BRPI1011053A2 - sistema robótico para cirurgia laparoscópica - Google Patents

sistema robótico para cirurgia laparoscópica

Info

Publication number
BRPI1011053A2
BRPI1011053A2 BRPI1011053A BRPI1011053A BRPI1011053A2 BR PI1011053 A2 BRPI1011053 A2 BR PI1011053A2 BR PI1011053 A BRPI1011053 A BR PI1011053A BR PI1011053 A BRPI1011053 A BR PI1011053A BR PI1011053 A2 BRPI1011053 A2 BR PI1011053A2
Authority
BR
Brazil
Prior art keywords
robotic system
laparoscopic surgery
surgery robotic
laparoscopic
surgery
Prior art date
Application number
BRPI1011053A
Other languages
English (en)
Inventor
Alicia Casals Gelpi
Josep Amat Girbau
Manel Frigola Bourlon
Original Assignee
Uni Politècnica De Catalunya
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 Uni Politècnica De Catalunya filed Critical Uni Politècnica De Catalunya
Publication of BRPI1011053A2 publication Critical patent/BRPI1011053A2/pt
Publication of BRPI1011053B1 publication Critical patent/BRPI1011053B1/pt
Publication of BRPI1011053B8 publication Critical patent/BRPI1011053B8/pt

Links

Classifications

    • 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
    • A61B34/37—Master-slave 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
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • 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
    • A61B1/313—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 for introducing through surgical openings, e.g. laparoscopes
    • A61B1/3132—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 for introducing through surgical openings, e.g. laparoscopes for laparoscopy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
    • A61B17/0218—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors for 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • B25J17/0291—Three-dimensional joints having axes crossing at an oblique angle, i.e. other than 90 degrees

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Endoscopes (AREA)
BRPI1011053A 2009-05-22 2010-05-20 sistema robótico para cirurgia laparoscópica BRPI1011053B8 (pt)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
ESP200901313 2009-05-22
ES200901313A ES2388029B1 (es) 2009-05-22 2009-05-22 Sistema robótico para cirugia laparoscópica.
PCT/ES2010/000224 WO2010133733A1 (es) 2009-05-22 2010-05-20 Sistema robótico para cirugía laparoscópica

Publications (3)

Publication Number Publication Date
BRPI1011053A2 true BRPI1011053A2 (pt) 2016-03-15
BRPI1011053B1 BRPI1011053B1 (pt) 2020-09-29
BRPI1011053B8 BRPI1011053B8 (pt) 2021-06-22

Family

ID=43125780

Family Applications (1)

Application Number Title Priority Date Filing Date
BRPI1011053A BRPI1011053B8 (pt) 2009-05-22 2010-05-20 sistema robótico para cirurgia laparoscópica

Country Status (16)

Country Link
US (1) US9119653B2 (pt)
EP (1) EP2433585B1 (pt)
JP (1) JP5785538B2 (pt)
KR (1) KR101665744B1 (pt)
CN (1) CN102458295B (pt)
AU (1) AU2010251107B2 (pt)
BR (1) BRPI1011053B8 (pt)
CA (1) CA2762780C (pt)
ES (2) ES2388029B1 (pt)
IL (1) IL216470A0 (pt)
MX (1) MX336487B (pt)
PL (1) PL2433585T3 (pt)
RU (1) RU2531469C2 (pt)
SG (1) SG176183A1 (pt)
WO (1) WO2010133733A1 (pt)
ZA (1) ZA201109443B (pt)

