CN108135660A - 手术机器人系统和其方法 - Google Patents
手术机器人系统和其方法 Download PDFInfo
- Publication number
- CN108135660A CN108135660A CN201680052688.5A CN201680052688A CN108135660A CN 108135660 A CN108135660 A CN 108135660A CN 201680052688 A CN201680052688 A CN 201680052688A CN 108135660 A CN108135660 A CN 108135660A
- Authority
- CN
- China
- Prior art keywords
- robot
- arm
- automatic
- camera
- automatic medical
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000003384 imaging method Methods 0.000 claims abstract description 36
- 238000001356 surgical procedure Methods 0.000 claims abstract description 10
- 239000012636 effector Substances 0.000 claims description 61
- 230000005484 gravity Effects 0.000 claims description 19
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 15
- 238000003825 pressing Methods 0.000 claims description 13
- 238000012163 sequencing technique Methods 0.000 claims description 6
- 238000003491 array Methods 0.000 claims description 2
- 230000004044 response Effects 0.000 claims description 2
- 239000000463 material Substances 0.000 description 19
- 230000003287 optical effect Effects 0.000 description 14
- 229910052751 metal Inorganic materials 0.000 description 12
- 239000002184 metal Substances 0.000 description 12
- 229920000049 Carbon (fiber) Polymers 0.000 description 9
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 9
- 229920003023 plastic Polymers 0.000 description 9
- 239000004033 plastic Substances 0.000 description 9
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 8
- 239000004917 carbon fiber Substances 0.000 description 8
- 238000009434 installation Methods 0.000 description 8
- 229910001220 stainless steel Inorganic materials 0.000 description 8
- 239000010935 stainless steel Substances 0.000 description 8
- 239000010936 titanium Substances 0.000 description 8
- 229910052719 titanium Inorganic materials 0.000 description 8
- 239000004411 aluminium Substances 0.000 description 7
- 229910052782 aluminium Inorganic materials 0.000 description 7
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 7
- 239000003365 glass fiber Substances 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 4
- 238000002591 computed tomography Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 4
- 238000003780 insertion Methods 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- 230000005855 radiation Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 239000003795 chemical substances by application Substances 0.000 description 3
- 238000005553 drilling Methods 0.000 description 3
- 238000011065 in-situ storage Methods 0.000 description 3
- 229910052738 indium Inorganic materials 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 240000002853 Nelumbo nucifera Species 0.000 description 2
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 2
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 229920001084 poly(chloroprene) Polymers 0.000 description 2
- 238000009877 rendering Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 101150027068 DEGS1 gene Proteins 0.000 description 1
- 240000007817 Olea europaea Species 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 239000000499 gel Substances 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000005339 levitation Methods 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000010349 pulsation Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 230000008685 targeting Effects 0.000 description 1
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
- A61B34/25—User interfaces for surgical systems
-
- 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
-
- 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
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4405—Constructional features of apparatus for radiation diagnosis the apparatus being movable or portable, e.g. handheld or mounted on a trolley
-
- 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
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00982—General structural features
- A61B2017/00991—Telescopic means
-
- 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
-
- 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
- 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
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
-
- 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
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/372—Details of monitor hardware
-
- 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
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
- A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Medical Informatics (AREA)
- Animal Behavior & Ethology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- High Energy & Nuclear Physics (AREA)
- Optics & Photonics (AREA)
- Radiology & Medical Imaging (AREA)
- Manipulator (AREA)
Abstract
一种自动医疗系统和使用所述自动医疗系统的方法。所述自动医疗系统可包括机器人支撑系统。所述机器人支撑系统可包括机器人主体。所述机器人支撑系统可进一步包括选择顺应性铰接机器人臂，所述机器人臂连接到所述机器人主体且可操作以在手术程序中将工具定位于所选位置处。所述机器人支撑系统可进一步包括启动组合件，所述启动组合件可操作以将移动信号发射到所述选择顺应性铰接机器人臂，从而允许操作员移动所述选择顺应性铰接机器人臂。所述自动医疗系统可进一步包括相机跟踪系统和自动成像系统。
Description
技术领域
本发明涉及机器人手术系统和其方法。
背景技术
实施例涉及自动医疗系统，且更具体地说涉及可在操作中使用医疗工具辅助外科医生的自动医疗系统。自动医疗系统可包括机器人支撑系统和相机系统。两个系统可包括多个组件，其中所述组件可允许外科医生使用医疗工具阵列来辅助医疗操作。
各种医疗程序需要手术器械在身体内的三维位置的精确定位以便实现最优治疗。例如，一些融合脊椎的外科手术过程需要外科医生在特定部位处钻孔到骨骼结构中的多个电洞。为了实现融合系统中之高度机械完整性，且为了平衡骨骼结构中产生的力，在正确部位钻孔电洞为必要的。脊椎(类似于大部分骨骼结构)具有由非平面弧形表面组成的复杂形状，使得精确且竖直的钻孔变得困难。常规地，外科医生通过使用导引系统将钻孔管的位置重叠在骨骼结构的三维图像上来手动固持且定位钻孔导引管。此手动过程为繁琐且费时的。手术的成功大部分取决于进行所述手术的外科医生的灵巧性。
机器人系统已用于帮助减少繁琐且费时的过程。用于手术应用中的许多当前机器人专门用于放大/稳定手术动作或提供对于铣削骨骼表面的模板。然而，这些机器人对于钻电洞及其它相关任务为次优的。
因此，需要将人类及机器人错误减到最少同时允许快速及高效外科手术进入的机器人系统。使用机器人系统对患者执行操作的能力将大大减轻对患者的不利影响。机器人系统的应用和与机器人系统一起使用的技术可增强整体外科手术操作及所述操作的结果。
发明内容
实施例可涉及自动医疗系统。所述自动医疗系统可包括机器人支撑系统。所述机器人支撑系统可包括机器人主体。所述机器人支撑系统可进一步包括选择顺应性铰接机器人臂，其连接到所述机器人主体且在手术程序中将工具定位于所选位置处。所述机器人支撑系统可进一步包括启动组合件，其经操作以将移动信号发射到所述选择顺应性铰接机器人臂，允许操作员移动所述选择顺应性铰接机器人臂。所述自动医疗系统可进一步包括相机跟踪系统和自动成像系统。
实施例可涉及一种在医疗程序中使用自动医疗系统的方法，其包括：将所述自动医疗系统移动到房间中；将相机跟踪系统从机器人支撑系统拆卸；安置所述相机跟踪系统与患者相邻；安置所述机器人支撑系统与所述患者相邻；操纵选择顺应性铰接机器人臂；及将所述选择顺应性铰接机器人臂引导至具有重力井的程序化位置。
附图说明
为了本发明的优选实施例的详细描述，现将参考附图，其中：
图1说明自动医疗系统的实施例；
图2说明机器人支撑系统的实施例；
图3说明相机跟踪系统的实施例；
图4说明具有末端执行器的SCARA的实施例；
图5说明机器人支撑系统及相机系统安置于患者周围的医疗操作的实施例。
图6说明末端执行器的实施例；
图7说明末端执行器的切面的实施例；
图8说明末端执行器切面的透视图的实施例；
图9说明用于自动医疗系统的软件架构的示意图的实施例；
图10说明C形臂成像装置的实施例；
图11说明成像装置的实施例；
图12说明对于医疗程序的重力井的实施例；
图13说明朝向重力井移动的末端执行器工具的实施例；及
图14说明沿重力井定位的末端执行器工具的实施例。
具体实施方式
实施例涉及自动医疗系统，且更具体地说涉及可在操作中使用医疗工具辅助外科医生的自动医疗系统。自动医疗系统可包括机器人支撑系统和相机系统。两个系统可包括多个组件，其中所述组件可允许外科医生使用医疗工具阵列来辅助医疗操作。
图1说明自动医疗系统2的实施例。在进行创伤性医疗程序之前，三维(“3D”)图像扫描可截得患者的期望外科手术区域并将其发送到与自动医疗系统2通信的计算机平台。在一些实施例中，医生接着可程序化期望插入点及对于手术器械的轨线以在患者的身体内或身体上达到期望的结构目标。在一些实施例中，期望的插入点及轨线可在3D图像扫描上规划，所述插入点及轨线在一些实施例中可显示于显示器上。在一些实施例中，医生可规划患者的计算机断层扫描(下文称为“CT扫描”)的轨线及期望插入点(如果存在)。在一些实施例中，CT扫描可为同心C形臂类型扫描，或任何其它类似类型扫描，或如本领域中已知的操作内CT扫描。然而，在一些实施例中，任何已知3D图像扫描可根据自动医疗系统2的实施例使用。
医疗程序可开始于从医疗存储室移动到医疗程序房间的自动医疗系统2。自动医疗系统2可通过门道、大厅和电梯操纵以到达医疗程序房间。在所述房间内，自动医疗系统2可经物理分成两个单独及相异系统，机器人支撑系统4和相机跟踪系统6。机器人支撑系统4可在任何合适的位置处定位成邻近于患者以恰当地辅助医务人员。相机跟踪系统6可定位于患者的底部或适合于机器人支撑系统4及患者的轨道移动的任何其它位置。机器人支撑系统4及相机跟踪系统6可由机载电源供电和/或插入至外壁插座中。
如图1中所示的自动医疗系统2可在医疗程序期间辅助外科医生及医生。自动医疗系统2可通过以供使用的固持工具、对准工具、使用工具、引导工具和/或定位工具辅助外科医生及医生。在实施例中，如图1中所示，自动医疗系统2可包括机器人支撑系统4及相机跟踪系统6。两个系统可通过任何合适的方式连接在一起。合适的方式可为(但不限于)机械闩锁、绑带、夹钳、支持物、磁性表面和/或磁力表面。组合机器人支撑系统4及相机跟踪系统6的能力可允许自动医疗系统2作为单个单元操纵及移动。此组合可允许自动医疗系统2具有较小占据面积，允许通过较窄通道及转盘的更轻易移动，及允许并存储于较小区域内。
机器人支撑系统4可用于通过在医疗程序期间固持和/或使用工具而辅助外科医生。为了恰当地利用及固持工具，机器人支撑系统4可依赖于多个电动机、计算机和/或致动器来恰当地工作。在图1中说明，机器人主体8可充当多个电动机、计算机和/或致动器可固定于机器人支撑系统4中的结构。机器人主体8也可提供对机器人可伸缩支撑臂16的支撑。在实施例中，机器人主体8可由任何合适的材料所组成。合适的材料可为但不限于例如钛、铝或不锈钢的金属，碳纤维，玻璃纤维或重型塑料。机器人主体8的大小可提供其它组件可连接及操作的固体平台。机器人主体8可收容、隐藏及保护可操作附接的组件的多个电动机、计算机和/或致动器。
机器人底座10可充当对于机器人支撑系统4的下部支撑件。在实施例中，机器人底座10可支撑机器人主体8且可将机器人主体8附接至多个电动轮12。对轮的此附接可允许机器人主体8在空间里有效地移动。机器人底座10可游行机器人主体8的长度及宽度。机器人底座10可为约两英寸至约十英寸高。机器人底座10可由任何合适的材料组成。合适的材料可为但不限于例如钛、铝或不锈钢的金属，碳纤维，玻璃纤维或重型塑料或树脂。机器人底座10可覆盖、保护及支撑电动轮12。
在实施例中，如图1中所示，至少一个电动轮12可附接至机器人底座10。电动轮12可在任何位置处附接至机器人底座10。每一单独电动轮12可关于竖直轴线在任何方向上旋转。电动机可安置于电动轮12上方、之内或附近。此电动机可允许自动医疗系统2操纵至任何位置中且稳定和/或平衡自动医疗系统2。定位于电动轮12内或邻近于电动轮12的棒可通过电动机按压至表面中。未描画的棒可由任何合适的金属组成以提升自动医疗系统2。合适的金属可为但不限于不锈钢、铝或钛。此外，棒可在接触面侧末端处包括缓冲器(未描画)，所述缓冲器可防止所述棒打滑和/或建立合适的接触面。材料可以是任何合适的材料以充当缓冲器。合适的材料可为但不限于塑料、氯丁橡胶、橡胶或变形金属。棒可将电动轮10提升至平衡或另外固定自动医疗系统2相对于患者的方向所需的任何高度，所述电动轮10可提升自动医疗系统2。通过较小接触面积由棒支撑于每一轮上的自动内侧系统2的重量防止自动医疗系统2在医疗程序期间移动。此固定定位可防止物件和/或人无意地移动自动医疗系统2。
可使用机器人栏杆14促进移动自动医疗系统2。机器人栏杆14为人提供在不握紧机器人主体8的情况下移动自动医疗系统2的能力。如图1中所示，机器人栏杆14可游行机器人主体8的长度，短于机器人主体8，和/或可游行比机器人主体8更长的长度。机器人栏杆14可由任何合适的材料组成，但不限于例如钛、铝或不锈钢的金属，碳纤维，玻璃纤维或重型塑料。机器人栏杆14可另外提供对机器人主体8的保护，防止物件和或人员触摸、击打或撞击机器人主体8。
机器人主体8可提供对选择顺应性铰接机器人臂(下文称作“SCARA”)的支撑。由于机器人臂的可重复性和紧密性，SCARA 24可有益于在自动医疗系统内使用。SCARA的紧密性可在医疗程序内提供额外的空间，所述额外空间可允许医疗专业人员进行医疗程序，而没有过余混杂及限制区域。SCARA 24可包括机器人可伸缩支撑件16、机器人支撑臂18和/或机器人臂20。机器人可伸缩支撑件16可沿机器人主体8安置。如图1中所示，机器人可伸缩支撑件16可提供对SCARA 24及显示器34的支撑。在实施例中，机器人可伸缩支撑件16可在竖直方向上延伸并接触。机器人可伸缩支撑件16可由任何合适的材料组成，但不限于例如钛或不锈钢的金属、碳纤维、玻璃纤维或重型塑料。机器人可伸缩支撑件16的主体可以是支撑放置于其上的压力及重量的任何宽度和/或高度。在实施例中，医务人员可通过由医务人员提交的命令移动SCARA 24。命令可来源于在显示器34和/或平板电脑上接收的输入。命令可来自开关的按压和/或多个开关的按压。最佳在图4及5中说明，启动组合件60可包括开关和/或多个开关。启动组合件60可以是可操作来将移动命令发射至SCARA 24，允许操作员手动操控SCARA 24。当按压开关或多个开关时，医务人员可具有轻易移动SCARA 24的能力。此外，当SCARA24不接收移动的命令时，SCARA 24可在原位互锁以防止人员和/或其它目标的偶然移动。通过原位互锁，SCARA 24提供固体平台，在所述固体平台上可在医疗操作期间使用末端执行器22及末端执行器工具26。
机器人支撑臂18可通过任何合适的方式安置于机器人可伸缩支撑件16上。合适的方式可为但不限于螺母及螺钉球窝式安装、按压安装、焊接、粘附、旋拧、铆接、夹持、闩锁和/或其任何组合。在实施例中，最佳见于图1及2中，机器人支撑臂18可关于机器人可伸缩支撑件16在任何方向中旋转。机器人支撑臂18可关于机器人可伸缩支撑件16旋转三百六十度。机器人臂20可在任何合适的位置处连接至机器人支撑臂18。机器人臂20可通过任何合适的方式附接至机器人支撑臂16。合适的方式可为但不限于螺母及螺钉球窝式安装、按压安装、焊接、粘附、旋拧、铆接、夹持、闩锁和/或其任何组合。机器人臂20可关于机器人支撑臂18在任何方向中旋转，在实施例中，机器人臂20可关于机器人支撑臂18旋转三百六十度。这可允许操作员按需要定位机器人臂20。
末端执行器22可在任何合适的位置附接至机器人臂20。末端执行器22可通过任何合适的方式附接至机器人臂20。合适的方式可为但不限于闩锁、夹持、螺母及螺钉球窝式安装、按压安装、焊接、旋拧和/或其任何组合。末端执行器22可关于机器人臂20在任何方向上移动。这可允许用户将末端执行器22移动至期望区域。如图4中所示的末端执行器工具26可附接至末端执行器22。末端执行器工具26可以是选用于医疗程序的任何工具。末端执行器工具26可远离末端执行器22安置且从末端执行器22移除。在实施例中，末端执行器工具26可具有动态参考阵列52。动态参考阵列52(本文中被称作“DRA”)为可在导航手术程序中安置于患者和/或工具上的固定主体。其目的可允许3D定位系统追踪嵌入于DRA 52中的跟踪标记的位置，且由此追踪相关身体结构的实时位置。无线电-不透光标记可由相机46所见、记录和/或处理。跟踪标记的3D坐标的此跟踪可允许自动医疗系统2在任何空间中寻找关于患者50的DRA 52。
如图1中所示，光指示器28可定位于SCARA 24的顶部上。光指示器28可照明为任何类型的光以指示自动医疗系统2当前正操作的“条件”。举例来说，绿色发光可指示所有系统正常。照明红可指示自动医疗系统2并不正常操作。脉动光可意味着自动医疗系统2正在执行功能。光与脉动的组合可建立几乎无限量的连通当前操作“条件”的组合。在实施例中，光可由LED灯泡产生，所述LED灯泡可在光指示器28周围形成环。光指示器28可包括可通过光指示器28的整体使光闪亮的完全磁导材料。在实施例中，光指示器28可仅允许光指示器28的环和/或允许光穿过的指定区段。
光指示器28可附接至较低显示器支撑件30。如图2中所示的较低显示器支撑件30可允许操作员操纵显示器34至任何合适的位置。较低显示器支撑件30可通过任何合适的方式附接至光指示器28。合适的方式可为但不限于闩锁、夹持、螺母以及螺钉球窝式安装、按压安装、焊接、粘附、旋拧、铆接和/或其任何组合。在实施例中，较低显示器支撑件30可关于光指示器28旋转。在实施例中，较低显示器支撑件30可刚性地附接至光指示器28。光指示器28接着可关于机器人支撑臂18旋转三百六十度。较低显示器支撑件30可为任何合适的长度，合适的长度可为约八英寸到约三十四英寸。较低显示器支撑件30可充当用于上部显示器支撑件32的底座。
上部显示器支撑件32可通过任何合适的方式附接至较低显示器支撑件30。合适的方式可为但不限于闩锁、夹持、螺母以及螺钉球窝式安装、按压安装、焊接、粘附、旋拧、铆接和/或其任何组合。上部显示器支撑件32可为任何合适的长度，合适的长度可为约八英寸至约三十四英寸。在实施例中，如图1中所示，上部显示器支撑件32可允许显示器34关于上部显示器支撑件32旋转三百六十度。同样地，上部显示器支撑件32可关于较低显示器支撑件30旋转三百六十度。
显示器34可以是可通过上部显示器支撑件32支撑的任何装置。在实施例中，如图2中所示，显示器34可产生彩色和/或黑色以及白色图像。显示器34的宽度可为约八英寸到约三十英寸宽。显示器34的高度可为约六英寸到约二十二英寸宽。显示器34的深度可为约二分之一英寸到约四英寸。
在实施例中，平板电脑可结合显示器34和/或不结合显示器34使用。在实施例中，工作台可安置于上部显示器支撑件32而不是显示器34上，且可在医疗操作期间从上部显示器支撑件32移除。另外，平板电脑可与显示器34连通。工作台可以能够通过任何合适的无线和/或有线连接连接到机器人支撑系统4。在实施例中，平板电脑可以能够在医疗操作期间编程和/或控制自动医疗系统2。当使用平板电脑控制自动医疗系统2时，所有输入以及输出命令可复制于显示器34上。平板电脑的使用可允许操作员操控机器人支撑系统4而不必须围绕患者50移动和/或到机器人支撑系统4。
如图5中所示，相机跟踪系统6可与机器人支撑系统4一起工作。如上文所描述，相机跟踪系统6以及机器人支撑系统4可以能够附接到彼此。现参考图1，相机跟踪系统6可包括机器人支撑系统4的类似组件。举例来说，相机主体36可提供在机器人主体8中发现的功能。机器人主体8可提供相机46可安放于其上的结构。机器人主体8内的结构也可提供对电子元件、通信装置的支撑，以及用于操作相机跟踪系统6的电力供应。相机主体36可由与机器人主体8相同的材料组成。相机跟踪系统6也可通过任何合适的方式与机器人支撑系统4连通。合适的方式可为但不限于有线或无线连接。此外，相机跟踪系统6可通过无线和/或有线连接直接连通到工作台。此连通可允许平板电脑控制相机跟踪系统6的功能。
相机主体36可滞留于相机底座38上。相机底座38可充当机器人底座10。在实施例中，如图1中所示，相机底座38可比机器人底座10更宽。相机底座38的宽度可允许相机跟踪系统6与机器人支撑系统4连接。如图1中所示，相机底座38的宽度可足够大以在机器人底座10外侧拟合。当相机跟踪系统6及机器人支撑系统4已连接时，相机底座38的额外宽度可允许自动医疗系统2的额外操纵性及对自动医疗系统2的支撑。
如同机器人底座10，多个电动轮12可附接到相机底座38。电动轮12可允许相机跟踪系统6稳定及平衡或设定关于患者50的固定定向，类似于机器人底座10及电动轮12的操作。此稳定可防止相机跟踪系统6在医疗程序期间移动且可保持相机46避免迷失DRA 52在指定区域内的轨道。跟踪的此稳定性及维护可允许机器人支撑系统4有效地操作相机跟踪系统6。此外，宽相机底座38可提供对相机跟踪系统6的额外支撑。确切地说，宽相机底座38可防止相机跟踪系统6在相机46安置于患者上时倾斜，如图5中所示。在没有宽相机底座38的情况下，向外伸出的相机46可不平衡相机跟踪系统6，这可导致相机跟踪系统6下倾。
相机可伸缩支撑件40可支撑相机46。在实施例中，可伸缩支撑件40可在竖直方向上将相机46移动得更高或更低。可伸缩支撑件40可由支撑相机46的任何合适的材料组成。合适的材料可为但不限于例如钛、铝或不锈钢的金属，碳纤维，玻璃纤维或重型塑料。相机把手48可在任何合适的位置处附接至相机可伸缩支撑件40。相机把手48可以是任何合适的把手配置。合适的配置可为但不限于杆、环形、三角形、方形和/或其任何组合。如图1中所示，相机把手48可为三角形的，允许操作员在医疗操作之前将相机跟踪系统6移动至理想位置中。在实施例中，相机把手48可用于降低并升高相机可伸缩支撑件40。相机把手48可通过按压按钮、开关、杠杆和/或其任何组合来执行相机可伸缩支撑件40的升高及降低。
较低相机支撑臂42可在任何合适的位置处附接到相机可伸缩支撑件40，在实施例中，如图1中所示，较低相机支撑臂42可关于可伸缩支撑件40旋转三百六十度。这自由旋转可允许操作员将相机46定位于任何合适的位置。较低相机支撑臂42可由支撑相机46的任何合适的材料组成。合适的材料可为但不限于例如钛、铝或不锈钢的金属，碳纤维，玻璃纤维或重型塑料。较低相机支撑臂42的横截面可以是任何合适的形状。合适的横截面形状可为但不限于圆形、方形、矩形、六边形、八边形或工字型。横截面长度及宽度可为约一至十英寸。较低相机支撑臂的长度可为约四英寸至约三十六英寸。较低相机支撑臂42可通过任何合适的方式连接到可伸缩支撑件40。合适的方式可为但不限于螺母及螺钉球窝式安装、按压安装、焊接、旋拧和/或其任何组合。较低相机支撑臂42可用于为相机46提供支撑。相机46可通过任何合适的方式附接至较低相机支撑臂42。合适的方式可为但不限于螺母及螺钉球窝式安装、按压安装、焊接、旋拧和/或其任何组合。相机46可在相机46与较低相机支撑臂42之间的附接区域处在任何方向上枢转。在实施例中，弧形轨44可安置于较低相机支撑臂42上。
弧形轨44可在任何合适的位置处安置于较低相机支撑臂42上。如图3中所示，弧形轨44可通过任何合适的方式附接到较低相机支撑臂42。合适的方式可为但不限于螺母及螺钉球窝式安装、按压安装、焊接、粘附、旋拧、铆接、夹持、闩锁和/或其任何组合。弧形轨44可为任何合适的形状，合适的形状可为新月形、环形、卵形、椭圆和/或其任何组合。在实施例中，弧形轨44可以是任何大约长度。大约长度可为约一尺至约六尺。相机46可沿弧形轨44可移动地安置。相机46可通过任何合适的方式附接到弧形轨44。合适的方式可为但不限于辊、托架、支架、电动机和/或其任何组合。电动机及辊(未图示)可用于沿弧形轨44移动相机46。如图3中所示，在医疗程序期间，如果物件阻止相机46观看一或多个DRA 52，那么电动机可使用辊沿弧形轨44移动相机46。此机动移动可允许在不移动相机跟踪系统6的情况下，将相机46移动至不再被物件遮挡的新的位置。在相机46从观看DRA 52遮挡时，相机跟踪系统6可将停止信号发送到机器人支撑系统4、显示器34和/或平板电脑。停止信号可防止SCARA 24移动，直到相机46已重新获取DRA 52。此停止可防止SCARA 24和/或末端执行器22在不通过自动医疗系统2跟踪的情况下移动和/或使用医疗工具。
如图6中所示，末端执行器22可用于将外科手术工具连接至机器人支撑系统4。末端执行器22可包括鞍接合62、启动组合件60、荷重计64及工具连接66。鞍接合62可将末端执行器22附接到SCARA 24。鞍接合62可由任何合适的材料组成。合适的材料可为但不限于例如钛、铝或不锈钢的金属，碳纤维，玻璃纤维或重型塑料。鞍接合62可由单个金属片件组成，所述金属片件可为末端执行器提供额外强度及耐久性。在实例中，鞍接合62可通过附接点68附接到SCARA 24。可存在安置于鞍接合62周围的多个附接点68。附接点68可沉降、冲刷和/或安置于鞍接合62上。在实例中，旋拧、螺母及螺钉和/或其任何组合可穿过附接点68且将鞍接合62固定到SCARA 24。螺母及螺钉可将鞍接合62连接到SCARA 24内的电动机(未图示)。电动机可在任何方向上移动鞍接合62。电动机可进一步通过在所述当前位置处主动地服务或通过应用弹簧致动刹车而被动地服务从而防止鞍接合62从偶然凸块和/或偶然触摸移动。鞍接合62可提供底座，在所述底座上可安置荷重计64和工具连接66。
如图7和8中所示，荷重计64可通过任何合适的方式附接到鞍接合62。合适的方式可为但不限于旋拧、螺母及螺钉、螺旋穿入、按压安装和/或其任何组合。荷重计64可以是用于检测及测量移动的任何合适的器具。在实例中，荷重计64可为六轴荷重计、三轴荷重计或单轴荷重计。荷重计64可用于追踪应用于末端执行器22的力。如图17中所示，示意图可展示荷重计64与电动机120之间的连通。在实施例中，荷重计64可与多个电动机120连通。随着荷重计64感测压力，关于所施加的力的量的信息可从开关阵列122和/或多个开关阵列分布微控制器单元122。微控制器单元124可从荷重计64采集力信息且使用开关算法处理所述力信息。开关算法可允许微控制器单元124与电动机驱动器126连通。电动机驱动器126可控制电动机120的功能，所述电动机驱动器126可通过所述电动机120连通。电动机驱动器126可引导特定电动机120产生通过电动机120由荷重计64测量的相等力量。在实施例中，所产生的力可来自多个电动机120，如通过微控制器单元124所引导。此外，电动机驱动器126可从运动控制器128接收输入。运动控制器128可从荷重计64接收关于通过荷重计64感测的力的方向的信息。运动控制器128可使用运动控制器算法处理此信息。算法可用于将信息提供至特定电动机驱动器126。为了重复力的方向，运动控制器128可启动和/或撤销启动某些电动机驱动器126。一起和/或分开工作，微控制器单元124和运动控制器128可控制电动机120(或多个电动机120)感应此运动方向及通过荷重计64感测的力的方向。此力控制的运动可允许操作员不费力地和/或使用极少阻力移动SCARA 24和末端执行器22。末端执行器22的移动可将工具连接66定位于任何合适的位置以供医务人员使用。
工具连接66可附接到荷重计64。工具连接66可包括附接点68、感测按钮70、工具引导件72和/或工具连接74。最佳在图6和8中说明，可存在多个附接点68。附接点68可将工具连接66连接到荷重计64。附接点68可沉降、冲刷和/或安置于工具连接66上。连接器76可使用附接点68将工具连接66附接到荷重计64。在实例中，连接器76可为螺杆、螺母及螺钉、按压配件和/或其任何组合。
如图6中所示，感测按钮70可安置于工具连接66的中心周围。最佳在图4中说明，当末端执行器工具26连接到末端执行器22时，可按压感测按钮70。感测按钮70的按压可警告机器人支撑系统4，且继而医务人员末端执行器工具26已附接到末端执行器22。如图6中所示，工具引导件72可用于促进将末端执行器工具26正确附接到末端执行器22。工具引导件72可沉降、冲刷和/或安置于工具连接66上。在实例中，可存在多个工具引导件72且可具有任何合适的图案且可定向于任何合适的方向中。工具引导件72可以是任何合适的形状以促进末端执行器工具26附接到末端执行器22。合适的形状可为但不限于环形、卵形、方形、多面体和/或其任何组合。此外，工具引导件72可剪切为斜边、笔直和/或其任何组合。
工具连接66可具有附接点74。如图6中所示，附接点74可形成壁架和/或多个壁架。附接点74可为末端执行器工具26提供末端执行器工具26可在其上夹持的表面。在实例中，附接点74可安置于工具连接66的任何表面周围且以任何合适方式关于工具连接66定向。
工具连接66可进一步充当用于启动组合件60的平台。最佳在图6和8中说明，启动组合件60可包围工具连接66。在实施例中，启动组合件60可采取手环的形式。作为手环，启动组合件60可环绕工具连接66。在实施例中，启动组合件60可定位于自动医疗系统2内的任何合适的区域。在实例中，启动组合件60可定位于SCARA 24的任何部分上，末端执行器22的任何部分可由医务人员穿戴(且无线连通)，和/或其任何组合。启动组合件60可由任何合适的材料组成。合适的材料可为但不限于氯丁橡胶、塑料、橄榄、凝胶、碳纤维、织品和/或其任何组合。启动组合件60可包括主按钮78和二级按钮80。主按钮78及二级按钮80可包围工具连接66的整体。主按钮78可为单个脊线，如图6中所示，所述单个脊线可包围工具连接66。在实例中，主按钮78可沿离鞍接合62最远的末端安置于启动组合件60上。主按钮78可安置于主启用开关82上，最佳绘示于图7上。主启用开关82可安置在工具连接66与启动组合件60之间。在实例中，可存在多个主启动开关82，所述主启动开关可沿主按钮78的整个长度安置于主按钮78附近及底部。按压主启用开关82上的主按钮78可允许操作员移动SCARA 24和末端执行器22。如上文所论述，一旦设定在原位之后，SCARA 24和末端执行器22可不移动直到操作员编程机器人支撑系统4移动SCARA 24和末端执行器22，或使用主按钮78和主启用开关82移动。在实例中，可能需要在SCARA 24和末端执行器22将对命令作出反应之前按压至少两个非相邻主启动开关82。至少两个主启动开关82的按压可防止在医疗程序期间SCARA 24和末端执行器22的偶然移动。
通过主按钮78和主启用开关82启动，荷重计64可测量医务人员在末端执行器22施加的力的力量值和/或方向。此信息可传输到可用于移动SCARA 24和末端执行器22的SCARA24内的电动机。关于通过荷重计64测量的力的量值和方向的信息可致使电动机在与通过荷重计64感测的相同方向上移动SCARA 24和末端执行器22。此力控制的移动可允许操作员轻易地移动SCARA 24和末端执行器22且不大量施力，因为电动机在操作员移动SCARA 24和末端执行器22的同时移动SCARA 24和末端执行器22。
如图6中所示，二级按钮80可安置于最接近于鞍接合62的启动组合件60的末端之上。在实例中，二级按钮80可包括多个脊线。多个脊线可安置为彼此邻近且可包围工具连接66。此外，二级按钮80可安置于二级启用开关84上。如图7中所示，二级启用开关84可安置在二级按钮80与工具连接66之间。在实例中，二级按钮80可由操作员用作“选择”装置。在医疗操作期间，机器人支撑系统4可通过显示器34和/或光指示器28通知医务人员某些条件。医务人员可通过机器人支撑系统4提示以选择功能、模式和/或获取自动医疗系统2的条件。单次按压二级启用开关84上的二级按钮80可启动某些功能、模式和/或通过显示器34和/或光指示器28连通到医务人员的应答信息。此外，快速连续多次按压二级启用开关84上的二级按钮80可启动额外功能、模式和/或选择通过显示器34和/或光指示器28连通到医务人员的信息。在实例中，至少两个非相邻二级启动开关84可在二级按钮80可恰当地作用之前按压。此要求可防止当启动组合件60时医务人员无意撞击二级按钮80的不期望使用。主按钮78和二级按钮80可使用软件架构86将医务人员的命令连通到自动医疗系统2。
图9说明可在自动医疗系统2内使用的软件架构86的流程图。软件架构86可用于自动机器人支撑系统4和相机跟踪系统6。此外，软件架构86可允许操作员根据从操作员获得的命令操控自动医疗系统2。在实例中，操作员命令可包括图像存档和通信系统(PACS)88(可与下文论述的自动成像系统104连通)、USB装置90和来自平板电脑54的命令。这些操作员命令可贯穿自动医疗系统2通过计算机处理器92接收且传输。计算机处理器92可以能够接收所有命令且因此操控自动医疗系统2。在实例中，计算机处理器92可以能够控制且识别包括自动医疗系统2的单独部分的位置。与相机跟踪系统6和显示器34连通，计算机处理器92可以能够将患者、末端执行器22和机器人支撑系统4定位于限定空间中(例如在图5中说明)。此外，计算机处理器92可以能够使用来自显示器34和相机跟踪系统6的命令来改变SCARA 24的位置。根据所测量的力量值和方向，来自荷重计64的信息可由计算机处理器92处理且发送到SACARA 24内的电动机，如上文所论述。一般代数建模系统(GAMS)94可将来自荷重计64的关于力量值的信息转译成可由计算机处理器92使用的电子信号。当SCARA 24和末端执行器22移动时，此转译可允许计算机处理器92追踪机器人支撑系统4在限定空间中的位置和移动。计算机处理器92可进一步使用固件96控制来自机器人主体8的命令和信号。固件96可包括经固线连接到自动医疗系统2的命令。举例来说，计算机处理器92可需要来自电源98的电力以用于操作。固件96可控制来自电源98的电力到自动医疗系统2的分配。此外，计算机处理器92可基于操作员命令控制固件96和配电。在实例中，固件96可与光指示器28、电动轮12和平台接口100连通。平台接口100可为直接控制自动医疗系统2的固线式按钮命令系列。按钮命令不限于但可包括可在任何方向中移动自动医疗系统2、启动紧急制动、启动SCARA 24的移动和/或将当前系统功能连通到医务人员的功能。计算机处理器92可处理并分配由医务人员进行的程序化任务的所有操作员命令。
自动成像系统104可与自动医疗系统2结合使用以采集患者50的手术前、手术期间、手术后和/或实时图像数据。任何大约主题可使用自动成像系统104针对任何大约程序成像。在实施例中，自动成像系统104可为任何成像装置，例如成像装置106和/或C形臂108装置。可能需要从多个不同位置采集患者50的x射线，而不需要频繁地手动再定位在x射线系统中可能需要的患者50。C形臂108x射线诊断设备可解决频繁手动再定位的问题且在外科手术和其它干预程序的医疗领域中可为熟知的。如图10中所示，C形臂108可包括在“C”形的相对远侧末端112中端接的经延长C形构件110。C形构件110可进一步包括x射线源114和图像接受器116，所述x射线源114和图像接受器116可分别在相对定向上安装于C形臂108的远侧末端112处或附近，C形臂108支撑在悬浮位置中。所述臂的C形臂108内的空间可为医生提供出席基本上不受x射线支撑结构118干涉的患者的空间。X射线支撑结构118可滞留于轮120，这可能够使得C形臂108在医疗程序期间自空间滚轮到空间并且进一步沿患者50的长度。自C形臂108产生的X射线图像可用于手术室环境中以帮助确保在医疗程序期间自动内侧系统2可恰当地定位。
可安装C形臂108在两个自由度下能够旋转移动臂，(即约球面运动中的两个垂直轴)。C形臂108可滑动地安装到x射线支撑结构118，可允许C形臂108关于其曲率中心的轨道旋转移动，这可准许x射线源114和图像接受器116垂直和/或水平地选择性定向。C形臂108还可侧向可旋转(即在相对于轨道方向的垂直方向以能够关于患者50的宽度和长度两者来选择性地调节x射线源114和图像接受器116的定位)。C形臂108设备的球形可旋转方面可允许医生在关于所成像的特定结构条件所确定的理想角度下拍摄患者50的x射线。在实施例中，C形臂108可支撑于带轮支撑车120上。在实施例中，成像装置106可分别地使用和/或和C形臂108一起使用。
如图11中所示，成像装置106可包括台架外壳124，所述台架外壳124可包围图像捕获部分，未图示。图像捕获部分可包含x射线源和/或发射部分和x射线接收和/或图像接收部分，所述部分可与彼此距约一百八十度安置且相对于图像捕获部分的轨道安装于转子(未示出)上。图像捕获部分在图像采集期间可以是可操作来旋转三百六十度。图像捕获部分可关于中心点和/或轴线旋转，允许患者50的图像数据自多个方向或在多个平面中获取。
在实施例中，成像装置106可包括具有用于定位于待成像目标周围的中心开口126的台架外壳124、可围绕台架外壳124的内侧旋转的辐射源，所述辐射源可适于从多个不同投射角度投射辐射。检测器系统可适于检测每一投射角度下的辐射以半同步方式从多个投射平面获取目标图像。在实施例中，台架可以悬臂式方式附接至支撑结构成像装置支撑结构128，例如具有轮132的带轮移动车130。定位单元134可将台架平移和/或倾斜到理想位置和定向，优选地在计算机化运动控制系统的控制下。台架可包含在台架上彼此相反安置的来源和检测器。来源和检测器可固定到机动转子，所述转子可将所述来源和检测器围绕台架的内部彼此协调地旋转。来源可在针对定位于台架内部的靶向目标的多平面成像的多个位置和超过部分和/或全三百六十度旋转的定向下脉冲。台架可进一步包括用于随着转子旋转而引导转子的轨及携带系统，所述系统可携载来源和检测器。成像装置106和C形臂108中的两个或一个可用作扫描患者50并将信息发送到自动医疗系统2的自动成像系统104。
自动成像系统104可在已经发生成像之前、期间和/或之后与自动医疗系统2通信。可通过硬连线连接和/或无线连接执行通信。成像可产生并且实时发送到自动医疗系统2。由自动成像系统104捕获的图像可显示于显示器34上，这可允许医疗个人将骨骼及器官定位于患者内。此可进一步允许医务人员程序化自动内侧系统2以在医疗操作期间辅助。
在医疗操作期间，医务人员可编程机器人支撑系统4以在限定规格内操作。举例来说，如图12中所示，患者50可具有对脊椎进行的医疗程序。医务人员可使用成像设备来定位并寻找脊椎，如上文详细描述。使用所述图像，操作员可将关于脊椎位置的信息上传到自动医疗系统2中。自动医疗系统2接着可追踪、定位并且将末端执行器工具26移动到操作员指定的区域。在实例中，重力井102和/或多个重力井102可映射到患者50的脊椎上，如图12中所示。重力井102可为由操作员编程的吸引末端执行器工具26的区域。这些区域可使得SCARA 24和末端执行器22朝向医务人员编程的方向、角度和位置移动。
如图13中所示，重力井102在虚拟空间中指示末端执行器工具26的角度和位置可需要针对医疗程序定位。如所绘示，末端执行器工具26可由操作员使用启动组合件60移动，如上文所论述。随着末端执行器工具26在重力井102的区域内移动，操作员可感觉SCARA 24中的电动机将末端执行器工具26移动到重力井102的程序化位置中。如图14中所示，重力井102可将末端执行器工具26操纵到程序化位置中。在实例中，如果操作员开始使用启动组合件60移动末端执行器工具26，那么操作员可感觉电动机提供对移动的抗性。来自电动机的抗性可能不足够强来保持末端执行器工具26在重力井102内。这可为有益的，因为其可允许操作员操纵末端执行器工具26到额外重力孔102。重力井102可在医疗操作之前和/或医疗操作期间经程序化到自动医疗系统2中。这可允许医务人员基于改变的医疗程序条件来移动重力井102。重力井102可允许自动医疗系统2将末端执行器工具26快速、轻易地且正确地放置于所要区域中。
虽然已详细地描述了本发明和其优点，但是应理解，可在不脱离如所附权利要求书所界定的本发明的精神和范围的情况下对本发明做出各种改变、替代和更改。
Claims (20)
1.一种自动医疗系统，包括：
机器人支撑系统，其中所述机器人支撑系统包括：
机器人主体，
选择顺应性铰接机器人臂，连接到所述机器人主体且可操作以在手术程序中将工具定位于所选位置处；以及
启动组合件，可操作以将移动信号发射到所述选择顺应性铰接机器人臂，从而允许操作员移动所述选择顺应性铰接机器人臂；
相机跟踪系统；以及
自动成像系统。
2.根据权利要求1所述的自动医疗系统，其中所述选择顺应性铰接机器人臂包括：机器人可伸缩臂，连接到所述机器人主体且可操作以在竖直方向上上升和降低；机器人支撑臂，连接到所述机器人可伸缩臂且可绕所述机器人可伸缩臂旋转；以及机器人臂，连接到所述机器人支撑臂。
3.根据权利要求1所述的自动医疗系统，其中所述机器人支撑系统进一步包括末端执行器，所述末端执行器连接到所述选择顺应性铰接机器人臂的远端，其中所述末端执行器可操作以将手术工具连接到所述机器人支撑系统。
4.根据权利要求1所述的自动医疗系统，其中所述启动组合件包括主按钮。
5.根据权利要求4所述的自动医疗系统，其中所述启动组合件进一步包括两个或多于两个由所述主按钮启动的主启动开关，其中所述主启动开关中的至少两个的按压需要所述操作员响应于所述移动信号而移动所述选择顺应性关节机器人臂。
6.根据权利要求1所述的自动医疗系统，其中所述相机跟踪系统包括相机和弧形轨，其中所述相机可沿所述弧形轨移动安置。
7.根据权利要求6所述的自动医疗系统，其中所述相机跟踪系统配置成在所述相机被遮挡不能观看一个或多个动态参考阵列的情况下将停止信号发送到机器人支撑系统。
8.根据权利要求1所述的自动医疗系统，其中所述自动成像系统包括台架臂。
9.根据权利要求8所述的自动医疗系统，其中所述台架臂包括主臂、成像臂和成像装置。
10.根据权利要求9所述的自动医疗系统，其中所述台架臂使所述成像装置绕患者旋转。
11.一种在医疗程序中使用自动医疗系统的方法，包括：
将所述自动医疗系统移动到房间中；
将相机跟踪系统从机器人支撑系统拆卸；
邻近于患者安置所述相机跟踪系统；
邻近于所述患者安置所述机器人支撑系统；
操纵选择顺应性铰接机器人臂；以及
将所述选择顺应性铰接机器人臂引导到具有重力井的程序化位置。
12.根据权利要求11所述的方法，进一步包括在将所述选择顺应性铰接机器人臂引导到所述程序化位置时使用所述相机跟踪系统跟踪所述选择顺应性铰接机器人臂。
13.根据权利要求12所述的方法，进一步包括使所述相机跟踪系统的相机围绕障碍自主地移动。
14.根据权利要求13所述的方法，其中所述相机沿所述相机跟踪系统上的弧形轨移动。
15.根据权利要求11所述的方法，进一步包括按压启动组合件上的主按钮以允许由操作员进行的所述选择顺应性铰接机器人臂的移动。
16.根据权利要求15所述的方法，其中通过按压启动至少两个主启动开关的主按钮来允许所述选择顺应性铰接机器人臂的移动。
17.根据权利要求11所述的方法，其中所述选择顺应性铰接机器人臂在被引导到所述程序化位置时抗拒离开所述重力井。
18.根据权利要求17所述的方法，其中医疗操作具有多个重力井。
19.根据权利要求11所述的方法，其中所述方法进一步包括：
将自动成像系统移动到房间中；
邻近于患者放置所述自动成像系统；
启动所述自动成像系统；
对所述患者进行成像；以及
将所述图像传递到所述自动医疗系统。
20.根据权利要求19所述的方法，其中所述自动成像系统包括：
成像系统底座；
至少一个全方向轮；以及
台架，其中所述台架进一步包括主臂、成像臂和成像装置。
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US14/853,238 US10034716B2 (en) | 2015-09-14 | 2015-09-14 | Surgical robotic systems and methods thereof |
| US14/853,238 | 2015-09-14 | ||
| PCT/US2016/051565 WO2017048736A1 (en) | 2015-09-14 | 2016-09-14 | Surgical robotic systems and methods thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108135660A true CN108135660A (zh) | 2018-06-08 |
| CN108135660B CN108135660B (zh) | 2021-03-02 |
Family
ID=58256918
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680052688.5A Active CN108135660B (zh) | 2015-09-14 | 2016-09-14 | 手术机器人系统和其方法 |
Country Status (6)
| Country | Link |
|---|---|
| US (3) | US10034716B2 (zh) |
| EP (1) | EP3349678A4 (zh) |
| JP (1) | JP6898313B2 (zh) |
| CN (1) | CN108135660B (zh) |
| HK (1) | HK1254053A1 (zh) |
| WO (1) | WO2017048736A1 (zh) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111195154A (zh) * | 2018-11-16 | 2020-05-26 | 格罗伯斯医疗有限公司 | 用于手术机器人系统的末端执行器 |
| WO2021098584A1 (zh) * | 2019-11-20 | 2021-05-27 | 杭州键嘉机器人有限公司 | 骨科z字型切割导向装置及包括该导向装置的骨科手术机器人 |
| CN114828769A (zh) * | 2020-02-18 | 2022-07-29 | 瑞德医疗机器股份有限公司 | 医疗用机器人 |
| RU2791887C1 (ru) * | 2019-11-20 | 2023-03-14 | Ханчжоу Цзяньцзя Медикал Текнолоджи Ко., Лтд. | Ортопедическое z-образное режущее направляющее устройство и содержащий его ортопедический хирургический робот |
Families Citing this family (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10893912B2 (en) * | 2006-02-16 | 2021-01-19 | Globus Medical Inc. | Surgical tool systems and methods |
| US9782229B2 (en) * | 2007-02-16 | 2017-10-10 | Globus Medical, Inc. | Surgical robot platform |
| US20170258535A1 (en) * | 2012-06-21 | 2017-09-14 | Globus Medical, Inc. | Surgical robotic automation with tracking markers |
| CN113081009A (zh) | 2015-04-15 | 2021-07-09 | 莫比乌斯成像公司 | 集成式医学成像与外科手术机器人系统 |
| US11141859B2 (en) * | 2015-11-02 | 2021-10-12 | Brainlab Ag | Determining a configuration of a medical robotic arm |
| US10028713B2 (en) | 2016-03-09 | 2018-07-24 | Medtronic Navigation, Inc. | Transformable imaging system |
| US9855015B2 (en) * | 2016-03-09 | 2018-01-02 | Medtronic Navigation, Inc. | Transformable imaging system |
| US9962133B2 (en) | 2016-03-09 | 2018-05-08 | Medtronic Navigation, Inc. | Transformable imaging system |
| US10695133B2 (en) | 2016-07-12 | 2020-06-30 | Mobius Imaging Llc | Multi-stage dilator and cannula system and method |
| US11389360B2 (en) * | 2016-09-16 | 2022-07-19 | Verb Surgical Inc. | Linkage mechanisms for mounting robotic arms to a surgical table |
| US11185455B2 (en) * | 2016-09-16 | 2021-11-30 | Verb Surgical Inc. | Table adapters for mounting robotic arms to a surgical table |
| US11103990B2 (en) | 2016-09-16 | 2021-08-31 | Mobius Imaging Llc | System and method for mounting a robotic arm in a surgical robotic system |
| WO2018075784A1 (en) | 2016-10-21 | 2018-04-26 | Syverson Benjamin | Methods and systems for setting trajectories and target locations for image guided surgery |
| WO2018081136A2 (en) | 2016-10-25 | 2018-05-03 | Eugene Gregerson | Methods and systems for robot-assisted surgery |
| US10682129B2 (en) | 2017-03-23 | 2020-06-16 | Mobius Imaging, Llc | Robotic end effector with adjustable inner diameter |
| SE1750434A1 (en) * | 2017-04-11 | 2018-09-25 | Follou Ab | A surgical simulation arrangement |
| EP3621545B1 (en) | 2017-05-10 | 2024-02-21 | MAKO Surgical Corp. | Robotic spine surgery system |
| US11033341B2 (en) | 2017-05-10 | 2021-06-15 | Mako Surgical Corp. | Robotic spine surgery system and methods |
| WO2019032849A2 (en) | 2017-08-11 | 2019-02-14 | GYS Tech, LLC d/b/a Cardan Robotics | METHOD AND APPARATUS FOR FIXING A REFERENCE MARKER TO A PATIENT |
| CN115068075A (zh) | 2017-08-23 | 2022-09-20 | 麦米克创新外科有限公司 | 用于阴道途径的工具与方法 |
| WO2019050883A1 (en) * | 2017-09-06 | 2019-03-14 | Covidien Lp | MOBILE SURGICAL CONTROL CONSOLE |
| EP3691545A4 (en) | 2017-10-04 | 2022-02-16 | Mobius Imaging, LLC | SYSTEMS AND METHODS FOR PERFORMING SIDE ACCESS SPINAL SURGERY |
| WO2019071189A2 (en) | 2017-10-05 | 2019-04-11 | GYS Tech, LLC d/b/a Cardan Robotics | METHODS AND SYSTEMS FOR PERFORMING COMPUTER-ASSISTED SURGERY |
| US10999493B2 (en) | 2017-12-22 | 2021-05-04 | Medtech S.A. | Scialytic light navigation |
| CN112702968A (zh) * | 2018-09-17 | 2021-04-23 | 柯惠Lp公司 | 手术机器人系统 |
| US11229493B2 (en) | 2019-01-18 | 2022-01-25 | Nuvasive, Inc. | Motion programming of a robotic device |
| US10820871B1 (en) | 2019-08-09 | 2020-11-03 | GE Precision Healthcare LLC | Mobile X-ray imaging system including a parallel robotic structure |
| US11888262B2 (en) * | 2020-01-03 | 2024-01-30 | Aptiv Technologies Limited | Automotive electrical connector features for robotic installation |
| US20210361360A1 (en) * | 2020-05-19 | 2021-11-25 | Orthosoft Ulc | Stabilization system for navigation camera in computer-assisted surgery |
| CN114550888B (zh) * | 2022-02-17 | 2022-11-11 | 湖北工业大学 | 一种社区应急医疗舱及其配置优化方法、系统 |
| CN114748164B (zh) * | 2022-05-07 | 2022-11-04 | 鑫君特(苏州)医疗科技有限公司 | 一种手术定位装置 |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1557134A1 (en) * | 2004-01-23 | 2005-07-27 | Olympus Corporation | Method and apparatus for removably holding medical device |
| CN101530338A (zh) * | 2008-03-12 | 2009-09-16 | 西门子公司 | 使用机器人x线装置进行心脏瓣膜介入手术的方法和设备 |
| CN102955350A (zh) * | 2011-08-31 | 2013-03-06 | 华晶科技股份有限公司 | 立体影像获取装置 |
| US20140163736A1 (en) * | 2012-12-10 | 2014-06-12 | Intuitive Surgical Operations, Inc. | Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms |
| US20140200621A1 (en) * | 2013-01-16 | 2014-07-17 | Stryker Corporation | Navigation Systems and Methods for Indicating and Reducing Line-of-Sight Errors |
| CN104880211A (zh) * | 2015-05-15 | 2015-09-02 | 湖北工业大学 | 一种用于视觉检测的极坐标复合式相机机架 |
Family Cites Families (566)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2614083B2 (de) | 1976-04-01 | 1979-02-08 | Siemens Ag, 1000 Berlin Und 8000 Muenchen | Röntgenschichtgerät zur Herstellung von Transversalschichtbildern |
| US5354314A (en) | 1988-12-23 | 1994-10-11 | Medical Instrumentation And Diagnostics Corporation | Three-dimensional beam localization apparatus and microscope for stereotactic diagnoses or surgery mounted on robotic type arm |
| US5086401A (en) | 1990-05-11 | 1992-02-04 | International Business Machines Corporation | Image-directed robotic system for precise robotic surgery including redundant consistency checking |
| US5246010A (en) | 1990-12-11 | 1993-09-21 | Biotrine Corporation | Method and apparatus for exhalation analysis |
| US5417210A (en) | 1992-05-27 | 1995-05-23 | International Business Machines Corporation | System and method for augmentation of endoscopic surgery |
| US5631973A (en) | 1994-05-05 | 1997-05-20 | Sri International | Method for telemanipulation with telepresence |
| US6963792B1 (en) | 1992-01-21 | 2005-11-08 | Sri International | Surgical method |
| US5657429A (en) | 1992-08-10 | 1997-08-12 | Computer Motion, Inc. | Automated endoscope system optimal positioning |
| US5397323A (en) | 1992-10-30 | 1995-03-14 | International Business Machines Corporation | Remote center-of-motion robot for surgery |
| 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 |
| JP3378401B2 (ja) | 1994-08-30 | 2003-02-17 | 株式会社日立メディコ | Ｘ線装置 |
| US6646541B1 (en) | 1996-06-24 | 2003-11-11 | Computer Motion, Inc. | General purpose distributed operating room control system |
| JP3492697B2 (ja) | 1994-10-07 | 2004-02-03 | セントルイス ユニバーシティー | 基準および局所化フレームを備える外科用案内装置 |
| US6978166B2 (en) | 1994-10-07 | 2005-12-20 | Saint Louis University | System for use in displaying images of a body part |
| US5882206A (en) | 1995-03-29 | 1999-03-16 | Gillio; Robert G. | Virtual surgery system |
| US5887121A (en) | 1995-04-21 | 1999-03-23 | International Business Machines Corporation | Method of constrained Cartesian control of robotic mechanisms with active and passive joints |
| US6122541A (en) | 1995-05-04 | 2000-09-19 | Radionics, Inc. | Head band for frameless stereotactic registration |
| US5649956A (en) | 1995-06-07 | 1997-07-22 | Sri International | System and method for releasably holding a surgical instrument |
| US5825982A (en) | 1995-09-15 | 1998-10-20 | Wright; James | Head cursor control interface for an automated endoscope system for optimal positioning |
| US5772594A (en) | 1995-10-17 | 1998-06-30 | Barrick; Earl F. | Fluoroscopic image guided orthopaedic surgery system with intraoperative registration |
| US5855583A (en) * | 1996-02-20 | 1999-01-05 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive cardiac procedures |
| SG64340A1 (en) | 1996-02-27 | 1999-04-27 | Inst Of Systems Science Nation | Curved surgical instruments and methods of mapping a curved path for stereotactic surgery |
| US6167145A (en) | 1996-03-29 | 2000-12-26 | Surgical Navigation Technologies, Inc. | Bone navigation system |
| US5792135A (en) | 1996-05-20 | 1998-08-11 | Intuitive Surgical, Inc. | Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
| US6167296A (en) | 1996-06-28 | 2000-12-26 | The Board Of Trustees Of The Leland Stanford Junior University | Method for volumetric image navigation |
| US7302288B1 (en) | 1996-11-25 | 2007-11-27 | Z-Kat, Inc. | Tool position indicator |
| US8529582B2 (en) | 1996-12-12 | 2013-09-10 | Intuitive Surgical Operations, Inc. | Instrument interface of a robotic surgical system |
| US7727244B2 (en) | 1997-11-21 | 2010-06-01 | Intuitive Surgical Operation, Inc. | Sterile surgical drape |
| US6205411B1 (en) | 1997-02-21 | 2001-03-20 | Carnegie Mellon University | Computer-assisted surgery planner and intra-operative guidance system |
| US6012216A (en) | 1997-04-30 | 2000-01-11 | Ethicon, Inc. | Stand alone swage apparatus |
| US5820559A (en) | 1997-03-20 | 1998-10-13 | Ng; Wan Sing | Computerized boundary estimation in medical images |
| US5911449A (en) | 1997-04-30 | 1999-06-15 | Ethicon, Inc. | Semi-automated needle feed method and apparatus |
| US6231565B1 (en) | 1997-06-18 | 2001-05-15 | United States Surgical Corporation | Robotic arm DLUs for performing surgical tasks |
| EP2362286B1 (en) | 1997-09-19 | 2015-09-02 | Massachusetts Institute Of Technology | Robotic apparatus |
| US6226548B1 (en) | 1997-09-24 | 2001-05-01 | Surgical Navigation Technologies, Inc. | Percutaneous registration apparatus and method for use in computer-assisted surgical navigation |
| US5951475A (en) | 1997-09-25 | 1999-09-14 | International Business Machines Corporation | Methods and apparatus for registering CT-scan data to multiple fluoroscopic images |
| US5987960A (en) | 1997-09-26 | 1999-11-23 | Picker International, Inc. | Tool calibrator |
| US6212419B1 (en) | 1997-11-12 | 2001-04-03 | Walter M. Blume | Method and apparatus using shaped field of repositionable magnet to guide implant |
| US6157853A (en) | 1997-11-12 | 2000-12-05 | Stereotaxis, Inc. | Method and apparatus using shaped field of repositionable magnet to guide implant |
| US6031888A (en) | 1997-11-26 | 2000-02-29 | Picker International, Inc. | Fluoro-assist feature for a diagnostic imaging device |
| US6165170A (en) | 1998-01-29 | 2000-12-26 | International Business Machines Corporation | Laser dermablator and dermablation |
| US7169141B2 (en) | 1998-02-24 | 2007-01-30 | Hansen Medical, Inc. | Surgical instrument |
| FR2779339B1 (fr) | 1998-06-09 | 2000-10-13 | Integrated Surgical Systems Sa | Procede et appareil de mise en correspondance pour la chirurgie robotisee, et dispositif de mise en correspondance en comportant application |
| DE69940850D1 (de) | 1998-08-04 | 2009-06-18 | Intuitive Surgical Inc | Gelenkvorrichtung zur Positionierung eines Manipulators für Robotik-Chirurgie |
| US6477400B1 (en) | 1998-08-20 | 2002-11-05 | Sofamor Danek Holdings, Inc. | Fluoroscopic image guided orthopaedic surgery system with intraoperative registration |
| DE19839825C1 (de) | 1998-09-01 | 1999-10-07 | Siemens Ag | Röntgendiagnostikgerät mit an einer bogenförmigen Halterung einander gegenüberliegend gelagertem Strahlensender und Strahlenempfänger |
| US6033415A (en) | 1998-09-14 | 2000-03-07 | Integrated Surgical Systems | System and method for performing image directed robotic orthopaedic procedures without a fiducial reference system |
| DE19842798C1 (de) | 1998-09-18 | 2000-05-04 | Howmedica Leibinger Gmbh & Co | Kalibriervorrichtung |
| WO2000021442A1 (en) | 1998-10-09 | 2000-04-20 | Surgical Navigation Technologies, Inc. | Image guided vertebral distractor |
| US6659939B2 (en) | 1998-11-20 | 2003-12-09 | Intuitive Surgical, Inc. | Cooperative minimally invasive telesurgical system |
| US8527094B2 (en) | 1998-11-20 | 2013-09-03 | Intuitive Surgical Operations, Inc. | Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures |
| US7125403B2 (en) | 1998-12-08 | 2006-10-24 | Intuitive Surgical | In vivo accessories for minimally invasive robotic surgery |
| US6325808B1 (en) | 1998-12-08 | 2001-12-04 | Advanced Realtime Control Systems, Inc. | Robotic system, docking station, and surgical tool for collaborative control in minimally invasive surgery |
| US6322567B1 (en) | 1998-12-14 | 2001-11-27 | Integrated Surgical Systems, Inc. | Bone motion tracking system |
| US6451027B1 (en) | 1998-12-16 | 2002-09-17 | Intuitive Surgical, Inc. | Devices and methods for moving an image capture device in telesurgical systems |
| US7016457B1 (en) | 1998-12-31 | 2006-03-21 | General Electric Company | Multimode imaging system for generating high quality images |
| DE19905974A1 (de) | 1999-02-12 | 2000-09-07 | Siemens Ag | Verfahren zur Abtastung eines Untersuchungsobjekts mittels eines CT-Geräts |
| US6560354B1 (en) | 1999-02-16 | 2003-05-06 | University Of Rochester | Apparatus and method for registration of images to physical space using a weighted combination of points and surfaces |
| US6778850B1 (en) | 1999-03-16 | 2004-08-17 | Accuray, Inc. | Frameless radiosurgery treatment system and method |
| US6144875A (en) | 1999-03-16 | 2000-11-07 | Accuray Incorporated | Apparatus and method for compensating for respiratory and patient motion during treatment |
| US6501981B1 (en) | 1999-03-16 | 2002-12-31 | Accuray, Inc. | Apparatus and method for compensating for respiratory and patient motions during treatment |
| US6470207B1 (en) | 1999-03-23 | 2002-10-22 | Surgical Navigation Technologies, Inc. | Navigational guidance via computer-assisted fluoroscopic imaging |
| JP2000271110A (ja) | 1999-03-26 | 2000-10-03 | Hitachi Medical Corp | 医用ｘ線装置 |
| US6565554B1 (en) | 1999-04-07 | 2003-05-20 | Intuitive Surgical, Inc. | Friction compensation in a minimally invasive surgical apparatus |
| 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 |
| US6301495B1 (en) | 1999-04-27 | 2001-10-09 | International Business Machines Corporation | System and method for intra-operative, image-based, interactive verification of a pre-operative surgical plan |
| DE19927953A1 (de) | 1999-06-18 | 2001-01-11 | Siemens Ag | Röntgendiagnostikgerät |
| US6314311B1 (en) | 1999-07-28 | 2001-11-06 | Picker International, Inc. | Movable mirror laser registration system |
| US6788018B1 (en) | 1999-08-03 | 2004-09-07 | Intuitive Surgical, Inc. | Ceiling and floor mounted surgical robot set-up arms |
| US8004229B2 (en) | 2005-05-19 | 2011-08-23 | Intuitive Surgical Operations, Inc. | Software center and highly configurable robotic systems for surgery and other uses |
| US7594912B2 (en) | 2004-09-30 | 2009-09-29 | Intuitive Surgical, Inc. | Offset remote center manipulator for robotic surgery |
| US8271130B2 (en) | 2009-03-09 | 2012-09-18 | Intuitive Surgical Operations, Inc. | Master controller having redundant degrees of freedom and added forces to create internal motion |
| US9492235B2 (en) | 1999-09-17 | 2016-11-15 | Intuitive Surgical Operations, Inc. | Manipulator arm-to-patient collision avoidance using a null-space |
| US6312435B1 (en) | 1999-10-08 | 2001-11-06 | Intuitive Surgical, Inc. | Surgical instrument with extended reach for use in minimally invasive surgery |
| US6379302B1 (en) | 1999-10-28 | 2002-04-30 | Surgical Navigation Technologies Inc. | Navigation information overlay onto ultrasound imagery |
| US6499488B1 (en) | 1999-10-28 | 2002-12-31 | Winchester Development Associates | Surgical sensor |
| US6235038B1 (en) | 1999-10-28 | 2001-05-22 | Medtronic Surgical Navigation Technologies | System for translation of electromagnetic and optical localization systems |
| US7366562B2 (en) | 2003-10-17 | 2008-04-29 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation |
| US8644907B2 (en) | 1999-10-28 | 2014-02-04 | Medtronic Navigaton, Inc. | Method and apparatus for surgical navigation |
| US8239001B2 (en) | 2003-10-17 | 2012-08-07 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation |
| WO2001043070A2 (en) | 1999-12-10 | 2001-06-14 | Miller Michael I | Method and apparatus for cross modality image registration |
| US7635390B1 (en) | 2000-01-14 | 2009-12-22 | Marctec, Llc | Joint replacement component having a modular articulating surface |
| US6377011B1 (en) | 2000-01-26 | 2002-04-23 | Massachusetts Institute Of Technology | Force feedback user interface for minimally invasive surgical simulator and teleoperator and other similar apparatus |
| AU2001233019A1 (en) | 2000-01-28 | 2001-08-07 | Intersense, Inc. | Self-referenced tracking |
| WO2001064124A1 (en) | 2000-03-01 | 2001-09-07 | Surgical Navigation Technologies, Inc. | Multiple cannula image guided tool for image guided procedures |
| WO2001067979A1 (en) | 2000-03-15 | 2001-09-20 | Orthosoft Inc. | Automatic calibration system for computer-aided surgical instruments |
| US6535756B1 (en) | 2000-04-07 | 2003-03-18 | Surgical Navigation Technologies, Inc. | Trajectory storage apparatus and method for surgical navigation system |
| US6856826B2 (en) | 2000-04-28 | 2005-02-15 | Ge Medical Systems Global Technology Company, Llc | Fluoroscopic tracking and visualization system |
| US6856827B2 (en) | 2000-04-28 | 2005-02-15 | Ge Medical Systems Global Technology Company, Llc | Fluoroscopic tracking and visualization system |
| US6484049B1 (en) | 2000-04-28 | 2002-11-19 | Ge Medical Systems Global Technology Company, Llc | Fluoroscopic tracking and visualization system |
| US6614453B1 (en) | 2000-05-05 | 2003-09-02 | Koninklijke Philips Electronics, N.V. | Method and apparatus for medical image display for surgical tool planning and navigation in clinical environments |
| US6645196B1 (en) | 2000-06-16 | 2003-11-11 | Intuitive Surgical, Inc. | Guided tool change |
| US6782287B2 (en) | 2000-06-27 | 2004-08-24 | The Board Of Trustees Of The Leland Stanford Junior University | Method and apparatus for tracking a medical instrument based on image registration |
| US6837892B2 (en) | 2000-07-24 | 2005-01-04 | Mazor Surgical Technologies Ltd. | Miniature bone-mounted surgical robot |
| US6902560B1 (en) | 2000-07-27 | 2005-06-07 | Intuitive Surgical, Inc. | Roll-pitch-roll surgical tool |
| DE10037491A1 (de) | 2000-08-01 | 2002-02-14 | Stryker Leibinger Gmbh & Co Kg | Verfahren zum dreidimensionalen Visualisieren von Strukturen im Körperinneren |
| US6823207B1 (en) | 2000-08-26 | 2004-11-23 | Ge Medical Systems Global Technology Company, Llc | Integrated fluoroscopic surgical navigation and imaging workstation with command protocol |
| AU2001294718A1 (en) | 2000-09-25 | 2002-05-06 | Z-Kat, Inc | Fluoroscopic registration artifact with optical and/or magnetic markers |
| EP1328208A1 (de) | 2000-10-23 | 2003-07-23 | Deutsches Krebsforschungszentrum Stiftung des öffentlichen Rechts | Verfahren, vorrichtung und navigationshilfe zur navigation bei medizinischen eingriffen |
| US6718194B2 (en) | 2000-11-17 | 2004-04-06 | Ge Medical Systems Global Technology Company, Llc | Computer assisted intramedullary rod surgery system with enhanced features |
| US6666579B2 (en) | 2000-12-28 | 2003-12-23 | Ge Medical Systems Global Technology Company, Llc | Method and apparatus for obtaining and displaying computed tomography images using a fluoroscopy imaging system |
| US6840938B1 (en) | 2000-12-29 | 2005-01-11 | Intuitive Surgical, Inc. | Bipolar cauterizing instrument |
| CN100491914C (zh) | 2001-01-30 | 2009-05-27 | Z-凯特公司 | 器具的校准器及跟踪器系统 |
| US7220262B1 (en) | 2001-03-16 | 2007-05-22 | Sdgi Holdings, Inc. | Spinal fixation system and related methods |
| FR2822674B1 (fr) | 2001-04-03 | 2003-06-27 | Scient X | Systeme stabilise de fusion intersomatique pour vertebres |
| WO2002083003A1 (en) | 2001-04-11 | 2002-10-24 | Clarke Dana S | Tissue structure identification in advance of instrument |
| US7824401B2 (en) | 2004-10-08 | 2010-11-02 | Intuitive Surgical Operations, Inc. | Robotic tool with wristed monopolar electrosurgical end effectors |
| US8398634B2 (en) | 2002-04-18 | 2013-03-19 | Intuitive Surgical Operations, Inc. | Wristed robotic surgical tool for pluggable end-effectors |
| US6994708B2 (en) | 2001-04-19 | 2006-02-07 | Intuitive Surgical | Robotic tool with monopolar electro-surgical scissors |
| US6783524B2 (en) | 2001-04-19 | 2004-08-31 | Intuitive Surgical, Inc. | Robotic surgical tool with ultrasound cauterizing and cutting instrument |
| US6636757B1 (en) | 2001-06-04 | 2003-10-21 | Surgical Navigation Technologies, Inc. | Method and apparatus for electromagnetic navigation of a surgical probe near a metal object |
| US7607440B2 (en) | 2001-06-07 | 2009-10-27 | Intuitive Surgical, Inc. | Methods and apparatus for surgical planning |
| WO2002100284A1 (en) | 2001-06-13 | 2002-12-19 | Volume Interactions Pte Ltd | A guide system |
| US6584339B2 (en) | 2001-06-27 | 2003-06-24 | Vanderbilt University | Method and apparatus for collecting and processing physical space data for use while performing image-guided surgery |
| US7063705B2 (en) | 2001-06-29 | 2006-06-20 | Sdgi Holdings, Inc. | Fluoroscopic locator and registration device |
| CA2451824C (en) | 2001-06-29 | 2015-02-24 | Intuitive Surgical, Inc. | Platform link wrist mechanism |
| US20040243147A1 (en) | 2001-07-03 | 2004-12-02 | Lipow Kenneth I. | Surgical robot and robotic controller |
| ITMI20011759A1 (it) | 2001-08-09 | 2003-02-09 | Nuovo Pignone Spa | Dispositivo raschiaiolo per asta di stantuffo di compressori alternativi |
| US7708741B1 (en) | 2001-08-28 | 2010-05-04 | Marctec, Llc | Method of preparing bones for knee replacement surgery |
| US6728599B2 (en) | 2001-09-07 | 2004-04-27 | Computer Motion, Inc. | Modularity system for computer assisted surgery |
| US6587750B2 (en) | 2001-09-25 | 2003-07-01 | Intuitive Surgical, Inc. | Removable infinite roll master grip handle and touch sensor for robotic surgery |
| US6619840B2 (en) | 2001-10-15 | 2003-09-16 | Koninklijke Philips Electronics N.V. | Interventional volume scanner |
| US6839612B2 (en) | 2001-12-07 | 2005-01-04 | Institute Surgical, Inc. | Microwrist system for surgical procedures |
| US6947786B2 (en) | 2002-02-28 | 2005-09-20 | Surgical Navigation Technologies, Inc. | Method and apparatus for perspective inversion |
| US8996169B2 (en) | 2011-12-29 | 2015-03-31 | Mako Surgical Corp. | Neural monitor-based dynamic haptics |
| CN1643371B (zh) | 2002-03-19 | 2011-07-06 | 麦德特尼克航空公司 | 带有跟随数轴x射线源移动的探测器的计算机x光断层摄影装置 |
| WO2003086714A2 (en) | 2002-04-05 | 2003-10-23 | The Trustees Of Columbia University In The City Of New York | Robotic scrub nurse |
| US7099428B2 (en) | 2002-06-25 | 2006-08-29 | The Regents Of The University Of Michigan | High spatial resolution X-ray computed tomography (CT) system |
| US7248914B2 (en) | 2002-06-28 | 2007-07-24 | Stereotaxis, Inc. | Method of navigating medical devices in the presence of radiopaque material |
| US7630752B2 (en) | 2002-08-06 | 2009-12-08 | Stereotaxis, Inc. | Remote control of medical devices using a virtual device interface |
| US7231063B2 (en) | 2002-08-09 | 2007-06-12 | Intersense, Inc. | Fiducial detection system |
| AU2003264048A1 (en) | 2002-08-09 | 2004-02-25 | Intersense, Inc. | Motion tracking system and method |
| WO2004014244A2 (en) | 2002-08-13 | 2004-02-19 | Microbotics Corporation | Microsurgical robot system |
| US6892090B2 (en) | 2002-08-19 | 2005-05-10 | Surgical Navigation Technologies, Inc. | Method and apparatus for virtual endoscopy |
| US7331967B2 (en) | 2002-09-09 | 2008-02-19 | Hansen Medical, Inc. | Surgical instrument coupling mechanism |
| ES2204322B1 (es) | 2002-10-01 | 2005-07-16 | Consejo Sup. De Invest. Cientificas | Navegador funcional. |
| JP3821435B2 (ja) | 2002-10-18 | 2006-09-13 | 松下電器産業株式会社 | 超音波探触子 |
| US7319897B2 (en) | 2002-12-02 | 2008-01-15 | Aesculap Ag & Co. Kg | Localization device display method and apparatus |
| US7318827B2 (en) | 2002-12-02 | 2008-01-15 | Aesculap Ag & Co. Kg | Osteotomy procedure |
| US8814793B2 (en) | 2002-12-03 | 2014-08-26 | Neorad As | Respiration monitor |
| US7386365B2 (en) | 2004-05-04 | 2008-06-10 | Intuitive Surgical, Inc. | Tool grip calibration for robotic surgery |
| US7945021B2 (en) | 2002-12-18 | 2011-05-17 | Varian Medical Systems, Inc. | Multi-mode cone beam CT radiotherapy simulator and treatment machine with a flat panel imager |
| US7505809B2 (en) | 2003-01-13 | 2009-03-17 | Mediguide Ltd. | Method and system for registering a first image with a second image relative to the body of a patient |
| JP2004223128A (ja) * | 2003-01-27 | 2004-08-12 | Hitachi Ltd | 医療行為支援装置および方法 |
| US7542791B2 (en) | 2003-01-30 | 2009-06-02 | Medtronic Navigation, Inc. | Method and apparatus for preplanning a surgical procedure |
| US7660623B2 (en) | 2003-01-30 | 2010-02-09 | Medtronic Navigation, Inc. | Six degree of freedom alignment display for medical procedures |
| US6988009B2 (en) | 2003-02-04 | 2006-01-17 | Zimmer Technology, Inc. | Implant registration device for surgical navigation system |
| WO2004069040A2 (en) | 2003-02-04 | 2004-08-19 | Z-Kat, Inc. | Method and apparatus for computer assistance with intramedullary nail procedure |
| US7083615B2 (en) | 2003-02-24 | 2006-08-01 | Intuitive Surgical Inc | Surgical tool having electrocautery energy supply conductor with inhibited current leakage |
| JP4163991B2 (ja) | 2003-04-30 | 2008-10-08 | 株式会社モリタ製作所 | Ｘ線ｃｔ撮影装置及び撮影方法 |
| US9060770B2 (en) | 2003-05-20 | 2015-06-23 | Ethicon Endo-Surgery, Inc. | Robotically-driven surgical instrument with E-beam driver |
| US7194120B2 (en) | 2003-05-29 | 2007-03-20 | Board Of Regents, The University Of Texas System | Methods and systems for image-guided placement of implants |
| US7171257B2 (en) | 2003-06-11 | 2007-01-30 | Accuray Incorporated | Apparatus and method for radiosurgery |
| US9002518B2 (en) | 2003-06-30 | 2015-04-07 | Intuitive Surgical Operations, Inc. | Maximum torque driving of robotic surgical tools in robotic surgical systems |
| US7042184B2 (en) | 2003-07-08 | 2006-05-09 | Board Of Regents Of The University Of Nebraska | Microrobot for surgical applications |
| US7960935B2 (en) | 2003-07-08 | 2011-06-14 | The Board Of Regents Of The University Of Nebraska | Robotic devices with agent delivery components and related methods |
| ATE451874T1 (de) | 2003-07-15 | 2010-01-15 | Koninkl Philips Electronics Nv | Computertomographie-scanner mit grosser rahmenöffnung |
| US7313430B2 (en) | 2003-08-28 | 2007-12-25 | Medtronic Navigation, Inc. | Method and apparatus for performing stereotactic surgery |
| US7835778B2 (en) | 2003-10-16 | 2010-11-16 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation of a multiple piece construct for implantation |
| US20050171558A1 (en) | 2003-10-17 | 2005-08-04 | Abovitz Rony A. | Neurosurgery targeting and delivery system for brain structures |
| US7840253B2 (en) | 2003-10-17 | 2010-11-23 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation |
| US20050096502A1 (en) | 2003-10-29 | 2005-05-05 | Khalili Theodore M. | Robotic surgical device |
| US9393039B2 (en) | 2003-12-17 | 2016-07-19 | Brainlab Ag | Universal instrument or instrument set for computer guided surgery |
| US7466303B2 (en) | 2004-02-10 | 2008-12-16 | Sunnybrook Health Sciences Center | Device and process for manipulating real and virtual objects in three-dimensional space |
| US7974681B2 (en) | 2004-03-05 | 2011-07-05 | Hansen Medical, Inc. | Robotic catheter system |
| EP1720479B1 (en) | 2004-03-05 | 2014-04-23 | Depuy International Limited | Registration methods and apparatus |
| US20080269596A1 (en) | 2004-03-10 | 2008-10-30 | Ian Revie | Orthpaedic Monitoring Systems, Methods, Implants and Instruments |
| US7657298B2 (en) | 2004-03-11 | 2010-02-02 | Stryker Leibinger Gmbh & Co. Kg | System, device, and method for determining a position of an object |
| US8475495B2 (en) | 2004-04-08 | 2013-07-02 | Globus Medical | Polyaxial screw |
| US8860753B2 (en) | 2004-04-13 | 2014-10-14 | University Of Georgia Research Foundation, Inc. | Virtual surgical system and methods |
| KR100617974B1 (ko) | 2004-04-22 | 2006-08-31 | 한국과학기술원 | 명령추종이 가능한 복강경 장치 |
| US7567834B2 (en) | 2004-05-03 | 2009-07-28 | Medtronic Navigation, Inc. | Method and apparatus for implantation between two vertebral bodies |
| US7379790B2 (en) | 2004-05-04 | 2008-05-27 | Intuitive Surgical, Inc. | Tool memory-based software upgrades for robotic surgery |
| US7974674B2 (en) | 2004-05-28 | 2011-07-05 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic surgical system and method for surface modeling |
| US8528565B2 (en) | 2004-05-28 | 2013-09-10 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic surgical system and method for automated therapy delivery |
| FR2871363B1 (fr) | 2004-06-15 | 2006-09-01 | Medtech Sa | Dispositif robotise de guidage pour outil chirurgical |
| US7327865B2 (en) | 2004-06-30 | 2008-02-05 | Accuray, Inc. | Fiducial-less tracking with non-rigid image registration |
| ITMI20041448A1 (it) | 2004-07-20 | 2004-10-20 | Milano Politecnico | Apparato per la fusione e navigazione di immagini ecografiche e volumetriche di un paziente che utilizza una combinazione di marcatori ottici attivi e passivi per la localizzazione di sonde ecografiche e strumenti chirurgici rispetto al paziente |
| US7440793B2 (en) | 2004-07-22 | 2008-10-21 | Sunita Chauhan | Apparatus and method for removing abnormal tissue |
| CA2513202C (en) | 2004-07-23 | 2015-03-31 | Mehran Anvari | Multi-purpose robotic operating system and method |
| GB2422759B (en) | 2004-08-05 | 2008-07-16 | Elekta Ab | Rotatable X-ray scan apparatus with cone beam offset |
| US7702379B2 (en) | 2004-08-25 | 2010-04-20 | General Electric Company | System and method for hybrid tracking in surgical navigation |
| US7555331B2 (en) | 2004-08-26 | 2009-06-30 | Stereotaxis, Inc. | Method for surgical navigation utilizing scale-invariant registration between a navigation system and a localization system |
| DE102004042489B4 (de) | 2004-08-31 | 2012-03-29 | Siemens Ag | Medizinische Untersuchungs- oder Behandlungseinrichtung mit dazugehörigem Verfahren |
| CA2581009C (en) | 2004-09-15 | 2011-10-04 | Synthes (U.S.A.) | Calibrating device |
| EP1799107A1 (en) | 2004-10-06 | 2007-06-27 | Philips Intellectual Property & Standards GmbH | Computed tomography method |
| US7831294B2 (en) | 2004-10-07 | 2010-11-09 | Stereotaxis, Inc. | System and method of surgical imagining with anatomical overlay for navigation of surgical devices |
| US7983733B2 (en) | 2004-10-26 | 2011-07-19 | Stereotaxis, Inc. | Surgical navigation using a three-dimensional user interface |
| US7062006B1 (en) | 2005-01-19 | 2006-06-13 | The Board Of Trustees Of The Leland Stanford Junior University | Computed tomography with increased field of view |
| US7837674B2 (en) | 2005-01-24 | 2010-11-23 | Intuitive Surgical Operations, Inc. | Compact counter balance for robotic surgical systems |
| US7763015B2 (en) | 2005-01-24 | 2010-07-27 | Intuitive Surgical Operations, Inc. | Modular manipulator support for robotic surgery |
| US20060184396A1 (en) | 2005-01-28 | 2006-08-17 | Dennis Charles L | System and method for surgical navigation |
| US7231014B2 (en) | 2005-02-14 | 2007-06-12 | Varian Medical Systems Technologies, Inc. | Multiple mode flat panel X-ray imaging system |
| ES2784219T3 (es) | 2005-03-07 | 2020-09-23 | Hector O Pacheco | Cánula para el acceso mejorado a cuerpos vertebrales para cifoplastia, vertebroplastia, biopsia de cuerpo vertebral o colocación de tornillos |
| US8375808B2 (en) | 2005-12-30 | 2013-02-19 | Intuitive Surgical Operations, Inc. | Force sensing for surgical instruments |
| US8463439B2 (en) * | 2009-03-31 | 2013-06-11 | Intuitive Surgical Operations, Inc. | Optic fiber connection for a force sensing instrument |
| US8496647B2 (en) | 2007-12-18 | 2013-07-30 | Intuitive Surgical Operations, Inc. | Ribbed force sensor |
| WO2006102756A1 (en) | 2005-03-30 | 2006-10-05 | University Western Ontario | Anisotropic hydrogels |
| US7720523B2 (en) | 2005-04-20 | 2010-05-18 | General Electric Company | System and method for managing power deactivation within a medical imaging system |
| US8208988B2 (en) | 2005-05-13 | 2012-06-26 | General Electric Company | System and method for controlling a medical imaging device |
| CN101193603B (zh) | 2005-06-06 | 2010-11-03 | 直观外科手术公司 | 腹腔镜的超声机器人外科手术系统 |
| US8398541B2 (en) | 2006-06-06 | 2013-03-19 | Intuitive Surgical Operations, Inc. | Interactive user interfaces for robotic minimally invasive surgical systems |
| JP2007000406A (ja) | 2005-06-24 | 2007-01-11 | Ge Medical Systems Global Technology Co Llc | Ｘ線ｃｔ撮影方法およびｘ線ｃｔ装置 |
| US7840256B2 (en) | 2005-06-27 | 2010-11-23 | Biomet Manufacturing Corporation | Image guided tracking array and method |
| US8241271B2 (en) | 2005-06-30 | 2012-08-14 | Intuitive Surgical Operations, Inc. | Robotic surgical instruments with a fluid flow control system for irrigation, aspiration, and blowing |
| JP2009500086A (ja) * | 2005-07-01 | 2009-01-08 | ハンセン メディカル，インク． | ロボットガイドカテーテルシステム |
| US20070038059A1 (en) | 2005-07-07 | 2007-02-15 | Garrett Sheffer | Implant and instrument morphing |
| WO2007022081A2 (en) | 2005-08-11 | 2007-02-22 | The Brigham And Women's Hospital, Inc. | System and method for performing single photon emission computed tomography (spect) with a focal-length cone-beam collimation |
| US7787699B2 (en) | 2005-08-17 | 2010-08-31 | General Electric Company | Real-time integration and recording of surgical image data |
| US8800838B2 (en) | 2005-08-31 | 2014-08-12 | Ethicon Endo-Surgery, Inc. | Robotically-controlled cable-based surgical end effectors |
| US7643862B2 (en) | 2005-09-15 | 2010-01-05 | Biomet Manufacturing Corporation | Virtual mouse for use in surgical navigation |
| US20070073133A1 (en) | 2005-09-15 | 2007-03-29 | Schoenefeld Ryan J | Virtual mouse for use in surgical navigation |
| US7835784B2 (en) | 2005-09-21 | 2010-11-16 | Medtronic Navigation, Inc. | Method and apparatus for positioning a reference frame |
| US8079950B2 (en) | 2005-09-29 | 2011-12-20 | Intuitive Surgical Operations, Inc. | Autofocus and/or autoscaling in telesurgery |
| WO2007044301A2 (en) | 2005-10-04 | 2007-04-19 | Intersense, Inc. | Tracking objects with markers |
| EP1973494A2 (en) | 2005-11-17 | 2008-10-01 | Calypso Medical Technologies, INC. | Apparatus and methods for using an electromagnetic transponder in orthopedic procedures |
| US7711406B2 (en) | 2005-11-23 | 2010-05-04 | General Electric Company | System and method for detection of electromagnetic radiation by amorphous silicon x-ray detector for metal detection in x-ray imaging |
| EP1795142B1 (en) | 2005-11-24 | 2008-06-11 | BrainLAB AG | Medical tracking system using a gamma camera |
| US8182470B2 (en) | 2005-12-20 | 2012-05-22 | Intuitive Surgical Operations, Inc. | Telescoping insertion axis of a robotic surgical system |
| US7819859B2 (en) | 2005-12-20 | 2010-10-26 | Intuitive Surgical Operations, Inc. | Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator |
| US7762825B2 (en) | 2005-12-20 | 2010-07-27 | Intuitive Surgical Operations, Inc. | Electro-mechanical interfaces to mount robotic surgical arms |
| US8672922B2 (en) | 2005-12-20 | 2014-03-18 | Intuitive Surgical Operations, Inc. | Wireless communication in a robotic surgical system |
| US7689320B2 (en) | 2005-12-20 | 2010-03-30 | Intuitive Surgical Operations, Inc. | Robotic surgical system with joint motion controller adapted to reduce instrument tip vibrations |
| US7955322B2 (en) | 2005-12-20 | 2011-06-07 | Intuitive Surgical Operations, Inc. | Wireless communication in a robotic surgical system |
| US8054752B2 (en) | 2005-12-22 | 2011-11-08 | Intuitive Surgical Operations, Inc. | Synchronous data communication |
| ES2292327B1 (es) | 2005-12-26 | 2009-04-01 | Consejo Superior Investigaciones Cientificas | Mini camara gamma autonoma y con sistema de localizacion, para uso intraquirurgico. |
| EP2289455B1 (en) | 2005-12-30 | 2019-11-13 | Intuitive Surgical Operations, Inc. | Modular force sensor |
| US7930065B2 (en) | 2005-12-30 | 2011-04-19 | Intuitive Surgical Operations, Inc. | Robotic surgery system including position sensors using fiber bragg gratings |
| US7907166B2 (en) | 2005-12-30 | 2011-03-15 | Intuitive Surgical Operations, Inc. | Stereo telestration for robotic surgery |
| US7533892B2 (en) | 2006-01-05 | 2009-05-19 | Intuitive Surgical, Inc. | Steering system for heavy mobile medical equipment |
| KR100731052B1 (ko) | 2006-01-23 | 2007-06-22 | 한양대학교 산학협력단 | 미세침습 수술을 위한 컴퓨터통합 수술 보조시스템 |
| US8162926B2 (en) | 2006-01-25 | 2012-04-24 | Intuitive Surgical Operations Inc. | Robotic arm with five-bar spherical linkage |
| US8142420B2 (en) | 2006-01-25 | 2012-03-27 | Intuitive Surgical Operations Inc. | Robotic arm with five-bar spherical linkage |
| US7845537B2 (en) | 2006-01-31 | 2010-12-07 | Ethicon Endo-Surgery, Inc. | Surgical instrument having recording capabilities |
| US20110290856A1 (en) | 2006-01-31 | 2011-12-01 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical instrument with force-feedback capabilities |
| EP1815950A1 (en) | 2006-02-03 | 2007-08-08 | The European Atomic Energy Community (EURATOM), represented by the European Commission | Robotic surgical system for performing minimally invasive medical procedures |
| 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 |
| US8219178B2 (en) | 2007-02-16 | 2012-07-10 | Catholic Healthcare West | Method and system for performing invasive medical procedures using a surgical robot |
| US8219177B2 (en) | 2006-02-16 | 2012-07-10 | Catholic Healthcare West | Method and system for performing invasive medical procedures using a surgical robot |
| US9782229B2 (en) * | 2007-02-16 | 2017-10-10 | Globus Medical, Inc. | Surgical robot platform |
| US8526688B2 (en) | 2006-03-09 | 2013-09-03 | General Electric Company | Methods and systems for registration of surgical navigation data and image data |
| JP5248474B2 (ja) | 2006-03-30 | 2013-07-31 | コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ | ターゲッティング方法、ターゲッティング装置、コンピュータ読取り可能な媒体、及びプログラムエレメント |
| US20070233238A1 (en) | 2006-03-31 | 2007-10-04 | Medtronic Vascular, Inc. | Devices for Imaging and Navigation During Minimally Invasive Non-Bypass Cardiac Procedures |
| WO2007120744A2 (en) | 2006-04-14 | 2007-10-25 | William Beaumont Hospital | Scanning slot cone-beam computed tomography and scanning focus spot cone-beam computed tomography |
| US8021310B2 (en) | 2006-04-21 | 2011-09-20 | Nellcor Puritan Bennett Llc | Work of breathing display for a ventilation system |
| US8112292B2 (en) | 2006-04-21 | 2012-02-07 | Medtronic Navigation, Inc. | Method and apparatus for optimizing a therapy |
| US7940999B2 (en) | 2006-04-24 | 2011-05-10 | Siemens Medical Solutions Usa, Inc. | System and method for learning-based 2D/3D rigid registration for image-guided surgery using Jensen-Shannon divergence |
| WO2007131561A2 (en) | 2006-05-16 | 2007-11-22 | Surgiceye Gmbh | Method and device for 3d acquisition, 3d visualization and computer guided surgery using nuclear probes |
| US20080004523A1 (en) | 2006-06-29 | 2008-01-03 | General Electric Company | Surgical tool guide |
| DE102006032127B4 (de) | 2006-07-05 | 2008-04-30 | Aesculap Ag & Co. Kg | Kalibrierverfahren und Kalibriervorrichtung für eine chirurgische Referenzierungseinheit |
| US20080013809A1 (en) | 2006-07-14 | 2008-01-17 | Bracco Imaging, Spa | Methods and apparatuses for registration in image guided surgery |
| EP1886640B1 (de) | 2006-08-08 | 2009-11-18 | BrainLAB AG | Planungsverfahren und System zur Freiform-Implantatsanpassung |
| EP2053972B1 (en) | 2006-08-17 | 2013-09-11 | Koninklijke Philips Electronics N.V. | Computed tomography image acquisition |
| DE102006041033B4 (de) | 2006-09-01 | 2017-01-19 | Siemens Healthcare Gmbh | Verfahren zur Rekonstruktion eines dreidimensionalen Bildvolumens |
| US8231610B2 (en) | 2006-09-06 | 2012-07-31 | National Cancer Center | Robotic surgical system for laparoscopic surgery |
| US20080082109A1 (en) | 2006-09-08 | 2008-04-03 | Hansen Medical, Inc. | Robotic surgical system with forward-oriented field of view guide instrument navigation |
| US8150498B2 (en) | 2006-09-08 | 2012-04-03 | Medtronic, Inc. | System for identification of anatomical landmarks |
| US8150497B2 (en) | 2006-09-08 | 2012-04-03 | Medtronic, Inc. | System for navigating a planned procedure within a body |
| US8532741B2 (en) | 2006-09-08 | 2013-09-10 | Medtronic, Inc. | Method and apparatus to optimize electrode placement for neurological stimulation |
| US8248413B2 (en) | 2006-09-18 | 2012-08-21 | Stryker Corporation | Visual navigation system for endoscopic surgery |
| WO2008038283A2 (en) | 2006-09-25 | 2008-04-03 | Mazor Surgical Technologies Ltd. | C-arm computerized tomography system |
| US8660635B2 (en) | 2006-09-29 | 2014-02-25 | Medtronic, Inc. | Method and apparatus for optimizing a computer assisted surgical procedure |
| US8052688B2 (en) | 2006-10-06 | 2011-11-08 | Wolf Ii Erich | Electromagnetic apparatus and method for nerve localization during spinal surgery |
| US20080144906A1 (en) | 2006-10-09 | 2008-06-19 | General Electric Company | System and method for video capture for fluoroscopy and navigation |
| US20080109012A1 (en) | 2006-11-03 | 2008-05-08 | General Electric Company | System, method and apparatus for tableside remote connections of medical instruments and systems using wireless communications |
| US8551114B2 (en) | 2006-11-06 | 2013-10-08 | Human Robotics S.A. De C.V. | Robotic surgical device |
| US20080108912A1 (en) | 2006-11-07 | 2008-05-08 | General Electric Company | System and method for measurement of clinical parameters of the knee for use during knee replacement surgery |
| US20080108991A1 (en) | 2006-11-08 | 2008-05-08 | General Electric Company | Method and apparatus for performing pedicle screw fusion surgery |
| US8682413B2 (en) | 2006-11-15 | 2014-03-25 | General Electric Company | Systems and methods for automated tracker-driven image selection |
| EP2081494B1 (en) | 2006-11-16 | 2018-07-11 | Vanderbilt University | System and method of compensating for organ deformation |
| US7935130B2 (en) | 2006-11-16 | 2011-05-03 | Intuitive Surgical Operations, Inc. | Two-piece end-effectors for robotic surgical tools |
| US8727618B2 (en) | 2006-11-22 | 2014-05-20 | Siemens Aktiengesellschaft | Robotic device and method for trauma patient diagnosis and therapy |
| US7835557B2 (en) | 2006-11-28 | 2010-11-16 | Medtronic Navigation, Inc. | System and method for detecting status of imaging device |
| US8320991B2 (en) | 2006-12-01 | 2012-11-27 | Medtronic Navigation Inc. | Portable electromagnetic navigation system |
| US7683332B2 (en) | 2006-12-08 | 2010-03-23 | Rush University Medical Center | Integrated single photon emission computed tomography (SPECT)/transmission computed tomography (TCT) system for cardiac imaging |
| US7683331B2 (en) | 2006-12-08 | 2010-03-23 | Rush University Medical Center | Single photon emission computed tomography (SPECT) system for cardiac imaging |
| US8556807B2 (en) | 2006-12-21 | 2013-10-15 | Intuitive Surgical Operations, Inc. | Hermetically sealed distal sensor endoscope |
| DE102006061178A1 (de) | 2006-12-22 | 2008-06-26 | Siemens Ag | System zur Durchführung und Überwachung minimal-invasiver Eingriffe |
| US20080177203A1 (en) | 2006-12-22 | 2008-07-24 | General Electric Company | Surgical navigation planning system and method for placement of percutaneous instrumentation and implants |
| US20080161680A1 (en) | 2006-12-29 | 2008-07-03 | General Electric Company | System and method for surgical navigation of motion preservation prosthesis |
| US9220573B2 (en) | 2007-01-02 | 2015-12-29 | Medtronic Navigation, Inc. | System and method for tracking positions of uniform marker geometries |
| 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 |
| US8374673B2 (en) | 2007-01-25 | 2013-02-12 | Warsaw Orthopedic, Inc. | Integrated surgical navigational and neuromonitoring system having automated surgical assistance and control |
| US8394099B2 (en) | 2007-02-01 | 2013-03-12 | Interactive Neuroscience Center, Llc | Surgical navigation |
| WO2008097853A2 (en) | 2007-02-02 | 2008-08-14 | Hansen Medical, Inc. | Mounting support assembly for suspending a medical instrument driver above an operating table |
| US8233963B2 (en) | 2007-02-19 | 2012-07-31 | Medtronic Navigation, Inc. | Automatic identification of tracked surgical devices using an electromagnetic localization system |
| US8600478B2 (en) | 2007-02-19 | 2013-12-03 | Medtronic Navigation, Inc. | Automatic identification of instruments used with a surgical navigation system |
| DE102007009017B3 (de) | 2007-02-23 | 2008-09-25 | Siemens Ag | Anordnung zur Unterstützung eines perkutanen Eingriffs |
| US10039613B2 (en) | 2007-03-01 | 2018-08-07 | Surgical Navigation Technologies, Inc. | Method for localizing an imaging device with a surgical navigation system |
| US8098914B2 (en) | 2007-03-05 | 2012-01-17 | Siemens Aktiengesellschaft | Registration of CT volumes with fluoroscopic images |
| US20080228068A1 (en) | 2007-03-13 | 2008-09-18 | Viswanathan Raju R | Automated Surgical Navigation with Electro-Anatomical and Pre-Operative Image Data |
| US8821511B2 (en) | 2007-03-15 | 2014-09-02 | General Electric Company | Instrument guide for use with a surgical navigation system |
| US20080235052A1 (en) | 2007-03-19 | 2008-09-25 | General Electric Company | System and method for sharing medical information between image-guided surgery systems |
| US8150494B2 (en) | 2007-03-29 | 2012-04-03 | Medtronic Navigation, Inc. | Apparatus for registering a physical space to image space |
| US7879045B2 (en) | 2007-04-10 | 2011-02-01 | Medtronic, Inc. | System for guiding instruments having different sizes |
| EP2142132B1 (en) | 2007-04-16 | 2012-09-26 | NeuroArm Surgical, Ltd. | System for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis |
| EP2142133B1 (en) | 2007-04-16 | 2012-10-10 | NeuroArm Surgical, Ltd. | Methods, devices, and systems for automated movements involving medical robots |
| US8108025B2 (en) | 2007-04-24 | 2012-01-31 | Medtronic, Inc. | Flexible array for use in navigated surgery |
| US8311611B2 (en) | 2007-04-24 | 2012-11-13 | Medtronic, Inc. | Method for performing multiple registrations in a navigated procedure |
| US8010177B2 (en) | 2007-04-24 | 2011-08-30 | Medtronic, Inc. | Intraoperative image registration |
| US8301226B2 (en) | 2007-04-24 | 2012-10-30 | Medtronic, Inc. | Method and apparatus for performing a navigated procedure |
| US20090012509A1 (en) | 2007-04-24 | 2009-01-08 | Medtronic, Inc. | Navigated Soft Tissue Penetrating Laser System |
| US8062364B1 (en) | 2007-04-27 | 2011-11-22 | Knee Creations, Llc | Osteoarthritis treatment and device |
| DE102007022122B4 (de) | 2007-05-11 | 2019-07-11 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Greifvorrichtung für eine Chirurgie-Roboter-Anordnung |
| US8057397B2 (en) | 2007-05-16 | 2011-11-15 | General Electric Company | Navigation and imaging system sychronized with respiratory and/or cardiac activity |
| US20080287771A1 (en) | 2007-05-17 | 2008-11-20 | General Electric Company | Surgical navigation system with electrostatic shield |
| US8934961B2 (en) | 2007-05-18 | 2015-01-13 | Biomet Manufacturing, Llc | Trackable diagnostic scope apparatus and methods of use |
| US20080300478A1 (en) | 2007-05-30 | 2008-12-04 | General Electric Company | System and method for displaying real-time state of imaged anatomy during a surgical procedure |
| US20080300477A1 (en) | 2007-05-30 | 2008-12-04 | General Electric Company | System and method for correction of automated image registration |
| US9468412B2 (en) | 2007-06-22 | 2016-10-18 | General Electric Company | System and method for accuracy verification for image based surgical navigation |
| EP2170564A4 (en) | 2007-07-12 | 2015-10-07 | Univ Nebraska | METHODS AND SYSTEMS FOR ACTUATION IN ROBOTIC DEVICES |
| US7834484B2 (en) | 2007-07-16 | 2010-11-16 | Tyco Healthcare Group Lp | Connection cable and method for activating a voltage-controlled generator |
| JP2009045428A (ja) | 2007-07-25 | 2009-03-05 | Terumo Corp | 操作機構、医療用マニピュレータ及び手術用ロボットシステム |
| WO2009018086A2 (en) | 2007-07-27 | 2009-02-05 | The Cleveland Clinic Foundation | Oblique lumbar interbody fusion |
| US8035685B2 (en) | 2007-07-30 | 2011-10-11 | General Electric Company | Systems and methods for communicating video data between a mobile imaging system and a fixed monitor system |
| US8328818B1 (en) | 2007-08-31 | 2012-12-11 | Globus Medical, Inc. | Devices and methods for treating bone |
| WO2009039428A2 (en) | 2007-09-19 | 2009-03-26 | Roberts Walter A | Direct visualization robotic intra-operative radiation therapy applicator device |
| US20090080737A1 (en) | 2007-09-25 | 2009-03-26 | General Electric Company | System and Method for Use of Fluoroscope and Computed Tomography Registration for Sinuplasty Navigation |
| US9050120B2 (en) | 2007-09-30 | 2015-06-09 | Intuitive Surgical Operations, Inc. | Apparatus and method of user interface with alternate tool mode for robotic surgical tools |
| US9522046B2 (en) | 2010-08-23 | 2016-12-20 | Gip | Robotic surgery system |
| US8462911B2 (en) | 2007-11-06 | 2013-06-11 | Koninklijke Philips Electronics N.V. | Nuclear medicine SPECT-CT machine with integrated asymmetric flat panel cone-beam CT and SPECT system |
| DE102007055203A1 (de) | 2007-11-19 | 2009-05-20 | Kuka Roboter Gmbh | Einen Roboter aufweisende Vorrichtung, medizinischer Arbeitsplatz und Verfahren zum Registrieren eines Objekts |
| US8561473B2 (en) | 2007-12-18 | 2013-10-22 | Intuitive Surgical Operations, Inc. | Force sensor temperature compensation |
| US8400094B2 (en) | 2007-12-21 | 2013-03-19 | Intuitive Surgical Operations, Inc. | Robotic surgical system with patient support |
| CN101902968A (zh) | 2007-12-21 | 2010-12-01 | 皇家飞利浦电子股份有限公司 | 同步介入性扫描器 |
| US8864798B2 (en) | 2008-01-18 | 2014-10-21 | Globus Medical, Inc. | Transverse connector |
| EP2244784A2 (en) | 2008-01-30 | 2010-11-03 | The Trustees of Columbia University in the City of New York | Systems, devices, and methods for robot-assisted micro-surgical stenting |
| US20090198121A1 (en) | 2008-02-01 | 2009-08-06 | Martin Hoheisel | Method and apparatus for coordinating contrast agent injection and image acquisition in c-arm computed tomography |
| US8573465B2 (en) | 2008-02-14 | 2013-11-05 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical end effector system with rotary actuated closure systems |
| US8696458B2 (en) | 2008-02-15 | 2014-04-15 | Thales Visionix, Inc. | Motion tracking system and method using camera and non-camera sensors |
| US7925653B2 (en) | 2008-02-27 | 2011-04-12 | General Electric Company | Method and system for accessing a group of objects in an electronic document |
| US20090228019A1 (en) | 2008-03-10 | 2009-09-10 | Yosef Gross | Robotic surgical system |
| US8282653B2 (en) | 2008-03-24 | 2012-10-09 | Board Of Regents Of The University Of Nebraska | System and methods for controlling surgical tool elements |
| US8808164B2 (en) | 2008-03-28 | 2014-08-19 | Intuitive Surgical Operations, Inc. | Controlling a robotic surgical tool with a display monitor |
| DK2255560T3 (en) | 2008-03-28 | 2016-06-06 | ERICSSON TELEFON AB L M (publ) | Identification of a manipulated or defect base station during a handover |
| US8333755B2 (en) | 2008-03-31 | 2012-12-18 | Intuitive Surgical Operations, Inc. | Coupler to transfer controller motion from a robotic manipulator to an attached instrument |
| US7843158B2 (en) | 2008-03-31 | 2010-11-30 | Intuitive Surgical Operations, Inc. | Medical robotic system adapted to inhibit motions resulting in excessive end effector forces |
| US7886743B2 (en) | 2008-03-31 | 2011-02-15 | Intuitive Surgical Operations, Inc. | Sterile drape interface for robotic surgical instrument |
| US9002076B2 (en) | 2008-04-15 | 2015-04-07 | Medtronic, Inc. | Method and apparatus for optimal trajectory planning |
| US9345875B2 (en) | 2008-04-17 | 2016-05-24 | Medtronic, Inc. | Method and apparatus for cannula fixation for an array insertion tube set |
| DE102008019646A1 (de) * | 2008-04-18 | 2009-10-22 | Siemens Aktiengesellschaft | Computertomographie-System |
| US8167793B2 (en) | 2008-04-26 | 2012-05-01 | Intuitive Surgical Operations, Inc. | Augmented stereoscopic visualization for a surgical robot using time duplexing |
| ES2764964T3 (es) | 2008-04-30 | 2020-06-05 | Nanosys Inc | Superficies resistentes al ensuciamiento para esferas reflectivas |
| US9579161B2 (en) | 2008-05-06 | 2017-02-28 | Medtronic Navigation, Inc. | Method and apparatus for tracking a patient |
| WO2009151206A1 (ko) | 2008-06-09 | 2009-12-17 | (주)미래컴퍼니 | 수술용 로봇의 마스터 인터페이스 및 구동방법 |
| TW201004607A (en) | 2008-07-25 | 2010-02-01 | Been-Der Yang | Image guided navigation system and method thereof |
| US8054184B2 (en) | 2008-07-31 | 2011-11-08 | Intuitive Surgical Operations, Inc. | Identification of surgical instrument attached to surgical robot |
| US8771170B2 (en) | 2008-08-01 | 2014-07-08 | Microaccess, Inc. | Methods and apparatus for transesophageal microaccess surgery |
| JP2010035984A (ja) | 2008-08-08 | 2010-02-18 | Canon Inc | Ｘ線撮影装置 |
| EP2153794B1 (en) | 2008-08-15 | 2016-11-09 | Stryker European Holdings I, LLC | System for and method of visualizing an interior of a body |
| WO2010022088A1 (en) | 2008-08-18 | 2010-02-25 | Encision, Inc. | Enhanced control systems including flexible shielding and support systems for electrosurgical applications |
| DE102008041813B4 (de) | 2008-09-04 | 2013-06-20 | Carl Zeiss Microscopy Gmbh | Verfahren zur Tiefenanalyse einer organischen Probe |
| US7900524B2 (en) | 2008-09-09 | 2011-03-08 | Intersense, Inc. | Monitoring tools |
| US8165658B2 (en) | 2008-09-26 | 2012-04-24 | Medtronic, Inc. | Method and apparatus for positioning a guide relative to a base |
| US8073335B2 (en) | 2008-09-30 | 2011-12-06 | Intuitive Surgical Operations, Inc. | Operator input device for a robotic surgical system |
| CN102177430B (zh) | 2008-10-10 | 2014-04-02 | 皇家飞利浦电子股份有限公司 | 使用经移位的几何结构改进ct图像采集的方法和设备 |
| KR100944412B1 (ko) * | 2008-10-13 | 2010-02-25 | (주)미래컴퍼니 | 수술용 슬레이브 로봇 |
| US8781630B2 (en) | 2008-10-14 | 2014-07-15 | University Of Florida Research Foundation, Inc. | Imaging platform to provide integrated navigation capabilities for surgical guidance |
| WO2010048160A2 (en) | 2008-10-20 | 2010-04-29 | The Johns Hopkins University | Environment property estimation and graphical display |
| EP2455038B1 (de) | 2008-10-21 | 2015-04-01 | Brainlab AG | Integration von chirurgischem Instrument und Anzeigevorrichtung zur Unterstützung der bildgeführten Chirurgie |
| US8798933B2 (en) | 2008-10-31 | 2014-08-05 | The Invention Science Fund I, Llc | Frozen compositions and methods for piercing a substrate |
| KR101075363B1 (ko) | 2008-10-31 | 2011-10-19 | 정창욱 | 최소 침습 수술 도구를 포함하는 수술용 로봇 시스템 |
| US9033958B2 (en) | 2008-11-11 | 2015-05-19 | Perception Raisonnement Action En Medecine | Surgical robotic system |
| TWI435705B (zh) | 2008-11-20 | 2014-05-01 | Been Der Yang | 手術用定位裝置及應用其之影像導航系統 |
| JP5384521B2 (ja) | 2008-11-27 | 2014-01-08 | 株式会社日立メディコ | 放射線撮像装置 |
| US8483800B2 (en) | 2008-11-29 | 2013-07-09 | General Electric Company | Surgical navigation enabled imaging table environment |
| US8992580B2 (en) | 2008-12-01 | 2015-03-31 | Mazor Robotics Ltd. | Robot guided oblique spinal stabilization |
| ES2341079B1 (es) | 2008-12-11 | 2011-07-13 | Fundacio Clinic Per A La Recerca Biomedica | Equipo para vision mejorada por infrarrojo de estructuras vasculares,aplicable para asistir intervenciones fetoscopicas, laparoscopicas y endoscopicas y proceso de tratamiento de la señal para mejorar dicha vision. |
| US8021393B2 (en) | 2008-12-12 | 2011-09-20 | Globus Medical, Inc. | Lateral spinous process spacer with deployable wings |
| US8830224B2 (en) | 2008-12-31 | 2014-09-09 | Intuitive Surgical Operations, Inc. | Efficient 3-D telestration for local robotic proctoring |
| US8594841B2 (en) | 2008-12-31 | 2013-11-26 | Intuitive Surgical Operations, Inc. | Visual force feedback in a minimally invasive surgical procedure |
| US8184880B2 (en) | 2008-12-31 | 2012-05-22 | Intuitive Surgical Operations, Inc. | Robust sparse image matching for robotic surgery |
| US8374723B2 (en) | 2008-12-31 | 2013-02-12 | Intuitive Surgical Operations, Inc. | Obtaining force information in a minimally invasive surgical procedure |
| EP2389114A1 (en) | 2009-01-21 | 2011-11-30 | Koninklijke Philips Electronics N.V. | Method and apparatus for large field of view imaging and detection and compensation of motion artifacts |
| US8611985B2 (en) | 2009-01-29 | 2013-12-17 | Imactis | Method and device for navigation of a surgical tool |
| KR101038417B1 (ko) | 2009-02-11 | 2011-06-01 | 주식회사 이턴 | 수술 로봇 시스템 및 그 제어 방법 |
| US9737235B2 (en) | 2009-03-09 | 2017-08-22 | Medtronic Navigation, Inc. | System and method for image-guided navigation |
| US8120301B2 (en) | 2009-03-09 | 2012-02-21 | Intuitive Surgical Operations, Inc. | Ergonomic surgeon control console in robotic surgical systems |
| US8418073B2 (en) | 2009-03-09 | 2013-04-09 | Intuitive Surgical Operations, Inc. | User interfaces for electrosurgical tools in robotic surgical systems |
| US8918207B2 (en) | 2009-03-09 | 2014-12-23 | Intuitive Surgical Operations, Inc. | Operator input device for a robotic surgical system |
| CA2755036A1 (en) | 2009-03-10 | 2010-09-16 | Mcmaster University | Mobile robotic surgical system |
| US8335552B2 (en) | 2009-03-20 | 2012-12-18 | Medtronic, Inc. | Method and apparatus for instrument placement |
| WO2010110560A2 (ko) | 2009-03-24 | 2010-09-30 | 주식회사 래보 | 증강현실을 이용한 수술 로봇 시스템 및 그 제어 방법 |
| US20100249571A1 (en) | 2009-03-31 | 2010-09-30 | General Electric Company | Surgical navigation system with wireless magnetoresistance tracking sensors |
| US8882803B2 (en) | 2009-04-01 | 2014-11-11 | Globus Medical, Inc. | Orthopedic clamp and extension rod |
| EP2429438A1 (en) | 2009-04-24 | 2012-03-21 | Medtronic, Inc. | Electromagnetic navigation of medical instruments for cardiothoracic surgery |
| CA2876807C (en) | 2009-05-18 | 2016-07-12 | Teleflex Medical Incorporated | Method and devices for performing minimally invasive surgery |
| ES2388029B1 (es) | 2009-05-22 | 2013-08-13 | Universitat Politècnica De Catalunya | Sistema robótico para cirugia laparoscópica. |
| CN101897593B (zh) | 2009-05-26 | 2014-08-13 | 清华大学 | 一种计算机层析成像设备和方法 |
| US8121249B2 (en) | 2009-06-04 | 2012-02-21 | Virginia Tech Intellectual Properties, Inc. | Multi-parameter X-ray computed tomography |
| WO2011013164A1 (ja) | 2009-07-27 | 2011-02-03 | 株式会社島津製作所 | 放射線撮影装置 |
| RU2550542C2 (ru) | 2009-08-06 | 2015-05-10 | Конинклейке Филипс Электроникс Н.В. | Способ и устройство для формирования компьютерных томографических изображений с использованием геометрий со смещенным детектором |
| US10828786B2 (en) | 2009-08-17 | 2020-11-10 | Mazor Robotics Ltd. | Device for improving the accuracy of manual operations |
| US9844414B2 (en) | 2009-08-31 | 2017-12-19 | Gregory S. Fischer | System and method for robotic surgical intervention in a magnetic resonance imager |
| EP2298223A1 (en) | 2009-09-21 | 2011-03-23 | Stryker Leibinger GmbH & Co. KG | Technique for registering image data of an object |
| US8465476B2 (en) | 2009-09-23 | 2013-06-18 | Intuitive Surgical Operations, Inc. | Cannula mounting fixture |
| WO2011038759A1 (en) | 2009-09-30 | 2011-04-07 | Brainlab Ag | Two-part medical tracking marker |
| NL1037348C2 (en) | 2009-10-02 | 2011-04-05 | Univ Eindhoven Tech | Surgical robot, instrument manipulator, combination of an operating table and a surgical robot, and master-slave operating system. |
| US8685098B2 (en) | 2010-06-25 | 2014-04-01 | Globus Medical, Inc. | Expandable fusion device and method of installation thereof |
| US8556979B2 (en) | 2009-10-15 | 2013-10-15 | Globus Medical, Inc. | Expandable fusion device and method of installation thereof |
| US8062375B2 (en) | 2009-10-15 | 2011-11-22 | Globus Medical, Inc. | Expandable fusion device and method of installation thereof |
| US8679183B2 (en) | 2010-06-25 | 2014-03-25 | Globus Medical | Expandable fusion device and method of installation thereof |
| US20110098553A1 (en) | 2009-10-28 | 2011-04-28 | Steven Robbins | Automatic registration of images for image guided surgery |
| USD631966S1 (en) | 2009-11-10 | 2011-02-01 | Globus Medical, Inc. | Basilar invagination implant |
| US8521331B2 (en) | 2009-11-13 | 2013-08-27 | Intuitive Surgical Operations, Inc. | Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument |
| WO2011058530A1 (en) * | 2009-11-16 | 2011-05-19 | Koninklijke Philips Electronics, N.V. | Human-robot shared control for endoscopic assistant robot |
| US20110137152A1 (en) | 2009-12-03 | 2011-06-09 | General Electric Company | System and method for cooling components of a surgical navigation system |
| US8277509B2 (en) | 2009-12-07 | 2012-10-02 | Globus Medical, Inc. | Transforaminal prosthetic spinal disc apparatus |
| WO2011070519A1 (en) | 2009-12-10 | 2011-06-16 | Koninklijke Philips Electronics N.V. | Scanning system for differential phase contrast imaging |
| US8694075B2 (en) | 2009-12-21 | 2014-04-08 | General Electric Company | Intra-operative registration for navigated surgical procedures |
| US8353963B2 (en) | 2010-01-12 | 2013-01-15 | Globus Medical | Expandable spacer and method for use thereof |
| US9381045B2 (en) | 2010-01-13 | 2016-07-05 | Jcbd, Llc | Sacroiliac joint implant and sacroiliac joint instrument for fusing a sacroiliac joint |
| RU2556593C2 (ru) | 2010-01-13 | 2015-07-10 | Конинклейке Филипс Электроникс Н.В. | Совмещение и навигация для эндоскопической хирургии на основе интеграции изображений |
| WO2011085814A1 (en) | 2010-01-14 | 2011-07-21 | Brainlab Ag | Controlling and/or operating a medical device by means of a light pointer |
| US9039769B2 (en) | 2010-03-17 | 2015-05-26 | Globus Medical, Inc. | Intervertebral nucleus and annulus implants and method of use thereof |
| US20110238080A1 (en) | 2010-03-25 | 2011-09-29 | Date Ranjit | Robotic Surgical Instrument System |
| US20140330288A1 (en) | 2010-03-25 | 2014-11-06 | Precision Automation And Robotics India Ltd. | Articulating Arm for a Robotic Surgical Instrument System |
| IT1401669B1 (it) | 2010-04-07 | 2013-08-02 | Sofar Spa | Sistema di chirurgia robotizzata con controllo perfezionato. |
| US8870880B2 (en) | 2010-04-12 | 2014-10-28 | Globus Medical, Inc. | Angling inserter tool for expandable vertebral implant |
| IT1399603B1 (it) | 2010-04-26 | 2013-04-26 | Scuola Superiore Di Studi Universitari E Di Perfez | Apparato robotico per interventi di chirurgia minimamente invasiva |
| US8717430B2 (en) | 2010-04-26 | 2014-05-06 | Medtronic Navigation, Inc. | System and method for radio-frequency imaging, registration, and localization |
| WO2011134083A1 (en) | 2010-04-28 | 2011-11-03 | Ryerson University | System and methods for intraoperative guidance feedback |
| CN103118596B (zh) | 2010-05-04 | 2015-11-25 | 开创治疗股份有限公司 | 用于使用伪特征进行腹部表面匹配的系统 |
| US8738115B2 (en) | 2010-05-11 | 2014-05-27 | Siemens Aktiengesellschaft | Method and apparatus for selective internal radiation therapy planning and implementation |
| DE102010020284A1 (de) | 2010-05-12 | 2011-11-17 | Siemens Aktiengesellschaft | Bestimmung von 3D-Positionen und -Orientierungen von chirurgischen Objekten aus 2D-Röntgenbildern |
| US8883210B1 (en) | 2010-05-14 | 2014-11-11 | Musculoskeletal Transplant Foundation | Tissue-derived tissuegenic implants, and methods of fabricating and using same |
| US8603077B2 (en) | 2010-05-14 | 2013-12-10 | Intuitive Surgical Operations, Inc. | Force transmission for robotic surgical instrument |
| US20110282357A1 (en) | 2010-05-14 | 2011-11-17 | Intuitive Surgical Operations, Inc. | Surgical system architecture |
| KR101181569B1 (ko) | 2010-05-25 | 2012-09-10 | 정창욱 | 단일 통로 수술 모드와 다통로 수술 모드를 실현할 수 있는 수술용 로봇 시스템 및 그 제어 방법 |
| US20110295370A1 (en) | 2010-06-01 | 2011-12-01 | Sean Suh | Spinal Implants and Methods of Use Thereof |
| DE102010026674B4 (de) | 2010-07-09 | 2012-09-27 | Siemens Aktiengesellschaft | Bildgebungsvorrichtung und Strahlentherapiegerät |
| US8675939B2 (en) | 2010-07-13 | 2014-03-18 | Stryker Leibinger Gmbh & Co. Kg | Registration of anatomical data sets |
| WO2012007036A1 (en) | 2010-07-14 | 2012-01-19 | Brainlab Ag | Method and system for determining an imaging direction and calibration of an imaging apparatus |
| US20120035507A1 (en) | 2010-07-22 | 2012-02-09 | Ivan George | Device and method for measuring anatomic geometries |
| US8740882B2 (en) | 2010-07-30 | 2014-06-03 | Lg Electronics Inc. | Medical robotic system and method of controlling the same |
| US20130303887A1 (en) | 2010-08-20 | 2013-11-14 | Veran Medical Technologies, Inc. | Apparatus and method for four dimensional soft tissue navigation |
| JP2012045278A (ja) | 2010-08-30 | 2012-03-08 | Fujifilm Corp | Ｘ線画像撮影装置およびｘ線画像撮影方法 |
| US8764448B2 (en) | 2010-09-01 | 2014-07-01 | Agency For Science, Technology And Research | Robotic device for use in image-guided robot assisted surgical training |
| KR20120030174A (ko) | 2010-09-17 | 2012-03-28 | 삼성전자주식회사 | 촉각 피드백을 제공하는 수술 로봇 시스템 및 수술 장치, 그리고 그의 촉각 피드백 제공 방법 |
| EP2431003B1 (en) | 2010-09-21 | 2018-03-21 | Medizinische Universität Innsbruck | Registration device, system, kit and method for a patient registration |
| US8679125B2 (en) | 2010-09-22 | 2014-03-25 | Biomet Manufacturing, Llc | Robotic guided femoral head reshaping |
| US8657809B2 (en) | 2010-09-29 | 2014-02-25 | Stryker Leibinger Gmbh & Co., Kg | Surgical navigation system |
| US8718346B2 (en) | 2011-10-05 | 2014-05-06 | Saferay Spine Llc | Imaging system and method for use in surgical and interventional medical procedures |
| US8526700B2 (en) | 2010-10-06 | 2013-09-03 | Robert E. Isaacs | Imaging system and method for surgical and interventional medical procedures |
| US9913693B2 (en) | 2010-10-29 | 2018-03-13 | Medtronic, Inc. | Error correction techniques in surgical navigation |
| US8876866B2 (en) | 2010-12-13 | 2014-11-04 | Globus Medical, Inc. | Spinous process fusion devices and methods thereof |
| AU2011344107A1 (en) | 2010-12-13 | 2013-06-27 | Ortho Kinematics, Inc. | Methods, systems and devices for clinical data reporting and surgical navigation |
| US8812077B2 (en) | 2010-12-22 | 2014-08-19 | Viewray Incorporated | System and method for image guidance during medical procedures |
| US20130281821A1 (en) | 2011-01-13 | 2013-10-24 | Koninklijke Philips Electronics N.V. | Intraoperative camera calibration for endoscopic surgery |
| KR101181613B1 (ko) | 2011-02-21 | 2012-09-10 | 윤상진 | 사용자 지정에 따라 결정되는 변위 정보에 기초하여 수술을 수행하는 수술용 로봇 시스템과 그 제어 방법 |
| US20120226145A1 (en) * | 2011-03-03 | 2012-09-06 | National University Of Singapore | Transcutaneous robot-assisted ablation-device insertion navigation system |
| US9026247B2 (en) | 2011-03-30 | 2015-05-05 | University of Washington through its Center for Communication | Motion and video capture for tracking and evaluating robotic surgery and associated systems and methods |
| WO2012131660A1 (en) | 2011-04-01 | 2012-10-04 | Ecole Polytechnique Federale De Lausanne (Epfl) | Robotic system for spinal and other surgeries |
| US20150213633A1 (en) | 2011-04-06 | 2015-07-30 | The Trustees Of Columbia University In The City Of New York | System, method and computer-accessible medium for providing a panoramic cone beam computed tomography (cbct) |
| US20120256092A1 (en) | 2011-04-06 | 2012-10-11 | General Electric Company | Ct system for use in multi-modality imaging system |
| US10426554B2 (en) | 2011-04-29 | 2019-10-01 | The Johns Hopkins University | System and method for tracking and navigation |
| US9072535B2 (en) | 2011-05-27 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments with rotatable staple deployment arrangements |
| EP2719353A4 (en) | 2011-06-06 | 2015-04-22 | Nozomu Matsumoto | METHOD FOR MANUFACTURING RECORDING MATRIX |
| US8498744B2 (en) | 2011-06-30 | 2013-07-30 | Mako Surgical Corporation | Surgical robotic systems with manual and haptic and/or active control modes |
| WO2013009887A1 (en) | 2011-07-11 | 2013-01-17 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems and related methods |
| US8818105B2 (en) | 2011-07-14 | 2014-08-26 | Accuray Incorporated | Image registration for image-guided surgery |
| KR20130015146A (ko) | 2011-08-02 | 2013-02-13 | 삼성전자주식회사 | 의료 영상 처리 방법 및 장치, 영상 유도를 이용한 로봇 수술 시스템 |
| US10866783B2 (en) | 2011-08-21 | 2020-12-15 | Transenterix Europe S.A.R.L. | Vocally activated surgical control system |
| US9427330B2 (en) | 2011-09-06 | 2016-08-30 | Globus Medical, Inc. | Spinal plate |
| US8864833B2 (en) | 2011-09-30 | 2014-10-21 | Globus Medical, Inc. | Expandable fusion device and method of installation thereof |
| US9060794B2 (en) | 2011-10-18 | 2015-06-23 | Mako Surgical Corp. | System and method for robotic surgery |
| US8894688B2 (en) | 2011-10-27 | 2014-11-25 | Globus Medical Inc. | Adjustable rod devices and methods of using the same |
| DE102011054910B4 (de) * | 2011-10-28 | 2013-10-10 | Ovesco Endoscopy Ag | Magnetischer Endeffektor und Einrichtung zur Führung und Positionierung desselben |
| CA3041707C (en) | 2011-11-15 | 2021-04-06 | Manickam UMASUTHAN | Method of real-time tracking of moving/flexible surfaces |
| FR2983059B1 (fr) | 2011-11-30 | 2014-11-28 | Medtech | Procede assiste par robotique de positionnement d'instrument chirurgical par rapport au corps d'un patient et dispositif de mise en oeuvre. |
| EP2787910B1 (en) | 2011-12-05 | 2022-08-03 | Mazor Robotics Ltd. | Active bed mount for surgical robot |
| KR101901580B1 (ko) | 2011-12-23 | 2018-09-28 | 삼성전자주식회사 | 수술 로봇 및 그 제어 방법 |
| FR2985167A1 (fr) | 2011-12-30 | 2013-07-05 | Medtech | Procede medical robotise de surveillance de la respiration d'un patient et de correction de la trajectoire robotisee. |
| US9265583B2 (en) | 2011-12-30 | 2016-02-23 | Mako Surgical Corp. | Method for image-based robotic surgery |
| EP3028635B1 (en) * | 2011-12-30 | 2017-10-18 | Mako Surgical Corp. | System for image-based robotic surgery |
| KR20130080909A (ko) | 2012-01-06 | 2013-07-16 | 삼성전자주식회사 | 수술 로봇 및 그 제어 방법 |
| US9138297B2 (en) | 2012-02-02 | 2015-09-22 | Intuitive Surgical Operations, Inc. | Systems and methods for controlling a robotic surgical system |
| US10249036B2 (en) | 2012-02-22 | 2019-04-02 | Veran Medical Technologies, Inc. | Surgical catheter having side exiting medical instrument and related systems and methods for four dimensional soft tissue navigation |
| US11207132B2 (en) | 2012-03-12 | 2021-12-28 | Nuvasive, Inc. | Systems and methods for performing spinal surgery |
| US8855822B2 (en) | 2012-03-23 | 2014-10-07 | Innovative Surgical Solutions, Llc | Robotic surgical system with mechanomyography feedback |
| KR101946000B1 (ko) | 2012-03-28 | 2019-02-08 | 삼성전자주식회사 | 수술용 로봇 시스템 및 로봇 시스템의 제어방법 |
| US8888821B2 (en) | 2012-04-05 | 2014-11-18 | Warsaw Orthopedic, Inc. | Spinal implant measuring system and method |
| US9173620B2 (en) | 2012-04-16 | 2015-11-03 | Neurologica Corp. | Imaging system with rigidly mounted fiducial markers |
| US20130272488A1 (en) | 2012-04-16 | 2013-10-17 | Neurologica Corp. | Wireless imaging system |
| US20140142591A1 (en) | 2012-04-24 | 2014-05-22 | Auris Surgical Robotics, Inc. | Method, apparatus and a system for robotic assisted surgery |
