CN110123461A - 确定操纵器上的外科器械和适配器的存在的检测针脚 - Google Patents
确定操纵器上的外科器械和适配器的存在的检测针脚 Download PDFInfo
- Publication number
- CN110123461A CN110123461A CN201910409914.6A CN201910409914A CN110123461A CN 110123461 A CN110123461 A CN 110123461A CN 201910409914 A CN201910409914 A CN 201910409914A CN 110123461 A CN110123461 A CN 110123461A
- Authority
- CN
- China
- Prior art keywords
- stitch
- detection stitch
- instrument
- detection
- balladeur train
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 136
- 230000005355 Hall effect Effects 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims abstract description 19
- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 238000001356 surgical procedure Methods 0.000 claims description 36
- 230000004044 response Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 abstract description 13
- 239000012636 effector Substances 0.000 description 12
- 238000010586 diagram Methods 0.000 description 6
- 230000012447 hatching Effects 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 4
- 210000000683 abdominal cavity Anatomy 0.000 description 3
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 210000001015 abdomen Anatomy 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 241000894006 Bacteria Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000001839 endoscopy Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000007912 intraperitoneal administration Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 230000001954 sterilising effect Effects 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000002627 tracheal intubation Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B46/00—Surgical drapes
- A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B1/00142—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 with means for preventing contamination, e.g. by using a sanitary sheath
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B46/00—Surgical drapes
- A61B46/40—Drape material, e.g. laminates; Manufacture thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- 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
- A61B90/90—Identification means for patients or instruments, e.g. tags
- A61B90/98—Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
-
- 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
- A61B2018/00172—Connectors and adapters therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0813—Accessories designed for easy sterilising, i.e. re-usable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B46/00—Surgical drapes
- A61B46/20—Surgical drapes specially adapted for patients
- A61B46/23—Surgical drapes specially adapted for patients with means to retain or hold surgical implements
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/02—Toothed gearings for conveying rotary motion without gears having orbital motion
- F16H1/20—Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49815—Disassembling
- Y10T29/49817—Disassembling with other than ancillary treating or assembling
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T403/00—Joints and connections
- Y10T403/59—Manually releaseable latch type
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Molecular Biology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radiology & Medical Imaging (AREA)
- Optics & Photonics (AREA)
- Biophysics (AREA)
- Surgical Instruments (AREA)
- Manipulator (AREA)
- Chemical & Material Sciences (AREA)
- Organic Chemistry (AREA)
- Polymers & Plastics (AREA)
- Medicinal Chemistry (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Computer Networks & Wireless Communication (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Materials For Medical Uses (AREA)
- Endoscopes (AREA)
- Mechanical Engineering (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
本申请公开了确定操纵器上的外科器械和适配器的存在的检测针脚,提供了一种对外科器械提供控制的器械滑架,该外科器械耦接至该器械滑架。该器械滑架包括控制平面,该控制平面耦接至外科器械以提供控制。具有从控制表面延伸的第一远端的检测针脚耦接至该器械滑架。磁体被固定于该检测针脚的近端。滑架控制器提供当该检测针脚的移动导致霍尔效应传感器的输出信号超过存在阈值时该外科器械存在于器械滑架上的指示,该存在阈值在该器械滑架的组装过程中作为校准程序的一部分被存储在滑架控制器中。当检测针脚的移动导致输出信号小于移除阈值且移除阈值小于存在阈值时,可以指示移除该外科器械。
Description
本申请是申请日为2015年3月17日、名称为“确定操纵器上的外科器械和适配器的存在的检测针脚”的中国专利申请201580014411.9的分案申请。
本申请要求以下在先提交的申请的优先权:
美国61/954,497 2014年3月17日(17-03-2014)
美国61/954,502 2014年3月17日(17-03-2014)
美国61/954,557 2014年3月17日(17-03-2014)
美国61/954,571 2014年3月17日(17-03-2014)
美国61/954,595 2014年3月17日(17-03-2014)
美国62/019,318 2014年6月30日(30-06-2014)
美国62/103,991 2015年1月15日(15-01-2015)
美国62/104,306 2015年1月16日(16-01-2015)
这些申请中的每一个以所允许的最大程度具体地并入本文。
技术领域
本发明的实施例涉及外科器械适配器的领域;并且更具体地涉及用于确定远程操作操纵器上的外科器械和器械适配器的存在的检测针脚。
背景技术
微创医疗技术已经被用来减少诊断或外科手术程序期间可能被损坏的外部组织的量,从而减少患者恢复时间、不舒适感以及有害的副作用。微创外科手术的传统形式包括内窥镜检查。内窥镜检查的更常见形式之一是腹腔镜检查,其为腹腔内的微创检查或外科手术。在传统的腹腔镜外科手术中,患者的腹腔被吹入气体,并且插管套筒穿过患者腹部的肌肉组织中的小(大约12mm)切口以提供入口端,通过该入口端能够以密封的方式传递腹腔镜外科器械。
腹腔镜外科器械通常包括用于观察手术区域的腹腔镜以及具有末端执行器的外科器械。典型的外科末端执行器包括例如夹钳、抓紧器、剪刀、缝合器和持针器。外科器械类似于传统的(开放的)外科手术中使用的器械,除了每个外科器械的工作端或末端执行器通过例如大约30cm长的延伸管与其把手分开,以便允许操作者将末端执行器引到手术部位并且从患者的身体外面控制末端执行器相对于手术部位的移动。
为了提供对末端执行器的改善的控制,可能希望使用远程操作致动器来控制外科器械。外科医生可以操作控制台上的控件来间接操纵连接到远程操作致动器的器械。该外科器械可拆卸地耦接到远程操作致动器,使得该外科器械可以被独立地消毒并且被选择用作待进行的外科手术程序的所需器械。在手术过程中,该外科器械可以被改变。
使用远程操作外科器械进行手术产生新的挑战。一个挑战是需要将与患者相邻的区域保持在无菌条件下。但是,控制外科器械所必需的马达、传感器、编码器和电连接件通常不能使用传统方法(例如蒸汽、热量、压力或化学品)来灭菌,因为它们可能在灭菌过程中被损坏或破坏。
使用远程操作外科手术系统的另一个挑战是在外科器械与远程操作致动器及其控制器之间需要许多连接件。需要连接件来传送致动器力、电信号和数据。这使得外科器械与远程操作致动器及其控制器的附接复杂化。
远程操作致动的远程操作外科手术系统的又一个挑战是手术室不是准备精密机械组件的理想环境。
可能期望的是提供一种确定无菌适配器和/或外科器械是否存在于远程操作操纵器上的途径。
发明内容
一种远程操作致动的外科系统包括外科器械、远程操作致动的外科器械操纵器以及器械无菌适配器(ISA)。该器械无菌适配器(ISA)被放置在该外科器械和该远程操作致动的外科器械操纵器的耦接之间,以便当需要将一个外科器械换成另一个外科器械时提供无菌耦接点。该远程操作致动的外科器械操纵器的滑架部分包括多个检测针脚,这些检测针脚被用来检测ISA和外科器械的存在。
在此,本公开提供了涉及可靠地检测ISA与远程操作致动的外科器械操纵器的接合以及外科器械与ISA的接合的实施例。此外,一个或多个实施例使用一种机构(例如,多个检测针脚和对应的传感器)实现了对两种接合的可靠检测。在一个实施例中,第一组一个或多个检测针脚可以被用于检测ISA的存在,同时第二组一个或多个检测针脚可以被用于检测外科器械的存在。可替代地,该第一组一个或多个检测针脚可以被用于检测ISA和外科器械两者的存在。
在一个实施例中,对ISA的存在的检测可以通过确定模拟霍尔效应传感器和附接于检测针脚的近端的磁体之间的距离来实现。当该模拟霍尔效应传感器与磁体面之间的距离在第一范围内时,该模拟霍尔效应传感器可以输出识别ISA的存在的第一预定电压。此外,该第一预定电压的输出可以表示ISA和远程操作致动的外科器械操纵器的滑架的接合。当该模拟霍尔效应传感器和磁体面之间的距离在小于第一范围的第二范围内时,该模拟霍尔效应传感器可以输出识别外科器械的存在的第二预定电压。此外,第二预定电压的输出可以表示外科器械与ISA的接合。本发明的其他特征和优点可以从下面的附图和详细描述中变得显而易见。
根据下面的附图和附图后面的详细描述,本发明的其它特征和优点将是显而易见的。
附图说明
通过参考用来以举例方式而不是限制方式说明本发明实施例的以下描述和附图,可以最佳地理解本发明。在附图中,其中类似的附图标记指示类似的元件:
图1是具有远程操作控制的外科器械的远程操作致动的外科系统的简化透视图,该远程操作控制的外科器械穿过开口插入患者的腹部。
图2是用于与远程操作致动器一起使用的外科器械的平面视图。
图3A是外科器械、远程操作致动的外科手术操纵器的滑架和器械无菌适配器(ISA)的耦接的示例性实施例的图示。
图3B是零件分离的图3A中的耦接器系统的图示。
图4是从顶向下视角的图1的滑架的控制表面的示例性实施例的图示,该滑架包括多个检测针脚。
图5是相对于电路板561和传感器的检测针脚的示例性实施例的图示。
图6A是沿图4中的剖面线6A-6A截取的图4中相对于外科器械、ISA和电路板在ISA与滑架接合之前的滑架的多个检测针脚的截面图。
图6B是沿图4中的剖面线6A-6A截取的图4中相对于ISA和电路板在ISA与滑架接合时的滑架的多个检测针脚的截面图。
图6C是沿图4中的剖面线6A-6A截取的图4中相对于外科器械、ISA和电路板在外科器械与ISA接合时的滑架的多个检测针脚的截面图。
图7是将示例性模拟霍尔效应传感器的数字输出示出为磁体与模拟霍尔效应传感器之间的距离的图表。
图8A-8D示出了检测针脚的示例性实施例的多个下压状态。
具体实施方式
在下面的说明书中,阐述许多具体的细节。但是,应当理解,可以在没有这些具体细节的情况下实施本发明的实施例。在其它情况下,没有详细示出已知的电路、结构和技术,以便不模糊对本说明书的理解。
在下面的说明书中,参考示出本发明的几个实施例的附图。应当理解,可以利用其它实施例,并且在不偏离本公开的精神和范围的情况下,可以进行机械成分、结构、电气以及操作的改变。下面的详细说明书不应被视为是限制意义的,并且本发明的实施例的范围仅由授予专利权的权利要求限定。
在本文所用的术语仅仅是为了描述具体实施例,而并非旨在限制本发明。为了便于描述,本文可能使用空间相对术语,诸如“在……之下”、“在……下面”、“下部”、“在……上方”、“上部”等等,以描述附图中示出的一个元件或特征部与另外(多个)元件或(多个)特征部的关系。应当理解,空间相对术语旨在涵盖除了附图中示出的取向之外的使用或操作中的设备的不同取向。例如,如果附图中的设备被翻转,那么被描述为在其它元件或特征部“下面”或“之下”的元件将被取向为在其它元件或特征部“之上”。因此,示例性术语“在……下面”可以涵盖上面和下面的取向。设备可能以其它方式被取向(例如,旋转90度或处于其它取向),并且本文使用的空间相对描述符被相应地解释。
如本文所用,除非上下文指出了其它情况,否则单数形式“一”、“一个”以及“该”旨在包括复数形式。还应当理解,术语“包括”和/或“包含”指定所述特征、步骤、操作、元件和/或部件的存在,但并非排除存在或添加一个或多个其它特征、步骤、操作、元件、部件和/或其群组。
术语“物体”通常指代部件或一组部件。例如,物体可以在说明书或权利要求中指代圆盘的内凹部或凸出部。贯穿说明书和权利要求,术语“物体”、“部件”、“部分”、“零件”以及“工件”可以互换地使用。
最后,本文使用的术语“或”和“和/或”被解释为广义包括的或意味着任何一个或任何组合。因此,“A、B或C”或“A、B和/或C”意指下列各项中任何一个:A;B;C;A和B;A和C;B和C;A、B和C。仅当元件、功能、步骤或动作的组合以某种方式内在地相互排斥时出现此定义的例外。
图1是根据本发明的实施例的远程操作外科系统的例示性患者侧部分100的视图。患者侧部分100包括支撑组件110以及在每个支撑组件的端部处的一个或多个外科器械操纵器112。这些支撑组件可选地包括一个或多个无动力的、可锁定的装配接头,这些装配接头用来相对于进行外科手术的患者定位(多个)外科器械操纵器112。如所示,患者侧部分100搁置在地板上。在其它实施例中,患者侧部分可以被安装到墙壁、安装到天花板、安装到也支撑患者的身体122的手术台126或者安装到其它手术室设备。此外,虽然患者侧部分100被显示为包括四个操纵器112,但是可以使用更多或更少的操纵器112。此外,患者侧部分100可以由如图所示的单个组件组成,或者其可以包括两个或更多独立的组件,每个组件以各种可能的方式被可选地安装。
每个外科器械操纵器112支撑在患者身体122内的手术部位处进行操作的一个或多个外科器械120。可以以允许相关联的外科器械以一个或多个机械自由度(例如,全部六个笛卡尔自由度、五个或更少的笛卡尔自由度等等)移动的各种形式来提供每个操纵器112。通常,机械或控制约束限制每个操纵器112,从而围绕相对于患者保持静止的器械上的运动中心移动其相关联的外科器械,并且该运动中心通常位于该器械进入身体的位置。
术语“外科器械”在本文被用以描述医疗设备,其被配置为插入患者的身体并且被用以进行外科手术或诊断程序。该外科器械通常包括与一个或多个外科手术任务相关联的末端执行器,诸如手术钳、针驱动器、剪刀、双极烧灼器、组织稳定器或牵引器、施夹器、吻合设备、成像设备(例如,内窥镜或超声探头)等等。与本发明的实施例一起使用的一些外科器械还提供用于末端执行器的铰接式支撑件(有时被称为“腕部/肘节(wrist)”),因此可以相对于器械的轴以一个或多个机械自由度操纵末端执行器的位置和取向。此外,许多外科末端执行器包括功能性机械自由度,诸如打开或关闭的钳口或沿路径平移的刀。外科器械也可以包含存储的信息(例如,存储在器械内的半导体存储器上),该信息可以是永久的或者可以通过外科系统更新。因此,该系统可以提供器械与一个或多个系统部件之间的单向或双向信息通信。
功能性远程操作外科系统通常将包括使操作者能够从患者的身体122外面观察手术部位的视觉系统部分(未示出)。该视觉系统通常包括具有视频图像捕获功能128的外科器械(“摄像器械”)以及用于显示所捕获的图像的一个或多个视频显示器。在一些外科系统配置中,摄像器械128包括光学部件,该光学部件将来自摄像器械128的近端的图像传输到患者身体122外面的一个或多个成像传感器(例如,CCD或CMOS传感器)。可替代地,(多个)成像传感器可以被定位在摄像器械128的近端,并且由(这些)传感器产生的信号可以沿引线或无线地传送用于处理并显示在视频显示器上。例示性的视频显示器是从加利福利亚州Sunnyvale市的直观外科手术公司(IntuitiveSurgical,Inc.)购得的外科系统中的外科医生控制台上的立体显示器。
功能性远程操作外科系统还将包括用于当器械在患者体内时控制外科器械120的移动的控制系统部分(未示出)。该控制系统部分可以处于外科系统中的单个位置,或者其可以被分布在系统中的两个或更多个位置(例如,控制系统部分部件可以在系统的患者侧部分100中,在专用的系统控制台中,或者在单独的设备架中)。根据期望的控制程度、受控的外科组件的尺寸以及其它因素,可以以各种方式进行远程操作主/从控制。在一些实施例中,该控制系统部分包括一个或多个手动操作的输入设备,诸如操纵杆、骨骼式手套、机动的和重力补偿的操纵器等等。这些输入设备控制远程操作马达,这些远程操作马达进而控制外科器械的移动。
由远程操作马达产生的力经由动力传动系机构来传输,所述动力传动系机构将来自远程操作马达的力传送到外科器械120。在一些远程手术实施例中,控制(多个)操纵器的输入设备可以被提供在远离患者的位置,其在安置患者的房间内或房间外。然后,来自输入设备的输入信号被传输到控制系统部分。熟悉远程操纵、远程操作以及远程呈现外科手术的人员将了解这些系统和它们的部件,诸如从Intuitive Surgical,Inc.购得的da外科系统和初始由Computer Motion,Inc.制造的外科系统以及这些系统的各种例示性部件。
如所示,外科器械120和可选的进入导向器124(例如,患者的腹腔中的插管)都可移除地耦接到操纵器112的近端,同时外科器械120穿过进入导向器124插入。操纵器112中的远程操作致动器将外科器械120作为一个整体移动。操纵器112还包括器械滑架130。外科器械120可拆卸地连接到滑架130。容纳在滑架130中的远程操作致动器提供许多控制器运动,外科器械120将这些控制器运动转化成外科器械上的末端执行器的各种移动。因此,滑架130中的远程操作致动器仅移动外科器械120的一个或多个部件,而不是将该器械作为整体移动。用于将器械作为一个整体来控制或用于控制器械的部件的输入使得由外科医生提供到控制系统部分的输入(“主控”命令)通过外科器械被转化成对应的动作(“从动”响应)。
图2是外科器械120的例示性实施例的侧视图,该外科器械120包括通过细长管210耦接的近端部分250和远端控制机构240。外科器械120的近端部分250可以提供各种末端执行器中的任何一种,诸如所示的手术钳254、针驱动器、烧灼设备、切削工具、成像设备(例如,内窥镜或超声探头)或者包括两个或更多各种工具和成像设备的组合的组合设备。在所示的实施例中,末端执行器254通过“肘节/腕部”252耦接到细长管210,“肘节/腕部”252允许末端执行器的取向相对于器械管210被操纵。
参照图3A,其示出了以耦接状态图示的外科器械120、远程操作致动的外科器械滑架130的控制表面310以及器械无菌适配器(ISA)300的示例性实施例。该控制表面310被耦接至该外科器械120以提供对该外科器械的控制。该ISA 300延长器械滑架130的控制表面310以提供该控制表面的与外科器械120直接接触的一次性无菌等效物。
参照图3B,提供了图3A的耦接器系统的示例性实施例。在该耦接过程的第一阶段中,ISA 300的下侧与滑架130的顶侧上的控制表面310耦接。具体地,滑架驱动器320与对应的ISA耦接器330的下侧匹配。接下来,外科器械120与ISA 300的顶侧耦接。ISA耦接器330的顶侧与对应的器械驱动器(未示出)匹配。
但是,在外科器械120与远程操作致动的外科器械滑架130的耦接之间添加ISA300导致需要确定器械无菌适配器是否存在并且与远程操作致动的外科器械滑架130合适地接合。类似地,需要确定外科器械120是否存在并且与器械无菌适配器300合适地接合。
器械无菌适配器和外科器械的安装
参照图4,从顶部视角示出了包括检测针脚410A-410D的滑架130的控制表面310的示例性实施例。在一种配置中示出了检测针脚410A-410D;但是,如本领域普通技术人员将认识到的,在其他实施例中,检测针脚410A-410D可以以其他配置提供。
参照图5,示出了相对于电路板561和传感器560A-560D的检测针脚410A-410D的示例性实施例的图示。检测针脚410A包括带有感测尖端510A的远端411A、近端412A、轴520A、轴520A的肩台521A、弹簧530A、上限位块(upstop)540A和磁体外壳550A。磁体外壳550A包括具有磁体面551A的磁体,该磁体面面朝传感器560A。每个检测针脚410B-410D包括与410A相同的部件。
轴520A和磁体外壳550A作为单个组件在上限位块540A和远端411A衬套内移动。上限位块540A在轴520A在近端412A处的较大直径不能通过该上限位块的点处限制轴520A和磁体壳550A的向上行程。
弹簧530A被限制在上限位块540A与轴520A的肩台521A之间。因此,弹簧530A向上朝向远端411A推动轴520A。可以将向下的力施加到轴520A的远端411A以朝向传感器560A移动该轴和附接的磁体外壳550A。检测针脚410C-410D的远端411C-411D可以被完全地或部分地包含在滑架阱部420C-420D中(在图6A中可更好地看到),该滑架阱部保护检测针脚免受施加可能会损坏检测针脚的侧向力的影响。
如在图6A-6C中所示,其为沿着图4的剖面线6A-6A截取的截面图,一些检测针脚410A-410B可能在长度上短于其他的检测针脚410C-410D。例如,在一个实施例中,较短的检测针脚410A-410B可以比较长的检测针脚410C-410D短大约1.25毫米(0.050英寸)。
机械地固定于器械滑架130的电路板561包括模拟霍尔效应传感器560A-560D(以下称为“传感器”),这些传感器提供响应于磁体与传感器560A-560D之间的距离的信号。霍尔效应传感器560A-560D可以包括电路系统,该电路系统基于由霍尔效应产生的模拟信号提供数字信号。在一个实施例中,每个检测针脚410A-410B的磁体之间的距离使得能够确定ISA 300是否存在并与滑架130接合。例如,传感器560A可以感测由磁体生成的磁场的振幅并且可以响应于检测针脚410A的磁体面与传感器560A之间的距离而提供输出电压或数字值。随着该距离的减少,该输出电压或数字值可以增加。
在这样的示例中,当传感器560A-560B的输出阈值都超过第一预定阈值时,ISA300可以被认为存在并且与滑架130完全接合。
在这样的示例中,传感器560C-560D可以确定磁体与传感器560C-560D之间的距离。每个检测针脚410C-410D的磁体之间的距离使得能够确定外科器械120是否存在并与ISA 300接合。
在一个实施例中,在器械滑架130的组装过程中,传感器560A-560D可以作为校准过程的一部分被校准。作为一个实例,在组装过程中,校准块可以被放置在器械滑架130的控制表面310上以将检测针脚410A-410D下压已知的量。然后,在应用校准块之后由传感器560A-560D提供的输出电压或数字值可以被储存在滑架控制器340中,并且被用作阈值以决定ISA 300或外科器械120是否存在并被接合。
参照图6A,示出了在ISA 300与滑架130的控制表面310接合之前相对于外科器械120、ISA 300和电路板561的图4中的滑架130的多个检测针脚410A-410D的示例性实施例。检测针脚410A-410D与器械滑架130耦接,该器械滑架130提供了检测针脚的运动所参照的机械接地。电路板561和附接的霍尔效应传感器560A-560D也被机械地固定到器械滑架130,从而允许传感器参照检测针脚的运动。检测针脚410A的远端411A从控制表面310延伸至感测尖端510A。在图6A的实施例中,滑架130包括检测针脚410A-410D,尽管仅检测针脚410A和410C-410D是可见的。在一个实施例中,检测针脚410A-410B可以被用于检测ISA 300的存在和接合,并且检测针脚410C-410D可以被用于检测外科器械120的存在和接合。
在图6A-6C中,示出了固定到器械滑架130上的上限位块540A-540D。因此,上限位块540A-540D提供了固定的参照点,该参照点将磁体面551A远离传感器560A的向上行程限制到已知距离。
参照图6B,示出了在ISA 300和滑架130的控制表面310接合时相对于ISA 300和电路板561的图4的滑架130的多个检测针脚410A-410D的示例性实施例。ISA 300包括平坦表面610A,在ISA 300与滑架130的控制表面310接合时,该平坦表面与检测针脚410A的感测尖端510A接触。由于该ISA 300与滑架130的控制表面310接合,ISA 300的表面下压检测针脚410A-410B进入滑架阱部420A-420B。如上所述,检测针脚410A-410B在长度上可以短于检测针脚410C-410D以适应与ISA 300接触的表面的高度。
ISA 300也包括存在针脚610C-610D,这些存在阵脚被配置为在ISA 300接合时接触检测针脚410C-410D。如在图6A中所见,当ISA 300不与滑架130的控制表面310接合时,存在针脚610C-610D处于其最低位置。如在图6B中所见,接合ISA 300提升了在ISA内的存在针脚610C-610D。
除非另外指出,由于检测针脚410A-410B以同样的方式操作,图6B的以下讨论为了简洁起见将参考检测针脚410A的操作。由于从轴520A的肩台521A施加的力朝向检测针脚410A的近端412A施加压力,检测针脚410A的下压导致弹簧530A压缩。弹簧530A挤压如上所述被固定到滑架130上的上限位块540A。当检测针脚410A被ISA 300的接合下压时,随着检测针脚410A的近端412A接近传感器560A,检测针脚410A滑动通过上限位块540A。随着检测针脚410A的近端412A接近传感器560A,由容纳于磁体外壳550A中的磁体产生的磁场导致传感器560A的输出电压或数字值增加。当分别对应于检测针脚410A-410B的传感器560A-560B的输出电压或数值超过第一预定阈值时,ISA 300被认为存在并且与滑架130的控制表面310完全接合,该第一阈值可以是由上面描述的校准过程设定的阈值。
现在参照图6C,示出了在外科器械120和ISA 300接合时相对于外科器械120、ISA300和电路板561的图4的滑架130多个检测针脚410A-410D的实施例的示意图。随着外科器械120与ISA 300接合,该外科器械120接触并下压存在针脚610C-610D。下压存在针脚610C-610D进而下压滑架130的控制表面310上的检测针脚410C-410D。在与检测针脚410C-410D接触时,存在针脚610C-610D下压存在针脚410C-410D进入滑架阱部420C-420D。
随着检测针脚410C-410D被外科器械120与ISA 300的接合下压,检测针脚410C-410D分别滑动穿过上限位块540C-540D。随后,每个检测针脚410C-410D的近端412C-412D接近传感器560C-560D中对应的传感器。随着检测针脚410C-410D的近端412C-412D接近传感器560C-560D,由磁体面551C-551D产生的磁场导致传感器560C-560D的输出电压或数字值增加。当传感器560C-560D的输出电压超过第二预定阈值时,外科器械120被认为存在并且与ISA 300完全接合,该第二预定阈值可以是由上面描述的校准过程设定的阈值。
应理解的是,可以通过单个检测针脚或传感器来检测ISA或外科器械的存在。可以使用两个检测针脚或传感器,使得可以检测到与接收表面处于一个角度的ISA或外科器械的部分接合。也可以使用两个检测针脚或传感器来检测两个传感器的非一致输出,这些非一致的输出可以表明需要系统服务。
图7示出来自霍尔效应传感器的一个实施例的数字输出的响应。随着磁体移动得更靠近传感器,模拟霍尔效应传感器的敏感度增加。随着磁体面551A与传感器560A之间的距离减小,例如ISA 300与滑架130的控制表面310接合,带有数字输出值的传感器的每微米行程的分辨率的比特数量增加。例如,对于示出的传感器的实施例,当磁体面551A和传感器560A之间的距离大于2mm时,数字输出值中的1比特变化表示大于1微米的行程。当磁体面551A和传感器560A之间的距离小于1mm时,1微米的行程将产生数字输出值中的多于1比特的变化。
参照图8A-8D,示出检测针脚的多个状态。图8A示出检测针脚的感测尖端510处于最高状态,例如第一状态801。第一状态801可以表示检测针脚的感测尖端510处于其最高位置,该最高位置可以被称为第一下压点。图8B示出检测针脚的感测尖端510处于第二下压点,例如第二状态802。图8C示出检测针脚的感测尖端510处于第三下压点,例如第三状态803。图8D示出检测针脚的感测尖端510处于第四下压点,例如第四状态804。将会看到,随着磁体面551A接近传感器560A,四种下压状态逐渐更靠近在一起,并且输出值的分辨率增加。可以选择四种下压状态使得输出值的差异在每对相邻下压状态之间近似相等。
基于多种状态的检测,可以使用两个而非四个检测针脚来实施本发明以检测ISA300和外科器械120两者。多种状态的检测可以进一步允许检测不同的器械或器械适配器类型,例如区别外科器械与内窥摄像机。
第二至第四状态802-804可以表示以下各项中的一个或多个:(i)与ISA300的接合的一部分已经完成,(ii)ISA 300与滑架130的控制表面310完全接合,(iii)外科器械120与ISA 300之间的接合过程的一部分已经完成,(iv)外科器械120与ISA 300之间的接合过程已经完成,(v)不同于外科器械120的第二外科器械已经完成与ISA 300的接合过程的一部分,和/或(vi)该第二外科器械已经完成与ISA 300的接合过程。此外,一个或多个状态可以表示该第二外科器械、外科器械120和/或ISA 300正在脱离或已经完全脱离滑架130的控制表面310。
作为示例性实例,其仅使用两个检测针脚,则第一状态801可以表示已经不与滑架130的控制表面310接触。在一个实施例中,在与检测针脚410C-410D接触时,存在针脚610C-610D上升至ISA 300内的最高位置。随着ISA 300与滑架130的控制表面310接合,存在针脚610C-610D可以到达其在ISA内的行程的向上限位处并且下压检测针脚410A-410B至第二状态802。当检测针脚都处于第二状态802时,ISA 300可以存在并且与滑架130的控制表面310完全接合。
随着外科器械120与ISA 300接合,该外科器械120接触并下压存在针脚610C-610D。下压存在针脚610C-610D进而下压滑架130的控制表面310上的检测针脚410C-410D。当检测针脚都处于第三状态803时,外科器械120可以存在并且与ISA 300完全接合。当检测针脚都处于第四状态804时,第二种类型的外科器械可以存在并且与ISA 300完全接合。
此外,在一个实施例中,该外科器械120可以包括射频识别(RFID)标签。在这一实施例中,在开始接合过程后,该RFID标签可以提供带有外科器械120的识别信息的远程操作致动的外科器械操纵器。可以使用这样的识别信息来确定检测针脚为何种状态,如上所述,需要考虑该外科器械120与ISA300完全接合。例如,远程操作致动的外科器械操纵器可以读取外科器械120的RFID标签以需要将检测引脚410C-410D在第三状态803下压至少第一预定时间量,从而得出外科器械120与ISA 300接合的结论。可替代地,远程操作致动的外科器械操纵器可以读取第二外科器械的RFID标签以需要将检测引脚410C-410D在第四状态804下压至少第二预定时间量,从而得出第二外科器械与ISA 300接合的结论。在此,第一预定时间量和第二预定时间量在长度上可以等效或可以不等效。
外科器械和器械无菌适配器的移除
对于外科器械120的安装,当移除外科器械120时,可以从检测针脚410C-410D两者中提取读数。在一个实施例中,需要传感器560C-560D以提供低于第三阈值的输出电压以确定外科器械已经被移除。第三阈值可以被设定为小于第二阈值的预定量,该第二阈值被用来确定外科器械的存在。第二阈值和第三阈值之间的差异可以提供滞后效应,其中已经检测到存在外科器械的检测针脚在检测该外科器械的移除之前必须向上移动明显的距离。
在一个实施例中,可以通过使用三相系统的远程操作致动的外科器械操纵器来检测外科器械120的移除。第一,远程操作致动的外科器械操纵器检测来自传感器560C-560D的输出电压的变化。第二,外科器械120可以包括如上所述的RFID标签。随着外科器械120从滑架130的控制表面310脱离并且移动远离远程操作致动的外科器械操纵器,该远程操作致动的外科器械操纵器最终将不再能够检测RFID标签。第三,外科器械120可以包括磁体。在远程操作致动的外科器械操纵器未能检测到RFID标签之后,随着外科器械120移动远离滑架130的控制表面310,该远程操作致动的外科器械操纵器最终将不在能够检测磁体。因此,在采用三相检测系统的实施例中,仅当检测到(i)传感器560C-560D两者的输出电压的变化低于第三阈值,(ii)不能读出外科器械120的RFID标签,(iii)不能检测到外科器械120的磁体的时候,远程操作致动的外科器械操纵器才将确定外科器械120已经被从外科器械操纵器中移除。
此外,以类似的方式执行ISA 300的移除的检测。远程操作致动的外科器械操纵器检测传感器560A-560B的输出电压的变化。当传感器560A-560B都提供低于第四阈值的输出电压时,远程操作致动的外科器械操纵器可以确定ISA 300已经完全脱离滑架130的控制表面310并从其中移除。如结合外科器械检测的第二阈值和第三阈值所讨论,第一阈值和第四阈值之间的差异可能在检测ISA的存在和移除时提供滞后。如上所述,外科器械120可以在检测移除的过程中使用RFID标签。类似地,ISA 300也可以包括用于在移除过程中使用的RFID标签。
上述多个阈值既不必都是等效的,多个阈值中的一个或多个也不必是等效的。但是,所有的阈值在一个实施例中可以是等效的,一个或多个阈值可以在第二实施例中是等效的,并且所有的阈值可以在第三实施例中是不同的。
虽然已经在附图中描述和示出某些示例性实施例,但是应当理解,这些实施例仅仅是对宽泛的发明的例示,而不是限制,并且本发明并不局限于所示出和所描述的具体的构造和布置,因为本领域技术人员可想出各种其它的修改。因此,本说明书被认为是例示性的,而不是限制性的。
Claims (15)
1.一种远程操作的外科系统,包括:
器械滑架,其包括控制表面、相对于所述器械滑架固定的第一霍尔效应传感器以及第一检测针脚;
其中所述第一检测针脚包括近端、远端以及在所述近端处的第一磁体;
其中所述第一检测针脚在所述第一检测针脚的所述近端和远端之间可滑动地往复运动;
其中所述第一检测针脚的所述远端定位在所述控制表面处;并且
其中所述第一检测针脚的所述第一磁体定位为充分靠近所述第一霍尔效应传感器以使所述第一霍尔效应传感器检测所述第一检测针脚的所述运动。
2.如权利要求1所述的远程操作的外科系统,
其中所述控制表面包括阱部;并且
其中所述第一检测针脚的所述远端在所述阱部内。
3.如权利要求1所述的远程操作的外科系统,进一步包括:
器械无菌适配器,其包括底表面和顶表面;
其中在所述器械无菌适配器的所述底表面未耦接至所述器械滑架的所述控制表面的情况下,所述第一检测针脚处于第一状态,在所述第一状态中,所述第一磁体距所述第一霍尔效应传感器第一距离;并且
其中在所述器械无菌适配器的所述底表面可操作地耦接至所述器械滑架的所述控制表面的情况下,所述第一检测针脚处于第二状态,在所述第二状态中,所述第一磁体距所述第一霍尔效应传感器第二距离,所述第二距离不同于所述第一距离。
4.如权利要求1-3中任一项所述的远程操作的外科系统,进一步包括:
外科器械,其包括底表面;
其中所述器械滑架包括第二霍尔效应传感器和第二检测针脚;
其中所述第二检测针脚包括远端、近端以及在所述第二检测针脚的所述近端处的第二磁体;
其中所述第二检测针脚在所述第二检测针脚的所述近端和远端之间可滑动地往复运动;
其中所述第二检测针脚的所述远端定位在所述控制表面处;
其中所述第二检测针脚的所述第二磁体定位为充分靠近所述第二霍尔效应传感器以使所述第二霍尔效应传感器检测所述第二检测针脚的所述运动;
其中在所述外科器械的所述底表面未耦接至所述器械无菌适配器的所述顶表面的情况下,所述第二检测针脚处于第一状态,在所述第一状态中,所述第二磁体距所述第二霍尔效应传感器第三距离;并且
其中在所述外科器械的所述底表面可操作地耦接至所述器械无菌适配器的所述顶表面的情况下,所述第二检测针脚处于第二状态,在所述第二状态中,所述第二磁体距所述第二霍尔效应传感器第四距离,所述第四距离不同于所述第三距离。
5.一种远程操作的外科系统,包括:
器械滑架,其包括控制表面、检测针脚、传感器和滑架控制器;
其中所述检测针脚包括近端和远端;
其中所述检测针脚在所述检测针脚的所述近端和远端之间的方向上相对于所述器械滑架可移动;
其中所述检测针脚的所述远端定位为与所述控制表面相邻;
其中所述传感器相对于所述器械滑架固定;
其中所述传感器检测所述检测针脚的位置;
其中所述滑架控制器耦接至所述传感器;以及
其中所述滑架控制器响应于所述检测针脚的所述远端和所述控制表面之间的距离而提供指示至少所述检测针脚的第一状态和所述检测针脚的第二状态的信号。
6.如权利要求5所述的远程操作的外科系统,进一步包括:
器械无菌适配器,其包括底表面和顶表面;
其中在所述检测针脚的所述远端由于所述器械无菌适配器的所述底表面未耦接至所述器械滑架的所述控制表面而距所述控制表面第一距离的情况下,所述信号指示所述第一状态;并且
其中在所述检测针脚的所述远端由于所述器械无菌适配器的所述底表面可操作地耦接至所述控制表面而距所述控制表面不同于所述第一距离的第二距离的情况下,所述信号指示所述第二状态。
7.如权利要求6所述的远程操作的外科系统,其中:
由所述滑架控制器提供的所述信号进一步响应于所述检测针脚的所述远端与所述控制表面之间的距离而指示至少第三状态。
8.如权利要求7所述的远程操作的外科系统,进一步包括:
外科器械,其包括底表面;
其中在所述检测针脚的所述远端由于所述外科器械的所述底表面可操作地耦接至所述器械无菌适配器而距所述控制表面不同于所述第一距离和所述第二距离的第三距离的情况下,所述信号指示所述第三状态。
9.如权利要求6所述的远程操作的外科系统,其中:
所述器械无菌适配器包括延伸所述检测针脚的所述远端的存在针脚;并且
在所述器械无菌适配器的所述底表面可操作地耦接至所述器械滑架的所述控制表面的情况下,所述存在针脚通过所述检测针脚在所述器械无菌适配器内向远侧移动到所述器械无菌适配器内的行程的远端限位。
10.如权利要求5-9中任一项所述的远程操作的外科系统,其中:
所述器械滑架进一步包括弹簧,所述弹簧耦接到所述检测针脚,使得所述弹簧朝向所述检测针脚的所述远端推动所述检测针脚。
11.一种检测远程操作的外科系统的状态的方法,所述方法包括:
通过使用检测检测针脚的位置的传感器检测所述检测针脚的远端距器械滑架的控制表面的距离;以及
响应于检测到的所述检测针脚的所述远端距所述控制表面的距离而生成指示至少第一状态和第二状态的信号。
12.如权利要求11所述的方法,进一步包括:
在所述检测针脚的所述远端由于器械无菌适配器的底表面未耦接至所述器械滑架的所述控制表面而距所述控制表面第一距离的情况下,以所述信号指示所述第一状态;并且
在所述检测针脚的所述远端由于所述器械无菌适配器的所述底表面可操作地耦接至所述控制表面而距所述控制表面不同于所述第一距离的第二距离的情况下,以所述信号指示所述第二状态。
13.如权利要求12所述的方法,进一步包括:
响应于所述检测针脚的所述远端距所述控制表面的所述距离而指示至少第三状态。
14.如权利要求13所述的方法,进一步包括:
在所述检测针脚的所述远端将所述器械无菌适配器的存在针脚提升到所述器械无菌适配器内的行程的上限位并且所述存在针脚然后向近侧移动所述检测针脚以将所述器械无菌适配器的所述底表面可操作地耦接到所述器械滑架的所述控制表面的情况下,以所述信号指示所述第三状态。
15.一种远程操作的外科系统,包括:
用于检测检测针脚的远端距器械滑架的控制表面的距离的装置;以及
用于响应于所述检测针脚的所述远端距所述器械滑架的所述控制表面的距离而指示至少第一状态和第二状态的装置。
Applications Claiming Priority (18)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201461954595P | 2014-03-17 | 2014-03-17 | |
US201461954571P | 2014-03-17 | 2014-03-17 | |
US201461954502P | 2014-03-17 | 2014-03-17 | |
US201461954497P | 2014-03-17 | 2014-03-17 | |
US201461954557P | 2014-03-17 | 2014-03-17 | |
US61/954,595 | 2014-03-17 | ||
US61/954,497 | 2014-03-17 | ||
US61/954,557 | 2014-03-17 | ||
US61/954,502 | 2014-03-17 | ||
US61/954,571 | 2014-03-17 | ||
US201462019318P | 2014-06-30 | 2014-06-30 | |
US62/019,318 | 2014-06-30 | ||
US201562103991P | 2015-01-15 | 2015-01-15 | |
US62/103,991 | 2015-01-15 | ||
US201562104306P | 2015-01-16 | 2015-01-16 | |
US62/104,306 | 2015-01-16 | ||
PCT/US2015/021020 WO2015142889A1 (en) | 2014-03-17 | 2015-03-17 | Detection pins to determine presence of surgical instrument and adapter on manipulator |
CN201580014411.9A CN106132344B (zh) | 2014-03-17 | 2015-03-17 | 确定操纵器上的外科器械和适配器的存在的检测针脚 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201580014411.9A Division CN106132344B (zh) | 2014-03-17 | 2015-03-17 | 确定操纵器上的外科器械和适配器的存在的检测针脚 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN110123461A true CN110123461A (zh) | 2019-08-16 |
CN110123461B CN110123461B (zh) | 2022-03-25 |
Family
ID=54067678
Family Applications (14)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202010087628.5A Active CN111281550B (zh) | 2014-03-17 | 2015-03-17 | 手术器械与远程操作致动器之间的无菌屏障 |
CN202010417746.8A Active CN111671521B (zh) | 2014-03-17 | 2015-03-17 | 用于将运动从伺服致动器传递到外科手术器械的联接器 |
CN201910409914.6A Active CN110123461B (zh) | 2014-03-17 | 2015-03-17 | 确定操纵器上的外科器械和适配器的存在的检测针脚 |
CN202010993620.5A Pending CN112022244A (zh) | 2014-03-17 | 2015-03-17 | 遥控式致动的手术器械的调准和接合 |
CN201580013601.9A Active CN106132342B (zh) | 2014-03-17 | 2015-03-17 | 将远程操作外科手术器械固定到致动器的闩锁 |
CN201580014408.7A Active CN106102646B (zh) | 2014-03-17 | 2015-03-17 | 遥控式致动的手术器械的调准和接合 |
CN201580013952.XA Active CN106102631B (zh) | 2014-03-17 | 2015-03-17 | 用于将运动从伺服致动器传递到外科手术器械的联接器 |
CN201580013290.6A Active CN106102638B (zh) | 2014-03-17 | 2015-03-17 | 用于手术器械与远程操作致动器之间的无菌屏障的信号连接器 |
CN202410206298.5A Pending CN118078451A (zh) | 2014-03-17 | 2015-03-17 | 手术器械与远程操作致动器之间的无菌屏障 |
CN201580013292.5A Active CN106102639B (zh) | 2014-03-17 | 2015-03-17 | 手术器械与远程操作致动器之间的无菌屏障 |
CN202310216510.1A Pending CN116058981A (zh) | 2014-03-17 | 2015-03-17 | 将远程操作外科手术器械固定到致动器的闩锁 |
CN201910766854.3A Active CN110448383B (zh) | 2014-03-17 | 2015-03-17 | 将远程操作外科手术器械固定到致动器的闩锁 |
CN201580013607.6A Active CN106102640B (zh) | 2014-03-17 | 2015-03-17 | 用于使外科器械与远程操作致动器接合的方法 |
CN201580014411.9A Active CN106132344B (zh) | 2014-03-17 | 2015-03-17 | 确定操纵器上的外科器械和适配器的存在的检测针脚 |
Family Applications Before (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202010087628.5A Active CN111281550B (zh) | 2014-03-17 | 2015-03-17 | 手术器械与远程操作致动器之间的无菌屏障 |
