BR112018006826A2 - dispositivos médicos que têm juntas multi-cluster que se articulam suavemente - Google Patents

dispositivos médicos que têm juntas multi-cluster que se articulam suavemente

Info

Publication number
BR112018006826A2
BR112018006826A2 BR112018006826A BR112018006826A BR112018006826A2 BR 112018006826 A2 BR112018006826 A2 BR 112018006826A2 BR 112018006826 A BR112018006826 A BR 112018006826A BR 112018006826 A BR112018006826 A BR 112018006826A BR 112018006826 A2 BR112018006826 A2 BR 112018006826A2
Authority
BR
Brazil
Prior art keywords
pivot joint
joint
smoothly
cardan
suspensions
Prior art date
Application number
BR112018006826A
Other languages
English (en)
Inventor
Douglas Larose Brian
Johnson Bruce
K Holmes Christopher
Sharma Deepak
Michael Licht James
F Costa Peter
Sullivan Randall
Brook Rank Ryan
Awtar Shorya
Zimmerman Zachary
Original Assignee
Flexdex Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Flexdex Inc filed Critical Flexdex Inc
Publication of BR112018006826A2 publication Critical patent/BR112018006826A2/pt

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B25J9/065—Snake robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/0069—Aspects not otherwise provided for with universal joint, cardan joint
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of shaft
    • A61B2017/2908—Multiple segments connected by articulations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A61B2034/715—Cable tensioning mechanisms for removing slack
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety
    • A61B2090/031—Automatic limiting or abutting means, e.g. for safety torque limiting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Ophthalmology & Optometry (AREA)
  • Surgical Instruments (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)

Abstract

a presente invenção refere-se a uma junta de articulação que compreende um conjunto multi-cluster em que cada par consecutivo de ligações é ligado por um cardan, que dispõe de rotação em torno de dois eixos ortogonais dentro do mesmo plano. assim, a junta de articulação compreende uma sequência alternada de ligações e suspensões tipo cardan. além disso, pode haver múltiplos cabos ligados a um ou mais dos links. como estes cabos são puxados e seletivamente libertados, um pode atingir qualquer articulação desejada da junta de articulação. pode haver um membro de transmissão que se estende através das ligações e suspensões tipo cardan, paralelo ao eixo longitudinal central da articulação na sua condição não articulada nominal. este membro de transmissão pode ser um elemento de tensão que é puxado em (por exemplo, um cabo ou barra de tração flexível) e que carrega a junta de articulação em compressão, ou o membro de transmissão pode ser uma haste de pressão flexível que carrega a junta de articulação em tensão.
BR112018006826A 2015-10-05 2016-10-05 dispositivos médicos que têm juntas multi-cluster que se articulam suavemente BR112018006826A2 (pt)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562237476P 2015-10-05 2015-10-05
US201562237483P 2015-10-05 2015-10-05
PCT/US2016/055586 WO2017062516A1 (en) 2015-10-05 2016-10-05 Medical devices having smoothly articulating multi-cluster joints

Publications (1)

Publication Number Publication Date
BR112018006826A2 true BR112018006826A2 (pt) 2018-10-16

Family

ID=58446588

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112018006826A BR112018006826A2 (pt) 2015-10-05 2016-10-05 dispositivos médicos que têm juntas multi-cluster que se articulam suavemente

Country Status (6)

Country Link
US (3) US10959797B2 (pt)
EP (2) EP3359010A4 (pt)
JP (2) JP2018531694A (pt)
CN (1) CN108472025A (pt)
BR (1) BR112018006826A2 (pt)
WO (2) WO2017062529A1 (pt)