| US10383765B2 (en) | 2012-04-24 | 2019-08-20 | Auris Health, Inc. | Apparatus and method for a global coordinate system for use in robotic surgery |
| US9020613B2 (en) | 2012-05-01 | 2015-04-28 | The Johns Hopkins University | Method and apparatus for robotically assisted cochlear implant surgery |
| WO2013163800A2 (zh) | 2012-05-02 | 2013-11-07 | 医百科技股份有限公司 | 口腔内手术中辅助导引的方法 |
| US9125556B2 (en) | 2012-05-14 | 2015-09-08 | Mazor Robotics Ltd. | Robotic guided endoscope |
| EP2849650A4 (en) | 2012-05-18 | 2016-01-20 | Carestream Health Inc | VOLUMETRIC IMAGING SYSTEM THROUGH TOMODENSITOMETRY WITH TAPERED BEAM |
| KR20130132109A (ko) | 2012-05-25 | 2013-12-04 | 삼성전자주식회사 | 서포터 장치 및 이를 채용한 수술 로봇 시스템 |
| CN108113755B (zh) | 2012-06-01 | 2020-11-27 | 直观外科手术操作公司 | 多端口手术机器人系统架构 |
| US20150032164A1 (en) | 2012-06-21 | 2015-01-29 | Globus Medical, Inc. | Methods for Performing Invasive Medical Procedures Using a Surgical Robot |
| US20130345757A1 (en) | 2012-06-22 | 2013-12-26 | Shawn D. Stad | Image Guided Intra-Operative Contouring Aid |
| EP3680071B1 (en) | 2012-06-22 | 2021-09-01 | Board of Regents of the University of Nebraska | Local control robotic surgical devices |
| US20140001234A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Coupling arrangements for attaching surgical end effectors to drive systems therefor |
| US8880223B2 (en) | 2012-07-16 | 2014-11-04 | Florida Institute for Human & Maching Cognition | Anthro-centric multisensory interface for sensory augmentation of telesurgery |
| US20140031664A1 (en) | 2012-07-30 | 2014-01-30 | Mako Surgical Corp. | Radiographic imaging device |
| KR101997566B1 (ko) | 2012-08-07 | 2019-07-08 | 삼성전자주식회사 | 수술 로봇 시스템 및 그 제어방법 |
| US9770305B2 (en) | 2012-08-08 | 2017-09-26 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methods |
| WO2014025399A1 (en) | 2012-08-08 | 2014-02-13 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methods |
| US10110785B2 (en) | 2012-08-10 | 2018-10-23 | Karl Storz Imaging, Inc. | Deployable imaging system equipped with solid state imager |
| EP2884937B1 (en) | 2012-08-15 | 2022-10-05 | Intuitive Surgical Operations, Inc. | Systems for cancellation of joint motion using the null-space |
| US9539058B2 (en) | 2012-08-24 | 2017-01-10 | University Of Houston System | Robotic device and systems for image-guided and robot-assisted surgery |
| US20140080086A1 (en) | 2012-09-20 | 2014-03-20 | Roger Chen | Image Navigation Integrated Dental Implant System |
| US8892259B2 (en) | 2012-09-26 | 2014-11-18 | Innovative Surgical Solutions, LLC. | Robotic surgical system with mechanomyography feedback |
| US9757160B2 (en) | 2012-09-28 | 2017-09-12 | Globus Medical, Inc. | Device and method for treatment of spinal deformity |
| KR102038632B1 (ko) | 2012-11-06 | 2019-10-30 | 삼성전자주식회사 | 수술용 인스트루먼트, 서포터 장치, 및 수술 로봇 시스템 |
| FR2997617B1 (fr) * | 2012-11-08 | 2015-08-21 | Tural | Dispositif de reperage |
| JP2016502435A (ja) | 2012-11-14 | 2016-01-28 | 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 | 衝突防止のためのスマートドレープ |
| KR102079945B1 (ko) | 2012-11-22 | 2020-02-21 | 삼성전자주식회사 | 수술 로봇 및 수술 로봇 제어 방법 |
| US9682480B2 (en) * | 2012-12-03 | 2017-06-20 | Abb Schweiz Ag | Teleoperation of machines having at least one actuated mechanism and a fault detection and recovery system |
| US9008752B2 (en) | 2012-12-14 | 2015-04-14 | Medtronic, Inc. | Method to determine distribution of a material by an infused magnetic resonance image contrast agent |
| US9393361B2 (en) | 2012-12-14 | 2016-07-19 | Medtronic, Inc. | Method to determine a material distribution |
| US9001962B2 (en) | 2012-12-20 | 2015-04-07 | Triple Ring Technologies, Inc. | Method and apparatus for multiple X-ray imaging applications |
| DE102012025101A1 (de) | 2012-12-20 | 2014-06-26 | avateramedical GmBH | Aktive Positioniereinrichtung eines chirurgischen Instruments und ein diese umfassendes chirurgisches Robotersystem |
| DE102013004459A1 (de) | 2012-12-20 | 2014-06-26 | avateramedical GmBH | Halterungs- und Positioniervorrichtung eines chirurgischen Instruments und/oder eines Endoskops für die minimal-invasive Chirurgie sowie ein chirurgisches Robotersystem |
| US9002437B2 (en) | 2012-12-27 | 2015-04-07 | General Electric Company | Method and system for position orientation correction in navigation |
| CA2896873A1 (en) | 2012-12-31 | 2014-07-03 | Mako Surgical Corp. | System for image-based robotic surgery |
| KR20140090374A (ko) | 2013-01-08 | 2014-07-17 | 삼성전자주식회사 | 싱글 포트 수술 로봇 및 그 제어 방법 |
| CN103969269B (zh) | 2013-01-31 | 2018-09-18 | Ge医疗系统环球技术有限公司 | 用于几何校准ct扫描仪的方法和装置 |
| US20140221819A1 (en) | 2013-02-01 | 2014-08-07 | David SARMENT | Apparatus, system and method for surgical navigation |
| WO2014121262A2 (en) | 2013-02-04 | 2014-08-07 | Children's National Medical Center | Hybrid control surgical robotic system |
| KR20140102465A (ko) | 2013-02-14 | 2014-08-22 | 삼성전자주식회사 | 수술 로봇 및 그 제어방법 |
| KR102117270B1 (ko) | 2013-03-06 | 2020-06-01 | 삼성전자주식회사 | 수술 로봇 시스템 및 그 제어방법 |
| KR20140110685A (ko) | 2013-03-08 | 2014-09-17 | 삼성전자주식회사 | 싱글 포트 수술 로봇의 제어 방법 |
| KR20140110620A (ko) | 2013-03-08 | 2014-09-17 | 삼성전자주식회사 | 수술 로봇 시스템 및 그 작동 방법 |
| KR102119534B1 (ko) | 2013-03-13 | 2020-06-05 | 삼성전자주식회사 | 수술 로봇 및 그 제어방법 |
| KR20140112207A (ko) | 2013-03-13 | 2014-09-23 | 삼성전자주식회사 | 증강현실 영상 표시 시스템 및 이를 포함하는 수술 로봇 시스템 |
| US9314308B2 (en) | 2013-03-13 | 2016-04-19 | Ethicon Endo-Surgery, Llc | Robotic ultrasonic surgical device with articulating end effector |
| CA2905948C (en) | 2013-03-14 | 2022-01-11 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers |
| WO2014144220A1 (en) | 2013-03-15 | 2014-09-18 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methdos |
| US9629595B2 (en) | 2013-03-15 | 2017-04-25 | Hansen Medical, Inc. | Systems and methods for localizing, tracking and/or controlling medical instruments |
| KR102117273B1 (ko) | 2013-03-21 | 2020-06-01 | 삼성전자주식회사 | 수술 로봇 시스템 및 그 제어 방법 |
| KR20140121581A (ko) | 2013-04-08 | 2014-10-16 | 삼성전자주식회사 | 수술 로봇 시스템 |
| KR20140123122A (ko) | 2013-04-10 | 2014-10-22 | 삼성전자주식회사 | 수술용 로봇 및 그 제어 방법 |
| US9414859B2 (en) | 2013-04-19 | 2016-08-16 | Warsaw Orthopedic, Inc. | Surgical rod measuring system and method |
| US8964934B2 (en) | 2013-04-25 | 2015-02-24 | Moshe Ein-Gal | Cone beam CT scanning |
| KR20140129702A (ko) | 2013-04-30 | 2014-11-07 | 삼성전자주식회사 | 수술 로봇 시스템 및 그 제어방법 |
| US20140364720A1 (en) | 2013-06-10 | 2014-12-11 | General Electric Company | Systems and methods for interactive magnetic resonance imaging |
| DE102013012397B4 (de) | 2013-07-26 | 2018-05-24 | Rg Mechatronics Gmbh | OP-Robotersystem |
| US10786283B2 (en) | 2013-08-01 | 2020-09-29 | Musc Foundation For Research Development | Skeletal bone fixation mechanism |
| US20150085970A1 (en) | 2013-09-23 | 2015-03-26 | General Electric Company | Systems and methods for hybrid scanning |
| US9283048B2 (en) * | 2013-10-04 | 2016-03-15 | KB Medical SA | Apparatus and systems for precise guidance of surgical tools |
| CA2926621C (en) | 2013-10-07 | 2021-05-25 | Technion Research & Development Foundation Ltd. | Needle steering by shaft manipulation |
| US9848922B2 (en) | 2013-10-09 | 2017-12-26 | Nuvasive, Inc. | Systems and methods for performing spine surgery |
| AU2014331765A1 (en) | 2013-10-09 | 2016-04-28 | Nuvasive, Inc. | Surgical spinal correction |
| ITBO20130599A1 (it) | 2013-10-31 | 2015-05-01 | Cefla Coop | Metodo e apparato per aumentare il campo di vista in una acquisizione tomografica computerizzata con tecnica cone-beam |
| US20150146847A1 (en) | 2013-11-26 | 2015-05-28 | General Electric Company | Systems and methods for providing an x-ray imaging system with nearly continuous zooming capability |
| KR102457538B1 (ko) | 2014-03-17 | 2022-10-24 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 관절방식 암에서 브레이크어웨이 클러칭을 위한 시스템 및 방법 |
| EP3157425A4 (en) | 2014-06-17 | 2017-11-15 | Nuvasive, Inc. | Systems and methods for planning, performing, and assessing spinal correction during surgery |
| EP3193768A4 (en) | 2014-09-17 | 2018-05-09 | Intuitive Surgical Operations, Inc. | Systems and methods for utilizing augmented jacobian to control manipulator joint movement |
| US10631907B2 (en) | 2014-12-04 | 2020-04-28 | Mazor Robotics Ltd. | Shaper for vertebral fixation rods |
| US20160166329A1 (en) | 2014-12-15 | 2016-06-16 | General Electric Company | Tomographic imaging for interventional tool guidance |
| CN113081009A (zh) | 2015-04-15 | 2021-07-09 | 莫比乌斯成像公司 | 集成式医学成像与外科手术机器人系统 |
| US10180404B2 (en) | 2015-04-30 | 2019-01-15 | Shimadzu Corporation | X-ray analysis device |
| US10058394B2 (en) * | 2015-07-31 | 2018-08-28 | Globus Medical, Inc. | Robot arm and methods of use |
| US20170143284A1 (en) | 2015-11-25 | 2017-05-25 | Carestream Health, Inc. | Method to detect a retained surgical object |
| US10070939B2 (en) | 2015-12-04 | 2018-09-11 | Zaki G. Ibrahim | Methods for performing minimally invasive transforaminal lumbar interbody fusion using guidance |
| WO2017127838A1 (en) | 2016-01-22 | 2017-07-27 | Nuvasive, Inc. | Systems and methods for facilitating spine surgery |
| US11058378B2 (en) | 2016-02-03 | 2021-07-13 | Globus Medical, Inc. | Portable medical imaging system |
| US10842453B2 (en) | 2016-02-03 | 2020-11-24 | Globus Medical, Inc. | Portable medical imaging system |
| US10448910B2 (en) | 2016-02-03 | 2019-10-22 | Globus Medical, Inc. | Portable medical imaging system |
| US9962133B2 (en) | 2016-03-09 | 2018-05-08 | Medtronic Navigation, Inc. | Transformable imaging system |
| US9931025B1 (en) | 2016-09-30 | 2018-04-03 | Auris Surgical Robotics, Inc. | Automated calibration of endoscopes with pull wires |
-
2015
- 2015-09-14 US US14/853,238 patent/US10034716B2/en active Active
-
2016
- 2016-09-14 EP EP16847154.8A patent/EP3349678A4/en not_active Withdrawn
- 2016-09-14 CN CN201680052688.5A patent/CN108135660B/zh active Active
- 2016-09-14 JP JP2018513339A patent/JP6898313B2/ja active Active
- 2016-09-14 WO PCT/US2016/051565 patent/WO2017048736A1/en active Application Filing
-
2018
- 2018-07-27 US US16/047,202 patent/US10973594B2/en active Active
- 2018-10-12 HK HK18113116.2A patent/HK1254053A1/zh unknown
-
2021
- 2021-03-23 US US17/209,802 patent/US20210228288A1/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1557134A1 (en) * | 2004-01-23 | 2005-07-27 | Olympus Corporation | Method and apparatus for removably holding medical device |
| CN101530338A (zh) * | 2008-03-12 | 2009-09-16 | 西门子公司 | 使用机器人x线装置进行心脏瓣膜介入手术的方法和设备 |
| CN102955350A (zh) * | 2011-08-31 | 2013-03-06 | 华晶科技股份有限公司 | 立体影像获取装置 |
| US20140163736A1 (en) * | 2012-12-10 | 2014-06-12 | Intuitive Surgical Operations, Inc. | Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms |
| US20140200621A1 (en) * | 2013-01-16 | 2014-07-17 | Stryker Corporation | Navigation Systems and Methods for Indicating and Reducing Line-of-Sight Errors |
| CN104880211A (zh) * | 2015-05-15 | 2015-09-02 | 湖北工业大学 | 一种用于视觉检测的极坐标复合式相机机架 |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111195154A (zh) * | 2018-11-16 | 2020-05-26 | 格罗伯斯医疗有限公司 | 用于手术机器人系统的末端执行器 |
| CN111195154B (zh) * | 2018-11-16 | 2023-05-16 | 格罗伯斯医疗有限公司 | 用于手术机器人系统的末端执行器 |
| WO2021098584A1 (zh) * | 2019-11-20 | 2021-05-27 | 杭州键嘉机器人有限公司 | 骨科z字型切割导向装置及包括该导向装置的骨科手术机器人 |
| RU2791887C1 (ru) * | 2019-11-20 | 2023-03-14 | Ханчжоу Цзяньцзя Медикал Текнолоджи Ко., Лтд. | Ортопедическое z-образное режущее направляющее устройство и содержащий его ортопедический хирургический робот |
| CN114828769A (zh) * | 2020-02-18 | 2022-07-29 | 瑞德医疗机器股份有限公司 | 医疗用机器人 |
| CN114828769B (zh) * | 2020-02-18 | 2024-01-09 | 瑞德医疗机器股份有限公司 | 医疗用机器人 |
Also Published As
| Publication number | Publication date |
|---|---|
| US20210228288A1 (en) | 2021-07-29 |
| JP2018532463A (ja) | 2018-11-08 |
| WO2017048736A1 (en) | 2017-03-23 |
| US10973594B2 (en) | 2021-04-13 |
| US20170071685A1 (en) | 2017-03-16 |
| HK1254053A1 (zh) | 2019-07-12 |
| US20190021799A1 (en) | 2019-01-24 |
| CN108135660B (zh) | 2021-03-02 |
| US10034716B2 (en) | 2018-07-31 |
| EP3349678A1 (en) | 2018-07-25 |
| JP6898313B2 (ja) | 2021-07-07 |
| EP3349678A4 (en) | 2018-10-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108135660A (zh) | 手术机器人系统和其方法 | |
| US10925681B2 (en) | Robot arm and methods of use | |
| US11672622B2 (en) | Robot arm and methods of use | |
| US8433389B2 (en) | Surgery assistance system for guiding a surgical instrument | |
| JP7157111B2 (ja) | 受動的なエンドエフェクタを有する外科手術ロボット | |
| JP2021115483A (ja) | 可視および近赤外線スペクトルにおけるエクステンデッドリアリティの外科手術ナビゲーションのための姿勢測定連鎖 | |
| KR20170035831A (ko) | 인텔리전트 포지셔닝 시스템과 그것의 방법들 | |
| JP2019504680A (ja) | 放射線撮像デバイス | |
| CN110430836A (zh) | 用于在脊柱外科手术中相对于目标轴线引导外科手术工具的系统 | |
| JP7216764B2 (ja) | 手術中の支援されたナビゲーションのための拡張現実ヘッドセットのカメラによって追跡された参照アレイを備えた手術器具の位置合わせ | |
| JP2021194538A (ja) | 基準シードを介した可視光での外科手術での対象の追跡および合成画像登録 | |
| KR20160129311A (ko) | 바늘삽입형 중재시술 로봇시스템 | |
| CN113907886A (zh) | 脊柱手术机器人的手术执行臂、系统及控制系统 | |
| Ishii et al. | Development of a prototype of puncturing robot for CT-guided intervention | |
| US11998283B2 (en) | System for guiding a surgical tool relative to a target axis in spine surgery | |
| EP1786349A1 (en) | Method and arrangement for positioning a tool | |
| KR20230074803A (ko) | 수술 테이블을 위한 동력 보조식 이동성 | |
| JP2021035488A (ja) | ロボット手術台 | |
| ITMI950597A1 (it) | Applicazione di robot alla biopsia e relative apparecchiature |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |