ITPI20030107A1 - Dispositivo per l'esecuzione di operazioni - Google Patents

Dispositivo per l'esecuzione di operazioni

Info

Publication number
ITPI20030107A1
ITPI20030107A1 IT000107A ITPI20030107A ITPI20030107A1 IT PI20030107 A1 ITPI20030107 A1 IT PI20030107A1 IT 000107 A IT000107 A IT 000107A IT PI20030107 A ITPI20030107 A IT PI20030107A IT PI20030107 A1 ITPI20030107 A1 IT PI20030107A1
Authority
IT
Italy
Prior art keywords
support
fixed member
respect
oriented
ball joint
Prior art date
Application number
IT000107A
Other languages
English (en)
Inventor
Massimo Bergamasco
Fabio Salsedo
Stefano Spinelli
Original Assignee
Massimo Bergamasco
Fabio Salsedo
Stefano Spinelli
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 Massimo Bergamasco, Fabio Salsedo, Stefano Spinelli filed Critical Massimo Bergamasco
Priority to IT000107A priority Critical patent/ITPI20030107A1/it
Priority to US10/579,475 priority patent/US20080196533A1/en
Priority to PCT/IB2004/003731 priority patent/WO2005046500A1/en
Priority to EP04798861A priority patent/EP1686911A1/en
Publication of ITPI20030107A1 publication Critical patent/ITPI20030107A1/it

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
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0078—Programme-controlled manipulators having parallel kinematics actuated by cables
    • 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
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
    • 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
    • A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
    • 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements
    • Y10T74/20335—Wrist

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Mechanical Engineering (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)
  • Manipulator (AREA)
IT000107A 2003-11-14 2003-11-14 Dispositivo per l'esecuzione di operazioni ITPI20030107A1 (it)

Priority Applications (4)

Application Number Priority Date Filing Date Title
IT000107A ITPI20030107A1 (it) 2003-11-14 2003-11-14 Dispositivo per l'esecuzione di operazioni
US10/579,475 US20080196533A1 (en) 2003-11-14 2004-11-15 Remotely Actuated Robotic Wrist
PCT/IB2004/003731 WO2005046500A1 (en) 2003-11-14 2004-11-15 Remotely actuated robotic wrist
EP04798861A EP1686911A1 (en) 2003-11-14 2004-11-15 Remotely actuated robotic wrist

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT000107A ITPI20030107A1 (it) 2003-11-14 2003-11-14 Dispositivo per l'esecuzione di operazioni

Publications (1)

Publication Number Publication Date
ITPI20030107A1 true ITPI20030107A1 (it) 2005-05-15

Family

ID=34587008

Family Applications (1)

Application Number Title Priority Date Filing Date
IT000107A ITPI20030107A1 (it) 2003-11-14 2003-11-14 Dispositivo per l'esecuzione di operazioni

Country Status (4)

Country Link
US (1) US20080196533A1 (it)
EP (1) EP1686911A1 (it)
IT (1) ITPI20030107A1 (it)
WO (1) WO2005046500A1 (it)