Families Citing this family (353)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9060770B2 (en) 2003-05-20 2015-06-23 Ethicon Endo-Surgery, Inc. Robotically-driven surgical instrument with E-beam driver
US20070084897A1 (en) 2003-05-20 2007-04-19 Shelton Frederick E Iv Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism
US11998198B2 (en) 2004-07-28 2024-06-04 Cilag Gmbh International Surgical stapling instrument incorporating a two-piece E-beam firing mechanism
US11896225B2 (en) 2004-07-28 2024-02-13 Cilag Gmbh International Staple cartridge comprising a pan
US9072535B2 (en) 2011-05-27 2015-07-07 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with rotatable staple deployment arrangements
US10159482B2 (en) 2005-08-31 2018-12-25 Ethicon Llc Fastener cartridge assembly comprising a fixed anvil and different staple heights
US11246590B2 (en) 2005-08-31 2022-02-15 Cilag Gmbh International Staple cartridge including staple drivers having different unfired heights
US11484312B2 (en) 2005-08-31 2022-11-01 Cilag Gmbh International Staple cartridge comprising a staple driver arrangement
US7669746B2 (en) 2005-08-31 2010-03-02 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US7934630B2 (en) 2005-08-31 2011-05-03 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US20070106317A1 (en) 2005-11-09 2007-05-10 Shelton Frederick E Iv Hydraulically and electrically actuated articulation joints for surgical instruments
US20120292367A1 (en) 2006-01-31 2012-11-22 Ethicon Endo-Surgery, Inc. Robotically-controlled end effector
US11793518B2 (en) 2006-01-31 2023-10-24 Cilag Gmbh International Powered surgical instruments with firing system lockout arrangements
US8186555B2 (en) 2006-01-31 2012-05-29 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with mechanical closure system
US8820603B2 (en) 2006-01-31 2014-09-02 Ethicon Endo-Surgery, Inc. Accessing data stored in a memory of a surgical instrument
US8708213B2 (en) 2006-01-31 2014-04-29 Ethicon Endo-Surgery, Inc. Surgical instrument having a feedback system
US20110295295A1 (en) 2006-01-31 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical instrument having recording capabilities
US7845537B2 (en) 2006-01-31 2010-12-07 Ethicon Endo-Surgery, Inc. Surgical instrument having recording capabilities
US8992422B2 (en) 2006-03-23 2015-03-31 Ethicon Endo-Surgery, Inc. Robotically-controlled endoscopic accessory channel
US10568652B2 (en) 2006-09-29 2020-02-25 Ethicon Llc Surgical staples having attached drivers of different heights and stapling instruments for deploying the same
US11980366B2 (en) 2006-10-03 2024-05-14 Cilag Gmbh International Surgical instrument
US8684253B2 (en) 2007-01-10 2014-04-01 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor
US8840603B2 (en) 2007-01-10 2014-09-23 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between control unit and sensor transponders
US20080169333A1 (en) 2007-01-11 2008-07-17 Shelton Frederick E Surgical stapler end effector with tapered distal end
US8931682B2 (en) 2007-06-04 2015-01-13 Ethicon Endo-Surgery, Inc. Robotically-controlled shaft based rotary drive systems for surgical instruments
US11564682B2 (en) 2007-06-04 2023-01-31 Cilag Gmbh International Surgical stapler device
US7753245B2 (en) 2007-06-22 2010-07-13 Ethicon Endo-Surgery, Inc. Surgical stapling instruments
US11849941B2 (en) 2007-06-29 2023-12-26 Cilag Gmbh International Staple cartridge having staple cavities extending at a transverse angle relative to a longitudinal cartridge axis
US8636736B2 (en) 2008-02-14 2014-01-28 Ethicon Endo-Surgery, Inc. Motorized surgical cutting and fastening instrument
US11986183B2 (en) 2008-02-14 2024-05-21 Cilag Gmbh International Surgical cutting and fastening instrument comprising a plurality of sensors to measure an electrical parameter
US9179912B2 (en) 2008-02-14 2015-11-10 Ethicon Endo-Surgery, Inc. Robotically-controlled motorized surgical cutting and fastening instrument
US8573465B2 (en) 2008-02-14 2013-11-05 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical end effector system with rotary actuated closure systems
US7819298B2 (en) 2008-02-14 2010-10-26 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with control features operable with one hand
RU2493788C2 (ru) 2008-02-14 2013-09-27 Этикон Эндо-Серджери, Инк. Хирургический режущий и крепежный инструмент, имеющий радиочастотные электроды
US7866527B2 (en) 2008-02-14 2011-01-11 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with interlockable firing system
US10390823B2 (en) 2008-02-15 2019-08-27 Ethicon Llc End effector comprising an adjunct
US10405936B2 (en) 2008-04-11 2019-09-10 The Regents Of The University Of Michigan Parallel kinematic mechanisms with decoupled rotational motions
US9005230B2 (en) 2008-09-23 2015-04-14 Ethicon Endo-Surgery, Inc. Motorized surgical instrument
US9386983B2 (en) 2008-09-23 2016-07-12 Ethicon Endo-Surgery, Llc Robotically-controlled motorized surgical instrument
US8210411B2 (en) 2008-09-23 2012-07-03 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting instrument
US11648005B2 (en) 2008-09-23 2023-05-16 Cilag Gmbh International Robotically-controlled motorized surgical instrument with an end effector
US8608045B2 (en) 2008-10-10 2013-12-17 Ethicon Endo-Sugery, Inc. Powered surgical cutting and stapling apparatus with manually retractable firing system
US8663220B2 (en) 2009-07-15 2014-03-04 Ethicon Endo-Surgery, Inc. Ultrasonic surgical instruments
US11090104B2 (en) 2009-10-09 2021-08-17 Cilag Gmbh International Surgical generator for ultrasonic and electrosurgical devices
US9629814B2 (en) 2010-09-30 2017-04-25 Ethicon Endo-Surgery, Llc Tissue thickness compensator configured to redistribute compressive forces
US9351730B2 (en) 2011-04-29 2016-05-31 Ethicon Endo-Surgery, Llc Tissue thickness compensator comprising channels
US11849952B2 (en) 2010-09-30 2023-12-26 Cilag Gmbh International Staple cartridge comprising staples positioned within a compressible portion thereof
US9592050B2 (en) 2010-09-30 2017-03-14 Ethicon Endo-Surgery, Llc End effector comprising a distal tissue abutment member
US9301755B2 (en) 2010-09-30 2016-04-05 Ethicon Endo-Surgery, Llc Compressible staple cartridge assembly
US11812965B2 (en) 2010-09-30 2023-11-14 Cilag Gmbh International Layer of material for a surgical end effector
US10945731B2 (en) 2010-09-30 2021-03-16 Ethicon Llc Tissue thickness compensator comprising controlled release and expansion
US9386988B2 (en) 2010-09-30 2016-07-12 Ethicon End-Surgery, LLC Retainer assembly including a tissue thickness compensator
US8695866B2 (en) 2010-10-01 2014-04-15 Ethicon Endo-Surgery, Inc. Surgical instrument having a power control circuit
BR112013027794B1 (pt) 2011-04-29 2020-12-15 Ethicon Endo-Surgery, Inc Conjunto de cartucho de grampos
CN104334098B (zh) 2012-03-28 2017-03-22 伊西康内外科公司 包括限定低压强环境的胶囊剂的组织厚度补偿件
RU2014143258A (ru) 2012-03-28 2016-05-20 Этикон Эндо-Серджери, Инк. Компенсатор толщины ткани, содержащий множество слоев
US9101358B2 (en) 2012-06-15 2015-08-11 Ethicon Endo-Surgery, Inc. Articulatable surgical instrument comprising a firing drive
US9226751B2 (en) 2012-06-28 2016-01-05 Ethicon Endo-Surgery, Inc. Surgical instrument system including replaceable end effectors
US9282974B2 (en) 2012-06-28 2016-03-15 Ethicon Endo-Surgery, Llc Empty clip cartridge lockout
US20140001231A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Firing system lockout arrangements for surgical instruments
BR112014032776B1 (pt) 2012-06-28 2021-09-08 Ethicon Endo-Surgery, Inc Sistema de instrumento cirúrgico e kit cirúrgico para uso com um sistema de instrumento cirúrgico
US9289256B2 (en) 2012-06-28 2016-03-22 Ethicon Endo-Surgery, Llc Surgical end effectors having angled tissue-contacting surfaces
US9408622B2 (en) 2012-06-29 2016-08-09 Ethicon Endo-Surgery, Llc Surgical instruments with articulating shafts
RU2672520C2 (ru) 2013-03-01 2018-11-15 Этикон Эндо-Серджери, Инк. Шарнирно поворачиваемые хирургические инструменты с проводящими путями для передачи сигналов
US9629629B2 (en) 2013-03-14 2017-04-25 Ethicon Endo-Surgey, LLC Control systems for surgical instruments
US9801626B2 (en) 2013-04-16 2017-10-31 Ethicon Llc Modular motor driven surgical instruments with alignment features for aligning rotary drive shafts with surgical end effector shafts
BR112015026109B1 (pt) 2013-04-16 2022-02-22 Ethicon Endo-Surgery, Inc Instrumento cirúrgico
US20150053746A1 (en) 2013-08-23 2015-02-26 Ethicon Endo-Surgery, Inc. Torque optimization for surgical instruments
BR112016021943B1 (pt) 2014-03-26 2022-06-14 Ethicon Endo-Surgery, Llc Instrumento cirúrgico para uso por um operador em um procedimento cirúrgico
US9826977B2 (en) 2014-03-26 2017-11-28 Ethicon Llc Sterilization verification circuit
CN106456176B (zh) 2014-04-16 2019-06-28 伊西康内外科有限责任公司 包括具有不同构型的延伸部的紧固件仓
US20150297225A1 (en) 2014-04-16 2015-10-22 Ethicon Endo-Surgery, Inc. Fastener cartridges including extensions having different configurations
US9801628B2 (en) 2014-09-26 2017-10-31 Ethicon Llc Surgical staple and driver arrangements for staple cartridges
JP6532889B2 (ja) 2014-04-16 2019-06-19 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ 締結具カートリッジ組立体及びステープル保持具カバー配置構成
JP6612256B2 (ja) 2014-04-16 2019-11-27 エシコン エルエルシー 不均一な締結具を備える締結具カートリッジ
BR112017004361B1 (pt) 2014-09-05 2023-04-11 Ethicon Llc Sistema eletrônico para um instrumento cirúrgico
US10016199B2 (en) 2014-09-05 2018-07-10 Ethicon Llc Polarity of hall magnet to identify cartridge type
US10105142B2 (en) 2014-09-18 2018-10-23 Ethicon Llc Surgical stapler with plurality of cutting elements
US11523821B2 (en) 2014-09-26 2022-12-13 Cilag Gmbh International Method for creating a flexible staple line
US9924944B2 (en) 2014-10-16 2018-03-27 Ethicon Llc Staple cartridge comprising an adjunct material
US11141153B2 (en) 2014-10-29 2021-10-12 Cilag Gmbh International Staple cartridges comprising driver arrangements
US10517594B2 (en) 2014-10-29 2019-12-31 Ethicon Llc Cartridge assemblies for surgical staplers
US10736636B2 (en) 2014-12-10 2020-08-11 Ethicon Llc Articulatable surgical instrument system
US9943309B2 (en) 2014-12-18 2018-04-17 Ethicon Llc Surgical instruments with articulatable end effectors and movable firing beam support arrangements
US9844375B2 (en) 2014-12-18 2017-12-19 Ethicon Llc Drive arrangements for articulatable surgical instruments
