JP2011517419A - 手術用ロボット設定アームにおける力とトルクの感知 - Google Patents
手術用ロボット設定アームにおける力とトルクの感知 Download PDFInfo
- Publication number
- JP2011517419A JP2011517419A JP2011501996A JP2011501996A JP2011517419A JP 2011517419 A JP2011517419 A JP 2011517419A JP 2011501996 A JP2011501996 A JP 2011501996A JP 2011501996 A JP2011501996 A JP 2011501996A JP 2011517419 A JP2011517419 A JP 2011517419A
- Authority
- JP
- Japan
- Prior art keywords
- sensor
- instrument
- manipulator
- force
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims description 22
- 238000003780 insertion Methods 0.000 claims description 16
- 230000037431 insertion Effects 0.000 claims description 16
- 230000003993 interaction Effects 0.000 claims description 5
- 210000003484 anatomy Anatomy 0.000 claims description 3
- 238000010494 dissociation reaction Methods 0.000 claims description 3
- 230000005593 dissociations Effects 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 2
- 238000002559 palpation Methods 0.000 claims description 2
- 238000001356 surgical procedure Methods 0.000 abstract description 22
- 238000002674 endoscopic surgery Methods 0.000 abstract description 2
- 210000000707 wrist Anatomy 0.000 description 33
- 239000000835 fiber Substances 0.000 description 19
- 230000008878 coupling Effects 0.000 description 18
- 238000010168 coupling process Methods 0.000 description 18
- 238000005859 coupling reaction Methods 0.000 description 18
- 238000005259 measurement Methods 0.000 description 17
- 230000033001 locomotion Effects 0.000 description 15
- 230000001954 sterilising effect Effects 0.000 description 10
- 238000004659 sterilization and disinfection Methods 0.000 description 10
- 238000000429 assembly Methods 0.000 description 9
- 230000000712 assembly Effects 0.000 description 9
- 230000008859 change Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 8
- 239000012636 effector Substances 0.000 description 7
- 239000013307 optical fiber Substances 0.000 description 7
- 210000003857 wrist joint Anatomy 0.000 description 7
- 230000008901 benefit Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 239000011248 coating agent Substances 0.000 description 4
- 238000000576 coating method Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000003384 imaging method Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 239000000523 sample Substances 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 3
- 239000004810 polytetrafluoroethylene Substances 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 238000002432 robotic surgery Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 229920000052 poly(p-xylylene) Polymers 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000010897 surface acoustic wave method Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 229920002430 Fibre-reinforced plastic Polymers 0.000 description 1
- ONIBWKKTOPOVIA-BYPYZUCNSA-N L-Proline Chemical compound OC(=O)[C@@H]1CCCN1 ONIBWKKTOPOVIA-BYPYZUCNSA-N 0.000 description 1
- 239000004952 Polyamide Substances 0.000 description 1
- ONIBWKKTOPOVIA-UHFFFAOYSA-N Proline Natural products OC(=O)C1CCCN1 ONIBWKKTOPOVIA-UHFFFAOYSA-N 0.000 description 1
- 206010048547 Suture rupture Diseases 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 230000001112 coagulating effect Effects 0.000 description 1
- 230000015271 coagulation Effects 0.000 description 1
- 238000005345 coagulation Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000003822 epoxy resin Substances 0.000 description 1
- 239000011151 fibre-reinforced plastic Substances 0.000 description 1
- 239000011152 fibreglass Substances 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 229920002647 polyamide Polymers 0.000 description 1
- 229920000647 polyepoxide Polymers 0.000 description 1
- -1 polytetrafluoroethylene Polymers 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 239000012783 reinforcing fiber Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
Classifications
-
- 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
- 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
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
-
- 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
- A61B34/30—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
- 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
- A61B46/00—Surgical drapes
- A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40582—Force sensor in robot fixture, base
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Molecular Biology (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Abstract
Description
本願は、米国仮特許出願第60/755,108号(2005年12月30日出願)、米国仮特許出願第60/755,157号(2005年12月30日出願)、米国特許出願第11/958,772号(2007年12月18日出願)、米国特許出願第11/864,974号(2007年9月29日出願)、米国特許出願第11/553,303号(2006年10月26日出願)、米国特許出願第11/537,241号(2006年9月29日出願)、米国特許出願第11/093,372号(2005年3月30日出願)、ならびに米国特許出願第6,936,042号、同第6,902,560号、同第6,879,880号、同第6,866,671号、同第6,817,974号、同第6,783,524号、同第6,676,684号、同第6,371,952号、同第6,331,181号、および同第5,807,377号に関連し、これらの出願の全開示は、その全体が本明細書に参考として援用される。
