CN104582624B - 自动的外科手术和介入过程 - Google Patents

自动的外科手术和介入过程 Download PDF

Info

Publication number
CN104582624B
CN104582624B CN201380040070.3A CN201380040070A CN104582624B CN 104582624 B CN104582624 B CN 104582624B CN 201380040070 A CN201380040070 A CN 201380040070A CN 104582624 B CN104582624 B CN 104582624B
Authority
CN
China
Prior art keywords
robot
automated procedures
surgeon
surgical
tracking
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
CN201380040070.3A
Other languages
English (en)
Other versions
CN104582624A (zh
Inventor
P·吉姆
A·克里埃格尔
Y·吉姆
A·沙德曼
S·莱昂纳德
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Childrens National Medical Center Inc
Original Assignee
Childrens National Medical Center 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 Childrens National Medical Center Inc filed Critical Childrens National Medical Center Inc
Publication of CN104582624A publication Critical patent/CN104582624A/zh
Application granted granted Critical
Publication of CN104582624B publication Critical patent/CN104582624B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
    • A61B17/0469—Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/064—Surgical staples, i.e. penetrating the tissue
    • A61B17/0643—Surgical staples, i.e. penetrating the tissue with separate closing member, e.g. for interlocking with staple
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
    • A61B17/128—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for applying or removing clamps or clips
    • A61B17/1285—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for applying or removing clamps or clips 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
    • 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
    • A61B34/32—Surgical robots operating autonomously
    • 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
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/11—Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis
    • A61B2017/1103—Approximator
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/11—Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis
    • A61B2017/1132—End-to-end connections
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/102—Modelling of surgical devices, implants or prosthesis
    • A61B2034/104—Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A61B2034/2057—Details of tracking cameras
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • 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
    • A61B34/25—User interfaces for surgical systems
    • A61B2034/258—User interfaces for surgical systems providing specific settings for specific users
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/363—Use of fiducial points
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/397—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Robotics (AREA)
  • Vascular Medicine (AREA)
  • Reproductive Health (AREA)
  • Urology & Nephrology (AREA)
  • Epidemiology (AREA)
  • Primary Health Care (AREA)
  • Manipulator (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)

Abstract

此处描述了用于在手术和介入医疗过程中自动化子任务的装置和方法。装置由机器人定位平台、具有自动化程序的操作系统和端部效应器工具组成，用以在监督性自主下进行任务。当端部效应器工具执行需要精度、准确度、机动性和重复的手术介入子任务时，操作系统基于一个成像形态或者两个或更多个成像形态的融合执行自动化程序、引导非结构化环境中的可移动和可变形目标的实时跟踪。装置和方法使得这些医疗过程更高效和有效，允许更宽的接入和更加标准化的结果以及提高的安全性。

