CY1116282T1 - Μεθοδος υπολογισμου των δυναμεων για συστημα ρομποτικης χειρουργικης ελαχιστης επεμβατικοτητας - Google Patents

Μεθοδος υπολογισμου των δυναμεων για συστημα ρομποτικης χειρουργικης ελαχιστης επεμβατικοτητας

Info

Publication number
CY1116282T1
CY1116282T1 CY20151100431T CY151100431T CY1116282T1 CY 1116282 T1 CY1116282 T1 CY 1116282T1 CY 20151100431 T CY20151100431 T CY 20151100431T CY 151100431 T CY151100431 T CY 151100431T CY 1116282 T1 CY1116282 T1 CY 1116282T1
Authority
CY
Cyprus
Prior art keywords
tool
vector
force
fulcrum
axis
Prior art date
Application number
CY20151100431T
Other languages
English (en)
Inventor
Morales Emilio Ruiz
Salvador Carlos Correcher
Original Assignee
The European Atomic Energy Community (Euratom) Represented By The European Commission
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by The European Atomic Energy Community (Euratom) Represented By The European Commission filed Critical The European Atomic Energy Community (Euratom) Represented By The European Commission
Publication of CY1116282T1 publication Critical patent/CY1116282T1/el

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/062—Measuring instruments not otherwise provided for penetration depth
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Surgical Instruments (AREA)

Abstract

Η εφεύρεση αναφέρεται σε μια μέθοδο ελέγχου ιατρικού συστήματος ελάχιστης επεμβατικότητας, αποτελούμενου από ένα βραχίονα χειρισμού (manipulator) (10) που περιλαμβάνει ένα στοιχείο δράσης (effector unit) (12) με αισθητήρα δύναμης/ροπής (force/torque) (30) 6 βαθμών ελευθερίας (6-DOF), ο οποίος έχει ένα πλαίσιο (σύστημα) αναφοράς αισθητήρα (Χ,Υ,Ζ), και ένα εργαλείο ελάχιστης επεμβατικότητας (14). Η μέθοδος περιλαμβάνει τον προσδιορισμό μιας θέσης του εργαλείου σε σχέση με το εξωτερικό υπομόχλιο (fulcrum) (23), συμπεριλαμβανομένου του προσδιορισμού ενός διανύσματος (vector) αρχικής απόστασης αναφοράς (D Fulcrum 0) από την αρχή (origin) του πλαισίου αναφοράς αισθητήρα (Χ,Υ,Ζ) έως το εξωτερικό υπομόχλιο (23), όπου ο προσδιορισμός ενός διανύσματος αρχικής απόστασης αναφοράς (D Fulcrum 0) περιλαμβάνει: τη μετακίνηση του εργαλείου ελάχιστης επεμβατικότητας (14) κατά μήκος και των δύο αξόνων (Χ,Υ) του πλαισίου αναφοράς αισθητήρα (Χ,Υ,Ζ), οι οποίοι είναι κάθετοι στον άξονα του εργαλείου (Ζ) αντίστοιχα, έως ότου οι δυνάμεις αντίδρασης (reaction forces) κατά μήκος και των δύο αξόνων (Χ,Υ) είναι κάτω από ένα καθορισμένο όριο (threshold), και τον προσδιορισμό της θέσης του εξωτερικού υπομοχλίου (23) κατά μήκος του άξονα του εργαλείου (Ζ) με βάση την αρχή του μοχλού, και συγκεκριμένα περιστρέφοντας το εργαλείο (14) έως ότου επιτευχθεί επαρκής δύναμη επαφής (contact force), τη μέτρηση του προτύπου (module) ενός διανύσματος ροπής (moment, εφεξής "m") και του προτύπου ενός διανύσματος δύναμης (force) που αντιστοιχεί στην εν λόγω δύναμη επαφής, και τον υπολογισμό της θέσης του εξωτερικού υπομοχλίου (23) κατά μήκος του εν λόγω άξονα του εργαλείου (Ζ), διαιρώντας το εν λόγω πρότυπο διανύσματος ροπής (m) με το εν λόγω πρότυπο διανύσματος δύναμης.
CY20151100431T 2006-10-25 2015-05-14 Μεθοδος υπολογισμου των δυναμεων για συστημα ρομποτικης χειρουργικης ελαχιστης επεμβατικοτητας CY1116282T1 (el)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP06122937A EP1915963A1 (en) 2006-10-25 2006-10-25 Force estimation for a minimally invasive robotic surgery system
EP12162692.3A EP2491884B1 (en) 2006-10-25 2007-10-25 Force estimation for a minimally invasive robotic surgery system

Publications (1)

Publication Number Publication Date
CY1116282T1 true CY1116282T1 (el) 2017-02-08

Family

ID=37745859

Family Applications (2)

Application Number Title Priority Date Filing Date
CY20151100431T CY1116282T1 (el) 2006-10-25 2015-05-14 Μεθοδος υπολογισμου των δυναμεων για συστημα ρομποτικης χειρουργικης ελαχιστης επεμβατικοτητας
CY20151100860T CY1116722T1 (el) 2006-10-25 2015-09-28 Υπολογισμος δυναμεων για συστημα ρομποτικης χειρουργικης ελαχιστης επεμβατικοτητας

Family Applications After (1)

Application Number Title Priority Date Filing Date
CY20151100860T CY1116722T1 (el) 2006-10-25 2015-09-28 Υπολογισμος δυναμεων για συστημα ρομποτικης χειρουργικης ελαχιστης επεμβατικοτητας

Country Status (15)

Country Link
US (5) US9855662B2 (el)
EP (3) EP1915963A1 (el)
JP (2) JP5044659B2 (el)
KR (2) KR101404447B1 (el)
CN (2) CN102697559B (el)
BR (2) BRPI0717408B8 (el)
CA (2) CA2664997C (el)
CY (2) CY1116282T1 (el)
DK (2) DK2491884T3 (el)
ES (2) ES2546377T3 (el)
MX (2) MX338904B (el)
PL (2) PL2491884T3 (el)
PT (2) PT2491884E (el)
RU (2) RU2462342C2 (el)
WO (1) WO2008049898A1 (el)

Families Citing this family (590)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9060770B2 (en) 2003-05-20 2015-06-23 Ethicon Endo-Surgery, Inc. Robotically-driven surgical instrument with E-beam driver
US20070084897A1 (en) 2003-05-20 2007-04-19 Shelton Frederick E Iv Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism
US8215531B2 (en) 2004-07-28 2012-07-10 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a medical substance dispenser
US11896225B2 (en) 2004-07-28 2024-02-13 Cilag Gmbh International Staple cartridge comprising a pan
US8465474B2 (en) 2009-05-19 2013-06-18 Intuitive Surgical Operations, Inc. Cleaning of a surgical instrument force sensor
US7934630B2 (en) 2005-08-31 2011-05-03 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US11484312B2 (en) 2005-08-31 2022-11-01 Cilag Gmbh International Staple cartridge comprising a staple driver arrangement
US9237891B2 (en) 2005-08-31 2016-01-19 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical stapling devices that produce formed staples having different lengths
US11246590B2 (en) 2005-08-31 2022-02-15 Cilag Gmbh International Staple cartridge including staple drivers having different unfired heights
US10159482B2 (en) 2005-08-31 2018-12-25 Ethicon Llc Fastener cartridge assembly comprising a fixed anvil and different staple heights
US7669746B2 (en) 2005-08-31 2010-03-02 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US20070106317A1 (en) 2005-11-09 2007-05-10 Shelton Frederick E Iv Hydraulically and electrically actuated articulation joints for surgical instruments
US8628518B2 (en) 2005-12-30 2014-01-14 Intuitive Surgical Operations, Inc. Wireless force sensor on a distal portion of a surgical instrument and method
US7753904B2 (en) 2006-01-31 2010-07-13 Ethicon Endo-Surgery, Inc. Endoscopic surgical instrument with a handle that can articulate with respect to the shaft
US11224427B2 (en) 2006-01-31 2022-01-18 Cilag Gmbh International Surgical stapling system including a console and retraction assembly
US20110024477A1 (en) 2009-02-06 2011-02-03 Hall Steven G Driven Surgical Stapler Improvements
US8708213B2 (en) 2006-01-31 2014-04-29 Ethicon Endo-Surgery, Inc. Surgical instrument having a feedback system
US7845537B2 (en) 2006-01-31 2010-12-07 Ethicon Endo-Surgery, Inc. Surgical instrument having recording capabilities
US8820603B2 (en) 2006-01-31 2014-09-02 Ethicon Endo-Surgery, Inc. Accessing data stored in a memory of a surgical instrument
US11793518B2 (en) 2006-01-31 2023-10-24 Cilag Gmbh International Powered surgical instruments with firing system lockout arrangements
US8186555B2 (en) 2006-01-31 2012-05-29 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with mechanical closure system
US20110290856A1 (en) 2006-01-31 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical instrument with force-feedback capabilities
US20120292367A1 (en) 2006-01-31 2012-11-22 Ethicon Endo-Surgery, Inc. Robotically-controlled end effector
US11278279B2 (en) 2006-01-31 2022-03-22 Cilag Gmbh International Surgical instrument assembly
US8992422B2 (en) 2006-03-23 2015-03-31 Ethicon Endo-Surgery, Inc. Robotically-controlled endoscopic accessory channel
US8322455B2 (en) 2006-06-27 2012-12-04 Ethicon Endo-Surgery, Inc. Manually driven surgical cutting and fastening instrument
US10568652B2 (en) 2006-09-29 2020-02-25 Ethicon Llc Surgical staples having attached drivers of different heights and stapling instruments for deploying the same
US20080078802A1 (en) 2006-09-29 2008-04-03 Hess Christopher J Surgical staples and stapling instruments
US11980366B2 (en) 2006-10-03 2024-05-14 Cilag Gmbh International Surgical instrument
EP1915963A1 (en) 2006-10-25 2008-04-30 The European Atomic Energy Community (EURATOM), represented by the European Commission Force estimation for a minimally invasive robotic surgery system
US8652120B2 (en) 2007-01-10 2014-02-18 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between control unit and sensor transponders
US11291441B2 (en) 2007-01-10 2022-04-05 Cilag Gmbh International Surgical instrument with wireless communication between control unit and remote sensor
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
US11039836B2 (en) 2007-01-11 2021-06-22 Cilag Gmbh International Staple cartridge for use with a surgical stapling instrument
US8701958B2 (en) 2007-01-11 2014-04-22 Ethicon Endo-Surgery, Inc. Curved end effector for a surgical stapling device
US7604151B2 (en) 2007-03-15 2009-10-20 Ethicon Endo-Surgery, Inc. Surgical stapling systems and staple cartridges for deploying surgical staples with tissue compression features
US8893946B2 (en) 2007-03-28 2014-11-25 Ethicon Endo-Surgery, Inc. Laparoscopic tissue thickness and clamp load measuring devices
US11564682B2 (en) 2007-06-04 2023-01-31 Cilag Gmbh International Surgical stapler device
US8931682B2 (en) 2007-06-04 2015-01-13 Ethicon Endo-Surgery, Inc. Robotically-controlled shaft based rotary drive systems for surgical instruments
US7753245B2 (en) 2007-06-22 2010-07-13 Ethicon Endo-Surgery, Inc. Surgical stapling instruments
US11849941B2 (en) 2007-06-29 2023-12-26 Cilag Gmbh International Staple cartridge having staple cavities extending at a transverse angle relative to a longitudinal cartridge axis
US8573465B2 (en) 2008-02-14 2013-11-05 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical end effector system with rotary actuated closure systems
US11986183B2 (en) 2008-02-14 2024-05-21 Cilag Gmbh International Surgical cutting and fastening instrument comprising a plurality of sensors to measure an electrical parameter
US7819298B2 (en) 2008-02-14 2010-10-26 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with control features operable with one hand
US9179912B2 (en) 2008-02-14 2015-11-10 Ethicon Endo-Surgery, Inc. Robotically-controlled motorized surgical cutting and fastening instrument
US8758391B2 (en) 2008-02-14 2014-06-24 Ethicon Endo-Surgery, Inc. Interchangeable tools for surgical instruments
US8636736B2 (en) 2008-02-14 2014-01-28 Ethicon Endo-Surgery, Inc. Motorized surgical cutting and fastening instrument
RU2493788C2 (ru) 2008-02-14 2013-09-27 Этикон Эндо-Серджери, Инк. Хирургический режущий и крепежный инструмент, имеющий радиочастотные электроды
US7866527B2 (en) 2008-02-14 2011-01-11 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with interlockable firing system
US9770245B2 (en) 2008-02-15 2017-09-26 Ethicon Llc Layer arrangements for surgical staple cartridges
US11272927B2 (en) 2008-02-15 2022-03-15 Cilag Gmbh International Layer arrangements for surgical staple cartridges
JP5506702B2 (ja) 2008-03-06 2014-05-28 アクアビーム エルエルシー 流体流れ内を伝達される光学エネルギーによる組織切除および焼灼
DE102008016146B4 (de) * 2008-03-28 2010-01-28 Aktormed Gmbh Operations-Assistenz-System zur Führung eines chirurgischen Hilfsinstrumentes
ES2338623B1 (es) * 2008-08-05 2012-02-07 Universidad Miguel Hernandez Brazo robótico.
US8332072B1 (en) 2008-08-22 2012-12-11 Titan Medical Inc. Robotic hand controller
US10532466B2 (en) * 2008-08-22 2020-01-14 Titan Medical Inc. Robotic hand controller
US11648005B2 (en) 2008-09-23 2023-05-16 Cilag Gmbh International Robotically-controlled motorized surgical instrument with an end effector
US9386983B2 (en) 2008-09-23 2016-07-12 Ethicon Endo-Surgery, Llc Robotically-controlled motorized surgical instrument
US8210411B2 (en) 2008-09-23 2012-07-03 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting instrument
US9005230B2 (en) 2008-09-23 2015-04-14 Ethicon Endo-Surgery, Inc. Motorized surgical instrument
US8608045B2 (en) 2008-10-10 2013-12-17 Ethicon Endo-Sugery, Inc. Powered surgical cutting and stapling apparatus with manually retractable firing system
US8594841B2 (en) 2008-12-31 2013-11-26 Intuitive Surgical Operations, Inc. Visual force feedback in a minimally invasive surgical procedure
US8374723B2 (en) 2008-12-31 2013-02-12 Intuitive Surgical Operations, Inc. Obtaining force information in a minimally invasive surgical procedure
US8517239B2 (en) 2009-02-05 2013-08-27 Ethicon Endo-Surgery, Inc. Surgical stapling instrument comprising a magnetic element driver
CA2751664A1 (en) 2009-02-06 2010-08-12 Ethicon Endo-Surgery, Inc. Driven surgical stapler improvements
US8444036B2 (en) 2009-02-06 2013-05-21 Ethicon Endo-Surgery, Inc. Motor driven surgical fastener device with mechanisms for adjusting a tissue gap within the end effector
DE102009002435A1 (de) * 2009-04-16 2010-10-21 Airbus Deutschland Gmbh Hochauftriebssystem für ein Flugzeug und Verfahren zum Detektieren von Fehlern in einem Hochauftriebssystem für ein Flugzeug
US8851354B2 (en) 2009-12-24 2014-10-07 Ethicon Endo-Surgery, Inc. Surgical cutting instrument that analyzes tissue thickness
US8220688B2 (en) 2009-12-24 2012-07-17 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting instrument with electric actuator directional control assembly
CN101785704B (zh) * 2010-01-15 2012-06-06 广东工业大学 一种主从式微创手术机器人系统的自适应滤波装置
IT1401669B1 (it) 2010-04-07 2013-08-02 Sofar Spa Sistema di chirurgia robotizzata con controllo perfezionato.
BE1019279A3 (fr) 2010-04-08 2012-05-08 Rutten Leon Procede de grenaillage et dispositif de controle pour un tel procede.
US8783543B2 (en) 2010-07-30 2014-07-22 Ethicon Endo-Surgery, Inc. Tissue acquisition arrangements and methods for surgical stapling devices
JP5645564B2 (ja) * 2010-09-14 2014-12-24 キヤノン株式会社 センサ装置及びロボット装置
DE102010040987A1 (de) * 2010-09-17 2012-03-22 Siemens Aktiengesellschaft Verfahren zum Platzieren eines Laparoskopieroboters in einer vorgebbaren Relativlage zu einem Trokar
US9232941B2 (en) 2010-09-30 2016-01-12 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising a reservoir
US9364233B2 (en) 2010-09-30 2016-06-14 Ethicon Endo-Surgery, Llc Tissue thickness compensators for circular surgical staplers
US9241714B2 (en) 2011-04-29 2016-01-26 Ethicon Endo-Surgery, Inc. Tissue thickness compensator and method for making the same
US11849952B2 (en) 2010-09-30 2023-12-26 Cilag Gmbh International Staple cartridge comprising staples positioned within a compressible portion thereof
US9386988B2 (en) 2010-09-30 2016-07-12 Ethicon End-Surgery, LLC Retainer assembly including a tissue thickness compensator
US8857694B2 (en) 2010-09-30 2014-10-14 Ethicon Endo-Surgery, Inc. Staple cartridge loading assembly
US11298125B2 (en) 2010-09-30 2022-04-12 Cilag Gmbh International Tissue stapler having a thickness compensator
US9629814B2 (en) 2010-09-30 2017-04-25 Ethicon Endo-Surgery, Llc Tissue thickness compensator configured to redistribute compressive forces
US10945731B2 (en) 2010-09-30 2021-03-16 Ethicon Llc Tissue thickness compensator comprising controlled release and expansion
US11812965B2 (en) 2010-09-30 2023-11-14 Cilag Gmbh International Layer of material for a surgical end effector
US9272406B2 (en) 2010-09-30 2016-03-01 Ethicon Endo-Surgery, Llc Fastener cartridge comprising a cutting member for releasing a tissue thickness compensator
US8695866B2 (en) 2010-10-01 2014-04-15 Ethicon Endo-Surgery, Inc. Surgical instrument having a power control circuit
ES2911454T3 (es) 2010-10-01 2022-05-19 Applied Med Resources Dispositivo de entrenamiento laparoscópico portátil
JP5215378B2 (ja) * 2010-12-27 2013-06-19 ファナック株式会社 ３軸力センサを用いて力制御をおこなうロボットの制御装置
US9119655B2 (en) * 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
US9921712B2 (en) 2010-12-29 2018-03-20 Mako Surgical Corp. System and method for providing substantially stable control of a surgical tool
JP5682314B2 (ja) * 2011-01-06 2015-03-11 セイコーエプソン株式会社 ロボット
US9068438B2 (en) * 2011-01-28 2015-06-30 Baker Hughes Incorporated Optimization of sample cleanup during formation testing
US20160143749A1 (en) * 2011-04-08 2016-05-26 The General Hospital Corporation Glenoid component installation procedure and tooling for shoulder arthroplasty
BR112013027794B1 (pt) 2011-04-29 2020-12-15 Ethicon Endo-Surgery, Inc Conjunto de cartucho de grampos
CN102151179B (zh) * 2011-05-13 2012-07-04 南开大学 用于微创外科手术机器人的三维力传感器
US9072535B2 (en) 2011-05-27 2015-07-07 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with rotatable staple deployment arrangements
US11207064B2 (en) 2011-05-27 2021-12-28 Cilag Gmbh International Automated end effector component reloading system for use with a robotic system
CN102359839B (zh) * 2011-08-19 2012-11-28 青岛大学 一种医用压力检测装置
EP2759815B1 (en) * 2011-09-20 2018-02-28 Ishida Co., Ltd. Mass measurement device
US9060794B2 (en) * 2011-10-18 2015-06-23 Mako Surgical Corp. System and method for robotic surgery
JP6169088B2 (ja) 2011-10-21 2017-07-26 アプライド メディカル リソーシーズ コーポレイション 外科訓練のための模擬組織構造
US8911429B2 (en) 2011-11-04 2014-12-16 The Johns Hopkins University Steady hand micromanipulation robot
KR101828453B1 (ko) * 2011-12-09 2018-02-13 삼성전자주식회사 의료용 로봇 시스템 및 그 제어 방법
CA2859967A1 (en) 2011-12-20 2013-06-27 Applied Medical Resources Corporation Advanced surgical simulation
RU2491161C1 (ru) * 2012-01-10 2013-08-27 Олег Владимирович Галимов Роботическая система для мини-инвазивной хирургии
JP5966372B2 (ja) * 2012-01-17 2016-08-10 セイコーエプソン株式会社 ロボット制御装置、ロボットシステム、ロボット制御方法及びロボット
US9044230B2 (en) 2012-02-13 2015-06-02 Ethicon Endo-Surgery, Inc. Surgical cutting and fastening instrument with apparatus for determining cartridge and firing motion status
JP6080872B2 (ja) 2012-02-29 2017-02-15 プロセプト バイオロボティクス コーポレイション 自動化された画像誘導組織切除および治療
CN104334098B (zh) 2012-03-28 2017-03-22 伊西康内外科公司 包括限定低压强环境的胶囊剂的组织厚度补偿件
MX353040B (es) 2012-03-28 2017-12-18 Ethicon Endo Surgery Inc Unidad retenedora que incluye un compensador de grosor de tejido.
BR112014024102B1 (pt) 2012-03-28 2022-03-03 Ethicon Endo-Surgery, Inc Conjunto de cartucho de prendedores para um instrumento cirúrgico, e conjunto de atuador de extremidade para um instrumento cirúrgico
KR101358669B1 (ko) * 2012-05-21 2014-02-24 한국과학기술원 다자유도 그리퍼의 힘 또는 토크를 로봇팔의 슬라이더에서 측정하는 장치 및 방법
KR101358668B1 (ko) * 2012-05-21 2014-02-11 한국과학기술원 다자유도 수술도구의 힘 또는 토크를 로봇팔의 슬라이더에서 측정하는 장치 및 방법
JP6053342B2 (ja) * 2012-06-15 2016-12-27 キヤノン株式会社 医療用マニピュレータおよび、該医療用マニピュレータを備えた医療用画像撮影システム
US9101358B2 (en) 2012-06-15 2015-08-11 Ethicon Endo-Surgery, Inc. Articulatable surgical instrument comprising a firing drive
US9282974B2 (en) 2012-06-28 2016-03-15 Ethicon Endo-Surgery, Llc Empty clip cartridge lockout
US9204879B2 (en) 2012-06-28 2015-12-08 Ethicon Endo-Surgery, Inc. Flexible drive member
BR112014032776B1 (pt) 2012-06-28 2021-09-08 Ethicon Endo-Surgery, Inc Sistema de instrumento cirúrgico e kit cirúrgico para uso com um sistema de instrumento cirúrgico
US20140001234A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Coupling arrangements for attaching surgical end effectors to drive systems therefor
RU2636861C2 (ru) 2012-06-28 2017-11-28 Этикон Эндо-Серджери, Инк. Блокировка пустой кассеты с клипсами
US9289256B2 (en) 2012-06-28 2016-03-22 Ethicon Endo-Surgery, Llc Surgical end effectors having angled tissue-contacting surfaces
US11202631B2 (en) 2012-06-28 2021-12-21 Cilag Gmbh International Stapling assembly comprising a firing lockout
US20140001231A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Firing system lockout arrangements for surgical instruments
KR20140008728A (ko) * 2012-07-11 2014-01-22 삼성전자주식회사 로봇을 이용한 촉진 장치 및 방법
GB2518576B (en) * 2012-08-02 2015-09-02 Toshiba Machine Co Ltd Robotic apparatus and control method therefor
US9226796B2 (en) 2012-08-03 2016-01-05 Stryker Corporation Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path
EP2880647A1 (en) 2012-08-03 2015-06-10 Applied Medical Resources Corporation Simulated stapling and energy based ligation for surgical training
EP2879608B1 (en) * 2012-08-03 2020-03-18 Stryker Corporation Systems for robotic surgery
US9259281B2 (en) 2012-08-15 2016-02-16 Intuitive Surgical Operations, Inc. Movable surgical mounting platform controlled by manual motion of robotic arms
JP6111562B2 (ja) * 2012-08-31 2017-04-12 セイコーエプソン株式会社 ロボット
AU2013323744B2 (en) 2012-09-26 2017-08-17 Applied Medical Resources Corporation Surgical training model for laparoscopic procedures
JP6245531B2 (ja) 2012-09-27 2017-12-13 アプライド メディカル リソーシーズ コーポレイション 腹腔鏡下手技用の外科用訓練モデル
JP2015532451A (ja) 2012-09-27 2015-11-09 アプライド メディカル リソーシーズ コーポレイション 腹腔鏡処置のための外科訓練モデル
US10679520B2 (en) 2012-09-27 2020-06-09 Applied Medical Resources Corporation Surgical training model for laparoscopic procedures
EP2901439A1 (en) 2012-09-28 2015-08-05 Applied Medical Resources Corporation Surgical training model for laparoscopic procedures
ES2720490T3 (es) 2012-09-28 2019-07-22 Applied Med Resources Modelo de entrenamiento quirúrgico para procedimientos laparoscópicos transluminales
JP2014134530A (ja) 2012-12-14 2014-07-24 Panasonic Corp 力計測装置、力計測方法、力計測プログラム、力計測用集積電子回路、並びに、マスタースレーブ装置
ES2897418T3 (es) 2013-03-01 2022-03-01 Applied Med Resources Construcciones y métodos de simulación quirúrgica avanzada
RU2669463C2 (ru) 2013-03-01 2018-10-11 Этикон Эндо-Серджери, Инк. Хирургический инструмент с мягким упором
RU2672520C2 (ru) 2013-03-01 2018-11-15 Этикон Эндо-Серджери, Инк. Шарнирно поворачиваемые хирургические инструменты с проводящими путями для передачи сигналов
WO2014164207A1 (en) 2013-03-12 2014-10-09 Stryker Corporation Sensor assembly and method for measuring forces and torques
US10470762B2 (en) 2013-03-14 2019-11-12 Ethicon Llc Multi-function motor for a surgical instrument
US9629629B2 (en) 2013-03-14 2017-04-25 Ethicon Endo-Surgey, LLC Control systems for surgical instruments
BR112015026109B1 (pt) 2013-04-16 2022-02-22 Ethicon Endo-Surgery, Inc Instrumento cirúrgico
US9649110B2 (en) 2013-04-16 2017-05-16 Ethicon Llc Surgical instrument comprising a closing drive and a firing drive operated from the same rotatable output
GB201306923D0 (en) * 2013-04-17 2013-05-29 Gencoa Ltd Auto-tuning
US20140323904A1 (en) * 2013-04-30 2014-10-30 Elwha Llc Stabilized device for remote palpation of tissue
CA2912069C (en) 2013-05-15 2022-01-11 Applied Medical Resources Corporation Hernia model
JP5962590B2 (ja) * 2013-05-31 2016-08-03 株式会社安川電機 ロボットシステムおよび被加工物の製造方法
CA3232626A1 (en) 2013-06-18 2014-12-24 Applied Medical Resources Corporation Gallbladder model
KR102206198B1 (ko) * 2013-07-10 2021-01-22 삼성전자주식회사 수술 로봇 시스템 및 그 제어 방법
KR102239454B1 (ko) 2013-07-24 2021-04-13 어플라이드 메디컬 리소시스 코포레이션 제 1 진입 모델
US10198966B2 (en) 2013-07-24 2019-02-05 Applied Medical Resources Corporation Advanced first entry model for surgical simulation
KR102313228B1 (ko) * 2013-08-15 2021-10-18 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 기구 살균 어댑터에 대한 액추에이터 인터페이스
KR20230053731A (ko) 2013-08-15 2023-04-21 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 예압형 수술 기구 인터페이스
KR102313240B1 (ko) 2013-08-15 2021-10-18 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 로봇 기구 피동 요소
EP3033035B1 (en) 2013-08-15 2020-11-25 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive features
CN108784838B (zh) 2013-08-15 2021-06-08 直观外科手术操作公司 器械无菌适配器驱动接口
EP3597135B1 (en) 2013-08-15 2021-12-15 Intuitive Surgical Operations, Inc. Variable instrument preload mechanism controller
CN106028966B (zh) 2013-08-23 2018-06-22 伊西康内外科有限责任公司 用于动力外科器械的击发构件回缩装置
US20150053737A1 (en) 2013-08-23 2015-02-26 Ethicon Endo-Surgery, Inc. End effector detection systems for surgical instruments
KR102306959B1 (ko) * 2013-09-04 2021-10-01 삼성전자주식회사 수술 로봇 및 수술 로봇 제어 방법
EP3037222A4 (en) * 2013-09-24 2017-04-12 Sony Olympus Medical Solutions Inc. Medical robot arm device, medical robot arm control system, medical robot arm control method, and program
US9817019B2 (en) 2013-11-13 2017-11-14 Intuitive Surgical Operations, Inc. Integrated fiber bragg grating accelerometer in a surgical instrument
WO2015095149A1 (en) * 2013-12-17 2015-06-25 Corindus, Inc. System and method for controlling a motor in a catheter procedure system
US9962161B2 (en) 2014-02-12 2018-05-08 Ethicon Llc Deliverable surgical instrument
CN106232029B (zh) 2014-02-24 2019-04-12 伊西康内外科有限责任公司 包括击发构件锁定件的紧固系统
JP6278747B2 (ja) * 2014-02-28 2018-02-14 オリンパス株式会社 マニピュレータのキャリブレーション方法、マニピュレータ、およびマニピュレータシステム
JP6530422B2 (ja) * 2014-03-17 2019-06-12 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 能動的な付勢を伴う定荷重ばね
WO2015143281A1 (en) * 2014-03-21 2015-09-24 President And Fellows Of Harvard College Monolithic, multi-axis force sensor
KR102438168B1 (ko) 2014-03-26 2022-08-31 어플라이드 메디컬 리소시스 코포레이션 시뮬레이션된 절개가능 조직
US10004497B2 (en) 2014-03-26 2018-06-26 Ethicon Llc Interface systems for use with surgical instruments
BR112016021943B1 (pt) 2014-03-26 2022-06-14 Ethicon Endo-Surgery, Llc Instrumento cirúrgico para uso por um operador em um procedimento cirúrgico
US10028761B2 (en) 2014-03-26 2018-07-24 Ethicon Llc Feedback algorithms for manual bailout systems for surgical instruments
US9804618B2 (en) 2014-03-26 2017-10-31 Ethicon Llc Systems and methods for controlling a segmented circuit
BR112016023698B1 (pt) 2014-04-16 2022-07-26 Ethicon Endo-Surgery, Llc Cartucho de prendedores para uso com um instrumento cirúrgico
US9801627B2 (en) 2014-09-26 2017-10-31 Ethicon Llc Fastener cartridge for creating a flexible staple line
JP6612256B2 (ja) 2014-04-16 2019-11-27 エシコン エルエルシー 不均一な締結具を備える締結具カートリッジ
CN106456159B (zh) 2014-04-16 2019-03-08 伊西康内外科有限责任公司 紧固件仓组件和钉保持器盖布置结构
US9844369B2 (en) 2014-04-16 2017-12-19 Ethicon Llc Surgical end effectors with firing element monitoring arrangements
US20150297222A1 (en) 2014-04-16 2015-10-22 Ethicon Endo-Surgery, Inc. Fastener cartridges including extensions having different configurations
JP6547164B2 (ja) * 2014-04-30 2019-07-24 株式会社人機一体 マスタスレーブシステム
KR102269776B1 (ko) * 2014-06-30 2021-06-29 큐렉소 주식회사 중재시술 로봇의 캘리브레이션 방법
JP6177436B2 (ja) * 2014-07-28 2017-08-09 オリンパス株式会社 内視鏡システム及び画像処理装置
CN110403651B (zh) 2014-07-29 2022-11-08 直观外科手术操作公司 带有测量患者体壁力的传感器的插管
US10369045B2 (en) * 2014-07-29 2019-08-06 The Johns Hopkins University Micromanipulation systems and methods
KR102652836B1 (ko) * 2014-08-12 2024-04-01 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 비제어 이동 검출
US11311294B2 (en) 2014-09-05 2022-04-26 Cilag Gmbh International Powered medical device including measurement of closure state of jaws
US10111679B2 (en) 2014-09-05 2018-10-30 Ethicon Llc Circuitry and sensors for powered medical device
BR112017004361B1 (pt) 2014-09-05 2023-04-11 Ethicon Llc Sistema eletrônico para um instrumento cirúrgico
US10105142B2 (en) 2014-09-18 2018-10-23 Ethicon Llc Surgical stapler with plurality of cutting elements
CN107427300B (zh) 2014-09-26 2020-12-04 伊西康有限责任公司 外科缝合支撑物和辅助材料
US11523821B2 (en) 2014-09-26 2022-12-13 Cilag Gmbh International Method for creating a flexible staple line
US10076325B2 (en) 2014-10-13 2018-09-18 Ethicon Llc Surgical stapling apparatus comprising a tissue stop
US9924944B2 (en) 2014-10-16 2018-03-27 Ethicon Llc Staple cartridge comprising an adjunct material
CN115444567A (zh) * 2014-10-27 2022-12-09 直观外科手术操作公司 用于器械干扰补偿的系统和方法
KR102479015B1 (ko) 2014-10-27 2022-12-20 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 통합 수술 테이블 운동을 위한 시스템 및 방법
KR102617042B1 (ko) 2014-10-27 2023-12-27 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술 테이블에 등록하기 위한 시스템 및 방법
CN107072727B (zh) 2014-10-27 2020-01-24 直观外科手术操作公司 具有主动制动器释放控制装置的医疗装置
CN111839731A (zh) 2014-10-27 2020-10-30 直观外科手术操作公司 用于在反应运动期间监测控制点的系统和方法
CN110478036B (zh) 2014-10-27 2022-05-17 直观外科手术操作公司 用于集成手术台的系统和方法
US10624807B2 (en) 2014-10-27 2020-04-21 Intuitive Surgical Operations, Inc. System and method for integrated surgical table icons
US10517594B2 (en) 2014-10-29 2019-12-31 Ethicon Llc Cartridge assemblies for surgical staplers
US11141153B2 (en) 2014-10-29 2021-10-12 Cilag Gmbh International Staple cartridges comprising driver arrangements
GB201419645D0 (en) * 2014-11-04 2014-12-17 Cambridge Medical Robotics Ltd Characterising motion constraints
US9844376B2 (en) 2014-11-06 2017-12-19 Ethicon Llc Staple cartridge comprising a releasable adjunct material
JP6754359B2 (ja) 2014-11-13 2020-09-09 アプライド メディカル リソーシーズ コーポレイション 模擬組織モデルおよび方法
DE102014224122B4 (de) * 2014-11-26 2018-10-25 Siemens Healthcare Gmbh Verfahren zum Betreiben eines robotischen Gerätes und robotisches Gerät
US10736636B2 (en) 2014-12-10 2020-08-11 Ethicon Llc Articulatable surgical instrument system
US10188385B2 (en) 2014-12-18 2019-01-29 Ethicon Llc Surgical instrument system comprising lockable systems
US9943309B2 (en) 2014-12-18 2018-04-17 Ethicon Llc Surgical instruments with articulatable end effectors and movable firing beam support arrangements
US9987000B2 (en) 2014-12-18 2018-06-05 Ethicon Llc Surgical instrument assembly comprising a flexible articulation system
US9844374B2 (en) 2014-12-18 2017-12-19 Ethicon Llc Surgical instrument systems comprising an articulatable end effector and means for adjusting the firing stroke of a firing member
RU2703684C2 (ru) 2014-12-18 2019-10-21 ЭТИКОН ЭНДО-СЕРДЖЕРИ, ЭлЭлСи Хирургический инструмент с упором, который выполнен с возможностью избирательного перемещения относительно кассеты со скобами вокруг дискретной неподвижной оси
US9844375B2 (en) 2014-12-18 2017-12-19 Ethicon Llc Drive arrangements for articulatable surgical instruments
US10085748B2 (en) 2014-12-18 2018-10-02 Ethicon Llc Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors
EP3259107B1 (en) 2015-02-19 2019-04-10 Applied Medical Resources Corporation Simulated tissue structures and methods
US11154301B2 (en) 2015-02-27 2021-10-26 Cilag Gmbh International Modular stapling assembly
US9931118B2 (en) 2015-02-27 2018-04-03 Ethicon Endo-Surgery, Llc Reinforced battery for a surgical instrument
US10180463B2 (en) 2015-02-27 2019-01-15 Ethicon Llc Surgical apparatus configured to assess whether a performance parameter of the surgical apparatus is within an acceptable performance band
JP2020121162A (ja) 2015-03-06 2020-08-13 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ 測定の安定性要素、クリープ要素、及び粘弾性要素を決定するためのセンサデータの時間依存性評価
US9901342B2 (en) 2015-03-06 2018-02-27 Ethicon Endo-Surgery, Llc Signal and power communication system positioned on a rotatable shaft
US9993248B2 (en) 2015-03-06 2018-06-12 Ethicon Endo-Surgery, Llc Smart sensors with local signal processing
US10617412B2 (en) 2015-03-06 2020-04-14 Ethicon Llc System for detecting the mis-insertion of a staple cartridge into a surgical stapler
US10052044B2 (en) 2015-03-06 2018-08-21 Ethicon Llc Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures
US10687806B2 (en) 2015-03-06 2020-06-23 Ethicon Llc Adaptive tissue compression techniques to adjust closure rates for multiple tissue types
US10441279B2 (en) 2015-03-06 2019-10-15 Ethicon Llc Multiple level thresholds to modify operation of powered surgical instruments
US10245033B2 (en) 2015-03-06 2019-04-02 Ethicon Llc Surgical instrument comprising a lockable battery housing
US9808246B2 (en) 2015-03-06 2017-11-07 Ethicon Endo-Surgery, Llc Method of operating a powered surgical instrument
US9924961B2 (en) 2015-03-06 2018-03-27 Ethicon Endo-Surgery, Llc Interactive feedback system for powered surgical instruments
GB2536650A (en) 2015-03-24 2016-09-28 Augmedics Ltd Method and system for combining video-based and optic-based augmented reality in a near eye display
US9505132B1 (en) * 2015-03-30 2016-11-29 X Development Llc Methods and systems for calibrating a sensor of a robotic device
US10433844B2 (en) 2015-03-31 2019-10-08 Ethicon Llc Surgical instrument with selectively disengageable threaded drive systems
WO2016183054A1 (en) 2015-05-11 2016-11-17 Covidien Lp Coupling instrument drive unit and robotic surgical instrument
ES2716924T3 (es) 2015-05-14 2019-06-18 Applied Med Resources Estructuras de tejido sintético para entrenamiento y estimulación electroquirúrgica
CN107635488B (zh) * 2015-05-15 2020-07-24 直观外科手术操作公司 用于力或扭矩极限补偿的系统和方法
AU2016276771B2 (en) 2015-06-09 2022-02-03 Applied Medical Resources Corporation Hysterectomy model
WO2016201303A1 (en) * 2015-06-12 2016-12-15 The Johns Hopkins University Cooperatively-controlled surgical robotic system with redundant force sensing
DE102015109371A1 (de) * 2015-06-12 2016-12-15 avateramedical GmBH Vorrichtung und Verfahren zur robotergestützten Chirurgie
US10667877B2 (en) 2015-06-19 2020-06-02 Covidien Lp Controlling robotic surgical instruments with bidirectional coupling
WO2016210135A1 (en) * 2015-06-23 2016-12-29 The Regents Of The University Of California Precision injector/extractor for robot-assisted minimally-invasive surgery
EP3323122B1 (en) 2015-07-16 2020-09-02 Applied Medical Resources Corporation Simulated dissectable tissue
JP6862413B2 (ja) 2015-07-22 2021-04-21 アプライド メディカル リソーシーズ コーポレイション 虫垂切除術用モデル
US11058425B2 (en) 2015-08-17 2021-07-13 Ethicon Llc Implantable layers for a surgical instrument
EP3321044A4 (en) * 2015-08-25 2019-05-29 Kawasaki Jukogyo Kabushiki Kaisha REMOTELY CONTROLLED MANIPULATOR SYSTEM AND METHOD FOR OPERATION THEREOF
US10350766B2 (en) * 2015-09-21 2019-07-16 GM Global Technology Operations LLC Extended-reach assist device for performing assembly tasks
US10327769B2 (en) 2015-09-23 2019-06-25 Ethicon Llc Surgical stapler having motor control based on a drive system component
US10105139B2 (en) 2015-09-23 2018-10-23 Ethicon Llc Surgical stapler having downstream current-based motor control
US10363036B2 (en) 2015-09-23 2019-07-30 Ethicon Llc Surgical stapler having force-based motor control
US10238386B2 (en) 2015-09-23 2019-03-26 Ethicon Llc Surgical stapler having motor control based on an electrical parameter related to a motor current
US10299878B2 (en) 2015-09-25 2019-05-28 Ethicon Llc Implantable adjunct systems for determining adjunct skew
US10172620B2 (en) 2015-09-30 2019-01-08 Ethicon Llc Compressible adjuncts with bonding nodes
US11890015B2 (en) 2015-09-30 2024-02-06 Cilag Gmbh International Compressible adjunct with crossing spacer fibers
US20170086829A1 (en) 2015-09-30 2017-03-30 Ethicon Endo-Surgery, Llc Compressible adjunct with intermediate supporting structures
US10980539B2 (en) 2015-09-30 2021-04-20 Ethicon Llc Implantable adjunct comprising bonded layers
EP3357054B1 (en) 2015-10-02 2023-08-30 Applied Medical Resources Corporation Hysterectomy model
CN113303915B (zh) * 2015-11-12 2024-04-12 柯惠Lp公司 机器人外科手术系统和监测施加的力的方法
KR20180083919A (ko) 2015-11-20 2018-07-23 어플라이드 메디컬 리소시스 코포레이션 시뮬레이션된 절개가능 조직
JP6654884B2 (ja) * 2015-12-11 2020-02-26 川崎重工業株式会社 外科手術システム
US10368865B2 (en) * 2015-12-30 2019-08-06 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US10265068B2 (en) 2015-12-30 2019-04-23 Ethicon Llc Surgical instruments with separable motors and motor control circuits
US10292704B2 (en) 2015-12-30 2019-05-21 Ethicon Llc Mechanisms for compensating for battery pack failure in powered surgical instruments
ITUB20169976A1 (it) * 2016-01-14 2017-07-14 Comau Spa Sistema per il controllo assistito da robot di una sonda transrettale, ad esempio per impiego nell'esecuzione di una ecografia prostatica
US20190060019A1 (en) * 2016-01-28 2019-02-28 Transenterix Surgical, Inc. Force estimation using robotic manipulator force torque sensors
EP3407818B1 (en) * 2016-01-29 2024-03-06 Intuitive Surgical Operations, Inc. System for variable velocity surgical instrument
JP6911054B2 (ja) 2016-02-09 2021-07-28 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ 非対称の関節構成を備えた外科用器具
US20170224332A1 (en) 2016-02-09 2017-08-10 Ethicon Endo-Surgery, Llc Surgical instruments with non-symmetrical articulation arrangements
US11213293B2 (en) 2016-02-09 2022-01-04 Cilag Gmbh International Articulatable surgical instruments with single articulation link arrangements
US10448948B2 (en) 2016-02-12 2019-10-22 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US10258331B2 (en) 2016-02-12 2019-04-16 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US11224426B2 (en) 2016-02-12 2022-01-18 Cilag Gmbh International Mechanisms for compensating for drivetrain failure in powered surgical instruments
CN113456224A (zh) * 2016-03-17 2021-10-01 直观外科手术操作公司 用于器械插入控制的系统和方法
US10617413B2 (en) 2016-04-01 2020-04-14 Ethicon Llc Closure system arrangements for surgical cutting and stapling devices with separate and distinct firing shafts
US10376263B2 (en) 2016-04-01 2019-08-13 Ethicon Llc Anvil modification members for surgical staplers
US10426467B2 (en) 2016-04-15 2019-10-01 Ethicon Llc Surgical instrument with detection sensors
US10405859B2 (en) 2016-04-15 2019-09-10 Ethicon Llc Surgical instrument with adjustable stop/start control during a firing motion
US11607239B2 (en) 2016-04-15 2023-03-21 Cilag Gmbh International Systems and methods for controlling a surgical stapling and cutting instrument
US11179150B2 (en) 2016-04-15 2021-11-23 Cilag Gmbh International Systems and methods for controlling a surgical stapling and cutting instrument
JP6831642B2 (ja) 2016-04-15 2021-02-17 川崎重工業株式会社 外科手術システム
US10492783B2 (en) 2016-04-15 2019-12-03 Ethicon, Llc Surgical instrument with improved stop/start control during a firing motion
US10456137B2 (en) 2016-04-15 2019-10-29 Ethicon Llc Staple formation detection mechanisms
US10357247B2 (en) 2016-04-15 2019-07-23 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US10828028B2 (en) * 2016-04-15 2020-11-10 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US10335145B2 (en) 2016-04-15 2019-07-02 Ethicon Llc Modular surgical instrument with configurable operating mode
US11317917B2 (en) 2016-04-18 2022-05-03 Cilag Gmbh International Surgical stapling system comprising a lockable firing assembly
US10478181B2 (en) 2016-04-18 2019-11-19 Ethicon Llc Cartridge lockout arrangements for rotary powered surgical cutting and stapling instruments
US20170296173A1 (en) 2016-04-18 2017-10-19 Ethicon Endo-Surgery, Llc Method for operating a surgical instrument
ES2607227B2 (es) * 2016-06-23 2017-11-23 Universidad De Málaga Método de manejo de un sistema robótico para cirugía mínimamente invasiva
KR102405187B1 (ko) 2016-06-27 2022-06-07 어플라이드 메디컬 리소시스 코포레이션 시뮬레이션된 복벽
US10709460B2 (en) 2016-08-01 2020-07-14 Howmedica Osteonics Corp. Centering guide system for arthroplasty
US10493617B1 (en) * 2016-10-21 2019-12-03 X Development Llc Robot control
US11259881B2 (en) * 2016-11-03 2022-03-01 Verb Surgical Inc. Tool driver with reaction torque sensor for use in robotic surgery
WO2018112025A1 (en) 2016-12-16 2018-06-21 Mako Surgical Corp. Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site
US10492785B2 (en) 2016-12-21 2019-12-03 Ethicon Llc Shaft assembly comprising a lockout
JP7010956B2 (ja) 2016-12-21 2022-01-26 エシコン エルエルシー 組織をステープル留めする方法
US10448950B2 (en) 2016-12-21 2019-10-22 Ethicon Llc Surgical staplers with independently actuatable closing and firing systems
MX2019007311A (es) 2016-12-21 2019-11-18 Ethicon Llc Sistemas de engrapado quirurgico.
US10856868B2 (en) 2016-12-21 2020-12-08 Ethicon Llc Firing member pin configurations
US20180168625A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Surgical stapling instruments with smart staple cartridges
US11419606B2 (en) 2016-12-21 2022-08-23 Cilag Gmbh International Shaft assembly comprising a clutch configured to adapt the output of a rotary firing member to two different systems
US10695055B2 (en) 2016-12-21 2020-06-30 Ethicon Llc Firing assembly comprising a lockout
US11191540B2 (en) 2016-12-21 2021-12-07 Cilag Gmbh International Protective cover arrangements for a joint interface between a movable jaw and actuator shaft of a surgical instrument
US10682138B2 (en) 2016-12-21 2020-06-16 Ethicon Llc Bilaterally asymmetric staple forming pocket pairs
US11134942B2 (en) 2016-12-21 2021-10-05 Cilag Gmbh International Surgical stapling instruments and staple-forming anvils
US20180168615A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Method of deforming staples from two different types of staple cartridges with the same surgical stapling instrument
US10736629B2 (en) 2016-12-21 2020-08-11 Ethicon Llc Surgical tool assemblies with clutching arrangements for shifting between closure systems with closure stroke reduction features and articulation and firing systems
US10675026B2 (en) 2016-12-21 2020-06-09 Ethicon Llc Methods of stapling tissue
US10639035B2 (en) 2016-12-21 2020-05-05 Ethicon Llc Surgical stapling instruments and replaceable tool assemblies thereof
US10881401B2 (en) 2016-12-21 2021-01-05 Ethicon Llc Staple firing member comprising a missing cartridge and/or spent cartridge lockout
US10835246B2 (en) 2016-12-21 2020-11-17 Ethicon Llc Staple cartridges and arrangements of staples and staple cavities therein
JP6983893B2 (ja) 2016-12-21 2021-12-17 エシコン エルエルシーEthicon LLC 外科用エンドエフェクタ及び交換式ツールアセンブリのためのロックアウト構成
US10426471B2 (en) 2016-12-21 2019-10-01 Ethicon Llc Surgical instrument with multiple failure response modes
US10327854B2 (en) * 2017-02-02 2019-06-25 Ethicon Llc Robotic surgical system and methods for articulation calibration
KR102444865B1 (ko) 2017-02-14 2022-09-19 어플라이드 메디컬 리소시스 코포레이션 복강경 트레이닝 시스템
US10847057B2 (en) 2017-02-23 2020-11-24 Applied Medical Resources Corporation Synthetic tissue structures for electrosurgical training and simulation
US11517325B2 (en) 2017-06-20 2022-12-06 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured displacement distance traveled over a specified time interval
US10646220B2 (en) 2017-06-20 2020-05-12 Ethicon Llc Systems and methods for controlling displacement member velocity for a surgical instrument
US10390841B2 (en) 2017-06-20 2019-08-27 Ethicon Llc Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation
US10980537B2 (en) 2017-06-20 2021-04-20 Ethicon Llc Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified number of shaft rotations
US10307170B2 (en) 2017-06-20 2019-06-04 Ethicon Llc Method for closed loop control of motor velocity of a surgical stapling and cutting instrument
USD879808S1 (en) 2017-06-20 2020-03-31 Ethicon Llc Display panel with graphical user interface
US11090046B2 (en) 2017-06-20 2021-08-17 Cilag Gmbh International Systems and methods for controlling displacement member motion of a surgical stapling and cutting instrument
US10368864B2 (en) 2017-06-20 2019-08-06 Ethicon Llc Systems and methods for controlling displaying motor velocity for a surgical instrument
US11071554B2 (en) 2017-06-20 2021-07-27 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on magnitude of velocity error measurements
US11653914B2 (en) 2017-06-20 2023-05-23 Cilag Gmbh International Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument according to articulation angle of end effector
USD890784S1 (en) 2017-06-20 2020-07-21 Ethicon Llc Display panel with changeable graphical user interface
US10881396B2 (en) 2017-06-20 2021-01-05 Ethicon Llc Surgical instrument with variable duration trigger arrangement
US10779820B2 (en) 2017-06-20 2020-09-22 Ethicon Llc Systems and methods for controlling motor speed according to user input for a surgical instrument
US10881399B2 (en) 2017-06-20 2021-01-05 Ethicon Llc Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument
US10813639B2 (en) 2017-06-20 2020-10-27 Ethicon Llc Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on system conditions
US10327767B2 (en) 2017-06-20 2019-06-25 Ethicon Llc Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation
USD879809S1 (en) 2017-06-20 2020-03-31 Ethicon Llc Display panel with changeable graphical user interface
US10888321B2 (en) 2017-06-20 2021-01-12 Ethicon Llc Systems and methods for controlling velocity of a displacement member of a surgical stapling and cutting instrument
US10624633B2 (en) 2017-06-20 2020-04-21 Ethicon Llc Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument
US11382638B2 (en) 2017-06-20 2022-07-12 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified displacement distance
US11141154B2 (en) 2017-06-27 2021-10-12 Cilag Gmbh International Surgical end effectors and anvils
US10856869B2 (en) 2017-06-27 2020-12-08 Ethicon Llc Surgical anvil arrangements
US11324503B2 (en) 2017-06-27 2022-05-10 Cilag Gmbh International Surgical firing member arrangements
US10993716B2 (en) 2017-06-27 2021-05-04 Ethicon Llc Surgical anvil arrangements
US10772629B2 (en) 2017-06-27 2020-09-15 Ethicon Llc Surgical anvil arrangements
US11266405B2 (en) 2017-06-27 2022-03-08 Cilag Gmbh International Surgical anvil manufacturing methods
US10716614B2 (en) 2017-06-28 2020-07-21 Ethicon Llc Surgical shaft assemblies with slip ring assemblies with increased contact pressure
US11058424B2 (en) 2017-06-28 2021-07-13 Cilag Gmbh International Surgical instrument comprising an offset articulation joint
US10211586B2 (en) 2017-06-28 2019-02-19 Ethicon Llc Surgical shaft assemblies with watertight housings
US10903685B2 (en) 2017-06-28 2021-01-26 Ethicon Llc Surgical shaft assemblies with slip ring assemblies forming capacitive channels
US11246592B2 (en) 2017-06-28 2022-02-15 Cilag Gmbh International Surgical instrument comprising an articulation system lockable to a frame
US10765427B2 (en) 2017-06-28 2020-09-08 Ethicon Llc Method for articulating a surgical instrument
USD854151S1 (en) 2017-06-28 2019-07-16 Ethicon Llc Surgical instrument shaft
US11564686B2 (en) 2017-06-28 2023-01-31 Cilag Gmbh International Surgical shaft assemblies with flexible interfaces
USD869655S1 (en) 2017-06-28 2019-12-10 Ethicon Llc Surgical fastener cartridge
US11478242B2 (en) 2017-06-28 2022-10-25 Cilag Gmbh International Jaw retainer arrangement for retaining a pivotable surgical instrument jaw in pivotable retaining engagement with a second surgical instrument jaw
US11259805B2 (en) 2017-06-28 2022-03-01 Cilag Gmbh International Surgical instrument comprising firing member supports
EP3420947B1 (en) 2017-06-28 2022-05-25 Cilag GmbH International Surgical instrument comprising selectively actuatable rotatable couplers
USD906355S1 (en) 2017-06-28 2020-12-29 Ethicon Llc Display screen or portion thereof with a graphical user interface for a surgical instrument
USD851762S1 (en) 2017-06-28 2019-06-18 Ethicon Llc Anvil
US10932772B2 (en) 2017-06-29 2021-03-02 Ethicon Llc Methods for closed loop velocity control for robotic surgical instrument
US10398434B2 (en) 2017-06-29 2019-09-03 Ethicon Llc Closed loop velocity control of closure member for robotic surgical instrument
US10258418B2 (en) 2017-06-29 2019-04-16 Ethicon Llc System for controlling articulation forces
US11007022B2 (en) 2017-06-29 2021-05-18 Ethicon Llc Closed loop velocity control techniques based on sensed tissue parameters for robotic surgical instrument
US10898183B2 (en) 2017-06-29 2021-01-26 Ethicon Llc Robotic surgical instrument with closed loop feedback techniques for advancement of closure member during firing
US11974742B2 (en) 2017-08-03 2024-05-07 Cilag Gmbh International Surgical system comprising an articulation bailout
US11944300B2 (en) 2017-08-03 2024-04-02 Cilag Gmbh International Method for operating a surgical system bailout
US11471155B2 (en) 2017-08-03 2022-10-18 Cilag Gmbh International Surgical system bailout
US11304695B2 (en) 2017-08-03 2022-04-19 Cilag Gmbh International Surgical system shaft interconnection
EP3444078B1 (en) * 2017-08-17 2023-07-05 Siemens Healthcare GmbH Method for tracking a hand-guided robot, hand-guided robot, computer program, and electronically readable storage medium
US11478316B2 (en) 2017-09-20 2022-10-25 Shanghai Microport Medbot (Group) Co., Ltd. Surgical robot system
CN108210078B (zh) * 2017-09-22 2020-11-27 微创（上海）医疗机器人有限公司 手术机器人系统
USD907648S1 (en) 2017-09-29 2021-01-12 Ethicon Llc Display screen or portion thereof with animated graphical user interface
USD907647S1 (en) 2017-09-29 2021-01-12 Ethicon Llc Display screen or portion thereof with animated graphical user interface
USD917500S1 (en) 2017-09-29 2021-04-27 Ethicon Llc Display screen or portion thereof with graphical user interface
US10729501B2 (en) 2017-09-29 2020-08-04 Ethicon Llc Systems and methods for language selection of a surgical instrument
US10743872B2 (en) 2017-09-29 2020-08-18 Ethicon Llc System and methods for controlling a display of a surgical instrument
US10765429B2 (en) 2017-09-29 2020-09-08 Ethicon Llc Systems and methods for providing alerts according to the operational state of a surgical instrument
US10796471B2 (en) 2017-09-29 2020-10-06 Ethicon Llc Systems and methods of displaying a knife position for a surgical instrument
US11399829B2 (en) 2017-09-29 2022-08-02 Cilag Gmbh International Systems and methods of initiating a power shutdown mode for a surgical instrument
KR20240042547A (ko) * 2017-10-23 2024-04-02 렌사르, 인크. 펨토-파코 복합 수술을 위한 시스템 및 방법
FR3072559B1 (fr) * 2017-10-24 2023-03-24 Spineguard Systeme medical comprenant un bras robotise et un dispositif medical destine a penetrer dans une structure anatomique
US11134944B2 (en) 2017-10-30 2021-10-05 Cilag Gmbh International Surgical stapler knife motion controls
US11090075B2 (en) 2017-10-30 2021-08-17 Cilag Gmbh International Articulation features for surgical end effector
US10842490B2 (en) 2017-10-31 2020-11-24 Ethicon Llc Cartridge body design with force reduction based on firing completion
US10779903B2 (en) 2017-10-31 2020-09-22 Ethicon Llc Positive shaft rotation lock activated by jaw closure
DE112017008018B4 (de) * 2017-11-02 2021-03-04 Mitsubishi Electric Corporation Kalibrierungsvorrichtung, kalibrierungsverfahren und steuerungsvorrichtung
CN111315309B (zh) * 2017-11-10 2023-06-02 直观外科手术操作公司 用于控制机器人操纵器或相关工具的系统和方法
KR102482611B1 (ko) 2017-11-14 2022-12-30 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 분할 브리지 회로 힘 센서
US10675107B2 (en) 2017-11-15 2020-06-09 Intuitive Surgical Operations, Inc. Surgical instrument end effector with integral FBG
DE102017220876B4 (de) 2017-11-22 2020-12-24 Ford Global Technologies, Llc Verfahren und Vorrichtung zur Positions- und Lagebestimmung
US11033267B2 (en) 2017-12-15 2021-06-15 Ethicon Llc Systems and methods of controlling a clamping member firing rate of a surgical instrument
US10966718B2 (en) 2017-12-15 2021-04-06 Ethicon Llc Dynamic clamping assemblies with improved wear characteristics for use in connection with electromechanical surgical instruments
US11197670B2 (en) 2017-12-15 2021-12-14 Cilag Gmbh International Surgical end effectors with pivotal jaws configured to touch at their respective distal ends when fully closed
US11071543B2 (en) 2017-12-15 2021-07-27 Cilag Gmbh International Surgical end effectors with clamping assemblies configured to increase jaw aperture ranges
US11006955B2 (en) 2017-12-15 2021-05-18 Ethicon Llc End effectors with positive jaw opening features for use with adapters for electromechanical surgical instruments
US10687813B2 (en) 2017-12-15 2020-06-23 Ethicon Llc Adapters with firing stroke sensing arrangements for use in connection with electromechanical surgical instruments
US10743874B2 (en) 2017-12-15 2020-08-18 Ethicon Llc Sealed adapters for use with electromechanical surgical instruments
US10779825B2 (en) 2017-12-15 2020-09-22 Ethicon Llc Adapters with end effector position sensing and control arrangements for use in connection with electromechanical surgical instruments
US10869666B2 (en) 2017-12-15 2020-12-22 Ethicon Llc Adapters with control systems for controlling multiple motors of an electromechanical surgical instrument
US10743875B2 (en) 2017-12-15 2020-08-18 Ethicon Llc Surgical end effectors with jaw stiffener arrangements configured to permit monitoring of firing member
US10828033B2 (en) 2017-12-15 2020-11-10 Ethicon Llc Handheld electromechanical surgical instruments with improved motor control arrangements for positioning components of an adapter coupled thereto
US10779826B2 (en) 2017-12-15 2020-09-22 Ethicon Llc Methods of operating surgical end effectors
USD910847S1 (en) 2017-12-19 2021-02-16 Ethicon Llc Surgical instrument assembly
US10835330B2 (en) 2017-12-19 2020-11-17 Ethicon Llc Method for determining the position of a rotatable jaw of a surgical instrument attachment assembly
US11045270B2 (en) 2017-12-19 2021-06-29 Cilag Gmbh International Robotic attachment comprising exterior drive actuator
US10729509B2 (en) 2017-12-19 2020-08-04 Ethicon Llc Surgical instrument comprising closure and firing locking mechanism
US11020112B2 (en) 2017-12-19 2021-06-01 Ethicon Llc Surgical tools configured for interchangeable use with different controller interfaces
US10716565B2 (en) 2017-12-19 2020-07-21 Ethicon Llc Surgical instruments with dual articulation drivers
US11076853B2 (en) 2017-12-21 2021-08-03 Cilag Gmbh International Systems and methods of displaying a knife position during transection for a surgical instrument
US11129680B2 (en) 2017-12-21 2021-09-28 Cilag Gmbh International Surgical instrument comprising a projector
US10743868B2 (en) 2017-12-21 2020-08-18 Ethicon Llc Surgical instrument comprising a pivotable distal head
US11311290B2 (en) 2017-12-21 2022-04-26 Cilag Gmbh International Surgical instrument comprising an end effector dampener
EP3745985A4 (en) * 2018-02-02 2022-03-16 Covidien LP ROBOTIC SURGICAL SYSTEMS WITH USER ENGAGEMENT MONITORING
CN108433814B (zh) * 2018-03-16 2019-12-24 微创（上海）医疗机器人有限公司 手术机器人系统及其手术器械
WO2019211741A1 (en) 2018-05-02 2019-11-07 Augmedics Ltd. Registration of a fiducial marker for an augmented reality system
US11906376B2 (en) 2018-05-22 2024-02-20 Nanyang Technological University Force sensor for tendon-actuated mechanisms
US11980504B2 (en) 2018-05-25 2024-05-14 Intuitive Surgical Operations, Inc. Fiber Bragg grating end effector force sensor
CN112368116A (zh) * 2018-06-15 2021-02-12 优傲机器人公司 附接到机器人臂的有效载荷的估计
US11253256B2 (en) 2018-08-20 2022-02-22 Cilag Gmbh International Articulatable motor powered surgical instruments with dedicated articulation motor arrangements
US11083458B2 (en) 2018-08-20 2021-08-10 Cilag Gmbh International Powered surgical instruments with clutching arrangements to convert linear drive motions to rotary drive motions
US10912559B2 (en) 2018-08-20 2021-02-09 Ethicon Llc Reinforced deformable anvil tip for surgical stapler anvil
US10842492B2 (en) 2018-08-20 2020-11-24 Ethicon Llc Powered articulatable surgical instruments with clutching and locking arrangements for linking an articulation drive system to a firing drive system
US11324501B2 (en) 2018-08-20 2022-05-10 Cilag Gmbh International Surgical stapling devices with improved closure members
US11045192B2 (en) 2018-08-20 2021-06-29 Cilag Gmbh International Fabricating techniques for surgical stapler anvils
US11291440B2 (en) 2018-08-20 2022-04-05 Cilag Gmbh International Method for operating a powered articulatable surgical instrument
US11207065B2 (en) 2018-08-20 2021-12-28 Cilag Gmbh International Method for fabricating surgical stapler anvils
US10779821B2 (en) 2018-08-20 2020-09-22 Ethicon Llc Surgical stapler anvils with tissue stop features configured to avoid tissue pinch
US11039834B2 (en) 2018-08-20 2021-06-22 Cilag Gmbh International Surgical stapler anvils with staple directing protrusions and tissue stability features
USD914878S1 (en) 2018-08-20 2021-03-30 Ethicon Llc Surgical instrument anvil
US10856870B2 (en) 2018-08-20 2020-12-08 Ethicon Llc Switching arrangements for motor powered articulatable surgical instruments
US11691293B2 (en) 2018-08-31 2023-07-04 Fanuc Corporation Robot
JP6650153B1 (ja) * 2018-09-06 2020-02-19 リバーフィールド株式会社 アーム装置、制御方法およびプログラム
CN109199588B (zh) * 2018-09-30 2020-11-13 上海奥朋医疗科技有限公司 血管介入用电磁阻尼旋进力反馈操作手柄
WO2020070883A1 (ja) * 2018-10-05 2020-04-09 オリンパス株式会社 内視鏡システム
WO2020101516A1 (en) 2018-11-12 2020-05-22 Obshchestvo S Ogranichennoy Otvetstvennostyu "Tra Robotics" Sensor-free force/torque sensing in an articulated electromechanical actuator-driven robot
US11815412B2 (en) 2018-11-15 2023-11-14 Intuitive Surgical Operations, Inc. Strain sensor with contoured deflection surface
US11766296B2 (en) 2018-11-26 2023-09-26 Augmedics Ltd. Tracking system for image-guided surgery
CN109662779B (zh) * 2019-01-25 2021-06-18 李汉忠 一种经尿道电切镜手术机器人系统
JP7153335B2 (ja) * 2019-01-29 2022-10-14 リバーフィールド株式会社 手術支援装置
US20220250242A1 (en) * 2019-03-12 2022-08-11 Intuitive Surgical Operations, Inc. Guided tool change
US20220125545A1 (en) * 2019-03-14 2022-04-28 Covidien Lp Instrument drive unit torque compensation using inertial measurement unit
US11172929B2 (en) 2019-03-25 2021-11-16 Cilag Gmbh International Articulation drive arrangements for surgical systems
US11147551B2 (en) 2019-03-25 2021-10-19 Cilag Gmbh International Firing drive arrangements for surgical systems
US11147553B2 (en) 2019-03-25 2021-10-19 Cilag Gmbh International Firing drive arrangements for surgical systems
US11696761B2 (en) 2019-03-25 2023-07-11 Cilag Gmbh International Firing drive arrangements for surgical systems
US20200337729A1 (en) * 2019-04-28 2020-10-29 Covidien Lp Surgical instrument for transcervical evaluation of uterine mobility
US11648009B2 (en) 2019-04-30 2023-05-16 Cilag Gmbh International Rotatable jaw tip for a surgical instrument
US11471157B2 (en) 2019-04-30 2022-10-18 Cilag Gmbh International Articulation control mapping for a surgical instrument
US11253254B2 (en) 2019-04-30 2022-02-22 Cilag Gmbh International Shaft rotation actuator on a surgical instrument
US11452528B2 (en) 2019-04-30 2022-09-27 Cilag Gmbh International Articulation actuators for a surgical instrument
US11903581B2 (en) 2019-04-30 2024-02-20 Cilag Gmbh International Methods for stapling tissue using a surgical instrument
US11432816B2 (en) 2019-04-30 2022-09-06 Cilag Gmbh International Articulation pin for a surgical instrument
US11426251B2 (en) 2019-04-30 2022-08-30 Cilag Gmbh International Articulation directional lights on a surgical instrument
US10939970B2 (en) * 2019-05-22 2021-03-09 Titan Medical Inc. Robotic surgery system
US11298127B2 (en) 2019-06-28 2022-04-12 Cilag GmbH Interational Surgical stapling system having a lockout mechanism for an incompatible cartridge
KR102215033B1 (ko) * 2019-06-28 2021-02-10 성균관대학교 산학협력단 오토 캘리브레이션이 가능한 6축 힘/토크 센서 및 오토 캘리브레이션 방법
US11497492B2 (en) 2019-06-28 2022-11-15 Cilag Gmbh International Surgical instrument including an articulation lock
US11298132B2 (en) 2019-06-28 2022-04-12 Cilag GmbH Inlernational Staple cartridge including a honeycomb extension
US11771419B2 (en) 2019-06-28 2023-10-03 Cilag Gmbh International Packaging for a replaceable component of a surgical stapling system
US11627959B2 (en) 2019-06-28 2023-04-18 Cilag Gmbh International Surgical instruments including manual and powered system lockouts
US11246678B2 (en) 2019-06-28 2022-02-15 Cilag Gmbh International Surgical stapling system having a frangible RFID tag
US11291451B2 (en) 2019-06-28 2022-04-05 Cilag Gmbh International Surgical instrument with battery compatibility verification functionality
US11259803B2 (en) 2019-06-28 2022-03-01 Cilag Gmbh International Surgical stapling system having an information encryption protocol
US11660163B2 (en) 2019-06-28 2023-05-30 Cilag Gmbh International Surgical system with RFID tags for updating motor assembly parameters
US11051807B2 (en) 2019-06-28 2021-07-06 Cilag Gmbh International Packaging assembly including a particulate trap
US11638587B2 (en) 2019-06-28 2023-05-02 Cilag Gmbh International RFID identification systems for surgical instruments
US11553971B2 (en) 2019-06-28 2023-01-17 Cilag Gmbh International Surgical RFID assemblies for display and communication
US11426167B2 (en) 2019-06-28 2022-08-30 Cilag Gmbh International Mechanisms for proper anvil attachment surgical stapling head assembly
US11224497B2 (en) 2019-06-28 2022-01-18 Cilag Gmbh International Surgical systems with multiple RFID tags
US11350938B2 (en) 2019-06-28 2022-06-07 Cilag Gmbh International Surgical instrument comprising an aligned rfid sensor
US11464601B2 (en) 2019-06-28 2022-10-11 Cilag Gmbh International Surgical instrument comprising an RFID system for tracking a movable component
US11219455B2 (en) 2019-06-28 2022-01-11 Cilag Gmbh International Surgical instrument including a lockout key
US11376098B2 (en) 2019-06-28 2022-07-05 Cilag Gmbh International Surgical instrument system comprising an RFID system
US11478241B2 (en) 2019-06-28 2022-10-25 Cilag Gmbh International Staple cartridge including projections
US11523822B2 (en) 2019-06-28 2022-12-13 Cilag Gmbh International Battery pack including a circuit interrupter
US11684434B2 (en) 2019-06-28 2023-06-27 Cilag Gmbh International Surgical RFID assemblies for instrument operational setting control
US11399837B2 (en) 2019-06-28 2022-08-02 Cilag Gmbh International Mechanisms for motor control adjustments of a motorized surgical instrument
US11179214B2 (en) 2019-07-16 2021-11-23 Asensus Surgical Us, Inc. Haptic user interface for robotically controlled surgical instruments
EP3998980A4 (en) 2019-07-17 2023-08-09 Asensus Surgical US, Inc. COMPACT ACTUATION CONFIGURATION AND EXPANDABLE INSTRUMENT RECEIVER FOR ROBOTICALLY CONTROLLED SURGICAL INSTRUMENTS
US11980506B2 (en) 2019-07-29 2024-05-14 Augmedics Ltd. Fiducial marker
CN110411641A (zh) * 2019-08-13 2019-11-05 上海交通大学 六维力/力矩传感器、补偿装置及方法
US20210060793A1 (en) * 2019-09-03 2021-03-04 Shanghai Flexiv Robotics Technology Co., Ltd. Robotic arm and robot
JP2021040987A (ja) * 2019-09-12 2021-03-18 ソニー株式会社 医療用支持アーム、及び医療用システム
JP6801901B1 (ja) * 2019-10-17 2020-12-16 リバーフィールド株式会社 手術ロボットシステム、外力推定装置、および、プログラム
DE102019134666B4 (de) * 2019-12-17 2022-03-31 Franka Emika Gmbh Kalibrieren eines virtuellen Kraftsensors eines Robotermanipulators
US11576672B2 (en) 2019-12-19 2023-02-14 Cilag Gmbh International Surgical instrument comprising a closure system including a closure member and an opening member driven by a drive screw
US11446029B2 (en) 2019-12-19 2022-09-20 Cilag Gmbh International Staple cartridge comprising projections extending from a curved deck surface
US11234698B2 (en) 2019-12-19 2022-02-01 Cilag Gmbh International Stapling system comprising a clamp lockout and a firing lockout
US11529139B2 (en) 2019-12-19 2022-12-20 Cilag Gmbh International Motor driven surgical instrument
US11559304B2 (en) 2019-12-19 2023-01-24 Cilag Gmbh International Surgical instrument comprising a rapid closure mechanism
US11291447B2 (en) 2019-12-19 2022-04-05 Cilag Gmbh International Stapling instrument comprising independent jaw closing and staple firing systems
US11464512B2 (en) 2019-12-19 2022-10-11 Cilag Gmbh International Staple cartridge comprising a curved deck surface
US11701111B2 (en) 2019-12-19 2023-07-18 Cilag Gmbh International Method for operating a surgical stapling instrument
US11304696B2 (en) 2019-12-19 2022-04-19 Cilag Gmbh International Surgical instrument comprising a powered articulation system
US11931033B2 (en) 2019-12-19 2024-03-19 Cilag Gmbh International Staple cartridge comprising a latch lockout
US11529137B2 (en) 2019-12-19 2022-12-20 Cilag Gmbh International Staple cartridge comprising driver retention members
US11607219B2 (en) 2019-12-19 2023-03-21 Cilag Gmbh International Staple cartridge comprising a detachable tissue cutting knife
US11844520B2 (en) 2019-12-19 2023-12-19 Cilag Gmbh International Staple cartridge comprising driver retention members
US11911032B2 (en) 2019-12-19 2024-02-27 Cilag Gmbh International Staple cartridge comprising a seating cam
US11504122B2 (en) 2019-12-19 2022-11-22 Cilag Gmbh International Surgical instrument comprising a nested firing member
US11382712B2 (en) 2019-12-22 2022-07-12 Augmedics Ltd. Mirroring in image guided surgery
RU2721462C1 (ru) * 2019-12-25 2020-05-19 Ассистирующие Хирургические Технологии (Аст), Лтд Оценка усилия на роботохирургическом инструменте
CN111189577B (zh) * 2020-01-16 2022-01-07 腾讯科技（深圳）有限公司 传感器标定及数据测量方法、装置、设备、存储介质
CN111329581B (zh) * 2020-01-23 2022-03-15 诺创智能医疗科技(杭州)有限公司 手术机械臂的力反馈测量方法和手术机械臂
JP6807122B1 (ja) * 2020-02-12 2021-01-06 リバーフィールド株式会社 手術ロボット、及び手術ロボットの制御ユニット
CN113288427B (zh) * 2020-02-21 2022-07-05 中国科学院沈阳自动化研究所 一种悬挂定位机械臂及控制方法
EP3903710B1 (en) 2020-04-27 2023-04-19 Rob Surgical Systems, SL Sensory perception surgical system for robot-assisted laparoscopic surgery
CN111590537B (zh) * 2020-05-23 2023-01-24 西北工业大学 一种基于力位反馈的遥操作交互操作方法
USD975851S1 (en) 2020-06-02 2023-01-17 Cilag Gmbh International Staple cartridge
USD975278S1 (en) 2020-06-02 2023-01-10 Cilag Gmbh International Staple cartridge
USD976401S1 (en) 2020-06-02 2023-01-24 Cilag Gmbh International Staple cartridge
USD974560S1 (en) 2020-06-02 2023-01-03 Cilag Gmbh International Staple cartridge
USD975850S1 (en) 2020-06-02 2023-01-17 Cilag Gmbh International Staple cartridge
USD967421S1 (en) 2020-06-02 2022-10-18 Cilag Gmbh International Staple cartridge
USD966512S1 (en) 2020-06-02 2022-10-11 Cilag Gmbh International Staple cartridge
EP3944734B1 (en) * 2020-06-18 2022-08-17 Brainlab AG Compensation of gravity-related displacements of medical carrier structures
US11737748B2 (en) 2020-07-28 2023-08-29 Cilag Gmbh International Surgical instruments with double spherical articulation joints with pivotable links
US11596567B2 (en) * 2020-10-05 2023-03-07 Mazor Robotics Ltd. Systems and methods for determining and maintaining a center of rotation
JP7223734B2 (ja) * 2020-10-23 2023-02-16 川崎重工業株式会社 手術支援システム、手術支援システムの制御装置および手術支援システムの制御方法
US11931025B2 (en) 2020-10-29 2024-03-19 Cilag Gmbh International Surgical instrument comprising a releasable closure drive lock
US11844518B2 (en) 2020-10-29 2023-12-19 Cilag Gmbh International Method for operating a surgical instrument
US11717289B2 (en) 2020-10-29 2023-08-08 Cilag Gmbh International Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable
US11779330B2 (en) 2020-10-29 2023-10-10 Cilag Gmbh International Surgical instrument comprising a jaw alignment system
USD980425S1 (en) 2020-10-29 2023-03-07 Cilag Gmbh International Surgical instrument assembly
US11534259B2 (en) 2020-10-29 2022-12-27 Cilag Gmbh International Surgical instrument comprising an articulation indicator
US11452526B2 (en) 2020-10-29 2022-09-27 Cilag Gmbh International Surgical instrument comprising a staged voltage regulation start-up system
US11896217B2 (en) 2020-10-29 2024-02-13 Cilag Gmbh International Surgical instrument comprising an articulation lock
US11617577B2 (en) 2020-10-29 2023-04-04 Cilag Gmbh International Surgical instrument comprising a sensor configured to sense whether an articulation drive of the surgical instrument is actuatable
USD1013170S1 (en) 2020-10-29 2024-01-30 Cilag Gmbh International Surgical instrument assembly
US11517390B2 (en) 2020-10-29 2022-12-06 Cilag Gmbh International Surgical instrument comprising a limited travel switch
US11653920B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Powered surgical instruments with communication interfaces through sterile barrier
US11849943B2 (en) 2020-12-02 2023-12-26 Cilag Gmbh International Surgical instrument with cartridge release mechanisms
US11627960B2 (en) 2020-12-02 2023-04-18 Cilag Gmbh International Powered surgical instruments with smart reload with separately attachable exteriorly mounted wiring connections
US11744581B2 (en) 2020-12-02 2023-09-05 Cilag Gmbh International Powered surgical instruments with multi-phase tissue treatment
US11944296B2 (en) 2020-12-02 2024-04-02 Cilag Gmbh International Powered surgical instruments with external connectors
US11653915B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Surgical instruments with sled location detection and adjustment features
US11678882B2 (en) 2020-12-02 2023-06-20 Cilag Gmbh International Surgical instruments with interactive features to remedy incidental sled movements
US11890010B2 (en) 2020-12-02 2024-02-06 Cllag GmbH International Dual-sided reinforced reload for surgical instruments
US11737751B2 (en) 2020-12-02 2023-08-29 Cilag Gmbh International Devices and methods of managing energy dissipated within sterile barriers of surgical instrument housings
CN112650268A (zh) * 2020-12-25 2021-04-13 深圳市优必选科技股份有限公司 机器人的运动控制方法、装置、机器人及存储介质
US11730473B2 (en) 2021-02-26 2023-08-22 Cilag Gmbh International Monitoring of manufacturing life-cycle
US11749877B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Stapling instrument comprising a signal antenna
US11701113B2 (en) 2021-02-26 2023-07-18 Cilag Gmbh International Stapling instrument comprising a separate power antenna and a data transfer antenna
US11696757B2 (en) 2021-02-26 2023-07-11 Cilag Gmbh International Monitoring of internal systems to detect and track cartridge motion status
US11925349B2 (en) 2021-02-26 2024-03-12 Cilag Gmbh International Adjustment to transfer parameters to improve available power
US11950779B2 (en) 2021-02-26 2024-04-09 Cilag Gmbh International Method of powering and communicating with a staple cartridge
US11723657B2 (en) 2021-02-26 2023-08-15 Cilag Gmbh International Adjustable communication based on available bandwidth and power capacity
US11812964B2 (en) 2021-02-26 2023-11-14 Cilag Gmbh International Staple cartridge comprising a power management circuit
US11980362B2 (en) 2021-02-26 2024-05-14 Cilag Gmbh International Surgical instrument system comprising a power transfer coil
US11950777B2 (en) 2021-02-26 2024-04-09 Cilag Gmbh International Staple cartridge comprising an information access control system
US11744583B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Distal communication array to tune frequency of RF systems
US11793514B2 (en) 2021-02-26 2023-10-24 Cilag Gmbh International Staple cartridge comprising sensor array which may be embedded in cartridge body
US11751869B2 (en) 2021-02-26 2023-09-12 Cilag Gmbh International Monitoring of multiple sensors over time to detect moving characteristics of tissue
US11826042B2 (en) 2021-03-22 2023-11-28 Cilag Gmbh International Surgical instrument comprising a firing drive including a selectable leverage mechanism
US11737749B2 (en) 2021-03-22 2023-08-29 Cilag Gmbh International Surgical stapling instrument comprising a retraction system
US11826012B2 (en) 2021-03-22 2023-11-28 Cilag Gmbh International Stapling instrument comprising a pulsed motor-driven firing rack
US11759202B2 (en) 2021-03-22 2023-09-19 Cilag Gmbh International Staple cartridge comprising an implantable layer
US11806011B2 (en) 2021-03-22 2023-11-07 Cilag Gmbh International Stapling instrument comprising tissue compression systems
US11723658B2 (en) 2021-03-22 2023-08-15 Cilag Gmbh International Staple cartridge comprising a firing lockout
US11717291B2 (en) 2021-03-22 2023-08-08 Cilag Gmbh International Staple cartridge comprising staples configured to apply different tissue compression
US11944336B2 (en) 2021-03-24 2024-04-02 Cilag Gmbh International Joint arrangements for multi-planar alignment and support of operational drive shafts in articulatable surgical instruments
US11849945B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Rotary-driven surgical stapling assembly comprising eccentrically driven firing member
US11832816B2 (en) 2021-03-24 2023-12-05 Cilag Gmbh International Surgical stapling assembly comprising nonplanar staples and planar staples
US11793516B2 (en) 2021-03-24 2023-10-24 Cilag Gmbh International Surgical staple cartridge comprising longitudinal support beam
US11903582B2 (en) 2021-03-24 2024-02-20 Cilag Gmbh International Leveraging surfaces for cartridge installation
US11744603B2 (en) 2021-03-24 2023-09-05 Cilag Gmbh International Multi-axis pivot joints for surgical instruments and methods for manufacturing same
US11786243B2 (en) 2021-03-24 2023-10-17 Cilag Gmbh International Firing members having flexible portions for adapting to a load during a surgical firing stroke
US11849944B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Drivers for fastener cartridge assemblies having rotary drive screws
US11896218B2 (en) 2021-03-24 2024-02-13 Cilag Gmbh International Method of using a powered stapling device
US11786239B2 (en) 2021-03-24 2023-10-17 Cilag Gmbh International Surgical instrument articulation joint arrangements comprising multiple moving linkage features
US11857183B2 (en) 2021-03-24 2024-01-02 Cilag Gmbh International Stapling assembly components having metal substrates and plastic bodies
US11896219B2 (en) 2021-03-24 2024-02-13 Cilag Gmbh International Mating features between drivers and underside of a cartridge deck
US11832909B2 (en) 2021-03-31 2023-12-05 Moon Surgical Sas Co-manipulation surgical system having actuatable setup joints
US11844583B2 (en) 2021-03-31 2023-12-19 Moon Surgical Sas Co-manipulation surgical system having an instrument centering mode for automatic scope movements
JP2024513204A (ja) 2021-03-31 2024-03-22 ムーン サージカル エスアエス 腹腔鏡下外科手術を実施するための外科手術用器具と併用するための協調操作式外科手術用システム
US11819302B2 (en) 2021-03-31 2023-11-21 Moon Surgical Sas Co-manipulation surgical system having user guided stage control
US11812938B2 (en) 2021-03-31 2023-11-14 Moon Surgical Sas Co-manipulation surgical system having a coupling mechanism removeably attachable to surgical instruments
CN113119125B (zh) * 2021-04-14 2022-08-05 福建省德腾智能科技有限公司 一种基于多模态信息的监控交互方法
US20220378426A1 (en) 2021-05-28 2022-12-01 Cilag Gmbh International Stapling instrument comprising a mounted shaft orientation sensor
US20230005610A1 (en) * 2021-07-02 2023-01-05 Verb Surgical Inc. Scalable filtering infrastructure for variable control rates in a distributed system such as a surgical robotic system
US11896445B2 (en) 2021-07-07 2024-02-13 Augmedics Ltd. Iliac pin and adapter
CN116459007A (zh) * 2021-08-03 2023-07-21 武汉联影智融医疗科技有限公司 手术机器人系统的机械臂构型确定方法、装置和设备
EP4151140A1 (en) * 2021-09-15 2023-03-22 Medizinische Hochschule Hannover Medical handling system
US11957337B2 (en) 2021-10-18 2024-04-16 Cilag Gmbh International Surgical stapling assembly with offset ramped drive surfaces
US11877745B2 (en) 2021-10-18 2024-01-23 Cilag Gmbh International Surgical stapling assembly having longitudinally-repeating staple leg clusters
US11980363B2 (en) 2021-10-18 2024-05-14 Cilag Gmbh International Row-to-row staple array variations
US11937816B2 (en) 2021-10-28 2024-03-26 Cilag Gmbh International Electrical lead arrangements for surgical instruments
WO2024047531A1 (en) * 2022-08-30 2024-03-07 Alcon Inc. Contact management mode for robotic imaging system using multiple sensors
CN115245387B (zh) * 2022-09-22 2022-12-20 深圳市爱博医疗机器人有限公司 细长型医疗器械递送系统、递送方法、设备及介质
WO2024081301A1 (en) * 2022-10-12 2024-04-18 Intuitive Surgical Operations, Inc. Systems and methods for control of a surgical system
US11832910B1 (en) 2023-01-09 2023-12-05 Moon Surgical Sas Co-manipulation surgical system having adaptive gravity compensation
US11986165B1 (en) 2023-01-09 2024-05-21 Moon Surgical Sas Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery while estimating hold force
CN116237947B (zh) * 2023-03-22 2024-05-07 北京瓦特曼智能科技有限公司 机器人控制方法、系统、表面处理设备及存储介质

Family Cites Families (47)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2713899B2 (ja) * 1987-03-30 1998-02-16 株式会社日立製作所 ロボツト装置
US5086401A (en) * 1990-05-11 1992-02-04 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
US5279309A (en) * 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
US6963792B1 (en) * 1992-01-21 2005-11-08 Sri International Surgical method
US5515478A (en) 1992-08-10 1996-05-07 Computer Motion, Inc. Automated endoscope system for optimal positioning
US5762458A (en) 1996-02-20 1998-06-09 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US5397323A (en) * 1992-10-30 1995-03-14 International Business Machines Corporation Remote center-of-motion robot for surgery
JP2665052B2 (ja) * 1993-05-14 1997-10-22 エスアールアイ インターナショナル 遠隔中心位置決め装置
US6406472B1 (en) * 1993-05-14 2002-06-18 Sri International, Inc. Remote center positioner
US5731804A (en) * 1995-01-18 1998-03-24 Immersion Human Interface Corp. Method and apparatus for providing high bandwidth, low noise mechanical I/O for computer systems
US5382885A (en) * 1993-08-09 1995-01-17 The University Of British Columbia Motion scaling tele-operating system with force feedback suitable for microsurgery
US5343385A (en) * 1993-08-17 1994-08-30 International Business Machines Corporation Interference-free insertion of a solid body into a cavity
US6120433A (en) * 1994-09-01 2000-09-19 Olympus Optical Co., Ltd. Surgical manipulator system
JPH0871072A (ja) * 1994-09-01 1996-03-19 Olympus Optical Co Ltd 手術用マニピュレータシステム
US5887121A (en) * 1995-04-21 1999-03-23 International Business Machines Corporation Method of constrained Cartesian control of robotic mechanisms with active and passive joints
AU2997095A (en) * 1995-06-20 1997-01-22 Wan Sing Ng Articulated arm for medical procedures
US5855583A (en) * 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US6436107B1 (en) * 1996-02-20 2002-08-20 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US5767648A (en) * 1996-04-19 1998-06-16 Massachusetts Institute Of Technology Base force/torque sensor apparatus for the precise control of manipulators with joint friction and a method of use thereof
US7727244B2 (en) * 1997-11-21 2010-06-01 Intuitive Surgical Operation, Inc. Sterile surgical drape
US6132368A (en) * 1996-12-12 2000-10-17 Intuitive Surgical, Inc. Multi-component telepresence system and method
WO1998041481A1 (fr) * 1997-03-14 1998-09-24 Nippon Sheet Glass Co., Ltd. Composition permettant de former un revetement colore et procede de production d'un article en verre pourvu dudit revetement colore
EP2362286B1 (en) * 1997-09-19 2015-09-02 Massachusetts Institute Of Technology Robotic apparatus
US6197017B1 (en) * 1998-02-24 2001-03-06 Brock Rogers Surgical, Inc. Articulated apparatus for telemanipulator system
JP3878331B2 (ja) * 1998-06-10 2007-02-07 株式会社東海理化電機製作所 力センサ付きマイクロマニピュレータ
US6425865B1 (en) * 1998-06-12 2002-07-30 The University Of British Columbia Robotically assisted medical ultrasound
US6659939B2 (en) * 1998-11-20 2003-12-09 Intuitive Surgical, Inc. Cooperative minimally invasive telesurgical system
US6493608B1 (en) * 1999-04-07 2002-12-10 Intuitive Surgical, Inc. Aspects of a control system of a minimally invasive surgical apparatus
US7819799B2 (en) * 2000-03-16 2010-10-26 Immersion Medical, Inc. System and method for controlling force applied to and manipulation of medical instruments
US6817973B2 (en) * 2000-03-16 2004-11-16 Immersion Medical, Inc. Apparatus for controlling force for manipulation of medical instruments
JP2002159509A (ja) * 2000-08-09 2002-06-04 Japan Science & Technology Corp 躰腔鏡下外科手術操作器の先端負荷力の検出方法およびその装置
AU2003247338A1 (en) * 2002-04-25 2003-11-10 The John Hopkins University Robot for computed tomography interventions
US6757582B2 (en) * 2002-05-03 2004-06-29 Carnegie Mellon University Methods and systems to control a shaping tool
WO2004014244A2 (en) * 2002-08-13 2004-02-19 Microbotics Corporation Microsurgical robot system
US6821229B2 (en) * 2002-08-30 2004-11-23 Tanita Corporation Walking support system
US7443115B2 (en) * 2002-10-29 2008-10-28 Matsushita Electric Industrial Co., Ltd. Apparatus and method for robot handling control
JP4148763B2 (ja) 2002-11-29 2008-09-10 学校法人慈恵大学 内視鏡手術ロボット
JP3727937B2 (ja) * 2003-09-30 2005-12-21 株式会社東芝 力覚検出装置及びマニピュレータ
WO2005039835A1 (en) * 2003-10-24 2005-05-06 The University Of Western Ontario Force reflective robotic control system and minimally invasive surgical device
US7181314B2 (en) * 2003-11-24 2007-02-20 Abb Research Ltd. Industrial robot with controlled flexibility and simulated force for automated assembly
FR2871363B1 (fr) * 2004-06-15 2006-09-01 Medtech Sa Dispositif robotise de guidage pour outil chirurgical
US7822458B2 (en) * 2005-05-19 2010-10-26 The Johns Hopkins University Distal bevel-tip needle control device and algorithm
EP1815949A1 (en) * 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Medical robotic system with manipulator arm of the cylindrical coordinate type
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
EP1915963A1 (en) 2006-10-25 2008-04-30 The European Atomic Energy Community (EURATOM), represented by the European Commission Force estimation for a minimally invasive robotic surgery system
US10406026B2 (en) * 2008-05-16 2019-09-10 The Johns Hopkins University System and method for macro-micro distal dexterity enhancement in micro-surgery of the eye
IT1401669B1 (it) * 2010-04-07 2013-08-02 Sofar Spa Sistema di chirurgia robotizzata con controllo perfezionato.