Families Citing this family (201)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8219178B2 (en) 2007-02-16 2012-07-10 Catholic Healthcare West Method and system for performing invasive medical procedures using a surgical robot
US10357184B2 (en) 2012-06-21 2019-07-23 Globus Medical, Inc. Surgical tool systems and method
US10653497B2 (en) 2006-02-16 2020-05-19 Globus Medical, Inc. Surgical tool systems and methods
US9782229B2 (en) 2007-02-16 2017-10-10 Globus Medical, Inc. Surgical robot platform
US10893912B2 (en) 2006-02-16 2021-01-19 Globus Medical Inc. Surgical tool systems and methods
US9254123B2 (en) 2009-04-29 2016-02-09 Hansen Medical, Inc. Flexible and steerable elongate instruments with shape control and support elements
US8672837B2 (en) 2010-06-24 2014-03-18 Hansen Medical, Inc. Methods and devices for controlling a shapeable medical device
US9314306B2 (en) 2010-09-17 2016-04-19 Hansen Medical, Inc. Systems and methods for manipulating an elongate member
WO2012131660A1 (en) 2011-04-01 2012-10-04 Ecole Polytechnique Federale De Lausanne (Epfl) Robotic system for spinal and other surgeries
US9138166B2 (en) 2011-07-29 2015-09-22 Hansen Medical, Inc. Apparatus and methods for fiber integration and registration
CN102689301B (zh) * 2012-05-25 2015-02-11 北京卫星制造厂 一种导轨摆臂式位置机构
US20130317519A1 (en) 2012-05-25 2013-11-28 Hansen Medical, Inc. Low friction instrument driver interface for robotic systems
US11317971B2 (en) 2012-06-21 2022-05-03 Globus Medical, Inc. Systems and methods related to robotic guidance in surgery
US11253327B2 (en) 2012-06-21 2022-02-22 Globus Medical, Inc. Systems and methods for automatically changing an end-effector on a surgical robot
US10231791B2 (en) 2012-06-21 2019-03-19 Globus Medical, Inc. Infrared signal based position recognition system for use with a robot-assisted surgery
US12004905B2 (en) 2012-06-21 2024-06-11 Globus Medical, Inc. Medical imaging systems using robotic actuators and related methods
US11607149B2 (en) 2012-06-21 2023-03-21 Globus Medical Inc. Surgical tool systems and method
US11857149B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. Surgical robotic systems with target trajectory deviation monitoring and related methods
US11864839B2 (en) 2012-06-21 2024-01-09 Globus Medical Inc. Methods of adjusting a virtual implant and related surgical navigation systems
US10758315B2 (en) 2012-06-21 2020-09-01 Globus Medical Inc. Method and system for improving 2D-3D registration convergence
US11395706B2 (en) 2012-06-21 2022-07-26 Globus Medical Inc. Surgical robot platform
US11045267B2 (en) 2012-06-21 2021-06-29 Globus Medical, Inc. Surgical robotic automation with tracking markers
US11793570B2 (en) 2012-06-21 2023-10-24 Globus Medical Inc. Surgical robotic automation with tracking markers
US11399900B2 (en) 2012-06-21 2022-08-02 Globus Medical, Inc. Robotic systems providing co-registration using natural fiducials and related methods
US10624710B2 (en) 2012-06-21 2020-04-21 Globus Medical, Inc. System and method for measuring depth of instrumentation
US11974822B2 (en) 2012-06-21 2024-05-07 Globus Medical Inc. Method for a surveillance marker in robotic-assisted surgery
US10136954B2 (en) 2012-06-21 2018-11-27 Globus Medical, Inc. Surgical tool systems and method
US10350013B2 (en) 2012-06-21 2019-07-16 Globus Medical, Inc. Surgical tool systems and methods
US11298196B2 (en) 2012-06-21 2022-04-12 Globus Medical Inc. Surgical robotic automation with tracking markers and controlled tool advancement
US11116576B2 (en) 2012-06-21 2021-09-14 Globus Medical Inc. Dynamic reference arrays and methods of use
US11864745B2 (en) 2012-06-21 2024-01-09 Globus Medical, Inc. Surgical robotic system with retractor
US11857266B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. System for a surveillance marker in robotic-assisted surgery
WO2014028563A1 (en) 2012-08-15 2014-02-20 Intuitive Surgical Operations, Inc. Phantom degrees of freedom in joint estimation and control
CN104718054B (zh) * 2012-08-15 2017-03-01 直观外科手术操作公司 操纵机械体的活动的假想自由度(dof)
KR102186365B1 (ko) 2012-08-15 2020-12-03 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술 시스템의 운동을 조종하기 위한 가상 자유도
WO2014043697A2 (en) 2012-09-17 2014-03-20 Omniguide, Inc. Devices and methods for laser surgery
US10149720B2 (en) 2013-03-08 2018-12-11 Auris Health, Inc. Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment
US9057600B2 (en) 2013-03-13 2015-06-16 Hansen Medical, Inc. Reducing incremental measurement sensor error
