JP2009520573A - ロボット手術システムの機器インターフェース - Google Patents
ロボット手術システムの機器インターフェース Download PDFInfo
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- JP2009520573A JP2009520573A JP2008547535A JP2008547535A JP2009520573A JP 2009520573 A JP2009520573 A JP 2009520573A JP 2008547535 A JP2008547535 A JP 2008547535A JP 2008547535 A JP2008547535 A JP 2008547535A JP 2009520573 A JP2009520573 A JP 2009520573A
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- manipulator
- instrument
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- instrument interface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00212—Electrical control of surgical instruments using remote controls
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2059—Mechanical position encoders
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- 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
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- 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
- A61B2034/715—Cable tensioning mechanisms for removing slack
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B46/00—Surgical drapes
- A61B46/20—Surgical drapes specially adapted for patients
- A61B46/23—Surgical drapes specially adapted for patients with means to retain or hold surgical implements
- A61B2046/234—Surgical drapes specially adapted for patients with means to retain or hold surgical implements with means for retaining a catheter
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0804—Counting number of instruments used; Instrument detectors
- A61B2090/0805—Counting number of instruments used; Instrument detectors automatically, e.g. by means of magnetic, optical or photoelectric detectors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
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- 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
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S483/00—Tool changing
- Y10S483/901—Robot end effectors
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- 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
Abstract
Description
本願は、2005年12月20日出願の米国仮特許出願第60/752,755号の利益を主張し、該出願の(該出願において参考により援用された全ての参考文献を含む)全開示は、その全ての目的のために、本明細書において参考により援用される。
有利には、本発明は、機器無菌アダプタ(Instrument Steri1e Adaptor;ISA)の単純かつ効率的な設置および/または係合を提供する一方で、ISAおよび無菌バリアのための費用効果的な使い捨て可能な設計を可能にする。本発明の他の利点も提供される。
Claims (22)
- 機器と協働しうるように結合可能な無菌アダプタに軸荷重およびトルクを提供するためのスプリング荷重入力部を備える、ロボットマニピュレータの統合機器インターフェース。
- 前記スプリング荷重入力部は、出力滑車に協働しうるように結合されたシャフトに結合された入力バーを含む、請求項1に記載の機器インターフェース。
- 前記入力バーは、前記無菌アダプタを係合するための突起を含む、請求項2に記載の機器インターフェース。
- 前記無菌アダプタを協働しうるように係合するための複数のスプリング荷重入力部をさらに含む、請求項1に記載の機器インターフェース。
- 前記無菌アダプタを着脱するためのスプリング荷重解放レバーをさらに含む、請求項1に記載の機器インターフェース。
- 前記解放レバーは、レバー本体を偏向するためのねじりバネを含む、請求項5に記載の機器インターフェース。
- 前記機器の存在を検出するためのホール効果センサをさらに含む、請求項1に記載の機器インターフェース。
- 前記ホール効果センサは、前記機器内に搭載された磁石を検出可能である、請求項7に記載の機器インターフェース。
- 前記ロボットマニピュレータに対し前記無菌アダプタの位置を固定するための基準点をさらに含む、請求項1に記載の機器インターフェース。
- 前記無菌アダプタに対し軸力を提供するためのスプリングプランジャをさらに含む、請求項1に記載の機器インターフェース。
- 無菌アダプタ搭載ブラケットをさらに含む、請求項1に記載の機器インターフェース。
- 前記無菌アダプタとプリント回路アセンブリを接合するための電気インターフェースをさらに含む、請求項1に記載の機器インターフェース。
- 前記電気インターフェースを囲む保護シュラウドをさらに含む、請求項12に記載の機器インターフェース。
- 前記機器は、鉗子、鋏、把持装置、持針器、マイクロダイセクタ、ステープルアプライヤ、タッカー、吸引洗浄道具、クリップアプライヤ、切刃、焼灼プローブ、洗浄器、カテーテル、および吸引口から成る群から選択される、請求項1に記載の機器インターフェース。
- ロボット外科手術用マニピュレータシステムであって、
マニピュレータアームの遠位端と協働しうるように結合された基礎連結部と、
縦方向軸に沿って前記基礎連結部と移動調整可能に結合された搬送連結部であって、前記搬送連結部は、機器と協働しうるように結合可能な無菌アダプタに軸荷重およびトルクを提供するためのスプリング荷重入力部を有する統合機器インターフェースを含む搬送連結部と
を含む、アセンブリと、
前記機器インターフェースを介して前記搬送連結部に協働しうるように結合された機器と、
前記機器の存在を検出するための前記マニピュレータアセンブリに協働しうるように結合されたプロセッサと
を含む、システム。 - 前記スプリング荷重入力部は、出力滑車に協働しうるように結合されたシャフトに結合された入力バーを含む、請求項15に記載のシステム。
- 前記機器インターフェースは、前記無菌アダプタを協働しうるように係合するための複数のスプリング荷重入力部をさらに含む、請求項15に記載のシステム。
- 前記機器インターフェースは、前記機器の存在を検出するためのホール効果センサをさらに含む、請求項15に記載のシステム。
- 前記ホール効果センサは、前記機器内に搭載された磁石を検出可能である、請求項18に記載のシステム。
- 前記機器は、鉗子、鋏、把持装置、持針器、マイクロダイセクタ、ステープルアプライヤ、タッカー、吸引洗浄道具、クリップアプライヤ、切刃、焼灼プローブ、洗浄器、カテーテル、および吸引口から成る群から選択される、請求項15に記載のシステム。
- 前記無菌アダプタは、手術野からロボット外科手術システムの一部を分離するための無菌ドレープと統合される、請求項15に記載のシステム。
- 前記機器インターフェースは、前記無菌アダプタを着脱するためのスプリング荷重解放レバーをさらに含む、請求項15に記載のシステム。
Applications Claiming Priority (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US75275505P | 2005-12-20 | 2005-12-20 | |
US11/314,040 US7666191B2 (en) | 1996-12-12 | 2005-12-20 | Robotic surgical system with sterile surgical adaptor |
US60/752,755 | 2005-12-20 | ||
US11/314,040 | 2005-12-20 | ||
US11/613,695 | 2006-12-20 | ||
PCT/US2006/048744 WO2007075864A1 (en) | 2005-12-20 | 2006-12-20 | Instrument interface of a robotic surgical system |
US11/613,695 US7963913B2 (en) | 1996-12-12 | 2006-12-20 | Instrument interface of a robotic surgical system |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2012064143A Division JP5283241B2 (ja) | 2005-12-20 | 2012-03-21 | ロボット手術システムの機器インターフェース |
Publications (2)
Publication Number | Publication Date |
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JP2009520573A true JP2009520573A (ja) | 2009-05-28 |
JP5101519B2 JP5101519B2 (ja) | 2012-12-19 |
Family
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Family Applications (2)
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JP2008547535A Active JP5101519B2 (ja) | 2005-12-20 | 2006-12-20 | ロボット手術システムの機器インターフェース |
JP2012064143A Active JP5283241B2 (ja) | 2005-12-20 | 2012-03-21 | ロボット手術システムの機器インターフェース |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
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JP2012064143A Active JP5283241B2 (ja) | 2005-12-20 | 2012-03-21 | ロボット手術システムの機器インターフェース |
Country Status (7)
Country | Link |
---|---|
US (1) | US7963913B2 (ja) |
EP (1) | EP1962711B1 (ja) |
JP (2) | JP5101519B2 (ja) |
KR (1) | KR101337278B1 (ja) |
CN (1) | CN101340852B (ja) |
AT (1) | ATE547059T1 (ja) |
WO (1) | WO2007075864A1 (ja) |
Cited By (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013034862A (ja) * | 2011-08-04 | 2013-02-21 | Olympus Corp | 医療用マニピュレータ |
JP2013526337A (ja) * | 2010-05-14 | 2013-06-24 | 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 | 手術システム器具マウンティング |
JP2015523148A (ja) * | 2012-06-28 | 2015-08-13 | エシコン・エンド−サージェリィ・インコーポレイテッドEthicon Endo−Surgery,Inc. | 手動関節接合可能な逆転システムを備えたロボット動力式の外科用デバイス |
US9161772B2 (en) | 2011-08-04 | 2015-10-20 | Olympus Corporation | Surgical instrument and medical manipulator |
US9218053B2 (en) | 2011-08-04 | 2015-12-22 | Olympus Corporation | Surgical assistant system |
US9244523B2 (en) | 2011-08-04 | 2016-01-26 | Olympus Corporation | Manipulator system |
US9244524B2 (en) | 2011-08-04 | 2016-01-26 | Olympus Corporation | Surgical instrument and control method thereof |
JP2016505316A (ja) * | 2012-12-20 | 2016-02-25 | アバテラメディカル、ゲゼルシャフト、ミット、ベシュレンクテル、ハフツングAvateramedical Gmbh | 外科手術用器具のアクティブ位置決め装置及びこれを備えたロボット手術システム |
JP2016120277A (ja) * | 2014-11-27 | 2016-07-07 | アヴァテラメディカル ゲーエムベーハー | ロボット支援手術のための機器 |
US9423869B2 (en) | 2011-08-04 | 2016-08-23 | Olympus Corporation | Operation support device |
US9477301B2 (en) | 2011-08-04 | 2016-10-25 | Olympus Corporation | Operation support device and assembly method thereof |
US9519341B2 (en) | 2011-08-04 | 2016-12-13 | Olympus Corporation | Medical manipulator and surgical support apparatus |
US9524022B2 (en) | 2011-08-04 | 2016-12-20 | Olympus Corporation | Medical equipment |
US9632577B2 (en) | 2011-08-04 | 2017-04-25 | Olympus Corporation | Operation support device and control method thereof |
US9632573B2 (en) | 2011-08-04 | 2017-04-25 | Olympus Corporation | Medical manipulator and method of controlling the same |
US9671860B2 (en) | 2011-08-04 | 2017-06-06 | Olympus Corporation | Manipulation input device and manipulator system having the same |
JP6157785B1 (ja) * | 2016-01-21 | 2017-07-05 | オリンパス株式会社 | 医療用マニピュレータシステム |
US9851782B2 (en) | 2011-08-04 | 2017-12-26 | Olympus Corporation | Operation support device and attachment and detachment method thereof |
JP2018038853A (ja) * | 2012-11-02 | 2018-03-15 | 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 | フラックス伝送コネクタ及びシステム、フラックス除去、並びにフラックス供給路をマッピングするためのシステム及び方法 |
WO2018235151A1 (ja) * | 2017-06-20 | 2018-12-27 | オリンパス株式会社 | 医療用マニピュレータシステム |
JP2019521736A (ja) * | 2016-05-26 | 2019-08-08 | コヴィディエン リミテッド パートナーシップ | ロボット外科手術アセンブリ |
JP2019130298A (ja) * | 2018-01-12 | 2019-08-08 | エスエス イノベーションズ チャイナ カンパニー リミテッドSS Innovations China Co. Ltd | ロボット手術システムための滅菌アダプタアセンブリ |
JP2020500637A (ja) * | 2016-12-08 | 2020-01-16 | オルトタクシ | 少なくとも1つの目標面に沿って解剖学的構造を切断する外科用システム |
JP2020151524A (ja) * | 2013-08-15 | 2020-09-24 | 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 | ロボット器具の被駆動要素 |
JP2021052905A (ja) * | 2019-09-27 | 2021-04-08 | 株式会社メディカロイド | アダプタセットおよびアダプタ |
US11607229B2 (en) | 2016-12-08 | 2023-03-21 | Orthotaxy S.A.S. | Surgical system for cutting an anatomical structure according to at least one target plane |
US11633233B2 (en) | 2016-12-08 | 2023-04-25 | Orthotaxy S.A.S. | Surgical system for cutting an anatomical structure according to at least one target cutting plane |
Families Citing this family (617)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7666191B2 (en) | 1996-12-12 | 2010-02-23 | Intuitive Surgical, Inc. | Robotic surgical system with sterile surgical adaptor |
US6132368A (en) | 1996-12-12 | 2000-10-17 | Intuitive Surgical, Inc. | Multi-component telepresence system and method |
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Also Published As
Publication number | Publication date |
---|---|
EP1962711B1 (en) | 2012-02-29 |
JP5101519B2 (ja) | 2012-12-19 |
JP5283241B2 (ja) | 2013-09-04 |
EP1962711A1 (en) | 2008-09-03 |
US20070119274A1 (en) | 2007-05-31 |
KR101337278B1 (ko) | 2013-12-09 |
WO2007075864A1 (en) | 2007-07-05 |
CN101340852B (zh) | 2011-12-28 |
CN101340852A (zh) | 2009-01-07 |
JP2012120884A (ja) | 2012-06-28 |
ATE547059T1 (de) | 2012-03-15 |
US7963913B2 (en) | 2011-06-21 |
KR20080087111A (ko) | 2008-09-30 |
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