CN202010417746.8A Active CN111671521B (zh) | 2014-03-17 | 2015-03-17 | 用于将运动从伺服致动器传递到外科手术器械的联接器 |
Family Applications After (11)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202010993620.5A Pending CN112022244A (zh) | 2014-03-17 | 2015-03-17 | 遥控式致动的手术器械的调准和接合 |
CN201580013601.9A Active CN106132342B (zh) | 2014-03-17 | 2015-03-17 | 将远程操作外科手术器械固定到致动器的闩锁 |
CN201580014408.7A Active CN106102646B (zh) | 2014-03-17 | 2015-03-17 | 遥控式致动的手术器械的调准和接合 |
CN201580013952.XA Active CN106102631B (zh) | 2014-03-17 | 2015-03-17 | 用于将运动从伺服致动器传递到外科手术器械的联接器 |
CN201580013290.6A Active CN106102638B (zh) | 2014-03-17 | 2015-03-17 | 用于手术器械与远程操作致动器之间的无菌屏障的信号连接器 |
CN202410206298.5A Pending CN118078451A (zh) | 2014-03-17 | 2015-03-17 | 手术器械与远程操作致动器之间的无菌屏障 |
CN201580013292.5A Active CN106102639B (zh) | 2014-03-17 | 2015-03-17 | 手术器械与远程操作致动器之间的无菌屏障 |
CN202310216510.1A Pending CN116058981A (zh) | 2014-03-17 | 2015-03-17 | 将远程操作外科手术器械固定到致动器的闩锁 |
CN201910766854.3A Active CN110448383B (zh) | 2014-03-17 | 2015-03-17 | 将远程操作外科手术器械固定到致动器的闩锁 |
CN201580013607.6A Active CN106102640B (zh) | 2014-03-17 | 2015-03-17 | 用于使外科器械与远程操作致动器接合的方法 |
CN201580014411.9A Active CN106132344B (zh) | 2014-03-17 | 2015-03-17 | 确定操纵器上的外科器械和适配器的存在的检测针脚 |
Country Status (6)
Country | Link |
---|---|
US (26) | US10639119B2 (zh) |
EP (18) | EP4079253A1 (zh) |
JP (17) | JP6505125B2 (zh) |
KR (12) | KR102377893B1 (zh) |
CN (14) | CN111281550B (zh) |
WO (8) | WO2015142789A1 (zh) |
Families Citing this family (324)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8600478B2 (en) | 2007-02-19 | 2013-12-03 | Medtronic Navigation, Inc. | Automatic identification of instruments used with a surgical navigation system |
US9259274B2 (en) | 2008-09-30 | 2016-02-16 | Intuitive Surgical Operations, Inc. | Passive preload and capstan drive for surgical instruments |
US9339342B2 (en) | 2008-09-30 | 2016-05-17 | Intuitive Surgical Operations, Inc. | Instrument interface |
US11871901B2 (en) | 2012-05-20 | 2024-01-16 | Cilag Gmbh International | Method for situational awareness for surgical network or surgical network connected device capable of adjusting function based on a sensed situation or usage |
US20140005640A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Surgical end effector jaw and electrode configurations |
US10512511B2 (en) * | 2013-07-24 | 2019-12-24 | Centre For Surgical Invention And Innovation | Multi-function mounting interface for an image-guided robotic system and quick release interventional toolset |
EP3708105B1 (en) | 2013-08-15 | 2022-02-09 | Intuitive Surgical Operations, Inc. | Preloaded surgical instrument interface |
CN113274137A (zh) | 2013-08-15 | 2021-08-20 | 直观外科手术操作公司 | 器械无菌适配器驱动接口 |
WO2015023793A1 (en) | 2013-08-15 | 2015-02-19 | Intuitive Surgical Operations, Inc. | Variable instrument preload mechanism controller |
CN105611894B (zh) | 2013-08-15 | 2019-02-15 | 直观外科手术操作公司 | 器械无菌适配器驱动特征 |
US10550918B2 (en) | 2013-08-15 | 2020-02-04 | Intuitive Surgical Operations, Inc. | Lever actuated gimbal plate |
WO2015023853A1 (en) | 2013-08-15 | 2015-02-19 | Intuitive Surgical Operations, Inc. | Robotic instrument driven element |
US10076348B2 (en) | 2013-08-15 | 2018-09-18 | Intuitive Surgical Operations, Inc. | Rotary input for lever actuation |
EP3079608B8 (en) | 2013-12-11 | 2020-04-01 | Covidien LP | Wrist and jaw assemblies for robotic surgical systems |
EP3679885B1 (en) | 2014-03-17 | 2024-02-28 | Intuitive Surgical Operations, Inc. | Systems and methods for confirming disc engagement |
CN111281550B (zh) | 2014-03-17 | 2024-03-15 | 直观外科手术操作公司 | 手术器械与远程操作致动器之间的无菌屏障 |
CN110063791B (zh) | 2014-08-13 | 2022-04-15 | 柯惠Lp公司 | 机器人控制的具有机械优势的夹持 |
US10710246B2 (en) | 2014-08-15 | 2020-07-14 | Intuitive Surgical Operations, Inc. | Surgical system with variable entry guide configurations |
US11504192B2 (en) | 2014-10-30 | 2022-11-22 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
DE102014117407A1 (de) * | 2014-11-27 | 2016-06-02 | avateramedical GmBH | Vorrichtung zur robotergestützten Chirurgie |
CA2975907C (en) | 2015-02-19 | 2023-10-10 | Covidien Lp | Repositioning method of input device for robotic surgical system |
CN107249496B (zh) | 2015-02-20 | 2021-11-09 | 史赛克公司 | 无菌屏障组件、用于联接手术部件的安装系统和方法 |
CN107405172B (zh) | 2015-03-10 | 2021-04-13 | 柯惠Lp公司 | 测量机器人手术系统的连接器部件的健康状况 |
US10780573B2 (en) * | 2015-04-27 | 2020-09-22 | Intuitive Surgical Operations, Inc. | Surgical instrument housing, and related systems, and methods |
GB2538326B (en) * | 2015-05-07 | 2019-06-05 | Cmr Surgical Ltd | A surgical drape for transferring drive |
GB2538230B (en) * | 2015-05-07 | 2019-01-02 | Cmr Surgical Ltd | A surgical drape for transferring drive |
CN107666866A (zh) | 2015-06-03 | 2018-02-06 | 柯惠Lp公司 | 偏置器械驱动单元 |
EP4190264A1 (en) | 2015-06-11 | 2023-06-07 | Intuitive Surgical Operations, Inc. | Systems and methods for instrument engagement |
CN107743384B (zh) | 2015-06-16 | 2020-12-22 | 柯惠Lp公司 | 机器人外科手术系统扭矩传感感测 |
WO2016209769A1 (en) | 2015-06-23 | 2016-12-29 | Covidien Lp | Robotic surgical assemblies |
WO2017053363A1 (en) | 2015-09-25 | 2017-03-30 | Covidien Lp | Robotic surgical assemblies and instrument drive connectors thereof |
CN108135670B (zh) | 2015-10-23 | 2021-02-26 | 柯惠Lp公司 | 用于检测灌注中逐步变化的手术系统 |
WO2017087439A1 (en) | 2015-11-19 | 2017-05-26 | Covidien Lp | Optical force sensor for robotic surgical system |
WO2017173524A1 (en) | 2016-04-07 | 2017-10-12 | Titan Medical Inc. | Camera positioning method and apparatus for capturing images during a medical procedure |
EP3463144A4 (en) * | 2016-05-26 | 2020-01-22 | Covidien LP | ROBOTIC SURGICAL ASSEMBLIES |
CA3022139A1 (en) | 2016-05-26 | 2017-11-30 | Covidien Lp | Instrument drive units |
EP3463150B1 (en) | 2016-06-03 | 2023-09-27 | Covidien LP | Control arm for robotic surgical systems |
WO2017210074A1 (en) | 2016-06-03 | 2017-12-07 | Covidien Lp | Passive axis system for robotic surgical systems |
WO2017210497A1 (en) | 2016-06-03 | 2017-12-07 | Covidien Lp | Systems, methods, and computer-readable program products for controlling a robotically delivered manipulator |
US11553984B2 (en) | 2016-06-03 | 2023-01-17 | Covidien Lp | Robotic surgical system with an embedded imager |
US11000345B2 (en) | 2016-07-14 | 2021-05-11 | Intuitive Surgical Operations, Inc. | Instrument flushing system |
US11890070B2 (en) | 2016-07-14 | 2024-02-06 | Intuitive Surgical Operations, Inc. | Instrument release |
KR102421380B1 (ko) * | 2016-07-14 | 2022-07-18 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 기계식 로크아웃을 갖는 살균 어댑터를 포함하는 수술 장치 |
WO2018013316A1 (en) | 2016-07-14 | 2018-01-18 | Intuitive Surgical Operations, Inc. | Geared roll drive for medical instrument |
CN109688960B (zh) | 2016-07-14 | 2022-04-01 | 直观外科手术操作公司 | 多线缆医疗器械 |
US11007024B2 (en) | 2016-07-14 | 2021-05-18 | Intuitive Surgical Operations, Inc. | Geared grip actuation for medical instruments |
GB2552553B (en) | 2016-07-29 | 2022-03-16 | Cmr Surgical Ltd | Motion feedthrough |
GB201615616D0 (en) | 2016-09-14 | 2016-10-26 | Cambridge Medical Robotics Ltd | Interfacing a surgical robotic arm and instrument |
GB2552540B (en) * | 2016-07-29 | 2021-11-24 | Cmr Surgical Ltd | Interface structure |
US11925431B2 (en) | 2016-07-29 | 2024-03-12 | Cmr Surgical Limited | Motion feedthrough |
US10478256B2 (en) * | 2016-08-16 | 2019-11-19 | Ethicon Llc | Robotics tool bailouts |
CN109788994B (zh) * | 2016-10-18 | 2022-07-19 | 直观外科手术操作公司 | 计算机辅助的远程操作手术系统和方法 |
CN110198681B (zh) | 2016-11-21 | 2022-09-13 | 直观外科手术操作公司 | 线缆长度持恒的医疗器械 |
US10149727B2 (en) | 2016-12-09 | 2018-12-11 | Ethicon Llc | Surgical tool and robotic surgical system interfaces |
US10588704B2 (en) * | 2016-12-09 | 2020-03-17 | Ethicon Llc | Surgical tool and robotic surgical system interfaces |
US10149732B2 (en) | 2016-12-09 | 2018-12-11 | Ethicon Llc | Surgical tool and robotic surgical system interfaces |
US10433920B2 (en) | 2016-12-09 | 2019-10-08 | Ethicon Llc | Surgical tool and robotic surgical system interfaces |
AU2017379816B2 (en) | 2016-12-20 | 2020-02-20 | Verb Surgical Inc. | Sterile adapter control system and communication interface for use in a robotic surgical system |
GB2599324B (en) * | 2017-02-07 | 2022-09-07 | Cmr Surgical Ltd | Mounting an endoscope to a surgical robot |
US11690691B2 (en) | 2017-02-15 | 2023-07-04 | Covidien Lp | System and apparatus for crush prevention for medical robot applications |
US10357321B2 (en) | 2017-02-24 | 2019-07-23 | Intuitive Surgical Operations, Inc. | Splayed cable guide for a medical instrument |
US11076926B2 (en) | 2017-03-21 | 2021-08-03 | Intuitive Surgical Operations, Inc. | Manual release for medical device drive system |
US10671969B2 (en) * | 2017-05-03 | 2020-06-02 | Summate Technologies, Inc. | Operating room situated, parts-inventory control system and supervisory arrangement for accurately tracking the use of and accounting for the ultimate disposition of an individual component part of a complete implant which is then being surgically engrafted in-vivo upon or into the body of a living subject |
US11317980B2 (en) * | 2017-05-09 | 2022-05-03 | Asensus Surgical Us, Inc. | Instrument end effector identification |
WO2018217429A1 (en) | 2017-05-24 | 2018-11-29 | Covidien Lp | Presence detection for electrosurgical tools in a robotic system |
US11839441B2 (en) | 2017-05-25 | 2023-12-12 | Covidien Lp | Robotic surgical system with automated guidance |
US11510747B2 (en) | 2017-05-25 | 2022-11-29 | Covidien Lp | Robotic surgical systems and drapes for covering components of robotic surgical systems |
EP3629981A4 (en) | 2017-05-25 | 2021-04-07 | Covidien LP | SYSTEMS AND METHODS FOR DETECTION OF OBJECTS WITHIN A FIELD OF VIEW OF AN IMAGE CAPTURING DEVICE |
GB2563234B (en) | 2017-06-06 | 2021-12-08 | Cmr Surgical Ltd | Securing an interface element rail of a robotic surgical instrument interface |
US10966720B2 (en) | 2017-09-01 | 2021-04-06 | RevMedica, Inc. | Surgical stapler with removable power pack |
US10695060B2 (en) * | 2017-09-01 | 2020-06-30 | RevMedica, Inc. | Loadable power pack for surgical instruments |
US11331099B2 (en) | 2017-09-01 | 2022-05-17 | Rev Medica, Inc. | Surgical stapler with removable power pack and interchangeable battery pack |
CA3074443A1 (en) | 2017-09-05 | 2019-03-14 | Covidien Lp | Collision handling algorithms for robotic surgical systems |
CN111132629B (zh) | 2017-09-06 | 2024-04-16 | 柯惠Lp公司 | 手术机器人的边界缩放 |
US11096754B2 (en) | 2017-10-04 | 2021-08-24 | Mako Surgical Corp. | Sterile drape assembly for surgical robot |
US10624708B2 (en) * | 2017-10-26 | 2020-04-21 | Ethicon Llc | Auto cable tensioning system |
US10624709B2 (en) * | 2017-10-26 | 2020-04-21 | Ethicon Llc | Robotic surgical tool with manual release lever |
US11311342B2 (en) | 2017-10-30 | 2022-04-26 | Cilag Gmbh International | Method for communicating with surgical instrument systems |
US20190125320A1 (en) | 2017-10-30 | 2019-05-02 | Ethicon Llc | Control system arrangements for a modular surgical instrument |
US11510741B2 (en) | 2017-10-30 | 2022-11-29 | Cilag Gmbh International | Method for producing a surgical instrument comprising a smart electrical system |
US11801098B2 (en) | 2017-10-30 | 2023-10-31 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
US11229436B2 (en) | 2017-10-30 | 2022-01-25 | Cilag Gmbh International | Surgical system comprising a surgical tool and a surgical hub |
US11413042B2 (en) | 2017-10-30 | 2022-08-16 | Cilag Gmbh International | Clip applier comprising a reciprocating clip advancing member |
US11564756B2 (en) | 2017-10-30 | 2023-01-31 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
US11317919B2 (en) | 2017-10-30 | 2022-05-03 | Cilag Gmbh International | Clip applier comprising a clip crimping system |
US11911045B2 (en) | 2017-10-30 | 2024-02-27 | Cllag GmbH International | Method for operating a powered articulating multi-clip applier |
US11291510B2 (en) | 2017-10-30 | 2022-04-05 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
JP6936713B2 (ja) * | 2017-11-27 | 2021-09-22 | 株式会社デンソーウェーブ | ロボット用の保護ジャケット |
EP3716881A4 (en) * | 2017-11-30 | 2021-08-18 | Covidien LP | ROBOTIC SURGICAL INSTRUMENT WITH INSTRUMENT ROTATION BASED ON A TRANSLATION POSITION |
US11786251B2 (en) | 2017-12-28 | 2023-10-17 | Cilag Gmbh International | Method for adaptive control schemes for surgical network control and interaction |
US11969142B2 (en) | 2017-12-28 | 2024-04-30 | Cilag Gmbh International | Method of compressing tissue within a stapling device and simultaneously displaying the location of the tissue within the jaws |
US11100631B2 (en) | 2017-12-28 | 2021-08-24 | Cilag Gmbh International | Use of laser light and red-green-blue coloration to determine properties of back scattered light |
US11284936B2 (en) | 2017-12-28 | 2022-03-29 | Cilag Gmbh International | Surgical instrument having a flexible electrode |
US11969216B2 (en) | 2017-12-28 | 2024-04-30 | Cilag Gmbh International | Surgical network recommendations from real time analysis of procedure variables against a baseline highlighting differences from the optimal solution |
US11633237B2 (en) | 2017-12-28 | 2023-04-25 | Cilag Gmbh International | Usage and technique analysis of surgeon / staff performance against a baseline to optimize device utilization and performance for both current and future procedures |
US11864728B2 (en) | 2017-12-28 | 2024-01-09 | Cilag Gmbh International | Characterization of tissue irregularities through the use of mono-chromatic light refractivity |
US11132462B2 (en) | 2017-12-28 | 2021-09-28 | Cilag Gmbh International | Data stripping method to interrogate patient records and create anonymized record |
US10966791B2 (en) | 2017-12-28 | 2021-04-06 | Ethicon Llc | Cloud-based medical analytics for medical facility segmented individualization of instrument function |
US11559308B2 (en) | 2017-12-28 | 2023-01-24 | Cilag Gmbh International | Method for smart energy device infrastructure |
US11571234B2 (en) | 2017-12-28 | 2023-02-07 | Cilag Gmbh International | Temperature control of ultrasonic end effector and control system therefor |
US11844579B2 (en) | 2017-12-28 | 2023-12-19 | Cilag Gmbh International | Adjustments based on airborne particle properties |
US11324557B2 (en) | 2017-12-28 | 2022-05-10 | Cilag Gmbh International | Surgical instrument with a sensing array |
US10695081B2 (en) | 2017-12-28 | 2020-06-30 | Ethicon Llc | Controlling a surgical instrument according to sensed closure parameters |
US11419630B2 (en) | 2017-12-28 | 2022-08-23 | Cilag Gmbh International | Surgical system distributed processing |
US11147607B2 (en) | 2017-12-28 | 2021-10-19 | Cilag Gmbh International | Bipolar combination device that automatically adjusts pressure based on energy modality |
US10987178B2 (en) | 2017-12-28 | 2021-04-27 | Ethicon Llc | Surgical hub control arrangements |
US10898622B2 (en) | 2017-12-28 | 2021-01-26 | Ethicon Llc | Surgical evacuation system with a communication circuit for communication between a filter and a smoke evacuation device |
US11832840B2 (en) | 2017-12-28 | 2023-12-05 | Cilag Gmbh International | Surgical instrument having a flexible circuit |
US11432885B2 (en) | 2017-12-28 | 2022-09-06 | Cilag Gmbh International | Sensing arrangements for robot-assisted surgical platforms |
US11051876B2 (en) | 2017-12-28 | 2021-07-06 | Cilag Gmbh International | Surgical evacuation flow paths |
US11304699B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Method for adaptive control schemes for surgical network control and interaction |
US10932872B2 (en) | 2017-12-28 | 2021-03-02 | Ethicon Llc | Cloud-based medical analytics for linking of local usage trends with the resource acquisition behaviors of larger data set |
US10892995B2 (en) | 2017-12-28 | 2021-01-12 | Ethicon Llc | Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs |
US11786245B2 (en) | 2017-12-28 | 2023-10-17 | Cilag Gmbh International | Surgical systems with prioritized data transmission capabilities |
US11612408B2 (en) | 2017-12-28 | 2023-03-28 | Cilag Gmbh International | Determining tissue composition via an ultrasonic system |
US10892899B2 (en) | 2017-12-28 | 2021-01-12 | Ethicon Llc | Self describing data packets generated at an issuing instrument |
US11317937B2 (en) | 2018-03-08 | 2022-05-03 | Cilag Gmbh International | Determining the state of an ultrasonic end effector |
US20190201142A1 (en) | 2017-12-28 | 2019-07-04 | Ethicon Llc | Automatic tool adjustments for robot-assisted surgical platforms |
US11424027B2 (en) | 2017-12-28 | 2022-08-23 | Cilag Gmbh International | Method for operating surgical instrument systems |
US11026751B2 (en) | 2017-12-28 | 2021-06-08 | Cilag Gmbh International | Display of alignment of staple cartridge to prior linear staple line |
US11659023B2 (en) | 2017-12-28 | 2023-05-23 | Cilag Gmbh International | Method of hub communication |
US11253315B2 (en) | 2017-12-28 | 2022-02-22 | Cilag Gmbh International | Increasing radio frequency to create pad-less monopolar loop |
US11464535B2 (en) | 2017-12-28 | 2022-10-11 | Cilag Gmbh International | Detection of end effector emersion in liquid |
US11576677B2 (en) | 2017-12-28 | 2023-02-14 | Cilag Gmbh International | Method of hub communication, processing, display, and cloud analytics |
US11896322B2 (en) | 2017-12-28 | 2024-02-13 | Cilag Gmbh International | Sensing the patient position and contact utilizing the mono-polar return pad electrode to provide situational awareness to the hub |
US11096693B2 (en) | 2017-12-28 | 2021-08-24 | Cilag Gmbh International | Adjustment of staple height of at least one row of staples based on the sensed tissue thickness or force in closing |
US11666331B2 (en) | 2017-12-28 | 2023-06-06 | Cilag Gmbh International | Systems for detecting proximity of surgical end effector to cancerous tissue |
US11678881B2 (en) | 2017-12-28 | 2023-06-20 | Cilag Gmbh International | Spatial awareness of surgical hubs in operating rooms |
US20190201039A1 (en) | 2017-12-28 | 2019-07-04 | Ethicon Llc | Situational awareness of electrosurgical systems |
US11179208B2 (en) | 2017-12-28 | 2021-11-23 | Cilag Gmbh International | Cloud-based medical analytics for security and authentication trends and reactive measures |
US11166772B2 (en) | 2017-12-28 | 2021-11-09 | Cilag Gmbh International | Surgical hub coordination of control and communication of operating room devices |
US11602393B2 (en) | 2017-12-28 | 2023-03-14 | Cilag Gmbh International | Surgical evacuation sensing and generator control |
US11903601B2 (en) | 2017-12-28 | 2024-02-20 | Cilag Gmbh International | Surgical instrument comprising a plurality of drive systems |
US20190201087A1 (en) | 2017-12-28 | 2019-07-04 | Ethicon Llc | Smoke evacuation system including a segmented control circuit for interactive surgical platform |
US11234756B2 (en) | 2017-12-28 | 2022-02-01 | Cilag Gmbh International | Powered surgical tool with predefined adjustable control algorithm for controlling end effector parameter |
US11419667B2 (en) | 2017-12-28 | 2022-08-23 | Cilag Gmbh International | Ultrasonic energy device which varies pressure applied by clamp arm to provide threshold control pressure at a cut progression location |
US11376002B2 (en) | 2017-12-28 | 2022-07-05 | Cilag Gmbh International | Surgical instrument cartridge sensor assemblies |
US11202570B2 (en) | 2017-12-28 | 2021-12-21 | Cilag Gmbh International | Communication hub and storage device for storing parameters and status of a surgical device to be shared with cloud based analytics systems |
US11464559B2 (en) | 2017-12-28 | 2022-10-11 | Cilag Gmbh International | Estimating state of ultrasonic end effector and control system therefor |
US11559307B2 (en) | 2017-12-28 | 2023-01-24 | Cilag Gmbh International | Method of robotic hub communication, detection, and control |
US11818052B2 (en) | 2017-12-28 | 2023-11-14 | Cilag Gmbh International | Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs |
US11410259B2 (en) | 2017-12-28 | 2022-08-09 | Cilag Gmbh International | Adaptive control program updates for surgical devices |
US11696760B2 (en) | 2017-12-28 | 2023-07-11 | Cilag Gmbh International | Safety systems for smart powered surgical stapling |
US11364075B2 (en) | 2017-12-28 | 2022-06-21 | Cilag Gmbh International | Radio frequency energy device for delivering combined electrical signals |
US11069012B2 (en) | 2017-12-28 | 2021-07-20 | Cilag Gmbh International | Interactive surgical systems with condition handling of devices and data capabilities |
US11273001B2 (en) | 2017-12-28 | 2022-03-15 | Cilag Gmbh International | Surgical hub and modular device response adjustment based on situational awareness |
US11896443B2 (en) | 2017-12-28 | 2024-02-13 | Cilag Gmbh International | Control of a surgical system through a surgical barrier |
US11291495B2 (en) | 2017-12-28 | 2022-04-05 | Cilag Gmbh International | Interruption of energy due to inadvertent capacitive coupling |
US11278281B2 (en) | 2017-12-28 | 2022-03-22 | Cilag Gmbh International | Interactive surgical system |
US11076921B2 (en) | 2017-12-28 | 2021-08-03 | Cilag Gmbh International | Adaptive control program updates for surgical hubs |
US11304763B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Image capturing of the areas outside the abdomen to improve placement and control of a surgical device in use |
US11529187B2 (en) | 2017-12-28 | 2022-12-20 | Cilag Gmbh International | Surgical evacuation sensor arrangements |
US10758310B2 (en) | 2017-12-28 | 2020-09-01 | Ethicon Llc | Wireless pairing of a surgical device with another device within a sterile surgical field based on the usage and situational awareness of devices |
US11308075B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Surgical network, instrument, and cloud responses based on validation of received dataset and authentication of its source and integrity |
US11589888B2 (en) | 2017-12-28 | 2023-02-28 | Cilag Gmbh International | Method for controlling smart energy devices |
US11311306B2 (en) | 2017-12-28 | 2022-04-26 | Cilag Gmbh International | Surgical systems for detecting end effector tissue distribution irregularities |
US11998193B2 (en) | 2017-12-28 | 2024-06-04 | Cilag Gmbh International | Method for usage of the shroud as an aspect of sensing or controlling a powered surgical device, and a control algorithm to adjust its default operation |
US11832899B2 (en) | 2017-12-28 | 2023-12-05 | Cilag Gmbh International | Surgical systems with autonomously adjustable control programs |
US11304745B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Surgical evacuation sensing and display |
US11744604B2 (en) | 2017-12-28 | 2023-09-05 | Cilag Gmbh International | Surgical instrument with a hardware-only control circuit |
US11446052B2 (en) | 2017-12-28 | 2022-09-20 | Cilag Gmbh International | Variation of radio frequency and ultrasonic power level in cooperation with varying clamp arm pressure to achieve predefined heat flux or power applied to tissue |
US10849697B2 (en) | 2017-12-28 | 2020-12-01 | Ethicon Llc | Cloud interface for coupled surgical devices |
US10943454B2 (en) | 2017-12-28 | 2021-03-09 | Ethicon Llc | Detection and escalation of security responses of surgical instruments to increasing severity threats |
US11540855B2 (en) | 2017-12-28 | 2023-01-03 | Cilag Gmbh International | Controlling activation of an ultrasonic surgical instrument according to the presence of tissue |
US11857152B2 (en) | 2017-12-28 | 2024-01-02 | Cilag Gmbh International | Surgical hub spatial awareness to determine devices in operating theater |
US11257589B2 (en) | 2017-12-28 | 2022-02-22 | Cilag Gmbh International | Real-time analysis of comprehensive cost of all instrumentation used in surgery utilizing data fluidity to track instruments through stocking and in-house processes |
US11937769B2 (en) | 2017-12-28 | 2024-03-26 | Cilag Gmbh International | Method of hub communication, processing, storage and display |
US11160605B2 (en) | 2017-12-28 | 2021-11-02 | Cilag Gmbh International | Surgical evacuation sensing and motor control |
US11109866B2 (en) | 2017-12-28 | 2021-09-07 | Cilag Gmbh International | Method for circular stapler control algorithm adjustment based on situational awareness |
US11423007B2 (en) | 2017-12-28 | 2022-08-23 | Cilag Gmbh International | Adjustment of device control programs based on stratified contextual data in addition to the data |
US10944728B2 (en) | 2017-12-28 | 2021-03-09 | Ethicon Llc | Interactive surgical systems with encrypted communication capabilities |
US11304720B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Activation of energy devices |
US11056244B2 (en) | 2017-12-28 | 2021-07-06 | Cilag Gmbh International | Automated data scaling, alignment, and organizing based on predefined parameters within surgical networks |
US11389164B2 (en) | 2017-12-28 | 2022-07-19 | Cilag Gmbh International | Method of using reinforced flexible circuits with multiple sensors to optimize performance of radio frequency devices |
US11266468B2 (en) | 2017-12-28 | 2022-03-08 | Cilag Gmbh International | Cooperative utilization of data derived from secondary sources by intelligent surgical hubs |
US20190201139A1 (en) | 2017-12-28 | 2019-07-04 | Ethicon Llc | Communication arrangements for robot-assisted surgical platforms |
EP3735199A4 (en) | 2018-01-04 | 2021-10-13 | Covidien LP | SYSTEMS AND ARRANGEMENTS FOR ATTACHING A SURGICAL ACCESSORY TO ROBOTIC SURGICAL SYSTEMS AND PROVIDING ACCESS THROUGH |
JP7000583B2 (ja) * | 2018-01-09 | 2022-01-19 | コヴィディエン リミテッド パートナーシップ | ロボット手術アセンブリのための滅菌インターフェースモジュール |
CN110025338B (zh) * | 2018-01-12 | 2021-02-12 | 杭州术创机器人有限公司 | 一种机器人手术系统的无菌适配器组件 |
CN110025337A (zh) * | 2018-01-12 | 2019-07-19 | 杭州术创机器人有限公司 | 一种将无菌适配器组件固定到致动器组件的锁定机构 |
GB2570520B8 (en) * | 2018-01-30 | 2023-05-24 | Cmr Surgical Ltd | Interfacing a surgical robotic arm and instrument |
US11497567B2 (en) | 2018-02-08 | 2022-11-15 | Intuitive Surgical Operations, Inc. | Jointed control platform |
US11118661B2 (en) | 2018-02-12 | 2021-09-14 | Intuitive Surgical Operations, Inc. | Instrument transmission converting roll to linear actuation |
US10695140B2 (en) * | 2018-02-15 | 2020-06-30 | Ethicon Llc | Near field communication between a surgical instrument and a robotic surgical system |
US11189379B2 (en) | 2018-03-06 | 2021-11-30 | Digital Surgery Limited | Methods and systems for using multiple data structures to process surgical data |
US11259830B2 (en) | 2018-03-08 | 2022-03-01 | Cilag Gmbh International | Methods for controlling temperature in ultrasonic device |
US11589915B2 (en) | 2018-03-08 | 2023-02-28 | Cilag Gmbh International | In-the-jaw classifier based on a model |
JP2021514220A (ja) | 2018-03-08 | 2021-06-10 | コヴィディエン リミテッド パートナーシップ | 手術ロボットシステム |
US11399858B2 (en) | 2018-03-08 | 2022-08-02 | Cilag Gmbh International | Application of smart blade technology |
EP3768187A4 (en) * | 2018-03-21 | 2021-12-22 | The Regents Of The University Of California | FAST AND PRECISE TOOL EXCHANGE MECHANISM FOR INTRAOCULAR ROBOTIC SURGICAL SYSTEMS |
US11090047B2 (en) | 2018-03-28 | 2021-08-17 | Cilag Gmbh International | Surgical instrument comprising an adaptive control system |
US11207067B2 (en) | 2018-03-28 | 2021-12-28 | Cilag Gmbh International | Surgical stapling device with separate rotary driven closure and firing systems and firing member that engages both jaws while firing |
US10973520B2 (en) | 2018-03-28 | 2021-04-13 | Ethicon Llc | Surgical staple cartridge with firing member driven camming assembly that has an onboard tissue cutting feature |
US11197668B2 (en) | 2018-03-28 | 2021-12-14 | Cilag Gmbh International | Surgical stapling assembly comprising a lockout and an exterior access orifice to permit artificial unlocking of the lockout |
US11471156B2 (en) | 2018-03-28 | 2022-10-18 | Cilag Gmbh International | Surgical stapling devices with improved rotary driven closure systems |
US11219453B2 (en) | 2018-03-28 | 2022-01-11 | Cilag Gmbh International | Surgical stapling devices with cartridge compatible closure and firing lockout arrangements |
US11589865B2 (en) | 2018-03-28 | 2023-02-28 | Cilag Gmbh International | Methods for controlling a powered surgical stapler that has separate rotary closure and firing systems |
US11096688B2 (en) | 2018-03-28 | 2021-08-24 | Cilag Gmbh International | Rotary driven firing members with different anvil and channel engagement features |
US11278280B2 (en) | 2018-03-28 | 2022-03-22 | Cilag Gmbh International | Surgical instrument comprising a jaw closure lockout |
WO2019195841A1 (en) * | 2018-04-06 | 2019-10-10 | Project Moray, Inc. | Improved fluidic drivers, devices, methods, and systems for catheters and other uses |
US11647888B2 (en) | 2018-04-20 | 2023-05-16 | Covidien Lp | Compensation for observer movement in robotic surgical systems having stereoscopic displays |
CN110384557B (zh) * | 2018-04-20 | 2021-03-30 | 赛诺微医疗科技(浙江)有限公司 | 组合定位机构、采用其的器械夹持手及外科手术机器人 |
JP7071045B2 (ja) | 2018-04-20 | 2022-05-18 | コヴィディエン リミテッド パートナーシップ | 外科用ロボットカートの配置のためのシステムおよび方法 |
CN110384556B (zh) * | 2018-04-20 | 2021-04-02 | 赛诺微医疗科技(浙江)有限公司 | 快换机构、采用其的器械夹持手及外科手术机器人 |
CN110559078B (zh) * | 2018-06-05 | 2021-03-30 | 杭州术创机器人有限公司 | 一种用于微创手术系统的套管固定组件 |
CN110623748B (zh) * | 2018-06-22 | 2021-02-19 | 深圳市精锋医疗科技有限公司 | 可快速安装的从操作设备、操作臂、动力机构及连接机构 |
CN110623734B (zh) * | 2018-06-22 | 2021-07-09 | 深圳市精锋医疗科技有限公司 | 高精度手术机器人 |
CN109091239B (zh) * | 2018-06-22 | 2021-06-01 | 深圳市精锋医疗科技有限公司 | 具有安装槽的手术机器人 |
US11576739B2 (en) | 2018-07-03 | 2023-02-14 | Covidien Lp | Systems, methods, and computer-readable media for detecting image degradation during surgical procedures |
US11490971B2 (en) * | 2018-08-28 | 2022-11-08 | Medicaroid Corporation | Driver interface, robotic surgical apparatus, and method of detecting attachment of surgical instrument to driver interface |
JP6902003B2 (ja) | 2018-08-28 | 2021-07-14 | 株式会社メディカロイド | 滅菌ドレープおよび手術器具の取付方法 |
JP6839220B2 (ja) * | 2018-08-28 | 2021-03-03 | 株式会社メディカロイド | 駆動部インターフェース、アダプタ、および駆動部インターフェースへの手術器具の装着検知方法 |
JP6772226B2 (ja) * | 2018-08-28 | 2020-10-21 | 株式会社メディカロイド | 手術器具 |
JP6745306B2 (ja) * | 2018-08-28 | 2020-08-26 | 株式会社メディカロイド | アダプタおよび接続方法 |
WO2020060790A1 (en) | 2018-09-17 | 2020-03-26 | Covidien Lp | Surgical robotic systems |
JP2021535801A (ja) * | 2018-09-17 | 2021-12-23 | コヴィディエン リミテッド パートナーシップ | 手術ロボットシステム |
US11109746B2 (en) | 2018-10-10 | 2021-09-07 | Titan Medical Inc. | Instrument insertion system, method, and apparatus for performing medical procedures |
CA3117542A1 (en) * | 2018-10-26 | 2020-04-30 | Eureka Inventions Limited | Surgical apparatus and method |
WO2020092775A1 (en) | 2018-10-31 | 2020-05-07 | Intuitive Surgical Operations, Inc. | System and method for assisting tool exchange |
JP2022510027A (ja) | 2018-12-04 | 2022-01-25 | マコ サージカル コーポレーション | 外科用構成要素の結合に使用する滅菌バリア組立体を備えた実装システム |
US11586106B2 (en) | 2018-12-28 | 2023-02-21 | Titan Medical Inc. | Imaging apparatus having configurable stereoscopic perspective |
CN111374771A (zh) * | 2018-12-29 | 2020-07-07 | 深圳市达科为智能医学有限公司 | 一种无菌适配器 |
EP3902498A4 (en) * | 2018-12-30 | 2022-09-28 | Memic Innovative Surgery Ltd. | SURGICAL DRAPE FOR A ROBOTIC DEVICE |
US11717355B2 (en) | 2019-01-29 | 2023-08-08 | Covidien Lp | Drive mechanisms for surgical instruments such as for use in robotic surgical systems |
US11576733B2 (en) | 2019-02-06 | 2023-02-14 | Covidien Lp | Robotic surgical assemblies including electrosurgical instruments having articulatable wrist assemblies |
US11484372B2 (en) | 2019-02-15 | 2022-11-01 | Covidien Lp | Articulation mechanisms for surgical instruments such as for use in robotic surgical systems |
US11331101B2 (en) | 2019-02-19 | 2022-05-17 | Cilag Gmbh International | Deactivator element for defeating surgical stapling device lockouts |
US11369377B2 (en) | 2019-02-19 | 2022-06-28 | Cilag Gmbh International | Surgical stapling assembly with cartridge based retainer configured to unlock a firing lockout |
US11464511B2 (en) | 2019-02-19 | 2022-10-11 | Cilag Gmbh International | Surgical staple cartridges with movable authentication key arrangements |
US11357503B2 (en) | 2019-02-19 | 2022-06-14 | Cilag Gmbh International | Staple cartridge retainers with frangible retention features and methods of using same |
US11317915B2 (en) | 2019-02-19 | 2022-05-03 | Cilag Gmbh International | Universal cartridge based key feature that unlocks multiple lockout arrangements in different surgical staplers |
KR102012620B1 (ko) | 2019-03-08 | 2019-08-20 | 재단법인 대구경북첨단의료산업진흥재단 | 로봇 수술 시스템의 구동 장치 |
EP3714830A1 (en) * | 2019-03-28 | 2020-09-30 | Medicaroid Corporation | Stopper and adaptor |
JP6912541B2 (ja) * | 2019-03-28 | 2021-08-04 | 株式会社メディカロイド | ストッパおよびアダプタ |
CN110010207B (zh) * | 2019-04-08 | 2022-05-13 | 大连理工大学 | 一种测定单层二硫化钼弯曲刚度的分子动力学方法 |
US11471233B2 (en) | 2019-04-30 | 2022-10-18 | Canon U.S.A., Inc. | Preloaded sterile bag |
USD964564S1 (en) | 2019-06-25 | 2022-09-20 | Cilag Gmbh International | Surgical staple cartridge retainer with a closure system authentication key |
USD952144S1 (en) | 2019-06-25 | 2022-05-17 | Cilag Gmbh International | Surgical staple cartridge retainer with firing system authentication key |
USD950728S1 (en) | 2019-06-25 | 2022-05-03 | Cilag Gmbh International | Surgical staple cartridge |
US10881478B1 (en) | 2019-06-26 | 2021-01-05 | Titan Medical Inc. | Methods for protecting robotic surgery systems with sterile barriers |
US11399906B2 (en) | 2019-06-27 | 2022-08-02 | Cilag Gmbh International | Robotic surgical system for controlling close operation of end-effectors |
US11547468B2 (en) | 2019-06-27 | 2023-01-10 | Cilag Gmbh International | Robotic surgical system with safety and cooperative sensing control |
US11278362B2 (en) * | 2019-06-27 | 2022-03-22 | Cilag Gmbh International | Surgical instrument drive systems |
US11376082B2 (en) | 2019-06-27 | 2022-07-05 | Cilag Gmbh International | Robotic surgical system with local sensing of functional parameters based on measurements of multiple physical inputs |
US11207146B2 (en) | 2019-06-27 | 2021-12-28 | Cilag Gmbh International | Surgical instrument drive systems with cable-tightening system |
US11413102B2 (en) | 2019-06-27 | 2022-08-16 | Cilag Gmbh International | Multi-access port for surgical robotic systems |
US11376083B2 (en) * | 2019-06-27 | 2022-07-05 | Cilag Gmbh International | Determining robotic surgical assembly coupling status |
US11607278B2 (en) | 2019-06-27 | 2023-03-21 | Cilag Gmbh International | Cooperative robotic surgical systems |
US11612445B2 (en) | 2019-06-27 | 2023-03-28 | Cilag Gmbh International | Cooperative operation of robotic arms |
US11369443B2 (en) * | 2019-06-27 | 2022-06-28 | Cilag Gmbh International | Method of using a surgical modular robotic assembly |
US11723729B2 (en) | 2019-06-27 | 2023-08-15 | Cilag Gmbh International | Robotic surgical assembly coupling safety mechanisms |
WO2021016006A1 (en) | 2019-07-19 | 2021-01-28 | RevMedica, Inc. | Surgical stapler with removable power pack |
CN112957127B (zh) | 2019-08-30 | 2022-06-17 | 上海微创医疗机器人(集团)股份有限公司 | 传动、驱动、无菌、器械盒组件与手术器械系统、机器人 |
US11612386B2 (en) | 2019-09-01 | 2023-03-28 | BB Surgical Devices, S.L. | Universal surgical access system |
JP6971284B2 (ja) | 2019-09-27 | 2021-11-24 | 株式会社メディカロイド | アダプタセットおよびアダプタ |
JP7046880B2 (ja) * | 2019-09-27 | 2022-04-04 | 株式会社メディカロイド | 手術器具 |
US11426178B2 (en) | 2019-09-27 | 2022-08-30 | Globus Medical Inc. | Systems and methods for navigating a pin guide driver |
US11864857B2 (en) | 2019-09-27 | 2024-01-09 | Globus Medical, Inc. | Surgical robot with passive end effector |
JP7184728B2 (ja) * | 2019-10-21 | 2022-12-06 | 株式会社メディカロイド | ロボット手術装置および手術器具 |
CN114929150A (zh) * | 2019-10-23 | 2022-08-19 | 威博外科公司 | 在外科机器人系统中的外科工具的接合和/或归巢 |
CN111067633B (zh) * | 2019-12-07 | 2021-04-13 | 广州多得医疗设备服务有限公司 | 一种医疗设备维修保养记录仪及其记录系统 |
CN111045332A (zh) * | 2019-12-27 | 2020-04-21 | 哈尔滨工程大学 | 一种无人艇路径跟踪导引策略和扰动补偿方法 |
US20210197401A1 (en) * | 2019-12-31 | 2021-07-01 | Auris Health, Inc. | Tool detection system |
CN111134740B (zh) * | 2020-01-07 | 2022-02-22 | 深圳市精锋医疗科技股份有限公司 | 手术器械与驱动装置的接合方法、从操作设备及手术机器人 |
JP6832602B1 (ja) * | 2020-01-09 | 2021-02-24 | リバーフィールド株式会社 | 術具 |
IT202000002545A1 (it) * | 2020-02-10 | 2021-08-10 | Medical Microinstruments Spa | Assieme di barriera sterile e sistema di chirurgia robotica |
JP2023514185A (ja) | 2020-02-10 | 2023-04-05 | メディカル・マイクロインストゥルメンツ・インコーポレイテッド | 無菌バリア組立とロボット手術システム |
WO2021183689A1 (en) * | 2020-03-13 | 2021-09-16 | Intuitive Surgical Operations, Inc. | Alignment of a connector interface |
CN111329592B (zh) * | 2020-03-17 | 2021-06-22 | 上海奥朋医疗科技有限公司 | 血管介入手术中旋夹手的无菌隔绝方法及系统 |
JP7257353B2 (ja) * | 2020-03-30 | 2023-04-13 | 株式会社メディカロイド | 内視鏡アダプタ、ロボット手術システムおよび内視鏡アダプタの回転位置調整方法 |
CA3183162A1 (en) | 2020-06-19 | 2021-12-23 | Jake Anthony Sganga | Systems and methods for guidance of intraluminal devices within the vasculature |
USD963851S1 (en) | 2020-07-10 | 2022-09-13 | Covidien Lp | Port apparatus |
US11793500B2 (en) | 2020-09-30 | 2023-10-24 | Verb Surgical Inc. | Adjustable force and ball bearing attachment mechanism for docking cannulas to surgical robotic arms |
US20220096120A1 (en) * | 2020-09-30 | 2022-03-31 | Verb Surgical Inc. | Systems and methods for docking surgical robotic arms |
US11793597B2 (en) | 2020-09-30 | 2023-10-24 | Verb Surgical Inc. | Attachment mechanism for docking cannulas to surgical robotic arms |
CN112401943A (zh) * | 2020-10-14 | 2021-02-26 | 极限人工智能有限公司 | 一种无菌屏障组件和应用其的无菌微创手术装置 |
CN112401944A (zh) * | 2020-10-14 | 2021-02-26 | 极限人工智能有限公司 | 一种微创手术装置 |
CN114431959B (zh) * | 2020-10-30 | 2023-12-29 | 上海微创医疗机器人(集团)股份有限公司 | 隔离装置和手术机器人系统 |
CN112370169B (zh) * | 2020-11-12 | 2021-04-27 | 山东威高手术机器人有限公司 | 一种可旋转的微创手术器械快换装置 |
CN116916850A (zh) * | 2021-02-17 | 2023-10-20 | 奥瑞斯健康公司 | 医疗器械驱动组件和对接系统 |
CN113069213B (zh) * | 2021-02-23 | 2023-12-01 | 深圳康诺思腾科技有限公司 | 无菌围帘及具有其的手术机器人组件 |
CN113143467B (zh) * | 2021-04-25 | 2023-08-25 | 上海微创医疗机器人(集团)股份有限公司 | 隔离装置和手术设备 |
CN113288430B (zh) * | 2021-05-13 | 2022-07-29 | 上海微创医疗机器人(集团)股份有限公司 | 无菌板组件、手术器械、动力盒及手术机器人系统 |
CN113476061B (zh) * | 2021-05-21 | 2024-02-27 | 上海微创医疗机器人(集团)股份有限公司 | 膜体安装机构 |
US11948226B2 (en) | 2021-05-28 | 2024-04-02 | Covidien Lp | Systems and methods for clinical workspace simulation |
CA3218370A1 (en) * | 2021-06-01 | 2022-12-08 | Forsight Robotics Ltd. | Kinematic structures and sterile drapes for robotic microsurgical procedures |
US11931026B2 (en) | 2021-06-30 | 2024-03-19 | Cilag Gmbh International | Staple cartridge replacement |
US11974829B2 (en) | 2021-06-30 | 2024-05-07 | Cilag Gmbh International | Link-driven articulation device for a surgical device |
CA3222522A1 (en) | 2021-07-01 | 2023-01-05 | David James Bell | Vision-based position and orientation determination for endovascular tools |
US11707332B2 (en) | 2021-07-01 | 2023-07-25 | Remedy Robotics, Inc. | Image space control for endovascular tools |
CN113367798A (zh) * | 2021-07-14 | 2021-09-10 | 深圳康诺思腾科技有限公司 | 无菌适配器与手术器械的传动连接结构及手术机器人的器械驱动传动机构 |
CN113349936A (zh) * | 2021-07-14 | 2021-09-07 | 深圳康诺思腾科技有限公司 | 一种无菌适配器与手术器械后端的导向定位结构 |
US11903669B2 (en) | 2021-07-30 | 2024-02-20 | Corindus, Inc | Sterile drape for robotic drive |
US11839440B2 (en) * | 2021-07-30 | 2023-12-12 | Corindus, Inc. | Attachment for robotic medical system |
US11779518B2 (en) | 2021-08-09 | 2023-10-10 | Express Scripts Strategic Development, Inc. | Blister pack device and method |
CN113598968B (zh) * | 2021-08-10 | 2022-08-19 | 常州唯精医疗机器人有限公司 | 器械快换装置及微创手术机器人 |
CN113520606B (zh) * | 2021-08-11 | 2023-03-24 | 上海微创医疗机器人(集团)股份有限公司 | 无菌板组件、手术机器人及手术机器人系统 |
US11779332B2 (en) | 2021-08-16 | 2023-10-10 | Cilag Gmbh International | Powered surgical stapler having independently operable closure and firing systems |
US11992209B2 (en) | 2021-08-16 | 2024-05-28 | Cilag Gmbh International | Multi-threshold motor control algorithm for powered surgical stapler |
US20230049736A1 (en) | 2021-08-16 | 2023-02-16 | Cilag Gmbh International | Firing member tracking feature for surgical stapler |
US11986182B2 (en) | 2021-08-16 | 2024-05-21 | Cilag Gmbh International | Multi-position restraining member for sled movement |
US20230052307A1 (en) | 2021-08-16 | 2023-02-16 | Cilag Gmbh International | Deflectable firing member for surgical stapler |
US20230045998A1 (en) | 2021-08-16 | 2023-02-16 | Cilag Gmbh International | Firing bailout system for powered surgical stapler |
US12011164B2 (en) | 2021-08-16 | 2024-06-18 | Cilag Gmbh International | Cartridge-based firing lockout mechanism for surgical stapler |
US20230050707A1 (en) | 2021-08-16 | 2023-02-16 | Cilag Gmbh International | Firing system features for surgical stapler |
US11944297B2 (en) | 2021-08-16 | 2024-04-02 | Cilag Gmbh International | Variable response motor control algorithm for powered surgical stapler |
US11992210B2 (en) | 2021-08-16 | 2024-05-28 | Cilag Gmbh International | Multiple-sensor firing lockout mechanism for powered surgical stapler |
US11957336B2 (en) | 2021-08-16 | 2024-04-16 | Cilag Gmbh International | Proximally located firing lockout mechanism for surgical stapler |
WO2023021401A1 (en) | 2021-08-16 | 2023-02-23 | Cilag Gmbh International | Adjustable power transmission mechanism for powered surgical stapler |
CN113796965B (zh) * | 2021-09-28 | 2023-07-18 | 深圳市爱博医疗机器人有限公司 | 一种可拆装式从端介入手术机器人驱动装置 |
US20230100698A1 (en) | 2021-09-29 | 2023-03-30 | Cilag Gmbh International | Methods for Controlling Cooperative Surgical Instruments |
CN116058969A (zh) * | 2021-10-29 | 2023-05-05 | 常州唯精医疗机器人有限公司 | 无菌隔离装置及其装配方法、安装方法 |
CN114081630B (zh) * | 2021-11-11 | 2023-04-07 | 常州唯精医疗机器人有限公司 | 器械快换装置及微创手术机器人 |
CN114052919A (zh) * | 2021-11-18 | 2022-02-18 | 武汉联影智融医疗科技有限公司 | 动力连接装置、末端执行设备及腹腔镜机器人 |
TW202335644A (zh) * | 2021-11-30 | 2023-09-16 | 美商安督奎斯特機器人公司 | 用於機器人手術系統的防護覆巾適配器 |
TWI835436B (zh) | 2021-11-30 | 2024-03-11 | 美商安督奎斯特機器人公司 | 用於機器人手術系統的可轉向套管組件、其控制組件及其方法 |
DE102022102806A1 (de) | 2022-02-07 | 2023-08-10 | avateramedical GmBH | Sterileinheit und Manipulator für die robotische Chirurgie |
DE102022102805A1 (de) | 2022-02-07 | 2023-08-10 | avateramedical GmBH | Manipulator für die robotische Chirurgie und Sterileinheit |
CN117426880A (zh) * | 2022-07-15 | 2024-01-23 | 深圳康诺思腾科技有限公司 | 一种无菌隔离组件和手术机器人 |
WO2024030285A1 (en) | 2022-08-01 | 2024-02-08 | Intuitive Surgical Operations, Inc. | Adapter for manual actuation of surgical instrument |
WO2024067335A1 (zh) * | 2022-09-30 | 2024-04-04 | 深圳市精锋医疗科技股份有限公司 | 一种医疗机器人的驱动装置及导管机器人 |
DE102022131663A1 (de) | 2022-11-30 | 2024-06-06 | Karl Storz Se & Co. Kg | Schnittstelle für ein elektrochirurgisches Instrument sowie Operationssystem |
DE102022134201A1 (de) | 2022-12-20 | 2024-06-20 | Karl Storz Se & Co. Kg | Chirurgisches Instrument zur Kopplung mit einer Antriebseinheit |
DE102022134205A1 (de) | 2022-12-20 | 2024-06-20 | Karl Storz Se & Co. Kg | Chirurgisches Instrument |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5069221A (en) * | 1987-12-30 | 1991-12-03 | Densa Limited | Displacement sensor and medical apparatus |
DE20015892U1 (de) * | 2000-09-14 | 2001-01-25 | Aesculap Ag & Co Kg | Vorrichtung zur Bestimmung der Position eines medizinischen Instrumentes oder Gerätes oder eines Körperteils |
CN1631622A (zh) * | 2004-12-22 | 2005-06-29 | 哈尔滨工业大学 | 用于临床创伤手指康复的感知型仿生机械手 |
US20060273135A1 (en) * | 2005-06-03 | 2006-12-07 | Beetel Robert J | Surgical instruments employing sensors |
CN101340852A (zh) * | 2005-12-20 | 2009-01-07 | 直观外科手术公司 | 机器人外科系统的器械对接装置 |
US20100152566A1 (en) * | 2007-02-28 | 2010-06-17 | Smith & Nephew, Inc. | System and method for identifying a landmark |
CN102630154A (zh) * | 2009-09-23 | 2012-08-08 | 伊顿株式会社 | 无菌适配器、转轮联接结构以及手术用器械的联接结构 |
Family Cites Families (123)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US1002219A (en) | 1910-03-08 | 1911-09-05 | James J Burke | Automatic boiler-feed and water-level alarm. |
US1004582A (en) | 1911-01-28 | 1911-10-03 | William D Mcnaull | Tire for vehicle-wheels. |
US4386933A (en) * | 1981-05-21 | 1983-06-07 | Sanchez Enrique R | Sterile adapter for use in blood transfers |
US4542272A (en) | 1982-09-28 | 1985-09-17 | The Cross Company | Induction heating device with electronic positioning control |
