CN106102632B - 在程序中重启期间修复器械控制输入方位/定向 - Google Patents

在程序中重启期间修复器械控制输入方位/定向 Download PDF

Info

Publication number
CN106102632B
CN106102632B CN201580013971.2A CN201580013971A CN106102632B CN 106102632 B CN106102632 B CN 106102632B CN 201580013971 A CN201580013971 A CN 201580013971A CN 106102632 B CN106102632 B CN 106102632B
Authority
CN
China
Prior art keywords
surgical
orientation
drive mechanism
rotatable drive
assembly
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
CN201580013971.2A
Other languages
English (en)
Chinese (zh)
Other versions
CN106102632A (zh
Inventor
D·W·威尔
N·斯梅比
J·M·阿散尼欧斯
G·F·布里森
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.)
Intuitive Surgical Operations Inc
Original Assignee
Intuitive Surgical Operations 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 Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Operations Inc
Publication of CN106102632A publication Critical patent/CN106102632A/zh
Application granted granted Critical
Publication of CN106102632B publication Critical patent/CN106102632B/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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0814—Preventing re-use

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
CN201580013971.2A 2014-03-17 2015-03-17 在程序中重启期间修复器械控制输入方位/定向 Active CN106102632B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201461954561P 2014-03-17 2014-03-17
US61/954,561 2014-03-17
PCT/US2015/020883 WO2015142790A1 (en) 2014-03-17 2015-03-17 Restoring instrument control input position/orientation during midprocedure restart

Publications (2)

Publication Number Publication Date
CN106102632A CN106102632A (zh) 2016-11-09
CN106102632B true CN106102632B (zh) 2019-06-14

Family

ID=54145190

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201580013971.2A Active CN106102632B (zh) 2014-03-17 2015-03-17 在程序中重启期间修复器械控制输入方位/定向

Country Status (6)

Country Link
US (2) US10085811B2 (enExample)
EP (1) EP3119317B1 (enExample)
JP (2) JP6548662B2 (enExample)
KR (1) KR102364743B1 (enExample)
CN (1) CN106102632B (enExample)
WO (1) WO2015142790A1 (enExample)

