CN108348133B - 用于手术机器人系统的器械装置操纵器 - Google Patents

用于手术机器人系统的器械装置操纵器 Download PDF

Info

Publication number
CN108348133B
CN108348133B CN201680060162.1A CN201680060162A CN108348133B CN 108348133 B CN108348133 B CN 108348133B CN 201680060162 A CN201680060162 A CN 201680060162A CN 108348133 B CN108348133 B CN 108348133B
Authority
CN
China
Prior art keywords
surgical tool
surgical
tool holder
idm
attachment interface
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201680060162.1A
Other languages
English (en)
Chinese (zh)
Other versions
CN108348133A (zh
Inventor
特拉维斯·舒
马修·雷根·威廉斯
约瑟夫·丹尼尔·博古斯基
大卫·S·明茨
艾伦·于
格雷戈里·金茨
壇洋一郎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Auris Health Inc
Original Assignee
Auris Surgical Robotics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Auris Surgical Robotics Inc filed Critical Auris Surgical Robotics Inc
Priority to CN202011138920.1A priority Critical patent/CN113274140B/zh
Priority to CN202011138947.0A priority patent/CN113229942B/zh
Publication of CN108348133A publication Critical patent/CN108348133A/zh
Application granted granted Critical
Publication of CN108348133B publication Critical patent/CN108348133B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
    • A61B1/3132—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for laparoscopy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
    • 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
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00221—Electrical control of surgical instruments with wireless transmission of data, e.g. by infrared radiation or radiowaves
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Manipulator (AREA)
CN201680060162.1A 2015-09-09 2016-09-09 用于手术机器人系统的器械装置操纵器 Active CN108348133B (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202011138920.1A CN113274140B (zh) 2015-09-09 2016-09-09 手术覆盖件
CN202011138947.0A CN113229942B (zh) 2015-09-09 2016-09-09 手术器械装置操纵器

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562216239P 2015-09-09 2015-09-09
US62/216,239 2015-09-09
PCT/US2016/051154 WO2017044884A1 (en) 2015-09-09 2016-09-09 Instrument device manipulator for a surgical robotics system

Related Child Applications (2)

Application Number Title Priority Date Filing Date
CN202011138947.0A Division CN113229942B (zh) 2015-09-09 2016-09-09 手术器械装置操纵器
CN202011138920.1A Division CN113274140B (zh) 2015-09-09 2016-09-09 手术覆盖件

Publications (2)

Publication Number Publication Date
CN108348133A CN108348133A (zh) 2018-07-31
CN108348133B true CN108348133B (zh) 2020-11-13

Family

ID=58240314

Family Applications (3)

Application Number Title Priority Date Filing Date
CN201680060162.1A Active CN108348133B (zh) 2015-09-09 2016-09-09 用于手术机器人系统的器械装置操纵器
CN202011138947.0A Active CN113229942B (zh) 2015-09-09 2016-09-09 手术器械装置操纵器
CN202011138920.1A Active CN113274140B (zh) 2015-09-09 2016-09-09 手术覆盖件

Family Applications After (2)

Application Number Title Priority Date Filing Date
CN202011138947.0A Active CN113229942B (zh) 2015-09-09 2016-09-09 手术器械装置操纵器
CN202011138920.1A Active CN113274140B (zh) 2015-09-09 2016-09-09 手术覆盖件

Country Status (7)

Country Link
US (4) US10631949B2 (cg-RX-API-DMAC7.html)
EP (2) EP3346899B1 (cg-RX-API-DMAC7.html)
JP (1) JP6938507B2 (cg-RX-API-DMAC7.html)
KR (4) KR102714284B1 (cg-RX-API-DMAC7.html)
CN (3) CN108348133B (cg-RX-API-DMAC7.html)
AU (2) AU2016321332B2 (cg-RX-API-DMAC7.html)
WO (1) WO2017044884A1 (cg-RX-API-DMAC7.html)

Families Citing this family (261)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8414505B1 (en) 2001-02-15 2013-04-09 Hansen Medical, Inc. Catheter driver system
WO2005087128A1 (en) 2004-03-05 2005-09-22 Hansen Medical, Inc. Robotic catheter system
WO2007005976A1 (en) 2005-07-01 2007-01-11 Hansen Medical, Inc. Robotic catheter system
US12290277B2 (en) 2007-01-02 2025-05-06 Aquabeam, Llc Tissue resection with pressure sensing
US9232959B2 (en) 2007-01-02 2016-01-12 Aquabeam, Llc Multi fluid tissue resection methods and devices
EP3622910B1 (en) 2008-03-06 2024-07-10 AquaBeam LLC Tissue ablation and cautery with optical energy carried in fluid stream
US9254123B2 (en) 2009-04-29 2016-02-09 Hansen Medical, Inc. Flexible and steerable elongate instruments with shape control and support elements
US8672837B2 (en) 2010-06-24 2014-03-18 Hansen Medical, Inc. Methods and devices for controlling a shapeable medical device
US8827948B2 (en) 2010-09-17 2014-09-09 Hansen Medical, Inc. Steerable catheters
US20120191086A1 (en) 2011-01-20 2012-07-26 Hansen Medical, Inc. System and method for endoluminal and translumenal therapy
US9138166B2 (en) 2011-07-29 2015-09-22 Hansen Medical, Inc. Apparatus and methods for fiber integration and registration
US9387048B2 (en) 2011-10-14 2016-07-12 Intuitive Surgical Operations, Inc. Catheter sensor systems
US9452276B2 (en) 2011-10-14 2016-09-27 Intuitive Surgical Operations, Inc. Catheter with removable vision probe
US20130303944A1 (en) 2012-05-14 2013-11-14 Intuitive Surgical Operations, Inc. Off-axis electromagnetic sensor
US10238837B2 (en) 2011-10-14 2019-03-26 Intuitive Surgical Operations, Inc. Catheters with control modes for interchangeable probes
JP6080872B2 (ja) 2012-02-29 2017-02-15 プロセプト バイオロボティクス コーポレイション 自動化された画像誘導組織切除および治療
US10383765B2 (en) 2012-04-24 2019-08-20 Auris Health, Inc. Apparatus and method for a global coordinate system for use in robotic surgery
US20130317519A1 (en) 2012-05-25 2013-11-28 Hansen Medical, Inc. Low friction instrument driver interface for robotic systems
US20140148673A1 (en) 2012-11-28 2014-05-29 Hansen Medical, Inc. Method of anchoring pullwire directly articulatable region in catheter
US10231867B2 (en) 2013-01-18 2019-03-19 Auris Health, Inc. Method, apparatus and system for a water jet
US9668814B2 (en) 2013-03-07 2017-06-06 Hansen Medical, Inc. Infinitely rotatable tool with finite rotating drive shafts
US10080576B2 (en) 2013-03-08 2018-09-25 Auris Health, Inc. Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment
US10149720B2 (en) 2013-03-08 2018-12-11 Auris Health, Inc. Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment
US9566414B2 (en) 2013-03-13 2017-02-14 Hansen Medical, Inc. Integrated catheter and guide wire controller
US9057600B2 (en) 2013-03-13 2015-06-16 Hansen Medical, Inc. Reducing incremental measurement sensor error
US20140277334A1 (en) 2013-03-14 2014-09-18 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US9326822B2 (en) 2013-03-14 2016-05-03 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US9498601B2 (en) 2013-03-14 2016-11-22 Hansen Medical, Inc. Catheter tension sensing
US9173713B2 (en) 2013-03-14 2015-11-03 Hansen Medical, Inc. Torque-based catheter articulation
US11213363B2 (en) 2013-03-14 2022-01-04 Auris Health, Inc. Catheter tension sensing
US10376672B2 (en) 2013-03-15 2019-08-13 Auris Health, Inc. Catheter insertion system and method of fabrication
US9452018B2 (en) 2013-03-15 2016-09-27 Hansen Medical, Inc. Rotational support for an elongate member
US10849702B2 (en) 2013-03-15 2020-12-01 Auris Health, Inc. User input devices for controlling manipulation of guidewires and catheters
US9283046B2 (en) 2013-03-15 2016-03-15 Hansen Medical, Inc. User interface for active drive apparatus with finite range of motion
US9014851B2 (en) 2013-03-15 2015-04-21 Hansen Medical, Inc. Systems and methods for tracking robotically controlled medical instruments
US20140276936A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Active drive mechanism for simultaneous rotation and translation
US20140276647A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Vascular remote catheter manipulator
US9271663B2 (en) 2013-03-15 2016-03-01 Hansen Medical, Inc. Flexible instrument localization from both remote and elongation sensors
US9629595B2 (en) 2013-03-15 2017-04-25 Hansen Medical, Inc. Systems and methods for localizing, tracking and/or controlling medical instruments
US9408669B2 (en) 2013-03-15 2016-08-09 Hansen Medical, Inc. Active drive mechanism with finite range of motion
US11020016B2 (en) 2013-05-30 2021-06-01 Auris Health, Inc. System and method for displaying anatomy and devices on a movable display
WO2014201165A1 (en) 2013-06-11 2014-12-18 Auris Surgical Robotics, Inc. System for robotic assisted cataract surgery
US10426661B2 (en) 2013-08-13 2019-10-01 Auris Health, Inc. Method and apparatus for laser assisted cataract surgery
JP6674377B2 (ja) 2013-08-15 2020-04-01 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 近位駆動ディスクおよび遠位被駆動ディスクを有する装置
EP3033035B1 (en) 2013-08-15 2020-11-25 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive features
KR102523090B1 (ko) 2013-08-15 2023-04-19 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 예압형 수술 기구 인터페이스
CN109602496B (zh) * 2013-08-15 2021-07-20 直观外科手术操作公司 机器人器械从动元件
CN111166274B (zh) 2013-10-24 2025-01-28 奥瑞斯健康公司 机器人辅助腔内外科手术系统及相关方法
EP3243476B1 (en) 2014-03-24 2019-11-06 Auris Health, Inc. Systems and devices for catheter driving instinctiveness
US10046140B2 (en) 2014-04-21 2018-08-14 Hansen Medical, Inc. Devices, systems, and methods for controlling active drive systems
US10569052B2 (en) 2014-05-15 2020-02-25 Auris Health, Inc. Anti-buckling mechanisms for catheters
US9561083B2 (en) 2014-07-01 2017-02-07 Auris Surgical Robotics, Inc. Articulating flexible endoscopic tool with roll capabilities
US9744335B2 (en) 2014-07-01 2017-08-29 Auris Surgical Robotics, Inc. Apparatuses and methods for monitoring tendons of steerable catheters
US10792464B2 (en) 2014-07-01 2020-10-06 Auris Health, Inc. Tool and method for using surgical endoscope with spiral lumens
US10159533B2 (en) 2014-07-01 2018-12-25 Auris Health, Inc. Surgical system with configurable rail-mounted mechanical arms
CN107148250B (zh) 2014-08-15 2020-07-24 直观外科手术操作公司 具有可变进入引导器配置的外科手术系统
CN107427327A (zh) 2014-09-30 2017-12-01 奥瑞斯外科手术机器人公司 具有虚拟轨迹和柔性内窥镜的可配置机器人外科手术系统
US10499999B2 (en) 2014-10-09 2019-12-10 Auris Health, Inc. Systems and methods for aligning an elongate member with an access site
US10314463B2 (en) 2014-10-24 2019-06-11 Auris Health, Inc. Automated endoscope calibration
WO2016097861A1 (en) 2014-12-19 2016-06-23 Distalmotion Sa Sterile interface for articulated surgical instruments
ES2975974T3 (es) 2014-12-19 2024-07-18 Distalmotion Sa Instrumento quirúrgico reutilizable para procedimientos mínimamente invasivos
WO2016134266A1 (en) 2015-02-20 2016-08-25 Stryker Corporation Sterile barrier assembly, mounting system, and method for coupling surgical components
US11819636B2 (en) 2015-03-30 2023-11-21 Auris Health, Inc. Endoscope pull wire electrical circuit
US20160287279A1 (en) 2015-04-01 2016-10-06 Auris Surgical Robotics, Inc. Microsurgical tool for robotic applications
WO2016164824A1 (en) 2015-04-09 2016-10-13 Auris Surgical Robotics, Inc. Surgical system with configurable rail-mounted mechanical arms
US9636184B2 (en) 2015-05-15 2017-05-02 Auris Surgical Robotics, Inc. Swivel bed for a surgical robotics system
WO2017037532A1 (en) 2015-08-28 2017-03-09 Distalmotion Sa Surgical instrument with increased actuation force
CN108348133B (zh) 2015-09-09 2020-11-13 奥瑞斯健康公司 用于手术机器人系统的器械装置操纵器
JP6824967B2 (ja) 2015-09-18 2021-02-03 オーリス ヘルス インコーポレイテッド 管状網のナビゲーション
US10441371B2 (en) * 2015-10-02 2019-10-15 Vanderbilt University Concentric tube robot
ITUB20155057A1 (it) 2015-10-16 2017-04-16 Medical Microinstruments S R L Assieme robotico di chirurgia
US10639108B2 (en) 2015-10-30 2020-05-05 Auris Health, Inc. Process for percutaneous operations
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
US10143526B2 (en) 2015-11-30 2018-12-04 Auris Health, Inc. Robot-assisted driving systems and methods
US10932861B2 (en) 2016-01-14 2021-03-02 Auris Health, Inc. Electromagnetic tracking surgical system and method of controlling the same
US10932691B2 (en) 2016-01-26 2021-03-02 Auris Health, Inc. Surgical tools having electromagnetic tracking components
US10869729B2 (en) 2016-03-04 2020-12-22 Covidien Lp Robotic surgical assemblies
US11324554B2 (en) 2016-04-08 2022-05-10 Auris Health, Inc. Floating electromagnetic field generator system and method of controlling the same
US10454347B2 (en) 2016-04-29 2019-10-22 Auris Health, Inc. Compact height torque sensing articulation axis assembly
US11890070B2 (en) 2016-07-14 2024-02-06 Intuitive Surgical Operations, Inc. Instrument release
US11037464B2 (en) 2016-07-21 2021-06-15 Auris Health, Inc. System with emulator movement tracking for controlling medical devices
JP7145845B2 (ja) 2016-08-24 2022-10-03 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 コンピュータ支援遠隔操作手術システム及び方法
US10463439B2 (en) 2016-08-26 2019-11-05 Auris Health, Inc. Steerable catheter with shaft load distributions
US11241559B2 (en) 2016-08-29 2022-02-08 Auris Health, Inc. Active drive for guidewire manipulation
EP3506836B1 (en) 2016-08-31 2024-10-02 Auris Health, Inc. Length conservative surgical instrument
US9931025B1 (en) * 2016-09-30 2018-04-03 Auris Surgical Robotics, Inc. Automated calibration of endoscopes with pull wires
US10244926B2 (en) 2016-12-28 2019-04-02 Auris Health, Inc. Detecting endolumenal buckling of flexible instruments
US10136959B2 (en) 2016-12-28 2018-11-27 Auris Health, Inc. Endolumenal object sizing
US10543048B2 (en) 2016-12-28 2020-01-28 Auris Health, Inc. Flexible instrument insertion using an adaptive insertion force threshold
KR102545869B1 (ko) 2017-03-28 2023-06-23 아우리스 헬스, 인코포레이티드 샤프트 작동 핸들
KR102558061B1 (ko) 2017-03-31 2023-07-25 아우리스 헬스, 인코포레이티드 생리적 노이즈를 보상하는 관강내 조직망 항행을 위한 로봇 시스템
US10285574B2 (en) 2017-04-07 2019-05-14 Auris Health, Inc. Superelastic medical instrument
KR20230106716A (ko) 2017-04-07 2023-07-13 아우리스 헬스, 인코포레이티드 환자 삽입기(Introducer) 정렬
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same
CN110831498B (zh) 2017-05-12 2022-08-12 奥瑞斯健康公司 活检装置和系统
JP7301750B2 (ja) 2017-05-17 2023-07-03 オーリス ヘルス インコーポレイテッド 交換可能な作業チャネル
US10022192B1 (en) 2017-06-23 2018-07-17 Auris Health, Inc. Automatically-initialized robotic systems for navigation of luminal networks
AU2018290831A1 (en) 2017-06-28 2019-12-19 Auris Health, Inc. Instrument insertion compensation
KR102578978B1 (ko) 2017-06-28 2023-09-19 아우리스 헬스, 인코포레이티드 전자파 왜곡 검출
US11026758B2 (en) 2017-06-28 2021-06-08 Auris Health, Inc. Medical robotics systems implementing axis constraints during actuation of one or more motorized joints
WO2019005699A1 (en) 2017-06-28 2019-01-03 Auris Health, Inc. ELECTROMAGNETIC FIELD GENERATOR ALIGNMENT
US10426559B2 (en) 2017-06-30 2019-10-01 Auris Health, Inc. Systems and methods for medical instrument compression compensation
US10464209B2 (en) 2017-10-05 2019-11-05 Auris Health, Inc. Robotic system with indication of boundary for robotic arm
US10016900B1 (en) 2017-10-10 2018-07-10 Auris Health, Inc. Surgical robotic arm admittance control
US10145747B1 (en) 2017-10-10 2018-12-04 Auris Health, Inc. Detection of undesirable forces on a surgical robotic arm
US10555778B2 (en) 2017-10-13 2020-02-11 Auris Health, Inc. Image-based branch detection and mapping for navigation
US11058493B2 (en) 2017-10-13 2021-07-13 Auris Health, Inc. Robotic system configured for navigation path tracing
EP3684282B1 (en) 2017-12-06 2024-02-21 Auris Health, Inc. Systems to correct for uncommanded instrument roll
EP3684281B1 (en) 2017-12-08 2025-03-12 Auris Health, Inc. System for medical instrument navigation and targeting
EP3684438B1 (en) 2017-12-08 2024-09-11 Auris Health, Inc. Systems employing directed fluidics
US10470830B2 (en) 2017-12-11 2019-11-12 Auris Health, Inc. Systems and methods for instrument based insertion architectures
WO2019118767A1 (en) 2017-12-14 2019-06-20 Auris Health, Inc. System and method for estimating instrument location
AU2018390476B2 (en) 2017-12-18 2024-03-28 Auris Health, Inc. Methods and systems for instrument tracking and navigation within luminal networks
USD932628S1 (en) 2018-01-17 2021-10-05 Auris Health, Inc. Instrument cart
JP6999824B2 (ja) 2018-01-17 2022-01-19 オーリス ヘルス インコーポレイテッド 調節可能なアーム支持体を有する外科用プラットフォーム
USD873878S1 (en) 2018-01-17 2020-01-28 Auris Health, Inc. Robotic arm
USD901018S1 (en) 2018-01-17 2020-11-03 Auris Health, Inc. Controller
USD901694S1 (en) 2018-01-17 2020-11-10 Auris Health, Inc. Instrument handle
USD924410S1 (en) 2018-01-17 2021-07-06 Auris Health, Inc. Instrument tower
EP3740150A4 (en) 2018-01-17 2021-11-03 Auris Health, Inc. SURGICAL ROBOTIC SYSTEMS WITH ENHANCED ROBOTIC ARMS
KR20250172742A (ko) 2018-02-13 2025-12-09 아우리스 헬스, 인코포레이티드 의료 기구를 구동시키기 위한 시스템 및 방법
JP7305668B2 (ja) 2018-03-28 2023-07-10 オーリス ヘルス インコーポレイテッド 可変曲げ剛性プロファイルを有する医療用器具
US10827913B2 (en) 2018-03-28 2020-11-10 Auris Health, Inc. Systems and methods for displaying estimated location of instrument
JP7214747B2 (ja) 2018-03-28 2023-01-30 オーリス ヘルス インコーポレイテッド 位置センサの位置合わせのためのシステム及び方法
US10872449B2 (en) 2018-05-02 2020-12-22 Covidien Lp System and method for constructing virtual radial ultrasound images from CT data and performing a surgical navigation procedure using virtual ultrasound images
US11179213B2 (en) 2018-05-18 2021-11-23 Auris Health, Inc. Controllers for robotically-enabled teleoperated systems
WO2019231895A1 (en) 2018-05-30 2019-12-05 Auris Health, Inc. Systems and methods for location sensor-based branch prediction
CN110831538B (zh) 2018-05-31 2023-01-24 奥瑞斯健康公司 基于图像的气道分析和映射
EP4454591A3 (en) 2018-05-31 2025-01-15 Auris Health, Inc. Path-based navigation of tubular networks
CN112236083B (zh) 2018-05-31 2024-08-13 奥瑞斯健康公司 用于导航检测生理噪声的管腔网络的机器人系统和方法
EP3830447A1 (en) * 2018-06-01 2021-06-09 Steerable Instruments NV Tool with torque-actuated end effector
KR102579505B1 (ko) 2018-06-07 2023-09-20 아우리스 헬스, 인코포레이티드 고출력 기구를 가진 로봇 의료 시스템
CN110623734B (zh) * 2018-06-22 2021-07-09 深圳市精锋医疗科技有限公司 高精度手术机器人
US10820954B2 (en) 2018-06-27 2020-11-03 Auris Health, Inc. Alignment and attachment systems for medical instruments
US10667875B2 (en) 2018-06-27 2020-06-02 Auris Health, Inc. Systems and techniques for providing multiple perspectives during medical procedures
JP7391886B2 (ja) 2018-06-28 2023-12-05 オーリス ヘルス インコーポレイテッド 滑車共有を組み込んだ医療システム
WO2020009831A1 (en) 2018-07-03 2020-01-09 Covidien Lp Surgical robotic systems
EP3820373A4 (en) 2018-08-07 2022-04-27 Auris Health, Inc. COMBINATION OF STRAIN-BASED FORM MEASUREMENT WITH CATHETER CONTROL
WO2020036685A1 (en) 2018-08-15 2020-02-20 Auris Health, Inc. Medical instruments for tissue cauterization
EP3806758A4 (en) 2018-08-17 2022-04-06 Auris Health, Inc. BIPOLAR MEDICAL INSTRUMENT
AU2019326548B2 (en) 2018-08-24 2023-11-23 Auris Health, Inc. Manually and robotically controllable medical instruments
JP6902003B2 (ja) * 2018-08-28 2021-07-14 株式会社メディカロイド 滅菌ドレープおよび手術器具の取付方法
JP6745306B2 (ja) * 2018-08-28 2020-08-26 株式会社メディカロイド アダプタおよび接続方法
JP7289965B2 (ja) * 2018-08-28 2023-06-12 株式会社メディカロイド 滅菌ドレープおよび手術器具の取付方法
JP6777694B2 (ja) * 2018-08-28 2020-10-28 株式会社メディカロイド 内視鏡アダプタ
JP7289964B2 (ja) * 2018-08-28 2023-06-12 株式会社メディカロイド 滅菌ドレープおよび手術器具の取付方法
CN112739283A (zh) 2018-09-17 2021-04-30 奥瑞斯健康公司 用于伴随医学规程的系统和方法
EP3813716B1 (en) 2018-09-26 2025-04-16 Auris Health, Inc. Systems and instruments for suction and irrigation
WO2020068853A2 (en) 2018-09-26 2020-04-02 Auris Health, Inc. Articulating medical instruments
CN112770690A (zh) 2018-09-28 2021-05-07 奥瑞斯健康公司 用于对接医疗器械的系统和方法
KR102870092B1 (ko) 2018-09-28 2025-10-17 아우리스 헬스, 인코포레이티드 동시 내시경술 및 경피 의료 절차를 위한 로봇 시스템 및 방법
EP3856001A4 (en) 2018-09-28 2022-06-22 Auris Health, Inc. DEVICES, SYSTEMS AND METHODS FOR MANUAL AND ROBOTIC DRIVES OF MEDICAL INSTRUMENTS
US11576738B2 (en) 2018-10-08 2023-02-14 Auris Health, Inc. Systems and instruments for tissue sealing
CN109171612B (zh) * 2018-10-29 2021-09-10 复旦大学附属中山医院 一种复眼式超微创腹腔镜手术装置
CN111166488B (zh) * 2018-11-13 2024-09-24 重庆金山医疗机器人有限公司 外科手术辅助机器人器械系统
AU2019391083B2 (en) 2018-12-04 2025-07-24 Mako Surgical Corp. Mounting system with sterile barrier assembly for use in coupling surgical components
WO2020131304A1 (en) * 2018-12-17 2020-06-25 Covidien Lp Robotic surgical systems having robotic arm assemblies
WO2020131529A1 (en) 2018-12-20 2020-06-25 Auris Health, Inc. Shielding for wristed instruments
EP3866718A4 (en) 2018-12-20 2022-07-20 Auris Health, Inc. Systems and methods for robotic arm alignment and docking
US11737658B2 (en) 2018-12-26 2023-08-29 Kawasaki Jukogyo Kabushiki Kaisha Manipulator arm and patient-side system for surgical system
CN113286543A (zh) 2018-12-28 2021-08-20 奥瑞斯健康公司 具有可关节运动区段的医疗器械
KR102873229B1 (ko) 2018-12-28 2025-10-21 아우리스 헬스, 인코포레이티드 로봇 의료 시스템 및 방법을 위한 경피 시스
US11523730B2 (en) * 2019-01-01 2022-12-13 Asensus Surgical Us, Inc. Optical data transmission in a wireless power transmitter for a surgical robotic system
EP3883492B1 (en) 2019-01-25 2025-05-21 Auris Health, Inc. Vessel sealer with heating capabilities
US11925333B2 (en) 2019-02-01 2024-03-12 Covidien Lp System for fluoroscopic tracking of a catheter to update the relative position of a target and the catheter in a 3D model of a luminal network
EP3890644A4 (en) 2019-02-08 2022-11-16 Auris Health, Inc. MANIPULATION AND CLOT REMOVAL WITH ROBOTIC CONTROL
IT201900002461A1 (it) * 2019-02-20 2020-08-20 Univ Degli Studi Di Verona Interfaccia di collegamento per accoppiare un dispositivo chirurgico con un braccio mobile di un robot
EP3890645A4 (en) 2019-02-22 2022-09-07 Auris Health, Inc. SURGICAL PLATFORM WITH MOTORIZED ARMS FOR ADJUSTABLE ARMRESTS
CN113613612B (zh) 2019-03-08 2022-08-02 奥瑞斯健康公司 用于医疗系统和应用的倾斜机构
US12478444B2 (en) 2019-03-21 2025-11-25 The Board Of Trustees Of The Leland Stanford Junior University Systems and methods for localization based on machine learning
US11638618B2 (en) 2019-03-22 2023-05-02 Auris Health, Inc. Systems and methods for aligning inputs on medical instruments
EP3908201B1 (en) 2019-03-25 2024-04-24 Auris Health, Inc. Instruments for medical stapling
US11617627B2 (en) 2019-03-29 2023-04-04 Auris Health, Inc. Systems and methods for optical strain sensing in medical instruments
CN114173698A (zh) 2019-04-08 2022-03-11 奥瑞斯健康公司 用于伴随规程的系统、方法和工作流程
US11628020B2 (en) 2019-06-19 2023-04-18 Virtuoso Surgical, Inc. Insertable robot for minimally invasive surgery
CN121101759A (zh) 2019-06-25 2025-12-12 奥瑞斯健康公司 包括具有混合重定向表面的腕部的医疗器械
CN114007521A (zh) 2019-06-26 2022-02-01 奥瑞斯健康公司 用于机器人臂对准和对接的系统和方法
US11376082B2 (en) * 2019-06-27 2022-07-05 Cilag Gmbh International Robotic surgical system with local sensing of functional parameters based on measurements of multiple physical inputs
US11369386B2 (en) 2019-06-27 2022-06-28 Auris Health, Inc. Systems and methods for a medical clip applier
US11872007B2 (en) 2019-06-28 2024-01-16 Auris Health, Inc. Console overlay and methods of using same
EP3989863A4 (en) 2019-06-28 2023-10-11 Auris Health, Inc. Medical instruments including wrists with hybrid redirect surfaces
KR20220050151A (ko) 2019-08-15 2022-04-22 아우리스 헬스, 인코포레이티드 다수의 굽힘 섹션을 갖는 의료 장치
USD975275S1 (en) 2019-08-15 2023-01-10 Auris Health, Inc. Handle for a medical instrument
US11426246B2 (en) 2019-08-15 2022-08-30 Verb Surgical Inc. Closure joint engagement for surgical tool
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
USD978348S1 (en) 2019-08-15 2023-02-14 Auris Health, Inc. Drive device for a medical instrument
US11272995B2 (en) * 2019-08-15 2022-03-15 Auris Health, Inc. Axial motion drive devices, systems, and methods for a robotic medical system
EP4021331A4 (en) 2019-08-30 2023-08-30 Auris Health, Inc. SYSTEMS AND METHODS FOR REGISTERING POSITION SENSORS BASED ON WEIGHT
JP7451686B2 (ja) 2019-08-30 2024-03-18 オーリス ヘルス インコーポレイテッド 器具画像信頼性システム及び方法
WO2021044297A1 (en) 2019-09-03 2021-03-11 Auris Health, Inc. Electromagnetic distortion detection and compensation
US11234780B2 (en) 2019-09-10 2022-02-01 Auris Health, Inc. Systems and methods for kinematic optimization with shared robotic degrees-of-freedom
US10959792B1 (en) 2019-09-26 2021-03-30 Auris Health, Inc. Systems and methods for collision detection and avoidance
US12324645B2 (en) 2019-09-26 2025-06-10 Auris Health, Inc. Systems and methods for collision avoidance using object models
US11737845B2 (en) 2019-09-30 2023-08-29 Auris Inc. Medical instrument with a capstan
US11737835B2 (en) 2019-10-29 2023-08-29 Auris Health, Inc. Braid-reinforced insulation sheath
EP4061273A1 (en) 2019-11-21 2022-09-28 Auris Health, Inc. Systems and methods for draping a surgical system
CN110876606B (zh) * 2019-12-05 2022-04-12 重庆金山医疗技术研究院有限公司 一种可弯曲且转动灵活的挠性管及内窥镜
KR20220123544A (ko) * 2019-12-30 2022-09-07 아우리스 헬스, 인코포레이티드 로봇 의료 시스템을 위한 시료 수집기
EP4084717A4 (en) 2019-12-31 2024-02-14 Auris Health, Inc. DYNAMIC PULLEY SYSTEM
CN114901194B (zh) 2019-12-31 2024-08-30 奥瑞斯健康公司 解剖特征识别和瞄准
CN114929148B (zh) 2019-12-31 2024-05-10 奥瑞斯健康公司 用于经皮进入的对准界面
CN114901192A (zh) 2019-12-31 2022-08-12 奥瑞斯健康公司 用于经皮进入的对准技术
CN114901200A (zh) 2019-12-31 2022-08-12 奥瑞斯健康公司 高级篮式驱动模式
US20230070830A1 (en) 2020-02-10 2023-03-09 Medical Microinstruments, Inc. Sterile barrier assembly and robotic surgery system
IT202000002545A1 (it) * 2020-02-10 2021-08-10 Medical Microinstruments Spa Assieme di barriera sterile e sistema di chirurgia robotica
US11737663B2 (en) 2020-03-30 2023-08-29 Auris Health, Inc. Target anatomical feature localization
EP4125689A4 (en) 2020-03-30 2024-04-17 Auris Health, Inc. WORKSPACE OPTIMIZATION FOR ROBOTIC SURGERY
US11806098B2 (en) * 2020-04-08 2023-11-07 DePuy Synthes Products, Inc. Surgical robotic systems including a sterile connector and related methods
WO2021234853A1 (ja) * 2020-05-20 2021-11-25 リバーフィールド株式会社 ホルダ
US11701492B2 (en) 2020-06-04 2023-07-18 Covidien Lp Active distal tip drive
EP4167892A4 (en) 2020-06-19 2024-10-30 Remedy Robotics, Inc. SYSTEMS AND METHODS FOR GUIDING INTRALUMINAL DEVICES IN THE VASCULAR SYSTEM
CN115802975A (zh) 2020-06-29 2023-03-14 奥瑞斯健康公司 用于检测连杆与外部对象之间的接触的系统和方法
US11357586B2 (en) 2020-06-30 2022-06-14 Auris Health, Inc. Systems and methods for saturated robotic movement
US11931901B2 (en) 2020-06-30 2024-03-19 Auris Health, Inc. Robotic medical system with collision proximity indicators
WO2022026472A2 (en) 2020-07-28 2022-02-03 Intuitive Surgical Operations, Inc. Systems and methods for selecting assignments for components of computer-assisted devices
US20220039898A1 (en) * 2020-08-05 2022-02-10 Mako Surgical Corp. Robotic surgical system including a coupler for connecting a tool to a manipulator and methods of using the coupler
WO2022034183A1 (en) * 2020-08-12 2022-02-17 Lina Medical International Operations Ag A surgical camera
US12256923B2 (en) 2020-08-13 2025-03-25 Covidien Lp Endoluminal robotic systems and methods for suturing
WO2022034488A1 (en) 2020-08-13 2022-02-17 Forsight Robotics Ltd. Capsulorhexis apparatus and method
US12383352B2 (en) 2020-08-13 2025-08-12 Covidien Lp Endoluminal robotic (ELR) systems and methods
CN112168360B (zh) * 2020-10-09 2025-02-18 生一科技(北京)有限公司 导管输送机构
CN112490051B (zh) * 2020-11-19 2025-07-22 深圳市致尚科技股份有限公司 多方向输入装置和游戏机
CN112402018A (zh) * 2020-11-30 2021-02-26 重庆金山医疗机器人有限公司 一种手术机器人及其器械座动力传动装置
CN114931402B (zh) * 2020-12-30 2025-05-27 炳硕生医(新加坡)私人有限公司 医疗装置
JP2024507805A (ja) * 2021-02-17 2024-02-21 オーリス ヘルス インコーポレイテッド 器具シャフト張力調整システム及び方法
CN116916850A (zh) * 2021-02-17 2023-10-20 奥瑞斯健康公司 医疗器械驱动组件和对接系统
EP4088682B1 (en) * 2021-05-11 2025-08-27 Globus Medical, Inc. System for surgical tool insertion using multiaxis force and moment feedback
WO2022254335A1 (en) 2021-06-01 2022-12-08 Forsight Robotics Ltd. Kinematic structures and sterile drapes for robotic microsurgical procedures
IT202100016154A1 (it) 2021-06-21 2022-12-21 Medical Microinstruments Inc Strumento chirurgico per chirurgia robotica
US12121307B2 (en) 2021-07-01 2024-10-22 Remedy Robotics, Inc. Vision-based position and orientation determination for endovascular tools
EP4364163A1 (en) 2021-07-01 2024-05-08 Remedy Robotics, Inc. Vision-based position and orientation determination for endovascular tools
US11707332B2 (en) 2021-07-01 2023-07-25 Remedy Robotics, Inc. Image space control for endovascular tools
CN113349935A (zh) * 2021-07-14 2021-09-07 深圳康诺思腾科技有限公司 器械驱动器与无菌适配器的传动连接结构和手术机器人
CN113367798B (zh) * 2021-07-14 2025-08-22 深圳康诺思腾科技有限公司 无菌适配器与手术器械的传动连接结构及手术机器人的器械驱动传动机构
CN113349936A (zh) * 2021-07-14 2021-09-07 深圳康诺思腾科技有限公司 一种无菌适配器与手术器械后端的导向定位结构
CN113349937B (zh) * 2021-07-14 2025-08-01 深圳康诺思腾科技有限公司 一种手术机器人的器械驱动传动机构及装配机构
EP4401666A1 (en) 2021-09-13 2024-07-24 DistalMotion SA Instruments for surgical robotic system and interfaces for the same
WO2023063793A1 (ko) * 2021-10-15 2023-04-20 주식회사 페라자 혈관 중재 시술 장치 및 혈관 중재 시술 장치용 드럼 어셈블리
CN113854950B (zh) * 2021-10-29 2024-09-24 佗道医疗科技有限公司 一种复用腹腔镜
KR102635808B1 (ko) * 2021-11-29 2024-02-13 재단법인대구경북과학기술원 의료 장비의 모듈 탈착 구조
JP2024543777A (ja) 2021-11-30 2024-11-26 エンドクエスト ロボティクス インコーポレイテッド ロボット手術システム用の操向可能なオーバーチューブアセンブリ
WO2023101949A1 (en) 2021-11-30 2023-06-08 Endoquest, Inc. Patient console 5-degree of freedom positioning systems
TWI850874B (zh) 2021-11-30 2024-08-01 美商安督奎斯特機器人公司 控制器適配器系統、具有該控制器適配器系統的機器人手術儀器控制器總成及其安裝覆巾之方法
EP4440484A1 (en) 2021-11-30 2024-10-09 Endoquest Robotics, Inc. Master control systems for robotic surgical systems
WO2023101965A2 (en) 2021-11-30 2023-06-08 Endoquest Robotics, Inc. Disposable end effectors
TWI836752B (zh) 2021-11-30 2024-03-21 美商安督奎斯特機器人公司 用於機器人控制醫療裝置的力傳輸系統
CN114176667B (zh) * 2021-12-31 2023-08-11 佗道医疗科技有限公司 一种器械组件卡接检测机构、卡接检测方法及其器械组件
US12303220B2 (en) 2022-01-26 2025-05-20 Covidien Lp Autonomous endobronchial access with an EM guided catheter
DE102022102806A1 (de) * 2022-02-07 2023-08-10 avateramedical GmBH Sterileinheit und Manipulator für die robotische Chirurgie
DE102022102805A1 (de) 2022-02-07 2023-08-10 avateramedical GmBH Manipulator für die robotische Chirurgie und Sterileinheit
US20230355325A1 (en) * 2022-05-03 2023-11-09 Mazor Robotics Ltd. Replaceable arm guide and end effector for surgical systems
WO2024145418A1 (en) * 2022-12-28 2024-07-04 Vicarious Surgical Inc. Drape plate assembly
WO2024173953A1 (en) * 2023-02-19 2024-08-22 Asensus Surgical Us, Inc. Slip ring assemblies for coupling electrosurgical energy to robotically manipulated surgical instruments
EP4483832A1 (en) * 2023-06-29 2025-01-01 Zentact Robotics Surgical system for ear, nose, throat surgeries
WO2025008416A1 (en) * 2023-07-04 2025-01-09 Lem Surgical Ag Robotic surgical tool holders and methods for their use
US20250090260A1 (en) * 2023-09-19 2025-03-20 Roen Surgical, Inc. Surgical instruments holding apparatus
IT202300022860A1 (it) 2023-10-31 2025-05-01 Medical Microinstruments Inc Interfaccia di trasmissione di un sistema robotico per teleoperazione microchirurgica e relativi manipolatore robotico e strumento microchirurgico
DE102024103154A1 (de) * 2024-02-05 2025-08-07 Karl Storz Se & Co. Kg Schnittstelle zur Verbindung einer Antriebseinheit mit einem medizinischen Instrument
EP4616821A1 (en) * 2024-03-13 2025-09-17 MinMaxMedical Sterile interface for a robotic arm
KR20250140399A (ko) * 2024-03-18 2025-09-25 주식회사 리브스메드 수술용 인스트루먼트

Family Cites Families (461)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2556601A (en) * 1947-02-10 1951-06-12 Niles Bement Pond Co Multiple tapping head
US2566183A (en) * 1947-05-29 1951-08-28 Skilsaw Inc Portable power-driven tool
US2623175A (en) 1949-03-25 1952-12-23 Radiart Corp Reel antenna
US2730699A (en) * 1952-02-01 1956-01-10 Gen Dynamics Corp Telemetering system
US2884808A (en) * 1957-10-23 1959-05-05 Mueller Co Drive for drilling machine
US3294183A (en) 1964-09-30 1966-12-27 Black & Decker Mfg Co Power driven tools
US3472083A (en) * 1967-10-25 1969-10-14 Lawrence S Schnepel Torque wrench
US3513724A (en) * 1968-07-17 1970-05-26 Monogram Ind Inc Speed reduction mechanism
US3595074A (en) 1968-10-30 1971-07-27 Clarence Johnson Torque transducer
JPS5025234B1 (cg-RX-API-DMAC7.html) 1970-02-20 1975-08-21
JPS4921672Y1 (cg-RX-API-DMAC7.html) 1970-08-21 1974-06-10
GB1372327A (en) 1971-10-11 1974-10-30 Commissariat Energie Atomique Articulated manipulator
US3734207A (en) 1971-12-27 1973-05-22 M Fishbein Battery powered orthopedic cutting tool
US3926386A (en) 1974-07-09 1975-12-16 Us Air Force Spool for wire deployment
US3921536A (en) 1975-01-30 1975-11-25 Hall Ski Lift Company Inc Cable grip tester
DE2524605A1 (de) 1975-06-03 1976-12-23 Heinz Peter Dipl Brandstetter Vorrichtung zum messen von mechanischer arbeit und leistung
SE414272B (sv) 1978-10-17 1980-07-21 Viggo Ab Kanyl- eller kateteraggregat
US4241884A (en) 1979-03-20 1980-12-30 George Lynch Powered device for controlling the rotation of a reel
AT365363B (de) 1979-09-20 1982-01-11 Philips Nv Aufzeichnungs- und/oder wiedergabegeraet
CH643092A5 (de) 1980-02-18 1984-05-15 Gruenbaum Heinrich Leuzinger Vorrichtung zum messen des von einem elektromotor ausgeuebten drehmomentes.
US4357843A (en) * 1980-10-31 1982-11-09 Peck-O-Matic, Inc. Tong apparatus for threadedly connecting and disconnecting elongated members
JPS57144633A (en) 1981-03-05 1982-09-07 Inoue Japax Res Inc Wire electrode feeder
US4507026A (en) * 1982-09-29 1985-03-26 Boeing Aerospace Company Depth control assembly
US4555960A (en) 1983-03-23 1985-12-03 Cae Electronics, Ltd. Six degree of freedom hand controller
US4597388A (en) 1983-12-15 1986-07-01 Trutek Research, Inc. Apparatus for removing cataracts
US4688555A (en) 1986-04-25 1987-08-25 Circon Corporation Endoscope with cable compensating mechanism
DE3622352C1 (de) 1986-07-03 1987-12-03 Dornier System Gmbh Funkenstrecke mit Elektrodenspitzen unterschiedlicher Geometrie
US4784150A (en) * 1986-11-04 1988-11-15 Research Corporation Surgical retractor and blood flow monitor
US4745908A (en) 1987-05-08 1988-05-24 Circon Corporation Inspection instrument fexible shaft having deflection compensation means
US4907168A (en) 1988-01-11 1990-03-06 Adolph Coors Company Torque monitoring apparatus
US4857058A (en) 1988-07-11 1989-08-15 Payton Hugh W Support patch for intravenous catheter
US5425735A (en) 1989-02-22 1995-06-20 Psi Medical Products, Inc. Shielded tip catheter for lithotripsy
US4945790A (en) * 1989-08-07 1990-08-07 Arthur Golden Multi-purpose hand tool
US5350101A (en) 1990-11-20 1994-09-27 Interventional Technologies Inc. Device for advancing a rotatable tube
US5152768A (en) 1991-02-26 1992-10-06 Bhatta Krishna M Electrohydraulic lithotripsy
US5234428A (en) * 1991-06-11 1993-08-10 Kaufman David I Disposable electrocautery/cutting instrument with integral continuous smoke evacuation
US5417210A (en) 1992-05-27 1995-05-23 International Business Machines Corporation System and method for augmentation of endoscopic surgery
US5279309A (en) 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
US6406486B1 (en) 1991-10-03 2002-06-18 The General Hospital Corporation Apparatus and method for vasodilation
JPH07502423A (ja) 1991-10-03 1995-03-16 ザ　ゼネラル　ホスピタル　コーポレーション 血管拡張のための装置および方法
JPH05146975A (ja) * 1991-11-26 1993-06-15 Bridgestone Corp 多軸電動オートナツトランナ
US5256150A (en) 1991-12-13 1993-10-26 Endovascular Technologies, Inc. Large-diameter expandable sheath and method
US6963792B1 (en) 1992-01-21 2005-11-08 Sri International Surgical method
US5207128A (en) * 1992-03-23 1993-05-04 Weatherford-Petco, Inc. Tong with floating jaws
WO1993020876A1 (en) 1992-04-14 1993-10-28 Du-Med B.V. Electronic catheter displacement sensor
GB2280343A (en) * 1993-07-08 1995-01-25 Innovative Care Ltd A laser targeting device for use with image intensifiers
US5524180A (en) 1992-08-10 1996-06-04 Computer Motion, Inc. Automated endoscope system for optimal positioning
US5368564A (en) 1992-12-23 1994-11-29 Angeion Corporation Steerable catheter
US5779623A (en) 1993-10-08 1998-07-14 Leonard Medical, Inc. Positioner for medical instruments
JP3476878B2 (ja) * 1993-11-15 2003-12-10 オリンパス株式会社 手術用マニピュレータ
US6154000A (en) 1994-09-07 2000-11-28 Omnitek Research & Development, Inc. Apparatus for providing a controlled deflection and/or actuator apparatus
US5559294A (en) 1994-09-15 1996-09-24 Condux International, Inc. Torque measuring device
US5814038A (en) * 1995-06-07 1998-09-29 Sri International Surgical manipulator for a telerobotic system
DE19625850B4 (de) * 1995-06-27 2008-01-31 Matsushita Electric Works, Ltd., Kadoma Planetengetriebe
JP3318733B2 (ja) 1995-12-22 2002-08-26 株式会社スギノマシン 手術装置
US6436107B1 (en) 1996-02-20 2002-08-20 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US5855583A (en) * 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US5842390A (en) 1996-02-28 1998-12-01 Frank's Casing Crew And Rental Tools Inc. Dual string backup tong
US5797900A (en) 1996-05-20 1998-08-25 Intuitive Surgical, Inc. Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US5792135A (en) * 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US5767840A (en) 1996-06-28 1998-06-16 International Business Machines Corporation Six-degrees-of-freedom movement sensor having strain gauge mechanical supports
DE19649082C1 (de) 1996-11-27 1998-01-08 Fraunhofer Ges Forschung Vorrichtung zur Fernsteuerung eines Werkzeugs
US6331181B1 (en) * 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US7963913B2 (en) 1996-12-12 2011-06-21 Intuitive Surgical Operations, Inc. Instrument interface of a robotic surgical system
EP1491139B1 (en) 1997-01-03 2007-08-29 Biosense Webster, Inc. Bend-responsive catheter
DE19717108A1 (de) 1997-04-23 1998-11-05 Stm Medtech Starnberg Stülpschlauchsystem
TW403051U (en) 1997-05-29 2000-08-21 Seiko Epson Corp Recording medium of control program for printing device and recorded printing device
US6231565B1 (en) 1997-06-18 2001-05-15 United States Surgical Corporation Robotic arm DLUs for performing surgical tasks
EP2362284B1 (en) 1997-09-19 2015-05-20 Massachusetts Institute Of Technology Robotic apparatus
US6326616B1 (en) 1997-10-15 2001-12-04 Analytica Of Branford, Inc. Curved introduction for mass spectrometry
US5921968A (en) 1997-11-25 1999-07-13 Merit Medical Systems, Inc. Valve apparatus with adjustable quick-release mechanism
GB2334270A (en) 1998-02-14 1999-08-18 Weatherford Lamb Apparatus for attachment to pipe handling arm
US5961934A (en) 1998-02-18 1999-10-05 Biospace International Inc. Dynamically controlled crystallization method and apparatus and crystals obtained thereby
US20080177285A1 (en) 1998-02-24 2008-07-24 Hansen Medical, Inc. Surgical instrument
IL123646A (en) 1998-03-11 2010-05-31 Refael Beyar Remote control catheterization
DE19815598B4 (de) 1998-04-07 2007-01-18 Stm Medizintechnik Starnberg Gmbh Flexibles Zugangsrohr mit Stülpschlauchsystem
US6171234B1 (en) 1998-09-25 2001-01-09 Scimed Life Systems, Inc. Imaging gore loading tool
US6620173B2 (en) * 1998-12-08 2003-09-16 Intuitive Surgical, Inc. Method for introducing an end effector to a surgical site in minimally invasive surgery
US6394998B1 (en) 1999-01-22 2002-05-28 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
US6084371A (en) 1999-02-19 2000-07-04 Lockheed Martin Energy Research Corporation Apparatus and methods for a human de-amplifier system
WO2000053077A2 (en) 1999-03-07 2000-09-14 Discure Ltd. Method and apparatus for computerized surgery
US6289579B1 (en) 1999-03-23 2001-09-18 Motorola, Inc. Component alignment and transfer apparatus
US6424885B1 (en) 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US6398792B1 (en) 1999-06-21 2002-06-04 O'connor Lawrence Angioplasty catheter with transducer using balloon for focusing of ultrasonic energy and method for use
DE19929112A1 (de) 1999-06-24 2001-01-11 Ferton Holding Sa Medizinisches Instrument zur Behandlung von biologischem Gewebe sowie Verfahren zum Übertragen von Druckwellen
US7637905B2 (en) 2003-01-15 2009-12-29 Usgi Medical, Inc. Endoluminal tool deployment system
DE19930408A1 (de) 1999-07-02 2001-01-04 Zeiss Carl Fa OCT-gestütztes Chirurgiesystem
JP2003508133A (ja) 1999-08-27 2003-03-04 ヴォルシュレーガー ヘルムート カテーテル取扱装置
US8004229B2 (en) * 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
US8768516B2 (en) 2009-06-30 2014-07-01 Intuitive Surgical Operations, Inc. Control of medical robotic system manipulator about kinematic singularities
US6427783B2 (en) 2000-01-12 2002-08-06 Baker Hughes Incorporated Steerable modular drilling assembly
US6858005B2 (en) 2000-04-03 2005-02-22 Neo Guide Systems, Inc. Tendon-driven endoscope and methods of insertion
DE10025285A1 (de) 2000-05-22 2001-12-06 Siemens Ag Vollautomatische, robotergestützte Kameraführung unter Verwendung von Positionssensoren für laparoskopische Eingriffe
US20020100254A1 (en) 2000-10-12 2002-08-01 Dsd Communications, Inc. System and method for targeted advertising and marketing
DE50113363D1 (de) 2000-10-20 2008-01-24 Deere & Co Bedienungselement
US6638246B1 (en) 2000-11-28 2003-10-28 Scimed Life Systems, Inc. Medical device for delivery of a biologically active material to a lumen
US6487940B2 (en) * 2001-01-23 2002-12-03 Associated Toolmakers Incorporated Nut driver
US6676557B2 (en) * 2001-01-23 2004-01-13 Black & Decker Inc. First stage clutch
US7766894B2 (en) 2001-02-15 2010-08-03 Hansen Medical, Inc. Coaxial catheter system
US8414505B1 (en) 2001-02-15 2013-04-09 Hansen Medical, Inc. Catheter driver system
EP2298220B1 (en) 2001-02-15 2016-06-08 Hansen Medical, Inc. Flexible instrument
US6612143B1 (en) 2001-04-13 2003-09-02 Orametrix, Inc. Robot and method for bending orthodontic archwires and other medical devices
US6640412B2 (en) 2001-04-26 2003-11-04 Endovascular Technologies, Inc. Method for loading a stent using a collapsing machine
ATE412372T1 (de) 2001-05-06 2008-11-15 Stereotaxis Inc System zum vorschieben eines katheter
US7766856B2 (en) 2001-05-06 2010-08-03 Stereotaxis, Inc. System and methods for advancing a catheter
US7635342B2 (en) 2001-05-06 2009-12-22 Stereotaxis, Inc. System and methods for medical device advancement and rotation
US7607440B2 (en) 2001-06-07 2009-10-27 Intuitive Surgical, Inc. Methods and apparatus for surgical planning
US20060199999A1 (en) * 2001-06-29 2006-09-07 Intuitive Surgical Inc. Cardiac tissue ablation instrument with flexible wrist
CA2351993C (en) * 2001-06-29 2003-02-18 New World Technologie Inc. Torque tool
US20040243147A1 (en) 2001-07-03 2004-12-02 Lipow Kenneth I. Surgical robot and robotic controller
US7087061B2 (en) 2002-03-12 2006-08-08 Lithotech Medical Ltd Method for intracorporeal lithotripsy fragmentation and apparatus for its implementation
US6830545B2 (en) 2002-05-13 2004-12-14 Everest Vit Tube gripper integral with controller for endoscope of borescope
IL149706A0 (en) 2002-05-16 2002-11-10 Dolopaz Technologies Ltd Multipurpose fluid jet surgical device
US20040030349A1 (en) 2002-08-08 2004-02-12 Mikhail Boukhny Liquefaction handpiece tip
EP1531749A2 (en) 2002-08-13 2005-05-25 Microbotics Corporation Microsurgical robot system
US7044936B2 (en) 2002-08-21 2006-05-16 Arrow International Inc. Catheter connector with pivot lever spring latch
TW574767B (en) 2003-01-13 2004-02-01 Uniwill Comp Corp Antenna and shield assembly and wireless transmission module thereof
GB2397234A (en) 2003-01-20 2004-07-21 Armstrong Healthcare Ltd A tool holder arrangement
US7660623B2 (en) 2003-01-30 2010-02-09 Medtronic Navigation, Inc. Six degree of freedom alignment display for medical procedures
EP1442720A1 (en) 2003-01-31 2004-08-04 Tre Esse Progettazione Biomedica S.r.l Apparatus for the maneuvering of flexible catheters in the human cardiovascular system
US7297154B2 (en) 2003-02-24 2007-11-20 Maxwell Sensors Inc. Optical apparatus for detecting and treating vulnerable plaque
US7246273B2 (en) 2003-02-28 2007-07-17 Sony Corporation Method of, apparatus and graphical user interface for automatic diagnostics
JP2004351005A (ja) 2003-05-29 2004-12-16 Japan Science & Technology Agency 屈曲チューブとその製造方法
JP2007523757A (ja) 2003-06-20 2007-08-23 ファナック ロボティクス アメリカ，インコーポレイティド 複数のロボットアームの追従及び鏡映ジョグ
US20050004579A1 (en) 2003-06-27 2005-01-06 Schneider M. Bret Computer-assisted manipulation of catheters and guide wires
US9002518B2 (en) * 2003-06-30 2015-04-07 Intuitive Surgical Operations, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
US20050049508A1 (en) 2003-08-06 2005-03-03 Michael Forman Treatment of age-related macular degeneration
US7998112B2 (en) 2003-09-30 2011-08-16 Abbott Cardiovascular Systems Inc. Deflectable catheter assembly and method of making same
US7172580B2 (en) 2003-12-11 2007-02-06 Cook Incorporated Hemostatic valve assembly
US8287584B2 (en) 2005-11-14 2012-10-16 Sadra Medical, Inc. Medical implant deployment tool
US7344494B2 (en) 2004-02-09 2008-03-18 Karl Storz Development Corp. Endoscope with variable direction of view module
US7204168B2 (en) 2004-02-25 2007-04-17 The University Of Manitoba Hand controller and wrist device
US8021326B2 (en) 2004-03-05 2011-09-20 Hansen Medical, Inc. Instrument driver for robotic catheter system
US8052636B2 (en) 2004-03-05 2011-11-08 Hansen Medical, Inc. Robotic catheter system and methods
WO2005087128A1 (en) * 2004-03-05 2005-09-22 Hansen Medical, Inc. Robotic catheter system
WO2005086874A2 (en) 2004-03-11 2005-09-22 Medrad, Inc. Energy assisted medical devices, systems and methods
JP3923053B2 (ja) 2004-03-31 2007-05-30 ファナック株式会社 ロボット教示装置
DE102004020465B3 (de) 2004-04-26 2005-09-01 Aumann Gmbh Drahtzugregler für Wickelmaschinen
DE102004021754A1 (de) 2004-04-30 2005-11-24 Reinhardt Thyzel Vorrichtung zum Entfernen von Epithelzellen aus einem Linsenkapselsack eines menschlichen oder tierischen Auges
US7974674B2 (en) 2004-05-28 2011-07-05 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic surgical system and method for surface modeling
US10258285B2 (en) 2004-05-28 2019-04-16 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic surgical system and method for automated creation of ablation lesions
IL162318A (en) 2004-06-03 2011-07-31 Tal Wenderow Transmission for a remote catheterization system
US8005537B2 (en) 2004-07-19 2011-08-23 Hansen Medical, Inc. Robotically controlled intravascular tissue injection system
US7314097B2 (en) * 2005-02-24 2008-01-01 Black & Decker Inc. Hammer drill with a mode changeover mechanism
US7967799B2 (en) 2005-03-16 2011-06-28 Alcon, Inc. Liquefaction handpiece tip
WO2006111966A2 (en) * 2005-04-18 2006-10-26 M.S.T. Medical Surgery Technologies Ltd Means and methods of improving laparoscopic surgery
US20060237205A1 (en) * 2005-04-21 2006-10-26 Eastway Fair Company Limited Mode selector mechanism for an impact driver
US7789874B2 (en) * 2005-05-03 2010-09-07 Hansen Medical, Inc. Support assembly for robotic catheter system
US8104479B2 (en) 2005-06-23 2012-01-31 Volcano Corporation Pleated bag for interventional pullback systems
US20070005002A1 (en) 2005-06-30 2007-01-04 Intuitive Surgical Inc. Robotic surgical instruments for irrigation, aspiration, and blowing
WO2007005976A1 (en) * 2005-07-01 2007-01-11 Hansen Medical, Inc. Robotic catheter system
US8079950B2 (en) 2005-09-29 2011-12-20 Intuitive Surgical Operations, Inc. Autofocus and/or autoscaling in telesurgery
JP4763420B2 (ja) 2005-10-27 2011-08-31 オリンパスメディカルシステムズ株式会社 内視鏡用操作補助装置
JP5121132B2 (ja) 2005-11-02 2013-01-16 オリンパスメディカルシステムズ株式会社 内視鏡システム、及び内視鏡用操作補助装置
EP1955239A4 (en) 2005-11-08 2011-06-22 Univ Boston MANIPULATORS WITH SEVERAL DEFORMABLE LONG LINKS
JP5276987B2 (ja) 2005-11-15 2013-08-28 ザ・ジョンズ・ホプキンス・ユニバーシティー バイオセンシング及び外科的処置のための能動的カニューレ
US7384351B2 (en) 2005-11-22 2008-06-10 Bridgestone Sports Co., Ltd. Golf ball
US20070149946A1 (en) 2005-12-07 2007-06-28 Viswanathan Raju R Advancer system for coaxial medical devices
US7892186B2 (en) 2005-12-09 2011-02-22 Heraeus Materials S.A. Handle and articulator system and method
US8292827B2 (en) 2005-12-12 2012-10-23 Boston Scientific Scimed, Inc. Micromachined medical devices
US9266239B2 (en) 2005-12-27 2016-02-23 Intuitive Surgical Operations, Inc. Constraint based control in a minimally invasive surgical apparatus
US9962066B2 (en) 2005-12-30 2018-05-08 Intuitive Surgical Operations, Inc. Methods and apparatus to shape flexible entry guides for minimally invasive surgery
JP4789000B2 (ja) * 2006-02-16 2011-10-05 Ｓｍｃ株式会社 減速比自動切換装置
US9675375B2 (en) 2006-03-29 2017-06-13 Ethicon Llc Ultrasonic surgical system and method
US8518024B2 (en) 2006-04-24 2013-08-27 Transenterix, Inc. System and method for multi-instrument surgical access using a single access port
US8628520B2 (en) 2006-05-02 2014-01-14 Biosense Webster, Inc. Catheter with omni-directional optical lesion evaluation
CN101442952B (zh) 2006-05-17 2011-08-17 航生医疗公司 自动仪器系统
CN104720887B (zh) 2006-06-13 2017-05-10 直观外科手术操作公司 微创手术系统
US8491603B2 (en) * 2006-06-14 2013-07-23 MacDonald Dettwiller and Associates Inc. Surgical manipulator
US8303449B2 (en) * 2006-08-01 2012-11-06 Techtronic Power Tools Technology Limited Automatic transmission for a power tool
JP4755047B2 (ja) 2006-08-08 2011-08-24 テルモ株式会社 作業機構及びマニピュレータ
US8747350B2 (en) 2006-09-11 2014-06-10 Boston Scientific Scimed, Inc. Steerable catheter with rapid exchange lumen
US7496174B2 (en) 2006-10-16 2009-02-24 Oraya Therapeutics, Inc. Portable orthovoltage radiotherapy
CA2612650A1 (en) * 2006-11-24 2008-05-24 Imris Inc. Sterile draping for the bore of a medical imaging system
US7699809B2 (en) 2006-12-14 2010-04-20 Urmey William F Catheter positioning system
US20090036900A1 (en) 2007-02-02 2009-02-05 Hansen Medical, Inc. Surgery methods using a robotic instrument system
US20080249536A1 (en) 2007-02-15 2008-10-09 Hansen Medical, Inc. Interface assembly for controlling orientation of robotically controlled medical instrument
US20080214925A1 (en) * 2007-03-01 2008-09-04 Civco Medical Instruments Co., Inc. Device for precision positioning of instruments at a mri scanner
JP4550849B2 (ja) 2007-03-22 2010-09-22 株式会社東芝 アーム搭載移動ロボット
US7695154B2 (en) 2007-04-05 2010-04-13 Dpm Associates, Llc Illuminating footwear accessory
US20080262301A1 (en) 2007-04-20 2008-10-23 Wilson-Cook Medical Inc. Steerable overtube
US20080275367A1 (en) 2007-04-23 2008-11-06 Hansen Medical, Inc Systems and methods for mapping intra-body tissue compliance
WO2008133956A2 (en) 2007-04-23 2008-11-06 Hansen Medical, Inc. Robotic instrument control system
WO2008154408A1 (en) 2007-06-06 2008-12-18 Tobey Wayland E Modular hybrid snake arm
US8903546B2 (en) 2009-08-15 2014-12-02 Intuitive Surgical Operations, Inc. Smooth control of an articulated instrument across areas with different work space conditions
US7998020B2 (en) 2007-08-21 2011-08-16 Stereotaxis, Inc. Apparatus for selectively rotating and/or advancing an elongate device
US20090082722A1 (en) 2007-08-21 2009-03-26 Munger Gareth T Remote navigation advancer devices and methods of use
DK2190761T3 (da) 2007-08-28 2014-02-03 Marel As Gribeindretning, f.eks. til en robot
US8224484B2 (en) 2007-09-30 2012-07-17 Intuitive Surgical Operations, Inc. Methods of user interface with alternate tool mode for robotic surgical tools
CN100522507C (zh) 2007-10-19 2009-08-05 哈尔滨工业大学 机器人灵巧手手指内集成电路板之间的柔性连线结构
JP2009139187A (ja) 2007-12-05 2009-06-25 Sumitomo Heavy Ind Ltd トルク測定装置
JP5017076B2 (ja) 2007-12-21 2012-09-05 テルモ株式会社 マニピュレータシステム及びマニピュレータの制御方法
US8473031B2 (en) 2007-12-26 2013-06-25 Intuitive Surgical Operations, Inc. Medical robotic system with functionality to determine and display a distance indicated by movement of a tool robotically manipulated by an operator
JP5478511B2 (ja) 2008-01-16 2014-04-23 カセター・ロボティクス・インコーポレーテッド 遠隔制御カテーテル挿入システム
US8752749B2 (en) 2008-02-14 2014-06-17 Ethicon Endo-Surgery, Inc. Robotically-controlled disposable motor-driven loading unit
US9179912B2 (en) 2008-02-14 2015-11-10 Ethicon Endo-Surgery, Inc. Robotically-controlled motorized surgical cutting and fastening instrument
EP2092916A1 (en) 2008-02-19 2009-08-26 Institut National De La Sante Et De La Recherche Medicale (Inserm) A method of treating an ocular pathology by applying high intensity focused ultrasound and device thereof
MX2010009657A (es) 2008-03-07 2010-11-12 Novozymes Adenium Biotech As Uso de defensinas contra tuberculosis.
EP2103249B9 (en) 2008-03-19 2016-10-19 Carl Zeiss Meditec AG Surgical microscopy system having an optical coherence tomography facility
JP5322153B2 (ja) 2008-03-25 2013-10-23 Ｎｔｎ株式会社 医療用線状体の駆動装置
US8317745B2 (en) 2008-03-27 2012-11-27 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic catheter rotatable device cartridge
US10368838B2 (en) 2008-03-31 2019-08-06 Intuitive Surgical Operations, Inc. Surgical tools for laser marking and laser cutting
US7886743B2 (en) 2008-03-31 2011-02-15 Intuitive Surgical Operations, Inc. Sterile drape interface for robotic surgical instrument
DE102008025233A1 (de) 2008-05-27 2009-12-03 Erbe Elektromedizin Gmbh Wasserstrahlchirurgieinstrument
US7938809B2 (en) 2008-04-14 2011-05-10 Merit Medical Systems, Inc. Quick release hemostasis valve
US20090264878A1 (en) 2008-04-21 2009-10-22 Electro Medical Associates, Llc Devices and methods for ablating and removing a tissue mass
US8167793B2 (en) 2008-04-26 2012-05-01 Intuitive Surgical Operations, Inc. Augmented stereoscopic visualization for a surgical robot using time duplexing
EP3406291B8 (en) 2008-05-06 2020-01-15 Corindus, Inc. Catheter system
US20100036294A1 (en) 2008-05-07 2010-02-11 Robert Mantell Radially-Firing Electrohydraulic Lithotripsy Probe
EP2274498A2 (en) * 2008-05-12 2011-01-19 Longyear TM, Inc. Open-faced rod spinner
KR101479233B1 (ko) 2008-05-13 2015-01-05 삼성전자 주식회사 로봇 및 그 협조작업 제어방법
US8968251B2 (en) * 2008-05-14 2015-03-03 Covidien Lp Access assembly
KR100971900B1 (ko) * 2008-06-11 2010-07-22 (주)미래컴퍼니 수술용 로봇 암의 인스트루먼트
US20110015650A1 (en) * 2008-06-11 2011-01-20 Seung Wook Choi Instrument of robot arm for surgery
WO2009152352A2 (en) 2008-06-13 2009-12-17 Aspen Medtech, Inc. Shockwave balloon catheter system
US9179832B2 (en) 2008-06-27 2015-11-10 Intuitive Surgical Operations, Inc. Medical robotic system with image referenced camera control using partitionable orientational and translational modes
US9186221B2 (en) * 2008-07-16 2015-11-17 Intuitive Surgical Operations Inc. Backend mechanism for four-cable wrist
JP2010035768A (ja) 2008-08-04 2010-02-18 Olympus Medical Systems Corp 能動駆動式医療機器
WO2010016210A1 (ja) 2008-08-08 2010-02-11 パナソニック株式会社 掃除機の制御装置及び制御方法、掃除機、掃除機の制御プログラム、及び、集積電子回路
JP2010046384A (ja) 2008-08-25 2010-03-04 Terumo Corp 医療用マニピュレータ及び実験装置
US8390438B2 (en) 2008-09-24 2013-03-05 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic catheter system including haptic feedback
US9259274B2 (en) 2008-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
US8720448B2 (en) 2008-11-07 2014-05-13 Hansen Medical, Inc. Sterile interface apparatus
US8095223B2 (en) 2008-11-26 2012-01-10 B. Braun Medical, Inc. Apparatus and method for inserting a catheter
WO2010068005A2 (en) 2008-12-12 2010-06-17 Rebo Surgical robot
US8602031B2 (en) * 2009-01-12 2013-12-10 Hansen Medical, Inc. Modular interfaces and drive actuation through barrier
ITBO20090004U1 (it) 2009-02-11 2010-08-12 Tre Esse Progettazione Biomedica S R L Manipolatore robotico per la manovra a distanza di cateteri steerable nel sistema cardiovascolare umano.
KR100961661B1 (ko) 2009-02-12 2010-06-09 주식회사 래보 수술용 항법 장치 및 그 방법
WO2010093489A2 (en) 2009-02-13 2010-08-19 Cardiac Pacemakers, Inc. Deployable sensor platform on the lead system of an implantable device
US8423182B2 (en) 2009-03-09 2013-04-16 Intuitive Surgical Operations, Inc. Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems
CN102405022B (zh) 2009-03-14 2015-02-04 瓦索斯蒂奇股份有限公司 血管进入和闭合装置
US10004387B2 (en) 2009-03-26 2018-06-26 Intuitive Surgical Operations, Inc. Method and system for assisting an operator in endoscopic navigation
EP2233103B1 (de) 2009-03-26 2017-11-15 W & H Dentalwerk Bürmoos GmbH Medizinisches, insbesondere dentales, Handstück
KR101030371B1 (ko) * 2009-04-27 2011-04-20 국립암센터 최소 침습 수술을 위한 내시경 조정 장치
DE102009019695B4 (de) * 2009-05-05 2011-06-16 Deutsches Zentrum für Luft- und Raumfahrt e.V. Steriles Abdecksystem zum sterilen Verkleiden eines medizintechnischen Roboterarms sowie Verfahren zum sterilen Verkleiden eines medizintechnischen Roboterarms
GB0908368D0 (en) 2009-05-15 2009-06-24 Univ Leuven Kath Adjustable remote center of motion positioner
ES2388029B1 (es) 2009-05-22 2013-08-13 Universitat Politècnica De Catalunya Sistema robótico para cirugia laparoscópica.
US10537713B2 (en) 2009-05-25 2020-01-21 Stereotaxis, Inc. Remote manipulator device
US20110009863A1 (en) 2009-07-10 2011-01-13 Tyco Healthcare Group Lp Shaft Constructions for Medical Devices with an Articulating Tip
US20110015484A1 (en) 2009-07-16 2011-01-20 Alvarez Jeffrey B Endoscopic robotic catheter system
US20110015648A1 (en) 2009-07-16 2011-01-20 Hansen Medical, Inc. Endoscopic robotic catheter system
KR101037069B1 (ko) * 2009-09-23 2011-05-26 주식회사 이턴 멸균 어댑터
US20110071541A1 (en) 2009-09-23 2011-03-24 Intuitive Surgical, Inc. Curved cannula
WO2011037394A2 (ko) * 2009-09-23 2011-03-31 주식회사 이턴 멸균 어댑터, 휠의 체결 구조 및 수술용 인스트루먼트의 체결 구조
US8277417B2 (en) 2009-09-23 2012-10-02 James J. Fedinec Central venous catheter kit with line gripping and needle localizing devices
EP3763303B1 (en) 2009-10-01 2024-04-03 MAKO Surgical Corp. Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool
US10045882B2 (en) 2009-10-30 2018-08-14 The Johns Hopkins University Surgical instrument and systems with integrated optical sensor
US8870815B2 (en) 2009-11-12 2014-10-28 Koninklijke Philips N.V. Steering system and a catcher system
JP5722336B2 (ja) * 2009-11-13 2015-05-20 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 湾曲カニューレ外科手術システム
WO2011058530A1 (en) 2009-11-16 2011-05-19 Koninklijke Philips Electronics, N.V. Human-robot shared control for endoscopic assistant robot
US8932211B2 (en) 2012-06-22 2015-01-13 Macroplata, Inc. Floating, multi-lumen-catheter retractor system for a minimally-invasive, operative gastrointestinal treatment
DE102010031274B4 (de) * 2009-12-18 2023-06-22 Robert Bosch Gmbh Handwerkzeugmaschine mit Kühlung des Getriebes
US20110152880A1 (en) 2009-12-23 2011-06-23 Hansen Medical, Inc. Flexible and steerable elongate instruments with torsion control
US8220688B2 (en) 2009-12-24 2012-07-17 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting instrument with electric actuator directional control assembly
US8414564B2 (en) 2010-02-18 2013-04-09 Alcon Lensx, Inc. Optical coherence tomographic system for ophthalmic surgery
WO2011109283A1 (en) 2010-03-02 2011-09-09 Corindus Inc. Robotic catheter system with variable drive mechanism
US9610133B2 (en) 2010-03-16 2017-04-04 Covidien Lp Wireless laparoscopic camera
US9950139B2 (en) 2010-05-14 2018-04-24 C. R. Bard, Inc. Catheter placement device including guidewire and catheter control elements
US8746252B2 (en) * 2010-05-14 2014-06-10 Intuitive Surgical Operations, Inc. Surgical system sterile drape
DE102010029275A1 (de) 2010-05-25 2011-12-01 Siemens Aktiengesellschaft Verfahren zum Bewegen eines Instrumentenarms eines Laparoskopierobotors in einer vorgebbare Relativlage zu einem Trokar
DE102010029745A1 (de) 2010-06-07 2011-12-08 Kuka Laboratories Gmbh Werkstück-Handhabungssystem und Verfahren zum Manipulieren von Werkstücken mittels kooperierender Manipulatoren
WO2011160686A1 (en) 2010-06-23 2011-12-29 Renzo Marco Giovanni Brun Del Re Biopsy alignment guide
US8672837B2 (en) 2010-06-24 2014-03-18 Hansen Medical, Inc. Methods and devices for controlling a shapeable medical device
US8226580B2 (en) 2010-06-30 2012-07-24 Biosense Webster (Israel), Ltd. Pressure sensing for a multi-arm catheter
KR101911843B1 (ko) * 2010-08-02 2018-10-25 더 존스 홉킨스 유니버시티 도구 교환 인터페이스 및 협동 수술 로봇들용 제어 알고리즘
US8776800B2 (en) * 2010-09-30 2014-07-15 Carefusion 2200, Inc. Sterile drape having multiple drape interface mechanisms
EP2532299B1 (en) 2010-09-14 2014-11-05 Olympus Medical Systems Corp. Endoscope system and low visibility determining method
US8827948B2 (en) 2010-09-17 2014-09-09 Hansen Medical, Inc. Steerable catheters
EP2619633B1 (en) 2010-09-25 2023-12-06 IPG Photonics (Canada) Inc. Method of coherent imaging and feedback control for modification of materials
EP2627278B1 (en) 2010-10-11 2015-03-25 Ecole Polytechnique Fédérale de Lausanne (EPFL) Mechanical manipulator for surgical instruments
CN201884596U (zh) 2010-11-02 2011-06-29 李国铭 差速器
US8992565B2 (en) 2010-11-15 2015-03-31 Intuitive Surgical Operations, Inc. Decoupling instrument shaft roll and end effector actuation in a surgical instrument
DE102011003118A1 (de) * 2011-01-25 2012-07-26 Krones Aktiengesellschaft Verschließeinrichtung
DE102011011497A1 (de) * 2011-02-17 2012-08-23 Kuka Roboter Gmbh Chirurgisches Instrument
US10786432B2 (en) 2011-04-12 2020-09-29 Sartorius Stedim Biotech Gmbh Use of a device and a method for preparing mixtures of pharmaceutical substances
CN103764216B (zh) 2011-05-03 2016-08-17 施菲姆德控股有限责任公司 可转向输送护套
JP5816457B2 (ja) * 2011-05-12 2015-11-18 オリンパス株式会社 術具装置
EP2731517A2 (en) 2011-07-11 2014-05-21 Medical Vision Research & Development AB Status control for electrically powered surgical tool systems
JP5931497B2 (ja) 2011-08-04 2016-06-08 オリンパス株式会社 手術支援装置およびその組立方法
CN102973317A (zh) 2011-09-05 2013-03-20 周宁新 微创手术机器人机械臂布置结构
FR2979532B1 (fr) 2011-09-07 2015-02-20 Robocath Module et procede d'entrainement d'organes medicaux souples allonges et systeme robotise associe
EP2755591B1 (en) 2011-09-16 2020-11-18 Auris Health, Inc. System for displaying an image of a patient anatomy on a movable display
WO2013043804A1 (en) 2011-09-20 2013-03-28 Corindus, Inc. Catheter force measurement apparatus and method
MX2014004783A (es) 2011-10-26 2014-05-14 Koninkl Philips Nv Soporte de herramienta inteligente para una fibra optica de deteccion de forma.
US9504604B2 (en) 2011-12-16 2016-11-29 Auris Surgical Robotics, Inc. Lithotripsy eye treatment
JP6290099B2 (ja) 2012-02-03 2018-03-07 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 埋め込み型形状感知機能を有する操縦可能な可撓性針
JP6034573B2 (ja) 2012-02-28 2016-11-30 テルモ株式会社 医療器具用可撓管および医療器具
US10383765B2 (en) 2012-04-24 2019-08-20 Auris Health, Inc. Apparatus and method for a global coordinate system for use in robotic surgery
US20140142591A1 (en) 2012-04-24 2014-05-22 Auris Surgical Robotics, Inc. Method, apparatus and a system for robotic assisted surgery
EP2881068B1 (de) * 2012-04-27 2016-12-07 KUKA Roboter GmbH Chirurgierobotersystem und chirurgisches Instrument
WO2013159932A1 (de) * 2012-04-27 2013-10-31 Kuka Laboratories Gmbh Chirurgierobotersystem
DE102012207060A1 (de) * 2012-04-27 2013-10-31 Deutsches Zentrum für Luft- und Raumfahrt e.V. Roboteranordnung zum Einsatz in medizinischen Bereichen
US20130317519A1 (en) 2012-05-25 2013-11-28 Hansen Medical, Inc. Low friction instrument driver interface for robotic systems
JP2014004310A (ja) 2012-05-31 2014-01-16 Canon Inc 医療器具
JP6262216B2 (ja) 2012-06-01 2018-01-17 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 零空間を使用して操作アーム間の衝突を回避するためのシステム及び方法
US9072536B2 (en) 2012-06-28 2015-07-07 Ethicon Endo-Surgery, Inc. Differential locking arrangements for rotary powered surgical instruments
US9364230B2 (en) * 2012-06-28 2016-06-14 Ethicon Endo-Surgery, Llc Surgical stapling instruments with rotary joint assemblies
US9226796B2 (en) 2012-08-03 2016-01-05 Stryker Corporation Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path
KR102189666B1 (ko) 2012-08-15 2020-12-11 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 기계 몸체의 운동을 조종하기 위한 가상 자유도
KR102255642B1 (ko) 2012-08-15 2021-05-25 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 로봇 암의 수동식 운동에 의해 제어되는 이동가능한 수술용 장착 플랫폼
JP6219396B2 (ja) 2012-10-12 2017-10-25 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 分岐した解剖学的構造における医療デバイスの位置決定
US20140148673A1 (en) 2012-11-28 2014-05-29 Hansen Medical, Inc. Method of anchoring pullwire directly articulatable region in catheter
US8671817B1 (en) 2012-11-28 2014-03-18 Hansen Medical, Inc. Braiding device for catheter having acuately varying pullwires
US8894610B2 (en) 2012-11-28 2014-11-25 Hansen Medical, Inc. Catheter having unirail pullwire architecture
JP2014134530A (ja) 2012-12-14 2014-07-24 Panasonic Corp 力計測装置、力計測方法、力計測プログラム、力計測用集積電子回路、並びに、マスタースレーブ装置
US10231867B2 (en) 2013-01-18 2019-03-19 Auris Health, Inc. Method, apparatus and system for a water jet
DE102013100605A1 (de) 2013-01-22 2014-07-24 Rg Mechatronics Gmbh Robotersystem und Verfahren zum Steuern eines Robotersystems für die minimal invasive Chirurgie
DE102013002813B4 (de) 2013-02-19 2017-11-09 Rg Mechatronics Gmbh Haltevorrichtung mit wenigstens einer Klemmbacke für ein chirurgisches Robotersystem
DE102013002818A1 (de) 2013-02-19 2014-08-21 Rg Mechatronics Gmbh Haltevorrichtung für ein chirurgisches Instrument und eine Schleuse sowie Verfahren zum Betreiben eines Roboters mit einer solchen Haltevorrichtung
JP6251756B2 (ja) 2013-02-26 2017-12-20 アーメット・シナン・カバクチュＡｈｍｅｔ Ｓｉｎａｎ ＫＡＢＡＫＣＩ ロボットマニュピレータシステム
US9668814B2 (en) 2013-03-07 2017-06-06 Hansen Medical, Inc. Infinitely rotatable tool with finite rotating drive shafts
US9867635B2 (en) 2013-03-08 2018-01-16 Auris Surgical Robotics, Inc. Method, apparatus and system for a water jet
US10149720B2 (en) 2013-03-08 2018-12-11 Auris Health, Inc. Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment
US10080576B2 (en) 2013-03-08 2018-09-25 Auris Health, Inc. Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment
US20140276389A1 (en) 2013-03-13 2014-09-18 Sean Walker Selective grip device for drive mechanism
US20140277334A1 (en) 2013-03-14 2014-09-18 Hansen Medical, Inc. Active drives for robotic catheter manipulators
JP6616281B2 (ja) 2013-03-14 2019-12-04 エスアールアイ インターナショナル コンパクトなロボット手首部
US9173713B2 (en) 2013-03-14 2015-11-03 Hansen Medical, Inc. Torque-based catheter articulation
US9326822B2 (en) 2013-03-14 2016-05-03 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US9498601B2 (en) 2013-03-14 2016-11-22 Hansen Medical, Inc. Catheter tension sensing
US11213363B2 (en) 2013-03-14 2022-01-04 Auris Health, Inc. Catheter tension sensing
JP6363165B2 (ja) 2013-03-15 2018-07-25 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 介入器具を追跡するための形状センサーシステム及びこのシステムの使用方法
US10376672B2 (en) 2013-03-15 2019-08-13 Auris Health, Inc. Catheter insertion system and method of fabrication
US20140276936A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Active drive mechanism for simultaneous rotation and translation
US9408669B2 (en) 2013-03-15 2016-08-09 Hansen Medical, Inc. Active drive mechanism with finite range of motion
US9452018B2 (en) 2013-03-15 2016-09-27 Hansen Medical, Inc. Rotational support for an elongate member
WO2014144321A1 (en) * 2013-03-15 2014-09-18 Stryker Corporation Assembly for positioning a sterile surgical drape relative to optical position sensors
US20140276647A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Vascular remote catheter manipulator
US20140276394A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Input device for controlling a catheter
US9271797B2 (en) 2013-07-02 2016-03-01 Gyrus Acmi, Inc. Robotic surgery
US11020016B2 (en) 2013-05-30 2021-06-01 Auris Health, Inc. System and method for displaying anatomy and devices on a movable display
WO2014201165A1 (en) 2013-06-11 2014-12-18 Auris Surgical Robotics, Inc. System for robotic assisted cataract surgery
US20140375784A1 (en) 2013-06-21 2014-12-25 Omnivision Technologies, Inc. Image Sensor With Integrated Orientation Indicator
JP6037964B2 (ja) 2013-07-26 2016-12-07 オリンパス株式会社 マニピュレータシステム
US10426661B2 (en) 2013-08-13 2019-10-01 Auris Health, Inc. Method and apparatus for laser assisted cataract surgery
JP6562919B2 (ja) 2013-08-15 2019-08-21 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 医療処置確認のためのシステム及び方法
US9993614B2 (en) 2013-08-27 2018-06-12 Catheter Precision, Inc. Components for multiple axis control of a catheter in a catheter positioning system
DE102013220798A1 (de) 2013-10-15 2015-04-16 Kuka Laboratories Gmbh Verfahren zum Handhaben von Objekten mittels wenigstens zweier Industrieroboter, und zugehöriger Industrieroboter
CN111166274B (zh) * 2013-10-24 2025-01-28 奥瑞斯健康公司 机器人辅助腔内外科手术系统及相关方法
US9737373B2 (en) 2013-10-24 2017-08-22 Auris Surgical Robotics, Inc. Instrument device manipulator and surgical drape
US9962226B2 (en) * 2013-11-28 2018-05-08 Alcon Pharmaceuticals Ltd. Ophthalmic surgical systems, methods, and devices
CN103735313B (zh) 2013-12-11 2016-08-17 中国科学院深圳先进技术研究院 一种手术机器人及其状态监测方法
US9539020B2 (en) * 2013-12-27 2017-01-10 Ethicon Endo-Surgery, Llc Coupling features for ultrasonic surgical instrument
JP5788029B2 (ja) 2014-01-10 2015-09-30 カール シュトルツ ゲゼルシャフト ミット ベシュレンクテル ハフツング ウント コンパニー コマンディートゲゼルシャフト 医療用マニピュレータ
EP3096704B1 (en) * 2014-01-22 2021-03-10 KB Medical SA Sterile drape and adapter for covering a robotic surgical arm and preventing contamination of a sterile field
JP6473757B2 (ja) 2014-02-07 2019-02-20 コヴィディエン リミテッド パートナーシップ ロボット外科手術システムのための入力デバイスアセンブリ
CN111938820B (zh) 2014-02-21 2024-12-10 直观外科手术操作公司 机械接头以及相关的系统和方法
US10046140B2 (en) 2014-04-21 2018-08-14 Hansen Medical, Inc. Devices, systems, and methods for controlling active drive systems
US10569052B2 (en) 2014-05-15 2020-02-25 Auris Health, Inc. Anti-buckling mechanisms for catheters
US9549781B2 (en) 2014-05-30 2017-01-24 The Johns Hopkins University Multi-force sensing surgical instrument and method of use for robotic surgical systems
CN104013471B (zh) * 2014-06-23 2016-08-24 苏州康多机器人有限公司 一种主从一体型外科手术机器人系统
US20160270865A1 (en) 2014-07-01 2016-09-22 Auris Surgical Robotics, Inc. Reusable catheter with disposable balloon attachment and tapered tip
US20170007337A1 (en) 2014-07-01 2017-01-12 Auris Surgical Robotics, Inc. Driver-mounted torque sensing mechanism
US9744335B2 (en) 2014-07-01 2017-08-29 Auris Surgical Robotics, Inc. Apparatuses and methods for monitoring tendons of steerable catheters
US9788910B2 (en) 2014-07-01 2017-10-17 Auris Surgical Robotics, Inc. Instrument-mounted tension sensing mechanism for robotically-driven medical instruments
US10792464B2 (en) 2014-07-01 2020-10-06 Auris Health, Inc. Tool and method for using surgical endoscope with spiral lumens
US9561083B2 (en) 2014-07-01 2017-02-07 Auris Surgical Robotics, Inc. Articulating flexible endoscopic tool with roll capabilities
US10159533B2 (en) 2014-07-01 2018-12-25 Auris Health, Inc. Surgical system with configurable rail-mounted mechanical arms
CN107427327A (zh) 2014-09-30 2017-12-01 奥瑞斯外科手术机器人公司 具有虚拟轨迹和柔性内窥镜的可配置机器人外科手术系统
US10499999B2 (en) 2014-10-09 2019-12-10 Auris Health, Inc. Systems and methods for aligning an elongate member with an access site
US10314463B2 (en) 2014-10-24 2019-06-11 Auris Health, Inc. Automated endoscope calibration
DE102014222293A1 (de) 2014-10-31 2016-05-19 Siemens Aktiengesellschaft Verfahren zur automatischen Überwachung des Eindringverhaltens eines von einem Roboterarm gehaltenen Trokars und Überwachungssystem
US9949719B2 (en) 2014-12-16 2018-04-24 General Electric Company Breast imaging method and system
WO2016098251A1 (ja) 2014-12-19 2016-06-23 オリンパス株式会社 挿抜支援装置及び挿抜支援方法
JP6342794B2 (ja) 2014-12-25 2018-06-13 新光電気工業株式会社 配線基板及び配線基板の製造方法
WO2016137612A1 (en) 2015-02-26 2016-09-01 Covidien Lp Robotically controlling remote center of motion with software and guide tube
US10856726B2 (en) 2015-03-25 2020-12-08 Sony Corporation Medical support arm apparatus
US20160287279A1 (en) 2015-04-01 2016-10-06 Auris Surgical Robotics, Inc. Microsurgical tool for robotic applications
WO2016164824A1 (en) 2015-04-09 2016-10-13 Auris Surgical Robotics, Inc. Surgical system with configurable rail-mounted mechanical arms
GB2538326B (en) * 2015-05-07 2019-06-05 Cmr Surgical Ltd A surgical drape for transferring drive
US9636184B2 (en) 2015-05-15 2017-05-02 Auris Surgical Robotics, Inc. Swivel bed for a surgical robotics system
CN107249491A (zh) 2015-06-01 2017-10-13 奥林巴斯株式会社 医疗用机械手
CN108025445A (zh) 2015-07-23 2018-05-11 斯里国际 机器人臂及机器人手术系统
CN105147393B (zh) 2015-08-19 2017-06-20 哈尔滨工业大学 一种微创机器人持镜机械臂
EP3340919B1 (en) 2015-08-27 2020-09-30 Focal Healthcare Inc. Moveable interface and stepper assembly
CN108348133B (zh) 2015-09-09 2020-11-13 奥瑞斯健康公司 用于手术机器人系统的器械装置操纵器
JP6824967B2 (ja) 2015-09-18 2021-02-03 オーリス ヘルス インコーポレイテッド 管状網のナビゲーション
US10441371B2 (en) 2015-10-02 2019-10-15 Vanderbilt University Concentric tube robot
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
US10639108B2 (en) 2015-10-30 2020-05-05 Auris Health, Inc. Process for percutaneous operations
CN108348296B (zh) 2015-11-12 2021-06-11 柯惠Lp公司 机器人外科手术系统和监测施加的力的方法
CN105559850B (zh) 2015-12-17 2017-08-25 天津工业大学 一种用于机器人辅助外科具有力传感功能的手术钻器械
US10932861B2 (en) 2016-01-14 2021-03-02 Auris Health, Inc. Electromagnetic tracking surgical system and method of controlling the same
US10932691B2 (en) 2016-01-26 2021-03-02 Auris Health, Inc. Surgical tools having electromagnetic tracking components
WO2017151993A1 (en) 2016-03-04 2017-09-08 Covidien Lp Electromechanical surgical systems and robotic surgical instruments thereof
US11324554B2 (en) 2016-04-08 2022-05-10 Auris Health, Inc. Floating electromagnetic field generator system and method of controlling the same
US10454347B2 (en) 2016-04-29 2019-10-22 Auris Health, Inc. Compact height torque sensing articulation axis assembly
US10888428B2 (en) 2016-05-12 2021-01-12 University Of Notre Dame Du Lac Additive manufacturing device for biomaterials
CN109475388B (zh) 2016-07-01 2021-11-16 直观外科手术操作公司 计算机辅助的医疗系统和方法
US11037464B2 (en) 2016-07-21 2021-06-15 Auris Health, Inc. System with emulator movement tracking for controlling medical devices
US10398517B2 (en) 2016-08-16 2019-09-03 Ethicon Llc Surgical tool positioning based on sensed parameters
US11241559B2 (en) 2016-08-29 2022-02-08 Auris Health, Inc. Active drive for guidewire manipulation
EP3506836B1 (en) 2016-08-31 2024-10-02 Auris Health, Inc. Length conservative surgical instrument
US9931025B1 (en) 2016-09-30 2018-04-03 Auris Surgical Robotics, Inc. Automated calibration of endoscopes with pull wires
EP3949891B1 (en) 2016-10-04 2025-03-19 Intuitive Surgical Operations, Inc. Computer-assisted teleoperated surgery systems
US10286556B2 (en) 2016-10-16 2019-05-14 The Boeing Company Method and apparatus for compliant robotic end-effector
US10244926B2 (en) 2016-12-28 2019-04-02 Auris Health, Inc. Detecting endolumenal buckling of flexible instruments
US10543048B2 (en) 2016-12-28 2020-01-28 Auris Health, Inc. Flexible instrument insertion using an adaptive insertion force threshold
US10136959B2 (en) 2016-12-28 2018-11-27 Auris Health, Inc. Endolumenal object sizing
US10820951B2 (en) 2017-03-14 2020-11-03 Verb Surgical Inc. Techniques for damping vibration in a robotic surgical system
EP3600112A4 (en) 2017-03-22 2020-10-28 Intuitive Surgical Operations Inc. SYSTEMS AND METHODS FOR INTELLIGENT SEEDING RECORDING
KR102545869B1 (ko) 2017-03-28 2023-06-23 아우리스 헬스, 인코포레이티드 샤프트 작동 핸들
KR102558061B1 (ko) 2017-03-31 2023-07-25 아우리스 헬스, 인코포레이티드 생리적 노이즈를 보상하는 관강내 조직망 항행을 위한 로봇 시스템
KR20230106716A (ko) 2017-04-07 2023-07-13 아우리스 헬스, 인코포레이티드 환자 삽입기(Introducer) 정렬
US10285574B2 (en) 2017-04-07 2019-05-14 Auris Health, Inc. Superelastic medical instrument
CN110831498B (zh) 2017-05-12 2022-08-12 奥瑞斯健康公司 活检装置和系统
JP7301750B2 (ja) 2017-05-17 2023-07-03 オーリス ヘルス インコーポレイテッド 交換可能な作業チャネル
US10022192B1 (en) 2017-06-23 2018-07-17 Auris Health, Inc. Automatically-initialized robotic systems for navigation of luminal networks
AU2018290831A1 (en) 2017-06-28 2019-12-19 Auris Health, Inc. Instrument insertion compensation
WO2019005699A1 (en) 2017-06-28 2019-01-03 Auris Health, Inc. ELECTROMAGNETIC FIELD GENERATOR ALIGNMENT
KR102578978B1 (ko) 2017-06-28 2023-09-19 아우리스 헬스, 인코포레이티드 전자파 왜곡 검출
US11026758B2 (en) 2017-06-28 2021-06-08 Auris Health, Inc. Medical robotics systems implementing axis constraints during actuation of one or more motorized joints
US10426559B2 (en) 2017-06-30 2019-10-01 Auris Health, Inc. Systems and methods for medical instrument compression compensation
US10464209B2 (en) 2017-10-05 2019-11-05 Auris Health, Inc. Robotic system with indication of boundary for robotic arm
US10145747B1 (en) 2017-10-10 2018-12-04 Auris Health, Inc. Detection of undesirable forces on a surgical robotic arm
US10016900B1 (en) 2017-10-10 2018-07-10 Auris Health, Inc. Surgical robotic arm admittance control
US10555778B2 (en) 2017-10-13 2020-02-11 Auris Health, Inc. Image-based branch detection and mapping for navigation
US11058493B2 (en) 2017-10-13 2021-07-13 Auris Health, Inc. Robotic system configured for navigation path tracing
CN107595368B (zh) 2017-10-19 2024-04-30 以诺康医疗科技（苏州）有限公司 一种超声波手术刀头、刀杆及超声波手术刀
EP3684282B1 (en) 2017-12-06 2024-02-21 Auris Health, Inc. Systems to correct for uncommanded instrument roll
EP3684281B1 (en) 2017-12-08 2025-03-12 Auris Health, Inc. System for medical instrument navigation and targeting
EP3684438B1 (en) 2017-12-08 2024-09-11 Auris Health, Inc. Systems employing directed fluidics
US10470830B2 (en) 2017-12-11 2019-11-12 Auris Health, Inc. Systems and methods for instrument based insertion architectures
WO2019118767A1 (en) 2017-12-14 2019-06-20 Auris Health, Inc. System and method for estimating instrument location
AU2018390476B2 (en) 2017-12-18 2024-03-28 Auris Health, Inc. Methods and systems for instrument tracking and navigation within luminal networks
EP3740150A4 (en) 2018-01-17 2021-11-03 Auris Health, Inc. SURGICAL ROBOTIC SYSTEMS WITH ENHANCED ROBOTIC ARMS
JP6999824B2 (ja) 2018-01-17 2022-01-19 オーリス ヘルス インコーポレイテッド 調節可能なアーム支持体を有する外科用プラットフォーム
KR20250172742A (ko) 2018-02-13 2025-12-09 아우리스 헬스, 인코포레이티드 의료 기구를 구동시키기 위한 시스템 및 방법
MX2020009075A (es) 2018-03-01 2021-03-25 Auris Health Inc Métodos y sistemas de mapeo y navegación.
JP7305668B2 (ja) 2018-03-28 2023-07-10 オーリス ヘルス インコーポレイテッド 可変曲げ剛性プロファイルを有する医療用器具
US10827913B2 (en) 2018-03-28 2020-11-10 Auris Health, Inc. Systems and methods for displaying estimated location of instrument
JP7214747B2 (ja) 2018-03-28 2023-01-30 オーリス ヘルス インコーポレイテッド 位置センサの位置合わせのためのシステム及び方法
CN111954497A (zh) 2018-03-29 2020-11-17 奥瑞斯健康公司 带有具有旋转偏移的多功能端部执行器的机器人启用式医疗系统
WO2019231895A1 (en) 2018-05-30 2019-12-05 Auris Health, Inc. Systems and methods for location sensor-based branch prediction
CN112236083B (zh) 2018-05-31 2024-08-13 奥瑞斯健康公司 用于导航检测生理噪声的管腔网络的机器人系统和方法
EP4454591A3 (en) 2018-05-31 2025-01-15 Auris Health, Inc. Path-based navigation of tubular networks
CN110831538B (zh) 2018-05-31 2023-01-24 奥瑞斯健康公司 基于图像的气道分析和映射
US10744981B2 (en) 2018-06-06 2020-08-18 Sensata Technologies, Inc. Electromechanical braking connector
KR102579505B1 (ko) 2018-06-07 2023-09-20 아우리스 헬스, 인코포레이티드 고출력 기구를 가진 로봇 의료 시스템
US10667875B2 (en) 2018-06-27 2020-06-02 Auris Health, Inc. Systems and techniques for providing multiple perspectives during medical procedures
JP7391886B2 (ja) 2018-06-28 2023-12-05 オーリス ヘルス インコーポレイテッド 滑車共有を組み込んだ医療システム
EP3820373A4 (en) 2018-08-07 2022-04-27 Auris Health, Inc. COMBINATION OF STRAIN-BASED FORM MEASUREMENT WITH CATHETER CONTROL
WO2020036685A1 (en) 2018-08-15 2020-02-20 Auris Health, Inc. Medical instruments for tissue cauterization
EP3806758A4 (en) 2018-08-17 2022-04-06 Auris Health, Inc. BIPOLAR MEDICAL INSTRUMENT
AU2019326548B2 (en) 2018-08-24 2023-11-23 Auris Health, Inc. Manually and robotically controllable medical instruments
CN112739283A (zh) 2018-09-17 2021-04-30 奥瑞斯健康公司 用于伴随医学规程的系统和方法
WO2020068853A2 (en) 2018-09-26 2020-04-02 Auris Health, Inc. Articulating medical instruments
EP3813716B1 (en) 2018-09-26 2025-04-16 Auris Health, Inc. Systems and instruments for suction and irrigation
CN112770690A (zh) 2018-09-28 2021-05-07 奥瑞斯健康公司 用于对接医疗器械的系统和方法
EP3856001A4 (en) 2018-09-28 2022-06-22 Auris Health, Inc. DEVICES, SYSTEMS AND METHODS FOR MANUAL AND ROBOTIC DRIVES OF MEDICAL INSTRUMENTS
KR102870092B1 (ko) 2018-09-28 2025-10-17 아우리스 헬스, 인코포레이티드 동시 내시경술 및 경피 의료 절차를 위한 로봇 시스템 및 방법
US11576738B2 (en) 2018-10-08 2023-02-14 Auris Health, Inc. Systems and instruments for tissue sealing
WO2020131529A1 (en) 2018-12-20 2020-06-25 Auris Health, Inc. Shielding for wristed instruments
KR102873229B1 (ko) 2018-12-28 2025-10-21 아우리스 헬스, 인코포레이티드 로봇 의료 시스템 및 방법을 위한 경피 시스
EP3890645A4 (en) 2019-02-22 2022-09-07 Auris Health, Inc. SURGICAL PLATFORM WITH MOTORIZED ARMS FOR ADJUSTABLE ARMRESTS
CN113613612B (zh) 2019-03-08 2022-08-02 奥瑞斯健康公司 用于医疗系统和应用的倾斜机构
US11638618B2 (en) 2019-03-22 2023-05-02 Auris Health, Inc. Systems and methods for aligning inputs on medical instruments
EP3908201B1 (en) 2019-03-25 2024-04-24 Auris Health, Inc. Instruments for medical stapling
US11617627B2 (en) 2019-03-29 2023-04-04 Auris Health, Inc. Systems and methods for optical strain sensing in medical instruments
CN114173698A (zh) 2019-04-08 2022-03-11 奥瑞斯健康公司 用于伴随规程的系统、方法和工作流程

Also Published As

Publication number Publication date
CN113274140A (zh) 2021-08-20
KR20240151248A (ko) 2024-10-17
AU2016321332A1 (en) 2018-04-12
AU2020294275A1 (en) 2021-01-28
KR102714284B1 (ko) 2024-10-11
KR20180083306A (ko) 2018-07-20
AU2016321332B2 (en) 2020-10-08
EP3346899A1 (en) 2018-07-18
US20170367782A1 (en) 2017-12-28
US11771521B2 (en) 2023-10-03
US20200405434A1 (en) 2020-12-31
KR20220123104A (ko) 2022-09-05
KR102429651B1 (ko) 2022-08-05
US20240090969A1 (en) 2024-03-21
CN108348133A (zh) 2018-07-31
EP3346899B1 (en) 2022-11-09
KR102569960B1 (ko) 2023-08-24
US10631949B2 (en) 2020-04-28
US20180271616A1 (en) 2018-09-27
JP2018533450A (ja) 2018-11-15
CN113229942A (zh) 2021-08-10
KR102879832B1 (ko) 2025-11-03
AU2020294275B2 (en) 2023-03-16
EP4137034A1 (en) 2023-02-22
US10786329B2 (en) 2020-09-29
WO2017044884A1 (en) 2017-03-16
CN113274140B (zh) 2022-09-02
JP6938507B2 (ja) 2021-09-22
EP3346899A4 (en) 2019-10-30
KR20230129557A (ko) 2023-09-08
CN113229942B (zh) 2024-11-12

Similar Documents

Publication Publication Date Title
CN108348133B (zh) 用于手术机器人系统的器械装置操纵器
US9993313B2 (en) Instrument device manipulator with roll mechanism
US20240138938A1 (en) Systems and methods for instrument based insertion architectures

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