US9844374B2 (en) 2014-12-18 2017-12-19 Ethicon Llc Surgical instrument systems comprising an articulatable end effector and means for adjusting the firing stroke of a firing member
MX2017008108A (es) 2014-12-18 2018-03-06 Ethicon Llc Instrumento quirurgico con un yunque que puede moverse de manera selectiva sobre un eje discreto no movil con relacion a un cartucho de grapas.
US10085748B2 (en) 2014-12-18 2018-10-02 Ethicon Llc Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors
US9987000B2 (en) 2014-12-18 2018-06-05 Ethicon Llc Surgical instrument assembly comprising a flexible articulation system
US11154301B2 (en) 2015-02-27 2021-10-26 Cilag Gmbh International Modular stapling assembly
US9993248B2 (en) 2015-03-06 2018-06-12 Ethicon Endo-Surgery, Llc Smart sensors with local signal processing
JP2020121162A (ja) 2015-03-06 2020-08-13 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ 測定の安定性要素、クリープ要素、及び粘弾性要素を決定するためのセンサデータの時間依存性評価
US10441279B2 (en) 2015-03-06 2019-10-15 Ethicon Llc Multiple level thresholds to modify operation of powered surgical instruments
US10213201B2 (en) 2015-03-31 2019-02-26 Ethicon Llc Stapling end effector configured to compensate for an uneven gap between a first jaw and a second jaw
US10753439B2 (en) 2015-04-03 2020-08-25 The Regents Of The University Of Michigan Tension management apparatus for cable-driven transmission
US10226239B2 (en) * 2015-04-10 2019-03-12 Covidien Lp Adapter assembly with gimbal for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof
JP6150962B1 (ja) * 2015-07-17 2017-06-21 オリンパス株式会社 マニピュレータ
US10105139B2 (en) 2015-09-23 2018-10-23 Ethicon Llc Surgical stapler having downstream current-based motor control
US10238386B2 (en) 2015-09-23 2019-03-26 Ethicon Llc Surgical stapler having motor control based on an electrical parameter related to a motor current
US20170086829A1 (en) 2015-09-30 2017-03-30 Ethicon Endo-Surgery, Llc Compressible adjunct with intermediate supporting structures
US10736685B2 (en) 2015-09-30 2020-08-11 Ethicon Llc Generator for digitally generating combined electrical signal waveforms for ultrasonic surgical instruments
US11890015B2 (en) 2015-09-30 2024-02-06 Cilag Gmbh International Compressible adjunct with crossing spacer fibers
US11896255B2 (en) 2015-10-05 2024-02-13 Flexdex, Inc. End-effector jaw closure transmission systems for remote access tools
JP2018531694A (ja) 2015-10-05 2018-11-01 フレックスデックス, インク.Flexdex, Inc. 円滑に関節屈曲するマルチクラスタジョイントを有する医療デバイス
US10595930B2 (en) 2015-10-16 2020-03-24 Ethicon Llc Electrode wiping surgical device
ITUB20154977A1 (it) 2015-10-16 2017-04-16 Medical Microinstruments S R L Strumento medicale e metodo di fabbricazione di detto strumento medicale
US10292704B2 (en) 2015-12-30 2019-05-21 Ethicon Llc Mechanisms for compensating for battery pack failure in powered surgical instruments
US11229450B2 (en) 2016-01-15 2022-01-25 Cilag Gmbh International Modular battery powered handheld surgical instrument with motor drive
US11229471B2 (en) 2016-01-15 2022-01-25 Cilag Gmbh International Modular battery powered handheld surgical instrument with selective application of energy based on tissue characterization
US11213293B2 (en) 2016-02-09 2022-01-04 Cilag Gmbh International Articulatable surgical instruments with single articulation link arrangements
BR112018016098B1 (pt) 2016-02-09 2023-02-23 Ethicon Llc Instrumento cirúrgico
US10448948B2 (en) 2016-02-12 2019-10-22 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US11224426B2 (en) 2016-02-12 2022-01-18 Cilag Gmbh International Mechanisms for compensating for drivetrain failure in powered surgical instruments
US11607239B2 (en) 2016-04-15 2023-03-21 Cilag Gmbh International Systems and methods for controlling a surgical stapling and cutting instrument
US10426467B2 (en) 2016-04-15 2019-10-01 Ethicon Llc Surgical instrument with detection sensors
US10357247B2 (en) 2016-04-15 2019-07-23 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US10828028B2 (en) 2016-04-15 2020-11-10 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US10363037B2 (en) 2016-04-18 2019-07-30 Ethicon Llc Surgical instrument system comprising a magnetic lockout
US20170296173A1 (en) 2016-04-18 2017-10-19 Ethicon Endo-Surgery, Llc Method for operating a surgical instrument
US10456193B2 (en) 2016-05-03 2019-10-29 Ethicon Llc Medical device with a bilateral jaw configuration for nerve stimulation
US11266430B2 (en) 2016-11-29 2022-03-08 Cilag Gmbh International End effector control and calibration
US11419606B2 (en) 2016-12-21 2022-08-23 Cilag Gmbh International Shaft assembly comprising a clutch configured to adapt the output of a rotary firing member to two different systems
JP7010956B2 (ja) 2016-12-21 2022-01-26 エシコン エルエルシー 組織をステープル留めする方法
CN110114014B (zh) 2016-12-21 2022-08-09 爱惜康有限责任公司 包括端部执行器闭锁件和击发组件闭锁件的外科器械系统
US20180168619A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Surgical stapling systems
US11191539B2 (en) 2016-12-21 2021-12-07 Cilag Gmbh International Shaft assembly comprising a manually-operable retraction system for use with a motorized surgical instrument system
US10624635B2 (en) 2016-12-21 2020-04-21 Ethicon Llc Firing members with non-parallel jaw engagement features for surgical end effectors
US10835247B2 (en) 2016-12-21 2020-11-17 Ethicon Llc Lockout arrangements for surgical end effectors
US20180168615A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Method of deforming staples from two different types of staple cartridges with the same surgical stapling instrument
US10675026B2 (en) 2016-12-21 2020-06-09 Ethicon Llc Methods of stapling tissue
US20180168625A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Surgical stapling instruments with smart staple cartridges
US10675439B2 (en) * 2017-02-21 2020-06-09 Abbott Cardiovascular Systems Inc. High torsion delivery catheter element
WO2018160401A1 (en) * 2017-02-28 2018-09-07 Boston Scientific Scimed, Inc. Articulating needles
CN106891330B (zh) * 2017-04-12 2019-06-25 天津理工大学 可伸缩软体机器人的单元模块
US11653914B2 (en) 2017-06-20 2023-05-23 Cilag Gmbh International Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument according to articulation angle of end effector
US11517325B2 (en) 2017-06-20 2022-12-06 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured displacement distance traveled over a specified time interval
US10779820B2 (en) 2017-06-20 2020-09-22 Ethicon Llc Systems and methods for controlling motor speed according to user input for a surgical instrument
US10307170B2 (en) 2017-06-20 2019-06-04 Ethicon Llc Method for closed loop control of motor velocity of a surgical stapling and cutting instrument
US10881399B2 (en) 2017-06-20 2021-01-05 Ethicon Llc Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument
US10993716B2 (en) 2017-06-27 2021-05-04 Ethicon Llc Surgical anvil arrangements
US11564686B2 (en) 2017-06-28 2023-01-31 Cilag Gmbh International Surgical shaft assemblies with flexible interfaces
EP3420947B1 (en) 2017-06-28 2022-05-25 Cilag GmbH International Surgical instrument comprising selectively actuatable rotatable couplers
US11058424B2 (en) 2017-06-28 2021-07-13 Cilag Gmbh International Surgical instrument comprising an offset articulation joint
US10765427B2 (en) 2017-06-28 2020-09-08 Ethicon Llc Method for articulating a surgical instrument
US10639037B2 (en) 2017-06-28 2020-05-05 Ethicon Llc Surgical instrument with axially movable closure member
USD906355S1 (en) 2017-06-28 2020-12-29 Ethicon Llc Display screen or portion thereof with a graphical user interface for a surgical instrument
US10932772B2 (en) 2017-06-29 2021-03-02 Ethicon Llc Methods for closed loop velocity control for robotic surgical instrument
US11944300B2 (en) 2017-08-03 2024-04-02 Cilag Gmbh International Method for operating a surgical system bailout
US11471155B2 (en) 2017-08-03 2022-10-18 Cilag Gmbh International Surgical system bailout
US11974742B2 (en) 2017-08-03 2024-05-07 Cilag Gmbh International Surgical system comprising an articulation bailout
US10743872B2 (en) 2017-09-29 2020-08-18 Ethicon Llc System and methods for controlling a display of a surgical instrument
US11129634B2 (en) * 2017-10-30 2021-09-28 Cilag Gmbh International Surgical instrument with rotary drive selectively actuating multiple end effector functions
US10932804B2 (en) 2017-10-30 2021-03-02 Ethicon Llc Surgical instrument with sensor and/or control systems
US11134944B2 (en) 2017-10-30 2021-10-05 Cilag Gmbh International Surgical stapler knife motion controls
US10736616B2 (en) * 2017-10-30 2020-08-11 Ethicon Llc Surgical instrument with remote release
US10842490B2 (en) 2017-10-31 2020-11-24 Ethicon Llc Cartridge body design with force reduction based on firing completion
CN107627324B (zh) * 2017-11-08 2024-06-07 江门市众能电控科技有限公司 一种基于万向节的柔性机械臂
CN111343939B (zh) 2017-12-14 2023-08-15 直观外科手术操作公司 具有张力带的医疗工具
US10779826B2 (en) 2017-12-15 2020-09-22 Ethicon Llc Methods of operating surgical end effectors
US10835330B2 (en) 2017-12-19 2020-11-17 Ethicon Llc Method for determining the position of a rotatable jaw of a surgical instrument attachment assembly
US10743868B2 (en) 2017-12-21 2020-08-18 Ethicon Llc Surgical instrument comprising a pivotable distal head
CN109968364B (zh) * 2017-12-27 2024-01-12 核动力运行研究所 一种适用于堆内构件水下自动视频检查的链式柔性机械臂
CN109984806B (zh) * 2017-12-29 2022-06-03 江苏木偶医疗科技有限公司 关节结构、柔性关节及微创手术钳
EP3735196A4 (en) * 2018-01-04 2022-01-12 Covidien LP ROBOT SURGICAL INSTRUMENT WITH HIGHLY ARTICULABLE WRIST UNIT WITH TORQUE TRANSMISSION AND MECHANICAL MANIPULATION
WO2019148113A1 (en) * 2018-01-28 2019-08-01 Lsi Solutions, Inc. Minimally invasive suturing device
US11033342B2 (en) * 2018-02-19 2021-06-15 Gregory P. Schmitz Universal joint for surgical robotics
US11925427B2 (en) * 2018-02-19 2024-03-12 Gregory P. Schmitz Biometrically scalable AI designed articulated catheter device
EP3761898A4 (en) * 2018-03-07 2021-12-01 Intuitive Surgical Operations, Inc. LOW-FRICTION MEDICAL TOOLS WITH SMALL PROFILE AND ASSEMBLY-FRIENDLY COMPONENTS
US11992286B2 (en) 2018-03-07 2024-05-28 Intuitive Surgical Operations, Inc. Low-friction medical tools having roller-assisted tension members
JP7183062B2 (ja) * 2018-03-23 2022-12-05 キヤノン株式会社 連続体ロボット制御装置、連続体ロボット制御方法及びプログラム
KR101999347B1 (ko) * 2018-04-09 2019-07-11 전남대학교산학협력단 다자유도 가요성 로봇
US10441449B1 (en) 2018-05-30 2019-10-15 Vesper Medical, Inc. Rotary handle stent delivery system and method