Description

自动的外科手术和介入过程
相关申请的交叉引用
本申请根据35U.S.C.§119(e)要求2012年6月29日提交的U.S.Serial No.61/666,399的优先权的权益，其全部内容通过引用合并于此。
背景技术
技术领域
本发明涉及机器人手术的领域，即，手术任务的完全自动化或者部分自动化。
相关技术的描述
由于外科医生和机器人通过主/从范式进行交互，因此市场上可获得的所谓的“机器人手术”通常是机器人辅助手术。从机器人被约束来遵循来自外科医生主设备的直接命令，而几乎没有自主性。尽管该方法是可靠的，但是它将从机器人的速度和灵活度限制于外科医生的速度和灵活度。
如果过程是部分自动的，那么可以对机器人进行编程以使用从更有经验的外科医生收集的数据，以结合附加安全措施或者甚至优化过程以超越人类极限工作，从而提高效率、可靠性以及潜在地提高手术效果。
当前可获得的侵入性手术系统都没有在手术过程期间利用真正的自动化。Intuitive Surgical公司(Sunnyvale，CA)的da Vinci微创手术系统利用具有最小自动化的主-从控制系统。用于整形外科手术的Robodoc依靠外科医生输入和计划进行磨骨。然而，如由Moustris等人的文献综述中所详述的，存在对手术机器人进行闭环控制中所涉及的每个步骤的持续不断的研究。
在对用于生成自动例程的临床数据的分析中，Johns Hopkins大学的手术语言项目解析和创建了手术运动的模型，并且显示了生成手术运动的能力，尽管该工作仍在继续以使任务适应手术场景。尽管Bauernschmitt等人开发了可以在机器人中复现打结的系统，但是这只是模拟预先录制的移动，并且不是真正的自动化。
在设计用于手术自动化的控制系统中，多个组已设法使用超声波产生手术场景的3D重建，并且正在开发用3D超声波的视觉伺服。Majdani等人在尸体上对微创机器人耳蜗造口术进行了测试，使用术前CT图像计算钻探轨迹并且使用具有图像反馈的视觉标记以引导机器人。然而没有一种方法将两个可见光图像与其它模态结合以控制机器人。
有若干专利申请描述了自动化。“Surgical Guidance Utilizing TissueFeedback”描述了进行预编程的任务(例如轨迹移动)，同时将预期的组织反馈与当前组织反馈进行比较以帮助该过程(例如对于误差的校正，作为参考点使用)的系统。“UltrasonicSurgical System and Method”描述了利用超声波工具的手术系统，具有以在使用该工具中涉及的多个任务辅助外科医生，或者如由外科医生或者预加载程序所指引的自动地执行任务的能力。尽管这些专利包括作为用于它们的发明的可能控制方式的自动化，但是它们将自动化的使用限制为简单的任务或者辅助外科医生。尽管“Robotic Surgical System”给出了体腔内自动手术系统的一般说明，但是几乎没有提供关于开发的计划或者其实现的细节。
1.Moustris,GP,SC Hiridis,KM Deliparaschos和KM Konstantinidis的“Evolution of Autonomous and Semi-autonomous Robotic Surgical Systems:aReview of the Literature.”Int J Med Robot 7,no.4(2011):375-92。
2.Lin HC,Shafran I,Murphy TE等人的Automatic detection andsegmentation of robot-assisted surgical motions.In Medical Image Computingand Computer-Assisted Intervention(MICCAI 2005.Springer:Berlin,2005；802810。
3.Reiley CE,Plaku E,Hager GD.Motion generation of robotic surgicaltasks:learning from expert demonstrations.In Annual International Conferenceof the IEEE,Engineering in Medicine and Biology Society(EMBC),2010；967-970。
4.Bauernschmitt R,Schirmbeck EU,Knoll A等人的Towards robotic heartsurgery:introduction of autonomous procedures into an experimental surgicaltelemanipulator system.Int J MedRobot 2005；1(3):74-79。
5.Majdani O,Rau TS,Baron S等人的A robot-guided minimally invasiveapproach for cochlear implant surgery:preliminary results of a temporal bonestudy.Int J Comput Assist RadiolSurg2009；4(5):475-486。
6.美国专利申请No.12/842,462“Surgical Guidance Utilizing TissueFeedback”，受让人：McMaster University。
7.美国专利申请No.11/392,040“Ultrasonic Surgical System and Method”，受让人：Ethicon Endo-Surgery Inc。
8.美国专利申请No.12/045,230“Robotic Surgical System”，受让人：FleitGibbons Gutman Bongini&Bianco PL。
发明内容
当前可用的主-从操作模式将机器人限制于操作的外科医生的灵活度和技能，在与自主控制相比较时这对需要高的精度、灵活度和重复的某些子任务(例如缝合)可能是无效率的。另外，监督性自动化用建立在主外科医生的能力和来自辅助成像源的表面下组织信息上的基于证据的决策支持算法对基于每个个体外科医生的经验的自适应和视觉处理能力的限制进行改进。
将识别和选择需要高的灵活度、精度和重复性的手术子例程以用于自动化。将对来自专家外科医生进行的这些例程的手动和机器人辅助操作的临床数据(视觉记录、机器人移动、患者结果等等)进行分析以识别用于自动化的自动化关键信息(例如，关键参考点、视觉参考、器官/血管位置/移动等等)和最优移动模式。将对自动化程序进行设计，使得在给出前述关键信息的情况下自动化程序可以使手术任务适应不同患者。自动例程将不仅模拟临床数据，而且从专家外科医生的操作学习并且对外科医生的操作加以改进以利用机器人的效率和有效性。
自动化程序可以利用具有来自一个或者多个相机的实时视觉反馈的视觉伺服，该一个或者多个相机为内窥镜式的或者外部安装的，其能够提供可见光谱图像和/或非可见光谱图像。非可见光谱图像的示例是近红外荧光(NIR)图像。可以连同通过专用传感器的视觉信息或视觉信息的提取一起提供3D信息。例如，如果使用两个相机，则可以通过立体三角测量算法提取3D深度信息。还可以通过结构光3D扫描仪或者通过光场相机获得3D深度信息。
由于手术环境的常常动态和非结构化的性质，仅光学数据可能还不足够对可移动和可变形目标进行稳健的实时高保真度跟踪；因此，在需要时，视觉数据可以增扩、融合或者伴随有其它传感器(例如红外线相机、触觉传感器等等)。视觉图像连同其它感觉数据和关键数据一起将馈送到自动化程序的控制系统中，该自动化程序的控制系统将移动机器人和工具以执行期望的手术任务。对于每个手术过程可以生成超过一个自动化程序，其中每个程序接受传感器和关键数据的不同组合以适应不同手术情况，但完成相同的手术目标。也可以使单个程序接受传感器和数据的多个组合。
在手术期间，机器人将能够在三个操作模式中的一个下进行操作：主-从、半自主和监督性自主。在主-从模式中，外科医生直接控制机器人的运动以执行用另外两个模式不能进行的任务，例如为自主程序准备手术场景(例如放置组织标记)。在半自主模式中，外科医生将为机器人提供动作命令(例如，在特定位置中放置缝合线、以直线切割组织、打结)，机器人将使用自主计算的轨迹和工具致动来执行动作命令。也就是说，在准备手术部位之后，外科医生仍然交互地参与决策制定和命令规范。该交互可以通过图形用户界面实现，其中外科医生标出缝合线位置的轮廓以使得程序可以在视觉上跟踪目标位置并且生成机器人轨迹以到达目标。外科医生与程序交互的部分限定半自主性。在监督性自主模式中，外科医生仅向机器人提供总体目标(例如执行吻合术)并且自主程序在没有来自外科医生的任何输入的情况下，确定完成目标必需的动作(例如，要放置的缝合线的位置、数量、张力和顺序)。也就是说，在准备手术部位之后，程序自动地选出目标位置并且继续进行。外科医生的角色主要是安全性监督。在整个手术期间，外科医生可以视情况采用这三个模式中的任何一个，并且在操作中的任何时候，外科医生可以中断机器人运动并且采取机器人的主/从控制。
本发明实施例可以显著有利于其的一个手术子任务的示例是吻合术。通常手动地或者最近使用机器人通过主-从控制执行吻合术，但由于该过程需要大量灵活度、精度和重复，两个技术都是耗时的并且繁琐的。由于这些特征，因此从将该任务自动化将得到很大的潜在改进。
本技术有对需要精度、重复、可操纵性和再现性的其它手术过程加以改进的潜能，包括但不限于骨骼植入物的放置(旋拧/固定)、组织解剖、活组织检查、玻璃体视网膜手术、显微和/或血管吻合术、近距离治疗(brachytherapy)以及皮肤闭合。
此处公开的实施例提供了用于执行自动手术过程的系统。系统包括：提供关于手术区域的信息的传感器，配置为接收由外科医生发布的命令的用户界面，配置为将信息中继至外科医生的反馈设备，具有用于执行手术任务的端部部分的手术工具，耦接至手术工具并且定位和定向手术工具的手术机器人，通过处理硬件实现的跟踪处理模块，以及通过处理硬件实现的控制模块，并且所述跟踪处理模块被配置为从传感器接收传感器数据，基于传感器数据识别目标组织、周围组织和手术工具端部部分中的至少一个的位置，跟踪目标组织、周围组织和工具端部效应器中的至少一个中识别的位置的，并且所述控制模块配置为处理通过自动化程序从传感器、跟踪处理模块和用户界面接收的数据以生成和发送命令至手术机器人。
根据系统的另一个实施例，系统还包括提供关于手术区域信息的多个传感器。
根据系统的另一个实施例，传感器是相机、近红外荧光(NIR)相机、深度相机、结构光3D扫描仪中的一个。
根据系统的另一个实施例，反馈设备是配置为显示视觉提示或者图像的显示器，或者听觉设备。
根据系统的另一个实施例，跟踪处理模块还配置为使用近红外荧光(NIR)标记跟踪目标组织、周围组织和工具端部效应器中的至少一个的所识别的位置。
根据系统的另一个实施例，手术机器人可拆卸地耦接至手术工具。
根据系统的另一个实施例，手术机器人耦接至将手术机器人移进并且移出手术区域的移动机构。
根据系统的另一个实施例，自动化程序是半自主的。
根据系统的另一个实施例，自动化程序是监督性自主的。
根据系统的另一个实施例，控制模块配置为禁用自动化程序并且实现主-从模式。
根据系统的另一个实施例，控制模块配置为基于外科医生的输入中断自动化程序。
根据系统的另一个实施例，控制模块还配置为实现视觉伺服校正。
根据系统的另一个实施例，自动化程序配置为实现吻合术。
根据系统的另一个实施例，控制模块还配置为还基于禁飞区、运动远程中心和速度/力极限中的至少一个生成命令。
根据系统的另一个实施例，自动程序配置为通过生成和发送命令至所述手术机器人接合组织。
根据系统的另一个实施例，通过缝合线、夹子、卡钉或者粘合剂执行组织的接合。
根据系统的另一个实施例，控制模块还配置为实现视觉伺服校正以将工具端部部分带至目标。
根据系统的另一个实施例，由跟踪处理模块识别的位置是三维位置。
此处公开的实施例还提供了生成自动手术程序的计算机实现方法。方法包括处理临床数据以产生手术的3D空间和时间数据的步骤，获得手术机器人规格和临床参数的步骤，基于3D空间和时间数据、手术机器人规格和临床参数生成自动手术程序的步骤。
根据方法的另一个实施例，临床数据包括从相机或者内窥镜中获得的视觉数据、运动学数据或者触觉数据中的至少一个。
根据方法的另一个实施例，临床数据包括患者情况、生命特征和手术结果中的至少一个。
根据方法的另一个实施例，临床数据包括外科医生经验。
根据方法的另一个实施例，临床数据的处理基于考虑工具运动与手术结果之间的相关性产生手术的3D空间和时间数据。
根据方法的另一个实施例，临床数据的处理基于考虑外科医生经验水平之间的差异产生手术的3D空间和时间数据以产生更有效的移动。
根据方法的另一个实施例，3D空间和时间数据包括工具运动、工具定位、生命器官或者结构的位置和移动、可行的参考点以及组织变形中的至少一个。
根据方法的另一个实施例，手术机器人规格包括手术机器人的速度和精度。
根据方法的另一个实施例，生成的自动手术程序包括在临床数据中缺少但可由手术机器人实现的手术运动。
根据方法的另一个实施例，临床参数包括组织特征。
根据方法的另一个实施例，组织特征包括组织的预期移动和刚度或者组织的染剂的可吸收性。
根据方法的另一个实施例，自动手术程序包括：优选的移动模式、关键操作信息、配置为基于传感器信息和关键操作信息的组合指示机器人运动的控制模块。
根据方法的另一个实施例，关键操作信息包括生命器官位置、参考点或者标记、传感器数据和外科医生输入中的至少一个。
根据方法的另一个实施例，控制模块还配置为还基于包括运动远程中心、禁飞区和速度极限中的至少一个的运动限制来生成命令。
根据方法的另一个实施例，控制模块还配置为还基于组织变形或者移动模型生成命令。
根据方法的另一个实施例，其中自动手术程序能够用附加临床数据更新。
附图说明
图1示出了在机器人手术中利用本发明的整个工作流程；
图2示出了在部分自动化手术任务的半自主模式中的本发明实施例的整体结构；
图3示出了主-从机器人-辅助模式中的系统的实施例；
图4示出了具有监督性自主性的系统的实施例；
图5A和5B示出了示例的具有荧光标记的红外图像，其中图5A图示了具有荧光标记的红外图像以及图5B图示了具有强度阈值的二值图像；
图6A和6B示出了示例的当前图像和目标图像，用于在实现图像坐标误差校正的视觉伺服中使用，其中图6A图示了当前图像以及图6B图示了目标图像；
图7示出了利用双模式内窥镜用于自动吻合术的实施例；
图8以用NIR和生物可降解夹子进行吻合术的吻合术工具和器官的角度示出了可以如何用荧光标记物标出组织和工具；
图9以将夹子附接至器官的吻合术工具的角度示出了用于自动吻合术的专用工具可以如何进行工作；
图10A、10B和10C示出了双模式内窥镜可以接收的两个图像，以及可以如何叠加它们，其中图10A图示了可见光谱图像，图10B图示了NIR光谱图像，以及图10C图示了叠加的可见图像和NIR图像；
图11A和11B示出了制作用于吻合术的专用夹子的实施例，其中图11A图示了生物可降解夹子、卡环和组织以及图11B图示了夹子如何刺穿两个组织，以及卡环如何在夹子的一个端部上绷紧以将组织固定在一起；
图12示出了用于由临床数据开发自动手术程序的整个过程；以及
图13图示了根据一个实施例的计算设备的框图。
具体实施方式
本发明的实施例描述了用于自动化手术任务的系统。实施例由基于临床数据生成自动手术程序，然后在手术期间对患者应用自动手术程序组成。
图1示出了在外科手术操作中利用所提出的系统的整个工作流程。外科医生通过利用手动工具101开始100手术，执行可以高效地手动进行的操作部分或者为机器人准备手术部位102。一旦已经准备好患者，外科医生于是便将机器人引入到患者中103，并且开始操作的机器人模式104。当部署时，可以将机器人设置为以三个操作模式中的一个进行工作：主/从105，其中外科医生直接通过控制器控制机器人的运动；半自主106，其中机器人在外科医生指导下执行任务；或者监督性自主107，其中机器人在外科医生监督下自主地执行任务。在激活半自主或者监督性自主操作模式之前，外科医生将按需要准备手术部位和手术系统108。外科医生还可以在不同操作模式之间自由地切换109，直到不再需要机器人或者必须移除机器人以继续手术111。在移除机器人之后，外科医生可以使用手动工具，如果需要使机器人返回103，以继续手术101，或者通过执行任何最终任务使操作结束112。
图2、3和4表示所提出系统的不同操作模式。在半自主模式(图2)中，外科医生200在操作期间对自动化程序208提供命令。自动化程序208从基于图像的跟踪模块207接收跟踪信息，将跟踪信息与来自外科医生200的术中命令和患者特定参数210结合并且实时向机器人发送适当命令，以控制手术机器人201和一个或者多个手术工具211(其可以或者可以不专用于当前过程)，以获得预定目标(例如吻合术)。当外科医生200注视视觉显示器209，以及作为监督员213与手术机器人进行交互时，可以给予他/她视觉、声音或者触觉反馈212，不论何时需要时，外科医生200通过主控制台接管控制。
在主从模式(图3)中，外科医生300通过机器人301的主-从控制314控制手术工具。外科医生通过视觉显示器309接收视觉反馈，并且还可以向外科医生提供其它视觉、声音或者触觉反馈312，但控制循环是单独(solely)通过外科医生闭合的。
在监督性自主模式(图4)中，除了当外科医生400停止自主控制并且接管控制413以阻止并发症、校正错误动作或者其它原因时，控制循环是单独通过利用基于图像的跟踪和患者特定参数410的自主程序408而闭合的。
在手术中，外科医生需使用手动工具或者机器人准备手术场景以使自动化程序能够接管。这可以包括但不限于：在目标器官202附近放置工具、移动相机203以提供目标器官202的视野、标记关键参考点、安装额外传感器模块205、标记工作区、以及标记重要组织/器官。一旦建立手术场景，便可以在适当时使用半自主操作模式和监督性自主操作模式。
可见光源204照亮手术场景，允许相机203记录过程的现场图像。图像采集和控制模块206将来自内窥镜/相机203的图像捕获并且数字化，并且将它们提供至基于图像的跟踪模块207和视觉显示器209。视觉显示器209提供获得的视觉图像的图像反馈；视觉显示器209还可以通过对视频叠加以来自额外传感器205或者来自基于图像的跟踪模块207的信息来显示扩大的现实图像。基于图像的跟踪模块207应用图像处理算法以跟踪工具和参考点。将通过连接到传感器并且包括用于图像采集206、自动化程序208、基于图像的跟踪模块207和处理反馈212的软件的计算机来执行这些任务。
根据需要使用额外传感器模块205以使自动化程序更稳健，该额外传感器模块可以根据传感器的性质将来自额外传感器模块205的信息发送至图像采集模块206或者直接发送至自动化程序208。额外传感器模块还可以将来自额外传感器模块205的信息发送至视觉显示器209，用于与视频叠加或者发送给外科医生控制台以提供视觉、声音或者触觉反馈212。
在本发明的一个实施例中，外科医生从可用自动化程序库中选择一系列自动化程序。自动化程序的示例是执行缝合任务的一个自动化程序，其中必须将不同组织上的一个或者多个点缝合或者缝到一起，即，必须相对于组织定位手术工具以执行缝合。
在本发明的一个实施例中，自动化程序利用基于图像的视觉伺服系统，其中使用基于图像的控制规则闭环地控制机器人工具。在视觉伺服中，描绘目标位置处工具的预期图像与描绘当前工具和目标位置的当前图像之间的差异被用于计算图像坐标中的误差。图像坐标中的该误差被用于生成机器人工具朝目标位置的运动。随着机器人工具越来越靠近手术区域中的目标位置，图像空间中的误差越来越小。在最终控制循环迭代处，误差接近零，在该点处，工具已到达图像坐标和笛卡尔机器人坐标两者中的目标位置。这是基于图像的视觉伺服控制循环的核心。如果使用立体相机系统，则可以增大左边和右边图像的坐标以控制更多的机器人工具自由度(DOF)。
本发明的一个实施例使用包括手术区域的可见光谱和/或诸如近红外光谱(NIR，700～1100nm)的其它非可见光内容的图像。例如，在激活自主程序之前，外科医生可以在将使用NIR相机跟踪的目标位置处放置NIR标记。NIR标记与视觉光谱图像的可区别性连同近红外光谱通过血液和组织的能力一起允许在动态手术环境(例如变形软组织)中对目标组织的更稳健的实时跟踪。多光谱光学成像还可以用于检测帮助最优靶向的表面下组织信息。
在本发明的实施例中描述了吻合术的自动化，其中使用缝合线、夹子、胶或者卡钉接合诸如肠子的管状器官。在使用缝合线的半自主吻合术中，外科医生首先在预定方位上准备管状器官并且为程序标记管的缝合线位置或者外周以在视觉上进行跟踪。然后自动化程序自主地将机器人工具移动至所选择的缝合线位置并且执行缝合。在使用缝合线的自主吻合术中，程序首先基于组织的特性(例如机械的、光学的、几何学的)以及机器人工具的最优灵活度的运动学和动态特征来检测最优缝合线位置。一旦检测到最优缝合线位置，自主程序便将工具带至缝合线位置并且执行缝合。
图5和6示出了利用视觉伺服和NIR标记执行吻合术的本发明的一个实施例。在该实施例中，外科医生将荧光NIR标记500放置在目标缝合线位置处以为自主程序准备手术部位。视觉系统获得可见光谱图像和近红外光谱图像(图5A)两者，允许视觉伺服通过NIR标记500可靠地实时跟踪NIR标记的工具501和缝合线位置502。可以执行以辅助跟踪的图像处理的一个示例是红外线阈值二值图像(图5B)，其清楚地将标记区与非标记区区别开。然后视觉伺服将机器人工具602朝向缝合线部位601移动603(图6A)，使得图像和笛卡儿坐标空间中的误差接近零(图6B)。一旦到达缝合线部位，自主程序便在移动到下一个缝合线部位上之前放置缝合线。
为了进一步地辅助对在动态和变形手术环境中的组织的跟踪，本发明的某些实施例可以具有获得关于手术工作空间的3D信息的装置。该装置的一个实施例使用两个相机，其允许通过立体三角测量算法提取3D深度信息。另一个实施例涉及使用结构光3D扫描仪获得3D信息。另一个实施例涉及通过光场相机获得3D信息。
图7示出了利用具有NIR标记的视觉伺服用于吻合术的实施例的系统图。以手动模式将荧光标记部署在器官702(例如要吻合术的胆管两侧)上并且两个光源704和715照射场景。一个光源704是可见光源，能够获得器官的正常图像。另一个光源715是窄带光源(例如在近红外范围中)，是根据荧光材料的激发波长选择的。可见光和荧光图像两者由双模式内窥镜703捕获并且被发送给图像采集和控制模块706，该图像采集和控制模块706接着会将图像发送至视觉显示器709用于叠加并且发送至基于图像的跟踪模块707用于处理。自动化程序的视觉伺服控制系统708利用荧光标记以变得更稳健，允许自动化程序适当地移动机器人701和专用吻合术工具711以进行预期过程(吻合术)。
图8、9和10示出了用NIR标记和生物可降解夹子执行吻合术的本发明的实施例。为了准备操作的监督性自主模式，围绕吻合术部位802和工具811(可选的)传送荧光标记816。工具部署可以用于执行吻合术的生物可降解夹子817(在图11中提供了更多细节)。在图9中，为自主程序提供荧光标记916的图像，该荧光标记的图像连同其它传感器数据一起用于将工具911引导至将部署夹子917以执行吻合术的吻合术部位902。图10表明了在手术区域中有视觉梗阻1018的情况下使用荧光标记的潜在益处。尽管梗阻会削弱可见光谱中吻合术部位的视野(图10A)，但是某些荧光染剂发射可以通过梗阻的红外光(图10B)。通过结合来自不同光谱的信息(图10C)，使得视觉跟踪系统更稳健。
图11示出了用于执行吻合术的生物可降解夹子1117的一个实施例。夹子刺穿要接合的两个组织1102，并且通过围绕生物可降解夹子1117的尾部绷紧生物可降解卡环1119而固定就位。
图12表示用于由临床数据开发自动手术程序的一般工作流程。处理临床数据120以获得原始数据集121。这由来自相机或者内窥镜的视觉数据、(如果机器人执行手术)运动学和触觉信息以及其它有关数据(诸如整个手术期间患者的情况、结果、生命特征等等)组成。手动地或者通过使用计算机算法(例如模式识别)分析这些数据以产生关于手术的时空信息集122。该集合包括工具运动、工具定位、生命器官/结构的位置和移动、可行的参考点、组织变形以及诸如某些运动与患者结果之间的相关性的其它信息。在此阶段还可以通过比较不同经验的外科医生的移动来识别无效移动，其可以在编程期间删除并且被识别用于将来培训外科医生。这可以由来自机器人模仿学习的技术实现，其中当执行相似策略时收集来自专业操作者的感觉数据。感觉数据(例如输入设备的轨迹)首先进行缩放并且标准化，然后进行参数化。使用例如线性子空间方法(例如主成分分析(PCA))从相同任务的策略重复中学习参数。然后每个专家策略能够由不同参数曲线的线性组合表示。可以通过结合外科医生由于他们手的灵活度约束通常不会做出的移动进一步地优化移动。然后该过程的时空数据与手术机器人的性能123(例如速度和灵活度)和组织特征124(例如预期的移动、组织刚度)相结合以产生特定于手术过程的自动化程序125。程序包括过程中的移动模式、结合不同感觉信息以产生移动模式的控制系统、必须提供的关键信息集(例如参考点、生命器官/血管)、限制因素集(例如速度极限和空间限制)以及牵涉的组织的变形/移动模型。还可以实现更新方法以结合更专业的外科医生的临床数据以随着时间的过去帮助提高该自动过程。可以通过硬件(例如图13的描述中找到的硬件)实现上面记录的描述的基于程序或算法的元件中的每一个。在图12中，计算机1299包括执行上面描述的过程的CPU 1200。可以在存储器1202中存储过程数据和指令。这些过程和指令还可以存储在存储介质磁盘1204(例如硬盘驱动器(HDD)或者便携式存储介质)上或者可以远程存储。此外，要求保护的进步并不由存储发明过程的指令的计算机可读介质的形式所限制。例如，指令可以存储在CD、DVD上，可以存储在FLASH存储器、RAM、ROM、PROM、EPROM、EEPROM、硬盘或者系统与其进行通信的任何其它信息处理设备(例如服务器或者计算机)中。
此外，要求保护的改进可以被提供为结合CPU 1200和操作系统(例如MicrosoftWindows 7、UNIX、Solaris、LINUX、Apple MAC-OS以及本领域技术人员已知的其它系统)一起执行的操作系统的实用应用、后台守护进程或者组件或者它们的组合。
CPU 1200可以是来自美国Intel的Xenon或者Core处理器，或者是来自美国AMD的Opteron处理器，或者可以是将由本领域普通技术人员辨识的其它处理器类型。可选地，如本领域普通技术人员将辨识的，可以在FPGA、ASIC、PLD上或者使用离散逻辑电路实现CPU1200。此外，CPU 1200可以实现为并行合作工作的多个处理器，以执行上面描述的发明过程的指令。
图13中的计算机1299还包括用于与网络1250接口的网络控制器1206，例如来自美国Intel公司的Intel Ethernet PRO网络接口卡。如可以理解的，网络1250可以是公共网络(例如因特网)或者专用网络(例如LAN或者WAN网络)或它们的任意组合并且还可以包括PSTN或者ISDN子网络。网络1250还可以是有线的(例如以太网)或者可以是无线的(例如包括EDGE、3G和4G无线蜂窝系统的蜂窝网络)。无线网络还可以是WiFi、Bluetooth或者已知的任何其它无线通信形式。
计算机1299还包括显示器控制器1208(例如来自美国NVIDIA公司的NVIDIAGeForce GTX或者Quadro图形适配器)，用于与显示器1210(例如Hewlett PackardHPL2445w的LCD监视器)接口。通用I/O接口1212与键盘和/或鼠标1214以及触摸屏面板1216接口，触摸屏面板1216在显示器1210上或者与显示器1210分离。通用I/O接口还连接至各种外围设备1218，该外围设备1218包括打印机和扫描仪，例如来自Hewlett Packard的OfficeJet或者DeskJet。先前在上面的示例性实施例中描述的外围设备元件可以由图13的示例性实施例中的外围设备1218体现。
还可以在计算机1299中提供声音控制器1220(例如来自Creative的SoundBlaster X-Fi Titanium)以与扬声器/传声器1222接口，从而提供声音和/或音乐。扬声器/传声器1222还可以用于接受口述词作为用于控制机器人引导的医疗过程系统或者用于提供相对于目标特性的位置和/或特性信息的命令。
通用存储控制器1224将存储介质磁盘1204与通信总线1226连接，该通信总线可以是ISA、EISA、VESA、PCI或者类似总线，用于互连机器人引导的医疗过程系统的所有组件。由于这些特性是公知的，为了简便起见，此处省略了对显示器1210、键盘和/或鼠标1214以及显示器控制器1208、存储控制器1224、网络控制器1206、声音控制器1220和通用I/O接口1212的一般特性和功能性的描述。
显然，根据上面的教导，本公开可以有许多的修改和变化。因此，将理解，在所附的权利要求范围内，可以以上述具体描述以外的方式实施本发明。例如，如果以不同的顺序执行所公开的技术的步骤，如果所公开系统中的组件以不同方式组合，或者如果以其它组件替换或补充组件，则可以实现有利结果。可以在硬件或者由硬件执行的软件中执行此处描述的功能、过程和算法，该硬件包括计算机处理器和/或可编程处理电路，该计算机处理器和/或可编程处理电路配置为执行程序代码和/或计算机指令以执行此处描述的功能、过程和算法。处理电路包括编程的处理器，作为包括电路的处理器。处理电路也包括例如布置以实现所述功能的常规电路组件和专用集成电路(ASIC)的设备。
此处描述的功能和特征也可以由各种分布式的系统组件执行。例如，一个或多个处理器可以执行这些系统功能，其中处理器跨越在网络中通信的多个组件分布。除各种人机接口和/或通信设备(例如，显示器监视器、智能电话、平板电脑、个人数字助理(PDA))以外，分布式组件可以包括一个或多个客户端和/或服务器机器。网络可以是诸如LAN或WAN的专用网络，或者诸如因特网的公共网络。可以通过直接用户输入接收对系统的输入和/或可以或者实时地或者作为批处理来远程接收对系统的输入。另外，可以在与描述的那些模块或硬件不同的模块或硬件上执行一些实施方式。因此，其它实施方式在可以要求保护的范围内。
应当注意，如在说明书和所附权利要求中所使用的，除非上下文另外明确指出，单数形式“一”(“a”、“an”)和“所述”包括复数形式。