Families Citing this family (98)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9937626B2 (en) 2013-12-11 2018-04-10 Covidien Lp Wrist and jaw assemblies for robotic surgical systems
US20170079518A1 (en) * 2014-03-11 2017-03-23 Truphatek International Ltd. Metal laryngoscope blade with non-metal safety tip
JP6548662B2 (ja) 2014-03-17 2019-07-24 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 処置中再始動の間の器具制御入力位置／向きの回復
CN106659538B (zh) 2014-08-13 2019-05-10 柯惠Lp公司 机器人控制的具有机械优势的夹持
WO2016133633A1 (en) 2015-02-19 2016-08-25 Covidien Lp Repositioning method of input device for robotic surgical system
WO2016144937A1 (en) 2015-03-10 2016-09-15 Covidien Lp Measuring health of a connector member of a robotic surgical system
US10959788B2 (en) 2015-06-03 2021-03-30 Covidien Lp Offset instrument drive unit
CN107743384B (zh) 2015-06-16 2020-12-22 柯惠Lp公司 机器人外科手术系统扭矩传感感测
AU2016284040B2 (en) 2015-06-23 2020-04-30 Covidien Lp Robotic surgical assemblies
EP3352699B1 (en) 2015-09-25 2023-08-23 Covidien LP Robotic surgical assemblies and instrument drive connectors thereof
CN112842228A (zh) 2015-10-23 2021-05-28 柯惠Lp公司 用于检测灌注中逐步变化的手术系统
WO2017087439A1 (en) 2015-11-19 2017-05-26 Covidien Lp Optical force sensor for robotic surgical system
US10562191B2 (en) * 2015-12-29 2020-02-18 Robomotive Laboratories LLC Method of controlling devices with sensation of applied force
US20210212777A1 (en) 2016-03-04 2021-07-15 Covidien Lp Inverse kinematic control systems for robotic surgical system
US11576562B2 (en) 2016-04-07 2023-02-14 Titan Medical Inc. Camera positioning method and apparatus for capturing images during a medical procedure
EP3463159B1 (en) 2016-05-26 2024-01-03 Covidien LP Instrument drive units
JP7037505B2 (ja) 2016-05-26 2022-03-16 コヴィディエン リミテッド パートナーシップ ロボット外科手術アセンブリ
WO2017210497A1 (en) 2016-06-03 2017-12-07 Covidien Lp Systems, methods, and computer-readable program products for controlling a robotically delivered manipulator
US10874470B2 (en) 2016-06-03 2020-12-29 Covidien Lp Passive axis system for robotic surgical systems
CN113180835A (zh) 2016-06-03 2021-07-30 柯惠Lp公司 用于机器人手术系统的控制臂
US11553984B2 (en) 2016-06-03 2023-01-17 Covidien Lp Robotic surgical system with an embedded imager
CA3048039A1 (en) 2017-02-15 2018-08-23 Covidien Lp System and apparatus for crush prevention for medical robot applications
EP3629979A4 (en) 2017-05-24 2021-02-17 Covidien LP PRESENCE DETECTION FOR ELECTROSURGICAL TOOLS IN A ROBOTIZED SYSTEM
CN110621255B (zh) 2017-05-25 2023-03-07 柯惠Lp公司 机器人手术系统和用于覆盖机器人手术系统的部件的盖布
WO2018217444A2 (en) 2017-05-25 2018-11-29 Covidien Lp Systems and methods for detection of objects within a field of view of an image capture device
US11839441B2 (en) 2017-05-25 2023-12-12 Covidien Lp Robotic surgical system with automated guidance
CN107334531A (zh) * 2017-07-31 2017-11-10 成都中科博恩思医学机器人有限公司 一种机器人手术设备以及机器人手术设备安全控制方法
WO2019036418A1 (en) 2017-08-16 2019-02-21 Covidien Lp END EFFECTOR COMPRISING A WRIST SET AND A MONOPOLAR TOOL FOR ROBOTIC SURGICAL SYSTEMS
JP7349992B2 (ja) 2017-09-05 2023-09-25 コヴィディエン リミテッド パートナーシップ ロボット手術システムのための衝突処理アルゴリズム
US11583358B2 (en) 2017-09-06 2023-02-21 Covidien Lp Boundary scaling of surgical robots
CA3074685A1 (en) 2017-09-08 2019-03-14 Covidien Lp Energy disconnect for robotic surgical assemblies
WO2019108567A1 (en) 2017-12-01 2019-06-06 Covidien Lp Drape management assembly for robotic surgical systems
JP2021510562A (ja) 2018-01-04 2021-04-30 コヴィディエン リミテッド パートナーシップ 手術付属品をロボット手術システムに搭載し、それを通したアクセスを提供するためのシステムおよびアセンブリ
WO2019139949A1 (en) 2018-01-10 2019-07-18 Covidien Lp Determining positions and conditions of tools of a robotic surgical system utilizing computer vision
US12102403B2 (en) 2018-02-02 2024-10-01 Coviden Lp Robotic surgical systems with user engagement monitoring
US11189379B2 (en) 2018-03-06 2021-11-30 Digital Surgery Limited Methods and systems for using multiple data structures to process surgical data
CN111787880A (zh) 2018-03-08 2020-10-16 柯惠Lp公司 手术机器人系统
EP3781073A4 (en) 2018-04-20 2022-01-26 Covidien LP COMPENSATION OF OBSERVER MOTION IN ROBOTIC SURGICAL SYSTEMS WITH STEREOSCOPIC DISPLAYS
JP7071045B2 (ja) 2018-04-20 2022-05-18 コヴィディエン リミテッド パートナーシップ 外科用ロボットカートの配置のためのシステムおよび方法
WO2020009831A1 (en) * 2018-07-03 2020-01-09 Covidien Lp Surgical robotic systems
EP3817683B1 (en) 2018-07-03 2025-07-30 Covidien LP Systems, methods, and computer-readable media for detecting image degradation during surgical procedures
CN112702967A (zh) 2018-09-14 2021-04-23 柯惠Lp公司 手术机器人系统和跟踪其手术器械的使用的方法
WO2020060790A1 (en) 2018-09-17 2020-03-26 Covidien Lp Surgical robotic systems
US12186040B2 (en) 2018-09-17 2025-01-07 Covidien Lp Surgical robotic systems
US11109746B2 (en) 2018-10-10 2021-09-07 Titan Medical Inc. Instrument insertion system, method, and apparatus for performing medical procedures
US11586106B2 (en) 2018-12-28 2023-02-21 Titan Medical Inc. Imaging apparatus having configurable stereoscopic perspective
US11717355B2 (en) 2019-01-29 2023-08-08 Covidien Lp Drive mechanisms for surgical instruments such as for use in robotic surgical systems
US11576733B2 (en) 2019-02-06 2023-02-14 Covidien Lp Robotic surgical assemblies including electrosurgical instruments having articulatable wrist assemblies
US11484372B2 (en) 2019-02-15 2022-11-01 Covidien Lp Articulation mechanisms for surgical instruments such as for use in robotic surgical systems