Also Published As

Publication number Publication date
KR101404447B1 (ko) 2014-06-20
US9707684B2 (en) 2017-07-18
RU2009119356A (ru) 2010-11-27
EP2083737B1 (en) 2015-07-08
US20100094312A1 (en) 2010-04-15
RU2012122482A (ru) 2013-12-10
EP2491884A1 (en) 2012-08-29
CA2664997C (en) 2017-06-06
US10518419B2 (en) 2019-12-31
JP5540043B2 (ja) 2014-07-02
WO2008049898A1 (en) 2008-05-02
PL2083737T3 (pl) 2016-02-29
CA2870343C (en) 2016-11-29
PT2491884E (pt) 2015-06-11
PL2491884T3 (pl) 2015-07-31
JP2010507792A (ja) 2010-03-11
JP5044659B2 (ja) 2012-10-10
CN102697559A (zh) 2012-10-03
KR20090094234A (ko) 2009-09-04
DK2083737T3 (en) 2015-08-31
US20200156259A1 (en) 2020-05-21
CY1116722T1 (el) 2017-03-15
EP2083737A1 (en) 2009-08-05
BR122012021629A2 (pt) 2015-07-14
BRPI0717408B1 (pt) 2019-11-12
ES2546377T3 (es) 2015-09-23
CN101528151A (zh) 2009-09-09
EP1915963A1 (en) 2008-04-30
KR101572902B1 (ko) 2015-12-02
MX338904B (es) 2016-05-03
CA2870343A1 (en) 2008-05-02
CN102697559B (zh) 2016-03-02
MX2009004509A (es) 2009-05-12
US20180194013A1 (en) 2018-07-12
BR122012021629B1 (pt) 2019-11-05
RU2518806C2 (ru) 2014-06-10
US9855662B2 (en) 2018-01-02
BRPI0717408A2 (pt) 2014-01-21
US20130012930A1 (en) 2013-01-10
CN101528151B (zh) 2012-07-04
US20220410404A1 (en) 2022-12-29
BRPI0717408B8 (pt) 2020-08-04
KR20120099752A (ko) 2012-09-11
DK2491884T3 (en) 2015-05-11
EP2491884B1 (en) 2015-02-18
ES2535843T3 (es) 2015-05-18
RU2462342C2 (ru) 2012-09-27
US11413768B2 (en) 2022-08-16
CA2664997A1 (en) 2008-05-02
JP2012254303A (ja) 2012-12-27
PT2083737E (pt) 2015-09-28

Similar Documents

Publication Publication Date Title
CY1116282T1 (el) Μεθοδος υπολογισμου των δυναμεων για συστημα ρομποτικης χειρουργικης ελαχιστης επεμβατικοτητας
US9060796B2 (en) Surgical robot system and control method thereof
Bajo et al. Kinematics-based detection and localization of contacts along multisegment continuum robots
ES2298051B2 (es) Sistema robotico de asistencia a la cirugia minimamente invasiva capaz de posicionar un instrumento quirurgico en respueta a las ordenes de un cirujano sin fijacion a la mesa de operaciones ni calibracion previa del punto de insercion.
US8260458B2 (en) Robot, robot hand, and method of controlling robot hand
JP5588392B2 (ja) マニプレータ装置
JP5175691B2 (ja) ロボットアームの教示システム及び方法
KR102023910B1 (ko) 로봇 및 로봇의 마찰 보상 방법
JP2013111726A (ja) ロボット装置及びその制御方法、並びにコンピューター・プログラム
ATE526000T1 (de) Bewegungsunterstützungsvorrichtung vom tragbaren typ und kontrollprogramm
WO2006086021A3 (en) Method and system to provide improved accuracies in multi-jointed robots through kinematic robot model parameters determination
JP2016514493A5 (el)
WO2015148118A3 (en) Feedback algorithms for manual bailout systems for surgical instruments
DE502007001694D1 (de) Dreidimensionale Raumüberwachung mit Konfigurationsmodus zum Bestimmen der Schutzfelder
JP6739544B2 (ja) 医療システムとその制御方法
KR101096571B1 (ko) 로봇용 햅틱 마스터 장치의 힘 또는 토크 측정 장치 및 그 방법
JP2010017804A (ja) マニプレータシステム
JP2009034813A (ja) マニプレータシステム
WO2013164622A1 (en) System and method for manipulating objects using one or more active effectors controlled by one or more haptic manipulators
EA200801856A1 (ru) Система привода для манипулятора (варианты)
JP6270334B2 (ja) ロボット制御装置及び方法
JP2005329476A (ja) 操作部材の制御方法および装置
JP2015107138A (ja) 挿入機器の動作制御装置
KR20160054307A (ko) 수술 로봇 시스템 및 수술 로봇 시스템의 제어 방법
ATE503534T1 (de) Tragbares trainingsgerät