Claims (16)

1.一种用于执行自动手术过程的系统，包括：
传感器，提供关于手术区域的信息；
用户界面，配置为接收由外科医生发布的命令；
反馈设备，配置为将信息中继至所述外科医生；
具有端部部分的手术工具，用于执行手术任务；
手术机器人，耦接至所述手术工具并且定位和定向所述手术工具；
跟踪处理模块，通过处理硬件实现并且配置为
从所述传感器接收传感器数据，
基于所述传感器数据识别目标组织、周围组织和所述手术工具的端部部分中的至少两个上的荧光标记，
通过跟踪所述目标组织、所述周围组织和所述手术工具的端部部分中的至少两个上的相应的所识别的荧光标记来产生跟踪信息，所述跟踪包括即使在所识别的荧光标记相对于参考点移动时，仍识别所识别的荧光标记相对于参考点的随着时间的定位；以及
控制模块，通过所述处理硬件实现并且配置为通过自动化程序处理从所述传感器接收的关于手术区域的信息、从所述跟踪处理模块接收的跟踪信息和从所述用户界面接收的命令以基于所述处理生成用于所述手术机器人的命令并且将该命令发送至所述手术机器人。
2.根据权利要求1所述的系统，其中所述系统包括多个传感器，所述多个传感器提供关于所述手术区域的信息。
3.根据权利要求1所述的系统，其中所述传感器是相机、近红外荧光(NIR)相机、深度相机、结构光3D扫描仪中的一个。
4.根据权利要求1所述的系统，其中所述反馈设备是配置为显示视觉提示或者图像的显示器或者听觉设备。
5.根据权利要求1所述的系统，其中所述跟踪处理模块还配置为使用近红外荧光(NIR)标记跟踪所述目标组织、所述周围组织和所述手术工具的端部部分中的至少两个上的相应的所识别的荧光标记。
6.根据权利要求1所述的系统，其中所述手术机器人可拆卸地耦接至所述手术工具。
7.根据权利要求1所述的系统，其中所述自动化程序是半自主的。
8.根据权利要求1所述的系统，其中所述自动化程序是监督性自主的。
9.根据权利要求1所述的系统，其中所述控制模块配置为基于外科医生输入而禁用所述自动化程序并且实现主-从模式。
10.根据权利要求1所述的系统，其中所述控制模块还配置为实现视觉伺服校正。
11.根据权利要求1所述的系统，其中所述自动化程序配置为实现吻合术。
12.根据权利要求1所述的系统，其中所述控制模块还配置为还基于禁飞区、运动远程中心和速度/力极限中的至少一个生成命令。
13.根据权利要求1所述的系统，其中所述自动化程序配置为通过生成和发送命令至所述手术机器人来接合组织。
14.根据权利要求13所述的系统，其中通过缝合线、夹子、卡钉或者粘合剂执行所述组织的所述接合。
15.根据权利要求1所述的系统，其中所述控制模块还配置为实现视觉伺服校正以将所述手术工具的端部部分带至目标。
16.根据权利要求1所述的系统，其中由所述跟踪处理模块识别的所述荧光标记是三维位置。
CN201380040070.3A 2012-06-29 2013-07-01 自动的外科手术和介入过程 Active CN104582624B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201261666399P 2012-06-29 2012-06-29
US61/666,399 2012-06-29
PCT/US2013/048911 WO2014005139A2 (en) 2012-06-29 2013-07-01 Automated surgical and interventional procedures

Publications (2)

Publication Number Publication Date
CN104582624A CN104582624A (zh) 2015-04-29
CN104582624B true CN104582624B (zh) 2018-01-02

Family

ID=49778873

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201380040070.3A Active CN104582624B (zh) 2012-06-29 2013-07-01 自动的外科手术和介入过程

Country Status (7)

Country Link
US (2) US9220570B2 (zh)
EP (1) EP2866722B1 (zh)
JP (1) JP2015527906A (zh)
KR (1) KR102231488B1 (zh)
CN (1) CN104582624B (zh)
ES (1) ES2907252T3 (zh)
WO (1) WO2014005139A2 (zh)

Families Citing this family (493)