Families Citing this family (127)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITPI20040084A1 (it) * 2004-11-18 2005-02-18 Massimo Bergamasco Interfaccia aptica portabile
JP4125311B2 (ja) 2005-08-30 2008-07-30 株式会社東芝 ロボットおよびマニピュレータ
US8597280B2 (en) * 2006-06-13 2013-12-03 Intuitive Surgical Operations, Inc. Surgical instrument actuator
US12290277B2 (en) 2007-01-02 2025-05-06 Aquabeam, Llc Tissue resection with pressure sensing
US9232959B2 (en) 2007-01-02 2016-01-12 Aquabeam, Llc Multi fluid tissue resection methods and devices
FR2927011B1 (fr) 2008-01-31 2010-11-19 Pascal Barrier Manipulateur a decouplage des mouvements, et application aux instruments pour la chirurgie mini invasive
EP2259742B1 (en) 2008-03-06 2020-01-01 AquaBeam LLC Tissue ablation and cautery with optical energy carried in fluid stream
US8333755B2 (en) 2008-03-31 2012-12-18 Intuitive Surgical Operations, Inc. Coupler to transfer controller motion from a robotic manipulator to an attached instrument
US9204923B2 (en) 2008-07-16 2015-12-08 Intuitive Surgical Operations, Inc. Medical instrument electronically energized using drive cables
US9259274B2 (en) 2008-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
US9339342B2 (en) 2008-09-30 2016-05-17 Intuitive Surgical Operations, Inc. Instrument interface
ES2388867B1 (es) * 2009-10-27 2013-09-18 Universitat Politècnica De Catalunya Pinzas para cirugia laparoscópica mínimamente invasiva.
US9339341B2 (en) 2010-02-08 2016-05-17 Intuitive Surgical Operations, Inc. Direct pull surgical gripper
EP2580030A4 (en) * 2010-06-10 2017-04-19 Care Fusion 2200, Inc. Flexible wrist-type element
WO2012020386A1 (en) 2010-08-11 2012-02-16 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical positioning system for surgical instruments
US12402960B2 (en) 2010-10-11 2025-09-02 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
US10092359B2 (en) 2010-10-11 2018-10-09 Ecole Polytechnique Federale De Lausanne Mechanical manipulator for surgical instruments
EP2645943A1 (en) 2010-12-02 2013-10-09 Agile Endosurgery, Inc. Surgical tool
US20120191079A1 (en) 2011-01-20 2012-07-26 Hansen Medical, Inc. System and method for endoluminal and translumenal therapy
US9696700B2 (en) 2011-07-27 2017-07-04 Ecole Polytechnique Federale De Lausanne Mechanical teleoperated device for remote manipulation
WO2013066901A1 (en) 2011-10-31 2013-05-10 Modular Robotics Incorporated Modular kinematic construction kit
CN108606773B (zh) 2012-02-29 2020-08-11 普罗赛普特生物机器人公司 自动化图像引导的组织切除和处理
US10231867B2 (en) 2013-01-18 2019-03-19 Auris Health, Inc. Method, apparatus and system for a water jet
WO2014201165A1 (en) 2013-06-11 2014-12-18 Auris Surgical Robotics, Inc. System for robotic assisted cataract surgery
US10426661B2 (en) 2013-08-13 2019-10-01 Auris Health, Inc. Method and apparatus for laser assisted cataract surgery
KR102523090B1 (ko) 2013-08-15 2023-04-19 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 예압형 수술 기구 인터페이스
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
US10550918B2 (en) 2013-08-15 2020-02-04 Intuitive Surgical Operations, Inc. Lever actuated gimbal plate
CN105744909B (zh) 2013-08-15 2019-05-10 直观外科手术操作公司 具有单次使用的端部和集成的端部覆盖物的可重复使用的手术器械
CN109602496B (zh) 2013-08-15 2021-07-20 直观外科手术操作公司 机器人器械从动元件
US10076348B2 (en) 2013-08-15 2018-09-18 Intuitive Surgical Operations, Inc. Rotary input for lever actuation
JP6513670B2 (ja) 2013-08-15 2019-05-15 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 器具減菌アダプタ駆動構成
KR102312950B1 (ko) 2013-08-15 2021-10-15 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 가변형 기구 예압 기구 컨트롤러
GB201316333D0 (en) * 2013-09-13 2013-10-30 Imp Innovations Ltd Surgical device and methods
US10265129B2 (en) 2014-02-03 2019-04-23 Distalmotion Sa Mechanical teleoperated device comprising an interchangeable distal instrument
JP6296869B2 (ja) * 2014-04-09 2018-03-20 オリンパス株式会社 処置具および手術システム
JP2016036863A (ja) * 2014-08-06 2016-03-22 ソニー株式会社 パラレルリンクロボットおよびパラレルリンク構造
CN111658180B (zh) 2014-08-15 2024-05-31 直观外科手术操作公司 具有可变进入引导器配置的外科手术系统
CZ305471B6 (cs) * 2014-08-18 2015-10-14 ÄŚVUT v Praze, Fakulta strojnĂ­ Zařízení pro řízení sférického pohybu tělesa
WO2016030767A1 (en) 2014-08-27 2016-03-03 Distalmotion Sa Surgical system for microsurgical techniques
EP3232977B1 (en) 2014-12-19 2020-01-29 DistalMotion SA Docking system for mechanical telemanipulator
EP4342412A3 (en) 2014-12-19 2024-06-05 DistalMotion SA Reusable surgical instrument for minimally invasive procedures
WO2016097864A2 (en) 2014-12-19 2016-06-23 Distalmotion Sa Surgical instrument with articulated end-effector
WO2016097873A2 (en) 2014-12-19 2016-06-23 Distalmotion Sa Articulated handle for mechanical telemanipulator
WO2016097861A1 (en) 2014-12-19 2016-06-23 Distalmotion Sa Sterile interface for articulated surgical instruments
US20160287279A1 (en) 2015-04-01 2016-10-06 Auris Surgical Robotics, Inc. Microsurgical tool for robotic applications
ES2991940T3 (es) 2015-04-09 2024-12-05 Distalmotion Sa Dispositivo mecánico teleoperado para manipulación a distancia
WO2016162751A1 (en) 2015-04-09 2016-10-13 Distalmotion Sa Articulated hand-held instrument
GB2538497B (en) * 2015-05-14 2020-10-28 Cmr Surgical Ltd Torque sensing in a surgical robotic wrist
ES2996084T3 (en) 2015-08-28 2025-02-12 Distalmotion Sa Surgical instrument with increased actuation force
JP6564668B2 (ja) 2015-10-02 2019-08-21 国立大学法人九州大学 マニピュレータ
ITUB20154977A1 (it) 2015-10-16 2017-04-16 Medical Microinstruments S R L Strumento medicale e metodo di fabbricazione di detto strumento medicale
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
US10639108B2 (en) 2015-10-30 2020-05-05 Auris Health, Inc. Process for percutaneous operations
US10973517B2 (en) 2015-11-13 2021-04-13 Intuitive Surgical Operations, Inc. Stapler with composite cardan and screw drive
US11304770B2 (en) 2016-03-09 2022-04-19 Intuitive Surgical Operations, Inc. Force transmission mechanism for surgical instrument, and related devices, systems, and methods
US20190231451A1 (en) 2016-07-14 2019-08-01 Intuitive Surgical Operations, Inc. Geared roll drive for medical instrument
EP3484406B1 (en) 2016-07-14 2024-02-28 Intuitive Surgical Operations, Inc. Instrument flushing system
US11207145B2 (en) 2016-07-14 2021-12-28 Intuitive Surgical Operations, Inc. Multi-cable medical instrument
US11007024B2 (en) 2016-07-14 2021-05-18 Intuitive Surgical Operations, Inc. Geared grip actuation for medical instruments
US11890070B2 (en) 2016-07-14 2024-02-06 Intuitive Surgical Operations, Inc. Instrument release
CN109937013B (zh) 2016-09-14 2023-03-24 直观外科手术操作公司 具有交叉轴线挠曲枢轴的关节组件
FR3057192B1 (fr) * 2016-10-06 2018-11-16 Ecole Nationale Superieure De Mecanique Et Des Microtechniques Poignet robotique parallele a quatre degres de liberte
US11241290B2 (en) 2016-11-21 2022-02-08 Intuitive Surgical Operations, Inc. Cable length conserving medical instrument
US11602336B2 (en) 2016-12-19 2023-03-14 Intuitive Surgical Operations, Inc. Sample retrieval tool with compliant retention member
US10357321B2 (en) 2017-02-24 2019-07-23 Intuitive Surgical Operations, Inc. Splayed cable guide for a medical instrument
US11076926B2 (en) 2017-03-21 2021-08-03 Intuitive Surgical Operations, Inc. Manual release for medical device drive system
EP3599979A4 (en) 2017-03-28 2021-01-06 Auris Health, Inc. SHAFT DRIVE HANDLE
AU2018250049B2 (en) 2017-04-07 2023-06-29 Auris Health, Inc. Patient introducer alignment
US10285574B2 (en) 2017-04-07 2019-05-14 Auris Health, Inc. Superelastic medical instrument
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same
CN107300357B (zh) * 2017-06-22 2023-05-12 昆明理工大学 一种非接触式三自由度光学三维测量转台
CN107139165A (zh) * 2017-06-23 2017-09-08 中国科学院上海光学精密机械研究所 混联的六自由度空间对接机构
US20200206961A1 (en) * 2017-08-08 2020-07-02 Ugur TÜMERDEM Backdrivable and haptic feedback capable robotic forceps, control system and method
EP3723650B1 (en) 2017-12-14 2024-11-27 Intuitive Surgical Operations, Inc. Medical tools having tension bands
CA3089681A1 (en) 2018-02-07 2019-08-15 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US12376927B2 (en) 2018-02-07 2025-08-05 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US11497567B2 (en) 2018-02-08 2022-11-15 Intuitive Surgical Operations, Inc. Jointed control platform
US11118661B2 (en) 2018-02-12 2021-09-14 Intuitive Surgical Operations, Inc. Instrument transmission converting roll to linear actuation
CN119837643A (zh) 2018-03-07 2025-04-18 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
EP3761897A4 (en) 2018-03-07 2021-11-24 Intuitive Surgical Operations, Inc. LOW-FRICTION, LOW-PRESSURE MEDICAL TOOLS WITH EASY-TO-ASSEMBLE COMPONENTS
EP3773302B1 (en) 2018-04-10 2025-06-04 Intuitive Surgical Operations, Inc. Articulable medical devices having flexible wire routing
JP7267309B2 (ja) 2018-06-07 2023-05-01 オーリス ヘルス インコーポレイテッド 高力器具を有するロボット医療システム
JP7391886B2 (ja) 2018-06-28 2023-12-05 オーリス ヘルス インコーポレイテッド 滑車共有を組み込んだ医療システム
US11259798B2 (en) 2018-07-16 2022-03-01 Intuitive Surgical Operations, Inc. Medical devices having tissue grasping surfaces and features for manipulating surgical needles
US11612447B2 (en) 2018-07-19 2023-03-28 Intuitive Surgical Operations, Inc. Medical devices having three tool members
US12029507B2 (en) * 2018-07-26 2024-07-09 Covidien Lp Surgical robotic systems
WO2020036685A1 (en) 2018-08-15 2020-02-20 Auris Health, Inc. Medical instruments for tissue cauterization
CN112566567B (zh) 2018-08-17 2024-10-29 奥瑞斯健康公司 双极医疗器械
CN112770689B (zh) 2018-09-26 2024-07-19 奥瑞斯健康公司 用于抽吸和冲洗的系统和器械
WO2020076447A1 (en) 2018-10-08 2020-04-16 Auris Health, Inc. Systems and instruments for tissue sealing
WO2020102780A1 (en) 2018-11-15 2020-05-22 Intuitive Surgical Operations, Inc. Cable drive limited slip capstan and shaft
US11213287B2 (en) 2018-11-15 2022-01-04 Intuitive Surgical Operations, Inc. Support apparatus for a medical retractor device
US11291514B2 (en) 2018-11-15 2022-04-05 Intuitive Surgical Operations, Inc. Medical devices having multiple blades and methods of use
US11950863B2 (en) 2018-12-20 2024-04-09 Auris Health, Inc Shielding for wristed instruments
EP3897402A4 (en) 2018-12-21 2023-02-08 Intuitive Surgical Operations, Inc. SURGICAL INSTRUMENTS INCLUDING MECHANISMS FOR IDENTIFYING AND/OR DEACTIVATING STAPLER CARTRIDGES
US11589913B2 (en) 2019-01-25 2023-02-28 Auris Health, Inc. Vessel sealer with heating and cooling capabilities
EP3908201B1 (en) 2019-03-25 2024-04-24 Auris Health, Inc. Instruments for medical stapling
EP3955831A4 (en) 2019-04-15 2022-12-28 Intuitive Surgical Operations, Inc. CARTRIDGE OF STAPLES FOR SURGICAL INSTRUMENT
CN119745453A (zh) 2019-05-31 2025-04-04 直观外科手术操作公司 用于外科器械的订合钉仓
CN113811257B (zh) 2019-06-13 2025-09-30 直观外科手术操作公司 用于致动张力带的带有长度守恒机构的医疗工具
EP3989862A4 (en) 2019-06-25 2023-10-04 Auris Health, Inc. Medical instruments including wrists with hybrid redirect surfaces
US11369386B2 (en) 2019-06-27 2022-06-28 Auris Health, Inc. Systems and methods for a medical clip applier
EP3989863A4 (en) 2019-06-28 2023-10-11 Auris Health, Inc. Medical instruments including wrists with hybrid redirect surfaces
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
WO2021059099A1 (en) 2019-09-26 2021-04-01 Auris Health, Inc. Systems and methods for collision detection and avoidance
EP4034350A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision avoidance using object models
US11737845B2 (en) 2019-09-30 2023-08-29 Auris Inc. Medical instrument with a capstan
US11737835B2 (en) 2019-10-29 2023-08-29 Auris Health, Inc. Braid-reinforced insulation sheath
US12357409B2 (en) 2019-11-21 2025-07-15 Auris Health, Inc. Systems and methods for draping a surgical system
CN114901188A (zh) 2019-12-31 2022-08-12 奥瑞斯健康公司 动态滑轮系统
CN114901200A (zh) 2019-12-31 2022-08-12 奥瑞斯健康公司 高级篮式驱动模式
WO2021141971A1 (en) 2020-01-07 2021-07-15 Intuitive Surgical Operations, Inc. Surgical instruments for applying multiple clips
US11642129B2 (en) 2020-01-15 2023-05-09 Intuitive Surgical Operations, Inc. Staple cartridge and drive member for surgical instrument
EP3868305A1 (en) * 2020-02-19 2021-08-25 UCL Business Ltd End-effector for endoscopic surgical instrument
CN115515523A (zh) 2020-03-30 2022-12-23 奥瑞斯健康公司 机器人外科手术的工作空间优化
US11839969B2 (en) 2020-06-29 2023-12-12 Auris Health, Inc. Systems and methods for detecting contact between a link and an external object
EP4171428A4 (en) 2020-06-30 2024-10-30 Auris Health, Inc. ROBOTIC MEDICAL SYSTEM WITH COLLISION PROXIMITY INDICATORS
US11357586B2 (en) 2020-06-30 2022-06-14 Auris Health, Inc. Systems and methods for saturated robotic movement
US12402883B2 (en) 2021-01-08 2025-09-02 Intuitive Surgical Operations, Inc. Surgical instrument with linear and purse string suture staples
CN113664867B (zh) * 2021-08-27 2025-05-16 深圳市优必选科技股份有限公司 关节双向储能装置、机器人关节结构以及机器人
WO2023037273A1 (en) 2021-09-13 2023-03-16 Distalmotion Sa Instruments for surgical robotic system and interfaces for the same
CN113977626B (zh) * 2021-12-24 2022-03-08 季华实验室 一种基于张拉结构的腱驱仿生腕部关节
US11844585B1 (en) 2023-02-10 2023-12-19 Distalmotion Sa Surgical robotics systems and devices having a sterile restart, and methods thereof
US12150729B1 (en) 2024-02-02 2024-11-26 Panda Surgical Limited Handheld surgical systems with interchangeable dexterous end-effectors

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4911033A (en) * 1989-01-03 1990-03-27 Ross-Hime Designs, Incorporated Robotic manipulator
US5740699A (en) * 1995-04-06 1998-04-21 Spar Aerospace Limited Wrist joint which is longitudinally extendible
US5792135A (en) * 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US6330837B1 (en) * 1997-08-28 2001-12-18 Microdexterity Systems, Inc. Parallel mechanism
WO2003001987A2 (en) * 2001-06-29 2003-01-09 Intuitive Surgical, Inc. Platform link wrist mechanism
US7121781B2 (en) * 2003-06-11 2006-10-17 Intuitive Surgical Surgical instrument with a universal wrist

Also Published As

Publication number Publication date
US20080196533A1 (en) 2008-08-21
EP1686911A1 (en) 2006-08-09
WO2005046500A1 (en) 2005-05-26

Similar Documents

Publication Publication Date Title
ITPI20030107A1 (it) Dispositivo per l'esecuzione di operazioni
CN101890725B (zh) 一种嵌入驱动器式的主动控制柔性仿生关节
WO2005074372A3 (en) Methods and apparatus for rehabilitation and training
WO2002062199A3 (en) Surgical manipulator
WO2006047753A3 (en) Wrist and upper extremity motion
WO2009056079A3 (en) A device for a body's spherical motion control
DE602007008008D1 (de) Parallelroboter
DK2125301T3 (da) Kompakt manipulationsrobot
SE0003224D0 (sv) Anordning vid robot
CN109363889B (zh) 一种上肢外骨骼机器人左右手互换装置
WO2007021766A3 (en) Multi-axis tilt estimation and fall remediation
EP1932301A4 (en) SYSTEM, METHOD, SOFTWARE AND EQUIPMENT USING MESSAGE TRANSMISSION
WO2004041066A3 (en) Apparatus and method for measuring instability of a motion segment unit of a spine
SE0303539D0 (sv) Anordning för en industrirobot
ATE535434T1 (de) Ein kugelgelenk mit gekoppelten aktuatoren implementierender humanoidroboter
CN211729161U (zh) 轻型可穿戴式局部力反馈仿生双臂外骨骼主手
DE60328994D1 (de) Knochenverankerungsvorrichtung mit kugelgelenk
ATE291525T1 (de) Vorrichtung zur fünfachsigen bewegung und/oder positionierung eines objektes
CN113043241B (zh) 一种轻型可穿戴式局部力反馈仿生双臂外骨骼主手
CN107297738B (zh) 机械臂控制系统
CN104325456B (zh) 一种新型两转动并联机构
JP2005138278A5 (it)
WO2005036000A3 (en) A setting device joint with a rotating wobbler
CN110652423B (zh) 带有精确力控制的可穿戴式上肢康复训练机器人
TW200930523A (en) 7 degrees of freedom humanoid robot arm (including a gripper)