US11213363B2 (en) 2013-03-14 2022-01-04 Auris Health, Inc. Catheter tension sensing
US9326822B2 (en) 2013-03-14 2016-05-03 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US9173713B2 (en) 2013-03-14 2015-11-03 Hansen Medical, Inc. Torque-based catheter articulation
US20140277334A1 (en) 2013-03-14 2014-09-18 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US20140276936A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Active drive mechanism for simultaneous rotation and translation
US9629595B2 (en) 2013-03-15 2017-04-25 Hansen Medical, Inc. Systems and methods for localizing, tracking and/or controlling medical instruments
US20140276647A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Vascular remote catheter manipulator
US9271663B2 (en) 2013-03-15 2016-03-01 Hansen Medical, Inc. Flexible instrument localization from both remote and elongation sensors
US10376672B2 (en) 2013-03-15 2019-08-13 Auris Health, Inc. Catheter insertion system and method of fabrication
US9408669B2 (en) 2013-03-15 2016-08-09 Hansen Medical, Inc. Active drive mechanism with finite range of motion
US9014851B2 (en) 2013-03-15 2015-04-21 Hansen Medical, Inc. Systems and methods for tracking robotically controlled medical instruments
US11020016B2 (en) 2013-05-30 2021-06-01 Auris Health, Inc. System and method for displaying anatomy and devices on a movable display
CN103286787B (zh) * 2013-06-28 2016-06-01 招商局重庆交通科研设计院有限公司 全自动公路及隧道灯具清洁装置
US9283048B2 (en) 2013-10-04 2016-03-15 KB Medical SA Apparatus and systems for precise guidance of surgical tools
EP3094272B1 (en) 2014-01-15 2021-04-21 KB Medical SA Notched apparatus for guidance of an insertable instrument along an axis during spinal surgery
WO2015121311A1 (en) 2014-02-11 2015-08-20 KB Medical SA Sterile handle for controlling a robotic surgical system from a sterile field
GB2523224C2 (en) * 2014-03-07 2021-06-02 Cambridge Medical Robotics Ltd Surgical arm
EP2923669B1 (en) 2014-03-24 2017-06-28 Hansen Medical, Inc. Systems and devices for catheter driving instinctiveness
US10046140B2 (en) 2014-04-21 2018-08-14 Hansen Medical, Inc. Devices, systems, and methods for controlling active drive systems
CN106659537B (zh) 2014-04-24 2019-06-11 Kb医疗公司 结合机器人手术系统使用的手术器械固持器
US10569052B2 (en) 2014-05-15 2020-02-25 Auris Health, Inc. Anti-buckling mechanisms for catheters
US10792464B2 (en) 2014-07-01 2020-10-06 Auris Health, Inc. Tool and method for using surgical endoscope with spiral lumens
US9561083B2 (en) 2014-07-01 2017-02-07 Auris Surgical Robotics, Inc. Articulating flexible endoscopic tool with roll capabilities
US9744335B2 (en) 2014-07-01 2017-08-29 Auris Surgical Robotics, Inc. Apparatuses and methods for monitoring tendons of steerable catheters
WO2016008880A1 (en) 2014-07-14 2016-01-21 KB Medical SA Anti-skid surgical instrument for use in preparing holes in bone tissue
CN104149081B (zh) * 2014-07-28 2017-01-18 广东工业大学 一种模块化的手持式双操作端主机器人
CN105455899A (zh) * 2014-08-08 2016-04-06 深圳市贝斯达医疗股份有限公司 一种用于磁共振手术导航系统的无磁机械臂
EP3200718A4 (en) 2014-09-30 2018-04-25 Auris Surgical Robotics, Inc Configurable robotic surgical system with virtual rail and flexible endoscope
US10314463B2 (en) 2014-10-24 2019-06-11 Auris Health, Inc. Automated endoscope calibration
US10013808B2 (en) 2015-02-03 2018-07-03 Globus Medical, Inc. Surgeon head-mounted display apparatuses
US10555782B2 (en) 2015-02-18 2020-02-11 Globus Medical, Inc. Systems and methods for performing minimally invasive spinal surgery with a robotic surgical system using a percutaneous technique
US11819636B2 (en) 2015-03-30 2023-11-21 Auris Health, Inc. Endoscope pull wire electrical circuit
WO2016164824A1 (en) * 2015-04-09 2016-10-13 Auris Surgical Robotics, Inc. Surgical system with configurable rail-mounted mechanical arms
GB2538497B (en) 2015-05-14 2020-10-28 Cmr Surgical Ltd Torque sensing in a surgical robotic wrist
US9636184B2 (en) 2015-05-15 2017-05-02 Auris Surgical Robotics, Inc. Swivel bed for a surgical robotics system
CN104983468B (zh) * 2015-07-24 2017-11-14 绵阳美科电子设备有限责任公司 一种腔镜操作手机器手手臂及其操作方法
US10058394B2 (en) 2015-07-31 2018-08-28 Globus Medical, Inc. Robot arm and methods of use
US10646298B2 (en) 2015-07-31 2020-05-12 Globus Medical, Inc. Robot arm and methods of use
US10080615B2 (en) 2015-08-12 2018-09-25 Globus Medical, Inc. Devices and methods for temporary mounting of parts to bone
US10687905B2 (en) 2015-08-31 2020-06-23 KB Medical SA Robotic surgical systems and methods
JP6938507B2 (ja) 2015-09-09 2021-09-22 オーリス ヘルス インコーポレイテッド 手術支援ロボットシステム用の器械装置マニピュレータ
US10034716B2 (en) 2015-09-14 2018-07-31 Globus Medical, Inc. Surgical robotic systems and methods thereof
US9727963B2 (en) 2015-09-18 2017-08-08 Auris Surgical Robotics, Inc. Navigation of tubular networks
US9771092B2 (en) 2015-10-13 2017-09-26 Globus Medical, Inc. Stabilizer wheel assembly and methods of use
US10639108B2 (en) 2015-10-30 2020-05-05 Auris Health, Inc. Process for percutaneous operations
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US10143526B2 (en) 2015-11-30 2018-12-04 Auris Health, Inc. Robot-assisted driving systems and methods
US10117632B2 (en) 2016-02-03 2018-11-06 Globus Medical, Inc. Portable medical imaging system with beam scanning collimator
US11883217B2 (en) 2016-02-03 2024-01-30 Globus Medical, Inc. Portable medical imaging system and method
US11058378B2 (en) 2016-02-03 2021-07-13 Globus Medical, Inc. Portable medical imaging system
US10448910B2 (en) 2016-02-03 2019-10-22 Globus Medical, Inc. Portable medical imaging system
US10842453B2 (en) 2016-02-03 2020-11-24 Globus Medical, Inc. Portable medical imaging system
US10866119B2 (en) 2016-03-14 2020-12-15 Globus Medical, Inc. Metal detector for detecting insertion of a surgical device into a hollow tube
EP3241518A3 (en) 2016-04-11 2018-01-24 Globus Medical, Inc Surgical tool systems and methods
US10454347B2 (en) 2016-04-29 2019-10-22 Auris Health, Inc. Compact height torque sensing articulation axis assembly
US10463439B2 (en) 2016-08-26 2019-11-05 Auris Health, Inc. Steerable catheter with shaft load distributions
US11241559B2 (en) 2016-08-29 2022-02-08 Auris Health, Inc. Active drive for guidewire manipulation
KR20230096148A (ko) 2016-08-31 2023-06-29 아우리스 헬스, 인코포레이티드 길이 보존 수술용 기구
US11389360B2 (en) * 2016-09-16 2022-07-19 Verb Surgical Inc. Linkage mechanisms for mounting robotic arms to a surgical table
US11185455B2 (en) 2016-09-16 2021-11-30 Verb Surgical Inc. Table adapters for mounting robotic arms to a surgical table
EP3515348A4 (en) * 2016-09-19 2020-05-20 Intuitive Surgical Operations Inc. BASIC POSITIONING SYSTEM FOR A CONTROLLED ARM AND RELATED METHODS
US11642182B2 (en) * 2016-09-27 2023-05-09 Brainlab Ag Efficient positioning of a mechatronic arm
CN106236276B (zh) * 2016-09-28 2019-09-17 微创（上海）医疗机器人有限公司 手术机器人系统
US9931025B1 (en) 2016-09-30 2018-04-03 Auris Surgical Robotics, Inc. Automated calibration of endoscopes with pull wires
US10244926B2 (en) 2016-12-28 2019-04-02 Auris Health, Inc. Detecting endolumenal buckling of flexible instruments
EP3360502A3 (en) 2017-01-18 2018-10-31 KB Medical SA Robotic navigation of robotic surgical systems
IT201700025766A1 (it) * 2017-03-08 2018-09-08 Epistolio S R L Robot di verniciatura
US11071594B2 (en) 2017-03-16 2021-07-27 KB Medical SA Robotic navigation of robotic surgical systems
JP7282685B2 (ja) 2017-03-31 2023-05-29 オーリス ヘルス インコーポレイテッド 生理学的ノイズを補償する管腔ネットワークのナビゲーション用ロボットシステム
US11529129B2 (en) 2017-05-12 2022-12-20 Auris Health, Inc. Biopsy apparatus and system
KR102576296B1 (ko) 2017-05-17 2023-09-08 아우리스 헬스, 인코포레이티드 교환 가능한 작업 채널
US10022192B1 (en) 2017-06-23 2018-07-17 Auris Health, Inc. Automatically-initialized robotic systems for navigation of luminal networks
KR102341451B1 (ko) 2017-06-28 2021-12-23 아우리스 헬스, 인코포레이티드 기기의 삽입 보상을 위한 로봇 시스템, 방법 및 비일시적 컴퓨터 가독 저장 매체
US11026758B2 (en) 2017-06-28 2021-06-08 Auris Health, Inc. Medical robotics systems implementing axis constraints during actuation of one or more motorized joints
US10426559B2 (en) 2017-06-30 2019-10-01 Auris Health, Inc. Systems and methods for medical instrument compression compensation
US11135015B2 (en) 2017-07-21 2021-10-05 Globus Medical, Inc. Robot surgical platform
US10145747B1 (en) 2017-10-10 2018-12-04 Auris Health, Inc. Detection of undesirable forces on a surgical robotic arm
US10555778B2 (en) 2017-10-13 2020-02-11 Auris Health, Inc. Image-based branch detection and mapping for navigation
US11058493B2 (en) 2017-10-13 2021-07-13 Auris Health, Inc. Robotic system configured for navigation path tracing
US11794338B2 (en) 2017-11-09 2023-10-24 Globus Medical Inc. Robotic rod benders and related mechanical and motor housings
US10898252B2 (en) 2017-11-09 2021-01-26 Globus Medical, Inc. Surgical robotic systems for bending surgical rods, and related methods and devices
US11382666B2 (en) 2017-11-09 2022-07-12 Globus Medical Inc. Methods providing bend plans for surgical rods and related controllers and computer program products
US11134862B2 (en) 2017-11-10 2021-10-05 Globus Medical, Inc. Methods of selecting surgical implants and related devices
US10987179B2 (en) 2017-12-06 2021-04-27 Auris Health, Inc. Systems and methods to correct for uncommanded instrument roll
JP7080986B2 (ja) 2017-12-11 2022-06-06 オーリス ヘルス インコーポレイテッド 器具ベースの挿入アーキテクチャのためのシステム及び方法
EP3684562A4 (en) 2017-12-14 2021-06-30 Auris Health, Inc. SYSTEM AND METHOD OF ESTIMATING THE LOCATION OF AN INSTRUMENT
EP3684283A4 (en) 2017-12-18 2021-07-14 Auris Health, Inc. METHODS AND SYSTEMS FOR MONITORING AND NAVIGATION OF INSTRUMENTS IN LUMINAL NETWORKS
CN111973280B (zh) * 2017-12-27 2022-02-22 上海微创医疗机器人（集团）股份有限公司 手术机器人终端
CN108245253A (zh) * 2018-01-09 2018-07-06 河南工程学院 一种医疗机器人专用机械臂
US10888386B2 (en) 2018-01-17 2021-01-12 Auris Health, Inc. Surgical robotics systems with improved robotic arms
BR112020014449B1 (pt) 2018-01-17 2023-12-12 Auris Health, Inc Sistema de plataforma cirúrgica com suportes de braço ajustáveis
US20190254753A1 (en) 2018-02-19 2019-08-22 Globus Medical, Inc. Augmented reality navigation systems for use with robotic surgical systems and methods of their use
EP3773131A4 (en) 2018-03-28 2021-12-15 Auris Health, Inc. LOCATION SENSOR RECORDING SYSTEMS AND METHODS
US10827913B2 (en) 2018-03-28 2020-11-10 Auris Health, Inc. Systems and methods for displaying estimated location of instrument
JP7305668B2 (ja) 2018-03-28 2023-07-10 オーリス ヘルス インコーポレイテッド 可変曲げ剛性プロファイルを有する医療用器具
US10573023B2 (en) 2018-04-09 2020-02-25 Globus Medical, Inc. Predictive visualization of medical imaging scanner component movement
US10905499B2 (en) 2018-05-30 2021-02-02 Auris Health, Inc. Systems and methods for location sensor-based branch prediction
EP3801189A4 (en) 2018-05-31 2022-02-23 Auris Health, Inc. PATH-BASED NAVIGATION OF TUBULAR NETWORKS
MX2020012897A (es) 2018-05-31 2021-05-27 Auris Health Inc Sistemas roboticos y metodos para navegacion de la red luminal que detectan ruido fisiologico.
WO2019232236A1 (en) 2018-05-31 2019-12-05 Auris Health, Inc. Image-based airway analysis and mapping
CN112804946A (zh) 2018-08-07 2021-05-14 奥瑞斯健康公司 将基于应变的形状感测与导管控制相结合
US11179212B2 (en) 2018-09-26 2021-11-23 Auris Health, Inc. Articulating medical instruments
WO2020069080A1 (en) 2018-09-28 2020-04-02 Auris Health, Inc. Devices, systems, and methods for manually and robotically driving medical instruments
AU2019347767A1 (en) 2018-09-28 2021-04-08 Auris Health, Inc. Systems and methods for docking medical instruments
US11337742B2 (en) 2018-11-05 2022-05-24 Globus Medical Inc Compliant orthopedic driver
US11278360B2 (en) 2018-11-16 2022-03-22 Globus Medical, Inc. End-effectors for surgical robotic systems having sealed optical components
US11744655B2 (en) 2018-12-04 2023-09-05 Globus Medical, Inc. Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems
US11602402B2 (en) 2018-12-04 2023-03-14 Globus Medical, Inc. Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems
EP3870023A4 (en) 2018-12-28 2022-07-27 Auris Health, Inc. MEDICAL INSTRUMENT WITH AN ARTICULABLE SEGMENT
US11918313B2 (en) 2019-03-15 2024-03-05 Globus Medical Inc. Active end effectors for surgical robots
US11317978B2 (en) 2019-03-22 2022-05-03 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US20200297357A1 (en) 2019-03-22 2020-09-24 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11419616B2 (en) 2019-03-22 2022-08-23 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11382549B2 (en) 2019-03-22 2022-07-12 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
US11806084B2 (en) 2019-03-22 2023-11-07 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
WO2020197671A1 (en) 2019-03-22 2020-10-01 Auris Health, Inc. Systems and methods for aligning inputs on medical instruments
US11571265B2 (en) 2019-03-22 2023-02-07 Globus Medical Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
CN109998685A (zh) * 2019-03-28 2019-07-12 山东大学齐鲁医院 一种单、双臂辅助微创外科手术机器人及协作组合机器人系统
US11617627B2 (en) 2019-03-29 2023-04-04 Auris Health, Inc. Systems and methods for optical strain sensing in medical instruments
US11045179B2 (en) 2019-05-20 2021-06-29 Global Medical Inc Robot-mounted retractor system
US11628023B2 (en) 2019-07-10 2023-04-18 Globus Medical, Inc. Robotic navigational system for interbody implants
CN114206241A (zh) * 2019-07-15 2022-03-18 Amdt控股公司 支柱组件和外部固定系统
EP4005519A4 (en) * 2019-07-26 2023-08-23 Iucf-Hyu (Industry-University Cooperation Foundation Hanyang University) MAGNETIC DRIVE SYSTEM AND CONTROL METHOD THEREOF
US11717147B2 (en) 2019-08-15 2023-08-08 Auris Health, Inc. Medical device having multiple bending sections
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
CN114340542B (zh) 2019-08-30 2023-07-21 奥瑞斯健康公司 用于位置传感器的基于权重的配准的系统和方法
KR20220058918A (ko) 2019-08-30 2022-05-10 아우리스 헬스, 인코포레이티드 기구 이미지 신뢰성 시스템 및 방법
US11571171B2 (en) 2019-09-24 2023-02-07 Globus Medical, Inc. Compound curve cable chain
US11864857B2 (en) 2019-09-27 2024-01-09 Globus Medical, Inc. Surgical robot with passive end effector
US11890066B2 (en) 2019-09-30 2024-02-06 Globus Medical, Inc Surgical robot with passive end effector
US11426178B2 (en) 2019-09-27 2022-08-30 Globus Medical Inc. Systems and methods for navigating a pin guide driver
WO2021064536A1 (en) 2019-09-30 2021-04-08 Auris Health, Inc. Medical instrument with capstan
US11510684B2 (en) 2019-10-14 2022-11-29 Globus Medical, Inc. Rotary motion passive end effector for surgical robots in orthopedic surgeries
US11992373B2 (en) 2019-12-10 2024-05-28 Globus Medical, Inc Augmented reality headset with varied opacity for navigated robotic surgery
US11439419B2 (en) 2019-12-31 2022-09-13 Auris Health, Inc. Advanced basket drive mode
US11950872B2 (en) 2019-12-31 2024-04-09 Auris Health, Inc. Dynamic pulley system
US11602372B2 (en) 2019-12-31 2023-03-14 Auris Health, Inc. Alignment interfaces for percutaneous access
JP2023508525A (ja) 2019-12-31 2023-03-02 オーリス ヘルス インコーポレイテッド 経皮的アクセスのための位置合わせ技術
WO2021137072A1 (en) 2019-12-31 2021-07-08 Auris Health, Inc. Anatomical feature identification and targeting
US11382699B2 (en) 2020-02-10 2022-07-12 Globus Medical Inc. Extended reality visualization of optical tool tracking volume for computer assisted navigation in surgery
US11207150B2 (en) 2020-02-19 2021-12-28 Globus Medical, Inc. Displaying a virtual model of a planned instrument attachment to ensure correct selection of physical instrument attachment
US11253216B2 (en) 2020-04-28 2022-02-22 Globus Medical Inc. Fixtures for fluoroscopic imaging systems and related navigation systems and methods
US11153555B1 (en) 2020-05-08 2021-10-19 Globus Medical Inc. Extended reality headset camera system for computer assisted navigation in surgery
US11382700B2 (en) 2020-05-08 2022-07-12 Globus Medical Inc. Extended reality headset tool tracking and control
US11510750B2 (en) 2020-05-08 2022-11-29 Globus Medical, Inc. Leveraging two-dimensional digital imaging and communication in medicine imagery in three-dimensional extended reality applications
US11317973B2 (en) 2020-06-09 2022-05-03 Globus Medical, Inc. Camera tracking bar for computer assisted navigation during surgery
US11382713B2 (en) 2020-06-16 2022-07-12 Globus Medical, Inc. Navigated surgical system with eye to XR headset display calibration
KR20230002994A (ko) * 2020-06-30 2023-01-05 베이징 서제리 테크놀로지 씨오., 엘티디. 수술 로봇 시스템
US11877807B2 (en) 2020-07-10 2024-01-23 Globus Medical, Inc Instruments for navigated orthopedic surgeries
US11793588B2 (en) 2020-07-23 2023-10-24 Globus Medical, Inc. Sterile draping of robotic arms
WO2022029807A1 (en) * 2020-08-07 2022-02-10 Alma Mater Studiorum - Universita' Di Bologna Laparoscopic surgical instrument
US11737831B2 (en) 2020-09-02 2023-08-29 Globus Medical Inc. Surgical object tracking template generation for computer assisted navigation during surgical procedure
US11523785B2 (en) 2020-09-24 2022-12-13 Globus Medical, Inc. Increased cone beam computed tomography volume length without requiring stitching or longitudinal C-arm movement
US11911112B2 (en) 2020-10-27 2024-02-27 Globus Medical, Inc. Robotic navigational system
US11941814B2 (en) 2020-11-04 2024-03-26 Globus Medical Inc. Auto segmentation using 2-D images taken during 3-D imaging spin
CN112388668B (zh) * 2020-11-06 2021-11-23 皖南医学院 一种仿真机械臂及其控制系统
US11717350B2 (en) 2020-11-24 2023-08-08 Globus Medical Inc. Methods for robotic assistance and navigation in spinal surgery and related systems
US11857273B2 (en) 2021-07-06 2024-01-02 Globus Medical, Inc. Ultrasonic robotic surgical navigation
US11439444B1 (en) 2021-07-22 2022-09-13 Globus Medical, Inc. Screw tower and rod reduction tool
US11911115B2 (en) 2021-12-20 2024-02-27 Globus Medical Inc. Flat panel registration fixture and method of using same
WO2023211894A1 (en) * 2022-04-25 2023-11-02 University Of Cincinnati Bed-mounted surgical tool organization system
CN115431251B (zh) * 2022-09-16 2023-03-21 哈尔滨工业大学 一种仿人机器人上肢

Family Cites Families (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4068156A (en) 1977-03-01 1978-01-10 Martin Marietta Corporation Rate control system for manipulator arms
JPH0710510B2 (ja) 1986-06-03 1995-02-08 フアナツク株式会社 工業用ロボツトの腕構造
US4921393A (en) 1988-03-09 1990-05-01 Sri International Articulatable structure with adjustable end-point compliance
JPH0825151B2 (ja) * 1988-09-16 1996-03-13 東京応化工業株式会社 ハンドリングユニット
CA2078295C (en) * 1991-08-05 1995-11-21 John Michael Putman Endoscope stabilizer
JPH05109866A (ja) * 1991-10-16 1993-04-30 Nec Corp ウエハ移載ロボツト
US5762458A (en) 1996-02-20 1998-06-09 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
JP3476878B2 (ja) 1993-11-15 2003-12-10 オリンパス株式会社 手術用マニピュレータ
US6120433A (en) * 1994-09-01 2000-09-19 Olympus Optical Co., Ltd. Surgical manipulator system
US5855583A (en) * 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US6436107B1 (en) * 1996-02-20 2002-08-20 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US5811951A (en) 1996-10-14 1998-09-22 Regents Of The University Of California High precision redundant robotic manipulator
EP1109497B1 (en) * 1998-08-04 2009-05-06 Intuitive Surgical, Inc. Manipulator positioning linkage for robotic surgery
EP1133265B1 (en) * 1998-11-23 2004-07-07 Microdexterity Systems Inc. Surgical manipulator
US6485250B2 (en) * 1998-12-30 2002-11-26 Brooks Automation Inc. Substrate transport apparatus with multiple arms on a common axis of rotation
US6424885B1 (en) * 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US6969385B2 (en) 2002-05-01 2005-11-29 Manuel Ricardo Moreyra Wrist with decoupled motion transmission
WO2004014244A2 (en) * 2002-08-13 2004-02-19 Microbotics Corporation Microsurgical robot system
JP2004288719A (ja) * 2003-03-19 2004-10-14 Tokyo Electron Ltd 基板搬送装置及び基板処理装置
KR200319262Y1 (ko) * 2003-02-08 2003-07-07 구영만 조명장치를 갖는 화장품
DE10324844A1 (de) 2003-04-01 2004-12-23 Tuebingen Scientific Surgical Products Gmbh Chirurgisches Instrument mit Instrumentengriff und Nullpunkteinstellung
CN100336640C (zh) * 2005-02-01 2007-09-12 天津大学 外科手术机器人从操作手
CA2598627C (en) * 2005-02-22 2013-11-26 Mako Surgical Corp. Haptic guidance system and method
EP1815949A1 (en) * 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Medical robotic system with manipulator arm of the cylindrical coordinate type
CN100463661C (zh) 2006-12-04 2009-02-25 天津大学 具有重力补偿功能的被动式手动锁紧支架
US8702590B2 (en) * 2007-07-02 2014-04-22 M.S.T. Medical Surgery Technologies Ltd System for positioning endoscope and surgical instruments
CN100581495C (zh) * 2008-10-31 2010-01-20 天津大学 一种用于辅助微创外科手术的持镜机器人系统
KR101075363B1 (ko) 2008-10-31 2011-10-19 정창욱 최소 침습 수술 도구를 포함하는 수술용 로봇 시스템
CN101411631B (zh) * 2008-11-21 2011-05-11 南开大学 五自由度脊柱微创机器人操作机构
JP2011238748A (ja) * 2010-05-10 2011-11-24 Creative Sensor Inc 紫外光発光ダイオード固化装置
KR101103327B1 (ko) * 2011-09-29 2012-01-11 주식회사 쥬디산업 휴대용 손톱 경화기

Also Published As

Publication number Publication date
BRPI1011053B8 (pt) 2021-06-22
ES2388029A1 (es) 2012-10-05
MX336487B (es) 2016-01-21
SG176183A1 (en) 2011-12-29
CA2762780A1 (en) 2010-11-25
EP2433585A1 (en) 2012-03-28
US9119653B2 (en) 2015-09-01
KR101665744B1 (ko) 2016-10-12
BRPI1011053B1 (pt) 2020-09-29
ZA201109443B (en) 2013-02-27
WO2010133733A1 (es) 2010-11-25
CN102458295B (zh) 2014-06-25
RU2011152395A (ru) 2013-06-27
US20120136372A1 (en) 2012-05-31
JP2012527276A (ja) 2012-11-08
RU2531469C2 (ru) 2014-10-20
MX2011012295A (es) 2011-12-16
EP2433585B1 (en) 2017-09-13
CN102458295A (zh) 2012-05-16
AU2010251107A1 (en) 2012-01-19
EP2433585A4 (en) 2015-11-04
ES2655029T3 (es) 2018-02-16
KR20120068768A (ko) 2012-06-27
AU2010251107B2 (en) 2015-06-25
PL2433585T3 (pl) 2018-02-28
JP5785538B2 (ja) 2015-09-30
IL216470A0 (en) 2012-01-31
ES2388029B1 (es) 2013-08-13
CA2762780C (en) 2017-09-26

Similar Documents

Publication Publication Date Title
BRPI1011053A2 (pt) sistema robótico para cirurgia laparoscópica
BR112013023118A2 (pt) sistema de vácuo para a terapia de vácuo endoscópica e arranjo de endoscopia
BRPI0811641A2 (pt) Sistema cirúrgico ultrassônico
IT1401669B1 (it) Sistema di chirurgia robotizzata con controllo perfezionato.
IT1399603B1 (it) Apparato robotico per interventi di chirurgia minimamente invasiva
DK2361045T3 (da) Kirurgisk orienteringssystem
BRPI1012304A2 (pt) sistema para auxílio de subida
DE102010037468A8 (de) Chirurgischer Clip
BRPI1008667A2 (pt) aperfeiçoamento do grampeador cirúrgico acionado
BR112013007839A2 (pt) sistema de refrigeração
BR112013009059A2 (pt) dispositivo de acesso cirúrgico
BR112014008060A2 (pt) sistema de remoção de tecido
BR112013003943A2 (pt) sistema para o mapeamento de estruturas interluminais
IT1401438B1 (it) Utensile chirurgico robotizzato.
ES2864688T8 (es) Sistema de ablación
FR2941143B1 (fr) Agrafe chirurgicale auto-agrippante
BRPI1010217A2 (pt) sistema
BR112013009605A2 (pt) sistema de alerta para doença infecciosa
BR112012000811A2 (pt) sistema para processamento de gás
BR112013008625A2 (pt) sistema de iluminação de fundo para monitor
IT1394227B1 (it) Sistema robotico aereo
IT1398238B1 (it) Strumento per la chirurgia robotica
DK2984991T3 (da) Endoskopisk ultralydsstyret biopsikanyle
GB201005452D0 (en) Laparoscopic surgical device
IT1398480B1 (it) Sistema microfluidico

Legal Events

Date Code Title Description
B06F Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]
B06T Formal requirements before examination [chapter 6.20 patent gazette]
B15K Others concerning applications: alteration of classification

Free format text: A CLASSIFICACAO ANTERIOR ERA: A61B 19/00

Ipc: A61B 34/30 (2016.01), A61B 1/00 (1968.09), A61B 1/

B07A Application suspended after technical examination (opinion) [chapter 7.1 patent gazette]
B09A Decision: intention to grant [chapter 9.1 patent gazette]
B16A Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]

Free format text: PRAZO DE VALIDADE: 10 (DEZ) ANOS CONTADOS A PARTIR DE 29/09/2020, OBSERVADAS AS CONDICOES LEGAIS.

B16C Correction of notification of the grant [chapter 16.3 patent gazette]

Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 20/05/2010, OBSERVADAS AS CONDICOES LEGAIS. PATENTE CONCEDIDA CONFORME ADI 5.529/DF, QUE DETERMINA A ALTERACAO DO PRAZO DE CONCESSAO