* 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
US9072535B2 (en) 2011-05-27 2015-07-07 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with rotatable staple deployment arrangements
US8215531B2 (en) 2004-07-28 2012-07-10 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a medical substance dispenser
US11890012B2 (en) 2004-07-28 2024-02-06 Cilag Gmbh International Staple cartridge comprising cartridge body and attached support
US11998198B2 (en) 2004-07-28 2024-06-04 Cilag Gmbh International Surgical stapling instrument incorporating a two-piece E-beam firing mechanism
US10159482B2 (en) 2005-08-31 2018-12-25 Ethicon Llc Fastener cartridge assembly comprising a fixed anvil and different staple heights
US7934630B2 (en) 2005-08-31 2011-05-03 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US7669746B2 (en) 2005-08-31 2010-03-02 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US9237891B2 (en) 2005-08-31 2016-01-19 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical stapling devices that produce formed staples having different lengths
US11484312B2 (en) 2005-08-31 2022-11-01 Cilag Gmbh International Staple cartridge comprising a staple driver arrangement
US11246590B2 (en) 2005-08-31 2022-02-15 Cilag Gmbh International Staple cartridge including staple drivers having different unfired heights
US20070106317A1 (en) 2005-11-09 2007-05-10 Shelton Frederick E Iv Hydraulically and electrically actuated articulation joints for surgical instruments
US7753904B2 (en) 2006-01-31 2010-07-13 Ethicon Endo-Surgery, Inc. Endoscopic surgical instrument with a handle that can articulate with respect to the shaft
US20110295295A1 (en) 2006-01-31 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical instrument having recording capabilities
US8708213B2 (en) 2006-01-31 2014-04-29 Ethicon Endo-Surgery, Inc. Surgical instrument having a feedback system
US11224427B2 (en) 2006-01-31 2022-01-18 Cilag Gmbh International Surgical stapling system including a console and retraction assembly
US8820603B2 (en) 2006-01-31 2014-09-02 Ethicon Endo-Surgery, Inc. Accessing data stored in a memory of a surgical instrument
US20120292367A1 (en) 2006-01-31 2012-11-22 Ethicon Endo-Surgery, Inc. Robotically-controlled end effector
US11278279B2 (en) 2006-01-31 2022-03-22 Cilag Gmbh International Surgical instrument assembly
US20110024477A1 (en) 2009-02-06 2011-02-03 Hall Steven G Driven Surgical Stapler Improvements
US7845537B2 (en) 2006-01-31 2010-12-07 Ethicon Endo-Surgery, Inc. Surgical instrument having recording capabilities
US8186555B2 (en) 2006-01-31 2012-05-29 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with mechanical closure system
US11793518B2 (en) 2006-01-31 2023-10-24 Cilag Gmbh International Powered surgical instruments with firing system lockout arrangements
US8992422B2 (en) 2006-03-23 2015-03-31 Ethicon Endo-Surgery, Inc. Robotically-controlled endoscopic accessory channel
US8322455B2 (en) 2006-06-27 2012-12-04 Ethicon Endo-Surgery, Inc. Manually driven surgical cutting and fastening instrument
US8348131B2 (en) 2006-09-29 2013-01-08 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with mechanical indicator to show levels of tissue compression
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
US8632535B2 (en) 2007-01-10 2014-01-21 Ethicon Endo-Surgery, Inc. Interlock and surgical instrument including same
US11291441B2 (en) 2007-01-10 2022-04-05 Cilag Gmbh International Surgical instrument with wireless communication between control unit and remote sensor
US8652120B2 (en) 2007-01-10 2014-02-18 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between control unit and sensor transponders
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
US11039836B2 (en) 2007-01-11 2021-06-22 Cilag Gmbh International Staple cartridge for use with a surgical stapling instrument
US7434717B2 (en) 2007-01-11 2008-10-14 Ethicon Endo-Surgery, Inc. Apparatus for closing a curved anvil of a surgical stapling device
US7669747B2 (en) 2007-03-15 2010-03-02 Ethicon Endo-Surgery, Inc. Washer for use with a surgical stapling instrument
US8893946B2 (en) 2007-03-28 2014-11-25 Ethicon Endo-Surgery, Inc. Laparoscopic tissue thickness and clamp load measuring devices
US8931682B2 (en) 2007-06-04 2015-01-13 Ethicon Endo-Surgery, Inc. Robotically-controlled shaft based rotary drive systems for surgical instruments
US11672531B2 (en) 2007-06-04 2023-06-13 Cilag Gmbh International Rotary drive systems for surgical instruments
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
US9179912B2 (en) 2008-02-14 2015-11-10 Ethicon Endo-Surgery, Inc. Robotically-controlled motorized surgical cutting and fastening instrument
US8758391B2 (en) 2008-02-14 2014-06-24 Ethicon Endo-Surgery, Inc. Interchangeable tools for surgical instruments
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
US8636736B2 (en) 2008-02-14 2014-01-28 Ethicon Endo-Surgery, Inc. Motorized surgical cutting and fastening instrument
US7866527B2 (en) 2008-02-14 2011-01-11 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with interlockable firing system
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
US8573465B2 (en) 2008-02-14 2013-11-05 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical end effector system with rotary actuated closure systems
US11272927B2 (en) 2008-02-15 2022-03-15 Cilag Gmbh International Layer arrangements for surgical staple cartridges
US9615826B2 (en) 2010-09-30 2017-04-11 Ethicon Endo-Surgery, Llc Multiple thickness implantable layers for surgical stapling devices
US11648005B2 (en) 2008-09-23 2023-05-16 Cilag Gmbh International Robotically-controlled motorized surgical instrument with an end effector
US9005230B2 (en) 2008-09-23 2015-04-14 Ethicon Endo-Surgery, Inc. Motorized surgical instrument
US8210411B2 (en) 2008-09-23 2012-07-03 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting instrument
US9386983B2 (en) 2008-09-23 2016-07-12 Ethicon Endo-Surgery, Llc Robotically-controlled motorized surgical instrument
US8608045B2 (en) 2008-10-10 2013-12-17 Ethicon Endo-Sugery, Inc. Powered surgical cutting and stapling apparatus with manually retractable firing system
US8517239B2 (en) 2009-02-05 2013-08-27 Ethicon Endo-Surgery, Inc. Surgical stapling instrument comprising a magnetic element driver
BRPI1008667A2 (pt) 2009-02-06 2016-03-08 Ethicom Endo Surgery Inc aperfeiçoamento do grampeador cirúrgico acionado
US8444036B2 (en) 2009-02-06 2013-05-21 Ethicon Endo-Surgery, Inc. Motor driven surgical fastener device with mechanisms for adjusting a tissue gap within the end effector
US8220688B2 (en) 2009-12-24 2012-07-17 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting instrument with electric actuator directional control assembly
US8851354B2 (en) 2009-12-24 2014-10-07 Ethicon Endo-Surgery, Inc. Surgical cutting instrument that analyzes tissue thickness
US8783543B2 (en) 2010-07-30 2014-07-22 Ethicon Endo-Surgery, Inc. Tissue acquisition arrangements and methods for surgical stapling devices
US11812965B2 (en) 2010-09-30 2023-11-14 Cilag Gmbh International Layer of material for a surgical end effector
US9016542B2 (en) 2010-09-30 2015-04-28 Ethicon Endo-Surgery, Inc. Staple cartridge comprising compressible distortion resistant components
US9839420B2 (en) 2010-09-30 2017-12-12 Ethicon Llc Tissue thickness compensator comprising at least one medicament
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
US9517063B2 (en) 2012-03-28 2016-12-13 Ethicon Endo-Surgery, Llc Movable member for use with a tissue thickness compensator
US11925354B2 (en) 2010-09-30 2024-03-12 Cilag Gmbh International Staple cartridge comprising staples positioned within a compressible portion thereof
US9861361B2 (en) 2010-09-30 2018-01-09 Ethicon Llc Releasable tissue thickness compensator and fastener cartridge having the same
US9629814B2 (en) 2010-09-30 2017-04-25 Ethicon Endo-Surgery, Llc Tissue thickness compensator configured to redistribute compressive forces
US11298125B2 (en) 2010-09-30 2022-04-12 Cilag Gmbh International Tissue stapler having a thickness compensator
US9364233B2 (en) 2010-09-30 2016-06-14 Ethicon Endo-Surgery, Llc Tissue thickness compensators for circular surgical staplers
US8695866B2 (en) 2010-10-01 2014-04-15 Ethicon Endo-Surgery, Inc. Surgical instrument having a power control circuit
RU2606493C2 (ru) 2011-04-29 2017-01-10 Этикон Эндо-Серджери, Инк. Кассета со скобками, содержащая скобки, расположенные внутри ее сжимаемой части
US11207064B2 (en) 2011-05-27 2021-12-28 Cilag Gmbh International Automated end effector component reloading system for use with a robotic system
US9044230B2 (en) 2012-02-13 2015-06-02 Ethicon Endo-Surgery, Inc. Surgical cutting and fastening instrument with apparatus for determining cartridge and firing motion status
CN104321024B (zh) 2012-03-28 2017-05-24 伊西康内外科公司 包括多个层的组织厚度补偿件
BR112014024098B1 (pt) 2012-03-28 2021-05-25 Ethicon Endo-Surgery, Inc. cartucho de grampos
RU2644272C2 (ru) 2012-03-28 2018-02-08 Этикон Эндо-Серджери, Инк. Узел ограничения, включающий компенсатор толщины ткани
US9101358B2 (en) 2012-06-15 2015-08-11 Ethicon Endo-Surgery, Inc. Articulatable surgical instrument comprising a firing drive
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
US11197671B2 (en) 2012-06-28 2021-12-14 Cilag Gmbh International Stapling assembly comprising a lockout
US20140005718A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Multi-functional powered surgical device with external dissection features
US9282974B2 (en) 2012-06-28 2016-03-15 Ethicon Endo-Surgery, Llc Empty clip cartridge lockout
US9289256B2 (en) 2012-06-28 2016-03-22 Ethicon Endo-Surgery, Llc Surgical end effectors having angled tissue-contacting surfaces
CN104487005B (zh) 2012-06-28 2017-09-08 伊西康内外科公司 空夹仓闭锁件
US20140001231A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Firing system lockout arrangements for surgical instruments
US20140001234A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Coupling arrangements for attaching surgical end effectors to drive systems therefor
US9700310B2 (en) 2013-08-23 2017-07-11 Ethicon Llc Firing member retraction devices for powered surgical instruments
KR102307790B1 (ko) 2013-02-04 2021-09-30 칠드런스 내셔널 메디컬 센터 하이브리드 제어 수술 로봇 시스템
JP6382235B2 (ja) 2013-03-01 2018-08-29 エシコン・エンド−サージェリィ・インコーポレイテッドＥｔｈｉｃｏｎ Ｅｎｄｏ−Ｓｕｒｇｅｒｙ，Ｉｎｃ． 信号通信用の導電路を備えた関節運動可能な外科用器具
BR112015021082B1 (pt) 2013-03-01 2022-05-10 Ethicon Endo-Surgery, Inc Instrumento cirúrgico
US9603665B2 (en) * 2013-03-13 2017-03-28 Stryker Corporation Systems and methods for establishing virtual constraint boundaries
US9629629B2 (en) 2013-03-14 2017-04-25 Ethicon Endo-Surgey, LLC Control systems for surgical instruments
US9888919B2 (en) 2013-03-14 2018-02-13 Ethicon Llc Method and system for operating a surgical instrument
US9649110B2 (en) 2013-04-16 2017-05-16 Ethicon Llc Surgical instrument comprising a closing drive and a firing drive operated from the same rotatable output
BR112015026109B1 (pt) 2013-04-16 2022-02-22 Ethicon Endo-Surgery, Inc Instrumento cirúrgico
JP6416260B2 (ja) 2013-08-23 2018-10-31 エシコン エルエルシー 動力付き外科用器具のための発射部材後退装置
US9962161B2 (en) 2014-02-12 2018-05-08 Ethicon Llc Deliverable surgical instrument
US10244991B2 (en) * 2014-02-17 2019-04-02 Children's National Medical Center Method and system for providing recommendation for optimal execution of surgical procedures
BR112016019387B1 (pt) 2014-02-24 2022-11-29 Ethicon Endo-Surgery, Llc Sistema de instrumento cirúrgico e cartucho de prendedores para uso com um instrumento cirúrgico de fixação
DE102014204251A1 (de) * 2014-03-07 2015-09-10 Siemens Aktiengesellschaft Verfahren zu einer Interaktion zwischen einer Assistenzvorrichtung und einem medizinischen Gerät und/oder einem Bedienpersonal und/oder einem Patienten, Assistenzvorrichtung, Assistenzsystem, Einheit und System
US9826977B2 (en) 2014-03-26 2017-11-28 Ethicon Llc Sterilization verification circuit
US10028761B2 (en) 2014-03-26 2018-07-24 Ethicon Llc Feedback algorithms for manual bailout systems 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
US20150272557A1 (en) 2014-03-26 2015-10-01 Ethicon Endo-Surgery, Inc. Modular surgical instrument system
CN110251047B (zh) 2014-03-28 2022-01-18 直观外科手术操作公司 手术植入物的定量三维成像和打印
KR102387096B1 (ko) 2014-03-28 2022-04-15 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 시계 내의 기기들의 정량적 3차원 시각화
CN106456252B (zh) 2014-03-28 2020-05-08 直观外科手术操作公司 手术场景的定量三维成像
EP3125809B1 (en) * 2014-03-28 2020-09-09 Intuitive Surgical Operations, Inc. Surgical system with haptic feedback based upon quantitative three-dimensional imaging
CN106535806B (zh) 2014-03-28 2019-06-18 直观外科手术操作公司 来自多端口视角的手术场景的定量三维成像
US10327764B2 (en) 2014-09-26 2019-06-25 Ethicon Llc Method for creating a flexible staple line
BR112016023807B1 (pt) 2014-04-16 2022-07-12 Ethicon Endo-Surgery, Llc Conjunto de cartucho de prendedores para uso com um instrumento cirúrgico
US9877721B2 (en) 2014-04-16 2018-01-30 Ethicon Llc Fastener cartridge comprising tissue control features
JP6636452B2 (ja) 2014-04-16 2020-01-29 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ 異なる構成を有する延在部を含む締結具カートリッジ
US20150297225A1 (en) 2014-04-16 2015-10-22 Ethicon Endo-Surgery, Inc. Fastener cartridges including extensions having different configurations
BR112016023825B1 (pt) 2014-04-16 2022-08-02 Ethicon Endo-Surgery, Llc Cartucho de grampos para uso com um grampeador cirúrgico e cartucho de grampos para uso com um instrumento cirúrgico
KR101594989B1 (ko) * 2014-05-30 2016-02-18 큐렉소 주식회사 조직 위치 정합 방법 및 이를 이용하는 장치
BR112017004361B1 (pt) 2014-09-05 2023-04-11 Ethicon Llc Sistema eletrônico para um instrumento cirúrgico
US11311294B2 (en) 2014-09-05 2022-04-26 Cilag Gmbh International Powered medical device including measurement of closure state of jaws
US10016199B2 (en) 2014-09-05 2018-07-10 Ethicon Llc Polarity of hall magnet to identify cartridge type
JP6894836B2 (ja) * 2014-09-08 2021-06-30 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 整形外科における器具追跡のための光形状検知
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
BR112017005981B1 (pt) 2014-09-26 2022-09-06 Ethicon, Llc Material de escora para uso com um cartucho de grampos cirúrgicos e cartucho de grampos cirúrgicos para uso com um instrumento cirúrgico
US9833254B1 (en) 2014-10-03 2017-12-05 Verily Life Sciences Llc Controlled dissection of biological tissue
US10076325B2 (en) 2014-10-13 2018-09-18 Ethicon Llc Surgical stapling apparatus comprising a tissue stop
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
US9844376B2 (en) 2014-11-06 2017-12-19 Ethicon Llc Staple cartridge comprising a releasable adjunct material
US10736636B2 (en) 2014-12-10 2020-08-11 Ethicon Llc Articulatable surgical instrument system
EP3232975B1 (en) * 2014-12-16 2020-07-15 Intuitive Surgical Operations, Inc. Ureter detection using waveband-selective imaging
US9844375B2 (en) 2014-12-18 2017-12-19 Ethicon Llc Drive arrangements for articulatable surgical instruments
BR112017012996B1 (pt) 2014-12-18 2022-11-08 Ethicon Llc Instrumento cirúrgico com uma bigorna que é seletivamente móvel sobre um eixo geométrico imóvel distinto em relação a um cartucho de grampos
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
US10188385B2 (en) 2014-12-18 2019-01-29 Ethicon Llc Surgical instrument system comprising lockable systems
US9968355B2 (en) 2014-12-18 2018-05-15 Ethicon Llc Surgical instruments with articulatable end effectors and improved firing beam support arrangements
US9987000B2 (en) 2014-12-18 2018-06-05 Ethicon Llc Surgical instrument assembly comprising a flexible articulation system
US10085748B2 (en) 2014-12-18 2018-10-02 Ethicon Llc Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors
EP3261574A4 (en) * 2015-02-26 2018-10-31 Covidien LP Robotically controlling remote center of motion with software and guide tube
US10180463B2 (en) 2015-02-27 2019-01-15 Ethicon Llc Surgical apparatus configured to assess whether a performance parameter of the surgical apparatus is within an acceptable performance band
US11154301B2 (en) 2015-02-27 2021-10-26 Cilag Gmbh International Modular stapling assembly
US10182816B2 (en) 2015-02-27 2019-01-22 Ethicon Llc Charging system that enables emergency resolutions for charging a battery
US9901342B2 (en) 2015-03-06 2018-02-27 Ethicon Endo-Surgery, Llc Signal and power communication system positioned on a rotatable shaft
US10617412B2 (en) 2015-03-06 2020-04-14 Ethicon Llc System for detecting the mis-insertion of a staple cartridge into a surgical stapler
US9993248B2 (en) 2015-03-06 2018-06-12 Ethicon Endo-Surgery, Llc Smart sensors with local signal processing
US9924961B2 (en) 2015-03-06 2018-03-27 Ethicon Endo-Surgery, Llc Interactive feedback system for powered surgical instruments
US10052044B2 (en) 2015-03-06 2018-08-21 Ethicon Llc Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures
US9808246B2 (en) 2015-03-06 2017-11-07 Ethicon Endo-Surgery, Llc Method of operating a powered surgical instrument
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
US10687806B2 (en) 2015-03-06 2020-06-23 Ethicon Llc Adaptive tissue compression techniques to adjust closure rates for multiple tissue types
US10441279B2 (en) 2015-03-06 2019-10-15 Ethicon Llc Multiple level thresholds to modify operation of powered surgical instruments
US10245033B2 (en) 2015-03-06 2019-04-02 Ethicon Llc Surgical instrument comprising a lockable battery housing
US10390825B2 (en) 2015-03-31 2019-08-27 Ethicon Llc Surgical instrument with progressive rotary drive systems
CN112842527A (zh) * 2015-05-15 2021-05-28 马科外科公司 用于为机器人医疗手术提供指导的系统和方法
WO2016195694A1 (en) * 2015-06-04 2016-12-08 Hewlett-Packard Development Company, L.P. Generating three dimensional models
CN114376733A (zh) * 2015-06-09 2022-04-22 直观外科手术操作公司 利用外科手术过程图集配置外科手术系统
US11058425B2 (en) 2015-08-17 2021-07-13 Ethicon Llc Implantable layers for a surgical instrument
US10327769B2 (en) 2015-09-23 2019-06-25 Ethicon Llc Surgical stapler having motor control based on a drive system component
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
US10363036B2 (en) 2015-09-23 2019-07-30 Ethicon Llc Surgical stapler having force-based motor control
US10105139B2 (en) 2015-09-23 2018-10-23 Ethicon Llc Surgical stapler having downstream current-based motor control
US10299878B2 (en) 2015-09-25 2019-05-28 Ethicon Llc Implantable adjunct systems for determining adjunct skew
US11890015B2 (en) 2015-09-30 2024-02-06 Cilag Gmbh International Compressible adjunct with crossing spacer fibers
US10524788B2 (en) 2015-09-30 2020-01-07 Ethicon Llc Compressible adjunct with attachment regions
US10980539B2 (en) 2015-09-30 2021-04-20 Ethicon Llc Implantable adjunct comprising bonded layers
US10433846B2 (en) 2015-09-30 2019-10-08 Ethicon Llc Compressible adjunct with crossing spacer fibers
US11135028B2 (en) 2015-10-31 2021-10-05 Children's National Medical Center Soft surgical tools
WO2017083768A1 (en) 2015-11-12 2017-05-18 Jarc Anthony Michael Surgical system with training or assist functions
EP3413782A4 (en) * 2015-12-07 2019-11-27 M.S.T. Medical Surgery Technologies Ltd. FULLY AUTONOMOUS ROBOTIC SYSTEM WITH ARTIFICIAL INTELLIGENCE
JP6625421B2 (ja) 2015-12-11 2019-12-25 シスメックス株式会社 医療用ロボットシステム、データ解析装置、および、医療用ロボットの監視方法
US10265068B2 (en) 2015-12-30 2019-04-23 Ethicon Llc Surgical instruments with separable motors and motor control circuits
US10292704B2 (en) 2015-12-30 2019-05-21 Ethicon Llc Mechanisms for compensating for battery pack failure in powered surgical instruments
US10368865B2 (en) 2015-12-30 2019-08-06 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
JP6944939B2 (ja) 2015-12-31 2021-10-06 ストライカー・コーポレイション 仮想オブジェクトにより規定される患者の標的部位に対して外科手術を行うシステムおよび方法
CN113633326B (zh) * 2016-01-20 2024-09-13 直观外科手术操作公司 快速暂停和恢复医疗设备可重新定位臂中的运动偏离的系统和方法
US11213293B2 (en) 2016-02-09 2022-01-04 Cilag Gmbh International Articulatable surgical instruments with single articulation link arrangements
JP6911054B2 (ja) 2016-02-09 2021-07-28 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ 非対称の関節構成を備えた外科用器具
US10470764B2 (en) 2016-02-09 2019-11-12 Ethicon Llc Surgical instruments with closure stroke reduction arrangements
US11224426B2 (en) 2016-02-12 2022-01-18 Cilag Gmbh International Mechanisms for compensating for drivetrain failure in powered surgical instruments
US10448948B2 (en) 2016-02-12 2019-10-22 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US10258331B2 (en) 2016-02-12 2019-04-16 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US10617413B2 (en) 2016-04-01 2020-04-14 Ethicon Llc Closure system arrangements for surgical cutting and stapling devices with separate and distinct firing shafts
US10485542B2 (en) 2016-04-01 2019-11-26 Ethicon Llc Surgical stapling instrument comprising multiple lockouts
US11607239B2 (en) 2016-04-15 2023-03-21 Cilag Gmbh International Systems and methods for controlling a surgical stapling and cutting instrument
US10828028B2 (en) 2016-04-15 2020-11-10 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US10357247B2 (en) 2016-04-15 2019-07-23 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US10335145B2 (en) 2016-04-15 2019-07-02 Ethicon Llc Modular surgical instrument with configurable operating mode
US11179150B2 (en) 2016-04-15 2021-11-23 Cilag Gmbh International Systems and methods for controlling a surgical stapling and cutting instrument
US10492783B2 (en) 2016-04-15 2019-12-03 Ethicon, Llc Surgical instrument with improved stop/start control during a firing motion
US10405859B2 (en) 2016-04-15 2019-09-10 Ethicon Llc Surgical instrument with adjustable stop/start control during a firing motion
US10456137B2 (en) 2016-04-15 2019-10-29 Ethicon Llc Staple formation detection mechanisms
US10426467B2 (en) 2016-04-15 2019-10-01 Ethicon Llc Surgical instrument with detection sensors
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
US11317917B2 (en) 2016-04-18 2022-05-03 Cilag Gmbh International Surgical stapling system comprising a lockable firing assembly
CN106041928B (zh) * 2016-06-24 2018-03-20 东南大学 一种基于工件模型的机器人作业任务生成方法
US10398517B2 (en) 2016-08-16 2019-09-03 Ethicon Llc Surgical tool positioning based on sensed parameters
US10537399B2 (en) 2016-08-16 2020-01-21 Ethicon Llc Surgical tool positioning based on sensed parameters
US10695134B2 (en) 2016-08-25 2020-06-30 Verily Life Sciences Llc Motion execution of a robotic system
CN106370949B (zh) * 2016-08-31 2018-10-23 北京术锐技术有限公司 一种手术机器人不完全运行状态故障检测方法
CA3035311C (en) 2016-08-31 2023-08-29 Beijing Surgerii Technology Co., Ltd. Method for detecting running state failure of surgical robot
CN106175936B (zh) * 2016-08-31 2018-09-04 北京术锐技术有限公司 一种手术机器人完全运行状态故障检测方法
WO2018089812A1 (en) * 2016-11-11 2018-05-17 Intuitive Surgical Operations, Inc. Teleoperated surgical system with patient health records based instrument control
JP7076447B2 (ja) 2016-11-24 2022-05-27 ユニヴァーシティ オブ ワシントン ヘッドマウントディスプレイのための光照射野キャプチャおよびレンダリング
US10918445B2 (en) * 2016-12-19 2021-02-16 Ethicon Llc Surgical system with augmented reality display
CN110099619B (zh) 2016-12-21 2022-07-15 爱惜康有限责任公司 用于外科端部执行器和可替换工具组件的闭锁装置
US10624635B2 (en) 2016-12-21 2020-04-21 Ethicon Llc Firing members with non-parallel jaw engagement features for surgical end effectors
US10667810B2 (en) 2016-12-21 2020-06-02 Ethicon Llc Closure members with cam surface arrangements for surgical instruments with separate and distinct closure and firing systems
US10667811B2 (en) 2016-12-21 2020-06-02 Ethicon Llc Surgical stapling instruments and staple-forming anvils
US10542982B2 (en) 2016-12-21 2020-01-28 Ethicon Llc Shaft assembly comprising first and second articulation lockouts
JP7086963B2 (ja) 2016-12-21 2022-06-20 エシコン エルエルシー エンドエフェクタロックアウト及び発射アセンブリロックアウトを備える外科用器具システム
US10758230B2 (en) 2016-12-21 2020-09-01 Ethicon Llc Surgical instrument with primary and safety processors
US10856868B2 (en) 2016-12-21 2020-12-08 Ethicon Llc Firing member pin configurations
US10517596B2 (en) 2016-12-21 2019-12-31 Ethicon Llc Articulatable surgical instruments with articulation stroke amplification features
US20180168609A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Firing assembly comprising a fuse
US10758229B2 (en) 2016-12-21 2020-09-01 Ethicon Llc Surgical instrument comprising improved jaw control
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
CN110087565A (zh) 2016-12-21 2019-08-02 爱惜康有限责任公司 外科缝合系统
US10610224B2 (en) 2016-12-21 2020-04-07 Ethicon Llc Lockout arrangements for surgical end effectors and replaceable tool assemblies
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
US11134942B2 (en) 2016-12-21 2021-10-05 Cilag Gmbh International Surgical stapling instruments and staple-forming anvils
US10426471B2 (en) 2016-12-21 2019-10-01 Ethicon Llc Surgical instrument with multiple failure response modes
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
US10682138B2 (en) 2016-12-21 2020-06-16 Ethicon Llc Bilaterally asymmetric staple forming pocket pairs
US10537325B2 (en) 2016-12-21 2020-01-21 Ethicon Llc Staple forming pocket arrangement to accommodate different types of staples
CN106859766B (zh) * 2017-01-23 2019-03-26 深圳市人民医院 用于骨干骨折髓内复位的导航系统
US10646288B2 (en) 2017-04-12 2020-05-12 Bio-Medical Engineering (HK) Limited Automated steering systems and methods for a robotic endoscope
US10349986B2 (en) 2017-04-20 2019-07-16 Warsaw Orthopedic, Inc. Spinal implant system and method
US10888321B2 (en) 2017-06-20 2021-01-12 Ethicon Llc Systems and methods for controlling velocity of a displacement member of a surgical stapling and cutting instrument
US10390841B2 (en) 2017-06-20 2019-08-27 Ethicon Llc Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation
US10327767B2 (en) 2017-06-20 2019-06-25 Ethicon Llc Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation
US10881399B2 (en) 2017-06-20 2021-01-05 Ethicon Llc Techniques for adaptive control of motor velocity of a surgical stapling and cutting 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
US10646220B2 (en) 2017-06-20 2020-05-12 Ethicon Llc Systems and methods for controlling displacement member velocity for a surgical instrument
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
USD879809S1 (en) 2017-06-20 2020-03-31 Ethicon Llc Display panel with changeable graphical user interface
US11382638B2 (en) 2017-06-20 2022-07-12 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified displacement distance
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
USD879808S1 (en) 2017-06-20 2020-03-31 Ethicon Llc Display panel with graphical user interface
US11090046B2 (en) 2017-06-20 2021-08-17 Cilag Gmbh International Systems and methods for controlling displacement member motion of a surgical stapling and cutting instrument
US10813639B2 (en) 2017-06-20 2020-10-27 Ethicon Llc Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on system conditions
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
US10881396B2 (en) 2017-06-20 2021-01-05 Ethicon Llc Surgical instrument with variable duration trigger arrangement
US10368864B2 (en) 2017-06-20 2019-08-06 Ethicon Llc Systems and methods for controlling displaying motor velocity for a surgical instrument
US10624633B2 (en) 2017-06-20 2020-04-21 Ethicon Llc Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument
US10980537B2 (en) 2017-06-20 2021-04-20 Ethicon Llc Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified number of shaft rotations
USD890784S1 (en) 2017-06-20 2020-07-21 Ethicon Llc Display panel with changeable graphical user interface
US11071554B2 (en) 2017-06-20 2021-07-27 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on magnitude of velocity error measurements
US10856869B2 (en) 2017-06-27 2020-12-08 Ethicon Llc Surgical anvil arrangements
US11266405B2 (en) 2017-06-27 2022-03-08 Cilag Gmbh International Surgical anvil manufacturing methods
US20180368844A1 (en) 2017-06-27 2018-12-27 Ethicon Llc Staple forming pocket arrangements
US10772629B2 (en) 2017-06-27 2020-09-15 Ethicon Llc Surgical anvil arrangements
US11324503B2 (en) 2017-06-27 2022-05-10 Cilag Gmbh International Surgical firing member arrangements
US10993716B2 (en) 2017-06-27 2021-05-04 Ethicon Llc Surgical anvil arrangements
US10716614B2 (en) 2017-06-28 2020-07-21 Ethicon Llc Surgical shaft assemblies with slip ring assemblies with increased contact pressure
USD906355S1 (en) 2017-06-28 2020-12-29 Ethicon Llc Display screen or portion thereof with a graphical user interface for a surgical instrument
US10779824B2 (en) 2017-06-28 2020-09-22 Ethicon Llc Surgical instrument comprising an articulation system lockable by a closure system
USD854151S1 (en) 2017-06-28 2019-07-16 Ethicon Llc Surgical instrument shaft
US11246592B2 (en) 2017-06-28 2022-02-15 Cilag Gmbh International Surgical instrument comprising an articulation system lockable to a frame
US10211586B2 (en) 2017-06-28 2019-02-19 Ethicon Llc Surgical shaft assemblies with watertight housings
USD851762S1 (en) 2017-06-28 2019-06-18 Ethicon Llc Anvil
US11478242B2 (en) 2017-06-28 2022-10-25 Cilag Gmbh International Jaw retainer arrangement for retaining a pivotable surgical instrument jaw in pivotable retaining engagement with a second surgical instrument jaw
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
US10765427B2 (en) 2017-06-28 2020-09-08 Ethicon Llc Method for articulating a surgical instrument
US10903685B2 (en) 2017-06-28 2021-01-26 Ethicon Llc Surgical shaft assemblies with slip ring assemblies forming capacitive channels
US11259805B2 (en) 2017-06-28 2022-03-01 Cilag Gmbh International Surgical instrument comprising firing member supports
USD869655S1 (en) 2017-06-28 2019-12-10 Ethicon Llc Surgical fastener cartridge
US10898183B2 (en) 2017-06-29 2021-01-26 Ethicon Llc Robotic surgical instrument with closed loop feedback techniques for advancement of closure member during firing
US10258418B2 (en) 2017-06-29 2019-04-16 Ethicon Llc System for controlling articulation forces
US11007022B2 (en) 2017-06-29 2021-05-18 Ethicon Llc Closed loop velocity control techniques based on sensed tissue parameters for robotic surgical instrument
US10932772B2 (en) 2017-06-29 2021-03-02 Ethicon Llc Methods for closed loop velocity control for robotic surgical instrument
US10398434B2 (en) 2017-06-29 2019-09-03 Ethicon Llc Closed loop velocity control of closure member for robotic surgical instrument
JP7147761B2 (ja) 2017-07-12 2022-10-05 ソニーグループ株式会社 制御装置及び制御方法、並びにマスタ－スレーブ・システム
CN107322589B (zh) * 2017-07-14 2020-06-19 西安交通大学 一种可变刚度的柔性手术臂的气动控制系统
US11304695B2 (en) 2017-08-03 2022-04-19 Cilag Gmbh International Surgical system shaft interconnection
US11471155B2 (en) 2017-08-03 2022-10-18 Cilag Gmbh International Surgical system bailout
US11944300B2 (en) 2017-08-03 2024-04-02 Cilag Gmbh International Method for operating a surgical system bailout
US11974742B2 (en) 2017-08-03 2024-05-07 Cilag Gmbh International Surgical system comprising an articulation bailout
US10485527B2 (en) * 2017-08-29 2019-11-26 Ethicon Llc Control system for clip applier
US10548601B2 (en) 2017-08-29 2020-02-04 Ethicon Llc Control system for clip applier
US11504126B2 (en) 2017-08-29 2022-11-22 Cilag Gmbh International Control system for clip applier
CN107411719A (zh) * 2017-09-12 2017-12-01 武汉大学 一种基于模态坐标的咬肌损伤自动诊治装置及方法
CN107638204A (zh) * 2017-09-12 2018-01-30 武汉大学 基于模态坐标的膝关节内侧副韧带损伤自动诊治装置及方法
CN107411717A (zh) * 2017-09-12 2017-12-01 武汉大学 一种基于模态坐标的菱形肌损伤自动诊治装置及方法
CN107485367A (zh) * 2017-09-12 2017-12-19 武汉大学 基于模态坐标的第三腰椎横突损伤自动诊治装置及方法
CN107411718A (zh) * 2017-09-12 2017-12-01 武汉大学 一种基于模态坐标的肩胛提肌损伤自动诊治装置及方法
CN107485370A (zh) * 2017-09-12 2017-12-19 武汉大学 一种基于模态坐标的斜方肌损伤自动诊治装置及方法
CN107638203A (zh) * 2017-09-12 2018-01-30 武汉大学 一种基于模态坐标的髂腰韧带损伤自动诊治装置及方法
CN107616835A (zh) * 2017-09-12 2018-01-23 武汉大学 一种基于模态坐标的肱二头肌损伤自动诊治装置及方法
CN107485368A (zh) * 2017-09-12 2017-12-19 武汉大学 一种基于模态坐标的额肌损伤自动诊治装置及方法
CN107440691A (zh) * 2017-09-12 2017-12-08 武汉大学 一种基于模态坐标的鹅足滑囊损伤自动诊治装置及方法
USD907647S1 (en) 2017-09-29 2021-01-12 Ethicon Llc Display screen or portion thereof with animated graphical user interface
US10743872B2 (en) 2017-09-29 2020-08-18 Ethicon Llc System and methods for controlling a display of a surgical instrument
US11399829B2 (en) 2017-09-29 2022-08-02 Cilag Gmbh International Systems and methods of initiating a power shutdown mode for a surgical instrument
USD907648S1 (en) 2017-09-29 2021-01-12 Ethicon Llc Display screen or portion thereof with animated graphical user interface
US10765429B2 (en) 2017-09-29 2020-09-08 Ethicon Llc Systems and methods for providing alerts according to the operational state of a surgical instrument
US10729501B2 (en) 2017-09-29 2020-08-04 Ethicon Llc Systems and methods for language selection of a surgical instrument
USD917500S1 (en) 2017-09-29 2021-04-27 Ethicon Llc Display screen or portion thereof with graphical user interface
US10796471B2 (en) 2017-09-29 2020-10-06 Ethicon Llc Systems and methods of displaying a knife position for a surgical instrument
US11134944B2 (en) 2017-10-30 2021-10-05 Cilag Gmbh International Surgical stapler knife motion controls
US11090075B2 (en) 2017-10-30 2021-08-17 Cilag Gmbh International Articulation features for surgical end effector
US10842490B2 (en) 2017-10-31 2020-11-24 Ethicon Llc Cartridge body design with force reduction based on firing completion
US10779903B2 (en) 2017-10-31 2020-09-22 Ethicon Llc Positive shaft rotation lock activated by jaw closure
EP3705018A4 (en) * 2017-11-01 2020-10-14 Sony Corporation SURGICAL ARM SYSTEM AND SURGICAL ARM CONTROL SYSTEM
JP7401429B2 (ja) * 2017-11-13 2023-12-19 コーニンクレッカ フィリップス エヌ ヴェ ロボットツール制御
US10869666B2 (en) 2017-12-15 2020-12-22 Ethicon Llc Adapters with control systems for controlling multiple motors of an electromechanical surgical instrument
US10828033B2 (en) 2017-12-15 2020-11-10 Ethicon Llc Handheld electromechanical surgical instruments with improved motor control arrangements for positioning components of an adapter coupled thereto
US10687813B2 (en) 2017-12-15 2020-06-23 Ethicon Llc Adapters with firing stroke sensing arrangements for use in connection with electromechanical surgical instruments
US11197670B2 (en) 2017-12-15 2021-12-14 Cilag Gmbh International Surgical end effectors with pivotal jaws configured to touch at their respective distal ends when fully closed
US11006955B2 (en) 2017-12-15 2021-05-18 Ethicon Llc End effectors with positive jaw opening features for use with adapters for electromechanical surgical instruments
US10966718B2 (en) 2017-12-15 2021-04-06 Ethicon Llc Dynamic clamping assemblies with improved wear characteristics for use in connection with electromechanical surgical instruments
US10779826B2 (en) 2017-12-15 2020-09-22 Ethicon Llc Methods of operating surgical end effectors
US11071543B2 (en) 2017-12-15 2021-07-27 Cilag Gmbh International Surgical end effectors with clamping assemblies configured to increase jaw aperture ranges
US11033267B2 (en) 2017-12-15 2021-06-15 Ethicon Llc Systems and methods of controlling a clamping member firing rate of a surgical instrument
US10743875B2 (en) 2017-12-15 2020-08-18 Ethicon Llc Surgical end effectors with jaw stiffener arrangements configured to permit monitoring of firing member
US10743874B2 (en) 2017-12-15 2020-08-18 Ethicon Llc Sealed adapters for use with electromechanical surgical instruments
US10779825B2 (en) 2017-12-15 2020-09-22 Ethicon Llc Adapters with end effector position sensing and control arrangements for use in connection with electromechanical surgical instruments
US11045270B2 (en) 2017-12-19 2021-06-29 Cilag Gmbh International Robotic attachment comprising exterior drive actuator
US10729509B2 (en) 2017-12-19 2020-08-04 Ethicon Llc Surgical instrument comprising closure and firing locking mechanism
USD910847S1 (en) 2017-12-19 2021-02-16 Ethicon Llc Surgical instrument assembly
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
US11020112B2 (en) 2017-12-19 2021-06-01 Ethicon Llc Surgical tools configured for interchangeable use with different controller interfaces
US10716565B2 (en) 2017-12-19 2020-07-21 Ethicon Llc Surgical instruments with dual articulation drivers
US11883019B2 (en) 2017-12-21 2024-01-30 Cilag Gmbh International Stapling instrument comprising a staple feeding system