CH681753A5 (zh) | 1991-03-05 | 1993-05-14 | Olten Ag Elektro Apparatebau | |
JP3306108B2 (ja) | 1992-08-21 | 2002-07-24 | 宇宙開発事業団 | 軸継手機構 |
US5469863A (en) | 1993-08-11 | 1995-11-28 | Polygenex International, Inc. | Polyurethane condom of welded polyurethane film |
US5405344A (en) | 1993-09-30 | 1995-04-11 | Ethicon, Inc. | Articulable socket joint assembly for an endoscopic instrument for surgical fastner track therefor |
US5814038A (en) | 1995-06-07 | 1998-09-29 | Sri International | Surgical manipulator for a telerobotic system |
CA2634141C (en) | 1995-06-07 | 2011-08-09 | Sri International | Surgical manipulator for a telerobotic system |
US5803086A (en) | 1996-05-16 | 1998-09-08 | Minnesota Mining And Manufacturing Company | Linerless surgical incise drape |
US6132368A (en) * | 1996-12-12 | 2000-10-17 | Intuitive Surgical, Inc. | Multi-component telepresence system and method |
US8529582B2 (en) | 1996-12-12 | 2013-09-10 | Intuitive Surgical Operations, Inc. | Instrument interface of a robotic surgical system |
US6331181B1 (en) | 1998-12-08 | 2001-12-18 | Intuitive Surgical, Inc. | Surgical robotic tools, data architecture, and use |
US7699855B2 (en) | 1996-12-12 | 2010-04-20 | Intuitive Surgical Operations, Inc. | Sterile surgical adaptor |
US7727244B2 (en) * | 1997-11-21 | 2010-06-01 | Intuitive Surgical Operation, Inc. | Sterile surgical drape |
US8206406B2 (en) * | 1996-12-12 | 2012-06-26 | Intuitive Surgical Operations, Inc. | Disposable sterile surgical adaptor |
US7666191B2 (en) | 1996-12-12 | 2010-02-23 | Intuitive Surgical, Inc. | Robotic surgical system with sterile surgical adaptor |
US7758569B2 (en) * | 1998-02-24 | 2010-07-20 | Hansen Medical, Inc. | Interchangeable surgical instrument |
US7297142B2 (en) | 1998-02-24 | 2007-11-20 | Hansen Medical, Inc. | Interchangeable surgical instrument |
US7309519B2 (en) * | 1998-10-05 | 2007-12-18 | 3M Innovative Properties Company | Friction control articles for healthcare applications |
US8600551B2 (en) | 1998-11-20 | 2013-12-03 | Intuitive Surgical Operations, Inc. | Medical robotic system with operatively couplable simulator unit for surgeon training |
EP1897511B1 (en) | 1998-12-08 | 2014-02-12 | Intuitive Surgical Operations, Inc. | Surgical robotic tools, data architecture, and use |
US7125403B2 (en) * | 1998-12-08 | 2006-10-24 | Intuitive Surgical | In vivo accessories for minimally invasive robotic surgery |
DE19950440A1 (de) | 1999-10-19 | 2001-11-22 | World Of Medicine Lemke Gmbh | Fixiervorrichtung für wenigstens ein, im Sterilbereich bei Operationen einsetzbares Bedienelement, bspw. ein Operationsinstrument |
JP2001187067A (ja) | 2000-01-05 | 2001-07-10 | Olympus Optical Co Ltd | 内視鏡観察位置検出表示システム |
US6840938B1 (en) | 2000-12-29 | 2005-01-11 | Intuitive Surgical, Inc. | Bipolar cauterizing instrument |
US7674270B2 (en) * | 2002-05-02 | 2010-03-09 | Laparocision, Inc | Apparatus for positioning a medical instrument |
JP4073249B2 (ja) * | 2002-05-17 | 2008-04-09 | オリンパス株式会社 | 手術システム |
US7331967B2 (en) | 2002-09-09 | 2008-02-19 | Hansen Medical, Inc. | Surgical instrument coupling mechanism |
US7386365B2 (en) | 2004-05-04 | 2008-06-10 | Intuitive Surgical, Inc. | Tool grip calibration for robotic surgery |
US20040118410A1 (en) | 2002-12-18 | 2004-06-24 | Griesbach Henry L. | Surgical drape having an instrument holder |
US7100260B2 (en) * | 2002-12-26 | 2006-09-05 | Utica Enterprises, Inc. | Programmable apparatus and method for body panel and clinch nut attachment |
US8118732B2 (en) | 2003-04-01 | 2012-02-21 | Boston Scientific Scimed, Inc. | Force feedback control system for video endoscope |
US20050244217A1 (en) * | 2004-04-29 | 2005-11-03 | William Burke | Test instrument module latch system and method |
US7096870B2 (en) | 2004-09-30 | 2006-08-29 | Lonnie Jay Lamprich | Disposable sterile surgical drape and attached instruments |
US8463439B2 (en) | 2009-03-31 | 2013-06-11 | Intuitive Surgical Operations, Inc. | Optic fiber connection for a force sensing instrument |
US8945095B2 (en) | 2005-03-30 | 2015-02-03 | Intuitive Surgical Operations, Inc. | Force and torque sensing for surgical instruments |
US7588398B2 (en) | 2005-04-19 | 2009-09-15 | Black & Decker Inc. | Tool chuck with power take off and dead spindle features |
US20060260622A1 (en) * | 2005-05-19 | 2006-11-23 | Wooley Deborah M | Operating room equipment drapes and methods of making and using the same |
RU2008105481A (ru) * | 2005-07-18 | 2009-08-27 | Байер ХельсКер АГ (DE) | Новое применение активаторов и стимуляторов растворимой гуанилатциклазыдля профилактики или лечения почечных расстройств |
NZ567040A (en) | 2005-09-02 | 2011-05-27 | Neato Robotics Inc | Mapping an operating environment to locate a robot, including traversing optical data and updating that data |
JP5043414B2 (ja) * | 2005-12-20 | 2012-10-10 | インテュイティブ サージカル インコーポレイテッド | 無菌外科手術アダプタ |
US9241767B2 (en) | 2005-12-20 | 2016-01-26 | Intuitive Surgical Operations, Inc. | Method for handling an operator command exceeding a medical device state limitation in a medical robotic system |
US9586327B2 (en) | 2005-12-20 | 2017-03-07 | Intuitive Surgical Operations, Inc. | Hook and pivot electro-mechanical interface for robotic medical arms |
US20120292367A1 (en) | 2006-01-31 | 2012-11-22 | Ethicon Endo-Surgery, Inc. | Robotically-controlled end effector |
EP1815950A1 (en) | 2006-02-03 | 2007-08-08 | The European Atomic Energy Community (EURATOM), represented by the European Commission | Robotic surgical system for performing minimally invasive medical procedures |
EP1991121B1 (en) | 2006-02-16 | 2014-08-06 | Globus Medical, Inc. | System utilizing radio frequency signals for tracking and improving navigation of slender instruments during insertion into the body |
EP2051644A4 (en) | 2006-08-01 | 2013-03-13 | Eon Surgical Ltd | SYSTEM AND METHOD FOR TELECHIRURGY |
US8157793B2 (en) | 2006-10-25 | 2012-04-17 | Terumo Kabushiki Kaisha | Manipulator for medical use |
US8684253B2 (en) | 2007-01-10 | 2014-04-01 | Ethicon Endo-Surgery, Inc. | Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor |
US20080262513A1 (en) | 2007-02-15 | 2008-10-23 | Hansen Medical, Inc. | Instrument driver having independently rotatable carriages |
US8931682B2 (en) | 2007-06-04 | 2015-01-13 | Ethicon Endo-Surgery, Inc. | Robotically-controlled shaft based rotary drive systems for surgical instruments |
US9096033B2 (en) * | 2007-06-13 | 2015-08-04 | Intuitive Surgical Operations, Inc. | Surgical system instrument sterile adapter |
US8139225B2 (en) | 2007-10-24 | 2012-03-20 | Siemens Medical Solutions Usa, Inc. | System for processing patient monitoring power and data signals |
US8348129B2 (en) | 2009-10-09 | 2013-01-08 | Ethicon Endo-Surgery, Inc. | Surgical stapler having a closure mechanism |
US8752749B2 (en) | 2008-02-14 | 2014-06-17 | Ethicon Endo-Surgery, Inc. | Robotically-controlled disposable motor-driven loading unit |
US7886743B2 (en) | 2008-03-31 | 2011-02-15 | Intuitive Surgical Operations, Inc. | Sterile drape interface for robotic surgical instrument |
US9895813B2 (en) | 2008-03-31 | 2018-02-20 | Intuitive Surgical Operations, Inc. | Force and torque sensing in a surgical robot setup arm |
WO2009151205A1 (ko) | 2008-06-11 | 2009-12-17 | (주)미래컴퍼니 | 수술용 로봇 암의 인스트루먼트 |
JP2010022415A (ja) | 2008-07-15 | 2010-02-04 | Terumo Corp | 医療用マニピュレータ及び医療用マニピュレータシステム |
US9339342B2 (en) | 2008-09-30 | 2016-05-17 | Intuitive Surgical Operations, Inc. | Instrument interface |
US8720448B2 (en) | 2008-11-07 | 2014-05-13 | Hansen Medical, Inc. | Sterile interface apparatus |
US8602031B2 (en) | 2009-01-12 | 2013-12-10 | Hansen Medical, Inc. | Modular interfaces and drive actuation through barrier |
JP5623391B2 (ja) | 2009-04-30 | 2014-11-12 | カール シュトルツ ゲゼルシャフト ミット ベシュレンクテル ハフツング ウント コンパニー コマンディートゲゼルシャフト | 医療用マニピュレータ |
WO2010126129A1 (ja) | 2009-04-30 | 2010-11-04 | テルモ株式会社 | 医療用マニピュレータ |
US8758237B2 (en) | 2009-08-21 | 2014-06-24 | 3M Innovative Properties Company | Methods and products for illuminating tissue |
KR101037069B1 (ko) | 2009-09-23 | 2011-05-26 | 주식회사 이턴 | 멸균 어댑터 |
WO2011037394A2 (ko) | 2009-09-23 | 2011-03-31 | 주식회사 이턴 | 멸균 어댑터, 휠의 체결 구조 및 수술용 인스트루먼트의 체결 구조 |
KR101750518B1 (ko) * | 2010-02-19 | 2017-06-26 | (주)미래컴퍼니 | 휠의 체결 구조 및 수술용 인스트루먼트의 체결 구조 |
US8623028B2 (en) * | 2009-09-23 | 2014-01-07 | Intuitive Surgical Operations, Inc. | Surgical port feature |
US8555892B2 (en) | 2009-09-28 | 2013-10-15 | Obp Corporation | Mayo stand drape with self-disposing feature |
KR101590163B1 (ko) | 2009-10-01 | 2016-01-29 | (주)미래컴퍼니 | 수술용 로봇 및 이를 커버하는 멸균 드레이프 |
KR101924394B1 (ko) * | 2009-11-13 | 2018-12-03 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 독립적으로 회전하는 부재 내의 병렬 구동 샤프트들을 위한 모터 연접부 |
CN102711635B (zh) | 2010-01-15 | 2015-06-10 | 意美森公司 | 用于带有触觉反馈的微创外科手术工具的系统和方法 |
US9241828B2 (en) * | 2010-04-06 | 2016-01-26 | Reseal International Limited Partnership | Delivery system for dispensing metered volumes of pure or sterile flowable substances |
US8307910B2 (en) | 2010-04-07 | 2012-11-13 | Robert Bosch Gmbh | Drive mechanism for a reciprocating tool |
US8206395B2 (en) | 2010-06-18 | 2012-06-26 | Spine Wave, Inc. | Surgical instrument and method for the distraction or compression of bones |
KR101911843B1 (ko) * | 2010-08-02 | 2018-10-25 | 더 존스 홉킨스 유니버시티 | 도구 교환 인터페이스 및 협동 수술 로봇들용 제어 알고리즘 |
JP2012050706A (ja) * | 2010-09-01 | 2012-03-15 | Terumo Corp | 保護カバー |
WO2012037213A1 (en) | 2010-09-17 | 2012-03-22 | Corindus Inc. | Wheel for robotic catheter system drive mechanism |
EP2901960B1 (en) | 2010-11-15 | 2017-01-25 | Intuitive Surgical Operations, Inc. | Decoupling instrument shaft roll and end effector actuation in a surgical instrument |
EP2645936B1 (en) * | 2010-11-30 | 2016-09-07 | Interventco, LLC | Radiation shield assembly and method of providing a sterile barrier to radiation |
EP2646486A1 (en) | 2010-12-02 | 2013-10-09 | DSM IP Assets B.V. | Acrylic polymer |
US9032824B2 (en) * | 2010-12-15 | 2015-05-19 | Yamaha Hatsudoki Kabushiki Kaisha | Control device for dual clutch transmission and control method for dual clutch transmission |
WO2012109306A2 (en) * | 2011-02-09 | 2012-08-16 | Ohio Urologic Research, Llc | Surgical drape system for urology procedures on male patients |
JP2012210294A (ja) * | 2011-03-31 | 2012-11-01 | Olympus Corp | 手術支援システム |
JP5820601B2 (ja) * | 2011-03-31 | 2015-11-24 | オリンパス株式会社 | マスタマニピュレータ |
JP5834481B2 (ja) | 2011-05-12 | 2015-12-24 | 日本電気株式会社 | サービス提供システム、通信端末、プログラム及びサービス提供方法 |
JP6009840B2 (ja) | 2011-08-04 | 2016-10-19 | オリンパス株式会社 | 医療機器 |
JP5953058B2 (ja) | 2011-08-04 | 2016-07-13 | オリンパス株式会社 | 手術支援装置およびその着脱方法 |
JP5931497B2 (ja) | 2011-08-04 | 2016-06-08 | オリンパス株式会社 | 手術支援装置およびその組立方法 |
US8912746B2 (en) | 2011-10-26 | 2014-12-16 | Intuitive Surgical Operations, Inc. | Surgical instrument motor pack latch |
KR101828452B1 (ko) | 2012-01-05 | 2018-02-12 | 삼성전자주식회사 | 서보 제어 장치 및 그 제어 방법 |
JP6165780B2 (ja) | 2012-02-10 | 2017-07-19 | エシコン・エンド−サージェリィ・インコーポレイテッドEthicon Endo−Surgery,Inc. | ロボット制御式の手術器具 |
US9931167B2 (en) * | 2012-02-15 | 2018-04-03 | Intuitive Surgical Operations, Inc. | Minimally invasive surgical instrument to provide needle-based therapy |
JP5826094B2 (ja) | 2012-03-30 | 2015-12-02 | 株式会社半導体エネルギー研究所 | p型半導体材料、および光電変換装置の作製方法 |
CN202568458U (zh) * | 2012-03-30 | 2012-12-05 | 浙江省淳安县人和医疗用品工贸有限公司 | 医用电钻无菌保护套 |
KR101434861B1 (ko) | 2012-04-25 | 2014-09-02 | 주식회사 고영테크놀러지 | 구동력 전달장치 |
DE102012008535A1 (de) | 2012-04-27 | 2013-10-31 | Kuka Laboratories Gmbh | Chirurgierobotersystem |
CN104334111B (zh) | 2012-06-01 | 2017-11-17 | 直观外科手术操作公司 | 用于手术系统的器械托架组件 |
US9492065B2 (en) * | 2012-06-27 | 2016-11-15 | Camplex, Inc. | Surgical retractor with video cameras |
US9072536B2 (en) | 2012-06-28 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Differential locking arrangements for rotary powered surgical instruments |
US20140005718A1 (en) * | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Multi-functional powered surgical device with external dissection features |
US8747238B2 (en) * | 2012-06-28 | 2014-06-10 | Ethicon Endo-Surgery, Inc. | Rotary drive shaft assemblies for surgical instruments with articulatable end effectors |
US20140001234A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Coupling arrangements for attaching surgical end effectors to drive systems therefor |
EP2883511B1 (de) | 2012-07-03 | 2018-08-22 | KUKA Deutschland GmbH | Chirurgische Instrumentenanordnung |
DE102012013242A1 (de) * | 2012-07-03 | 2014-01-09 | Kuka Laboratories Gmbh | Chirurgische Instrumentenanordnung |
CN103625049A (zh) | 2012-08-29 | 2014-03-12 | 3M创新有限公司 | 无纺布和聚氨酯复合材料及其制备方法 |
UA114637C2 (uk) * | 2012-08-31 | 2017-07-10 | Ска Хайджин Продактс Аб | Система і спосіб для збирання і моніторингу даних певного простору |
US20140277334A1 (en) * | 2013-03-14 | 2014-09-18 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
CN203234838U (zh) * | 2013-05-21 | 2013-10-16 | 陈刚 | 一次性使用的无菌手术适配器 |
EP3708105B1 (en) * | 2013-08-15 | 2022-02-09 | Intuitive Surgical Operations, Inc. | Preloaded surgical instrument interface |
US10022193B2 (en) | 2013-08-15 | 2018-07-17 | Intuitive Surgical Operations, Inc. | Actuator interface to instrument sterile adapter |
US10548630B2 (en) | 2014-02-11 | 2020-02-04 | Vanderbilt University | System, method, and apparatus for configuration, design, and operation of an active cannula robot |
EP3679885B1 (en) | 2014-03-17 | 2024-02-28 | Intuitive Surgical Operations, Inc. | Systems and methods for confirming disc engagement |
EP4049611B1 (en) * | 2014-03-17 | 2023-12-13 | Intuitive Surgical Operations, Inc. | Surgical drape and systems including surgical drape and attachment sensor |
CN111281550B (zh) | 2014-03-17 | 2024-03-15 | 直观外科手术操作公司 | 手术器械与远程操作致动器之间的无菌屏障 |
ES2848100T3 (es) | 2014-09-04 | 2021-08-05 | Memic Innovative Surgery Ltd | Control de dispositivo que incluye brazos mecánicos |
US11200560B2 (en) * | 2014-12-19 | 2021-12-14 | Capital One Services, Llc | Systems and methods for contactless and secure data transfer |
GB2538326B (en) | 2015-05-07 | 2019-06-05 | Cmr Surgical Ltd | A surgical drape for transferring drive |
KR101633618B1 (ko) | 2015-06-05 | 2016-06-27 | (주)미래컴퍼니 | 수술 로봇용 어댑터 구조 |
AU2017379816B2 (en) | 2016-12-20 | 2020-02-20 | Verb Surgical Inc. | Sterile adapter control system and communication interface for use in a robotic surgical system |
-
2015
- 2015-03-17 CN CN202010087628.5A patent/CN111281550B/zh active Active
- 2015-03-17 WO PCT/US2015/020882 patent/WO2015142789A1/en active Application Filing
- 2015-03-17 EP EP22179743.4A patent/EP4079253A1/en active Pending
- 2015-03-17 KR KR1020167025787A patent/KR102377893B1/ko active IP Right Grant
- 2015-03-17 CN CN202010417746.8A patent/CN111671521B/zh active Active
- 2015-03-17 KR KR1020167026582A patent/KR102443416B1/ko active IP Right Grant
- 2015-03-17 KR KR1020167027274A patent/KR102324665B1/ko active IP Right Grant
- 2015-03-17 CN CN201910409914.6A patent/CN110123461B/zh active Active
- 2015-03-17 KR KR1020247011599A patent/KR20240051310A/ko active Search and Examination
- 2015-03-17 US US15/121,369 patent/US10639119B2/en active Active
- 2015-03-17 JP JP2016558038A patent/JP6505125B2/ja active Active
- 2015-03-17 WO PCT/US2015/020886 patent/WO2015142793A1/en active Application Filing
- 2015-03-17 US US15/121,723 patent/US9687312B2/en active Active
- 2015-03-17 CN CN202010993620.5A patent/CN112022244A/zh active Pending
- 2015-03-17 EP EP15765779.2A patent/EP3119341B1/en active Active
- 2015-03-17 EP EP19181058.9A patent/EP3563792B1/en active Active
- 2015-03-17 KR KR1020167028618A patent/KR102462158B1/ko active IP Right Grant
- 2015-03-17 CN CN201580013601.9A patent/CN106132342B/zh active Active
- 2015-03-17 CN CN201580014408.7A patent/CN106102646B/zh active Active
- 2015-03-17 US US15/121,354 patent/US10485621B2/en active Active
- 2015-03-17 US US15/121,726 patent/US10610320B2/en active Active
- 2015-03-17 EP EP20172196.6A patent/EP3711702A1/en not_active Withdrawn
- 2015-03-17 CN CN201580013952.XA patent/CN106102631B/zh active Active
- 2015-03-17 JP JP2016555980A patent/JP6510550B2/ja active Active
- 2015-03-17 WO PCT/US2015/021020 patent/WO2015142889A1/en active Application Filing
- 2015-03-17 JP JP2016555834A patent/JP6620109B2/ja active Active
- 2015-03-17 EP EP20161337.9A patent/EP3682838A1/en active Pending
- 2015-03-17 JP JP2016557993A patent/JP6869722B2/ja active Active
- 2015-03-17 WO PCT/US2015/020876 patent/WO2015142785A1/en active Application Filing
- 2015-03-17 EP EP15766019.2A patent/EP3119344B1/en active Active
- 2015-03-17 KR KR1020227031302A patent/KR102594595B1/ko active IP Right Grant
- 2015-03-17 EP EP15764268.7A patent/EP3119316B1/en active Active
- 2015-03-17 US US15/121,731 patent/US10363109B2/en active Active
- 2015-03-17 KR KR1020167026575A patent/KR102442336B1/ko active IP Right Grant
- 2015-03-17 WO PCT/US2015/020880 patent/WO2015142788A1/en active Application Filing
- 2015-03-17 WO PCT/US2015/020885 patent/WO2015142792A1/en active Application Filing
- 2015-03-17 WO PCT/US2015/020888 patent/WO2015142795A1/en active Application Filing
- 2015-03-17 EP EP19201778.8A patent/EP3610821B1/en active Active
- 2015-03-17 EP EP20154737.9A patent/EP3662861A1/en active Pending
- 2015-03-17 CN CN201580013290.6A patent/CN106102638B/zh active Active
- 2015-03-17 EP EP15764940.1A patent/EP3119328B1/en active Active
- 2015-03-17 CN CN202410206298.5A patent/CN118078451A/zh active Pending
- 2015-03-17 CN CN201580013292.5A patent/CN106102639B/zh active Active
- 2015-03-17 CN CN202310216510.1A patent/CN116058981A/zh active Pending
- 2015-03-17 CN CN201910766854.3A patent/CN110448383B/zh active Active
- 2015-03-17 CN CN201580013607.6A patent/CN106102640B/zh active Active
- 2015-03-17 JP JP2016556255A patent/JP6585067B2/ja active Active
- 2015-03-17 EP EP22169553.9A patent/EP4052675A1/en active Pending
- 2015-03-17 WO PCT/US2015/020884 patent/WO2015142791A1/en active Application Filing
- 2015-03-17 JP JP2016557618A patent/JP6554478B2/ja active Active
- 2015-03-17 EP EP23191978.8A patent/EP4248902A3/en active Pending
- 2015-03-17 JP JP2016555833A patent/JP6634023B2/ja active Active
- 2015-03-17 EP EP15764745.4A patent/EP3119324B1/en active Active
- 2015-03-17 US US15/121,374 patent/US10912616B2/en active Active
- 2015-03-17 EP EP15765493.0A patent/EP3119335B1/en active Active
- 2015-03-17 EP EP15764089.7A patent/EP3119313B1/en active Active
- 2015-03-17 JP JP2016557594A patent/JP6553633B2/ja active Active
- 2015-03-17 CN CN201580014411.9A patent/CN106132344B/zh active Active
- 2015-03-17 KR KR1020227037809A patent/KR102656875B1/ko active IP Right Grant
- 2015-03-17 EP EP20154204.0A patent/EP3679884B1/en active Active
- 2015-03-17 US US14/660,836 patent/US9839487B2/en active Active
- 2015-03-17 US US14/660,834 patent/US10213268B2/en active Active
- 2015-03-17 KR KR1020237036330A patent/KR20230152174A/ko active Search and Examination
- 2015-03-17 US US15/121,351 patent/US10420622B2/en active Active
- 2015-03-17 EP EP19188212.5A patent/EP3581138B1/en active Active
- 2015-03-17 EP EP15764881.7A patent/EP3119327B1/en active Active
- 2015-03-17 KR KR1020167026585A patent/KR102395425B1/ko active IP Right Grant
- 2015-03-17 KR KR1020167026579A patent/KR102443404B1/ko active IP Right Grant
- 2015-03-17 US US15/121,718 patent/US10543051B2/en active Active
- 2015-03-17 KR KR1020167027582A patent/KR102396051B1/ko active IP Right Grant
-
2017
- 2017-06-09 US US15/619,325 patent/US10045828B2/en active Active
- 2017-11-10 US US15/809,534 patent/US10278784B2/en active Active
-
2018
- 2018-08-13 US US16/102,225 patent/US10537400B2/en active Active
-
2019
- 2019-02-21 US US16/282,164 patent/US11389259B2/en active Active
- 2019-04-04 JP JP2019072171A patent/JP6795648B2/ja active Active
- 2019-05-03 US US16/403,304 patent/US11717370B2/en active Active
- 2019-07-04 JP JP2019124989A patent/JP6985336B2/ja active Active
- 2019-07-04 JP JP2019124988A patent/JP6882381B2/ja active Active
- 2019-07-29 US US16/524,832 patent/US11446105B2/en active Active
- 2019-08-19 US US16/543,826 patent/US10898288B2/en active Active
- 2019-11-01 JP JP2019199985A patent/JP2020032215A/ja active Pending
- 2019-11-01 JP JP2019199929A patent/JP6928057B2/ja active Active
- 2019-11-06 US US16/676,100 patent/US20200069389A1/en active Pending
-
2020
- 2020-01-21 US US16/748,419 patent/US11045274B2/en active Active
- 2020-03-25 US US16/829,856 patent/US20200222139A1/en active Pending
- 2020-04-06 US US16/840,730 patent/US20200229886A1/en active Pending
- 2020-11-12 JP JP2020188901A patent/JP7123108B2/ja active Active
-
2021
- 2021-01-04 US US17/140,373 patent/US20210196420A1/en active Pending
- 2021-01-22 US US17/155,475 patent/US11944403B2/en active Active
- 2021-08-05 JP JP2021129162A patent/JP7240454B2/ja active Active
- 2021-11-25 JP JP2021191215A patent/JP7434256B2/ja active Active
-
2022
- 2022-02-18 JP JP2022023606A patent/JP7314337B2/ja active Active
- 2022-06-23 US US17/848,030 patent/US20220361975A1/en active Pending
-
2023
- 2023-06-14 US US18/334,612 patent/US20230320804A1/en active Pending
-
2024
- 2024-02-02 US US18/431,434 patent/US20240173092A1/en active Pending
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5069221A (en) * | 1987-12-30 | 1991-12-03 | Densa Limited | Displacement sensor and medical apparatus |
DE20015892U1 (de) * | 2000-09-14 | 2001-01-25 | Aesculap Ag & Co Kg | Vorrichtung zur Bestimmung der Position eines medizinischen Instrumentes oder Gerätes oder eines Körperteils |
CN1631622A (zh) * | 2004-12-22 | 2005-06-29 | 哈尔滨工业大学 | 用于临床创伤手指康复的感知型仿生机械手 |
US20060273135A1 (en) * | 2005-06-03 | 2006-12-07 | Beetel Robert J | Surgical instruments employing sensors |
CN101340852A (zh) * | 2005-12-20 | 2009-01-07 | 直观外科手术公司 | 机器人外科系统的器械对接装置 |
US20100152566A1 (en) * | 2007-02-28 | 2010-06-17 | Smith & Nephew, Inc. | System and method for identifying a landmark |
CN102630154A (zh) * | 2009-09-23 | 2012-08-08 | 伊顿株式会社 | 无菌适配器、转轮联接结构以及手术用器械的联接结构 |
Also Published As
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN106132344B (zh) | 确定操纵器上的外科器械和适配器的存在的检测针脚 |
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 |