DK3113707T3 - Kirurgisk arm - Google Patents

Kirurgisk arm Download PDF

Info

Publication number
DK3113707T3
DK3113707T3 DK14806370.4T DK14806370T DK3113707T3 DK 3113707 T3 DK3113707 T3 DK 3113707T3 DK 14806370 T DK14806370 T DK 14806370T DK 3113707 T3 DK3113707 T3 DK 3113707T3
Authority
DK
Denmark
Prior art keywords
surgical arm
surgical
arm
Prior art date
Application number
DK14806370.4T
Other languages
English (en)
Inventor
Luke David Ronald Hares
Steven James Randle
Original Assignee
Cmr Surgical Ltd
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 Cmr Surgical Ltd filed Critical Cmr Surgical Ltd
Application granted granted Critical
Publication of DK3113707T3 publication Critical patent/DK3113707T3/da

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—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
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Manipulator (AREA)
DK14806370.4T 2014-03-07 2014-11-28 Kirurgisk arm DK3113707T3 (da)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB1404065.3A GB2523831B (en) 2014-03-07 2014-03-07 Surgical arm
PCT/GB2014/053523 WO2015132549A1 (en) 2014-03-07 2014-11-28 Surgical arm

Publications (1)

Publication Number Publication Date
DK3113707T3 true DK3113707T3 (da) 2021-12-06

Family

ID=50554702

Family Applications (1)

Application Number Title Priority Date Filing Date
DK14806370.4T DK3113707T3 (da) 2014-03-07 2014-11-28 Kirurgisk arm

Country Status (8)

Country Link
US (3) US9937012B2 (da)
EP (2) EP3113707B1 (da)
JP (2) JP6465365B2 (da)
CN (2) CN106102630B (da)
DK (1) DK3113707T3 (da)
ES (1) ES2898434T3 (da)
GB (2) GB2523831B (da)
WO (1) WO2015132549A1 (da)

Families Citing this family (187)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9204923B2 (en) 2008-07-16 2015-12-08 Intuitive Surgical Operations, Inc. Medical instrument electronically energized using drive cables
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
EP2967623B1 (en) 2013-03-14 2021-07-21 SRI International Compact robotic wrist
WO2014160086A2 (en) 2013-03-14 2014-10-02 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
KR102257034B1 (ko) 2013-03-15 2021-05-28 에스알아이 인터내셔널 하이퍼덱스트러스 수술 시스템
US10550918B2 (en) 2013-08-15 2020-02-04 Intuitive Surgical Operations, Inc. Lever actuated gimbal plate
GB201400569D0 (en) * 2014-01-14 2014-03-05 Randle Engineering Solutions Ltd Articulation
GB2523831B (en) * 2014-03-07 2020-09-30 Cmr Surgical Ltd Surgical arm
GB2531994B (en) 2014-10-15 2020-06-24 Cmr Surgical Ltd Surgical articulation
US11504192B2 (en) 2014-10-30 2022-11-22 Cilag Gmbh International Method of hub communication with surgical instrument systems
GB2538497B (en) 2015-05-14 2020-10-28 Cmr Surgical Ltd Torque sensing in a surgical robotic wrist
GB2540756B (en) 2015-07-22 2021-03-31 Cmr Surgical Ltd Gear packaging for robot arms
GB2541369B (en) 2015-07-22 2021-03-31 Cmr Surgical Ltd Drive mechanisms for robot arms
WO2017013451A1 (en) 2015-07-22 2017-01-26 Cambridge Medical Robotics Ltd Gear packaging for robot arms
GB201512966D0 (en) 2015-07-22 2015-09-02 Cambridge Medical Robotics Ltd Drive arrangements for robot arms
GB2540757B (en) * 2015-07-22 2021-03-31 Cmr Surgical Ltd Torque sensors
GB201512964D0 (en) * 2015-07-22 2015-09-02 Cambridge Medical Robotics Ltd Communication paths for robot arms
EP3325233A1 (en) 2015-07-23 2018-05-30 SRI International Inc. Robotic arm and robotic surgical system
GB201521809D0 (en) 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Symmetrically arranged surgical instrument articulation
GB201521806D0 (en) 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Independent tensioning and aligning mechanisms for a surgical instrument
GB201521805D0 (en) 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Guiding engagement of a robot arm and surgical instrument
GB201521807D0 (en) 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Surgical instrument shaft spokes
GB201521811D0 (en) 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Drive assembly interface
GB201521804D0 (en) 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Pulley arrangement for articulating a surgical instrument
GB2549072B (en) 2016-03-24 2020-07-29 Cmr Surgical Ltd Robot control
GB2552383B (en) * 2016-07-22 2022-08-24 Cmr Surgical Ltd Gear packaging for robotic joints
WO2018053361A1 (en) 2016-09-16 2018-03-22 Verb Surgical Inc. Multi-degree of freedom sensor
ES2903422T3 (es) * 2016-09-16 2022-04-01 Verb Surgical Inc Terminación de correa y tensión en disposición de polea para un brazo robótico
EP3513095B1 (en) 2016-09-16 2021-10-20 Verb Surgical Inc. Belt termination and tensioning in a pulley arrangement for a robotic arm
JP6783925B2 (ja) * 2016-09-16 2020-11-11 バーブ サージカル インコーポレイテッドＶｅｒｂ Ｓｕｒｇｉｃａｌ Ｉｎｃ． ロボットアーム
CN108066010B (zh) * 2016-11-10 2024-04-30 香港大学深圳研究院 一种具有柔性和多自由度的手术机器人
CN106618735B (zh) * 2016-11-16 2019-01-22 苏州大学 一种用于外科手术的协同交互机器人
EP3544539A4 (en) 2016-11-22 2020-08-05 Board of Regents of the University of Nebraska ENHANCED COARSE POSITIONING DEVICE AND RELATED SYSTEMS AND PROCESSES
WO2018112199A1 (en) 2016-12-14 2018-06-21 Virtual Incision Corporation Releasable attachment device for coupling to medical devices and related systems and methods
USD837294S1 (en) * 2016-12-23 2019-01-01 Comau S.P.A. Educational robot
GB2552855B (en) 2017-01-31 2019-02-13 Cmr Surgical Ltd Surgical instrument engagement detection
GB2559420B (en) 2017-02-07 2022-02-23 Cmr Surgical Ltd Mounting an endoscope to a surgical robot
CN106667583B (zh) * 2017-02-17 2018-09-18 吉林大学 一种微创手术机器人七自由度操作主手
CN106821502B (zh) * 2017-03-24 2019-05-24 西安交通大学 一种泌尿外科手术专用操作机构
US10576622B2 (en) * 2017-04-21 2020-03-03 Qualcomm Incorporated Robotic manipulator
CN107671851A (zh) * 2017-09-20 2018-02-09 柳州欧卡机器人有限公司 一种工业机器人用的姿态调整装置
US11317919B2 (en) 2017-10-30 2022-05-03 Cilag Gmbh International Clip applier comprising a clip crimping system
US11793537B2 (en) 2017-10-30 2023-10-24 Cilag Gmbh International Surgical instrument comprising an adaptive electrical system
US11291510B2 (en) 2017-10-30 2022-04-05 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11406390B2 (en) 2017-10-30 2022-08-09 Cilag Gmbh International Clip applier comprising interchangeable clip reloads
US11510741B2 (en) 2017-10-30 2022-11-29 Cilag Gmbh International Method for producing a surgical instrument comprising a smart electrical system
US11311342B2 (en) 2017-10-30 2022-04-26 Cilag Gmbh International Method for communicating with surgical instrument systems
US11564756B2 (en) 2017-10-30 2023-01-31 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11911045B2 (en) 2017-10-30 2024-02-27 Cllag GmbH International Method for operating a powered articulating multi-clip applier
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
CN207534805U (zh) 2017-12-12 2018-06-26 慧灵科技（深圳）有限公司 一种高性能水平关节四轴机器人
WO2019118336A1 (en) 2017-12-14 2019-06-20 Intuitive Surgical Operations, Inc. Medical tools having tension bands
DE102017130093B4 (de) * 2017-12-15 2019-11-21 Sartorius Stedim Biotech Gmbh Vorrichtungsanordnung für die Durchführung wenigstens einer Grundoperation in einem biopharmazeutischen Prozess
CN108175506A (zh) * 2017-12-25 2018-06-19 宁波杨古诚文化传播有限公司 一种辅助手术用的医疗机械臂
US20190206569A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Method of cloud based data analytics for use with the hub
US11304699B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Method for adaptive control schemes for surgical network control and interaction
US11540855B2 (en) 2017-12-28 2023-01-03 Cilag Gmbh International Controlling activation of an ultrasonic surgical instrument according to the presence of tissue
US11832899B2 (en) 2017-12-28 2023-12-05 Cilag Gmbh International Surgical systems with autonomously adjustable control programs
US10849697B2 (en) 2017-12-28 2020-12-01 Ethicon Llc Cloud interface for coupled surgical devices
US10892899B2 (en) 2017-12-28 2021-01-12 Ethicon Llc Self describing data packets generated at an issuing instrument
US11234756B2 (en) 2017-12-28 2022-02-01 Cilag Gmbh International Powered surgical tool with predefined adjustable control algorithm for controlling end effector parameter
US11771487B2 (en) 2017-12-28 2023-10-03 Cilag Gmbh International Mechanisms for controlling different electromechanical systems of an electrosurgical instrument
US11179175B2 (en) 2017-12-28 2021-11-23 Cilag Gmbh International Controlling an ultrasonic surgical instrument according to tissue location
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
US11278281B2 (en) 2017-12-28 2022-03-22 Cilag Gmbh International Interactive surgical system
US11266468B2 (en) 2017-12-28 2022-03-08 Cilag Gmbh International Cooperative utilization of data derived from secondary sources by intelligent surgical hubs
US11529187B2 (en) 2017-12-28 2022-12-20 Cilag Gmbh International Surgical evacuation sensor arrangements
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
US11424027B2 (en) 2017-12-28 2022-08-23 Cilag Gmbh International Method for operating surgical instrument systems
US11896443B2 (en) 2017-12-28 2024-02-13 Cilag Gmbh International Control of a surgical system through a surgical barrier
US11559308B2 (en) 2017-12-28 2023-01-24 Cilag Gmbh International Method for smart energy device infrastructure
US11589888B2 (en) 2017-12-28 2023-02-28 Cilag Gmbh International Method for controlling smart energy devices
US10943454B2 (en) 2017-12-28 2021-03-09 Ethicon Llc Detection and escalation of security responses of surgical instruments to increasing severity threats
US11056244B2 (en) 2017-12-28 2021-07-06 Cilag Gmbh International Automated data scaling, alignment, and organizing based on predefined parameters within surgical networks
US11464535B2 (en) 2017-12-28 2022-10-11 Cilag Gmbh International Detection of end effector emersion in liquid
US11109866B2 (en) 2017-12-28 2021-09-07 Cilag Gmbh International Method for circular stapler control algorithm adjustment based on situational awareness
US11213359B2 (en) 2017-12-28 2022-01-04 Cilag Gmbh International Controllers for robot-assisted surgical platforms
US11612444B2 (en) 2017-12-28 2023-03-28 Cilag Gmbh International Adjustment of a surgical device function based on situational awareness
US10966791B2 (en) 2017-12-28 2021-04-06 Ethicon Llc Cloud-based medical analytics for medical facility segmented individualization of instrument function
US11069012B2 (en) 2017-12-28 2021-07-20 Cilag Gmbh International Interactive surgical systems with condition handling of devices and data capabilities
US11013563B2 (en) 2017-12-28 2021-05-25 Ethicon Llc Drive arrangements for robot-assisted surgical platforms
US11659023B2 (en) 2017-12-28 2023-05-23 Cilag Gmbh International Method of hub communication
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
US11559307B2 (en) 2017-12-28 2023-01-24 Cilag Gmbh International Method of robotic hub communication, detection, and control
US12096916B2 (en) 2017-12-28 2024-09-24 Cilag Gmbh International Method of sensing particulate from smoke evacuated from a patient, adjusting the pump speed based on the sensed information, and communicating the functional parameters of the system to the hub
US11432885B2 (en) 2017-12-28 2022-09-06 Cilag Gmbh International Sensing arrangements for robot-assisted surgical platforms
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
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
US11076921B2 (en) 2017-12-28 2021-08-03 Cilag Gmbh International Adaptive control program updates for surgical hubs
US10695081B2 (en) 2017-12-28 2020-06-30 Ethicon Llc Controlling a surgical instrument according to sensed closure parameters
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
US11166772B2 (en) 2017-12-28 2021-11-09 Cilag Gmbh International Surgical hub coordination of control and communication of operating room devices
US11857152B2 (en) 2017-12-28 2024-01-02 Cilag Gmbh International Surgical hub spatial awareness to determine devices in operating theater
US11744604B2 (en) 2017-12-28 2023-09-05 Cilag Gmbh International Surgical instrument with a hardware-only control circuit
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
US11937769B2 (en) 2017-12-28 2024-03-26 Cilag Gmbh International Method of hub communication, processing, storage and display
US11273001B2 (en) 2017-12-28 2022-03-15 Cilag Gmbh International Surgical hub and modular device response adjustment based on situational awareness
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
US12062442B2 (en) 2017-12-28 2024-08-13 Cilag Gmbh International Method for operating surgical instrument systems
US10987178B2 (en) 2017-12-28 2021-04-27 Ethicon Llc Surgical hub control arrangements
US10944728B2 (en) 2017-12-28 2021-03-09 Ethicon Llc Interactive surgical systems with encrypted communication capabilities
US11324557B2 (en) 2017-12-28 2022-05-10 Cilag Gmbh International Surgical instrument with a sensing array
US20190201087A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Smoke evacuation system including a segmented control circuit for interactive surgical platform
US11284936B2 (en) 2017-12-28 2022-03-29 Cilag Gmbh International Surgical instrument having a flexible electrode
US11678881B2 (en) 2017-12-28 2023-06-20 Cilag Gmbh International Spatial awareness of surgical hubs in operating rooms
US11160605B2 (en) 2017-12-28 2021-11-02 Cilag Gmbh International Surgical evacuation sensing and motor control
US11253315B2 (en) 2017-12-28 2022-02-22 Cilag Gmbh International Increasing radio frequency to create pad-less monopolar loop
US11832840B2 (en) 2017-12-28 2023-12-05 Cilag Gmbh International Surgical instrument having a flexible circuit
US11786245B2 (en) 2017-12-28 2023-10-17 Cilag Gmbh International Surgical systems with prioritized data transmission capabilities
US11666331B2 (en) 2017-12-28 2023-06-06 Cilag Gmbh International Systems for detecting proximity of surgical end effector to cancerous tissue
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
US11419630B2 (en) 2017-12-28 2022-08-23 Cilag Gmbh International Surgical system distributed processing
US11026751B2 (en) 2017-12-28 2021-06-08 Cilag Gmbh International Display of alignment of staple cartridge to prior linear staple line
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
US11364075B2 (en) 2017-12-28 2022-06-21 Cilag Gmbh International Radio frequency energy device for delivering combined electrical signals
US11576677B2 (en) 2017-12-28 2023-02-14 Cilag Gmbh International Method of hub communication, processing, display, and cloud analytics
US11410259B2 (en) 2017-12-28 2022-08-09 Cilag Gmbh International Adaptive control program updates for surgical devices
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
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
US11179208B2 (en) 2017-12-28 2021-11-23 Cilag Gmbh International Cloud-based medical analytics for security and authentication trends and reactive measures
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
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
US20190201146A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Safety systems for smart powered surgical stapling
US11291495B2 (en) 2017-12-28 2022-04-05 Cilag Gmbh International Interruption of energy due to inadvertent capacitive coupling
US11132462B2 (en) 2017-12-28 2021-09-28 Cilag Gmbh International Data stripping method to interrogate patient records and create anonymized record
US11376002B2 (en) 2017-12-28 2022-07-05 Cilag Gmbh International Surgical instrument cartridge sensor assemblies
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
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
US11864728B2 (en) 2017-12-28 2024-01-09 Cilag Gmbh International Characterization of tissue irregularities through the use of mono-chromatic light refractivity
US11311306B2 (en) 2017-12-28 2022-04-26 Cilag Gmbh International Surgical systems for detecting end effector tissue distribution irregularities
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
US11304720B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Activation of energy devices
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
US11147607B2 (en) 2017-12-28 2021-10-19 Cilag Gmbh International Bipolar combination device that automatically adjusts pressure based on energy modality
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
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
US11051876B2 (en) 2017-12-28 2021-07-06 Cilag Gmbh International Surgical evacuation flow paths
US11304745B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Surgical evacuation sensing and display
US11045591B2 (en) 2017-12-28 2021-06-29 Cilag Gmbh International Dual in-series large and small droplet filters
US11464559B2 (en) 2017-12-28 2022-10-11 Cilag Gmbh International Estimating state of ultrasonic end effector and control system therefor
US11786251B2 (en) 2017-12-28 2023-10-17 Cilag Gmbh International Method for adaptive control schemes for surgical network control and interaction
US11571234B2 (en) 2017-12-28 2023-02-07 Cilag Gmbh International Temperature control of ultrasonic end effector and control system therefor
US11317937B2 (en) 2018-03-08 2022-05-03 Cilag Gmbh International Determining the state of an ultrasonic end effector
GB2571566B (en) 2018-03-01 2022-03-16 Cmr Surgical Ltd Electrosurgical connection unit
WO2019173267A1 (en) 2018-03-07 2019-09-12 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
CN111970985A (zh) 2018-03-07 2020-11-20 直观外科手术操作公司 具有易组装构件的低摩擦小型医疗工具
WO2019173266A1 (en) 2018-03-07 2019-09-12 Intuitive Surgical Operations, Inc. Low-friction medical tools having roller-assisted tension members
US11678927B2 (en) 2018-03-08 2023-06-20 Cilag Gmbh International Detection of large vessels during parenchymal dissection using a smart blade
US11399858B2 (en) 2018-03-08 2022-08-02 Cilag Gmbh International Application of smart blade technology
US11259830B2 (en) 2018-03-08 2022-03-01 Cilag Gmbh International Methods for controlling temperature in ultrasonic device
USD878585S1 (en) * 2018-03-12 2020-03-17 Zimmer Biomet CMF and Thoracic, LLC End effector coupler stem
US11471156B2 (en) 2018-03-28 2022-10-18 Cilag Gmbh International Surgical stapling devices with improved rotary driven closure systems
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
US11219453B2 (en) 2018-03-28 2022-01-11 Cilag Gmbh International Surgical stapling devices with cartridge compatible closure and firing lockout arrangements
US11213294B2 (en) 2018-03-28 2022-01-04 Cilag Gmbh International Surgical instrument comprising co-operating lockout features
US11090047B2 (en) 2018-03-28 2021-08-17 Cilag Gmbh International Surgical instrument comprising an adaptive control system
US11278280B2 (en) 2018-03-28 2022-03-22 Cilag Gmbh International Surgical instrument comprising a jaw closure lockout
US11096688B2 (en) 2018-03-28 2021-08-24 Cilag Gmbh International Rotary driven firing members with different anvil and channel engagement features
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
US11259806B2 (en) 2018-03-28 2022-03-01 Cilag Gmbh International Surgical stapling devices with features for blocking advancement of a camming assembly of an incompatible cartridge installed therein
CN108312136A (zh) * 2018-05-04 2018-07-24 旌德县瀚海星云智能化技术研发有限公司 一种汽车检修用机械手
KR102206647B1 (ko) * 2018-06-12 2021-01-22 (주)미래컴퍼니 로봇 암 구조물 및 이를 포함하는 수술 로봇의 매니퓰레이터
CN109431608A (zh) * 2018-11-15 2019-03-08 山东大学齐鲁医院 一种嵌套式辅助微创外科单孔手术机器人
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
US11369377B2 (en) 2019-02-19 2022-06-28 Cilag Gmbh International Surgical stapling assembly with cartridge based retainer configured to unlock a firing lockout
US11751872B2 (en) 2019-02-19 2023-09-12 Cilag Gmbh International Insertable deactivator element for surgical stapler lockouts
US11331100B2 (en) 2019-02-19 2022-05-17 Cilag Gmbh International Staple cartridge retainer system with authentication keys
USD964564S1 (en) 2019-06-25 2022-09-20 Cilag Gmbh International Surgical staple cartridge retainer with a closure system authentication key
USD950728S1 (en) 2019-06-25 2022-05-03 Cilag Gmbh International Surgical staple cartridge
USD952144S1 (en) 2019-06-25 2022-05-17 Cilag Gmbh International Surgical staple cartridge retainer with firing system authentication key
JP7402894B2 (ja) * 2019-12-05 2023-12-21 川崎重工業株式会社 外科手術システム及び外科手術マニピュレータアームの制御方法
JP6892707B1 (ja) * 2020-02-20 2021-06-23 リバーフィールド株式会社 手術支援装置
CN111716127B (zh) * 2020-07-02 2022-03-08 上海营创精密汽车模型技术有限公司 一种多自由度夹具
GB2597084A (en) 2020-07-14 2022-01-19 Cmr Surgical Ltd Geared instruments
KR20230162958A (ko) * 2021-03-26 2023-11-29 보스턴 다이나믹스, 인크. 통합 모바일 조작기 로봇
CN113491573A (zh) * 2021-06-08 2021-10-12 汕头大学医学院第一附属医院 一种组合式电外科手术器械
CN113558772A (zh) * 2021-08-19 2021-10-29 合肥工业大学智能制造技术研究院 一种外科手术用医疗机器人
CN113749706B (zh) * 2021-10-25 2023-10-13 中国人民解放军空军军医大学 心胸外科辅助撑开装置
CN115040199B (zh) * 2021-11-05 2023-02-03 河北医科大学第二医院 外科手术微创手术器械
GB2612993B (en) * 2021-11-18 2024-05-22 Cmr Surgical Ltd Magnetic positioning system
GB2616857B (en) 2022-03-21 2024-07-03 Cmr Surgical Ltd Grip force control in a surgical robotic system
CN114469286B (zh) * 2022-04-02 2022-07-01 真健康（北京）医疗科技有限公司 小型化穿刺机器人
GB2625760A (en) 2022-12-22 2024-07-03 Cmr Surgical Ltd Surgical instrument with interlocking end effector elements
CN116712175B (zh) * 2023-06-15 2024-03-19 哈尔滨工业大学 一种面向耳科手术机器人的操作臂

Family Cites Families (56)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5840761B2 (ja) * 1978-12-20 1983-09-07 工業技術院長 人間腕形マニピュレ−タの制御装置
US4283764A (en) * 1979-10-12 1981-08-11 Nordson Corporation Manually programmable robot with power-assisted motion during programming
US4975856A (en) * 1986-02-18 1990-12-04 Robotics Research Corporation Motion controller for redundant or nonredundant linkages
US4739241A (en) * 1986-10-09 1988-04-19 Georgia Tech Research Corporation Spherical motor particularly adapted for robotics
US4805477A (en) * 1987-10-22 1989-02-21 Gmf Robotics Corporation Multiple joint robot part
EP0393024B1 (en) * 1987-11-30 1995-04-05 ROSHEIM, Mark E. Robot wrist
US4878393A (en) * 1988-05-27 1989-11-07 Oprea Duta Dextrous spherical robot wrist
US4911033A (en) 1989-01-03 1990-03-27 Ross-Hime Designs, Incorporated Robotic manipulator
US5239883A (en) * 1991-09-26 1993-08-31 Rosheim Mark E Modular robot wrist
US5428713A (en) * 1991-11-25 1995-06-27 Kabushiki Kaisha Toshiba Compound module type manipulator apparatus
US5737500A (en) * 1992-03-11 1998-04-07 California Institute Of Technology Mobile dexterous siren degree of freedom robot arm with real-time control system
JPH0732286A (ja) 1993-07-20 1995-02-03 Tokico Ltd 工業用ロボット
US5740699A (en) * 1995-04-06 1998-04-21 Spar Aerospace Limited Wrist joint which is longitudinally extendible
US5828813A (en) * 1995-09-07 1998-10-27 California Institute Of Technology Six axis force feedback input device
US5855583A (en) 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US6699177B1 (en) * 1996-02-20 2004-03-02 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US5697256A (en) * 1996-06-28 1997-12-16 Matteo; Joseph C. Hybrid differential transmission
US8004229B2 (en) * 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
JP2001145634A (ja) 1999-11-19 2001-05-29 Olympus Optical Co Ltd 内視鏡保持装置
DE10032203A1 (de) * 2000-07-01 2002-01-17 Deutsches Krebsforsch Stereotaxiesystem
US6746443B1 (en) * 2000-07-27 2004-06-08 Intuitive Surgical Inc. Roll-pitch-roll surgical tool
US6676684B1 (en) 2001-09-04 2004-01-13 Intuitive Surgical, Inc. Roll-pitch-roll-yaw surgical tool
US7121781B2 (en) * 2003-06-11 2006-10-17 Intuitive Surgical Surgical instrument with a universal wrist
US7763015B2 (en) 2005-01-24 2010-07-27 Intuitive Surgical Operations, Inc. Modular manipulator support for robotic surgery
US7752920B2 (en) 2005-12-30 2010-07-13 Intuitive Surgical Operations, Inc. Modular force sensor
DE102005054575B3 (de) 2005-11-16 2007-04-26 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zur Regelung eines Roboterarms sowie Roboter zur Durchführung des Verfahrens
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
JP4835298B2 (ja) 2006-07-21 2011-12-14 ソニー株式会社 オーディオ信号処理装置、オーディオ信号処理方法およびプログラム
JP5033650B2 (ja) * 2008-01-10 2012-09-26 三鷹光器株式会社 オフセット型手術用マニピュレータ及び手術用顕微鏡システム
KR20110010796A (ko) * 2008-05-21 2011-02-07 조지아 테크 리서치 코포레이션 힘 균형 유지 이동성 로봇 시스템
JP5304788B2 (ja) 2008-07-17 2013-10-02 株式会社豊田自動織機 振動アクチュエータ
WO2010018582A1 (en) 2008-08-14 2010-02-18 M.S.T. Medical Surgery Technologies Ltd. N degrees-of-freedom (dof) laparoscope maneuverable system
CN102131474B (zh) 2008-11-14 2013-06-05 奥林巴斯医疗株式会社 医疗用系统
KR101537039B1 (ko) * 2008-11-28 2015-07-16 삼성전자 주식회사 로봇 및 그 제어방법
JP5384955B2 (ja) 2008-12-04 2014-01-08 原田電子工業株式会社 ハンドル回転操作装置
ES2388029B1 (es) 2009-05-22 2013-08-13 Universitat Politècnica De Catalunya Sistema robótico para cirugia laparoscópica.
WO2010140844A2 (ko) * 2009-06-05 2010-12-09 주식회사 이턴 수술용 인스트루먼트
US8423190B1 (en) * 2009-06-11 2013-04-16 Kabushiki Kaisha Yaskawa Denki Manipulator system
KR101691940B1 (ko) * 2009-10-30 2017-01-02 삼성전자주식회사 로봇 및 그 제어방법
EP4059460A1 (en) * 2009-11-13 2022-09-21 Intuitive Surgical Operations, Inc. Surgical tool with a compact wrist
KR20110082712A (ko) * 2010-01-12 2011-07-20 삼성전자주식회사 로봇 및 그 제어방법
IT1399603B1 (it) 2010-04-26 2013-04-26 Scuola Superiore Di Studi Universitari E Di Perfez Apparato robotico per interventi di chirurgia minimamente invasiva
WO2012007014A1 (en) 2010-07-13 2012-01-19 Abdallah Ezzat Abdallah Abozaied Joint
CN202146362U (zh) * 2010-12-30 2012-02-22 上海交通大学医学院附属第九人民医院 一种基于光学导航七自由度颅颌面手术辅助机械臂
EP2671689B1 (en) * 2011-01-31 2015-02-25 Toyota Jidosha Kabushiki Kaisha Multi-joint arm robot, control method, and control program
DE102011005513A1 (de) * 2011-03-14 2012-09-20 Kuka Laboratories Gmbh Roboter und Verfahren zum Betreiben eines Roboters
JP5750029B2 (ja) * 2011-11-02 2015-07-15 本田技研工業株式会社 関節機構および作業アタッチメント
JP5948932B2 (ja) * 2012-02-16 2016-07-06 セイコーエプソン株式会社 ロボット制御装置、ロボット制御方法およびロボット制御プログラムならびにロボットシステム
JP5883343B2 (ja) * 2012-04-12 2016-03-15 株式会社スズキプレシオン 医療用マニピュレータ
EP2862679A1 (en) * 2012-06-19 2015-04-22 Kabushiki Kaisha Yaskawa Denki Robotic system and method for manufacturing processed goods
US9125662B2 (en) * 2012-06-28 2015-09-08 Ethicon Endo-Surgery, Inc. Multi-axis articulating and rotating surgical tools
CN104519823B (zh) 2012-08-02 2018-02-16 皇家飞利浦有限公司 机器人远程运动中心的控制器限定
CA2906672C (en) 2013-03-14 2022-03-15 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
US9283048B2 (en) 2013-10-04 2016-03-15 KB Medical SA Apparatus and systems for precise guidance of surgical tools
GB2523831B (en) * 2014-03-07 2020-09-30 Cmr Surgical Ltd Surgical arm
DE102014222809B3 (de) * 2014-11-07 2016-01-14 Kuka Roboter Gmbh Event-basierte Redundanzwinkelkonfiguartion für Gelenkarmroboter

Also Published As

Publication number Publication date
WO2015132549A1 (en) 2015-09-11
GB2523831A (en) 2015-09-09
US20160361123A1 (en) 2016-12-15
JP6680862B2 (ja) 2020-04-15
GB2523224C2 (en) 2021-06-02
US20180200010A1 (en) 2018-07-19
JP6465365B2 (ja) 2019-02-06
EP3906881A1 (en) 2021-11-10
GB201404065D0 (en) 2014-04-23
GB2523224C (en) 2016-04-27
CN110680504B (zh) 2022-06-14
EP3113707B1 (en) 2021-11-10
GB2523224A (en) 2015-08-19
GB2523224B (en) 2016-02-17
CN106102630B (zh) 2019-10-18
JP2019072520A (ja) 2019-05-16
CN110680504A (zh) 2020-01-14
US11224488B2 (en) 2022-01-18
CN106102630A (zh) 2016-11-09
US9937012B2 (en) 2018-04-10
US20220087757A1 (en) 2022-03-24
JP2017512662A (ja) 2017-05-25
GB2523831B (en) 2020-09-30
EP3113707A1 (en) 2017-01-11
GB201421398D0 (en) 2015-01-14
ES2898434T3 (es) 2022-03-07

Similar Documents

Publication Publication Date Title
DK3113707T3 (da) Kirurgisk arm
DK3235465T3 (da) Implantat
DK3590543T3 (da) Medicinsk forbinding
DK3197354T3 (da) Medicinsk anordning
DK3134402T3 (da) 4-amino-imidazoquinolinforbindelser
DK3119396T3 (da) Muscarinreceptoragonister
DK3006072T3 (da) Karadgang
DK3110442T3 (da) Modificerede meningokok-fhbp-polypeptider
DK3100747T3 (da) Steriliseret arbejdssystem
DE112015001664A5 (de) Betätigungsaktuator
DK3166473T3 (da) Oftalmoskoper
DK3154703T3 (da) Fuldkappe-snekkecentrifuge
DK3110439T3 (da) Pcsk9-vacciner
DE112015005041A5 (de) Gargerätevorrichtung
FR3021575B1 (fr) Manipulateur cobotique
DE102014000623A8 (de) Halbhohlnietelement
DK3009858T3 (da) Skyradar
DK2913034T3 (da) Kirurgisk håndstykke
DE112015001633A5 (de) Betätigungsaktuator
DE102014209264B8 (de) Hochfrequenz-Chirurgiegerät
DK3193923T3 (da) Adjuvanser
DK3091875T3 (da) Vipbar taburet
DE202014005655U8 (de) llluminationsvorrichtung
ES1157458Y (es) Separador-fijador quirurgico peneano
ES1117280Y (es) Pieza Quirúrgica