US11076853B2 (en) 2017-12-21 2021-08-03 Cilag Gmbh International Systems and methods of displaying a knife position during transection for a surgical instrument
US11129680B2 (en) 2017-12-21 2021-09-28 Cilag Gmbh International Surgical instrument comprising a projector
US11311290B2 (en) 2017-12-21 2022-04-26 Cilag Gmbh International Surgical instrument comprising an end effector dampener
EP3737326A4 (en) * 2018-01-10 2021-12-29 Covidien LP Determining positions and conditions of tools of a robotic surgical system utilizing computer vision
US11351007B1 (en) 2018-01-22 2022-06-07 CAIRA Surgical Surgical systems with intra-operative 3D scanners and surgical methods using the same
WO2019222480A1 (en) * 2018-05-16 2019-11-21 University Of Maryland, College Park Confidence-based robotically-assisted surgery system
EP3810019A4 (en) 2018-06-21 2022-03-23 PROCEPT BioRobotics Corporation ARTIFICIAL INTELLIGENCE FOR ROBOTIC SURGERY
JP7297891B2 (ja) 2018-07-19 2023-06-26 アクティブ サージカル， インコーポレイテッド 自動化された外科手術ロボットのためのビジョンシステム内の深度のマルチモード感知のためのシステムおよび方法
US11344374B2 (en) * 2018-08-13 2022-05-31 Verily Life Sciences Llc Detection of unintentional movement of a user interface device
US11083458B2 (en) 2018-08-20 2021-08-10 Cilag Gmbh International Powered surgical instruments with clutching arrangements to convert linear drive motions to rotary drive motions
US10779821B2 (en) 2018-08-20 2020-09-22 Ethicon Llc Surgical stapler anvils with tissue stop features configured to avoid tissue pinch
US11045192B2 (en) 2018-08-20 2021-06-29 Cilag Gmbh International Fabricating techniques for surgical stapler anvils
US10842492B2 (en) 2018-08-20 2020-11-24 Ethicon Llc Powered articulatable surgical instruments with clutching and locking arrangements for linking an articulation drive system to a firing drive system
US11291440B2 (en) 2018-08-20 2022-04-05 Cilag Gmbh International Method for operating a powered articulatable surgical instrument
US11324501B2 (en) 2018-08-20 2022-05-10 Cilag Gmbh International Surgical stapling devices with improved closure members
USD914878S1 (en) 2018-08-20 2021-03-30 Ethicon Llc Surgical instrument anvil
US11253256B2 (en) 2018-08-20 2022-02-22 Cilag Gmbh International Articulatable motor powered surgical instruments with dedicated articulation motor arrangements
US10912559B2 (en) 2018-08-20 2021-02-09 Ethicon Llc Reinforced deformable anvil tip for surgical stapler anvil
US10856870B2 (en) 2018-08-20 2020-12-08 Ethicon Llc Switching arrangements for motor powered articulatable surgical instruments
US11207065B2 (en) 2018-08-20 2021-12-28 Cilag Gmbh International Method for fabricating surgical stapler anvils
US11039834B2 (en) 2018-08-20 2021-06-22 Cilag Gmbh International Surgical stapler anvils with staple directing protrusions and tissue stability features
CN109549689A (zh) * 2018-08-21 2019-04-02 池嘉昌 一种穿刺辅助引导装置、系统及方法
WO2020055795A1 (en) * 2018-09-10 2020-03-19 Activ Surgical, Inc. Surgical grasper with integrated suture pulley
US10679743B2 (en) * 2018-09-12 2020-06-09 Verb Surgical Inc. Method and system for automatically tracking and managing inventory of surgical tools in operating rooms
US10383694B1 (en) * 2018-09-12 2019-08-20 Johnson & Johnson Innovation—Jjdc, Inc. Machine-learning-based visual-haptic feedback system for robotic surgical platforms
US12076100B2 (en) 2018-09-28 2024-09-03 Auris Health, Inc. Robotic systems and methods for concomitant endoscopic and percutaneous medical procedures
WO2020081651A1 (en) 2018-10-16 2020-04-23 Activ Surgical, Inc. Autonomous methods and systems for tying surgical knots
CN109806004A (zh) * 2019-03-18 2019-05-28 汪俊霞 一种基于云数据技术的手术机器人系统及操作方法
US11696761B2 (en) 2019-03-25 2023-07-11 Cilag Gmbh International Firing drive arrangements for surgical systems
US11172929B2 (en) 2019-03-25 2021-11-16 Cilag Gmbh International Articulation drive arrangements for surgical systems
US11147553B2 (en) 2019-03-25 2021-10-19 Cilag Gmbh International Firing drive arrangements for surgical systems
US11147551B2 (en) 2019-03-25 2021-10-19 Cilag Gmbh International Firing drive arrangements for surgical systems
EP3952720A4 (en) 2019-04-08 2023-04-05 Activ Surgical, Inc. SYSTEMS AND METHODS FOR MEDICAL IMAGING
US11648009B2 (en) 2019-04-30 2023-05-16 Cilag Gmbh International Rotatable jaw tip for a surgical instrument
US11432816B2 (en) 2019-04-30 2022-09-06 Cilag Gmbh International Articulation pin for a surgical instrument
US11903581B2 (en) 2019-04-30 2024-02-20 Cilag Gmbh International Methods for stapling tissue using a surgical instrument
US11426251B2 (en) 2019-04-30 2022-08-30 Cilag Gmbh International Articulation directional lights on a surgical instrument
US11471157B2 (en) 2019-04-30 2022-10-18 Cilag Gmbh International Articulation control mapping for a surgical instrument
US11253254B2 (en) 2019-04-30 2022-02-22 Cilag Gmbh International Shaft rotation actuator on a surgical instrument
US11452528B2 (en) 2019-04-30 2022-09-27 Cilag Gmbh International Articulation actuators for a surgical instrument
US11497564B2 (en) * 2019-06-07 2022-11-15 Verb Surgical Inc. Supervised robot-human collaboration in surgical robotics
JP7334499B2 (ja) * 2019-06-27 2023-08-29 ソニーグループ株式会社 手術支援システム、制御装置及び制御方法
US11298127B2 (en) 2019-06-28 2022-04-12 Cilag GmbH Interational Surgical stapling system having a lockout mechanism for an incompatible cartridge
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
US11219455B2 (en) 2019-06-28 2022-01-11 Cilag Gmbh International Surgical instrument including a lockout key
US11291451B2 (en) 2019-06-28 2022-04-05 Cilag Gmbh International Surgical instrument with battery compatibility verification functionality
US11553971B2 (en) 2019-06-28 2023-01-17 Cilag Gmbh International Surgical RFID assemblies for display and communication
US11229437B2 (en) 2019-06-28 2022-01-25 Cilag Gmbh International Method for authenticating the compatibility of a staple cartridge with a surgical instrument
US11298132B2 (en) 2019-06-28 2022-04-12 Cilag GmbH Inlernational Staple cartridge including a honeycomb extension
US11660163B2 (en) 2019-06-28 2023-05-30 Cilag Gmbh International Surgical system with RFID tags for updating motor assembly parameters
US11224497B2 (en) 2019-06-28 2022-01-18 Cilag Gmbh International Surgical systems with multiple RFID tags
US11771419B2 (en) 2019-06-28 2023-10-03 Cilag Gmbh International Packaging for a replaceable component of a surgical stapling system
US11627959B2 (en) 2019-06-28 2023-04-18 Cilag Gmbh International Surgical instruments including manual and powered system lockouts
US11246678B2 (en) 2019-06-28 2022-02-15 Cilag Gmbh International Surgical stapling system having a frangible RFID tag
US11259803B2 (en) 2019-06-28 2022-03-01 Cilag Gmbh International Surgical stapling system having an information encryption protocol
US11051807B2 (en) 2019-06-28 2021-07-06 Cilag Gmbh International Packaging assembly including a particulate trap
US11376098B2 (en) 2019-06-28 2022-07-05 Cilag Gmbh International Surgical instrument system comprising an RFID system
US11523822B2 (en) 2019-06-28 2022-12-13 Cilag Gmbh International Battery pack including a circuit interrupter
US12004740B2 (en) 2019-06-28 2024-06-11 Cilag Gmbh International Surgical stapling system having an information decryption protocol
US11478241B2 (en) 2019-06-28 2022-10-25 Cilag Gmbh International Staple cartridge including projections
US11497492B2 (en) 2019-06-28 2022-11-15 Cilag Gmbh International Surgical instrument including an articulation lock
US11464601B2 (en) 2019-06-28 2022-10-11 Cilag Gmbh International Surgical instrument comprising an RFID system for tracking a movable component
US11684434B2 (en) 2019-06-28 2023-06-27 Cilag Gmbh International Surgical RFID assemblies for instrument operational setting control
US11426167B2 (en) 2019-06-28 2022-08-30 Cilag Gmbh International Mechanisms for proper anvil attachment surgical stapling head assembly
CN110215285A (zh) * 2019-07-16 2019-09-10 华志微创医疗科技（北京）有限公司 手术导航的纠偏方法及系统
EP4017340A4 (en) 2019-08-21 2023-12-13 Activ Surgical, Inc. MEDICAL IMAGING SYSTEMS AND METHODS
US11432882B2 (en) 2019-09-17 2022-09-06 CAIRA Surgical System and method for medical object tracking
JP7432340B2 (ja) * 2019-11-07 2024-02-16 川崎重工業株式会社 手術システム及び制御方法
US11464512B2 (en) 2019-12-19 2022-10-11 Cilag Gmbh International Staple cartridge comprising a curved deck surface
US12035913B2 (en) 2019-12-19 2024-07-16 Cilag Gmbh International Staple cartridge comprising a deployable knife
US11291447B2 (en) 2019-12-19 2022-04-05 Cilag Gmbh International Stapling instrument comprising independent jaw closing and staple firing systems
US11446029B2 (en) 2019-12-19 2022-09-20 Cilag Gmbh International Staple cartridge comprising projections extending from a curved deck surface
US11701111B2 (en) 2019-12-19 2023-07-18 Cilag Gmbh International Method for operating a surgical stapling instrument
US11304696B2 (en) 2019-12-19 2022-04-19 Cilag Gmbh International Surgical instrument comprising a powered articulation system
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
US11607219B2 (en) 2019-12-19 2023-03-21 Cilag Gmbh International Staple cartridge comprising a detachable tissue cutting knife
US11504122B2 (en) 2019-12-19 2022-11-22 Cilag Gmbh International Surgical instrument comprising a nested firing member
US11234698B2 (en) 2019-12-19 2022-02-01 Cilag Gmbh International Stapling system comprising a clamp lockout and a firing lockout
US11911032B2 (en) 2019-12-19 2024-02-27 Cilag Gmbh International Staple cartridge comprising a seating cam
US11844520B2 (en) 2019-12-19 2023-12-19 Cilag Gmbh International Staple cartridge comprising driver retention members
US11931033B2 (en) 2019-12-19 2024-03-19 Cilag Gmbh International Staple cartridge comprising a latch lockout
US11559304B2 (en) 2019-12-19 2023-01-24 Cilag Gmbh International Surgical instrument comprising a rapid closure mechanism
US11529139B2 (en) 2019-12-19 2022-12-20 Cilag Gmbh International Motor driven surgical instrument
US11529137B2 (en) 2019-12-19 2022-12-20 Cilag Gmbh International Staple cartridge comprising driver retention members
CN118383870A (zh) 2019-12-31 2024-07-26 奥瑞斯健康公司 用于经皮进入的对准界面
US11475997B2 (en) 2020-02-21 2022-10-18 Shanghai United Imaging Intelligence Co., Ltd. Systems and methods for automated healthcare services
US10949986B1 (en) 2020-05-12 2021-03-16 Proprio, Inc. Methods and systems for imaging a scene, such as a medical scene, and tracking objects within the scene
USD976401S1 (en) 2020-06-02 2023-01-24 Cilag Gmbh International Staple cartridge
USD975851S1 (en) 2020-06-02 2023-01-17 Cilag Gmbh International Staple cartridge
USD975850S1 (en) 2020-06-02 2023-01-17 Cilag Gmbh International Staple cartridge
USD967421S1 (en) 2020-06-02 2022-10-18 Cilag Gmbh International Staple cartridge
USD975278S1 (en) 2020-06-02 2023-01-10 Cilag Gmbh International Staple cartridge
USD974560S1 (en) 2020-06-02 2023-01-03 Cilag Gmbh International Staple cartridge
USD966512S1 (en) 2020-06-02 2022-10-11 Cilag Gmbh International Staple cartridge
US11864756B2 (en) 2020-07-28 2024-01-09 Cilag Gmbh International Surgical instruments with flexible ball chain drive arrangements
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
US11517390B2 (en) 2020-10-29 2022-12-06 Cilag Gmbh International Surgical instrument comprising a limited travel switch
US11844518B2 (en) 2020-10-29 2023-12-19 Cilag Gmbh International Method for operating a surgical instrument
US11896217B2 (en) 2020-10-29 2024-02-13 Cilag Gmbh International Surgical instrument comprising an articulation lock
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
US11534259B2 (en) 2020-10-29 2022-12-27 Cilag Gmbh International Surgical instrument comprising an articulation indicator
US11779330B2 (en) 2020-10-29 2023-10-10 Cilag Gmbh International Surgical instrument comprising a jaw alignment system
US12053175B2 (en) 2020-10-29 2024-08-06 Cilag Gmbh International Surgical instrument comprising a stowed closure actuator stop
US11931025B2 (en) 2020-10-29 2024-03-19 Cilag Gmbh International Surgical instrument comprising a releasable closure drive lock
US11717289B2 (en) 2020-10-29 2023-08-08 Cilag Gmbh International Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable
JP7043570B2 (ja) * 2020-11-24 2022-03-29 シスメックス株式会社 医療用ロボットシステム、データ解析装置、および、医療用ロボットの監視方法
US11890010B2 (en) 2020-12-02 2024-02-06 Cllag GmbH International Dual-sided reinforced reload for surgical instruments
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
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
US11653915B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Surgical instruments with sled location detection and adjustment features
US11627960B2 (en) 2020-12-02 2023-04-18 Cilag Gmbh International Powered surgical instruments with smart reload with separately attachable exteriorly mounted wiring connections
US11944296B2 (en) 2020-12-02 2024-04-02 Cilag Gmbh International Powered surgical instruments with external connectors
US11653920B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Powered surgical instruments with communication interfaces through sterile barrier
EP4255330A1 (en) * 2020-12-04 2023-10-11 Activ Surgical, Inc. Systems and methods for providing surgical guidance
US20240099806A1 (en) * 2020-12-11 2024-03-28 Robeaute Micro-device tracking and vizualisation system
CN112869787B (zh) * 2020-12-31 2022-05-17 深圳市世格赛思医疗科技有限公司 一种微创医疗系统
US11793514B2 (en) 2021-02-26 2023-10-24 Cilag Gmbh International Staple cartridge comprising sensor array which may be embedded in cartridge body
US11950777B2 (en) 2021-02-26 2024-04-09 Cilag Gmbh International Staple cartridge comprising an information access control system
US11751869B2 (en) 2021-02-26 2023-09-12 Cilag Gmbh International Monitoring of multiple sensors over time to detect moving characteristics of tissue
US11980362B2 (en) 2021-02-26 2024-05-14 Cilag Gmbh International Surgical instrument system comprising a power transfer coil
US11749877B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Stapling instrument comprising a signal antenna
US11723657B2 (en) 2021-02-26 2023-08-15 Cilag Gmbh International Adjustable communication based on available bandwidth and power capacity
US11812964B2 (en) 2021-02-26 2023-11-14 Cilag Gmbh International Staple cartridge comprising a power management circuit
US11744583B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Distal communication array to tune frequency of RF systems
US11950779B2 (en) 2021-02-26 2024-04-09 Cilag Gmbh International Method of powering and communicating with a staple cartridge
US11696757B2 (en) 2021-02-26 2023-07-11 Cilag Gmbh International Monitoring of internal systems to detect and track cartridge motion status
US11701113B2 (en) 2021-02-26 2023-07-18 Cilag Gmbh International Stapling instrument comprising a separate power antenna and a data transfer antenna
US11925349B2 (en) 2021-02-26 2024-03-12 Cilag Gmbh International Adjustment to transfer parameters to improve available power
US11730473B2 (en) 2021-02-26 2023-08-22 Cilag Gmbh International Monitoring of manufacturing life-cycle
US20220280238A1 (en) * 2021-03-05 2022-09-08 Verb Surgical Inc. Robot-assisted setup for a surgical robotic system
US11717291B2 (en) 2021-03-22 2023-08-08 Cilag Gmbh International Staple cartridge comprising staples configured to apply different tissue compression
US11759202B2 (en) 2021-03-22 2023-09-19 Cilag Gmbh International Staple cartridge comprising an implantable layer
US11737749B2 (en) 2021-03-22 2023-08-29 Cilag Gmbh International Surgical stapling instrument comprising a retraction system
US11826012B2 (en) 2021-03-22 2023-11-28 Cilag Gmbh International Stapling instrument comprising a pulsed motor-driven firing rack
US11723658B2 (en) 2021-03-22 2023-08-15 Cilag Gmbh International Staple cartridge comprising a firing lockout
US11826042B2 (en) 2021-03-22 2023-11-28 Cilag Gmbh International Surgical instrument comprising a firing drive including a selectable leverage mechanism
US11806011B2 (en) 2021-03-22 2023-11-07 Cilag Gmbh International Stapling instrument comprising tissue compression systems
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
US11744603B2 (en) 2021-03-24 2023-09-05 Cilag Gmbh International Multi-axis pivot joints for surgical instruments and methods for manufacturing same
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
US11857183B2 (en) 2021-03-24 2024-01-02 Cilag Gmbh International Stapling assembly components having metal substrates and plastic bodies
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
US11793516B2 (en) 2021-03-24 2023-10-24 Cilag Gmbh International Surgical staple cartridge comprising longitudinal support beam
US11849944B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Drivers for fastener cartridge assemblies having rotary drive screws
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
US11826047B2 (en) 2021-05-28 2023-11-28 Cilag Gmbh International Stapling instrument comprising jaw mounts
US12082896B2 (en) * 2021-08-04 2024-09-10 Pixee Medical Surgical navigation system on wearable computer combining augmented reality and robotics
EP4221602A1 (en) * 2021-09-29 2023-08-09 Cilag GmbH International Methods and systems for controlling cooperative surgical instruments
US20230100698A1 (en) 2021-09-29 2023-03-30 Cilag Gmbh International Methods for Controlling Cooperative Surgical Instruments
US11877745B2 (en) 2021-10-18 2024-01-23 Cilag Gmbh International Surgical stapling assembly having longitudinally-repeating staple leg clusters
US11980363B2 (en) 2021-10-18 2024-05-14 Cilag Gmbh International Row-to-row staple array variations
US11957337B2 (en) 2021-10-18 2024-04-16 Cilag Gmbh International Surgical stapling assembly with offset ramped drive surfaces
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
CN116672011B (zh) * 2023-06-25 2023-11-28 广州医科大学附属第四医院(广州市增城区人民医院) 一种智能化打结系统
CN117393107B (zh) * 2023-12-12 2024-03-15 北京唯迈医疗设备有限公司 一种自动手术介入机器人迭代学习方法和系统及存储介质