WO2020236778A1 (en) 2019-05-22 2020-11-26 Covidien Lp Surgical robotic arm storage assemblies and methods of replacing surgical robotic arms using the storage assemblies
JP7530958B2 (ja) 2019-07-15 2024-08-08 ストライカー・コーポレイション 手持ち式ロボット機器
US12315109B2 (en) 2019-09-11 2025-05-27 Covidien Lp Systems and methods for neural-network based color restoration
EP4028986A4 (en) 2019-09-11 2023-06-07 Covidien LP SYSTEMS AND METHODS FOR REDUCING SMOKE IN PICTURES
US11559366B2 (en) * 2019-09-30 2023-01-24 Cilag Gmbh International Communicating closure effort for robotic surgical tools background
US12350828B2 (en) 2019-12-16 2025-07-08 Covidien Lp Surgical robotic systems including surgical instruments with articulation
CN115443108A (zh) 2019-12-23 2022-12-06 柯惠Lp公司 手术程序指导系统
CN110840564A (zh) * 2019-12-24 2020-02-28 锐志微创医疗科技（常州）有限公司 一种快换机构及使用该快换机构的手术机器人
CN115066209A (zh) 2020-02-06 2022-09-16 柯惠Lp公司 用于缝合引导的系统和方法
WO2021173315A1 (en) 2020-02-26 2021-09-02 Covidien Lp Robotic surgical instrument including linear encoders for measuring cable displacement
US12262863B2 (en) 2020-05-12 2025-04-01 Covidien Lp Systems and methods for image mapping and fusion during surgical procedures
US12030195B2 (en) 2020-05-27 2024-07-09 Covidien Lp Tensioning mechanisms and methods for articulating surgical instruments such as for use in robotic surgical systems
USD963851S1 (en) 2020-07-10 2022-09-13 Covidien Lp Port apparatus
GB2602816B (en) * 2021-01-15 2025-02-05 Cmr Surgical Ltd RFID shield
US12409003B2 (en) 2021-05-14 2025-09-09 Covidien Lp Instrument cassette assemblies for robotic surgical instruments
US12369998B2 (en) 2021-05-28 2025-07-29 Covidien Lp Real time monitoring of a robotic drive module
US11948226B2 (en) 2021-05-28 2024-04-02 Covidien Lp Systems and methods for clinical workspace simulation
US12458348B2 (en) 2021-08-16 2025-11-04 Cilag Gmbh International Deflectable firing member for surgical stapler
US12029508B2 (en) 2021-08-16 2024-07-09 Cilag Gmbh International Adjustable power transmission mechanism for powered surgical stapler
US11986182B2 (en) 2021-08-16 2024-05-21 Cilag Gmbh International Multi-position restraining member for sled movement
US11944297B2 (en) 2021-08-16 2024-04-02 Cilag Gmbh International Variable response motor control algorithm for powered surgical stapler
US12102321B2 (en) 2021-08-16 2024-10-01 Cilag Gmbh International Methods of operating a robotic surgical stapler
US12213668B2 (en) 2021-08-16 2025-02-04 Cilag Gmbh International Firing system features for surgical stapler
US11779332B2 (en) 2021-08-16 2023-10-10 Cilag Gmbh International Powered surgical stapler having independently operable closure and firing systems
US11992209B2 (en) 2021-08-16 2024-05-28 Cilag Gmbh International Multi-threshold motor control algorithm for powered surgical stapler
US12171428B2 (en) 2021-08-16 2024-12-24 Cilag Gmbh International Firing member tracking feature for surgical stapler
US12089842B2 (en) 2021-08-16 2024-09-17 Cilag Gmbh International Firing bailout system for powered surgical stapler
US11992210B2 (en) 2021-08-16 2024-05-28 Cilag Gmbh International Multiple-sensor firing lockout mechanism for powered surgical stapler
US12011164B2 (en) 2021-08-16 2024-06-18 Cilag Gmbh International Cartridge-based firing lockout mechanism for surgical stapler
US11957336B2 (en) 2021-08-16 2024-04-16 Cilag Gmbh International Proximally located firing lockout mechanism for surgical stapler
US12496119B2 (en) 2021-12-06 2025-12-16 Covidien Lp Jaw member, end effector assembly, and method of manufacturing a jaw member of an electrosurgical instrument
US12390294B2 (en) 2021-12-14 2025-08-19 Covidien Lp Robotic surgical assemblies including surgical instruments having articulatable wrist assemblies
US12433699B2 (en) 2022-02-10 2025-10-07 Covidien Lp Surgical robotic systems and robotic arm carts thereof
US12479098B2 (en) 2022-08-03 2025-11-25 Covidien Lp Surgical robotic system with access port storage
US12465447B2 (en) 2022-08-25 2025-11-11 Covidien Lp Surgical robotic system with instrument detection
US12496728B2 (en) 2022-10-25 2025-12-16 Covidien Lp Surgical robotic system and method for restoring operational state
EP4603048A1 (en) 2022-11-25 2025-08-20 Kawasaki Jukogyo Kabushiki Kaisha Surgery assistance system, surgery assistance robot, control method for surgery assistance system, and robot system
USD1066405S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066380S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066383S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066379S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066381S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066382S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066378S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066404S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
US11844585B1 (en) * 2023-02-10 2023-12-19 Distalmotion Sa Surgical robotics systems and devices having a sterile restart, and methods thereof
USD1087995S1 (en) 2023-08-02 2025-08-12 Covidien Lp Surgeon display screen with a transitional graphical user interface having staple firing icon
USD1087135S1 (en) 2023-08-02 2025-08-05 Covidien Lp Surgeon display screen with a graphical user interface having spent staple icon
WO2025076034A1 (en) * 2023-10-02 2025-04-10 Intuitive Surgical Operations, Inc. Restoring the state of systems after a system restart

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5363474A (en) * 1991-05-21 1994-11-08 Hitachi Construction Machinery Co., Ltd. Emergency shutdown system for controlling industrial robot
US20010013764A1 (en) * 1998-08-04 2001-08-16 Blumenkranz Steven J. Manipulator positioning linkage for robotic surgery
CN1533745A (zh) * 2003-03-31 2004-10-06 株式会社东芝 医疗用机械手、其控制装置以及控制方法
US20090062813A1 (en) * 1999-04-07 2009-03-05 Intuitive Surgical Inc. Medical robotic system with dynamically adjustable slave manipulator characteristics
US20110245970A1 (en) * 2010-04-02 2011-10-06 Gm Global Technology Operations, Inc. Systems and Methods for Evaluating Braking Performance
US8041456B1 (en) * 2008-10-22 2011-10-18 Anybots, Inc. Self-balancing robot including an ultracapacitor power source
CN103079491A (zh) * 2010-09-10 2013-05-01 奥林巴斯株式会社 机械手系统的控制装置、机械手系统以及机械手系统的控制方法

Family Cites Families (59)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2A (en) * 1826-12-15 1836-07-29 John Goulding Mode of manufacturing wool or other fibrous materials
JPH04305705A (ja) * 1991-04-03 1992-10-28 Toshiba Corp ロボット制御装置
US5279309A (en) 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
US5184601A (en) 1991-08-05 1993-02-09 Putman John M Endoscope stabilizer
CA2632123C (en) 1992-01-21 2010-03-23 Sri International Teleoperator system and method with telepresence
JP2665052B2 (ja) 1993-05-14 1997-10-22 エスアールアイ インターナショナル 遠隔中心位置決め装置
US6406472B1 (en) 1993-05-14 2002-06-18 Sri International, Inc. Remote center positioner
US5855583A (en) 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US6364888B1 (en) * 1996-09-09 2002-04-02 Intuitive Surgical, Inc. Alignment of master and slave in a minimally invasive surgical apparatus
ES2353846T3 (es) * 1997-04-11 2011-03-07 United States Surgical Corporation Aparato para ablación con rf y controlador del mismo.
US7789875B2 (en) * 1998-02-24 2010-09-07 Hansen Medical, Inc. Surgical instruments
US6459926B1 (en) * 1998-11-20 2002-10-01 Intuitive Surgical, Inc. Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
US6322567B1 (en) * 1998-12-14 2001-11-27 Integrated Surgical Systems, Inc. Bone motion tracking system
US6630993B1 (en) * 1999-03-22 2003-10-07 Arc Second Inc. Method and optical receiver with easy setup means for use in position measurement systems
US6424885B1 (en) * 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US6594552B1 (en) * 1999-04-07 2003-07-15 Intuitive Surgical, Inc. Grip strength with tactile feedback for robotic surgery
US6788018B1 (en) 1999-08-03 2004-09-07 Intuitive Surgical, Inc. Ceiling and floor mounted surgical robot set-up arms
US7594912B2 (en) 2004-09-30 2009-09-29 Intuitive Surgical, Inc. Offset remote center manipulator for robotic surgery
US6702805B1 (en) 1999-11-12 2004-03-09 Microdexterity Systems, Inc. Manipulator
AU2002248360A1 (en) 2001-01-16 2002-08-19 Microdexterity Systems, Inc. Surgical manipulator
JP3926119B2 (ja) * 2001-08-10 2007-06-06 株式会社東芝 医療用マニピュレータ
US7386365B2 (en) * 2004-05-04 2008-06-10 Intuitive Surgical, Inc. Tool grip calibration for robotic surgery
US6804580B1 (en) * 2003-04-03 2004-10-12 Kuka Roboter Gmbh Method and control system for controlling a plurality of robots
EP1633534B1 (en) * 2003-04-28 2018-09-12 Nikon Metrology NV Cmm arm with exoskeleton
US7042184B2 (en) * 2003-07-08 2006-05-09 Board Of Regents Of The University Of Nebraska Microrobot for surgical applications
US7126303B2 (en) * 2003-07-08 2006-10-24 Board Of Regents Of The University Of Nebraska Robot for surgical applications
US8016835B2 (en) * 2004-08-06 2011-09-13 Depuy Spine, Inc. Rigidly guided implant placement with control assist
JP4361071B2 (ja) * 2005-07-08 2009-11-11 ファナック株式会社 サーボ制御装置
WO2007018651A1 (en) * 2005-08-05 2007-02-15 Honeywell International, Inc. Method for redunancy management of distributed and recoverable digital control system
EP1815949A1 (en) * 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Medical robotic system with manipulator arm of the cylindrical coordinate type
US8560047B2 (en) * 2006-06-16 2013-10-15 Board Of Regents Of The University Of Nebraska Method and apparatus for computer aided surgery
US20140163664A1 (en) * 2006-11-21 2014-06-12 David S. Goldsmith Integrated system for the ballistic and nonballistic infixion and retrieval of implants with or without drug targeting
JP4960112B2 (ja) * 2007-02-01 2012-06-27 オリンパスメディカルシステムズ株式会社 内視鏡手術装置
JP5006093B2 (ja) * 2007-04-03 2012-08-22 テルモ株式会社 マニピュレータシステム及び制御装置
US8444631B2 (en) * 2007-06-14 2013-05-21 Macdonald Dettwiler & Associates Inc Surgical manipulator
US9895798B2 (en) * 2007-10-19 2018-02-20 Force Dimension Device for movement between an input member and an output member
US8414469B2 (en) * 2008-06-27 2013-04-09 Intuitive Surgical Operations, Inc. Medical robotic system having entry guide controller with instrument tip velocity limiting
CN102421386A (zh) * 2009-03-31 2012-04-18 安吉戴尼克公司 用于估计医疗装置的治疗区和互动式地计划患者治疗的系统和方法
WO2010150697A1 (ja) * 2009-06-23 2010-12-29 オリンパスメディカルシステムズ株式会社 医療システム
US8423186B2 (en) * 2009-06-30 2013-04-16 Intuitive Surgical Operations, Inc. Ratcheting for master alignment of a teleoperated minimally-invasive surgical instrument
US8876830B2 (en) * 2009-08-13 2014-11-04 Zimmer, Inc. Virtual implant placement in the OR
EP3639783B1 (en) 2009-11-13 2025-04-23 Intuitive Surgical Operations, Inc. End effector with redundant closing mechanisms
EP3381397B1 (en) 2009-11-13 2020-01-08 Intuitive Surgical Operations Inc. Motor interface for parallel drive shafts within an independently rotating member
US8521331B2 (en) * 2009-11-13 2013-08-27 Intuitive Surgical Operations, Inc. Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument
CN102933163A (zh) * 2010-04-14 2013-02-13 史密夫和内修有限公司 用于基于患者的计算机辅助手术程序的系统和方法
US8398236B2 (en) * 2010-06-14 2013-03-19 Alcon Lensx, Inc. Image-guided docking for ophthalmic surgical systems
US9456839B2 (en) 2010-06-18 2016-10-04 Intuitive Surgical Operations, Inc. Scissor bias for direct pull surgical instrument
EP2663363B1 (en) * 2011-01-12 2017-04-19 Brainlab AG Determination of a body part position during radiation therapy
WO2012132637A1 (ja) * 2011-03-29 2012-10-04 オリンパスメディカルシステムズ株式会社 内視鏡
US9188973B2 (en) * 2011-07-08 2015-11-17 Restoration Robotics, Inc. Calibration and transformation of a camera system's coordinate system
US9931167B2 (en) * 2012-02-15 2018-04-03 Intuitive Surgical Operations, Inc. Minimally invasive surgical instrument to provide needle-based therapy
US9314926B2 (en) 2012-02-15 2016-04-19 Intuitive Surgical Operations, Inc. Compact needle manipulator for targeted interventions
JP2013184236A (ja) * 2012-03-06 2013-09-19 Jtekt Corp ロボットのキャリブレーション方法及びキャリブレーション装置
US9144456B2 (en) * 2012-04-09 2015-09-29 Intuitive Surgical Operations, Inc. Surgical instrument control
EP3623120A1 (en) * 2012-06-01 2020-03-18 Intuitive Surgical Operations Inc. Instrument carriage assembly for surgical system
JP6548662B2 (ja) * 2014-03-17 2019-07-24 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 処置中再始動の間の器具制御入力位置／向きの回復
US20160210882A1 (en) * 2014-12-29 2016-07-21 Help Me See Inc. Surgical Simulator System and Method
US9808246B2 (en) * 2015-03-06 2017-11-07 Ethicon Endo-Surgery, Llc Method of operating a powered surgical instrument
JP6602044B2 (ja) * 2015-05-08 2019-11-06 キヤノン株式会社 振動型駆動装置、制御装置及び医用システム