US11135031B2 (en) * 2018-06-15 2021-10-05 Verb Surgical Inc. User interface device having grip linkages
WO2020014401A1 (en) * 2018-07-10 2020-01-16 Boards Of Regents Of The University Of Texas System Articulable devices for in vivo tissue evaluation
US11207065B2 (en) 2018-08-20 2021-12-28 Cilag Gmbh International Method for fabricating surgical stapler anvils
US11291440B2 (en) 2018-08-20 2022-04-05 Cilag Gmbh International Method for operating a powered articulatable surgical instrument
US10449073B1 (en) 2018-09-18 2019-10-22 Vesper Medical, Inc. Rotary handle stent delivery system and method
US20200114528A1 (en) * 2018-10-15 2020-04-16 General Electric Company Selectively Flexible Extension Tool
US11707819B2 (en) 2018-10-15 2023-07-25 General Electric Company Selectively flexible extension tool
CN109262603A (zh) * 2018-10-29 2019-01-25 燕山大学 绳驱动机械手指及其机械手
US11553939B2 (en) 2018-10-31 2023-01-17 Cilag Gmbh International Surgical instruments with a retention feature that retains a cutting element
US11406442B2 (en) * 2018-11-05 2022-08-09 Cilag Gmbh International Articulate wrist with flexible central member
CN109394302B (zh) * 2018-12-11 2021-02-09 依奈德医疗技术（上海）有限公司 可控弯椎体成形器及其组件和方法
CN109434823B (zh) * 2018-12-25 2020-06-02 燕山大学 一种基于交叉弹性片的绳索驱动型柔性机械臂
US11702955B2 (en) 2019-01-14 2023-07-18 General Electric Company Component repair system and method
US11696761B2 (en) 2019-03-25 2023-07-11 Cilag Gmbh International Firing drive arrangements for surgical systems
US11166777B2 (en) * 2019-03-27 2021-11-09 Cilag Gmbh International Articulate wrist with flexible central member having stiffening members
US11432816B2 (en) 2019-04-30 2022-09-06 Cilag Gmbh International Articulation pin for a surgical instrument
US11426251B2 (en) 2019-04-30 2022-08-30 Cilag Gmbh International Articulation directional lights on a surgical instrument
US11648009B2 (en) 2019-04-30 2023-05-16 Cilag Gmbh International Rotatable jaw tip for a surgical instrument
US11903581B2 (en) 2019-04-30 2024-02-20 Cilag Gmbh International Methods for stapling tissue using a surgical instrument
US11452528B2 (en) 2019-04-30 2022-09-27 Cilag Gmbh International Articulation actuators for a surgical instrument
US11471157B2 (en) 2019-04-30 2022-10-18 Cilag Gmbh International Articulation control mapping for a surgical instrument
CN110228055B (zh) * 2019-05-30 2022-11-04 南方科技大学 一种适用于非结构化环境下进行物理交互的多关节机械臂
US11771419B2 (en) 2019-06-28 2023-10-03 Cilag Gmbh International Packaging for a replaceable component of a surgical stapling system
US11478241B2 (en) 2019-06-28 2022-10-25 Cilag Gmbh International Staple cartridge including projections
US11426167B2 (en) 2019-06-28 2022-08-30 Cilag Gmbh International Mechanisms for proper anvil attachment surgical stapling head assembly
US11553971B2 (en) 2019-06-28 2023-01-17 Cilag Gmbh International Surgical RFID assemblies for display and communication
US11853835B2 (en) 2019-06-28 2023-12-26 Cilag Gmbh International RFID identification systems for surgical instruments
US11229437B2 (en) 2019-06-28 2022-01-25 Cilag Gmbh International Method for authenticating the compatibility of a staple cartridge with a surgical instrument
US12004740B2 (en) 2019-06-28 2024-06-11 Cilag Gmbh International Surgical stapling system having an information decryption protocol
US11660163B2 (en) 2019-06-28 2023-05-30 Cilag Gmbh International Surgical system with RFID tags for updating motor assembly parameters
US11376098B2 (en) 2019-06-28 2022-07-05 Cilag Gmbh International Surgical instrument system comprising an RFID system
US11638587B2 (en) 2019-06-28 2023-05-02 Cilag Gmbh International RFID identification systems for surgical instruments
US11399837B2 (en) 2019-06-28 2022-08-02 Cilag Gmbh International Mechanisms for motor control adjustments of a motorized surgical instrument
US11523822B2 (en) 2019-06-28 2022-12-13 Cilag Gmbh International Battery pack including a circuit interrupter
US11627959B2 (en) 2019-06-28 2023-04-18 Cilag Gmbh International Surgical instruments including manual and powered system lockouts
US11497492B2 (en) 2019-06-28 2022-11-15 Cilag Gmbh International Surgical instrument including an articulation lock
US11684434B2 (en) 2019-06-28 2023-06-27 Cilag Gmbh International Surgical RFID assemblies for instrument operational setting control
US11464601B2 (en) 2019-06-28 2022-10-11 Cilag Gmbh International Surgical instrument comprising an RFID system for tracking a movable component
CN110193820B (zh) * 2019-07-05 2024-08-16 涂佳勋 机器人脊柱结构及辅助外骨骼装置
US11771507B2 (en) 2019-08-21 2023-10-03 Cilag Gmbh International Articulable wrist with flexible member and pivot guides
CN110507275B (zh) * 2019-09-17 2024-01-19 重庆金山医疗技术研究院有限公司 一种万向节可调节蛇骨和内窥镜
CN110936363B (zh) * 2019-11-28 2023-02-17 中山大学 一种绳索驱动柔性机械臂及机器人
CN110788845A (zh) * 2019-12-06 2020-02-14 吉林大学 一种电控形状记忆合金丝驱动蛇形机器人
US12035913B2 (en) 2019-12-19 2024-07-16 Cilag Gmbh International Staple cartridge comprising a deployable knife
US11559304B2 (en) 2019-12-19 2023-01-24 Cilag Gmbh International Surgical instrument comprising a rapid closure mechanism
US11911032B2 (en) 2019-12-19 2024-02-27 Cilag Gmbh International Staple cartridge comprising a seating cam
US11576672B2 (en) 2019-12-19 2023-02-14 Cilag Gmbh International Surgical instrument comprising a closure system including a closure member and an opening member driven by a drive screw
US11464512B2 (en) 2019-12-19 2022-10-11 Cilag Gmbh International Staple cartridge comprising a curved deck surface
US11607219B2 (en) 2019-12-19 2023-03-21 Cilag Gmbh International Staple cartridge comprising a detachable tissue cutting knife
US11844520B2 (en) 2019-12-19 2023-12-19 Cilag Gmbh International Staple cartridge comprising driver retention members
US11529137B2 (en) 2019-12-19 2022-12-20 Cilag Gmbh International Staple cartridge comprising driver retention members
US11701111B2 (en) 2019-12-19 2023-07-18 Cilag Gmbh International Method for operating a surgical stapling instrument
US11504122B2 (en) 2019-12-19 2022-11-22 Cilag Gmbh International Surgical instrument comprising a nested firing member
US11446029B2 (en) 2019-12-19 2022-09-20 Cilag Gmbh International Staple cartridge comprising projections extending from a curved deck surface
US11529139B2 (en) 2019-12-19 2022-12-20 Cilag Gmbh International Motor driven surgical instrument
US12023086B2 (en) 2019-12-30 2024-07-02 Cilag Gmbh International Electrosurgical instrument for delivering blended energy modalities to tissue
US11974801B2 (en) 2019-12-30 2024-05-07 Cilag Gmbh International Electrosurgical instrument with flexible wiring assemblies
US12053224B2 (en) 2019-12-30 2024-08-06 Cilag Gmbh International Variation in electrode parameters and deflectable electrode to modify energy density and tissue interaction
US11812957B2 (en) 2019-12-30 2023-11-14 Cilag Gmbh International Surgical instrument comprising a signal interference resolution system
US11937863B2 (en) 2019-12-30 2024-03-26 Cilag Gmbh International Deflectable electrode with variable compression bias along the length of the deflectable electrode
US11986201B2 (en) 2019-12-30 2024-05-21 Cilag Gmbh International Method for operating a surgical instrument
US11779329B2 (en) 2019-12-30 2023-10-10 Cilag Gmbh International Surgical instrument comprising a flex circuit including a sensor system
US11589916B2 (en) * 2019-12-30 2023-02-28 Cilag Gmbh International Electrosurgical instruments with electrodes having variable energy densities
US11696776B2 (en) 2019-12-30 2023-07-11 Cilag Gmbh International Articulatable surgical instrument
US11660089B2 (en) 2019-12-30 2023-05-30 Cilag Gmbh International Surgical instrument comprising a sensing system
US11786294B2 (en) 2019-12-30 2023-10-17 Cilag Gmbh International Control program for modular combination energy device
US20210196363A1 (en) 2019-12-30 2021-07-01 Ethicon Llc Electrosurgical instrument with electrodes operable in bipolar and monopolar modes
US12082808B2 (en) 2019-12-30 2024-09-10 Cilag Gmbh International Surgical instrument comprising a control system responsive to software configurations
US12114912B2 (en) 2019-12-30 2024-10-15 Cilag Gmbh International Non-biased deflectable electrode to minimize contact between ultrasonic blade and electrode
US11707318B2 (en) 2019-12-30 2023-07-25 Cilag Gmbh International Surgical instrument with jaw alignment features
US11786291B2 (en) 2019-12-30 2023-10-17 Cilag Gmbh International Deflectable support of RF energy electrode with respect to opposing ultrasonic blade
US11779387B2 (en) 2019-12-30 2023-10-10 Cilag Gmbh International Clamp arm jaw to minimize tissue sticking and improve tissue control
US11950797B2 (en) 2019-12-30 2024-04-09 Cilag Gmbh International Deflectable electrode with higher distal bias relative to proximal bias
US12076006B2 (en) 2019-12-30 2024-09-03 Cilag Gmbh International Surgical instrument comprising an orientation detection system
US11944366B2 (en) 2019-12-30 2024-04-02 Cilag Gmbh International Asymmetric segmented ultrasonic support pad for cooperative engagement with a movable RF electrode
CN113784826B (zh) * 2020-01-09 2022-12-13 瑞德医疗机器股份有限公司 滑动器以及手术工具
KR102372305B1 (ko) * 2020-01-20 2022-03-10 신승준 수술용 기구
US11692650B2 (en) * 2020-01-23 2023-07-04 General Electric Company Selectively flexible extension tool
US11752622B2 (en) 2020-01-23 2023-09-12 General Electric Company Extension tool having a plurality of links
US11613003B2 (en) 2020-01-24 2023-03-28 General Electric Company Line assembly for an extension tool having a plurality of links
CN111168654B (zh) * 2020-02-13 2022-05-10 吉林大学 一种仿生机器人脊椎机构及仿生机器人
US11371437B2 (en) 2020-03-10 2022-06-28 Oliver Crispin Robotics Limited Insertion tool
CN111496799B (zh) * 2020-04-03 2022-07-15 中国科学技术大学 一种精确控制形状记忆合金复合软体驱动器的方法
US11850013B2 (en) 2020-04-17 2023-12-26 Cilag Gmbh International Surgical systems and methods for robotic actuation of continuum joints
US20210346030A1 (en) * 2020-05-06 2021-11-11 Atricure, Inc. End effector positioning mechanism
CN111544198B (zh) * 2020-05-14 2021-04-20 西安交通大学 一种眼科手术机器人柔性操作驱动系统
US11219541B2 (en) 2020-05-21 2022-01-11 Vesper Medical, Inc. Wheel lock for thumbwheel actuated device
CN111633638A (zh) * 2020-05-28 2020-09-08 东方红卫星移动通信有限公司 一种连续体机器人和卫星燃料加注系统
USD975851S1 (en) 2020-06-02 2023-01-17 Cilag Gmbh International Staple cartridge