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101170961A (zh) * 2005-03-11 2008-04-30 布拉科成像S.P.A.公司 利用显微镜的用于外科手术导航及可视化的方法及设备

Family Cites Families (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4523008A (en) 1984-06-06 1985-06-11 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Stabilized unsaturated polyesters
WO1995001757A1 (en) * 1993-07-07 1995-01-19 Cornelius Borst Robotic system for close inspection and remote treatment of moving parts
US6460810B2 (en) 1996-09-06 2002-10-08 Terry Jack James Semiautonomous flight director
US6947587B1 (en) 1998-04-21 2005-09-20 Hitachi, Ltd. Defect inspection method and apparatus
US20010025183A1 (en) * 2000-02-25 2001-09-27 Ramin Shahidi Methods and apparatuses for maintaining a trajectory in sterotaxi for tracking a target inside a body
US7008373B2 (en) 2001-11-08 2006-03-07 The Johns Hopkins University System and method for robot targeting under fluoroscopy based on image servoing
US8182494B1 (en) 2002-07-31 2012-05-22 Cardica, Inc. Minimally-invasive surgical system
US20060211604A1 (en) * 2004-11-26 2006-09-21 The Brigham And Women's Hospital, Inc. Methods for treating inflammatory disorders using regulators of microvessel dilations
US8147503B2 (en) * 2007-09-30 2012-04-03 Intuitive Surgical Operations Inc. Methods of locating and tracking robotic instruments in robotic surgical systems
US8073528B2 (en) * 2007-09-30 2011-12-06 Intuitive Surgical Operations, Inc. Tool tracking systems, methods and computer products for image guided surgery
US7962192B2 (en) * 2005-09-30 2011-06-14 Restoration Robotics, Inc. Systems and methods for aligning a tool with a desired location or object
KR100731052B1 (ko) 2006-01-23 2007-06-22 한양대학교 산학협력단 미세침습 수술을 위한 컴퓨터통합 수술 보조시스템
US8219178B2 (en) * 2007-02-16 2012-07-10 Catholic Healthcare West Method and system for performing invasive medical procedures using a surgical robot
US9675375B2 (en) 2006-03-29 2017-06-13 Ethicon Llc Ultrasonic surgical system and method
US20080138289A1 (en) * 2006-12-08 2008-06-12 Evident Technologies, Inc. Systems and methods for detecting infrared emitting composites and medical applications therefor
CA2831692C (en) 2007-03-09 2015-01-27 Macdonald, Dettwiler And Associates Inc. Satellite refuelling system and method
FR2920086A1 (fr) * 2007-08-24 2009-02-27 Univ Grenoble 1 Systeme et procede d'analyse pour une operation chirurgicale par endoscopie
EP2194836B1 (en) * 2007-09-25 2015-11-04 Perception Raisonnement Action En Medecine Apparatus for assisting cartilage diagnostic and therapeutic procedures
US8197507B2 (en) 2008-01-14 2012-06-12 Sri International Sutureless methods for laceration closure
CA2712607A1 (en) 2008-01-25 2009-07-30 Mcmaster University Surgical guidance utilizing tissue feedback
US20090228019A1 (en) 2008-03-10 2009-09-10 Yosef Gross Robotic surgical system
WO2010085073A2 (ko) 2009-01-20 2010-07-29 주식회사 래보 지방흡입 수술용 로봇
US8706184B2 (en) 2009-10-07 2014-04-22 Intuitive Surgical Operations, Inc. Methods and apparatus for displaying enhanced imaging data on a clinical image
JP5814938B2 (ja) * 2010-01-08 2015-11-17 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． リアルタイム速度最適化を使用した校正不要のビジュアルサーボ
US9786202B2 (en) * 2010-03-05 2017-10-10 Agency For Science, Technology And Research Robot assisted surgical training
DE102010029275A1 (de) * 2010-05-25 2011-12-01 Siemens Aktiengesellschaft Verfahren zum Bewegen eines Instrumentenarms eines Laparoskopierobotors in einer vorgebbare Relativlage zu einem Trokar
US20120226145A1 (en) * 2011-03-03 2012-09-06 National University Of Singapore Transcutaneous robot-assisted ablation-device insertion navigation system
WO2013027200A2 (en) * 2011-08-21 2013-02-28 M.S.T. Medical Surgery Technologies Ltd. Device and method for asissting laparoscopic surgery - rule based approach
CA3041707C (en) * 2011-11-15 2021-04-06 Manickam UMASUTHAN Method of real-time tracking of moving/flexible surfaces
US9639156B2 (en) * 2011-12-29 2017-05-02 Mako Surgical Corp. Systems and methods for selectively activating haptic guide zones
US10945801B2 (en) * 2012-05-22 2021-03-16 Mako Surgical Corp. Soft tissue cutting instrument and method of use