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5363474A (en) * 1991-05-21 1994-11-08 Hitachi Construction Machinery Co., Ltd. Emergency shutdown system for controlling industrial robot
US20010013764A1 (en) * 1998-08-04 2001-08-16 Blumenkranz Steven J. Manipulator positioning linkage for robotic surgery
US20090062813A1 (en) * 1999-04-07 2009-03-05 Intuitive Surgical Inc. Medical robotic system with dynamically adjustable slave manipulator characteristics
CN1533745A (zh) * 2003-03-31 2004-10-06 株式会社东芝 医疗用机械手、其控制装置以及控制方法
US8041456B1 (en) * 2008-10-22 2011-10-18 Anybots, Inc. Self-balancing robot including an ultracapacitor power source
US20110245970A1 (en) * 2010-04-02 2011-10-06 Gm Global Technology Operations, Inc. Systems and Methods for Evaluating Braking Performance
CN103079491A (zh) * 2010-09-10 2013-05-01 奥林巴斯株式会社 机械手系统的控制装置、机械手系统以及机械手系统的控制方法

Also Published As

Publication number Publication date
US20170020617A1 (en) 2017-01-26
EP3119317A4 (en) 2017-10-25
US10085811B2 (en) 2018-10-02
CN106102632A (zh) 2016-11-09
US10500005B2 (en) 2019-12-10
JP6548662B2 (ja) 2019-07-24
JP2017513551A (ja) 2017-06-01
EP3119317B1 (en) 2020-02-26
JP2019177199A (ja) 2019-10-17
WO2015142790A1 (en) 2015-09-24
KR20160135284A (ko) 2016-11-25
US20190060012A1 (en) 2019-02-28
EP3119317A1 (en) 2017-01-25
JP6756016B2 (ja) 2020-09-16
KR102364743B1 (ko) 2022-02-18

Similar Documents

Publication Publication Date Title
CN106102632B (zh) 在程序中重启期间修复器械控制输入方位/定向
JP6821743B2 (ja) 手術システム用の器具運搬アセンブリ
US20240238057A1 (en) System and method for providing on-demand functionality during a medical procedure
KR102437468B1 (ko) 디스크 결합을 확인하는 시스템 및 방법
US10149727B2 (en) Surgical tool and robotic surgical system interfaces
CN109890314A (zh) 配置成使用吻合器重新装载的机器人外科手术吻合器组件
US10588704B2 (en) Surgical tool and robotic surgical system interfaces
US10149732B2 (en) Surgical tool and robotic surgical system interfaces
US20260020923A1 (en) Instrument carriage assembly for surgical system

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