USD975278S1 (en) 2020-06-02 2023-01-10 Cilag Gmbh International Staple cartridge
USD966512S1 (en) 2020-06-02 2022-10-11 Cilag Gmbh International Staple cartridge
IL297954A (en) 2020-06-02 2023-01-01 Flexdex Inc Tool and assembly for surgery
USD975850S1 (en) 2020-06-02 2023-01-17 Cilag Gmbh International Staple cartridge
USD974560S1 (en) 2020-06-02 2023-01-03 Cilag Gmbh International Staple cartridge
USD967421S1 (en) 2020-06-02 2022-10-18 Cilag Gmbh International Staple cartridge
USD976401S1 (en) 2020-06-02 2023-01-24 Cilag Gmbh International Staple cartridge
US12091981B2 (en) 2020-06-11 2024-09-17 General Electric Company Insertion tool and method
CN111796415A (zh) * 2020-07-02 2020-10-20 瑞泰生医科技股份有限公司 弯曲管体及内窥镜
CN111658152B (zh) * 2020-07-10 2021-09-07 山东大学 一种手术机械臂及内窥镜系统
US20220031350A1 (en) 2020-07-28 2022-02-03 Cilag Gmbh International Surgical instruments with double pivot articulation joint arrangements
CN112155613B (zh) * 2020-09-14 2021-10-22 武汉联影智融医疗科技有限公司 一种微创医疗手术设备
US11478140B1 (en) * 2020-09-15 2022-10-25 Raytrx, Llc Wireless laparoscopic device with gimballed camera
WO2022061093A1 (en) * 2020-09-17 2022-03-24 Flexdex, Inc. Detachable surgical tool configured as a finite state machine
US11534259B2 (en) 2020-10-29 2022-12-27 Cilag Gmbh International Surgical instrument comprising an articulation indicator
US11844518B2 (en) 2020-10-29 2023-12-19 Cilag Gmbh International Method for operating a surgical instrument
WO2022094345A1 (en) * 2020-10-29 2022-05-05 Flexdex, Inc. Modular end-effector jaw closure transmission systems
US11717289B2 (en) 2020-10-29 2023-08-08 Cilag Gmbh International Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable
US12053175B2 (en) 2020-10-29 2024-08-06 Cilag Gmbh International Surgical instrument comprising a stowed closure actuator stop
US11517390B2 (en) 2020-10-29 2022-12-06 Cilag Gmbh International Surgical instrument comprising a limited travel switch
US11931025B2 (en) 2020-10-29 2024-03-19 Cilag Gmbh International Surgical instrument comprising a releasable closure drive lock
US11779330B2 (en) 2020-10-29 2023-10-10 Cilag Gmbh International Surgical instrument comprising a jaw alignment system
USD1013170S1 (en) 2020-10-29 2024-01-30 Cilag Gmbh International Surgical instrument assembly
US11617577B2 (en) 2020-10-29 2023-04-04 Cilag Gmbh International Surgical instrument comprising a sensor configured to sense whether an articulation drive of the surgical instrument is actuatable
US11896217B2 (en) 2020-10-29 2024-02-13 Cilag Gmbh International Surgical instrument comprising an articulation lock
US11452526B2 (en) 2020-10-29 2022-09-27 Cilag Gmbh International Surgical instrument comprising a staged voltage regulation start-up system
USD980425S1 (en) 2020-10-29 2023-03-07 Cilag Gmbh International Surgical instrument assembly
CN112405508B (zh) * 2020-11-23 2022-02-08 长沙理工大学 一种可实现弯曲运动解耦的丝驱动蛇形臂机器人
US11653915B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Surgical instruments with sled location detection and adjustment features
US11653920B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Powered surgical instruments with communication interfaces through sterile barrier
US11627960B2 (en) 2020-12-02 2023-04-18 Cilag Gmbh International Powered surgical instruments with smart reload with separately attachable exteriorly mounted wiring connections
US11737751B2 (en) 2020-12-02 2023-08-29 Cilag Gmbh International Devices and methods of managing energy dissipated within sterile barriers of surgical instrument housings
US11849943B2 (en) 2020-12-02 2023-12-26 Cilag Gmbh International Surgical instrument with cartridge release mechanisms
US11890010B2 (en) 2020-12-02 2024-02-06 Cllag GmbH International Dual-sided reinforced reload for surgical instruments
US11744581B2 (en) 2020-12-02 2023-09-05 Cilag Gmbh International Powered surgical instruments with multi-phase tissue treatment
US11678882B2 (en) 2020-12-02 2023-06-20 Cilag Gmbh International Surgical instruments with interactive features to remedy incidental sled movements
US11944296B2 (en) 2020-12-02 2024-04-02 Cilag Gmbh International Powered surgical instruments with external connectors
US11980362B2 (en) 2021-02-26 2024-05-14 Cilag Gmbh International Surgical instrument system comprising a power transfer coil
US11744583B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Distal communication array to tune frequency of RF systems
US11701113B2 (en) 2021-02-26 2023-07-18 Cilag Gmbh International Stapling instrument comprising a separate power antenna and a data transfer antenna
US11749877B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Stapling instrument comprising a signal antenna
US11730473B2 (en) 2021-02-26 2023-08-22 Cilag Gmbh International Monitoring of manufacturing life-cycle
US11723657B2 (en) 2021-02-26 2023-08-15 Cilag Gmbh International Adjustable communication based on available bandwidth and power capacity
US11950779B2 (en) 2021-02-26 2024-04-09 Cilag Gmbh International Method of powering and communicating with a staple cartridge
US11793514B2 (en) 2021-02-26 2023-10-24 Cilag Gmbh International Staple cartridge comprising sensor array which may be embedded in cartridge body
US11696757B2 (en) 2021-02-26 2023-07-11 Cilag Gmbh International Monitoring of internal systems to detect and track cartridge motion status
US12108951B2 (en) 2021-02-26 2024-10-08 Cilag Gmbh International Staple cartridge comprising a sensing array and a temperature control system
US11950777B2 (en) 2021-02-26 2024-04-09 Cilag Gmbh International Staple cartridge comprising an information access control system
US11925349B2 (en) 2021-02-26 2024-03-12 Cilag Gmbh International Adjustment to transfer parameters to improve available power
US11812964B2 (en) 2021-02-26 2023-11-14 Cilag Gmbh International Staple cartridge comprising a power management circuit
US11751869B2 (en) 2021-02-26 2023-09-12 Cilag Gmbh International Monitoring of multiple sensors over time to detect moving characteristics of tissue
US11759202B2 (en) 2021-03-22 2023-09-19 Cilag Gmbh International Staple cartridge comprising an implantable layer
US11826042B2 (en) 2021-03-22 2023-11-28 Cilag Gmbh International Surgical instrument comprising a firing drive including a selectable leverage mechanism
US11723658B2 (en) 2021-03-22 2023-08-15 Cilag Gmbh International Staple cartridge comprising a firing lockout
US11826012B2 (en) 2021-03-22 2023-11-28 Cilag Gmbh International Stapling instrument comprising a pulsed motor-driven firing rack
US11737749B2 (en) 2021-03-22 2023-08-29 Cilag Gmbh International Surgical stapling instrument comprising a retraction system
US11806011B2 (en) 2021-03-22 2023-11-07 Cilag Gmbh International Stapling instrument comprising tissue compression systems
US11717291B2 (en) 2021-03-22 2023-08-08 Cilag Gmbh International Staple cartridge comprising staples configured to apply different tissue compression
US11857183B2 (en) 2021-03-24 2024-01-02 Cilag Gmbh International Stapling assembly components having metal substrates and plastic bodies
US11944336B2 (en) 2021-03-24 2024-04-02 Cilag Gmbh International Joint arrangements for multi-planar alignment and support of operational drive shafts in articulatable surgical instruments
US11793516B2 (en) 2021-03-24 2023-10-24 Cilag Gmbh International Surgical staple cartridge comprising longitudinal support beam
US11896218B2 (en) 2021-03-24 2024-02-13 Cilag Gmbh International Method of using a powered stapling device
US11903582B2 (en) 2021-03-24 2024-02-20 Cilag Gmbh International Leveraging surfaces for cartridge installation
US11744603B2 (en) 2021-03-24 2023-09-05 Cilag Gmbh International Multi-axis pivot joints for surgical instruments and methods for manufacturing same
US12102323B2 (en) 2021-03-24 2024-10-01 Cilag Gmbh International Rotary-driven surgical stapling assembly comprising a floatable component
US11849944B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Drivers for fastener cartridge assemblies having rotary drive screws
US11786243B2 (en) 2021-03-24 2023-10-17 Cilag Gmbh International Firing members having flexible portions for adapting to a load during a surgical firing stroke
US11786239B2 (en) 2021-03-24 2023-10-17 Cilag Gmbh International Surgical instrument articulation joint arrangements comprising multiple moving linkage features
US11832816B2 (en) 2021-03-24 2023-12-05 Cilag Gmbh International Surgical stapling assembly comprising nonplanar staples and planar staples
US11849945B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Rotary-driven surgical stapling assembly comprising eccentrically driven firing member
US11896219B2 (en) 2021-03-24 2024-02-13 Cilag Gmbh International Mating features between drivers and underside of a cartridge deck
US11654547B2 (en) 2021-03-31 2023-05-23 General Electric Company Extension tool
US11826047B2 (en) 2021-05-28 2023-11-28 Cilag Gmbh International Stapling instrument comprising jaw mounts
CN113693681A (zh) * 2021-08-03 2021-11-26 武汉联影智融医疗科技有限公司 手术器械
CN113787503B (zh) * 2021-08-27 2023-05-12 华中科技大学 一种连续体机器人
CN113650764B (zh) * 2021-09-14 2022-11-01 西湖大学 一种仿生航行器
US11980363B2 (en) 2021-10-18 2024-05-14 Cilag Gmbh International Row-to-row staple array variations
US12089841B2 (en) 2021-10-28 2024-09-17 Cilag CmbH International Staple cartridge identification systems
US11937816B2 (en) 2021-10-28 2024-03-26 Cilag Gmbh International Electrical lead arrangements for surgical instruments
KR20230068324A (ko) * 2021-11-09 2023-05-17 주식회사 로엔서지컬 로봇 수술도구용 관절 장치
CN113925569A (zh) * 2021-11-10 2022-01-14 泰州优合医疗科技有限公司 腔镜手术器械用万向钳
CN113894840B (zh) * 2021-11-18 2022-12-23 南京航空航天大学 一种绳索驱动柔性机械臂
KR20230081970A (ko) * 2021-11-28 2023-06-08 주식회사 로엔서지컬 구름 관절 장치
CN114188900B (zh) * 2021-12-13 2024-04-12 深圳市大族机器人有限公司 一种关节模组线缆安装结构及关节模组
CN114052926B (zh) * 2022-01-14 2022-03-29 极限人工智能有限公司 手术控制器械组件、分体式手术装置及软组织机器人
CN114406995B (zh) * 2022-01-29 2024-07-09 中国航空制造技术研究院 一种蛇形机械臂及稳定工作方法
CN114714391B (zh) * 2022-02-28 2023-06-16 内蒙古工业大学 一种变刚度一体化关节
WO2024086086A1 (en) * 2022-10-16 2024-04-25 Flexdex, Inc. Surgical tool and assembly
CN115635484B (zh) * 2022-10-28 2024-05-03 电子科技大学 一种控制机器人奇异位姿的方法
WO2024196591A1 (en) * 2023-03-19 2024-09-26 Syncrobotix, Inc. Biometrically scalable ai designed articulated catheter device
CN116252303B (zh) * 2023-04-13 2023-07-18 山西大学 一种绳驱连续型机器人快速运动规划系统
CN116602732A (zh) * 2023-07-20 2023-08-18 杭州锐健马斯汀医疗器材有限公司 一种篮钳

Family Cites Families (189)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US331598A (en) 1885-12-01 Churn
FR1334446A (fr) 1961-06-28 1963-08-09 Bolkow Entwicklungen Kg Articulation sans frottement
GB937587A (en) 1961-08-17 1963-09-25 Ass Elect Ind Improvements relating to coil winding machines
US3497083A (en) * 1968-05-10 1970-02-24 Us Navy Tensor arm manipulator
NL6910273A (pt) 1969-07-04 1971-01-06
SE433823B (sv) 1976-02-09 1984-06-18 Dennison Mfg Co Monteringsverktyg for streckning av ett foremal
US4328839A (en) 1980-09-19 1982-05-11 Drilling Development, Inc. Flexible drill pipe
JPS5920946Y2 (ja) 1981-05-30 1984-06-18 株式会社トミー ロボツトハンド玩具
JPS58132490A (ja) 1982-01-29 1983-08-06 株式会社日立製作所 角度伝達機構
US4491325A (en) 1983-01-26 1985-01-01 Thomas Bersheim Game control apparatus
US4712545A (en) 1984-04-05 1987-12-15 Acufex Microsurgical, Inc. Surgical instrument
US4754909A (en) 1984-08-09 1988-07-05 Barker John M Flexible stapler
US4613179A (en) 1985-02-13 1986-09-23 Zelm Willem D Van Hand-held gripping device with improved support for handicapped persons having limited finger function or wrist strength
JPS6233801U (pt) 1985-08-14 1987-02-27
US4758035A (en) 1987-04-24 1988-07-19 Harrington Arthritis Research Center Self-gripping reacher
US4950273A (en) 1987-10-26 1990-08-21 Briggs Jeffrey M Cable action instrument
US5021969A (en) 1988-03-17 1991-06-04 Kabushiki Kaisha Toshiba Manipulator operating apparatus
US4993766A (en) 1990-01-16 1991-02-19 Sutherland John W Mechanical gripping aid for handicapped persons
JPH0646935B2 (ja) 1990-04-09 1994-06-22 工業技術院長 マスタスレイブ・マイクロ機構
US5069596A (en) 1990-07-10 1991-12-03 Lawter International, Inc. Bulk bag handling and discharging apparatus
US5193963A (en) 1990-10-31 1993-03-16 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Force reflecting hand controller
US5209747A (en) 1990-12-13 1993-05-11 Knoepfler Dennis J Adjustable angle medical forceps
US5147357A (en) 1991-03-18 1992-09-15 Rose Anthony T Medical instrument
US5317952A (en) * 1991-11-22 1994-06-07 Kinetic Sciences Inc. Tentacle-like manipulators with adjustable tension lines
US6788999B2 (en) 1992-01-21 2004-09-07 Sri International, Inc. Surgical system
US5297443A (en) 1992-07-07 1994-03-29 Wentz John D Flexible positioning appendage
US5374277A (en) 1992-10-09 1994-12-20 Ethicon, Inc. Surgical instrument
US5330502A (en) 1992-10-09 1994-07-19 Ethicon, Inc. Rotational endoscopic mechanism with jointed drive mechanism
US5350391A (en) 1992-10-19 1994-09-27 Benedetto Iacovelli Laparoscopic instruments
US5323570A (en) 1993-01-25 1994-06-28 General Motors Corporation Door opening cable system with cable slack take-up
DE69409565T2 (de) 1993-01-29 1998-10-01 Smith & Nephew Inc Schwenkbares gekrümmtes Instrument
DE4306786C1 (de) 1993-03-04 1994-02-10 Wolfgang Daum Chirurgischer Manipulator
DE4326618C2 (de) 1993-03-04 1995-05-18 Wolfgang Daum Medizintechnik Manipulatorhand
WO1994026167A1 (en) 1993-05-14 1994-11-24 Sri International Remote center positioner
US5368600A (en) 1993-07-23 1994-11-29 Ethicon, Inc. Steerable bulldog clamp applier
US5456695A (en) 1993-10-25 1995-10-10 United States Surgical Corporation Multi-tool surgical apparatus
US5454827A (en) 1994-05-24 1995-10-03 Aust; Gilbert M. Surgical instrument
US5807376A (en) 1994-06-24 1998-09-15 United States Surgical Corporation Apparatus and method for performing surgical tasks during laparoscopic procedures
US5549637A (en) 1994-11-10 1996-08-27 Crainich; Lawrence Articulated medical instrument
US5713505A (en) 1996-05-13 1998-02-03 Ethicon Endo-Surgery, Inc. Articulation transmission mechanism for surgical instruments
US5683412A (en) 1994-12-23 1997-11-04 Symbiosis Corporation Force-limiting control member for endoscopic instruments and endoscopic instruments incorporating same
JP3186548B2 (ja) 1995-09-29 2001-07-11 三井金属鉱業株式会社 車両オートスライドドア
US5860995A (en) 1995-09-22 1999-01-19 Misener Medical Co. Inc. Laparoscopic endoscopic surgical instrument
US5619195A (en) 1995-12-29 1997-04-08 Charles D. Hayes Multi-axial position sensing apparatus
JP3693731B2 (ja) 1996-01-23 2005-09-07 金 君榮 搬送ロボット
US5820009A (en) 1996-02-20 1998-10-13 Richard-Allan Medical Industries, Inc. Articulated surgical instrument with improved jaw closure mechanism
DE19608716C1 (de) 1996-03-06 1997-04-17 Aesculap Ag Bipolares chirurgisches Faßinstrument
US5626608A (en) 1996-03-29 1997-05-06 United States Surgical Corporation Surgical instrument having locking handle
US5735874A (en) 1996-06-21 1998-04-07 Ethicon Endo-Surgery, Inc. Variable position handle locking mechanism
US5782748A (en) 1996-07-10 1998-07-21 Symbiosis Corporation Endoscopic surgical instruments having detachable proximal and distal portions
DE19652792C2 (de) 1996-12-18 1999-05-27 Storz Karl Gmbh & Co Medizinisches Handhabungsgerät, insbesondere für endoskopische Anwendungen
US6042555A (en) 1997-05-12 2000-03-28 Virtual Technologies, Inc. Force-feedback interface device for the hand
US6330837B1 (en) 1997-08-28 2001-12-18 Microdexterity Systems, Inc. Parallel mechanism
US6714839B2 (en) 1998-12-08 2004-03-30 Intuitive Surgical, Inc. Master having redundant degrees of freedom
US20080177285A1 (en) * 1998-02-24 2008-07-24 Hansen Medical, Inc. Surgical instrument
US6309403B1 (en) 1998-06-01 2001-10-30 Board Of Trustees Operating Michigan State University Dexterous articulated linkage for surgical applications
US6088020A (en) 1998-08-12 2000-07-11 Mitsubishi Electric Information Technology Center America, Inc. (Ita) Haptic device
US6852107B2 (en) 2002-01-16 2005-02-08 Computer Motion, Inc. Minimally invasive surgical training using robotics and tele-collaboration
JP2000193893A (ja) 1998-12-28 2000-07-14 Suzuki Motor Corp 検査用挿入管の屈曲装置
DE60029234T2 (de) 1999-05-10 2007-05-31 Hansen Medical, Inc., Mountain View Chirurgisches Instrument
US6312435B1 (en) 1999-10-08 2001-11-06 Intuitive Surgical, Inc. Surgical instrument with extended reach for use in minimally invasive surgery
US6858005B2 (en) * 2000-04-03 2005-02-22 Neo Guide Systems, Inc. Tendon-driven endoscope and methods of insertion
US6746443B1 (en) * 2000-07-27 2004-06-08 Intuitive Surgical Inc. Roll-pitch-roll surgical tool
US6902560B1 (en) 2000-07-27 2005-06-07 Intuitive Surgical, Inc. Roll-pitch-roll surgical tool
JP4014792B2 (ja) 2000-09-29 2007-11-28 株式会社東芝 マニピュレータ
EP1199840A1 (en) 2000-10-19 2002-04-24 THOMSON multimedia Method for connecting an IEEE1394 remote device to a cluster of IEEE1394 devices through a wireless link
US20030135204A1 (en) * 2001-02-15 2003-07-17 Endo Via Medical, Inc. Robotically controlled medical instrument with a flexible section
US20060199999A1 (en) 2001-06-29 2006-09-07 Intuitive Surgical Inc. Cardiac tissue ablation instrument with flexible wrist
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
US20050182298A1 (en) * 2002-12-06 2005-08-18 Intuitive Surgical Inc. Cardiac tissue ablation instrument with flexible wrist
JP3926119B2 (ja) 2001-08-10 2007-06-06 株式会社東芝 医療用マニピュレータ
JP3631450B2 (ja) 2001-08-22 2005-03-23 株式会社東芝 マニピュレータ
US7261728B2 (en) 2002-03-15 2007-08-28 Ethicon Endo-Surgery, Inc. Biopsy forceps device and method
JP3680050B2 (ja) 2002-09-18 2005-08-10 株式会社東芝 医療用マニピュレータ及びその制御方法
JP3912251B2 (ja) 2002-10-02 2007-05-09 株式会社日立製作所 マニピュレータ
EP2901959B1 (en) 2002-12-06 2019-02-06 Intuitive Surgical Operations, Inc. Flexible wrist for surgical tool
JP4286571B2 (ja) 2003-03-31 2009-07-01 独立行政法人科学技術振興機構 手術装置
US7591783B2 (en) 2003-04-01 2009-09-22 Boston Scientific Scimed, Inc. Articulation joint for video endoscope
EP1628632B1 (en) * 2003-05-21 2013-10-09 The Johns Hopkins University Devices and systems for minimally invasive surgery of the throat and other portions of mammalian body
US7410483B2 (en) 2003-05-23 2008-08-12 Novare Surgical Systems, Inc. Hand-actuated device for remote manipulation of a grasping tool
US8182417B2 (en) 2004-11-24 2012-05-22 Intuitive Surgical Operations, Inc. Articulating mechanism components and system for easy assembly and disassembly
US7090637B2 (en) 2003-05-23 2006-08-15 Novare Surgical Systems, Inc. Articulating mechanism for remote manipulation of a surgical or diagnostic tool
US7121781B2 (en) 2003-06-11 2006-10-17 Intuitive Surgical Surgical instrument with a universal wrist
DE10327655A1 (de) * 2003-06-20 2005-01-27 Karl Storz Gmbh & Co. Kg Medizinisches Instrument
JP4460857B2 (ja) 2003-06-23 2010-05-12 オリンパス株式会社 外科手術用システム
US7708756B2 (en) 2003-09-29 2010-05-04 Ethicon Endo-Surgery, Inc. Actuation mechanism for flexible endoscopic device
US7147650B2 (en) 2003-10-30 2006-12-12 Woojin Lee Surgical instrument
WO2005087128A1 (en) 2004-03-05 2005-09-22 Hansen Medical, Inc. Robotic catheter system
EP1723913A1 (en) 2004-03-10 2006-11-22 Olympus Corporation Treatment tool for surgery
JP2007130485A (ja) 2004-03-30 2007-05-31 Toshiba Corp マニピュレータ装置
DE102004024128B3 (de) 2004-05-14 2006-01-12 Schiemann, Patrick A., Dr. Vorrichtung zur Änderung der Wirkungsrichtung eines Instrumentes
US7678117B2 (en) 2004-06-07 2010-03-16 Novare Surgical Systems, Inc. Articulating mechanism with flex-hinged links
US7553275B2 (en) 2004-08-31 2009-06-30 Surgical Solutions Llc Medical device with articulating shaft
NO322126B1 (no) * 2004-09-29 2006-08-21 Sinvent As Artikulert styrbart element og en robotslange omfattende en hudstruktur og en brannslukkende dyse
JP4287354B2 (ja) 2004-10-25 2009-07-01 株式会社日立製作所 手術器具
US9700334B2 (en) 2004-11-23 2017-07-11 Intuitive Surgical Operations, Inc. Articulating mechanisms and link systems with torque transmission in remote manipulation of instruments and tools
WO2013027203A1 (en) 2011-08-21 2013-02-28 M.S.T. Medical Surgery Technologies Ltd. Wearable user interface
EP1887961B1 (en) 2005-06-06 2012-01-11 Intuitive Surgical Operations, Inc. Laparoscopic ultrasound robotic surgical system
US20070022562A1 (en) 2005-07-28 2007-02-01 Leonard Hampton Multi-position cleaning device handgrip
US20070078565A1 (en) 2005-10-03 2007-04-05 Modjtaba Ghodoussi Telerobotic system that transmits changed states of a subsystem
US8080004B2 (en) 2005-10-26 2011-12-20 Earl Downey Laparoscopic surgical instrument
US9962066B2 (en) * 2005-12-30 2018-05-08 Intuitive Surgical Operations, Inc. Methods and apparatus to shape flexible entry guides for minimally invasive surgery
US8992422B2 (en) * 2006-03-23 2015-03-31 Ethicon Endo-Surgery, Inc. Robotically-controlled endoscopic accessory channel
EP2529671B1 (en) 2006-05-19 2016-08-31 Ethicon Endo-Surgery, Inc. Surgical instrument
US7862554B2 (en) 2007-04-16 2011-01-04 Intuitive Surgical Operations, Inc. Articulating tool with improved tension member system
US8062211B2 (en) 2006-06-13 2011-11-22 Intuitive Surgical Operations, Inc. Retrograde instrument
US9561045B2 (en) 2006-06-13 2017-02-07 Intuitive Surgical Operations, Inc. Tool with rotation lock
US8551076B2 (en) * 2006-06-13 2013-10-08 Intuitive Surgical Operations, Inc. Retrograde instrument
US9579088B2 (en) 2007-02-20 2017-02-28 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical visualization and device manipulation
US8029531B2 (en) 2006-07-11 2011-10-04 Cambridge Endoscopic Devices, Inc. Surgical instrument
JP4654165B2 (ja) 2006-08-08 2011-03-16 テルモ株式会社 作業機構及びマニピュレータ
US7708758B2 (en) 2006-08-16 2010-05-04 Cambridge Endoscopic Devices, Inc. Surgical instrument
US7736254B2 (en) 2006-10-12 2010-06-15 Intuitive Surgical Operations, Inc. Compact cable tension tender device
US9456877B2 (en) 2006-12-01 2016-10-04 Boston Scientific Scimed, Inc. Direct drive instruments and methods of use
JP2008237812A (ja) * 2007-03-29 2008-10-09 Olympus Medical Systems Corp 多関節湾曲機構及び多関節湾曲機構を備えた医療器具
US9220398B2 (en) * 2007-10-11 2015-12-29 Intuitive Surgical Operations, Inc. System for managing Bowden cables in articulating instruments
TWI335873B (en) 2007-11-06 2011-01-11 Teco Image Sys Co Ltd Belt tension adjusting mechanism
JP2009127289A (ja) 2007-11-22 2009-06-11 Aisin Seiki Co Ltd 車両用ドア開閉装置
JP2009135684A (ja) 2007-11-29 2009-06-18 Sony Corp 表示装置及び異常検出方法
JP5258284B2 (ja) * 2007-12-28 2013-08-07 テルモ株式会社 医療用マニピュレータ及び医療用ロボットシステム
US20090171147A1 (en) 2007-12-31 2009-07-02 Woojin Lee Surgical instrument
US20090192511A1 (en) 2008-01-28 2009-07-30 Haffenreffer Mark E Surgical instruments and instrument handle having support brace
US8870867B2 (en) 2008-02-06 2014-10-28 Aesculap Ag Articulable electrosurgical instrument with a stabilizable articulation actuator
US10405936B2 (en) 2008-04-11 2019-09-10 The Regents Of The University Of Michigan Parallel kinematic mechanisms with decoupled rotational motions
US9869339B2 (en) * 2008-04-11 2018-01-16 Flexdex, Inc. End-effector jaw closure transmission systems for remote access tools
US9629689B2 (en) 2008-04-11 2017-04-25 Flexdex, Inc. Attachment apparatus for remote access tools
US8668702B2 (en) 2008-04-11 2014-03-11 The Regents Of The University Of Michigan Minimal access tool
US8888834B2 (en) 2008-07-02 2014-11-18 Cook Medical Technologies Llc Deployment assembly and introducer
US8540748B2 (en) 2008-07-07 2013-09-24 Intuitive Surgical Operations, Inc. Surgical instrument wrist
US8771270B2 (en) * 2008-07-16 2014-07-08 Intuitive Surgical Operations, Inc. Bipolar cautery instrument
US8801752B2 (en) * 2008-08-04 2014-08-12 Covidien Lp Articulating surgical device
KR100999466B1 (ko) 2008-08-12 2010-12-09 정창욱 최소 침습 수술 도구 및 그 사용 방법
US8465475B2 (en) 2008-08-18 2013-06-18 Intuitive Surgical Operations, Inc. Instrument with multiple articulation locks
US8834353B2 (en) 2008-09-02 2014-09-16 Olympus Medical Systems Corp. Medical manipulator, treatment system, and treatment method
CN101711703B (zh) 2008-10-08 2012-01-25 王爱娣 仿生手术器械
US20100168721A1 (en) * 2008-12-30 2010-07-01 Intuitive Surgical, Inc. Lubricating tendons in a tendon-actuated surgical instrument
US20100249497A1 (en) * 2009-03-30 2010-09-30 Peine William J Surgical instrument
US20110022078A1 (en) * 2009-07-23 2011-01-27 Cameron Dale Hinman Articulating mechanism
US8372082B2 (en) * 2009-07-30 2013-02-12 Kyphon Sarl Surgical apparatus with force limiting clutch
DK2461948T3 (da) * 2009-08-04 2014-01-20 Majatronic Gmbh Parallelrobot
WO2011025818A1 (en) 2009-08-26 2011-03-03 Carefusion 2200, Inc. Articulated surgical tool
EA201290164A1 (ru) * 2009-09-22 2013-01-30 Ариэль-Юниверсити Рисёрч Энд Дивелопмент Компани, Лтд. Контроллер ориентации, механическая рука, захват и его компоненты
CA2776535A1 (en) 2009-10-09 2011-04-14 Applied Medical Resources Corporation Single port instruments
US20110112517A1 (en) 2009-11-06 2011-05-12 Peine Willliam J Surgical instrument
US9259275B2 (en) 2009-11-13 2016-02-16 Intuitive Surgical Operations, Inc. Wrist articulation by linked tension members
US20120152055A1 (en) 2009-12-21 2012-06-21 Juan Humberto Lechuga Priego Steering wheel for vehicles with ergonomic handles
FR2961682B1 (fr) * 2010-06-29 2013-03-15 Univ Paris Curie Instrument chirurgical notamment pour chirurgie peritoneale
WO2012030304A1 (en) 2010-09-01 2012-03-08 Agency For Science, Technology And Research A robotic device for use in image-guided robot assisted surgical training
US9545253B2 (en) * 2010-09-24 2017-01-17 Ethicon Endo-Surgery, Llc Surgical instrument with contained dual helix actuator assembly
US8828046B2 (en) 2010-10-14 2014-09-09 Ethicon Endo-Surgery, Inc. Laparoscopic device with distal handle
US9901412B2 (en) 2011-04-29 2018-02-27 Vanderbilt University Dexterous surgical manipulator and method of use
US9161771B2 (en) 2011-05-13 2015-10-20 Intuitive Surgical Operations Inc. Medical instrument with snake wrist structure
US20130012958A1 (en) 2011-07-08 2013-01-10 Stanislaw Marczyk Surgical Device with Articulation and Wrist Rotation
US8603135B2 (en) 2011-07-20 2013-12-10 Covidien Lp Articulating surgical apparatus
US9302097B2 (en) 2011-07-22 2016-04-05 Jacob Amrani Implantable lead with tethers
WO2013014621A2 (en) 2011-07-27 2013-01-31 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical teleoperated device for remote manipulation
US20130066334A1 (en) 2011-09-08 2013-03-14 Stryker Leibinger Gmbh & Co., Kg Axial Surgical Trajectory Guide
JP5859260B2 (ja) 2011-09-28 2016-02-10 株式会社トップ 鉗子
US8672206B2 (en) 2011-10-25 2014-03-18 Covidien Lp Apparatus for endoscopic procedures
WO2013098758A1 (en) * 2011-12-30 2013-07-04 Koninklijke Philips Electronics N.V. Nested cannulas with guided tools
JP2015529519A (ja) 2012-08-30 2015-10-08 ヒューマン エクステンションズ リミテッド 使用者と腹腔鏡器具との間のインタフェース
JP2015535702A (ja) * 2012-09-19 2015-12-17 ナンヤン テクノロジカル ユニヴァーシティＮａｎｙａｎｇ Ｔｅｃｈｎｏｌｏｇｉｃａｌ Ｕｎｉｖｅｒｓｉｔｙ フレキシブルマスター‐スレーブロボット内視鏡システム
WO2014074807A1 (en) 2012-11-09 2014-05-15 GYRUS ACMI, INC. (d/b/a OLYMPUS SURGICAL TECHNOLOGIES AMERICA) Forceps with a rotation assembly
GB201304572D0 (en) * 2013-03-14 2013-05-01 Rolls Royce Plc Multi-jointed arm assembly
GB2513326A (en) 2013-04-23 2014-10-29 Gyrus Medical Ltd Electrosurgical instrument
KR102127215B1 (ko) 2013-05-07 2020-06-30 삼성전자주식회사 와이어 연결 장치
US9240261B2 (en) * 2013-07-19 2016-01-19 Alcatel-Lucent Shanghai Bell Co., Ltd Multi-conductor cables with spacers for conductors
JP6157258B2 (ja) 2013-07-26 2017-07-05 オリンパス株式会社 マニピュレータ及びマニピュレータシステム
JP6008251B2 (ja) * 2013-08-23 2016-10-19 住友電装株式会社 導電路及び導電路用スペーサ
JP5980764B2 (ja) 2013-11-29 2016-08-31 オリンパス株式会社 術具
US10265129B2 (en) 2014-02-03 2019-04-23 Distalmotion Sa Mechanical teleoperated device comprising an interchangeable distal instrument
IL231054A (en) * 2014-02-20 2015-07-30 Tzony Siegal A device for advancing along a curved track and a method for its operation
JP6353665B2 (ja) 2014-02-21 2018-07-04 オリンパス株式会社 マニピュレータの初期化方法、マニピュレータ、およびマニピュレータシステム
EP3185808B1 (en) 2014-08-27 2022-02-23 DistalMotion SA Surgical system for microsurgical techniques
US20170224202A1 (en) * 2014-10-23 2017-08-10 Koninklijke Philips N.V. Rotatable stabilizer for use of catheter inside an endoscope
DE102014016790A1 (de) * 2014-11-14 2016-05-19 Karl Storz Gmbh & Co. Kg Medizinisches Instrument
EP3232973B1 (en) 2014-12-19 2020-04-01 DistalMotion SA Sterile interface for articulated surgical instruments
EP4289385A3 (en) 2014-12-19 2024-03-27 DistalMotion SA Surgical instrument with articulated end-effector
EP3232974B1 (en) 2014-12-19 2018-10-24 DistalMotion SA Articulated handle for mechanical telemanipulator
EP3232977B1 (en) 2014-12-19 2020-01-29 DistalMotion SA Docking system for mechanical telemanipulator
EP3653145B1 (en) 2014-12-19 2024-01-24 DistalMotion SA Reusable surgical instrument for minimally invasive procedures
KR102299112B1 (ko) 2015-03-31 2021-09-07 삼성디스플레이 주식회사 액정 표시 장치
US10753439B2 (en) 2015-04-03 2020-08-25 The Regents Of The University Of Michigan Tension management apparatus for cable-driven transmission
WO2016162752A1 (en) 2015-04-09 2016-10-13 Distalmotion Sa Mechanical teleoperated device for remote manipulation
US10363055B2 (en) 2015-04-09 2019-07-30 Distalmotion Sa Articulated hand-held instrument
WO2016168761A1 (en) 2015-04-15 2016-10-20 Flexdex, Inc. Attachment apparatus for remote access tools
CN104889974B (zh) * 2015-05-14 2017-12-08 湖北骐通智能科技股份有限公司 机器人的线缆构造以及使用其的机器人
WO2017037532A1 (en) 2015-08-28 2017-03-09 Distalmotion Sa Surgical instrument with increased actuation force
JP2018531694A (ja) 2015-10-05 2018-11-01 フレックスデックス, インク.Flexdex, Inc. 円滑に関節屈曲するマルチクラスタジョイントを有する医療デバイス

Also Published As

Publication number Publication date
WO2017062529A1 (en) 2017-04-13
JP2018531694A (ja) 2018-11-01
US20210212785A1 (en) 2021-07-15
JP6886459B2 (ja) 2021-06-16
EP3359010A1 (en) 2018-08-15
US20180221045A1 (en) 2018-08-09
CN108472025A (zh) 2018-08-31
US10959797B2 (en) 2021-03-30
EP3359010A4 (en) 2019-06-05
EP3359054A4 (en) 2019-08-14
JP2018531693A (ja) 2018-11-01
US20170095922A1 (en) 2017-04-06
WO2017062516A1 (en) 2017-04-13
EP3359054A1 (en) 2018-08-15
WO2017062516A8 (en) 2018-05-24

Similar Documents

Publication Publication Date Title
BR112018006826A2 (pt) dispositivos médicos que têm juntas multi-cluster que se articulam suavemente
MX2021013357A (es) Luces direccionales de articulacion en un instrumento quirurgico.
MX2017008113A (es) Ensamble de instrumento quirurgico que comprende un sistema de articulacion flexible.
BR112018007606A2 (pt) ferramenta cirúrgica para cirurgia robótica e conjunto robótico cirúrgico
EP3078333A3 (en) Adapter assembly with gimbal for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof
MX2021015346A (es) Disposiciones de bloqueo para ensambles de vastago separables con efectores de extremo quirurgico articulables.
JP2012125588A5 (pt)
BR112017012620A2 (pt) sistemas de instrumento cirúrgico que compreendem um atuador de extremidade articulável e meios para ajustar o curso de disparo de um membro de disparo
BR112018068536A2 (pt) robô de inserção de instrumento médico flexível alongado e acessórios associados
WO2016035086A3 (en) Device and system including mechanical arms
BR112022003897A2 (pt) Rede eletrocirúrgica
BR112016023808A8 (pt) veículo
BR112017018279A2 (pt) cabo de instrumento cirúrgico adaptável
WO2015188071A3 (en) Articulating robotic probes, systems and methods incorporating the same, and methods for performing surgical procedures
AR099101A1 (es) Dispositivo de fijación externo para tratar fracturas óseas
BR112018002718B8 (pt) Aparato para treinamento de procedimentos cirúrgicos e sistema para treinamento de procedimentos de laparoscopia
BR112016021741A2 (pt) dispositivo de entrada e sistema para conexão de dispositivo de entrada
BR112016030045A2 (pt) ?montagem de ligação submarina de alta tensão?.
BR112013025281A2 (pt) corrente condutora de energia com elementos articulados deformáveis
BR112014016995A8 (pt) refratômetro com um gerador de frente de onda remoto
ES2722623T3 (es) Conjuntos de adaptador para la interconexión de conjuntos de mango electromecánico y unidades de carga quirúrgica
BR112019003049A2 (pt) sistema de fixação óssea
BR112022012608A2 (pt) Sistema de acústica distribuída
BR112016027060B8 (pt) Dispositivo de articulação com junta esférica para uma turbomáquina
BR112019023309A2 (pt) Dispositivo de articulação

Legal Events

Date Code Title Description
B06U Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]
B11B Dismissal acc. art. 36, par 1 of ipl - no reply within 90 days to fullfil the necessary requirements