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101170961A (zh) * 2005-03-11 2008-04-30 布拉科成像S.P.A.公司 利用显微镜的用于外科手术导航及可视化的方法及设备

Also Published As

Publication number Publication date
US9220570B2 (en) 2015-12-29
JP2015527906A (ja) 2015-09-24
ES2907252T3 (es) 2022-04-22
KR102231488B1 (ko) 2021-03-23
US10675040B2 (en) 2020-06-09
EP2866722B1 (en) 2021-12-01
CN104582624A (zh) 2015-04-29
WO2014005139A3 (en) 2014-05-08
US20160058517A1 (en) 2016-03-03
EP2866722A2 (en) 2015-05-06
US20140005684A1 (en) 2014-01-02
WO2014005139A2 (en) 2014-01-03
KR20150047478A (ko) 2015-05-04
EP2866722A4 (en) 2016-11-02

Similar Documents

Publication Publication Date Title
CN104582624B (zh) 自动的外科手术和介入过程
US11844574B2 (en) Patient-specific preoperative planning simulation techniques
JP6538234B2 (ja) 外科処置に備えて手術室内で複数の対象物を手配するためのシステム
US20190223961A1 (en) Step-based system for providing surgical intraoperative cues
US20190008598A1 (en) Fully autonomic artificial intelligence robotic system
AU2022206752A1 (en) Method for augmenting a representation of a surgical site
CN110062608A (zh) 带有基于扫描的定位的远程操作手术系统
CN118076313A (zh) 基于对用户的识别和对规程、位置或使用的感知的显示器设置和所显示信息的配置
US20220370138A1 (en) Methods For Surgical Simulation
CN111770735B (zh) 手术仿真信息生成方法及程序
CN115697235A (zh) 使用增强现实的远程外科指导
Cheng et al. An augmented reality framework for optimization of computer assisted navigation in endovascular surgery
Garcia Telemedicine for the battlefield: present and future technologies
US20240029858A1 (en) Systems and methods for generating and evaluating a medical procedure
WO2023178092A1 (en) Systems and methods for generating customized medical simulations
Quach Application of gestural guided continuum robots in orthopaedic surgery
WO2023178102A1 (en) Systems and methods for parameterizing medical procedures
Verma Design and analysis of ex-vivo minimally invasive robotic system for antebrachium laceration suturing task
WO2022243957A1 (en) Simulation-based surgical procedure planning system
Nistor Telementoring for Minimally Invasive Surgery

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant