchie

Martin Albini

David A Deupree

Kenneth E Hogue

Megan A O'Connor

Trevor W Speeg

Haresh K Patil

Bill Clem

Jessica Mary Leimbach

Robert F Weikel Jr

David Deupree

Trevor WV Speeg

Jr Weikel

Terry A Mcfarland

Michele D'arcangelo

Terry A McFarland

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.

Haptic feedback devices for surgical robot

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.

A control system for a surgical robot is disclosed. The control system includes a controller, a sensor, a feedback device, a first socket, and a stand-alone input device. The handheld user interface may control a function of a robotic surgical system and is coupled to the sensor and the controller. The sensor is coupled to the controller. The feedback device is coupled to the controller and is configured to provide feedback associated with the robotic surgical system to a user. The controller is communicatively coupleable to the robotic surgical system and is configured to send robot control signals to the robotic surgical system, to receive feedback signals from the robotic surgical system, and to send feedback control signals to the feedback device to control the feedback provided to the user. The controller is configured to couple to a stand-alone input device through the first socket.

Feedback devices for surgical control systems

Various embodiments described herein are directed to surgical instruments with visual feedback. In one embodiment, a surgical instrument with visual feedback comprises an end effector. The end effector has a first jaw member and a second jaw member. At least one sensor is coupled to the end effector. The at least one sensor is configured convert at least one state of the end effector to a feedback signal. The feedback signal is corresponding to the at least one state of the end effector. The feedback signal may be transmitted to a display to render a visual representation of the at least one state of the end effector. The surgical instrument may further comprise an instrument mounting portion to mount to a robotic surgical system. The instrument mounting portion comprises an interface to mechanically and electrically interface to the surgical instrument.

Surgeon feedback sensing and display methods

A surgical instrument can comprise a lock movable between a locked position and an unlocked position, wherein the lock can be engaged with a drive shaft in order to prevent the drive shaft from being advanced when the lock is in its locked position. The surgical instrument can further comprise an electrical input and, in addition, a switch movable between an unactuated position and an actuated position, wherein the electrical input is electrically disconnected from an electrode when the switch is in its unactuated position, wherein the switch is configured to electrically couple the electrical input and the electrode when the switch is in its actuated position, and wherein the switch and the lock are operably coupled such that the movement of the switch from its unactuated position to its actuated position moves the lock from its locked position to its unlocked position.

Surgical instrument comprising an energy trigger lockout

An apparatus for use with a minimally invasive medical procedure into human breast tissue includes a cannula and an obturator. The cannula includes an open distal end, a lateral opening proximate to the open distal end, and a longitudinal lumen communicating with the lateral opening and the open distal end. The lumen has a non-circular cross-section. The obturator is sized for insertion into the cannula. The obturator has a distal end extending from the open distal end of the cannula when the obturator is inserted fully into the cannula. The obturator has a recess proximate of the distal end of the obturator. The recess is positioned along a portion of the length of the obturator to align with the lateral opening of the cannula when the obturator is inserted fully into the cannula.

MRI biopsy apparatus incorporating a sleeve and multi-function obturator

A surgical robot control system including a controller, a coupling system, a sensor, and a feedback device is disclosed. The coupling system is configured to couple a handheld surgical user interface to the controller. The handheld user interface may control a function of a robotic surgical system. The sensor is coupled to the controller and the coupling system and is configured to detect actuation of the handheld user interface and to communicate detected actuations to the controller. The feedback device is coupled to the controller and is configured to provide feedback associated with the robotic surgical system to a user. The controller is communicatively coupleable to the robotic surgical system and is configured to send robot control signals to the robotic surgical system, to receive feedback signals from the robotic surgical system, and to send feedback control signals to the feedback device to control the feedback provided to the user.

A biopsy device includes a body, a needle, a cutter, a motor, a power source, a vacuum source, and a cutter translation assembly. The needle extends distally from the body and receives tissue. The cutter translates with respect to the needle to sever tissue received by the needle. The motor is disposed within the body and rotates a drive shaft in a first direction. The power source is disposed within the body and powers the motor. The vacuum source is disposed within the body and provides vacuum in at least one of the needle and the cutter. The cutter translation assembly is disposed within the body and translates the cutter proximally and distally with respect to the needle in response to rotation of the drive shaft in the first direction.

Tetherless biopsy device with self-reversing cutter drive mechanism

A biopsy device comprises a body and a needle extending distally from the body. The needle comprises a cannula and a tissue piercing tip that is unitary with the cannula. The tissue piercing tip may be formed by compressing the distal end of the cannula to put two distal cannula portions in apposition with each other. One of the apposed distal cannula portions may be removed. The remaining distal cannula portion may be formed into a blade of the tissue piercing tip. A cutter may be moved relative to the needle to sever samples from tissue protruding through a transverse aperture formed in the cannula. A gap may be provided between the exterior of the cutter and the interior of the cannula, permitting the cutter to be distally vented while a proximal vacuum is communicated to the cutter to transport severed tissue samples proximally through the cutter.

Biopsy device

A biopsy device includes a cutter defining a cutter lumen and a tissue sample holder for collecting tissue samples. In one example, the tissue sample holder includes a rotatable manifold, and has a plurality of chambers that are each configured to separately hold tissue samples. A tissue sample holder rotation mechanism is operable to rotate the manifold to successively index each of the chambers with the cutter lumen. A sensing system is configured to sense the rotational position of the manifold. A controller in communication with both the sensing system and the rotation mechanism is operable to control the rotation mechanism based at least in part on the position of the manifold as sensed by the sensing system. The sensing system may include a sensor in a fixed position and a rotating encoder wheel on a shaft that is used to rotate the manifold.

Biopsy device tissue sample holder rotation control

A biopsy system includes a biopsy device and a vacuum control module. The biopsy device includes a cannula and a cutter that translates relative to the cannula to obtain tissue samples. The vacuum control module includes a source of vacuum in communication with the cutter and a user interface. The user interface includes a first page and a second page. The first page has a first graphical representation to indicate the operational status of the biopsy device and does not accept user inputs to alter the operational status of the biopsy device. The second page has at least one icon to adjust the operational status of the biopsy device indicated on the first page and a second graphical representation to indicate the adjustment to the operational status of the biopsy device. The user interface includes a user input feature to select the first page or the second page.

Biopsy device with motorized needle cocking

A surgical instrument can comprise a first drive system for advancing a knife bar between a first position and a second position in order to close a jaw, or clamping, member of an end effector. The first drive system can comprise a toggle clamp which can generate and transmit an asymptotical clamping load to the jaw member. The surgical instrument can further comprise a second drive system for advancing the knife bar between the second position and a third position. The second drive system can comprise a rack and pinion system and the surgical instrument can comprise a single trigger for actuating both the first drive system and the second drive system on the same stroke.

Surgical instrument comprising first and second drive systems actuatable by a common trigger mechanism

A biopsy device comprises a body, a needle, and a cutter. A self-reversing cutter translation mechanism translates the cutter proximally and distally in response to rotation of the cutter in a single rotational direction. The cutter translation mechanism comprises a lead screw with discretely formed threads and a rotatable pawl. The cutter is translated proximally when the pawl is in a first rotational orientation; and distally when the pawl is in a second rotational orientation. Resilient members cause the pawl to be rotated between the first and second rotational orientations when the cutter reaches a distal position and a proximal position. A vacuum draws severed tissue samples through the interior of the cutter to deposit the samples in a holder. The translation mechanism engages a valve mechanism to provide simultaneous venting to part of the needle and reversal of the pawl orientation when the cutter reaches a distal position.

Growing community of inventors

Cincinnati, OH, United States of America

Michael J Andreyko