Articulation mechanism for surgical instrument

An articulating elongate surgical instrument includes a handle assembly, an elongated body portion, a tool assembly pivotally supported on the distal end of the elongated body portion. The elongate surgical instrument includes as well an articulation mechanism to effect the movement of the tool assembly, the articulation mechanism including a pivot member operatively coupled to the tool assembly. The elongated body includes at least one articulation drive member having at least one retaining surface therein; a firing rod disposed adjacent the articulation drive, with an articulation locking actuating surface disposed upon the firing rod; and an articulation locking means configured to selectively engage and disengage from the actuating surface and to selectively engage and disengage from the retaining surface of the articulation drive member.

Apparatus and method of user interface with alternate tool mode for robotic surgical tools

In one implementation, a method is disclosed in which a lock sensing mode is entered for a robotic surgical instrument. In the lock sensing mode, the degrees of freedom of movement in the robotic surgical instrument are switchably reduced. Further in the lock sensing mode, one or more end effectors of the robotic surgical instrument are switchably clamped together in the robotic surgical instrument. An increased level of torque may also be applied to the end effectors to increase a gripping force applied by the one or more end effectors in response to the reduced degrees of freedom of movement in the robotic surgical instrument.

Methods and systems for robotic instrument tool tracking with adaptive fusion of kinematics information and image information

In one embodiment of the invention, a method for a robotic system is disclosed to track one or more robotic instruments. The method includes generating kinematics information for the robotic instrument within a field of view of a camera; capturing image information in the field of view of the camera; and adaptively fusing the kinematics information and the image information together to determine pose information of the robotic instrument. Additionally disclosed is a robotic medical system with a tool tracking sub-system. The tool tracking sub-system receives raw kinematics information and video image information of the robotic instrument to generate corrected kinematics information for the robotic instrument by adaptively fusing the raw kinematics information and the video image information together.

Force switch

A mechanical force switch to be disposed along a longitudinal device axis of a medical device includes an electrically conductive switching piston to form a first electrical contact of the switch, a hollow body, an end stop, a bias device, and an electrically conductive second contact of the switch electrically insulated from the piston. The piston is movably disposed in the body hollow along the axis to define different switch-making and -breaking positions. The piston is also movably disposed in a cavity of the stop and the stop is disposed in the body. The stop can be a smooth or threaded puck. The bias device surrounds the piston and imparts bias against it to retain it in one of the two positions until an external axis force overcomes the bias, at which time the switch indicates a state changeover. The switch can be normally open or closed.

Biological Sensing With Haptic Feedback

Systems and methods as described the present disclosure are capable of generating haptic feedback in response to sensing a biological signal from a vertebrate. A method according to one embodiment, among others, includes detecting a neural signal from a vertebrate. The method also includes generating a haptic effect on the vertebrate corresponding to the neural signal.

Hall-effect based linear motor controller

A linear motion control device for use in a linear control system is presented. The linear motion control device includes a coil driver to drive a coil that, when driven, effects a linear movement by a motion device having a magnet. The linear motion control device also includes a magnetic field sensor to detect a magnetic field associated with the linear movement and an interface to connect an output of the magnetic field sensor and an input of the coil driver to an external controller. The interface includes a feedback loop to relate the magnetic field sensor output signal to the coil driver input.

Techniques for fraud monitoring and detection using application fingerprinting

Techniques for fraud monitoring and detection using application fingerprinting. As used herein, an “application fingerprint” is a signature that uniquely identifies data submitted to a software application. In an embodiment, a plurality of historical application fingerprints are stored for data previously submitted to a software application. Each historical application fingerprint is associated with one or more contexts in which its corresponding data was submitted. When new (i.e., additional) data is subsequently submitted to the application, a new application fingerprint is generated based on the new data, and the new application fingerprint is associated with one or more contexts in which the new data was submitted. The new application fingerprint is then compared with one or more historical application fingerprints that share the same, or substantially similar, context(s). Based on this comparison, a risk score is generated indicating a likelihood that the new data was submitted for a fraudulent/malicious purpose.

Articulating surgical instrument

A surgical instrument is provided having articulating, distal end rotation and tip rotational functions. The articulating function includes a wheel rotatable relative to a handle of the surgical instrument and operable to move an articulating section of the surgical instrument from a neutral or straight position to an articulated or bent position. The wheel incorporates a groove in the form of an Archimedes spiral to drive the articulating section between the neutral and bent positions.

ATOMIC LAYER DEPOSITION CHAMBER AND COMPONENTS

An atomic layer deposition chamber comprises a gas distributor comprising a central cap having a conical passageway between a gas inlet and gas outlet. The gas distributor also has a ceiling plate comprising first and second conical apertures that are connected. The first conical aperture receives a process gas from the gas outlet of the central cap. The second conical aperture extends radially outwardly from the first conical aperture. The gas distributor also has a peripheral ledge that rests on a sidewall of the chamber.

METAL SURFACE TREATMENTS FOR UNIFORMLY GROWING DIELECTRIC LAYERS

A fabrication process for a MIM capacitor comprises providing a substrate, depositing a first metal layer on a dielectric layer of the substrate, forming an interfacial layer on the first metal layer, wherein the interfacial layer has a hydroxyl terminated surface, depositing a capacitor dielectric layer on the interfacial layer using an ALD process, and depositing a second metal layer on the capacitor dielectric layer. The interfacial layer may be formed by depositing a thin layer of a metal oxide, by oxidizing a surface of the first metal layer with an oxygen plasma, or by evaporating a thin metal oxide onto the surface of the first metal layer.