CN108606773B - 自动化图像引导的组织切除和处理 - Google Patents

自动化图像引导的组织切除和处理 Download PDF

Info

Publication number
CN108606773B
CN108606773B CN201810246259.2A CN201810246259A CN108606773B CN 108606773 B CN108606773 B CN 108606773B CN 201810246259 A CN201810246259 A CN 201810246259A CN 108606773 B CN108606773 B CN 108606773B
Authority
CN
China
Prior art keywords
elongated
probe
tissue
treatment
image
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
CN201810246259.2A
Other languages
English (en)
Chinese (zh)
Other versions
CN108606773A (zh
Inventor
尼科莱·阿尔尤里
苏拉格·曼特里
路易斯·贝兹
乔治·瑟吉安
迈克尔·W·萨斯耐特
乔纳森·富特
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.)
Procept Biorobotics Corp
Original Assignee
Procept Biorobotics Corp
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 Procept Biorobotics Corp filed Critical Procept Biorobotics Corp
Publication of CN108606773A publication Critical patent/CN108606773A/zh
Application granted granted Critical
Publication of CN108606773B publication Critical patent/CN108606773B/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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/32—Surgical cutting instruments
    • A61B17/3203—Fluid jet cutting instruments
    • 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
    • A61B1/307—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 the urinary organs, e.g. urethroscopes, cystoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/32—Surgical cutting instruments
    • A61B17/3203—Fluid jet cutting instruments
    • A61B17/32037—Fluid jet cutting instruments for removing obstructions from inner organs or blood vessels, e.g. for atherectomy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1485—Probes or electrodes therefor having a short rigid shaft for accessing the inner body through natural openings
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
    • A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
    • 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
    • A61B2017/00199—Electrical control of surgical instruments with a console, e.g. a control panel with a display
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00238—Type of minimally invasive operation
    • A61B2017/00274—Prostate operation, e.g. prostatectomy, turp, bhp treatment
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/30—Surgical pincettes, i.e. surgical tweezers without pivotal connections
    • A61B2017/306—Surgical pincettes, i.e. surgical tweezers without pivotal connections holding by means of suction
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00053—Mechanical features of the instrument of device
    • A61B2018/00273—Anchoring means for temporary attachment of a device to tissue
    • A61B2018/00279—Anchoring means for temporary attachment of a device to tissue deployable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00053—Mechanical features of the instrument of device
    • A61B2018/00273—Anchoring means for temporary attachment of a device to tissue
    • A61B2018/00279—Anchoring means for temporary attachment of a device to tissue deployable
    • A61B2018/00285—Balloons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
    • A61B2018/00321—Head or parts thereof
    • A61B2018/00327—Ear, nose or throat
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
    • A61B2018/00345—Vascular system
    • A61B2018/00351—Heart
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
    • A61B2018/00345—Vascular system
    • A61B2018/00404—Blood vessels other than those in or around the heart
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
    • A61B2018/00434—Neural system
    • A61B2018/0044—Spinal cord
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
    • A61B2018/00434—Neural system
    • A61B2018/00446—Brain
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
    • A61B2018/00482—Digestive system
    • A61B2018/00488—Esophagus
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
    • A61B2018/00482—Digestive system
    • A61B2018/00494—Stomach, intestines or bowel
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
    • A61B2018/00482—Digestive system
    • A61B2018/005—Rectum
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
    • A61B2018/00505—Urinary tract
    • A61B2018/00517—Urinary bladder or urethra
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
    • A61B2018/00529—Liver
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
    • A61B2018/00541—Lung or bronchi
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
    • A61B2018/00547—Prostate
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00577—Ablation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00589—Coagulation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00595—Cauterization
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00601—Cutting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
    • A61B2018/00607—Coagulation and cutting with the same instrument
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00636—Sensing and controlling the application of energy
    • A61B2018/00642—Sensing and controlling the application of energy with feedback, i.e. closed loop control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00636—Sensing and controlling the application of energy
    • A61B2018/0066—Sensing and controlling the application of energy without feedback, i.e. open loop control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00982—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body combined with or comprising means for visual or photographic inspections inside the body, e.g. endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00994—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body combining two or more different kinds of non-mechanical energy or combining one or more non-mechanical energies with ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B2018/044—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating the surgical action being effected by a circulating hot fluid
    • A61B2018/046—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating the surgical action being effected by a circulating hot fluid in liquid form
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B2018/1472—Probes or electrodes therefor for use with liquid electrolyte, e.g. virtual electrodes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
    • A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
    • A61B2018/2035—Beam shaping or redirecting; Optical components therefor
    • A61B2018/20351—Scanning mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
    • A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
    • A61B2018/2035—Beam shaping or redirecting; Optical components therefor
    • A61B2018/2045—Choppers
    • A61B2018/205—Choppers with electronic means, e.g. acousto-optic
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
    • A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
    • A61B2018/2035—Beam shaping or redirecting; Optical components therefor
    • A61B2018/20554—Arrangements for particular intensity distribution, e.g. tophat
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
    • A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
    • A61B18/22—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
    • A61B2018/2205—Characteristics of fibres
    • A61B2018/2211—Plurality of fibres
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
    • A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
    • A61B18/22—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
    • A61B2018/2255—Optical elements at the distal end of probe tips
    • A61B2018/2272—Optical elements at the distal end of probe tips with reflective or refractive surfaces for deflecting the beam
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical systems
    • A61B2034/254—User interfaces for surgical systems being adapted depending on the stage of the surgical procedure
    • 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
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • A61B2090/306—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure using optical fibres
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • 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
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • 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
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • A61B2090/3782—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument
    • 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
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • A61B2090/3782—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument
    • A61B2090/3784—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument both receiver and transmitter being in the instrument or receiver being also transmitter
    • 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
    • A61B2090/508—Supports for surgical instruments, e.g. articulated arms with releasable brake mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2217/00—General characteristics of surgical instruments
    • A61B2217/002—Auxiliary appliance
    • A61B2217/005—Auxiliary appliance with suction drainage system
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2217/00—General characteristics of surgical instruments
    • A61B2217/002—Auxiliary appliance
    • A61B2217/007—Auxiliary appliance with irrigation system
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2218/00—Details of surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2218/001—Details of surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body having means for irrigation and/or aspiration of substances to and/or from the surgical site
    • A61B2218/002—Irrigation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2218/00—Details of surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2218/001—Details of surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body having means for irrigation and/or aspiration of substances to and/or from the surgical site
    • A61B2218/007—Aspiration
    • 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
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/02—Holding devices, e.g. on the body
    • A61M25/04—Holding devices, e.g. on the body in the body, e.g. expansible

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • General Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Otolaryngology (AREA)
  • Plasma & Fusion (AREA)
  • Optics & Photonics (AREA)
  • Urology & Nephrology (AREA)
  • Biophysics (AREA)
  • Vascular Medicine (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Gynecology & Obstetrics (AREA)
  • Surgical Instruments (AREA)
  • Electromagnetism (AREA)
  • Laser Surgery Devices (AREA)
CN201810246259.2A 2012-02-29 2013-02-28 自动化图像引导的组织切除和处理 Active CN108606773B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201261604932P 2012-02-29 2012-02-29
US61/604,932 2012-02-29
CN201380011817.2A CN104203078B (zh) 2012-02-29 2013-02-28 自动化图像引导的组织切除和处理

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201380011817.2A Division CN104203078B (zh) 2012-02-29 2013-02-28 自动化图像引导的组织切除和处理

Publications (2)

Publication Number Publication Date
CN108606773A CN108606773A (zh) 2018-10-02
CN108606773B true CN108606773B (zh) 2020-08-11

Family

ID=49083315

Family Applications (2)

Application Number Title Priority Date Filing Date
CN201810246259.2A Active CN108606773B (zh) 2012-02-29 2013-02-28 自动化图像引导的组织切除和处理
CN201380011817.2A Active CN104203078B (zh) 2012-02-29 2013-02-28 自动化图像引导的组织切除和处理

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN201380011817.2A Active CN104203078B (zh) 2012-02-29 2013-02-28 自动化图像引导的组织切除和处理

Country Status (7)

Country Link
US (13) US9364251B2 (https=)
EP (2) EP3351196B1 (https=)
JP (7) JP6080872B2 (https=)
CN (2) CN108606773B (https=)
BR (1) BR112014021482B1 (https=)
ES (1) ES2687817T3 (https=)
WO (1) WO2013130895A1 (https=)

Families Citing this family (108)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9232959B2 (en) 2007-01-02 2016-01-12 Aquabeam, Llc Multi fluid tissue resection methods and devices
US12290277B2 (en) 2007-01-02 2025-05-06 Aquabeam, Llc Tissue resection with pressure sensing
US11264139B2 (en) * 2007-11-21 2022-03-01 Edda Technology, Inc. Method and system for adjusting interactive 3D treatment zone for percutaneous treatment
JP5506702B2 (ja) 2008-03-06 2014-05-28 アクアビーム エルエルシー 流体流れ内を伝達される光学エネルギーによる組織切除および焼灼
US9848904B2 (en) 2009-03-06 2017-12-26 Procept Biorobotics Corporation Tissue resection and treatment with shedding pulses
US10016620B2 (en) 2010-02-04 2018-07-10 Procept Biorobotics Incorporation Tissue sampling and cancer treatment apparatus
US10588609B2 (en) 2010-02-04 2020-03-17 Procept Biorobotics Corporation Gene analysis and generation of stem cell methods and apparatus
WO2012100211A2 (en) 2011-01-20 2012-07-26 Hansen Medical, Inc. System and method for endoluminal and transluminal therapy
CN108606773B (zh) 2012-02-29 2020-08-11 普罗赛普特生物机器人公司 自动化图像引导的组织切除和处理
US10231867B2 (en) 2013-01-18 2019-03-19 Auris Health, Inc. Method, apparatus and system for a water jet
JP6403695B2 (ja) 2013-02-14 2018-10-10 プロセプト バイオロボティクス コーポレイション アクアアブレーションアクアビーム眼科手術方法および装置
US10386827B2 (en) 2013-03-04 2019-08-20 Fisher-Rosemount Systems, Inc. Distributed industrial performance monitoring and analytics platform
US10649424B2 (en) 2013-03-04 2020-05-12 Fisher-Rosemount Systems, Inc. Distributed industrial performance monitoring and analytics
US9558220B2 (en) 2013-03-04 2017-01-31 Fisher-Rosemount Systems, Inc. Big data in process control systems
US10678225B2 (en) * 2013-03-04 2020-06-09 Fisher-Rosemount Systems, Inc. Data analytic services for distributed industrial performance monitoring
US9867635B2 (en) * 2013-03-08 2018-01-16 Auris Surgical Robotics, Inc. Method, apparatus and system for a water jet
US10098656B2 (en) 2013-04-03 2018-10-16 Procept Biorobotics Corporation Water enucleation of the prostate
US10744035B2 (en) 2013-06-11 2020-08-18 Auris Health, Inc. Methods for robotic assisted cataract surgery
US10413359B2 (en) * 2013-07-18 2019-09-17 International Business Machines Corporation Laser-assisted transdermal delivery of nanoparticulates and hydrogels
US10426661B2 (en) 2013-08-13 2019-10-01 Auris Health, Inc. Method and apparatus for laser assisted cataract surgery
BR112016005036A2 (en) 2013-09-06 2020-04-07 Procept Biorobotics Corporation automated image guided tissue resection device
JP2015093141A (ja) * 2013-11-14 2015-05-18 セイコーエプソン株式会社 ロボット手術装置、およびロボット手術装置用流体噴射装置
JP2015198762A (ja) * 2014-04-08 2015-11-12 セイコーエプソン株式会社 流体噴射装置
US20170091386A1 (en) * 2014-05-16 2017-03-30 Brainlab Ag Inference Transparency System for Image-Based Clinical Decision Support Systems
ES2886204T3 (es) 2014-06-24 2021-12-16 Procept Biorobotics Corp Aparato de muestreo de tejidos y tratamiento del cáncer
BR112016031037B1 (pt) 2014-06-30 2023-02-07 Procept Biorobotics Corporation Aparelho para ablação de tecido vascular
CN107148245B (zh) * 2014-09-05 2021-03-09 普罗赛普特生物机器人公司 干细胞的基因分析和生成的方法及装置
BR112017004431B1 (pt) * 2014-09-05 2022-11-01 Procept Biorobotics Corporation Aparelho para tratar um paciente
CN104739515B (zh) * 2015-03-20 2017-07-11 华中科技大学同济医学院附属同济医院 输尿管软镜标尺及其制作方法和用途
EP3277190B1 (en) * 2015-03-31 2020-08-05 Koninklijke Philips N.V. Calibration of ultrasonic elasticity-based lesion-border mapping
US20160287279A1 (en) 2015-04-01 2016-10-06 Auris Surgical Robotics, Inc. Microsurgical tool for robotic applications
KR102523779B1 (ko) 2015-06-09 2023-04-20 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술 절차 아틀라스를 갖는 수술 시스템의 구성
US11246566B2 (en) * 2015-06-26 2022-02-15 B-K Medical Aps US imaging probe with an instrument channel
US10507056B2 (en) * 2015-10-01 2019-12-17 General Electric Company System and method for representation and visualization of catheter applied force and power
US20180280089A1 (en) * 2015-10-21 2018-10-04 Koninklijke Philips N.V. System supporting treatment of a subject
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
KR20180068336A (ko) 2015-11-12 2018-06-21 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 훈련 또는 보조 기능들을 갖는 수술 시스템
CN108601623B (zh) * 2016-01-29 2021-11-02 波士顿科学医学有限公司 医疗用户界面
US11419660B2 (en) * 2016-02-09 2022-08-23 Andrea Borsic System and methods for ablation treatment of tissue
RU2018136593A (ru) 2016-03-18 2020-04-20 Просепт Байороботикс Корпорейшн Минимально инвазивные способы и системы для гемостаза в кровоточащем закрытом объеме ткани
WO2017205808A1 (en) * 2016-05-27 2017-11-30 The Trustees Of Columbia University In The City Of New York Transrectal diagnostic device
CN106419821B (zh) * 2016-08-31 2018-06-08 北京大学第三医院 一种关节镜下测量关节内结构的方法和装置
US11083517B2 (en) 2017-01-19 2021-08-10 Biosense Webster (Israel) Ltd. Enhancing efficiency of repeat ablation by merging current and previous maps
CA2957977C (en) * 2017-02-15 2019-03-26 Synaptive Medical (Barbados) Inc. Sensored surgical tool and surgical intraoperative tracking and imaging system incorporating same
US20180235576A1 (en) * 2017-02-22 2018-08-23 Covidien Lp Ultrasound doppler and elastography for ablation prediction and monitoring
EP3595563B1 (en) * 2017-03-17 2024-11-13 Oliveira, Enio Chaves De Device and system for treating hemorrhoidal diseases
CN108934160B (zh) 2017-03-28 2021-08-31 奥瑞斯健康公司 轴致动手柄
JP7314052B2 (ja) 2017-04-07 2023-07-25 オーリス ヘルス インコーポレイテッド 患者イントロデューサのアライメント
US10285574B2 (en) 2017-04-07 2019-05-14 Auris Health, Inc. Superelastic medical instrument
US11089941B2 (en) 2017-05-04 2021-08-17 Boston Scientific Scimed, Inc. Medical system for identifying material to be removed from a patient and related methods
EP3634208A1 (en) * 2017-05-09 2020-04-15 Imris, Inc. Tools and techniques for image-guided resection
US10987131B2 (en) 2017-05-25 2021-04-27 Coopersurgical, Inc. Tissue containment systems and related methods
CN107174340A (zh) * 2017-07-21 2017-09-19 李刚 一种由计算机智能控制激光全自动切除前列腺的装置
EP3664648B1 (en) 2017-08-10 2023-04-26 PROCEPT BioRobotics Corporation Surgical drape
US12102397B2 (en) * 2018-01-19 2024-10-01 Verily Life Sciences Llc Step-based system for providing surgical intraoperative cues
US11672596B2 (en) 2018-02-26 2023-06-13 Neuwave Medical, Inc. Energy delivery devices with flexible and adjustable tips
US20190336240A1 (en) * 2018-05-07 2019-11-07 Olympus Corporation Method for ablation treatment of ileal mucosa
US11771575B2 (en) 2018-05-17 2023-10-03 Zenflow, Inc. Systems, devices, and methods for the accurate deployment and imaging of an implant in the prostatic urethra
CN112218596B (zh) 2018-06-07 2025-05-16 奥瑞斯健康公司 具有高力器械的机器人医疗系统
CN119867925A (zh) 2018-06-21 2025-04-25 普罗赛普特生物机器人公司 用于机器人手术的人工智能
KR102817263B1 (ko) 2018-06-28 2025-06-10 아우리스 헬스, 인코포레이티드 풀리 공유를 통합한 의료 시스템
CN112566584A (zh) 2018-08-15 2021-03-26 奥瑞斯健康公司 用于组织烧灼的医疗器械
CN112566567B (zh) 2018-08-17 2024-10-29 奥瑞斯健康公司 双极医疗器械
WO2020068303A1 (en) 2018-09-26 2020-04-02 Auris Health, Inc. Systems and instruments for suction and irrigation
WO2020076447A1 (en) 2018-10-08 2020-04-16 Auris Health, Inc. Systems and instruments for tissue sealing
CN113347938A (zh) 2019-01-25 2021-09-03 奥瑞斯健康公司 具有加热和冷却能力的血管密封器
AU2020211435B2 (en) * 2019-01-25 2025-09-18 May Health Sas Systems and methods for applying energy to ovarian tissue
JP7490666B2 (ja) 2019-03-01 2024-05-27 プロセプト バイオロボティクス コーポレイション ポンプカートリッジおよびコンソール
EP3934508B1 (en) 2019-03-07 2025-10-15 PROCEPT BioRobotics Corporation Stiff sheath for imaging probe
WO2020181290A1 (en) 2019-03-07 2020-09-10 Procept Biorobotics Corporation Robotic arms and methods for tissue resection and imaging
WO2020181278A1 (en) 2019-03-07 2020-09-10 Procept Biorobotics Corporation Material removal from surgical site
WO2020190710A1 (en) * 2019-03-15 2020-09-24 Ransome John B Twin fiber laser system for the treatment of enlarged prostate
CN114051403B (zh) 2019-06-28 2026-03-17 奥瑞斯健康公司 用于机器人系统的患者导引器
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
US11957462B2 (en) * 2019-08-22 2024-04-16 Biosense Webster (Israel) Ltd. System and method for brain clot characterization using optical fibers having diffusive elements and brain clot removal
EP4345733B1 (en) 2019-09-23 2025-07-16 Boston Scientific Scimed, Inc. System for endoscopic video enhancement
US11071601B2 (en) * 2019-11-11 2021-07-27 Procept Biorobotics Corporation Surgical probes for tissue resection with robotic arms
NL2024233B1 (en) * 2019-11-14 2021-07-29 Univ Delft Tech Method for shaping a position stabilizing body and waterjet surgery system
KR20220123269A (ko) 2019-12-31 2022-09-06 아우리스 헬스, 인코포레이티드 고급 바스켓 구동 모드
WO2021214089A1 (en) * 2020-04-21 2021-10-28 Koninklijke Philips N.V. Automatic 3d medical image orientation determination
US12268363B2 (en) * 2020-05-01 2025-04-08 Intuitive Surgical Operations, Inc. Steerable apparatus having a slideable imaging probe and associated methods of use
US11602269B2 (en) 2020-05-26 2023-03-14 FemDx Medsystems, Inc. Oscillating endoscopic catheter for fallopian tube navigation
EP4157060A4 (en) * 2020-05-26 2024-09-11 Femdx Medsystems, Inc. OSCILLATING ENDOSCOPIC CATHETER FOR FALLOPIAN TUBE NAVIGATION
US11877818B2 (en) 2020-06-26 2024-01-23 Procept Biorobotics Corporation Integration of robotic arms with surgical probes
US11096753B1 (en) 2020-06-26 2021-08-24 Procept Biorobotics Corporation Systems and methods for defining and modifying range of motion of probe used in patient treatment
WO2022024124A2 (en) * 2020-07-29 2022-02-03 Tamar Robotics Ltd Adaptive target removal from soft tissue
CN112535504B (zh) * 2020-12-21 2025-02-11 遵义医科大学第二附属医院 一种经体表分离颈部血管鞘与内脏鞘的装置
CN117860399A (zh) * 2020-12-31 2024-04-12 华科精准（北京）医疗科技有限公司 控制细长构件旋转的装置
TR202101949A2 (tr) * 2021-02-11 2021-03-22 Izmir Biyotip Ve Genom Merkezi Sınırları tanımlı anormal mukozal doku ablasyonu için negatif basınç temelli görüntüleme ve tedavi aparatı ve sistemi ve sistemin çalışma yöntemi.
CN115605148A (zh) 2021-04-20 2023-01-13 普罗赛普特生物机器人公司（Us） 具有独立能量源的外科手术探针
US12318252B2 (en) 2021-09-13 2025-06-03 FemDx Medsystems, Inc. Combined ultrasonic and direct visual hysteroscope
JP2023051235A (ja) 2021-09-30 2023-04-11 富士フイルム株式会社 画像処理装置、画像処理方法、及びプログラム
CN113940753B (zh) * 2021-11-12 2023-12-19 北京智愈医疗科技有限公司 一种用于组织切割路径自动规划的多图像信息融合方法及系统
CN113796952B (zh) 2021-11-18 2022-03-18 北京智愈医疗科技有限公司 一种组织切除系统及其切割参数确定方法
US12329582B2 (en) 2022-02-17 2025-06-17 Procept Biorobotics Corporation Apparatus to detect tissue stretching during insertion of probes
CN114376610B (zh) * 2022-03-24 2022-06-10 北京智愈医疗科技有限公司 一种双平面超声图像规划方法和装置
CN114521939B (zh) * 2022-04-24 2022-09-06 北京智愈医疗科技有限公司 一种自动水刀实现方法及系统
US12329574B2 (en) 2022-10-31 2025-06-17 Procept Biorobotics Corporation Fiducial systems for probe tracking and identification
CN115634042B (zh) * 2022-12-26 2023-03-21 北京智愈医疗科技有限公司 一种激光和水射流协作切除装置和控制方法
US20240252271A1 (en) * 2023-02-01 2024-08-01 Procept Biorobotics Corporation Tissue protection systems and methods
GB2628856A (en) * 2023-04-06 2024-10-09 The Manufacturing Tech Company Apparatus for treating pipes
US20250195167A1 (en) * 2023-12-13 2025-06-19 Procept Biorobotics Corporation Ergonomic surgical robotic system
KR20260023911A (ko) * 2024-08-12 2026-02-20 주식회사 코러스트 요도 삽입형 전립선 치료 초음파 장치
CN119924905B (zh) * 2025-03-18 2025-07-22 上海骊霄医疗技术有限公司 一种前列腺悬吊器械
CN120585428A (zh) * 2025-06-13 2025-09-05 北京智愈医疗科技有限公司 一种用于前列腺增生组织切除的自动手术装置
CN121196727B (zh) * 2025-11-24 2026-01-27 南昌大学第二附属医院 一种融合视觉slam与力感知的尿道扩张路径规划系统

Family Cites Families (729)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3763860A (en) 1971-08-26 1973-10-09 H Clarke Laparoscopy instruments and method for suturing and ligation
US3847988A (en) 1971-12-23 1974-11-12 Schering Corp Substituted imidates
US3818913A (en) 1972-08-30 1974-06-25 M Wallach Surgical apparatus for removal of tissue
US3875229A (en) 1972-11-24 1975-04-01 Schering Corp Substituted carboxanilides
US3821510A (en) 1973-02-22 1974-06-28 H Muncheryan Hand held laser instrumentation device
US4040413A (en) 1974-07-18 1977-08-09 Fuji Photo Optical Co. Ltd. Endoscope
US4024866A (en) * 1974-12-02 1977-05-24 Hydro Pulse Corporation Surgical apparatus for removal of tissue
FR2329276A1 (fr) 1975-10-29 1977-05-27 Roussel Uclaf Nouvelles imidazolidines substituees, procede de preparation, application comme medicament et compositions les renfermant
JPS5394515A (en) 1977-01-31 1978-08-18 Kubota Ltd Method of producing glass fiber reinforced cement plate
EP0002309B1 (en) 1977-10-12 1982-12-01 Imperial Chemical Industries Plc Acylanilides, process for their manufacture and pharmaceutical and veterinary compositions containing them
US4377584A (en) 1978-04-13 1983-03-22 Merck & Co., Inc. 4-Aza-17β-substituted-5α-androstan-3-one-reductase inhibitors
US4220735A (en) 1978-12-18 1980-09-02 General Electric Company Modified polyester compositions
US4469098A (en) 1978-12-18 1984-09-04 Davi Samantha K Apparatus for and method of utilizing energy to excise pathological tissue
NZ197008A (en) 1980-05-22 1984-10-19 Ici Ltd Acylanilide derivatives and pharmaceutical compositions
US4389071A (en) 1980-12-12 1983-06-21 Hydronautics, Inc. Enhancing liquid jet erosion
US4474251A (en) 1980-12-12 1984-10-02 Hydronautics, Incorporated Enhancing liquid jet erosion
JPS57168656A (en) 1981-04-10 1982-10-18 Medos Kenkyusho Kk Endoscope laser coagulator
US4470407A (en) 1982-03-11 1984-09-11 Laserscope, Inc. Endoscopic device
ATE28864T1 (de) 1982-07-23 1987-08-15 Ici Plc Amide-derivate.
US4532935A (en) 1982-11-01 1985-08-06 Wang Ko P Bronchoscopic needle assembly
JPS59225049A (ja) 1983-06-06 1984-12-18 株式会社　スギノマシン 手術用ノズル装置
US4597388A (en) 1983-12-15 1986-07-01 Trutek Research, Inc. Apparatus for removing cataracts
US4760071A (en) 1984-02-27 1988-07-26 Merck & Co., Inc. 17β-N-monosubstituted carbamoyl-4-aza-5α-androst-1-en-3-ones which are active as testosterone 5α-reductase inhibitors
US4685458A (en) 1984-03-01 1987-08-11 Vaser, Inc. Angioplasty catheter and method for use thereof
US4747405A (en) 1984-03-01 1988-05-31 Vaser, Inc. Angioplasty catheter
JPS61263444A (ja) 1985-05-17 1986-11-21 旭光学工業株式会社 レ−ザ治療装置の体腔内圧調整装置
US4672963A (en) * 1985-06-07 1987-06-16 Israel Barken Apparatus and method for computer controlled laser surgery
AT385894B (de) 1985-10-04 1988-05-25 Basem Dr Nashef Schlauchfoermige sonde
US5135482A (en) 1985-12-31 1992-08-04 Arnold Neracher Hydrodynamic device for the elimination of an organic deposit obstructing a vessel of a human body
DE3715418A1 (de) 1986-05-08 1987-11-12 Olympus Optical Co Lithotom
DE3622352C1 (de) 1986-07-03 1987-12-03 Dornier System Gmbh Funkenstrecke mit Elektrodenspitzen unterschiedlicher Geometrie
US4854301A (en) 1986-11-13 1989-08-08 Olympus Optical Co., Ltd. Endoscope apparatus having a chair with a switch
JPH01198539A (ja) 1987-10-26 1989-08-10 Marui Ika:Kk 脳外科用ウオータージェットメス装置
US5029574A (en) 1988-04-14 1991-07-09 Okamoto Industries, Inc. Endoscopic balloon with a protective film thereon
WO1989011889A1 (en) 1988-06-06 1989-12-14 Sumitomo Electric Industries, Ltd. Catheter
JP2757377B2 (ja) 1988-06-28 1998-05-25 ソニー株式会社 ステレオ復調回路
US6066130A (en) 1988-10-24 2000-05-23 The General Hospital Corporation Delivering laser energy
US5116615A (en) 1989-01-27 1992-05-26 Immunolytics, Inc. Method for treating benign prostatic hypertrophy
US5425735A (en) 1989-02-22 1995-06-20 Psi Medical Products, Inc. Shielded tip catheter for lithotripsy
CA2053909A1 (en) 1989-05-03 1990-11-04 Robert A. Roth Instrument and method for intraluminally relieving stenosis
DE69034148T2 (de) 1989-07-07 2005-06-30 Endorecherche Inc., Ste-Foy Kombinationstherapie zur Prophylaxe und/oder Behandlung von gutartiger prostatischer Hyperplasie
US5037431A (en) 1989-11-03 1991-08-06 The Curators Of The University Of Missouri Surgical liquid lance apparatus
US5338292A (en) 1989-11-06 1994-08-16 Mectra Labs, Inc. Disposable lavage with instrument shield
US5344395A (en) 1989-11-13 1994-09-06 Scimed Life Systems, Inc. Apparatus for intravascular cavitation or delivery of low frequency mechanical energy
US4983165A (en) 1990-01-23 1991-01-08 Loiterman David A Guidance system for vascular catheter or the like
DE9001262U1 (de) 1990-02-05 1990-08-09 Martin, Werner, 7207 Rietheim-Weilheim Chirurgischer Nadelhalter für eine Endo-Naht, Endo-Ligatur od.dgl.
US5345927A (en) 1990-03-02 1994-09-13 Bonutti Peter M Arthroscopic retractors
US5269785A (en) 1990-06-28 1993-12-14 Bonutti Peter M Apparatus and method for tissue removal
US6007513A (en) 1990-07-17 1999-12-28 Aziz Yehia Anis Removal of tissue
CA2048120A1 (en) 1990-08-06 1992-02-07 William J. Drasler Thrombectomy method and device
US5496267A (en) 1990-11-08 1996-03-05 Possis Medical, Inc. Asymmetric water jet atherectomy
US5257991A (en) 1990-11-15 1993-11-02 Laserscope Instrumentation for directing light at an angle
US5085659A (en) 1990-11-21 1992-02-04 Everest Medical Corporation Biopsy device with bipolar coagulation capability
ATE124616T1 (de) 1990-12-10 1995-07-15 Howmedica Vorrichtung zur interstitiellen applikation von laserlicht.
US5152768A (en) 1991-02-26 1992-10-06 Bhatta Krishna M Electrohydraulic lithotripsy
US5316000A (en) * 1991-03-05 1994-05-31 Technomed International (Societe Anonyme) Use of at least one composite piezoelectric transducer in the manufacture of an ultrasonic therapy apparatus for applying therapy, in a body zone, in particular to concretions, to tissue, or to bones, of a living being and method of ultrasonic therapy
IL101243A (en) 1991-03-20 1999-12-22 Merck & Co Inc Pharmaceutical preparations for the treatment of benign prostatic hyperplasia containing steroid history
JPH05208014A (ja) 1991-04-10 1993-08-20 Olympus Optical Co Ltd 処置具
US5242438A (en) 1991-04-22 1993-09-07 Trimedyne, Inc. Method and apparatus for treating a body site with laterally directed laser radiation
DK0637223T3 (da) 1991-05-29 1999-04-26 Origin Medsystems Inc Tilbageholdelsesanordning til endoskopisk kirurgi
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
US5269797A (en) 1991-09-12 1993-12-14 Meditron Devices, Inc. Cervical discectomy instruments
JPH0576540A (ja) * 1991-09-18 1993-03-30 Olympus Optical Co Ltd ウオータージエツトメス
US6406486B1 (en) 1991-10-03 2002-06-18 The General Hospital Corporation Apparatus and method for vasodilation
CA2120516A1 (en) 1991-10-03 1993-04-15 Ralph De La Torre Apparatus and method for vasodilation
US5322503A (en) 1991-10-18 1994-06-21 Desai Ashvin H Endoscopic surgical instrument
US6231591B1 (en) 1991-10-18 2001-05-15 2000 Injectx, Inc. Method of localized fluid therapy
US5562703A (en) 1994-06-14 1996-10-08 Desai; Ashvin H. Endoscopic surgical instrument
US5861002A (en) 1991-10-18 1999-01-19 Desai; Ashvin H. Endoscopic surgical instrument
US5449356A (en) 1991-10-18 1995-09-12 Birtcher Medical Systems, Inc. Multifunctional probe for minimally invasive surgery
US5267341A (en) 1991-10-30 1993-11-30 Baxter International Inc. Fluid catheter with aqueous fluid core and method of use
US5217001A (en) 1991-12-09 1993-06-08 Nakao Naomi L Endoscope sheath and related method
DE9200447U1 (de) 1992-01-16 1992-04-09 Pein, Andreas, 23627 Groß Grönau Vorrichtung zum Trennen biologischer Strukturen
DE9200452U1 (de) 1992-01-16 1992-06-04 Rau, Horst-Günter, Dr.med., 8000 München Hochfrequenzstromunterstütztes Hochdruckflüssigkeitsstrahlschneidegerät
MX9300607A (es) 1992-02-06 1993-10-01 American Med Syst Aparato y metodo para tratamiento intersticial.
US5217465A (en) 1992-02-28 1993-06-08 Alcon Surgical, Inc. Flexible and steerable aspiration tip for microsurgery
US5994362A (en) 1992-03-11 1999-11-30 Merck & Co., Inc. Method of treatment for prostatic cancer
JP3349716B2 (ja) 1992-04-09 2002-11-25 オリンパス光学工業株式会社 ウォ−タ−ジェット手術装置
US5318589A (en) 1992-04-15 1994-06-07 Microsurge, Inc. Surgical instrument for endoscopic surgery
US5322504A (en) 1992-05-07 1994-06-21 United States Surgical Corporation Method and apparatus for tissue excision and removal by fluid jet
US5308673A (en) 1992-05-07 1994-05-03 Minnesota Mining And Manufacturing Company Stitchbonded absorbent articles and method of making same
US5224939A (en) * 1992-05-22 1993-07-06 Scimed Life Systems, Inc. Self locking guide catheter
US5620414A (en) 1992-06-30 1997-04-15 Campbell, Jr.; Robert M. Apparatus and method for effecting surgical incision through use of a fluid jet
US5361768A (en) * 1992-06-30 1994-11-08 Cardiovascular Imaging Systems, Inc. Automated longitudinal position translator for ultrasonic imaging probes, and methods of using same
US5292320A (en) 1992-07-06 1994-03-08 Ceramoptec, Inc. Radial medical laser delivery device
US5630794A (en) 1992-08-12 1997-05-20 Vidamed, Inc. Catheter tip and method of manufacturing
US5672153A (en) 1992-08-12 1997-09-30 Vidamed, Inc. Medical probe device and method
US5325848A (en) 1992-09-10 1994-07-05 Ethicon, Inc. Endoscopic tissue manipulator with expandable frame
US5545170A (en) 1992-10-09 1996-08-13 Innovasive Devices, Inc. Surgical instrument
US6923805B1 (en) 1992-11-13 2005-08-02 Scimed Life Systems, Inc. Electrophysiology energy treatment devices and methods of use
US5409483A (en) 1993-01-22 1995-04-25 Jeffrey H. Reese Direct visualization surgical probe
US5342381A (en) 1993-02-11 1994-08-30 Everest Medical Corporation Combination bipolar scissors and forceps instrument
US5454807A (en) 1993-05-14 1995-10-03 Boston Scientific Corporation Medical treatment of deeply seated tissue using optical radiation
AU686173B2 (en) 1993-06-10 1998-02-05 Mir A. Imran Transurethral radio frequency ablation apparatus
US5320617A (en) 1993-06-25 1994-06-14 Leach Gary E Method of laser-assisted prostatectomy and apparatus for carrying out the method
US5792165A (en) 1993-07-21 1998-08-11 Charles H. Klieman Endoscopic instrument with detachable end effector
US5631236A (en) 1993-08-26 1997-05-20 Baylor College Of Medicine Gene therapy for solid tumors, using a DNA sequence encoding HSV-Tk or VZV-Tk
US5431649A (en) 1993-08-27 1995-07-11 Medtronic, Inc. Method and apparatus for R-F ablation
JPH07171162A (ja) 1993-09-07 1995-07-11 Olympus Optical Co Ltd レーザプローブ
US6056738A (en) 1997-01-31 2000-05-02 Transmedica International, Inc. Interstitial fluid monitoring
US5514669A (en) 1993-09-29 1996-05-07 Medical College Of Ohio Use of photodynamic therapy to treat prostatic tissue
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
DE4343218C2 (de) 1993-12-17 1996-02-01 Rechmann Peter Dr Med Dent Vorrichtung sowie Verfahren zum Entfernen von Ablagerungen auf Zähnen
JPH07227395A (ja) 1993-12-24 1995-08-29 Olympus Optical Co Ltd 超音波診断治療システム
US5591127A (en) 1994-01-28 1997-01-07 Barwick, Jr.; Billie J. Phacoemulsification method and apparatus
US5645083A (en) 1994-02-10 1997-07-08 Essig; Mitchell N. Peritoneal surgical method
US5411016A (en) 1994-02-22 1995-05-02 Scimed Life Systems, Inc. Intravascular balloon catheter for use in combination with an angioscope
US5441485A (en) 1994-02-24 1995-08-15 Peters; Michael J. Bladder catheter
US5501667A (en) 1994-03-15 1996-03-26 Cordis Corporation Perfusion balloon and method of use and manufacture
CA2189004A1 (en) 1994-04-29 1995-11-09 Charles D. Lennox Resecting coagulated tissue
US5496309A (en) 1994-05-06 1996-03-05 Trimedyne, Inc. Catheter device utilizing a laser beam laterally directed by a high index prism in a liquid medium
DE4418845C5 (de) 1994-05-30 2012-01-05 Synova S.A. Verfahren und Vorrichtung zur Materialbearbeitung mit Hilfe eines Laserstrahls
US5733277A (en) 1994-06-22 1998-03-31 Pallarito; Allan L. Optical fibre and laser for removal of arterial or vascular obstructions
US5672171A (en) 1994-06-30 1997-09-30 American Medical Systems, Inc. Apparatus and method for interstitial laser treatment
EP0699418A1 (en) 1994-08-05 1996-03-06 United States Surgical Corporation Self-contained powered surgical apparatus
US5454782A (en) 1994-08-11 1995-10-03 Perkins; Rodney C. Translumenal circumferential energy delivery device
US5527330A (en) 1994-08-18 1996-06-18 United States Surgical Corporation Fluid cutting instrument
US5833701A (en) 1994-09-12 1998-11-10 Medjet, Inc. Procedure and device for corrective and therapeutic eye treatment
US5556406A (en) 1994-09-12 1996-09-17 Medjet Inc. Corneal template and surgical procedure for refractive vision correction
US5573535A (en) 1994-09-23 1996-11-12 United States Surgical Corporation Bipolar surgical instrument for coagulation and cutting
US5613973A (en) 1995-03-10 1997-03-25 Wilson Greatbatch Ltd. Laraposcopic surgical grasper having an attachable strap
US5562648A (en) 1995-03-31 1996-10-08 E. I. Du Pont De Nemours And Company Adult incontinent absorbent undergarment
US6135993A (en) * 1995-04-17 2000-10-24 Hussman; Karl L. Optical localization fiber
US5772657A (en) 1995-04-24 1998-06-30 Coherent, Inc. Side firing fiber optic laser probe
US5697949A (en) 1995-05-18 1997-12-16 Symbiosis Corporation Small diameter endoscopic instruments
US5562678A (en) 1995-06-02 1996-10-08 Cook Pacemaker Corporation Needle's eye snare
US5871462A (en) 1995-06-07 1999-02-16 Hydrocision, Inc. Method for using a fluid jet cutting system
US6216573B1 (en) 1995-06-07 2001-04-17 Hydrocision, Inc. Fluid jet cutting system
JPH10505286A (ja) 1995-06-20 1998-05-26 シン ング、ワン 医療処置のための関節アーム
DE19532098A1 (de) 1995-08-30 1997-03-06 Stuemed Gmbh Vorrichtung für endoskopische Operationen, insbesondere spreizbares Stütz-Epi-Hypopharyngo-Laryngoskop nach Feyh-Kastenbauer
US5785521A (en) 1995-08-31 1998-07-28 Biolase Technology, Inc. Fluid conditioning system
US6254597B1 (en) 1995-08-31 2001-07-03 Biolase Technology, Inc. Tissue remover and method
US7320594B1 (en) 1995-08-31 2008-01-22 Biolase Technology, Inc. Fluid and laser system
US5710870A (en) 1995-09-07 1998-01-20 California Institute Of Technology Decoupled six degree-of-freedom robot manipulator
US6071284A (en) 1995-10-30 2000-06-06 Biomedical Enterprises, Inc. Materials collection system and uses thereof
JP4070252B2 (ja) 1995-11-09 2008-04-02 株式会社東芝 治療制御装置
JP3318733B2 (ja) 1995-12-22 2002-08-26 株式会社スギノマシン 手術装置
US5989230A (en) 1996-01-11 1999-11-23 Essex Technology, Inc. Rotate to advance catheterization system
WO1997027959A1 (en) 1996-01-30 1997-08-07 Medtronic, Inc. Articles for and methods of making stents
US5624398A (en) 1996-02-08 1997-04-29 Symbiosis Corporation Endoscopic robotic surgical tools and methods
US6436107B1 (en) 1996-02-20 2002-08-20 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US5769843A (en) 1996-02-20 1998-06-23 Cormedica Percutaneous endomyocardial revascularization
US5879349A (en) * 1996-02-23 1999-03-09 Somnus Medical Technologies, Inc. Apparatus for treatment of air way obstructions
US5872150A (en) 1996-03-01 1999-02-16 Merck & Co., Inc. Treatment of prostate disease with a nonsteroidal anti-androgenic compound
GB9607729D0 (en) 1996-04-13 1996-06-19 Zeneca Ltd Quinazoline derivatives
US6419673B1 (en) 1996-05-06 2002-07-16 Stuart Edwards Ablation of rectal and other internal body structures
EP0848598B1 (en) 1996-05-10 2005-02-23 Emmanuil Giannadakis System of laparoscopic-endoscopic surgery
US5792135A (en) 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
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
US5658311A (en) 1996-07-05 1997-08-19 Schneider (Usa) Inc. High pressure expander bundle for large diameter stent deployment
US5788667A (en) 1996-07-19 1998-08-04 Stoller; Glenn Fluid jet vitrectomy device and method for use
US6505629B1 (en) 1996-07-23 2003-01-14 Endocare, Inc. Cryosurgical system with protective warming feature
US5785704A (en) 1996-07-29 1998-07-28 Mrc Systems Gmbh Method for performing stereotactic laser surgery
US5773791A (en) 1996-09-03 1998-06-30 Kuykendal; Robert Water laser machine tool
US5836909A (en) 1996-09-13 1998-11-17 Cosmescu; Ioan Automatic fluid control system for use in open and laparoscopic laser surgery and electrosurgery and method therefor
US5733256A (en) 1996-09-26 1998-03-31 Micro Medical Devices Integrated phacoemulsification system
US5752518A (en) 1996-10-28 1998-05-19 Ep Technologies, Inc. Systems and methods for visualizing interior regions of the body
CA2270921A1 (en) 1996-11-08 1998-05-14 Thomas J. Fogarty Transvascular tmr device and method
US6331181B1 (en) 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US5810770A (en) 1996-12-13 1998-09-22 Stryker Corporation Fluid management pump system for surgical procedures
US5893869A (en) 1997-02-19 1999-04-13 University Of Iowa Research Foundation Retrievable inferior vena cava filter system and method for use thereof
DE19712718C2 (de) 1997-03-26 1999-09-23 Asta Medica Ag Immobilisierte und aktivitätsstabilisierte Komplexe von LHRH-Antagonisten und Verfahren zu deren Herstellung
CA2287971C (en) 1997-04-29 2007-04-24 Raymond F. Lippitt Annularly expanding and retracting gripping and releasing mechanism
US6117128A (en) 1997-04-30 2000-09-12 Kenton W. Gregory Energy delivery catheter and method for the use thereof
US6228046B1 (en) 1997-06-02 2001-05-08 Pharmasonics, Inc. Catheters comprising a plurality of oscillators and methods for their use
US6156030A (en) 1997-06-04 2000-12-05 Y-Beam Technologies, Inc. Method and apparatus for high precision variable rate material removal and modification
WO1999007439A1 (en) 1997-08-07 1999-02-18 Pharos Optics, Inc. Dental laser and method of using same
US6720745B2 (en) 1997-08-26 2004-04-13 Color Kinetics, Incorporated Data delivery track
IL121861A (en) 1997-09-29 2003-07-31 Moshe Ein Gal Prostate radiotherapy apparatus
US6174318B1 (en) 1998-04-23 2001-01-16 Scimed Life Systems, Inc. Basket with one or more moveable legs
US6071281A (en) 1998-05-05 2000-06-06 Ep Technologies, Inc. Surgical method and apparatus for positioning a diagnostic or therapeutic element within the body and remote power control unit for use with same
EP1023742A4 (en) 1997-10-15 2006-03-22 Analytica Of Branford Inc CURVED INTAKE DEVICE FOR MASS SPECTROMETERS
US6093157A (en) 1997-10-22 2000-07-25 Scimed Life Systems, Inc. Radiopaque guide wire
US6120476A (en) 1997-12-01 2000-09-19 Cordis Webster, Inc. Irrigated tip catheter
RU2130762C1 (ru) 1997-12-10 1999-05-27 Федоров Святослав Николаевич Устройство для офтальмохирургических операций
US6378525B1 (en) 1998-01-29 2002-04-30 American Medical Systems, Inc. Combined cryotherapy and hyperthermia method for the treatment of airway obstruction or prostrate enlargement
US6893430B2 (en) 1998-02-04 2005-05-17 Wit Ip Corporation Urethral catheter and guide
US6440127B2 (en) 1998-02-11 2002-08-27 Cosman Company, Inc. Method for performing intraurethral radio-frequency urethral enlargement
US6517534B1 (en) 1998-02-11 2003-02-11 Cosman Company, Inc. Peri-urethral ablation
US20080177285A1 (en) 1998-02-24 2008-07-24 Hansen Medical, Inc. Surgical instrument
US6120498A (en) 1998-03-05 2000-09-19 Jani; Mahendra G. Aspirating handpieces for laser surgical operations
US6142991A (en) 1998-03-31 2000-11-07 Galil Medical, Ltd. High resolution cryosurgical method and apparatus
US20020010502A1 (en) 1998-04-01 2002-01-24 Trachtenberg John R. Thermotherapy method
DE19815598B4 (de) 1998-04-07 2007-01-18 Stm Medizintechnik Starnberg Gmbh Flexibles Zugangsrohr mit Stülpschlauchsystem
JPH11332880A (ja) 1998-05-22 1999-12-07 Olympus Optical Co Ltd 穿刺治療装置
TW528754B (en) 1998-04-29 2003-04-21 Wyeth Corp Indolyl derivatibes as serotonergic agents
CA2330426C (en) 1998-04-30 2007-11-13 Synova S.A. Material shaping device with a laser beam which is injected into a stream of liquid
FR2779934B1 (fr) 1998-06-17 2001-01-05 Saphir Medical Sa Piece a main a commande pneumatique pour applications chirurgicales et medicales
US6296639B1 (en) 1999-02-12 2001-10-02 Novacept Apparatuses and methods for interstitial tissue removal
US6602227B1 (en) 1998-09-25 2003-08-05 Sherwood Services Ag Surgical system console
US6398726B1 (en) 1998-11-20 2002-06-04 Intuitive Surgical, Inc. Stabilizer for robotic beating-heart surgery
US6309397B1 (en) 1999-12-02 2001-10-30 Sri International Accessories for minimally invasive robotic surgery and methods
US6522906B1 (en) 1998-12-08 2003-02-18 Intuitive Surgical, Inc. Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure
DE19859133C1 (de) 1998-12-21 2000-05-18 Ferton Holding Sa Ejektionsgerät zur Hochdruckejektion einer Flüssigkeit
DE19859434C2 (de) 1998-12-22 2001-03-08 Bruker Optik Gmbh IR-spektroskopisches Endoskop mit aufblasbarem Ballon
US6405078B1 (en) 1999-01-15 2002-06-11 Biosense Webster, Inc. Porous irrigated tip electrode catheter
US6394998B1 (en) 1999-01-22 2002-05-28 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
US6110171A (en) 1999-03-09 2000-08-29 Everest Medical Corporation Electrosurgical cutting and coagulating instrument for open surgery
CN1352538A (zh) 1999-03-09 2002-06-05 先进警戒股份有限公司 活组织检查装置和获取活组织检查试样的方法
US6152919A (en) 1999-03-18 2000-11-28 Canox International, Ltd. Laser Resectoscope
US6183435B1 (en) 1999-03-22 2001-02-06 Cordis Webster, Inc. Multi-directional steerable catheters and control handles
US6911026B1 (en) 1999-07-12 2005-06-28 Stereotaxis, Inc. Magnetically guided atherectomy
US6425877B1 (en) 1999-04-02 2002-07-30 Novasys Medical, Inc. Treatment of tissue in the digestive circulatory respiratory urinary and reproductive systems
US6424885B1 (en) 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US6179831B1 (en) 1999-04-29 2001-01-30 Galil Medical Ltd. Method of cryoablating benign prostate hyperplasia
US6375635B1 (en) 1999-05-18 2002-04-23 Hydrocision, Inc. Fluid jet surgical instruments
US6890332B2 (en) 1999-05-24 2005-05-10 Csaba Truckai Electrical discharge devices and techniques for medical procedures
US6694170B1 (en) 1999-05-26 2004-02-17 Endocare, Inc. Computer guided surgery for prostatic nerve sparing
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
US6709427B1 (en) 1999-08-05 2004-03-23 Kensey Nash Corporation Systems and methods for delivering agents into targeted tissue of a living being
EP1075853B1 (en) * 1999-08-13 2006-04-19 Terumo Kabushiki Kaisha Thermal therapy apparatus
JP2001046529A (ja) * 1999-08-13 2001-02-20 Terumo Corp 加熱治療装置
AT410055B (de) 1999-08-31 2003-01-27 Austrian Laser Produktion Und Laserskalpell
US20020077550A1 (en) 1999-10-05 2002-06-20 Rabiner Robert A. Apparatus and method for treating gynecological diseases using an ultrasonic medical device operating in a transverse mode
US6206903B1 (en) 1999-10-08 2001-03-27 Intuitive Surgical, Inc. Surgical tool with mechanical advantage
US6491691B1 (en) 1999-10-08 2002-12-10 Intuitive Surgical, Inc. Minimally invasive surgical hook apparatus and method for using same
US6200573B1 (en) 1999-12-03 2001-03-13 Starcor Pharmaceuticals, Inc. Method of medical management for lower urinary tract symptoms and benign prostatic hyperplasia
SE515932C2 (sv) 1999-12-23 2001-10-29 Prostalund Operations Ab Sätt och anordning vid behandling av prostata
US6451017B1 (en) 2000-01-10 2002-09-17 Hydrocision, Inc. Surgical instruments with integrated electrocautery
US6599237B1 (en) 2000-01-10 2003-07-29 Errol O. Singh Instrument and method for facilitating endoscopic examination and surgical procedures
US6511493B1 (en) 2000-01-10 2003-01-28 Hydrocision, Inc. Liquid jet-powered surgical instruments
US6953461B2 (en) 2002-05-16 2005-10-11 Tissuelink Medical, Inc. Fluid-assisted medical devices, systems and methods
US6440061B1 (en) 2000-03-24 2002-08-27 Donald E. Wenner Laparoscopic instrument system for real-time biliary exploration and stone removal
US6858005B2 (en) 2000-04-03 2005-02-22 Neo Guide Systems, Inc. Tendon-driven endoscope and methods of insertion
US7163875B2 (en) 2000-04-04 2007-01-16 Synova S.A. Method of cutting an object and of further processing the cut material, and carrier for holding the object and the cut material
US6630164B2 (en) 2000-05-09 2003-10-07 Kenneth Weisman Dutasteride to prevent and treat atherosclerosis
AU2001263324A1 (en) 2000-05-19 2001-12-03 Michael S. Berlin Laser delivery system and method of use for the eye
US7228165B1 (en) 2000-06-26 2007-06-05 Boston Scientific Scimed, Inc. Apparatus and method for performing a tissue resection procedure
JP4458630B2 (ja) * 2000-07-03 2010-04-28 オリンパス株式会社 加熱治療装置
WO2002007795A2 (en) 2000-07-24 2002-01-31 Jeffrey Grayzel Stiffened balloon catheter for dilatation and stenting
US6746443B1 (en) 2000-07-27 2004-06-08 Intuitive Surgical Inc. Roll-pitch-roll surgical tool
EP1463437B1 (en) 2000-07-31 2012-01-04 Galil Medical Ltd. Facilitation system for cryosurgery
US6413256B1 (en) 2000-08-01 2002-07-02 Csaba Truckai Voltage threshold ablation method and apparatus
US6572578B1 (en) 2000-08-25 2003-06-03 Patrick A. Blanchard Fluid-jet catheter and its application to flexible endoscopy
US20030158545A1 (en) 2000-09-28 2003-08-21 Arthrocare Corporation Methods and apparatus for treating back pain
WO2002034152A1 (de) 2000-10-23 2002-05-02 Deutsches Krebsforschungszentrum Stiftung des öffentlichen Rechts Verfahren, vorrichtung und navigationshilfe zur navigation bei medizinischen eingriffen
AU2002227163B2 (en) 2000-11-13 2007-02-15 Atossa Genetics, Inc. Methods and devices for collecting and processing mammary fluid
US6638246B1 (en) 2000-11-28 2003-10-28 Scimed Life Systems, Inc. Medical device for delivery of a biologically active material to a lumen
US6554824B2 (en) 2000-12-15 2003-04-29 Laserscope Methods for laser treatment of soft tissue
US6986764B2 (en) 2000-12-15 2006-01-17 Laserscope Method and system for photoselective vaporization of the prostate, and other tissue
US6840938B1 (en) 2000-12-29 2005-01-11 Intuitive Surgical, Inc. Bipolar cauterizing instrument
MXPA03006394A (es) 2001-01-18 2003-10-15 Univ California Instrumento quirurgico paraglaucoma minimamente invasivo y metodo.
US6743226B2 (en) 2001-02-09 2004-06-01 Cosman Company, Inc. Adjustable trans-urethral radio-frequency ablation
US7699835B2 (en) 2001-02-15 2010-04-20 Hansen Medical, Inc. Robotically controlled surgical instruments
JP4588906B2 (ja) 2001-03-13 2010-12-01 オリンパス株式会社 内視鏡用採取具
JP2003000713A (ja) 2001-06-21 2003-01-07 Nippon Clean Engine Lab Co Ltd 液体噴射手術方法とその装置
US20030004455A1 (en) 2001-06-28 2003-01-02 Kadziauskas Kenneth E. Bi-manual phaco needle
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
WO2003005889A2 (en) 2001-07-10 2003-01-23 Ams Research Corporation Surgical kit for treating prostate tissue
WO2003013374A1 (en) 2001-08-06 2003-02-20 Penn State Research Foundation Multifunctional tool and method for minimally invasive surgery
US6827718B2 (en) 2001-08-14 2004-12-07 Scimed Life Systems, Inc. Method of and apparatus for positioning and maintaining the position of endoscopic instruments
US7326054B2 (en) 2001-08-23 2008-02-05 Brigham Young University Method and apparatus for drilling teeth with a pressurized water stream
AU2002362310A1 (en) 2001-09-14 2003-04-01 Arthrocare Corporation Methods and apparatus for treating intervertebral discs
US20030060813A1 (en) 2001-09-22 2003-03-27 Loeb Marvin P. Devices and methods for safely shrinking tissues surrounding a duct, hollow organ or body cavity
US7166103B2 (en) 2001-10-01 2007-01-23 Electrosurgery Associates, Llc High efficiency electrosurgical ablator with electrode subjected to oscillatory or other repetitive motion
EP1434530A2 (en) 2001-10-12 2004-07-07 AMS Research Corporation Surgical instrument and method
US8137279B2 (en) * 2001-10-16 2012-03-20 Envisioneering, Llc Scanning probe
US6620100B2 (en) 2001-10-17 2003-09-16 Natus Medical Inc. Hearing evaluation device with noise-weighting capabilities
US20030208189A1 (en) 2001-10-19 2003-11-06 Payman Gholam A. Integrated system for correction of vision of the human eye
US6676668B2 (en) 2001-12-12 2004-01-13 C.R. Baed Articulating stone basket
US6652537B2 (en) 2001-12-12 2003-11-25 C. R. Bard, Inc. Articulating stone basket
US6960307B2 (en) 2002-01-18 2005-11-01 Leclair Mark L Method and apparatus for the controlled formation of cavitation bubbles
US7831292B2 (en) * 2002-03-06 2010-11-09 Mako Surgical Corp. Guidance system and method for surgical procedures with improved feedback
US6824516B2 (en) * 2002-03-11 2004-11-30 Medsci Technologies, Inc. System for examining, mapping, diagnosing, and treating diseases of the prostate
US7087061B2 (en) 2002-03-12 2006-08-08 Lithotech Medical Ltd Method for intracorporeal lithotripsy fragmentation and apparatus for its implementation
AU2003218696A1 (en) 2002-03-19 2003-09-29 Bard Dublin Itc Limited Biopsy device and biopsy needle module that can be inserted into the biopsy device
DE10212154A1 (de) 2002-03-19 2003-10-09 Norbert F Heske Handstück einer Biopsievorrichtung
US7306588B2 (en) 2002-04-22 2007-12-11 Trimedyne, Inc. Devices and methods for directed, interstitial ablation of tissue
US6802838B2 (en) 2002-04-22 2004-10-12 Trimedyne, Inc. Devices and methods for directed, interstitial ablation of tissue
US8244327B2 (en) * 2002-04-22 2012-08-14 The Johns Hopkins University Apparatus for insertion of a medical device during a medical imaging process
US20040158261A1 (en) 2002-05-15 2004-08-12 Vu Dinh Q. Endoscopic device for spill-proof laparoscopic ovarian cystectomy
IL149706A0 (en) 2002-05-16 2002-11-10 Dolopaz Technologies Ltd Multipurpose fluid jet surgical device
US6814731B2 (en) 2002-05-20 2004-11-09 Scimed Life Systems, Inc. Methods for RF ablation using jet injection of conductive fluid
US8956280B2 (en) 2002-05-30 2015-02-17 Intuitive Surgical Operations, Inc. Apparatus and methods for placing leads using direct visualization
US7572257B2 (en) 2002-06-14 2009-08-11 Ncontact Surgical, Inc. Vacuum coagulation and dissection probes
AU2002345516A1 (en) 2002-07-05 2004-01-23 Singapore Institute Of Manufacturing Technology Resonating nozzle system
ES2259694T3 (es) 2002-07-11 2006-10-16 Nucletron B.V. Dispositivo de sonda uretral.
US7442192B2 (en) 2002-07-14 2008-10-28 Knowlton Edward W Method and apparatus for surgical dissection
US20040030349A1 (en) 2002-08-08 2004-02-12 Mikhail Boukhny Liquefaction handpiece tip
CA2437286C (en) 2002-08-13 2008-04-29 Garnette Roy Sutherland Microsurgical robot system
US20040176751A1 (en) 2002-08-14 2004-09-09 Endovia Medical, Inc. Robotic medical instrument system
US7998107B2 (en) 2002-09-24 2011-08-16 Kensey Nash Corporation Interventional procedure drive and control system
US20050054994A1 (en) 2002-09-25 2005-03-10 Iulian Cioanta Catheters with suction capability and related methods and systems for obtaining biosamples in vivo
US7115100B2 (en) 2002-11-15 2006-10-03 Ethicon, Inc. Tissue biopsy and processing device
JP2006510455A (ja) 2002-12-16 2006-03-30 ジ・オハイオ・ステート・ユニバーシティ 切除手術ベースのパラメトリックモデルのためのシステム及び方法
US20040186349A1 (en) 2002-12-24 2004-09-23 Usgi Medical Corp. Apparatus and methods for achieving endoluminal access
US6847848B2 (en) 2003-01-07 2005-01-25 Mmtc, Inc Inflatable balloon catheter structural designs and methods for treating diseased tissue of a patient
US7410484B2 (en) 2003-01-15 2008-08-12 Cryodynamics, Llc Cryotherapy probe
US6984232B2 (en) 2003-01-17 2006-01-10 St. Jude Medical, Daig Division, Inc. Ablation catheter assembly having a virtual electrode comprising portholes
US20040153093A1 (en) 2003-01-31 2004-08-05 Advanced Medical Optics, Inc. Bi-manual phacoemulsification apparatus and method
US7297154B2 (en) 2003-02-24 2007-11-20 Maxwell Sensors Inc. Optical apparatus for detecting and treating vulnerable plaque
US7559934B2 (en) 2003-04-07 2009-07-14 Scimed Life Systems, Inc. Beaded basket retrieval device
US7122003B2 (en) 2003-04-16 2006-10-17 Granit Medical Innovations, Llc Endoscopic retractor instrument and associated method
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
US7311701B2 (en) 2003-06-10 2007-12-25 Cierra, Inc. Methods and apparatus for non-invasively treating atrial fibrillation using high intensity focused ultrasound
US7121781B2 (en) 2003-06-11 2006-10-17 Intuitive Surgical Surgical instrument with a universal wrist
EP1486900A1 (en) 2003-06-12 2004-12-15 Materialise, Naamloze Vennootschap Method and system for manufacturing a surgical guide
US9002518B2 (en) 2003-06-30 2015-04-07 Intuitive Surgical Operations, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
US7101362B2 (en) 2003-07-02 2006-09-05 St. Jude Medical, Atrial Fibrillation Division, Inc. Steerable and shapable catheter employing fluid force
WO2005009213A2 (en) 2003-07-16 2005-02-03 Arthrocare Corporation Rotary electrosurgical apparatus and methods thereof
US8403828B2 (en) 2003-07-21 2013-03-26 Vanderbilt University Ophthalmic orbital surgery apparatus and method and image-guide navigation system
US20050049508A1 (en) 2003-08-06 2005-03-03 Michael Forman Treatment of age-related macular degeneration
US20050159676A1 (en) 2003-08-13 2005-07-21 Taylor James D. Targeted biopsy delivery system
DE10348832A1 (de) 2003-09-30 2006-05-18 Erbe Elektromedizin Gmbh Fördereinrichtung für sterile Medien
US7998112B2 (en) 2003-09-30 2011-08-16 Abbott Cardiovascular Systems Inc. Deflectable catheter assembly and method of making same
US20050159645A1 (en) 2003-11-12 2005-07-21 Bertolero Arthur A. Balloon catheter sheath
ITPI20030107A1 (it) 2003-11-14 2005-05-15 Massimo Bergamasco Dispositivo per l'esecuzione di operazioni
EP1748743B1 (en) 2004-01-22 2013-01-09 Biolase, Inc. Electromagnetically induced treatment devices
WO2005074377A2 (en) 2004-02-09 2005-08-18 Smart Medical Systems Ltd. Endoscope assembly
US20050192652A1 (en) 2004-02-26 2005-09-01 Iulian Cioanta Thermal treatment systems with enhanced tissue penetration depth using adjustable treatment pressures and related methods
US20080228104A1 (en) 2004-03-11 2008-09-18 Uber Arthur E Energy Assisted Medical Devices, Systems and Methods
US9345456B2 (en) 2004-03-24 2016-05-24 Devicor Medical Products, Inc. Biopsy device
JP4638683B2 (ja) 2004-03-25 2011-02-23 テルモ株式会社 血管内異物除去吸引用カテーテル
DE102004021035B3 (de) 2004-04-07 2005-11-17 Erbe Elektromedizin Gmbh Gerät für die Wasserstrahlchirurgie
DE102004020855B4 (de) 2004-04-28 2009-06-10 Erbe Elektromedizin Gmbh Applikator für die Wasserstrahl-Chirurgie
DE102004021754A1 (de) 2004-04-30 2005-11-24 Reinhardt Thyzel Vorrichtung zum Entfernen von Epithelzellen aus einem Linsenkapselsack eines menschlichen oder tierischen Auges
US20050261705A1 (en) 2004-05-21 2005-11-24 Gist Christopher W Device to remove kidney stones
EP1773227B1 (en) 2004-06-24 2016-04-13 ArthroCare Corporation Electrosurgical device having planar vertical electrodes
US20050288639A1 (en) 2004-06-25 2005-12-29 Hibner Michael C Instrument used in treatment of the urinary incontinence in women
DE102004031673B4 (de) 2004-06-30 2009-04-16 Erbe Elektromedizin Gmbh Medizinische Pumpe
DE102004031674B3 (de) 2004-06-30 2005-08-04 Erbe Elektromedizin Gmbh Medizinische Pumpe
US7556632B2 (en) 2004-07-09 2009-07-07 Reza Zadno Device and method for repairing tissue
DE102004040959B4 (de) 2004-08-24 2008-12-24 Erbe Elektromedizin Gmbh Chirurgisches Instrument
US20060135963A1 (en) 2004-09-09 2006-06-22 Kick George F Expandable gastrointestinal sheath
US7824415B2 (en) 2004-09-15 2010-11-02 Boston Scientific Scimed, Inc. Atraumatic medical device
US10646292B2 (en) 2004-09-30 2020-05-12 Intuitive Surgical Operations, Inc. Electro-mechanical strap stack in robotic arms
US20060089626A1 (en) * 2004-10-22 2006-04-27 Vlegele James W Surgical device guide for use with an imaging system
JP2006122307A (ja) 2004-10-28 2006-05-18 Nano Optec Kk 医療用流体供給装置
EP1657020A1 (de) 2004-11-10 2006-05-17 Synova S.A. Verfahren und Vorrichtung zur Optimierung der Kohärenz eines Flüssigkeitsstrahls für eine Materialbearbeitung und Flüssigkeitsdüse für eine solche Vorrichtung
JP4874259B2 (ja) 2004-11-23 2012-02-15 ヌームアールエックス・インコーポレーテッド 標的部位にアクセスするための操縦可能な装置
DE102004057366B4 (de) 2004-11-27 2009-04-09 Erbe Elektromedizin Gmbh Einrichtung für ein Wasserstrahlchirurgiegerät
US20060116693A1 (en) 2004-12-01 2006-06-01 Weisenburgh William B Ii Apparatus and method for stone capture and removal
US20060118495A1 (en) 2004-12-08 2006-06-08 Ilia Kondratalv Nozzle for generating high-energy cavitation
US8262605B2 (en) 2004-12-09 2012-09-11 Ams Research Corporation Needleless delivery systems
US20060229550A1 (en) 2004-12-14 2006-10-12 Hydrocision, Incorporated Liquid jet surgical instrument
CA2590951C (en) 2004-12-15 2011-05-17 Wilson-Cook Medical, Inc. Flexible surgical needle device
US20060149193A1 (en) 2005-01-05 2006-07-06 Biomec, Inc. High pressure liquid jet ablation of tissue and apparatus
US20060156875A1 (en) 2005-01-19 2006-07-20 Depuy Mitek, Inc. Fluid cutting device and method of use
US7967799B2 (en) 2005-03-16 2011-06-28 Alcon, Inc. Liquefaction handpiece tip
JP2007209465A (ja) 2006-02-08 2007-08-23 Terumo Corp レーザー誘起液体噴流発生デバイス
JP2006271691A (ja) 2005-03-29 2006-10-12 Terumo Corp レーザー誘起液体噴流発生デバイス
US8375808B2 (en) 2005-12-30 2013-02-19 Intuitive Surgical Operations, Inc. Force sensing for surgical instruments
DE102005038694A1 (de) 2005-04-11 2006-10-26 Erbe Elektromedizin Gmbh Endoskopisches Chirurgiegerät
US10555775B2 (en) 2005-05-16 2020-02-11 Intuitive Surgical Operations, Inc. Methods and system for performing 3-D tool tracking by fusion of sensor and/or camera derived data during minimally invasive robotic surgery
ATE540634T1 (de) * 2005-06-06 2012-01-15 Intuitive Surgical Operations Laparoskopisches ultraschall-robotersystem für chirurgische zwecke
US7465288B2 (en) 2005-06-28 2008-12-16 St. Jude Medical, Atrial Fibrillation Division, Inc. Actuation handle for a catheter
US20070027443A1 (en) 2005-06-29 2007-02-01 Ondine International, Ltd. Hand piece for the delivery of light and system employing the hand piece
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
CA2614241C (en) 2005-07-01 2013-11-12 C.R. Bard, Inc. Indwelling urinary drainage catheter
US20070010805A1 (en) 2005-07-08 2007-01-11 Fedewa Russell J Method and apparatus for the treatment of tissue
JP4671282B2 (ja) * 2005-07-15 2011-04-13 株式会社日立メディコ 超音波装置
US20090054904A1 (en) 2005-07-18 2009-02-26 Phaco Treat Ab Methods and devices for eye surgery
US20070025874A1 (en) 2005-07-26 2007-02-01 Heiner Ophardt Water jet guided laser disinfection
US20090254075A1 (en) 2005-07-26 2009-10-08 Ultrasurge Technologies Ltd. Surgical Instrument
US8790396B2 (en) 2005-07-27 2014-07-29 Medtronic 3F Therapeutics, Inc. Methods and systems for cardiac valve delivery
WO2007033379A2 (en) 2005-09-14 2007-03-22 Neoguide Systems, Inc. Methods and apparatus for performing transluminal and other procedures
EP3111866B1 (en) 2005-11-03 2019-04-24 Cook Medical Technologies LLC Articulating basket with simultaneous basket extension or basket retraction
WO2007052354A1 (ja) 2005-11-04 2007-05-10 Olympus Medical Systems Corp. 内視鏡システム、内視鏡、支持部材、内視鏡システムの使用方法
EP1955239A4 (en) 2005-11-08 2011-06-22 Univ Boston MANIPULATORS WITH SEVERAL DEFORMABLE LONG LINKS
CA2630061C (en) 2005-11-15 2015-03-17 Johns Hopkins University An active cannula for bio-sensing and surgical intervention
US8162878B2 (en) * 2005-12-05 2012-04-24 Medrad, Inc. Exhaust-pressure-operated balloon catheter system
US8292827B2 (en) 2005-12-12 2012-10-23 Boston Scientific Scimed, Inc. Micromachined medical devices
CN101394877B (zh) 2006-01-24 2011-07-27 海德鲁西昂公司 远端形状选择性可控的液体喷射外科器械
US8820603B2 (en) 2006-01-31 2014-09-02 Ethicon Endo-Surgery, Inc. Accessing data stored in a memory of a surgical instrument
US20070185474A1 (en) 2006-02-07 2007-08-09 Ams Research Corporation Laparoscopic Laser Device and Method
US20070239153A1 (en) 2006-02-22 2007-10-11 Hodorek Robert A Computer assisted surgery system using alternative energy technology
US20070265503A1 (en) 2006-03-22 2007-11-15 Hansen Medical, Inc. Fiber optic instrument sensing system
CN101389285B (zh) 2006-02-22 2012-10-03 航生医疗公司 用于测量工作仪器上的远端力的系统和装置
US20070208375A1 (en) 2006-02-23 2007-09-06 Kouji Nishizawa Surgical device
US20070213668A1 (en) 2006-03-07 2007-09-13 Aaron Spitz Foot Operated Irrigation Control Apparatus for Medical Procedures
US8548562B2 (en) 2006-04-04 2013-10-01 John Trachtenberg System and method of guided treatment within malignant prostate tissue
JP5081227B2 (ja) 2006-04-11 2012-11-28 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 Ｍｒスキャナ内で超音波トランスデューサを位置決めする装置
US8211114B2 (en) 2006-04-24 2012-07-03 Ethicon Endo-Surgery, Inc. Medical instrument having a medical snare
US8518024B2 (en) 2006-04-24 2013-08-27 Transenterix, Inc. System and method for multi-instrument surgical access using a single access port
US7927327B2 (en) 2006-04-25 2011-04-19 Ethicon Endo-Surgery, Inc. Medical instrument having an articulatable end effector
US8038598B2 (en) 2006-05-15 2011-10-18 Baystate Health, Inc. Balloon endoscope device
CN101443069B (zh) 2006-05-17 2012-11-07 圣朱德医疗有限公司房颤分公司 导管手柄的自动锁紧装置
US8092470B2 (en) 2006-06-08 2012-01-10 Olympus Medical Systems Corp. Calculus crushing apparatus and medical procedure using endoscope
US20080064927A1 (en) 2006-06-13 2008-03-13 Intuitive Surgical, Inc. Minimally invasrive surgery guide tube
JP2009539509A (ja) 2006-06-14 2009-11-19 マクドナルド デットワイラー アンド アソシエイツ インコーポレーテッド 直角プーリ駆動機構付きの手術マニピュレータ
US9718190B2 (en) 2006-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
US20080004566A1 (en) * 2006-06-30 2008-01-03 Dale Sloan Gastrointestinal insufflation device and method
WO2008008457A2 (en) 2006-07-13 2008-01-17 Bovie Medical Surgical sealing and cutting apparatus
JP4163733B2 (ja) 2006-07-18 2008-10-08 アロカ株式会社 超音波診断装置
US20080032251A1 (en) 2006-07-19 2008-02-07 Mau-Song Chou Laser carious region ablation
CN101108138A (zh) 2006-07-21 2008-01-23 王水良 医用汽化电切镜
US20080027420A1 (en) 2006-07-25 2008-01-31 Ams Research Corporation Cryosurgical Imaging and Monitoring Systems
US8652086B2 (en) 2006-09-08 2014-02-18 Abbott Medical Optics Inc. Systems and methods for power and flow rate control
US20080082091A1 (en) 2006-09-10 2008-04-03 Vladimir Rubtsov Fiber optic tissue ablation
US8747350B2 (en) 2006-09-11 2014-06-10 Boston Scientific Scimed, Inc. Steerable catheter with rapid exchange lumen
WO2008036305A1 (en) 2006-09-19 2008-03-27 Marvin Lumber And Cedar Company, D/B/A Marvin Windows And Doors Self-sealing structural installation strip assemblies
KR20090057984A (ko) 2006-09-19 2009-06-08 더 트러스티이스 오브 콜롬비아 유니버시티 인 더 시티 오브 뉴욕 중공형 해부학적 부유 기관 상에서의 수술을 위한 시스템, 디바이스 및 방법
US8036436B2 (en) * 2006-10-10 2011-10-11 Cedara Software Corp. System and method for segmenting a region in a medical image
US7535991B2 (en) 2006-10-16 2009-05-19 Oraya Therapeutics, Inc. Portable orthovoltage radiotherapy
US8647349B2 (en) 2006-10-18 2014-02-11 Hologic, Inc. Systems for performing gynecological procedures with mechanical distension
EP1915963A1 (en) 2006-10-25 2008-04-30 The European Atomic Energy Community (EURATOM), represented by the European Commission Force estimation for a minimally invasive robotic surgery system
US20090131885A1 (en) 2006-11-08 2009-05-21 Takayuki Akahoshi Curved Irrigation/Aspiration Needle
US7935130B2 (en) 2006-11-16 2011-05-03 Intuitive Surgical Operations, Inc. Two-piece end-effectors for robotic surgical tools
US8715270B2 (en) 2006-12-01 2014-05-06 Boston Scientific Scimed, Inc. Multi-part instrument systems and methods
US8480595B2 (en) 2006-12-13 2013-07-09 Devicor Medical Products, Inc. Biopsy device with motorized needle cocking
CN100574719C (zh) 2006-12-26 2009-12-30 上海导向医疗系统有限公司 气体节流冷却式射频消融电极
EP3510959B1 (en) 2007-01-02 2021-03-03 AquaBeam LLC Minimally invasive devices for the treatment of prostate diseases
US9232959B2 (en) 2007-01-02 2016-01-12 Aquabeam, Llc Multi fluid tissue resection methods and devices
US12290277B2 (en) 2007-01-02 2025-05-06 Aquabeam, Llc Tissue resection with pressure sensing
CN101795636B (zh) 2007-01-24 2013-06-19 皇家飞利浦电子股份有限公司 Rf消融计划器
US8267927B2 (en) 2007-01-24 2012-09-18 Koninklijke Philips Electronics N.V. Advanced ablation planning
WO2008097853A2 (en) 2007-02-02 2008-08-14 Hansen Medical, Inc. Mounting support assembly for suspending a medical instrument driver above an operating table
US8092507B2 (en) * 2007-02-05 2012-01-10 Novian Health, Inc. Interstitial energy treatment probe holders
US9254374B2 (en) 2007-02-15 2016-02-09 St. Jude Medical, Atrial Fibrillation Division, Inc. Catheter and method of manufacture
CN103169568B (zh) 2007-03-13 2015-07-15 眼科医疗公司 用于创建切口以提高人工晶状体设置的装置
WO2008121920A1 (en) 2007-03-30 2008-10-09 Smith & Nephew, Inc. Tissue harvesting
US7987046B1 (en) 2007-04-04 2011-07-26 Garmin Switzerland Gmbh Navigation device with improved user interface and mounting features
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
EP2002796B1 (de) 2007-06-15 2012-08-08 BrainLAB AG Computergestütztes Planungsverfahren für die Korrektur von Gelenkknochen-Formveränderungen
US20090030446A1 (en) 2007-07-25 2009-01-29 Measamer John P Tissue Manipulator
US20090062602A1 (en) 2007-07-30 2009-03-05 Hansen Medical, Inc. Apparatus for robotic instrument having variable flexibility and torque transmission
JP5296351B2 (ja) 2007-08-28 2013-09-25 オリンパスメディカルシステムズ株式会社 内視鏡挿入装置
US20090082634A1 (en) 2007-09-25 2009-03-26 Biten Kishore Kathrani Surgical method
US8224484B2 (en) 2007-09-30 2012-07-17 Intuitive Surgical Operations, Inc. Methods of user interface with alternate tool mode for robotic surgical tools
US8229188B2 (en) 2007-10-12 2012-07-24 General Electric Company Systems, methods and apparatus automatic segmentation of liver in multiphase contrast-enhanced medical images
US8328819B2 (en) 2007-10-22 2012-12-11 Boston Scientific Scimed, Inc. Steerable stone basket
JP2009111736A (ja) 2007-10-30 2009-05-21 Kyocera Corp 携帯電子機器
US8251991B2 (en) 2007-11-14 2012-08-28 Halt Medical Inc. Anchored RF ablation device for the destruction of tissue masses
US20140058365A1 (en) 2007-12-17 2014-02-27 Josef F. Bille System and Method for Using Compensating Incisions in Intrastromal Refractive Surgery
US20090299352A1 (en) 2007-12-21 2009-12-03 Boston Scientific Scimed, Inc. Steerable laser-energy delivery device
JP2011507629A (ja) 2007-12-21 2011-03-10 アルコン リフラクティブホライズンズ，インコーポレイティド 角膜切除手術の進捗モニタ用仮想顕微鏡システム及び関連方法
WO2009085204A2 (en) 2007-12-23 2009-07-09 Oraya Therapeutics, Inc. Methods and devices for detecting, controlling, and predicting radiation delivery
EP2240368B1 (en) 2007-12-28 2013-02-13 Sirio Panel S.P.A. Anti -collision light for aircraft
EP2244788B1 (en) 2008-01-14 2013-09-04 Koninklijke Philips Electronics N.V. Therapy system with temperature control
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
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
JP5506702B2 (ja) * 2008-03-06 2014-05-28 アクアビーム エルエルシー 流体流れ内を伝達される光学エネルギーによる組織切除および焼灼
US20090254083A1 (en) 2008-03-10 2009-10-08 Hansen Medical, Inc. Robotic ablation catheter
US8048024B2 (en) 2008-03-17 2011-11-01 Boston Scientific Scimed, Inc. Steering mechanism
EP3005938B9 (en) 2008-03-19 2019-05-29 Carl Zeiss Meditec AG Surgical microscopy system having an optical coherence tomography facility
US10368838B2 (en) 2008-03-31 2019-08-06 Intuitive Surgical Operations, Inc. Surgical tools for laser marking and laser cutting
DE102008025233A1 (de) 2008-05-27 2009-12-03 Erbe Elektromedizin Gmbh Wasserstrahlchirurgieinstrument
WO2009131928A1 (en) 2008-04-21 2009-10-29 Electromedical Associates Llc Devices and methods for ablating and removing a tissue mass
US8864681B2 (en) 2008-04-23 2014-10-21 Devicor Medical Products, Inc. Biopsy devices
US8228368B2 (en) 2008-04-26 2012-07-24 Intuitive Surgical Operations, Inc. Augmented stereoscopic visualization for a surgical robot using a captured fluorescence image and captured stereoscopic visible images
US20100036294A1 (en) 2008-05-07 2010-02-11 Robert Mantell Radially-Firing Electrohydraulic Lithotripsy Probe
US9539381B2 (en) 2008-05-12 2017-01-10 Humparkull, Llc Hemostatic devices and methods for use thereof
EP2288284B1 (en) 2008-05-13 2016-05-04 Boston Scientific Scimed, Inc. Steering system with locking mechanism
US20090287045A1 (en) 2008-05-15 2009-11-19 Vladimir Mitelberg Access Systems and Methods of Intra-Abdominal Surgery
WO2009140688A2 (en) 2008-05-16 2009-11-19 The Johns Hopkins University System and method for macro-micro distal dexterity enhancement in micro-surgery of the eye
KR101016102B1 (ko) 2008-05-30 2011-02-17 정창욱 최소 침습 수술 도구
DE102008027486B4 (de) 2008-06-10 2013-11-07 Human Med Ag Verfahren und Vorrichtung zum Trennen von Gewebezellen aus einer Flüssigkeit
ES2759373T3 (es) 2008-06-12 2020-05-08 Medtronic Xomed Inc Producto para el tratamiento de heridas crónicas con un sistema extracelular de solvatación de sustancias poliméricas
US8956371B2 (en) 2008-06-13 2015-02-17 Shockwave Medical, Inc. Shockwave balloon catheter system
US8280485B2 (en) * 2008-06-18 2012-10-02 Engineering Services Inc. Medical robot for use in a MRI
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
US20100004642A1 (en) 2008-07-02 2010-01-07 Lumpkin Christopher F Selectively bendable laser fiber for surgical laser probe
US8540748B2 (en) 2008-07-07 2013-09-24 Intuitive Surgical Operations, Inc. Surgical instrument wrist
US9186221B2 (en) 2008-07-16 2015-11-17 Intuitive Surgical Operations Inc. Backend mechanism for four-cable wrist
US8821480B2 (en) 2008-07-16 2014-09-02 Intuitive Surgical Operations, Inc. Four-cable wrist with solid surface cable channels
US9204923B2 (en) 2008-07-16 2015-12-08 Intuitive Surgical Operations, Inc. Medical instrument electronically energized using drive cables
US20100076269A1 (en) 2008-09-18 2010-03-25 Acclarent, Inc. Systems and Methods for Treating Sinuses
US8390438B2 (en) 2008-09-24 2013-03-05 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic catheter system including haptic feedback
US20100082017A1 (en) 2008-09-26 2010-04-01 Advanced Medical Optics, Inc. Laser modification of intraocular lens
CN102271602A (zh) 2008-11-06 2011-12-07 恩克斯特拉公司 用于治疗前列腺组织的系统和方法
JP2012508069A (ja) 2008-11-06 2012-04-05 エヌエックスセラ インコーポレイテッド 前立腺肥大症の治療のためのシステムおよび方法
HUE026837T2 (en) 2008-12-02 2016-07-28 Biolitec Unternehmensbeteiligungs Ii Ag Laser Induced Steam / Plasma Medical Device
US9144461B2 (en) 2008-12-03 2015-09-29 Koninklijke Philips N.V. Feedback system for integrating interventional planning and navigation
CN101752526B (zh) 2008-12-04 2012-11-21 深圳富泰宏精密工业有限公司 电池盖卡锁结构
US20100179632A1 (en) 2009-01-12 2010-07-15 Medtronic Vascular, Inc. Robotic Fenestration Device Having Impedance Measurement
US20100179522A1 (en) * 2009-01-14 2010-07-15 Medsci Technologies, Inc. System for endosurgical removal of tumors by laser ablation with treatment verification - particularly tumors of the prostate
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.
US20100204556A1 (en) 2009-02-12 2010-08-12 Keimar, Inc. Physiological parameter sensors
US20100228191A1 (en) 2009-03-05 2010-09-09 Hansen Medical, Inc. Lockable support assembly and method
US9848904B2 (en) 2009-03-06 2017-12-26 Procept Biorobotics Corporation Tissue resection and treatment with shedding pulses
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
US9277969B2 (en) 2009-04-01 2016-03-08 Covidien Lp Microwave ablation system with user-controlled ablation size and method of use
US8945163B2 (en) 2009-04-01 2015-02-03 Ethicon Endo-Surgery, Inc. Methods and devices for cutting and fastening tissue
US8372066B2 (en) 2009-04-17 2013-02-12 Domain Surgical, Inc. Inductively heated multi-mode surgical tool
US20100280320A1 (en) 2009-04-29 2010-11-04 Hansen Medical, Inc. Flexible and steerable elongate instruments with shape control and support elements
US9254123B2 (en) 2009-04-29 2016-02-09 Hansen Medical, Inc. Flexible and steerable elongate instruments with shape control and support elements
US20100280525A1 (en) 2009-04-29 2010-11-04 Hansen Medical, Inc. Flexible and steerable elongate instruments with shape control and support elements
US8517955B2 (en) 2009-05-08 2013-08-27 Broncus Medical Inc. Tissue sampling devices, systems and methods
JP5836267B2 (ja) 2009-05-18 2015-12-24 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 電磁追跡内視鏡システムのためのマーカーなし追跡の位置合わせおよび較正のための方法およびシステム
US20100305439A1 (en) 2009-05-27 2010-12-02 Eyal Shai Device and Method for Three-Dimensional Guidance and Three-Dimensional Monitoring of Cryoablation
US8882660B2 (en) 2009-05-29 2014-11-11 Nanyang Technological University Robotic system for flexible endoscopy
CN102448547B (zh) 2009-06-02 2015-05-13 皇家飞利浦电子股份有限公司 Mr成像引导的治疗
US9259290B2 (en) * 2009-06-08 2016-02-16 MRI Interventions, Inc. MRI-guided surgical systems with proximity alerts
US20110015483A1 (en) 2009-07-16 2011-01-20 Federico Barbagli Endoscopic robotic catheter system
US20110015648A1 (en) 2009-07-16 2011-01-20 Hansen Medical, Inc. Endoscopic robotic catheter system
US8934684B2 (en) 2009-07-31 2015-01-13 Siemens Aktiengesellschaft Method and system for facilitating an image guided medical procedure
US9943708B2 (en) 2009-08-26 2018-04-17 Histosonics, Inc. Automated control of micromanipulator arm for histotripsy prostate therapy while imaging via ultrasound transducers in real time
US20110071541A1 (en) 2009-09-23 2011-03-24 Intuitive Surgical, Inc. Curved cannula
US8888789B2 (en) 2009-09-23 2014-11-18 Intuitive Surgical Operations, Inc. Curved cannula surgical system control
US8721631B2 (en) 2009-09-24 2014-05-13 Biolite Pharma Marketing Ltd Twister fiber optic systems and their use in medical applications
WO2011036607A1 (en) 2009-09-24 2011-03-31 Koninklijke Philips Electronics N.V. High intensity focused ultrasound positioning mechanism
JP5360690B2 (ja) 2009-09-25 2013-12-04 セイコーエプソン株式会社 流体噴射装置、流体噴射装置の制御方法
JP5752137B2 (ja) 2009-10-15 2015-07-22 インベンティオ エルエルシーＩｎｖｅｎｔｉｏ Ｌｌｃ 使い捨て可能かつ再使用可能な複雑形状の透明エンドスコープ
ES2388867B1 (es) 2009-10-27 2013-09-18 Universitat Politècnica De Catalunya Pinzas para cirugia laparoscópica mínimamente invasiva.
US10045882B2 (en) 2009-10-30 2018-08-14 The Johns Hopkins University Surgical instrument and systems with integrated optical sensor
JP5750116B2 (ja) 2009-11-16 2015-07-15 コーニンクレッカ フィリップス エヌ ヴェ 内視鏡支援ロボットのための人‐ロボット共用制御
US8568396B2 (en) 2009-12-10 2013-10-29 Alcon Research, Ltd. Flooded liquefaction hand piece engine
US20110152880A1 (en) 2009-12-23 2011-06-23 Hansen Medical, Inc. Flexible and steerable elongate instruments with torsion control
WO2011080664A1 (en) 2009-12-28 2011-07-07 Koninklijke Philips Electronics N.V. Therapeutic apparatus
RU2563061C2 (ru) 2009-12-28 2015-09-20 Конинклейке Филипс Электроникс Н.В. Оптимизация преобразователя сфокусированного ультразвука высокой интенсивности
EP2519175A1 (en) 2009-12-30 2012-11-07 Koninklijke Philips Electronics N.V. Dynamic ablation device
EP2345906A1 (en) 2010-01-07 2011-07-20 Koninklijke Philips Electronics N.V. RF antenna for a hybrid MRI/PET or MRI/HIFU system
EP2347740A1 (en) 2010-01-25 2011-07-27 Technolas Perfect Vision GmbH System and method for performing a presbyopic correction
JP5707148B2 (ja) * 2010-01-27 2015-04-22 株式会社東芝 医用画像診断装置及び医用画像処理装置
US20130053877A1 (en) 2010-02-05 2013-02-28 Imds Corporation Multiple Function Surgical Instrument
US20130096422A1 (en) 2010-02-15 2013-04-18 The University Of Texas At Austin Interventional photoacoustic imaging system
US8414564B2 (en) 2010-02-18 2013-04-09 Alcon Lensx, Inc. Optical coherence tomographic system for ophthalmic surgery
US8292889B2 (en) 2010-02-26 2012-10-23 Tyco Healthcare Group Lp Drive mechanism for articulation of a surgical instrument
US11027154B2 (en) 2010-03-09 2021-06-08 Profound Medical Inc. Ultrasonic therapy applicator and method of determining position of ultrasonic transducers
WO2011112250A1 (en) 2010-03-09 2011-09-15 Profound Medical Inc. Ultrasonc therapy applicator
US9707413B2 (en) 2010-03-09 2017-07-18 Profound Medical Inc. Controllable rotating ultrasound therapy applicator
US9566455B2 (en) 2010-03-09 2017-02-14 Profound Medical Inc. Fluid circuits for temperature control in a thermal therapy system
WO2011115664A2 (en) 2010-03-14 2011-09-22 Profound Medical Inc. Mri-compatible motor and positioning system
US8574217B2 (en) 2010-04-08 2013-11-05 Kmg Pharma, Llc Sub-mucosal agent delivery method for the eye
GB201006079D0 (en) 2010-04-13 2010-05-26 Central Manchester University Surgical device and methods
US20110257641A1 (en) 2010-04-14 2011-10-20 Roger Hastings Phototherapy for renal denervation
US8394120B2 (en) 2010-05-04 2013-03-12 Jacek Krzyzanowski End effector assembly with increased clamping force for a surgical instrument
SG185486A1 (en) 2010-05-14 2012-12-28 Univ Sabanci An apparatus for using hydrodynamic cavitation in medical treatment
CN103068419A (zh) 2010-06-13 2013-04-24 模托斯Gi医疗技术有限公司 用于清洁体腔的系统和方法
US20110313343A1 (en) 2010-06-18 2011-12-22 Alcon Research, Ltd. Phacoemulsification Fluidics System Having a Single Pump Head
WO2011160686A1 (en) 2010-06-23 2011-12-29 Renzo Marco Giovanni Brun Del Re Biopsy alignment guide
EP2584990B1 (en) 2010-06-24 2019-04-24 UC-Care Ltd. Focused prostate cancer treatment system
WO2017066518A1 (en) 2010-06-29 2017-04-20 Mighty Oak Medical, Inc. Patient-matched apparatus and methods for performing surgical procedures
EP3552655B1 (en) 2010-07-13 2020-12-23 Loma Vista Medical, Inc. Inflatable medical devices
JP5636811B2 (ja) * 2010-08-20 2014-12-10 セイコーエプソン株式会社 液体噴射装置、および液体噴射装置を用いた医療機器
US20120191107A1 (en) 2010-09-17 2012-07-26 Tanner Neal A Systems and methods for positioning an elongate member inside a body
US20120089159A1 (en) 2010-09-20 2012-04-12 Shluzas Alan E System for tensioning a surgical closure
ES3061078T3 (en) 2010-09-25 2026-03-31 Ipg Photonics Canada Inc Aparatus and method for coherent imaging and feedback control for modification of materials
EP2489407A1 (en) 2011-02-15 2012-08-22 Koninklijke Philips Electronics N.V. Therapeutic apparatus for heating a subject
US9066741B2 (en) 2010-11-01 2015-06-30 Atricure, Inc. Robotic toolkit
DE102011086032A1 (de) 2010-11-16 2012-05-16 Deutsches Zentrum für Luft- und Raumfahrt e.V. Flüssigkeitsstrahlskalpell
EP2640292B1 (en) 2010-11-18 2016-08-10 Koninklijke Philips N.V. System for probabilistic ablation planning
US20130066136A1 (en) 2010-11-24 2013-03-14 Mount Sinai School Of Medicine Magnetic based device for retrieving a misplaced article
CA2821265A1 (en) 2010-12-16 2012-06-21 Ams Research Corporation High-pressure pneumatic injection system and method
US11612377B2 (en) * 2010-12-16 2023-03-28 Best Medical International, Inc. Image guided surgical methodology and system employing patient movement detection and correction
US9119655B2 (en) 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
WO2012100211A2 (en) 2011-01-20 2012-07-26 Hansen Medical, Inc. System and method for endoluminal and transluminal therapy
DE102011011497A1 (de) 2011-02-17 2012-08-23 Kuka Roboter Gmbh Chirurgisches Instrument
US9549753B2 (en) 2011-04-01 2017-01-24 Christopher Burnside Gordon Fluid jet cell harvester and cellular delivery system
US10716706B2 (en) 2011-04-07 2020-07-21 Bausch & Lomb Incorporated System and method for performing lens fragmentation
EP3381421B1 (en) 2011-05-12 2019-10-16 Carl Zeiss Meditec AG Laser instrument for eye therapy
US9301876B2 (en) 2011-05-16 2016-04-05 Wavelight Gmbh System and process for surgical treatment of an eye as well as process for calibrating a system of such a type
US20130006144A1 (en) 2011-06-28 2013-01-03 Michael Clancy Biopsy needle with flexible length
US9931445B2 (en) 2011-07-08 2018-04-03 Jointechlabs, Inc. System and methods for preparation of adipose-derived stem cells
EP2729098B1 (en) 2011-07-08 2016-08-17 Doheny Eye Institute Ocular lens cutting device
US20130035537A1 (en) 2011-08-05 2013-02-07 Wallace Daniel T Robotic systems and methods for treating tissue
WO2013022974A1 (en) 2011-08-08 2013-02-14 The Henry M. Jackson Foundation For The Advancement Of Military Medicine, Inc. Isolation and detection of cancer cells
WO2013030746A1 (en) 2011-08-30 2013-03-07 Koninklijke Philips Electronics N.V. Real time control of high intensity focused ultrasound using magnetic resonance imaging
US8821377B2 (en) 2011-09-07 2014-09-02 Justin Collins Laparoscopic surgery
EP2753250B1 (en) 2011-09-10 2019-03-20 Cook Medical Technologies LLC Control handles for medical devices
JP5933723B2 (ja) 2011-09-13 2016-06-15 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 患部適用範囲フィードバックを用いたアブレーション計画
EP2755591B1 (en) 2011-09-16 2020-11-18 Auris Health, Inc. System for displaying an image of a patient anatomy on a movable display
EP2760545B1 (en) 2011-09-26 2019-04-24 Profound Medical Inc. System for control and monitoring of conformal thermal therapy
WO2013049632A1 (en) 2011-09-29 2013-04-04 Biolase, Inc. Methods for treating eye conditions
WO2013052531A1 (en) 2011-10-03 2013-04-11 Biolase, Inc. Surgical laser cutting device
JP6357418B2 (ja) 2011-10-03 2018-07-11 バイオレイズ，インク． 眼の水晶体の破砕のためのシステム及び方法
WO2013055203A1 (en) 2011-10-14 2013-04-18 Academisch Medisch Centrum Bij De Universiteit Van Amsterdam Method to provide at least one patient specific device to be used for bone correction, a treatment kit, a method of operating a data-processing system, a computer program, and a correction and fixation device and a cutting assisting device for bone correction.
US9060794B2 (en) 2011-10-18 2015-06-23 Mako Surgical Corp. System and method for robotic surgery
EP3491994A1 (en) 2011-10-31 2019-06-05 Boston Scientific Scimed, Inc. An endoscopic instrument having a deflectable distal tool
EP2773277B1 (en) 2011-11-04 2016-03-02 Titan Medical Inc. Apparatus for controlling an end-effector assembly
US10213260B2 (en) 2011-12-01 2019-02-26 Joe Denton Brown End fire fiber arrangements with improved erosion resistance
US9131987B2 (en) 2011-12-02 2015-09-15 Ethicon Endo-Surgery, Inc. Elbow assembly for surgical devices
US9179927B2 (en) 2011-12-02 2015-11-10 Ethicon Endo-Surgery, Inc. Surgical methods using a surgical device having a fixed angular orientation
US20140135745A1 (en) 2011-12-15 2014-05-15 Imricor Medical Systems, Inc. Mri compatible handle and steerable sheath
US9504604B2 (en) 2011-12-16 2016-11-29 Auris Surgical Robotics, Inc. Lithotripsy eye treatment
US10736781B2 (en) 2012-01-18 2020-08-11 Alcon Inc. Adjusting laser energy in accordance with optical density
ES2833281T3 (es) 2012-02-25 2021-06-14 Thrufocus Optics Inc Dispositivos para mejorar la vista usando fotomiosis con láser
US20130225997A1 (en) 2012-02-28 2013-08-29 Spiration, Inc. Lung biopsy needle
CN108606773B (zh) 2012-02-29 2020-08-11 普罗赛普特生物机器人公司 自动化图像引导的组织切除和处理
WO2013149034A2 (en) 2012-03-28 2013-10-03 Cibiem, Inc. Carotid body modulation planning and assessment
CN104837527B (zh) 2012-04-12 2018-02-09 皇家飞利浦有限公司 用于加热比电子聚焦区域更大的目标区域的高强度聚焦超声
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
CN104411266B (zh) 2012-04-27 2019-01-01 库卡实验仪器有限公司 机器人手术系统
US9439627B2 (en) 2012-05-22 2016-09-13 Covidien Lp Planning system and navigation system for an ablation procedure
US9439623B2 (en) 2012-05-22 2016-09-13 Covidien Lp Surgical planning system and navigation system
EP2676702A1 (en) 2012-06-21 2013-12-25 Koninklijke Philips N.V. Improved high intensity focused ultrasound targeting
US9820768B2 (en) 2012-06-29 2017-11-21 Ethicon Llc Ultrasonic surgical instruments with control mechanisms
ES2727944T3 (es) 2012-07-09 2019-10-21 Profound Medical Inc Obtención de imágenes por resonancia magnética de fuerza de radiación acústica
DE102012212510B4 (de) 2012-07-17 2014-02-13 Richard Wolf Gmbh Endoskopisches Instrument
US20140051985A1 (en) 2012-08-17 2014-02-20 Tailin Fan Percutaneous nephrolithotomy target finding system
WO2014035882A1 (en) 2012-08-27 2014-03-06 Facet Technologies, Llc Twist-to-charge mechanism of lancing device
ES2767580T3 (es) 2012-10-01 2020-06-18 Profound Medical Inc Calentamiento reducido en regiones de campo cercano de solapamiento de ultrasonidos focalizados de alta intensidad
US9375235B2 (en) 2012-12-12 2016-06-28 Boston Scientific Scimed, Inc. Method and system for transhiatal esophagectomy
US9510824B2 (en) 2013-01-08 2016-12-06 Boston Scientific Scimed, Inc. Low profile medical device and related methods of use
US20140194859A1 (en) 2013-01-10 2014-07-10 Pravoslava IANCHULEV System and method of performing femtosecond laser accomodative capsulotomy
US10231867B2 (en) 2013-01-18 2019-03-19 Auris Health, Inc. Method, apparatus and system for a water jet
JP6403695B2 (ja) 2013-02-14 2018-10-10 プロセプト バイオロボティクス コーポレイション アクアアブレーションアクアビーム眼科手術方法および装置
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
EP2868256A4 (en) 2013-03-06 2016-08-10 Olympus Corp ENDOSCOPY SYSTEM AND OPERATING PROCESS FOR THE ENDOSCOPE SYSTEM
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
US9867635B2 (en) 2013-03-08 2018-01-16 Auris Surgical Robotics, Inc. Method, apparatus and system for a water jet
KR102084534B1 (ko) 2013-03-13 2020-03-04 씽크 써지컬, 인크. 컴퓨터 지원 로봇 수술을 위한 방법, 장치 및 시스템
US9737300B2 (en) 2013-03-13 2017-08-22 Ethicon Llc Electrosurgical device with disposable shaft having rack and pinion drive
JP6251379B2 (ja) 2013-03-14 2017-12-20 ジャイラス・エーシーエムアイ・インコーポレーテッド 外科的位置決め回路
US9173713B2 (en) 2013-03-14 2015-11-03 Hansen Medical, Inc. Torque-based catheter articulation
US9498601B2 (en) 2013-03-14 2016-11-22 Hansen Medical, Inc. Catheter tension sensing
WO2014158880A1 (en) 2013-03-14 2014-10-02 Brigham And Women's Hospital, Inc. System and method for a laparoscopic morcellator
US9867636B2 (en) 2013-03-15 2018-01-16 The Regents Of The University Of California Method, apparatus, and a system for a water jet
US8974472B2 (en) 2013-04-16 2015-03-10 Calcula Technologies, Inc. Method for removing kidney stones
US10076231B2 (en) 2013-04-22 2018-09-18 Gyrus Acmi, Inc. Surgeon controlled endoscope device and method
US11020016B2 (en) 2013-05-30 2021-06-01 Auris Health, Inc. System and method for displaying anatomy and devices on a movable display
US10744035B2 (en) 2013-06-11 2020-08-18 Auris Health, Inc. Methods for robotic assisted cataract surgery
US10426661B2 (en) 2013-08-13 2019-10-01 Auris Health, Inc. Method and apparatus for laser assisted cataract surgery
US11800991B2 (en) 2013-08-15 2023-10-31 Intuitive Surgical Operations, Inc. Graphical user interface for catheter positioning and insertion
US9861428B2 (en) 2013-09-16 2018-01-09 Ethicon Llc Integrated systems for electrosurgical steam or smoke control
EP3689284B1 (en) 2013-10-24 2025-02-26 Auris Health, Inc. System for robotic-assisted endolumenal surgery
US9980785B2 (en) 2013-10-24 2018-05-29 Auris Health, Inc. Instrument device manipulator with surgical tool de-articulation
WO2015061775A1 (en) 2013-10-26 2015-04-30 The United States Of America, As Represented By The Secretary, Department Of Health & Human Services Atrial appendage ligation
US20170000497A1 (en) 2013-11-29 2017-01-05 The Johns Hopkins University Cranial reference mount
EP3834752B1 (en) 2013-12-11 2024-03-13 Covidien LP Wrist and jaw assemblies for robotic surgical systems
US9808269B2 (en) 2013-12-12 2017-11-07 Boston Scientific Scimed, Inc. Adjustable medical retrieval devices and related methods of use
EP3079597B1 (en) 2013-12-13 2023-07-26 Intuitive Surgical Operations, Inc. Telescoping biopsy needle
DK3094262T3 (da) 2014-01-17 2019-09-30 Merit Medical Systems Inc Glatskåret biopsinåleenhed
JP6431678B2 (ja) 2014-03-20 2018-11-28 オリンパス株式会社 挿入形状検出装置
JP6629230B2 (ja) 2014-04-02 2020-01-15 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 最小侵襲的システム
US20150314110A1 (en) 2014-05-05 2015-11-05 Hansen Medical, Inc. Balloon visualization for traversing a vessel
CN106255451B (zh) 2014-05-06 2020-03-17 圣犹达医疗用品心脏病学部门有限公司 电极支撑结构组件
GB201408582D0 (en) 2014-05-14 2014-06-25 Ucl Business Plc A system and method for computer-assisted planning of a trajectory for a surgical insertion into a skull
ES2886204T3 (es) 2014-06-24 2021-12-16 Procept Biorobotics Corp Aparato de muestreo de tejidos y tratamiento del cáncer
BR112016031037B1 (pt) 2014-06-30 2023-02-07 Procept Biorobotics Corporation Aparelho para ablação de tecido vascular
US9788910B2 (en) 2014-07-01 2017-10-17 Auris Surgical Robotics, Inc. Instrument-mounted tension sensing mechanism for robotically-driven medical instruments
US20160270865A1 (en) 2014-07-01 2016-09-22 Auris Surgical Robotics, Inc. Reusable catheter with disposable balloon attachment and tapered tip
US10159533B2 (en) 2014-07-01 2018-12-25 Auris Health, Inc. Surgical system with configurable rail-mounted mechanical arms
US9561083B2 (en) 2014-07-01 2017-02-07 Auris Surgical Robotics, Inc. Articulating flexible endoscopic tool with roll capabilities
US10792464B2 (en) 2014-07-01 2020-10-06 Auris Health, Inc. Tool and method for using surgical endoscope with spiral lumens
US9744335B2 (en) 2014-07-01 2017-08-29 Auris Surgical Robotics, Inc. Apparatuses and methods for monitoring tendons of steerable catheters
US20170007337A1 (en) 2014-07-01 2017-01-12 Auris Surgical Robotics, Inc. Driver-mounted torque sensing mechanism
US20160022466A1 (en) 2014-07-24 2016-01-28 Lim Innovations, Inc. Sequential series of orthopedic devices that include incremental changes in form
US10828051B2 (en) 2014-07-28 2020-11-10 Shaw P. Wan Suction evacuation device
US20160030016A1 (en) 2014-07-30 2016-02-04 Covidien Lp Exchangeable core biopsy needle
US10085759B2 (en) 2014-08-14 2018-10-02 Boston Scientific Scimed, Inc. Kidney stone suction device
CN107148245B (zh) 2014-09-05 2021-03-09 普罗赛普特生物机器人公司 干细胞的基因分析和生成的方法及装置
JP6682513B2 (ja) 2014-09-08 2020-04-15 ボストン サイエンティフィック サイムド，インコーポレイテッドＢｏｓｔｏｎ Ｓｃｉｅｎｔｉｆｉｃ Ｓｃｉｍｅｄ，Ｉｎｃ． 回収装置
EP3200718B1 (en) 2014-09-30 2026-02-18 Auris Health, Inc. Configurable robotic surgical system with virtual rail and flexible endoscope
US10314463B2 (en) 2014-10-24 2019-06-11 Auris Health, Inc. Automated endoscope calibration
WO2016099686A1 (en) 2014-11-05 2016-06-23 Clph, Llc Catheter devices and methods for making them
AU2015353523B2 (en) 2014-11-24 2019-10-24 The Johns Hopkins University Computer-assisted cranioplasty
DE102014226240A1 (de) 2014-12-17 2016-06-23 Kuka Roboter Gmbh System zur roboterunterstützten medizinischen Behandlung
DE102015200428B3 (de) 2015-01-14 2016-03-17 Kuka Roboter Gmbh Verfahren zur Ausrichtung eines mehrachsigen Manipulators mit einem Eingabegerät
US20180028261A1 (en) 2015-02-17 2018-02-01 Koninklijke Philips N.V. Device and method for assisting in tissue ablation
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
US9622827B2 (en) 2015-05-15 2017-04-18 Auris Surgical Robotics, Inc. Surgical robotics system
US10610254B2 (en) 2015-08-20 2020-04-07 Boston Scientific Scimed, Inc. Medical device and related methods
CN113274140B (zh) 2015-09-09 2022-09-02 奥瑞斯健康公司 手术覆盖件
CN108024869B (zh) 2015-09-17 2021-05-07 卡尔蔡司医疗技术股份公司 用于激光辅助眼睛治疗的系统和方法
CN108778113B (zh) 2015-09-18 2022-04-15 奥瑞斯健康公司 管状网络的导航
US10085810B2 (en) 2015-10-02 2018-10-02 Ethicon Llc User input device for robotic surgical system
ITUB20155057A1 (it) 2015-10-16 2017-04-16 Medical Microinstruments S R L Assieme robotico di chirurgia
DE102015118318B4 (de) 2015-10-27 2018-05-03 Karl Leibinger Medizintechnik Gmbh & Co. Kg Automatisierte Generierung von Knochenbehandlungsmitteln
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
US20170151416A1 (en) 2015-12-01 2017-06-01 Invivo Therapeutics Corporation Methods and Systems for Delivery of a Trail of a Therapeutic Substance into an Anatomical Space
GB201521804D0 (en) 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Pulley arrangement for articulating a surgical instrument
CN108472090B (zh) 2015-12-29 2021-06-18 皇家飞利浦有限公司 用于控制外科手术机器人的系统、控制单元和方法
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
WO2017155931A1 (en) 2016-03-07 2017-09-14 Ethicon Llc Robotic bi-polar instruments
US11324554B2 (en) 2016-04-08 2022-05-10 Auris Health, Inc. Floating electromagnetic field generator system and method of controlling the same
EP3471599B1 (en) 2016-06-17 2025-11-19 Align Technology, Inc. Intraoral appliances with sensing
US11037464B2 (en) 2016-07-21 2021-06-15 Auris Health, Inc. System with emulator movement tracking for controlling medical devices
US10687904B2 (en) 2016-08-16 2020-06-23 Ethicon Llc Robotics tool exchange
KR102555546B1 (ko) 2016-08-31 2023-07-19 아우리스 헬스, 인코포레이티드 길이 보존 수술용 기구
US9931025B1 (en) 2016-09-30 2018-04-03 Auris Surgical Robotics, Inc. Automated calibration of endoscopes with pull wires
GB2554915B (en) 2016-10-14 2022-03-02 Cmr Surgical Ltd Driving arrangement for articulating a surgical instrument
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
US10244926B2 (en) 2016-12-28 2019-04-02 Auris Health, Inc. Detecting endolumenal buckling of flexible instruments
US10987120B2 (en) 2017-01-10 2021-04-27 New Wave Endo-Surgery Inc. Multifunction surgical instrument for use in laparoscopic surgery
CN108934160B (zh) 2017-03-28 2021-08-31 奥瑞斯健康公司 轴致动手柄
AU2018243364B2 (en) 2017-03-31 2023-10-05 Auris Health, Inc. Robotic systems for navigation of luminal networks that compensate for physiological noise
JP7314052B2 (ja) 2017-04-07 2023-07-25 オーリス ヘルス インコーポレイテッド 患者イントロデューサのアライメント
US10285574B2 (en) 2017-04-07 2019-05-14 Auris Health, Inc. Superelastic medical instrument
JP7677608B2 (ja) 2017-05-12 2025-05-15 オーリス ヘルス インコーポレイテッド 生検装置およびシステム
US10716461B2 (en) 2017-05-17 2020-07-21 Auris Health, Inc. Exchangeable working channel
US10022192B1 (en) 2017-06-23 2018-07-17 Auris Health, Inc. Automatically-initialized robotic systems for navigation of luminal networks
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
JP7130682B2 (ja) 2017-06-28 2022-09-05 オーリス ヘルス インコーポレイテッド 器具挿入補償
CN110913788B (zh) 2017-06-28 2024-03-12 奥瑞斯健康公司 电磁失真检测
US11832889B2 (en) 2017-06-28 2023-12-05 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
US10973600B2 (en) 2017-09-29 2021-04-13 Ethicon Llc Power axle wrist for robotic surgical tool
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
CN110831536B (zh) 2017-12-06 2021-09-07 奥瑞斯健康公司 用于针对非命令器械滚转进行校正的系统和方法
CN110831534B (zh) 2017-12-08 2023-04-28 奥瑞斯健康公司 用于医疗仪器导航和瞄准的系统和方法
JP7208237B2 (ja) 2017-12-08 2023-01-18 オーリス ヘルス インコーポレイテッド 医療手技を行うシステム及び医療機器
MX2020006069A (es) 2017-12-11 2020-11-06 Auris Health Inc Sistemas y metodos para arquitecturas de insercion basadas en instrumentos.
WO2019118767A1 (en) 2017-12-14 2019-06-20 Auris Health, Inc. System and method for estimating instrument location
US11160615B2 (en) 2017-12-18 2021-11-02 Auris Health, Inc. Methods and systems for instrument tracking and navigation within luminal networks
EP3511126A1 (de) 2018-01-15 2019-07-17 Siemens Aktiengesellschaft Verfahren zur rechnergestützten planung eines durch einen roboter ausführbaren arbeitsablaufs
KR102264368B1 (ko) 2018-01-17 2021-06-17 아우리스 헬스, 인코포레이티드 조절가능 아암 지지부를 갖는 수술 플랫폼
US10779839B2 (en) 2018-02-08 2020-09-22 Ethicon Llc Surgical clip applier with parallel closure jaws
MX2020008464A (es) 2018-02-13 2020-12-07 Auris Health Inc Sistema y metodo para accionar instrumento medico.
US20190269468A1 (en) 2018-03-01 2019-09-05 Auris Health, Inc. Methods and systems for mapping and navigation
JP7225259B2 (ja) 2018-03-28 2023-02-20 オーリス ヘルス インコーポレイテッド 器具の推定位置を示すためのシステム及び方法
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
EP4344723A3 (en) 2018-03-28 2024-06-12 Auris Health, Inc. Medical instruments with variable bending stiffness profiles
WO2019191265A1 (en) 2018-03-29 2019-10-03 Auris Health, Inc. Robotically-enabled medical systems with multifunction end effectors having rotational offsets
CN114601559B (zh) 2018-05-30 2024-05-14 奥瑞斯健康公司 用于基于定位传感器的分支预测的系统和介质
EP4454591A3 (en) 2018-05-31 2025-01-15 Auris Health, Inc. Path-based navigation of tubular networks
US11503986B2 (en) 2018-05-31 2022-11-22 Auris Health, Inc. Robotic systems and methods for navigation of luminal network that detect physiological noise
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
CN112218596B (zh) 2018-06-07 2025-05-16 奥瑞斯健康公司 具有高力器械的机器人医疗系统
WO2020005370A1 (en) 2018-06-27 2020-01-02 Auris Health, Inc. Systems and techniques for providing multiple perspectives during medical procedures
KR102817263B1 (ko) 2018-06-28 2025-06-10 아우리스 헬스, 인코포레이티드 풀리 공유를 통합한 의료 시스템
KR102612146B1 (ko) 2018-08-07 2023-12-13 아우리스 헬스, 인코포레이티드 카테터 제어와의 변형-기반 형상 감지의 조합
CN112566584A (zh) 2018-08-15 2021-03-26 奥瑞斯健康公司 用于组织烧灼的医疗器械
CN112566567B (zh) 2018-08-17 2024-10-29 奥瑞斯健康公司 双极医疗器械
AU2019326548B2 (en) 2018-08-24 2023-11-23 Auris Health, Inc. Manually and robotically controllable medical instruments
US11179212B2 (en) 2018-09-26 2021-11-23 Auris Health, Inc. Articulating medical instruments
WO2020068303A1 (en) 2018-09-26 2020-04-02 Auris Health, Inc. Systems and instruments for suction and irrigation
US10820947B2 (en) 2018-09-28 2020-11-03 Auris Health, Inc. Devices, systems, and methods for manually and robotically driving medical instruments
JP7536752B2 (ja) 2018-09-28 2024-08-20 オーリス ヘルス インコーポレイテッド 内視鏡支援経皮的医療処置のためのシステム及び方法
KR102852843B1 (ko) 2018-09-28 2025-09-03 아우리스 헬스, 인코포레이티드 의료 기구를 도킹시키기 위한 시스템 및 방법
WO2020076447A1 (en) 2018-10-08 2020-04-16 Auris Health, Inc. Systems and instruments for tissue sealing

Also Published As

Publication number Publication date
JP2019000660A (ja) 2019-01-10
BR112014021482B1 (pt) 2021-12-21
US20150088107A1 (en) 2015-03-26
US20210128189A1 (en) 2021-05-06
JP2026012190A (ja) 2026-01-23
EP2819599B1 (en) 2018-05-23
ES2687817T3 (es) 2018-10-29
JP7004466B2 (ja) 2022-01-21
US9510852B2 (en) 2016-12-06
EP3351196A1 (en) 2018-07-25
BR112014021482A2 (pt) 2017-06-20
US20250143740A1 (en) 2025-05-08
JP2017099912A (ja) 2017-06-08
JP2024097857A (ja) 2024-07-19
JP6382361B2 (ja) 2018-08-29
US20150057646A1 (en) 2015-02-26
CN104203078B (zh) 2018-04-20
US20250143739A1 (en) 2025-05-08
US20170245878A1 (en) 2017-08-31
JP2020127730A (ja) 2020-08-27
US11464536B2 (en) 2022-10-11
CN104203078A (zh) 2014-12-10
JP2022034077A (ja) 2022-03-02
EP2819599A4 (en) 2016-02-24
US10653438B2 (en) 2020-05-19
US12440235B2 (en) 2025-10-14
US20200330118A1 (en) 2020-10-22
US20250120736A1 (en) 2025-04-17
US11737776B2 (en) 2023-08-29
EP2819599A1 (en) 2015-01-07
US20240032958A1 (en) 2024-02-01
US20200375622A1 (en) 2020-12-03
JP2015509789A (ja) 2015-04-02
US20240350164A1 (en) 2024-10-24
JP6080872B2 (ja) 2017-02-15
WO2013130895A1 (en) 2013-09-06
JP7485649B2 (ja) 2024-05-16
US9668764B2 (en) 2017-06-06
JP6681444B2 (ja) 2020-04-15
EP3351196B1 (en) 2026-05-06
US20250120737A1 (en) 2025-04-17
CN108606773A (zh) 2018-10-02
US9364251B2 (en) 2016-06-14
US20150088110A1 (en) 2015-03-26

Similar Documents

Publication Publication Date Title
US12440235B2 (en) Automated image-guided tissue resection and treatment
CN109965976B (zh) 利用致脱脉冲的用于消融组织的装置

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