本発明は、概して、手術ロボットシステムに関し、より具体的には、手術器具および/または手術ロボットマニピュレータに印加された力を感知するためのシステムおよび方法に関する。
E=σ/ε
A=π(ro 2−ri 2)
I=(π/4)(ro 4−ri 4)
σ=(F/A)+(Mr/I)
ε=[ε1 ε2 ε3 ε4 ε5 ε6 ε7 ε8]
A=π(ro 2−ri 2)
I=(π/4)(ro 4−ri 4)
σ=Mr/I
σ1=FLr/I
σ2=F(L+l)r/I
E=σ/ε=>ε=σ/E
ε1=−FxLr/EI
ε2=−Fx(L+l)r/EI
ε2−ε1=−Fxlr/EI
ε4−ε3=Fxlr/EI
(ε4−ε3)−(ε2−ε1)=2Fxlr/EI
したがって、
(ε1−ε2−ε3+ε4)EI/2lr=Fx
(ε5−ε6−ε7+ε8)EI/2lr=Fy
(ε1+ε2+ε3+ε4+ε5+ε6+ε7+ε8)EA/8=Fz
したがって、FxおよびFyは、Lに対して不変であり、かつ定常状態において温度に対して不変である。
σ1=σ2=Tr/I
E=σ/ε=>ε=σ/E
ε1=ε2=Tr/EI
したがって、
(ε1+ε2−ε3−ε4)EI/4r=Ty
(−ε5−ε6+ε7+ε8)EI/4r=Tx
種々の構成が可能であるが、一実施例では、器具100は、好ましくは、異方性の直線の繊維補強ポリマー管類によって構築され、その理由は、全てのゲージが、一定かつ容易に特徴化された弾性特性を伴ってz軸に平行に配向されるからである。同様の利点が、適正に特性化された織布補強管類によって獲得され得、方法はまた、一様な弾性の管類にも適用可能である。
圧縮ひずみ<0
ε7=−Fz/EA+Mxr/EI+FyLr/EI
ε5=−Fz/EA−Mxr/EI−FyLr/EI
ε8=−Fz/EA+Mxr/EI+Fy(l+L)r/EI
ε6=−Fz/EA−Mxr/EI+Fy(l+L)r/EI
[(ε8−ε6)−(ε7−ε5)]=−Fz/EA[(l−l)−(l−l)]
+Mxr/EI[(l−(−l))−(l−(−l))]
+Fyr/EI{[(l+L)−(−(l+L))]−[L−(−L)]}
=2lFyr/EI
したがって、
Fy=[(ε8−ε6)−(ε7−ε5)]EI/2lr
MxおよびFzは、生じない。
Claims (31)
- 固定可能な設定リンク機構アームと、
サーボ駆動マニピュレータアームと、
力およびトルク(F/T)センサであって、該設定リンク機構アームの自由端と該マニピュレータアームの基部との間に動作可能に結合される、力およびトルク(F/T)センサと、
F/Tセンサインターフェースであって、該F/Tセンサからの信号を復号するために該F/Tセンサに動作可能に結合される、F/Tセンサインターフェースと
を備えている、ロボット手術マニピュレータシステム。 - 前記マニピュレータアームの前記基部は、そこから該マニピュレータアームに対する少なくとも3つの自由度が提供される場所である、請求項1に記載のマニピュレータシステム。
- 前記マニピュレータアームは、基部リンクと、縦軸に沿って該基部リンクに移動可能に結合される台車リンクとを有する、挿入軸を含み、該台車リンクは、器具の機械的インターフェースを含む、請求項1に記載のマニピュレータシステム。
- 前記器具の機械的インターフェースは、器具シャフトの遠位端上に複数のひずみゲージを含む器具を載置するように構成される、請求項3に記載のマニピュレータシステム。
- 前記複数のひずみゲージは、器具の信号インターフェースに動作可能に結合可能であり、該器具の信号インターフェースは、該複数のひずみゲージからの信号を復号するように構成可能である、請求項4に記載のマニピュレータシステム。
- 前記設定リンク機構アームは、受動的または電動式である、請求項1に記載のマニピュレータシステム。
- 前記F/Tセンサは、前記マニピュレータの重量および該マニピュレータの張出し荷重モーメントを補償する、バネ釣合錘を含む、請求項1に記載のマニピュレータシステム。
- 前記F/Tセンサは、機械的インターフェースと、該F/Tセンサの第1側面上の前記設定リンク機構アームに、および該F/Tセンサの第2側面上の前記マニピュレータアームに動作可能に結合する、電気コネクタインターフェースとを含む、請求項1に記載のマニピュレータシステム。
- 前記機械的インターフェースは、摺動係合手段を含み、前記電気コネクタインターフェースは、D型コネクタを含む、請求項8に記載のマニピュレータシステム。
- 前記F/Tセンサの第1側面上の電気コネクタインターフェースは、該F/Tセンサの本体の周囲に、または本体を通って送られるワイヤによって、該F/Tセンサの第2側面上の電気コネクタインターフェースに電気的に結合される、請求項8に記載のマニピュレータシステム。
- 前記電気コネクタインターフェースは、それを通して前記F/Tセンサが前記F/Tセンサインターフェースに信号を提供する、シリアルバスを含む、請求項8に記載のマニピュレータシステム。
- 固定可能な設定リンク機構アームと、
サーボ駆動マニピュレータアームと、
力およびトルク(F/T)センサであって、該設定リンク機構アームの自由端と該マニピュレータアームの基部との間に動作可能に結合される、力およびトルク(F/T)センサと、
該マニピュレータアームの遠位端に動作可能に結合される手術器具と、
該F/Tセンサからの信号を復号するために、該F/Tセンサに動作可能に結合されるインターフェースと
を備えている、ロボット手術システム。 - 前記マニピュレータアームの前記基部は、そこから前記器具に対する少なくとも6つの自由度が提供される場所である、請求項12に記載のシステム。
- 前記マニピュレータアームは、基部リンクと、縦軸に沿って該基部リンクに移動可能に結合される台車リンクとを有する、挿入軸を含み、該台車リンクは、器具インターフェースを含む、請求項12に記載のシステム。
- 前記器具は、前記器具インターフェースに載置され、該器具は、器具シャフトの遠位端上に複数のひずみゲージを含む、請求項14に記載のシステム。
- 前記複数のひずみゲージは、器具の信号インターフェースに動作可能に結合され、該器具の信号インターフェースは、該複数のひずみゲージからの信号を復号するように構成される、請求項15に記載のシステム。
- 前記F/Tセンサと前記手術器具との間に滅菌ドレープをさらに備え、該ドレープは、滅菌手術野から前記ロボット手術システムの非滅菌部を分離する、請求項12に記載のシステム。
- 固定可能な設定リンク機構アームと、サーボ駆動マニピュレータアームと、該設定リンク機構アームの自由端と該マニピュレータアームの基部との間に動作可能に結合される力およびトルク(F/T)センサと、該F/Tセンサからの信号を復号するために該F/Tセンサに動作可能に結合されるインターフェースとを含む、ロボット手術マニピュレータシステムを提供することと、
該F/Tセンサを使用して、該マニピュレータアーム上の力を感知することと
を含む、力感知の方法。 - 前記感知された力は、患者身体の外部の物体との前記マニピュレータアームの相互作用である、請求項18に記載の方法。
- 前記マニピュレータアームの遠位端に手術器具を載置することと、前記F/Tセンサを使用して、該手術器具上の力を感知することとをさらに含む、請求項18に記載の方法。
- 前記器具上の前記感知された力は、内部の患者生体構造との前記器具の相互作用、および別の手術器具との該器具の相互作用のうちの1つである、請求項20に記載の方法。
- 前記器具上の前記感知された力は、縫合張力、別の手術器具との衝突、組織の解離、後退、および触診のうちの1つである、請求項20に記載の方法。
- 体壁内のカニューレの傾転によって引き起こされる、患者体壁上の力を傾斜角の関数としてマッピングすることと、前記F/Tセンサからの信号から、該結果として生じる推定体壁力を減算することとをさらに含む、請求項18に記載の方法。
- 前記F/Tセンサからのデータを使用して、手動配置中に、前記マニピュレータアームの後方駆動可能性を増加させることをさらに含む、請求項18に記載の方法。
- 前記F/Tセンサからの信号にノッチフィルタを使用することをさらに含み、該ノッチフィルタは、前記マニピュレータアームの共振に同調され、該F/Tセンサの質量は、前記設定リンク機構アームおよび患者体壁によって柔軟に制約される、請求項18に記載の方法。
- F/Tセンサノイズを低減するために、前記F/Tセンサに低域通過フィルタを使用することをさらに含む、請求項18に記載の方法。
- F/Tセンサノイズレベルまたはそれより下のレベルの力を排除するために、前記F/Tセンサからの信号に閾値を適用することをさらに含む、請求項18に記載の方法。
- 前記感知された力を軽減または強化するために、器具先端またはマニピュレータアームも速度に反比例して依存する可変利得を、前記F/Tセンサからの信号に適用することをさらに含む、請求項18に記載の方法。
- 前記器具がドレープの滅菌側にあり、前記F/Tセンサが該ドレープの非滅菌側にあるように、前記マニピュレータアームを滅菌ドレープで覆うことをさらに含む、請求項18に記載の方法。
- 手術器具を前記マニピュレータアームの遠位端に載置することであって、該器具は、器具シャフトの遠位端上に複数のひずみゲージを含む、ことと、
前記F/Tセンサを使用して、該器具シャフトの縦軸に沿う軸力を感知することと、
該複数の器具ひずみゲージを使用して、該手術器具にかかる横力を感知することと
をさらに含む、請求項18に記載の方法。 - 前記F/Tセンサからの信号の大きさに基づいて、患者身体の内部および外部にある、前記マニピュレータアーム上の力を区別することをさらに含む、請求項18に記載の方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/060,004 | 2008-03-31 | ||
US12/060,004 US9895813B2 (en) | 2008-03-31 | 2008-03-31 | Force and torque sensing in a surgical robot setup arm |
PCT/US2009/038160 WO2009123891A1 (en) | 2008-03-31 | 2009-03-25 | Force and torque sensing in a surgical robot setup arm |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2011517419A true JP2011517419A (ja) | 2011-06-09 |
JP5575743B2 JP5575743B2 (ja) | 2014-08-20 |
Family
ID=40977528
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011501996A Active JP5575743B2 (ja) | 2008-03-31 | 2009-03-25 | 手術用ロボット設定アームにおける力とトルクの感知 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9895813B2 (ja) |
EP (1) | EP2280662B1 (ja) |
JP (1) | JP5575743B2 (ja) |
KR (1) | KR101615539B1 (ja) |
WO (1) | WO2009123891A1 (ja) |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101487241B1 (ko) | 2012-09-12 | 2015-02-02 | 주식회사 고영테크놀러지 | 수동 조작형 수술로봇 |
JP2015510434A (ja) * | 2012-02-15 | 2015-04-09 | 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 | 入力装置の操作者が視認可能なディスプレイ領域に器具が入ったときのその器具の制御権限の入力装置への切り換え |
US9233467B2 (en) | 2013-01-10 | 2016-01-12 | Panasonic Intellectual Property Management Co., Ltd. | Control apparatus and method for master-slave robot, master-slave robot, and control program |
US9421686B2 (en) | 2013-05-27 | 2016-08-23 | Panasonic Intellectual Property Management Co., Ltd. | Master device for master slave apparatus, method of controlling the same, and master slave robot |
JP2017029210A (ja) * | 2015-07-29 | 2017-02-09 | 国立大学法人鳥取大学 | 鉗子器具および圧力センサ |
JP2018126549A (ja) * | 2013-02-15 | 2018-08-16 | 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 | 手術器具の近位制御のためのシステム及び方法 |
US10098701B2 (en) | 2012-12-14 | 2018-10-16 | Panasonic Intellectual Property Management Co., Ltd. | Force measurement apparatus, force measurement method, force measurement program, force measurement integrated electronic circuit, and master-slave device |
WO2020122416A1 (ko) * | 2018-12-13 | 2020-06-18 | 주식회사 미래컴퍼니 | 수술용 로봇의 충돌을 완화시키는 방법 및 시스템 |
JP2023040017A (ja) * | 2014-05-05 | 2023-03-22 | バイカリアス サージカル インク. | 仮想現実外科手術デバイス |
JP2023519734A (ja) * | 2020-03-31 | 2023-05-12 | シーエムアール・サージカル・リミテッド | 外科手術ロボットの制御システム |
WO2023120401A1 (ja) * | 2021-12-22 | 2023-06-29 | 川崎重工業株式会社 | 手術支援システムおよび操作者側装置 |
Families Citing this family (655)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20070084897A1 (en) | 2003-05-20 | 2007-04-19 | Shelton Frederick E Iv | Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism |
US9060770B2 (en) | 2003-05-20 | 2015-06-23 | Ethicon Endo-Surgery, Inc. | Robotically-driven surgical instrument with E-beam driver |
US7960935B2 (en) | 2003-07-08 | 2011-06-14 | The Board Of Regents Of The University Of Nebraska | Robotic devices with agent delivery components and related methods |
US11896225B2 (en) | 2004-07-28 | 2024-02-13 | Cilag Gmbh International | Staple cartridge comprising a pan |
US11998198B2 (en) | 2004-07-28 | 2024-06-04 | Cilag Gmbh International | 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 |
US9072535B2 (en) | 2011-05-27 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments with rotatable staple deployment arrangements |
US7752920B2 (en) * | 2005-12-30 | 2010-07-13 | Intuitive Surgical Operations, Inc. | Modular force sensor |
US8496647B2 (en) | 2007-12-18 | 2013-07-30 | Intuitive Surgical Operations, Inc. | Ribbed force sensor |
US7753862B2 (en) | 2005-07-13 | 2010-07-13 | Thomas P. Branch | Apparatus and method for evaluating ligaments |
US7669746B2 (en) | 2005-08-31 | 2010-03-02 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
US9237891B2 (en) | 2005-08-31 | 2016-01-19 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical stapling devices that produce formed staples having different lengths |
US7673781B2 (en) | 2005-08-31 | 2010-03-09 | Ethicon Endo-Surgery, Inc. | Surgical stapling device with staple driver that supports multiple wire diameter staples |
US11484312B2 (en) | 2005-08-31 | 2022-11-01 | Cilag Gmbh International | Staple cartridge comprising a staple driver arrangement |
US11246590B2 (en) | 2005-08-31 | 2022-02-15 | Cilag Gmbh International | Staple cartridge including staple drivers having different unfired heights |
US7934630B2 (en) | 2005-08-31 | 2011-05-03 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
US10159482B2 (en) | 2005-08-31 | 2018-12-25 | Ethicon Llc | Fastener cartridge assembly comprising a fixed anvil and different staple heights |
US20070106317A1 (en) | 2005-11-09 | 2007-05-10 | Shelton Frederick E Iv | Hydraulically and electrically actuated articulation joints for surgical instruments |
EP1965717B1 (en) | 2005-12-30 | 2012-05-16 | Intuitive Surgical Operations, Inc. | Surgical instrument with modular force sensor |
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 |
US8186555B2 (en) | 2006-01-31 | 2012-05-29 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting and fastening instrument with mechanical closure system |
US11793518B2 (en) | 2006-01-31 | 2023-10-24 | Cilag Gmbh International | Powered surgical instruments with firing system lockout arrangements |
US11224427B2 (en) | 2006-01-31 | 2022-01-18 | Cilag Gmbh International | Surgical stapling system including a console and retraction assembly |
US8708213B2 (en) | 2006-01-31 | 2014-04-29 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a feedback system |
US11278279B2 (en) | 2006-01-31 | 2022-03-22 | Cilag Gmbh International | Surgical instrument assembly |
US8820603B2 (en) | 2006-01-31 | 2014-09-02 | Ethicon Endo-Surgery, Inc. | Accessing data stored in a memory of a surgical instrument |
US7845537B2 (en) | 2006-01-31 | 2010-12-07 | Ethicon Endo-Surgery, Inc. | Surgical instrument having recording capabilities |
US20120292367A1 (en) | 2006-01-31 | 2012-11-22 | Ethicon Endo-Surgery, Inc. | Robotically-controlled end effector |
US20110024477A1 (en) | 2009-02-06 | 2011-02-03 | Hall Steven G | Driven Surgical Stapler Improvements |
US20110295295A1 (en) | 2006-01-31 | 2011-12-01 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical instrument having recording capabilities |
US9861359B2 (en) | 2006-01-31 | 2018-01-09 | Ethicon Llc | Powered surgical instruments with firing system lockout arrangements |
US8992422B2 (en) * | 2006-03-23 | 2015-03-31 | Ethicon Endo-Surgery, Inc. | Robotically-controlled endoscopic accessory channel |
US8236010B2 (en) | 2006-03-23 | 2012-08-07 | Ethicon Endo-Surgery, Inc. | Surgical fastener and cutter with mimicking end effector |
US8679096B2 (en) | 2007-06-21 | 2014-03-25 | Board Of Regents Of The University Of Nebraska | Multifunctional operational component for robotic devices |
US9579088B2 (en) | 2007-02-20 | 2017-02-28 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices for surgical visualization and device manipulation |
CA3068216C (en) | 2006-06-22 | 2023-03-07 | Board Of Regents Of The University Of Nebraska | Magnetically coupleable robotic devices and related methods |
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 |
US10130359B2 (en) | 2006-09-29 | 2018-11-20 | Ethicon Llc | Method for forming a staple |
US11980366B2 (en) | 2006-10-03 | 2024-05-14 | Cilag Gmbh International | Surgical instrument |
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 |
US8840603B2 (en) | 2007-01-10 | 2014-09-23 | Ethicon Endo-Surgery, Inc. | Surgical instrument with wireless communication between control unit and sensor transponders |
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 |
US8827133B2 (en) | 2007-01-11 | 2014-09-09 | Ethicon Endo-Surgery, Inc. | Surgical stapling device having supports for a flexible drive mechanism |
US11039836B2 (en) | 2007-01-11 | 2021-06-22 | Cilag Gmbh International | Staple cartridge for use with a surgical stapling instrument |
US8590762B2 (en) | 2007-03-15 | 2013-11-26 | Ethicon Endo-Surgery, Inc. | Staple cartridge cavity configurations |
US8893946B2 (en) | 2007-03-28 | 2014-11-25 | Ethicon Endo-Surgery, Inc. | Laparoscopic tissue thickness and clamp load measuring devices |
US8931682B2 (en) | 2007-06-04 | 2015-01-13 | Ethicon Endo-Surgery, Inc. | Robotically-controlled shaft based rotary drive systems for surgical instruments |
US11672531B2 (en) | 2007-06-04 | 2023-06-13 | Cilag Gmbh International | Rotary drive systems for surgical instruments |
US8852208B2 (en) * | 2010-05-14 | 2014-10-07 | Intuitive Surgical Operations, Inc. | Surgical system instrument mounting |
US7753245B2 (en) | 2007-06-22 | 2010-07-13 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments |
US8308040B2 (en) | 2007-06-22 | 2012-11-13 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument with an articulatable end effector |
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 |
WO2009014917A2 (en) | 2007-07-12 | 2009-01-29 | Board Of Regents Of The University Of Nebraska | Methods and systems of actuation in robotic devices |
JP5475662B2 (ja) | 2007-08-15 | 2014-04-16 | ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ | モジュール式およびセグメント化医療装置ならびに関連するシステム |
US20090076536A1 (en) | 2007-08-15 | 2009-03-19 | Board Of Regents Of The University Of Nebraska | Medical inflation, attachment, and delivery devices and related methods |
US8561473B2 (en) | 2007-12-18 | 2013-10-22 | Intuitive Surgical Operations, Inc. | Force sensor temperature compensation |
US8561870B2 (en) | 2008-02-13 | 2013-10-22 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument |
US7905381B2 (en) | 2008-09-19 | 2011-03-15 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument with cutting member arrangement |
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 |
US9179912B2 (en) | 2008-02-14 | 2015-11-10 | Ethicon Endo-Surgery, Inc. | Robotically-controlled motorized surgical cutting and fastening instrument |
US8657174B2 (en) | 2008-02-14 | 2014-02-25 | Ethicon Endo-Surgery, Inc. | Motorized surgical cutting and fastening instrument having handle based power source |
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 |
US7819298B2 (en) | 2008-02-14 | 2010-10-26 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with control features operable with one hand |
US9585657B2 (en) | 2008-02-15 | 2017-03-07 | Ethicon Endo-Surgery, Llc | Actuator for releasing a layer of material from a surgical end effector |
US11272927B2 (en) | 2008-02-15 | 2022-03-15 | Cilag Gmbh International | Layer arrangements for surgical staple cartridges |
DE102008015005A1 (de) * | 2008-03-19 | 2009-09-24 | Mtu Aero Engines Gmbh | Spannfutter-integriertes Kraftmesssystem |
US8923602B2 (en) * | 2008-07-22 | 2014-12-30 | Comau, Inc. | Automated guidance and recognition system and method of the same |
PL3476312T3 (pl) | 2008-09-19 | 2024-03-11 | Ethicon Llc | Stapler chirurgiczny z urządzeniem do dopasowania wysokości zszywek |
US9386983B2 (en) | 2008-09-23 | 2016-07-12 | Ethicon Endo-Surgery, Llc | Robotically-controlled motorized surgical instrument |
US9005230B2 (en) | 2008-09-23 | 2015-04-14 | Ethicon Endo-Surgery, Inc. | Motorized surgical instrument |
US11648005B2 (en) | 2008-09-23 | 2023-05-16 | Cilag Gmbh International | Robotically-controlled motorized surgical instrument with an end effector |
US8210411B2 (en) | 2008-09-23 | 2012-07-03 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting instrument |
US8608045B2 (en) | 2008-10-10 | 2013-12-17 | Ethicon Endo-Sugery, Inc. | Powered surgical cutting and stapling apparatus with manually retractable firing system |
WO2010056538A1 (en) * | 2008-10-29 | 2010-05-20 | Tim Maguire | An automated vessel puncture device using three-dimensional(3d) near infrared (nir) imaging and a robotically driven needle |
US8517239B2 (en) | 2009-02-05 | 2013-08-27 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument comprising a magnetic element driver |
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 |
US8453907B2 (en) | 2009-02-06 | 2013-06-04 | Ethicon Endo-Surgery, Inc. | Motor driven surgical fastener device with cutting member reversing mechanism |
JP2012517287A (ja) | 2009-02-06 | 2012-08-02 | エシコン・エンド−サージェリィ・インコーポレイテッド | 被駆動式手術用ステープラの改良 |
US8918212B2 (en) | 2009-06-24 | 2014-12-23 | Intuitive Surgical Operations, Inc. | Arm with a combined shape and force sensor |
DE102009047033A1 (de) * | 2009-11-24 | 2011-05-26 | Robert Bosch Gmbh | System und Verfahren zur Kollisionserkennung bei Fertigungs- oder Montageautomaten |
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 |
ITCS20100006A1 (it) * | 2010-03-02 | 2011-09-03 | Aulicino Edoardo | Nuova strumentazione per utilizzare il navi-robot per il controllo e la movimentazione micrometrica di strumentazione laparoscopica e per la guida alle biopsie sia eco-guidate che sotto fluoroscopia |
CN101797185B (zh) * | 2010-03-11 | 2011-06-01 | 上海交通大学 | 七自由度微创手术机械从手装置 |
US8783543B2 (en) | 2010-07-30 | 2014-07-22 | Ethicon Endo-Surgery, Inc. | Tissue acquisition arrangements and methods for surgical stapling devices |
US8968267B2 (en) | 2010-08-06 | 2015-03-03 | Board Of Regents Of The University Of Nebraska | Methods and systems for handling or delivering materials for natural orifice surgery |
CN102686366B (zh) * | 2010-08-31 | 2015-02-25 | 松下电器产业株式会社 | 主从机器人的控制装置及主从机器人的控制装置的控制方法 |
US9055941B2 (en) | 2011-09-23 | 2015-06-16 | Ethicon Endo-Surgery, Inc. | Staple cartridge including collapsible deck |
US9220501B2 (en) | 2010-09-30 | 2015-12-29 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensators |
BR112013007717B1 (pt) | 2010-09-30 | 2020-09-24 | Ethicon Endo-Surgery, Inc. | Sistema de grampeamento cirúrgico |
US9480476B2 (en) | 2010-09-30 | 2016-11-01 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator comprising resilient members |
US9314246B2 (en) | 2010-09-30 | 2016-04-19 | Ethicon Endo-Surgery, Llc | Tissue stapler having a thickness compensator incorporating an anti-inflammatory agent |
US11849952B2 (en) | 2010-09-30 | 2023-12-26 | Cilag Gmbh International | Staple cartridge comprising staples positioned within a compressible portion thereof |
US9204880B2 (en) | 2012-03-28 | 2015-12-08 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator comprising capsules defining a low pressure environment |
US9232941B2 (en) | 2010-09-30 | 2016-01-12 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator comprising a reservoir |
US9307989B2 (en) | 2012-03-28 | 2016-04-12 | Ethicon Endo-Surgery, Llc | Tissue stapler having a thickness compensator incorportating a hydrophobic agent |
US9332974B2 (en) | 2010-09-30 | 2016-05-10 | Ethicon Endo-Surgery, Llc | Layered tissue thickness compensator |
US9788834B2 (en) | 2010-09-30 | 2017-10-17 | Ethicon Llc | Layer comprising deployable attachment members |
US11298125B2 (en) | 2010-09-30 | 2022-04-12 | Cilag Gmbh International | Tissue stapler having a thickness compensator |
US11812965B2 (en) | 2010-09-30 | 2023-11-14 | Cilag Gmbh International | Layer of material for a surgical end effector |
US9320523B2 (en) | 2012-03-28 | 2016-04-26 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator comprising tissue ingrowth features |
US9629814B2 (en) | 2010-09-30 | 2017-04-25 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator configured to redistribute compressive forces |
US8740038B2 (en) | 2010-09-30 | 2014-06-03 | Ethicon Endo-Surgery, Inc. | Staple cartridge comprising a releasable portion |
US9364233B2 (en) | 2010-09-30 | 2016-06-14 | Ethicon Endo-Surgery, Llc | Tissue thickness compensators for circular surgical staplers |
US10945731B2 (en) | 2010-09-30 | 2021-03-16 | Ethicon Llc | Tissue thickness compensator comprising controlled release and expansion |
US9241714B2 (en) | 2011-04-29 | 2016-01-26 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator and method for making the same |
US8695866B2 (en) | 2010-10-01 | 2014-04-15 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a power control circuit |
US20140039314A1 (en) * | 2010-11-11 | 2014-02-06 | The Johns Hopkins University | Remote Center of Motion Robot for Medical Image Scanning and Image-Guided Targeting |
WO2012074564A1 (en) | 2010-12-02 | 2012-06-07 | Freehand Endoscopic Devices, Inc. | Surgical tool |
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 |
DE102011004370A1 (de) * | 2011-02-18 | 2012-08-23 | Siemens Aktiengesellschaft | Gelenkarm mit Feststellmechanismus |
JP5796982B2 (ja) * | 2011-03-31 | 2015-10-21 | オリンパス株式会社 | 手術用システムの制御装置及び制御方法 |
CA2834649C (en) | 2011-04-29 | 2021-02-16 | Ethicon Endo-Surgery, Inc. | Staple cartridge comprising staples positioned within a compressible portion thereof |
US11207064B2 (en) | 2011-05-27 | 2021-12-28 | Cilag Gmbh International | Automated end effector component reloading system for use with a robotic system |
EP3714821A1 (en) | 2011-06-10 | 2020-09-30 | Board of Regents of the University of Nebraska | Surgical end effector |
EP3588217A1 (en) | 2011-07-11 | 2020-01-01 | Board of Regents of the University of Nebraska | Robotic surgical devices, systems and related methods |
KR20130015441A (ko) * | 2011-08-03 | 2013-02-14 | 주식회사 이턴 | 수술용 로봇 시스템 |
US9050084B2 (en) | 2011-09-23 | 2015-06-09 | Ethicon Endo-Surgery, Inc. | Staple cartridge including collapsible deck arrangement |
KR101912716B1 (ko) | 2011-11-01 | 2018-10-30 | 삼성전자주식회사 | 힘 측정 장치를 포함하는 로봇 팔 |
US20130165946A1 (en) * | 2011-12-22 | 2013-06-27 | Kulbir S. Sandhu | Apparatus for a robotic control and guidance system |
KR101278679B1 (ko) * | 2011-12-27 | 2013-06-25 | 전자부품연구원 | 다지점 햅틱 센싱 장치 및 이를 포함하는 시스템 |
KR101828452B1 (ko) | 2012-01-05 | 2018-02-12 | 삼성전자주식회사 | 서보 제어 장치 및 그 제어 방법 |
EP2806941B1 (en) | 2012-01-10 | 2021-10-27 | Board of Regents of the University of Nebraska | Systems and devices for surgical access and insertion |
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 |
US9445876B2 (en) * | 2012-02-27 | 2016-09-20 | Covidien Lp | Glove with sensory elements incorporated therein for controlling at least one surgical instrument |
RU2014143258A (ru) | 2012-03-28 | 2016-05-20 | Этикон Эндо-Серджери, Инк. | Компенсатор толщины ткани, содержащий множество слоев |
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 |
CN104379068B (zh) | 2012-03-28 | 2017-09-22 | 伊西康内外科公司 | 包括组织厚度补偿件的保持器组件 |
FR2989133B1 (fr) * | 2012-04-10 | 2015-01-30 | Maquet Sas | Bras de suspension pour appareil electrique, equipement electrique pour bloc operatoire |
KR102214789B1 (ko) * | 2012-04-16 | 2021-02-09 | 칠드런스 내셔널 메디컬 센터 | 수술 및 중재 시술에서 추적 및 제어를 위한 듀얼-모드 스테레오 이미징 시스템 |
US10383765B2 (en) | 2012-04-24 | 2019-08-20 | Auris Health, Inc. | Apparatus and method for a global coordinate system for use in robotic surgery |
KR101800189B1 (ko) | 2012-04-30 | 2017-11-23 | 삼성전자주식회사 | 수술 로봇의 힘 제어 장치 및 방법 |
US9498292B2 (en) | 2012-05-01 | 2016-11-22 | Board Of Regents Of The University Of Nebraska | Single site robotic device and related systems and methods |
US9101358B2 (en) | 2012-06-15 | 2015-08-11 | Ethicon Endo-Surgery, Inc. | Articulatable surgical instrument comprising a firing drive |
US9010214B2 (en) | 2012-06-22 | 2015-04-21 | Board Of Regents Of The University Of Nebraska | Local control robotic surgical devices and related methods |
US9282974B2 (en) | 2012-06-28 | 2016-03-15 | Ethicon Endo-Surgery, Llc | Empty clip cartridge lockout |
US20140001231A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Firing system lockout arrangements for surgical instruments |
US11197671B2 (en) | 2012-06-28 | 2021-12-14 | Cilag Gmbh International | Stapling assembly comprising a lockout |
US20140001234A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Coupling arrangements for attaching surgical end effectors to drive systems therefor |
CN104487005B (zh) | 2012-06-28 | 2017-09-08 | 伊西康内外科公司 | 空夹仓闭锁件 |
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 |
US9289256B2 (en) | 2012-06-28 | 2016-03-22 | Ethicon Endo-Surgery, Llc | Surgical end effectors having angled tissue-contacting surfaces |
US9204879B2 (en) | 2012-06-28 | 2015-12-08 | Ethicon Endo-Surgery, Inc. | Flexible drive member |
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 |
US9820818B2 (en) | 2012-08-03 | 2017-11-21 | Stryker Corporation | System and method for controlling a surgical manipulator based on implant parameters |
KR102603224B1 (ko) | 2012-08-03 | 2023-11-16 | 스트리커 코포레이션 | 로봇 수술을 위한 시스템 및 방법 |
JP2015526171A (ja) | 2012-08-08 | 2015-09-10 | ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ | ロボット手術用デバイス、システム及び関連の方法 |
US9770305B2 (en) | 2012-08-08 | 2017-09-26 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methods |
CN104717936B (zh) * | 2012-08-15 | 2018-01-26 | 直观外科手术操作公司 | 使用者启动的手术安装平台的断开式离合 |
US9050527B2 (en) | 2012-08-23 | 2015-06-09 | Wms Gaming Inc. | Interactive tether using tension and feedback |
WO2014110682A1 (en) * | 2013-01-18 | 2014-07-24 | Robotiq Inc. | Force/torque sensor, apparatus and method for robot teaching and operation |
US9386984B2 (en) | 2013-02-08 | 2016-07-12 | Ethicon Endo-Surgery, Llc | Staple cartridge comprising a releasable cover |
BR112015021082B1 (pt) | 2013-03-01 | 2022-05-10 | Ethicon Endo-Surgery, Inc | Instrumento cirúrgico |
MX368026B (es) | 2013-03-01 | 2019-09-12 | Ethicon Endo Surgery Inc | Instrumento quirúrgico articulable con vías conductoras para la comunicación de la señal. |
US9700309B2 (en) | 2013-03-01 | 2017-07-11 | Ethicon Llc | Articulatable surgical instruments with conductive pathways for signal communication |
EP3425362B1 (en) | 2013-03-12 | 2020-12-09 | Stryker Corporation | Sensor assembly and method for measuring forces and torques |
US20140263552A1 (en) | 2013-03-13 | 2014-09-18 | Ethicon Endo-Surgery, Inc. | Staple cartridge tissue thickness sensor system |
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 |
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 |
US9629629B2 (en) | 2013-03-14 | 2017-04-25 | Ethicon Endo-Surgey, LLC | Control systems for surgical instruments |
US9332987B2 (en) | 2013-03-14 | 2016-05-10 | Ethicon Endo-Surgery, Llc | Control arrangements for a drive member of a surgical instrument |
US10561470B2 (en) | 2013-03-15 | 2020-02-18 | Intuitive Surgical Operations, Inc. | Software configurable manipulator degrees of freedom |
US10667883B2 (en) | 2013-03-15 | 2020-06-02 | Virtual Incision Corporation | Robotic surgical devices, systems, and related methods |
US9332984B2 (en) | 2013-03-27 | 2016-05-10 | Ethicon Endo-Surgery, Llc | Fastener cartridge assemblies |
WO2014155559A1 (ja) * | 2013-03-27 | 2014-10-02 | 株式会社安川電機 | ノッチフィルタ、外力推定器、モータ制御装置およびロボットシステム |
US9795384B2 (en) | 2013-03-27 | 2017-10-24 | Ethicon Llc | Fastener cartridge comprising a tissue thickness compensator and a gap setting element |
US9572577B2 (en) | 2013-03-27 | 2017-02-21 | Ethicon Endo-Surgery, Llc | Fastener cartridge comprising a tissue thickness compensator including openings therein |
KR101413406B1 (ko) * | 2013-04-01 | 2014-06-27 | 한국과학기술원 | 접촉 토크 측정 장치, 수술 로봇 및 이를 구비하는 수술 로봇 시스템 |
BR112015026109B1 (pt) | 2013-04-16 | 2022-02-22 | Ethicon Endo-Surgery, Inc | Instrumento cirúrgico |
US10405857B2 (en) | 2013-04-16 | 2019-09-10 | Ethicon Llc | Powered linear surgical stapler |
KR102167181B1 (ko) * | 2013-05-02 | 2020-10-20 | 삼성전자주식회사 | 피드백 측정 장치 및 방법 |
EP3799812B1 (en) | 2013-05-22 | 2023-11-29 | Covidien LP | Apparatus for controlling surgical instruments using a port assembly |
US9574644B2 (en) | 2013-05-30 | 2017-02-21 | Ethicon Endo-Surgery, Llc | Power module for use with a surgical instrument |
US9884426B2 (en) * | 2013-06-27 | 2018-02-06 | De-Sta-Co Europe Gmbh | Boom utilized in a geometric end effector system |
WO2015009949A2 (en) * | 2013-07-17 | 2015-01-22 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems and related methods |
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 |
CN104608128A (zh) * | 2013-11-01 | 2015-05-13 | 精工爱普生株式会社 | 机器人、控制装置、机器人系统、以及机器人控制方法 |
JP6358463B2 (ja) * | 2013-11-13 | 2018-07-18 | パナソニックIpマネジメント株式会社 | マスタースレーブ装置用マスター装置及びその制御方法、及び、マスタースレーブ装置 |
CN105813582B (zh) | 2013-12-11 | 2019-05-28 | 柯惠Lp公司 | 用于机器人手术系统的腕组件及钳夹组件 |
US9724092B2 (en) | 2013-12-23 | 2017-08-08 | Ethicon Llc | Modular surgical instruments |
US9839428B2 (en) | 2013-12-23 | 2017-12-12 | Ethicon Llc | Surgical cutting and stapling instruments with independent jaw control features |
US20150173756A1 (en) | 2013-12-23 | 2015-06-25 | Ethicon Endo-Surgery, Inc. | Surgical cutting and stapling methods |
US9687232B2 (en) | 2013-12-23 | 2017-06-27 | Ethicon Llc | Surgical staples |
US9314922B2 (en) | 2014-02-07 | 2016-04-19 | Control Interfaces LLC | Remotely operated manipulator and ROV control systems and methods |
US9962161B2 (en) | 2014-02-12 | 2018-05-08 | Ethicon Llc | Deliverable surgical instrument |
WO2015127078A1 (en) * | 2014-02-20 | 2015-08-27 | Intuitive Surgical Operations, Inc. | Limited movement of a surgical mounting platform controlled by manual motion of robotic arms |
JP6165080B2 (ja) * | 2014-02-21 | 2017-07-19 | オリンパス株式会社 | マニピュレータシステムの初期化方法 |
JP6462004B2 (ja) | 2014-02-24 | 2019-01-30 | エシコン エルエルシー | 発射部材ロックアウトを備える締結システム |
US9693777B2 (en) | 2014-02-24 | 2017-07-04 | Ethicon Llc | Implantable layers comprising a pressed region |
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 |
JP6623167B2 (ja) * | 2014-03-17 | 2019-12-18 | 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 | ディスクの係合を確認するためのシステム及び方法 |
KR102443404B1 (ko) | 2014-03-17 | 2022-09-16 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 수술 기구와 원격조작식 액추에이터 사이의 살균 방벽 |
BR112016021943B1 (pt) | 2014-03-26 | 2022-06-14 | Ethicon Endo-Surgery, Llc | Instrumento cirúrgico para uso por um operador em um procedimento cirúrgico |
US9913642B2 (en) | 2014-03-26 | 2018-03-13 | Ethicon Llc | Surgical instrument comprising a sensor system |
US10013049B2 (en) | 2014-03-26 | 2018-07-03 | Ethicon Llc | Power management through sleep options of segmented circuit and wake up control |
US9820738B2 (en) | 2014-03-26 | 2017-11-21 | Ethicon Llc | Surgical instrument comprising interactive systems |
US10028761B2 (en) | 2014-03-26 | 2018-07-24 | Ethicon Llc | Feedback algorithms for manual bailout systems for surgical instruments |
US20150297223A1 (en) | 2014-04-16 | 2015-10-22 | Ethicon Endo-Surgery, Inc. | Fastener cartridges including extensions having different configurations |
US9844369B2 (en) | 2014-04-16 | 2017-12-19 | Ethicon Llc | Surgical end effectors with firing element monitoring arrangements |
CN106456158B (zh) | 2014-04-16 | 2019-02-05 | 伊西康内外科有限责任公司 | 包括非一致紧固件的紧固件仓 |
BR112016023698B1 (pt) | 2014-04-16 | 2022-07-26 | Ethicon Endo-Surgery, Llc | Cartucho de prendedores para uso com um instrumento cirúrgico |
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 |
US10327764B2 (en) | 2014-09-26 | 2019-06-25 | Ethicon Llc | Method for creating a flexible staple line |
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 |
US10175127B2 (en) | 2014-05-05 | 2019-01-08 | Covidien Lp | End-effector force measurement drive circuit |
US11428591B2 (en) | 2014-05-05 | 2022-08-30 | Covidien Lp | End-effector force measurement drive circuit |
WO2015188071A2 (en) * | 2014-06-05 | 2015-12-10 | Medrobotics Corporation | Articulating robotic probes, systems and methods incorporating the same, and methods for performing surgical procedures |
US10045781B2 (en) | 2014-06-13 | 2018-08-14 | Ethicon Llc | Closure lockout systems for surgical instruments |
US10390853B2 (en) | 2014-08-13 | 2019-08-27 | Covidien Lp | Robotically controlling mechanical advantage gripping |
US9757128B2 (en) | 2014-09-05 | 2017-09-12 | Ethicon Llc | Multiple sensors with one sensor affecting a second sensor's output or interpretation |
US11311294B2 (en) | 2014-09-05 | 2022-04-26 | Cilag Gmbh International | Powered medical device including measurement of closure state of jaws |
BR112017004361B1 (pt) | 2014-09-05 | 2023-04-11 | Ethicon Llc | Sistema eletrônico para um instrumento cirúrgico |
EP3868322A1 (en) | 2014-09-12 | 2021-08-25 | Board of Regents of the University of Nebraska | Quick-release effectors and related systems |
US10105142B2 (en) | 2014-09-18 | 2018-10-23 | Ethicon Llc | Surgical stapler with plurality of cutting elements |
US11523821B2 (en) | 2014-09-26 | 2022-12-13 | Cilag Gmbh International | Method for creating a flexible staple line |
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 |
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 |
PL3012695T3 (pl) | 2014-10-23 | 2018-03-30 | Comau S.P.A. | Układ do monitorowania i sterowania zakładem przemysłowym |
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 |
US9844376B2 (en) | 2014-11-06 | 2017-12-19 | Ethicon Llc | Staple cartridge comprising a releasable adjunct material |
US10376322B2 (en) | 2014-11-11 | 2019-08-13 | Board Of Regents Of The University Of Nebraska | Robotic device with compact joint design and related systems and methods |
US10736636B2 (en) | 2014-12-10 | 2020-08-11 | Ethicon Llc | Articulatable surgical instrument system |
BR112017012996B1 (pt) | 2014-12-18 | 2022-11-08 | Ethicon Llc | Instrumento cirúrgico com uma bigorna que é seletivamente móvel sobre um eixo geométrico imóvel distinto em relação a um cartucho de grampos |
US10117649B2 (en) | 2014-12-18 | 2018-11-06 | Ethicon Llc | Surgical instrument assembly comprising a lockable 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 |
US9987000B2 (en) | 2014-12-18 | 2018-06-05 | Ethicon Llc | Surgical instrument assembly comprising a flexible articulation system |
US9943309B2 (en) | 2014-12-18 | 2018-04-17 | Ethicon Llc | Surgical instruments with articulatable end effectors and movable firing beam support arrangements |
US10188385B2 (en) | 2014-12-18 | 2019-01-29 | Ethicon Llc | Surgical instrument system comprising lockable systems |
US10085748B2 (en) | 2014-12-18 | 2018-10-02 | Ethicon Llc | Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors |
US9844375B2 (en) | 2014-12-18 | 2017-12-19 | Ethicon Llc | Drive arrangements for articulatable surgical instruments |
DE102015100694A1 (de) * | 2015-01-19 | 2016-07-21 | Technische Universität Darmstadt | Teleoperationssystem mit intrinsischem haptischen Feedback durch dynamische Kennlinienanpassung für Greifkraft und Endeffektorkoordinaten |
CN107249498B (zh) | 2015-02-19 | 2024-04-23 | 柯惠Lp公司 | 机器人手术系统的输入装置的重定位方法 |
KR20230162122A (ko) | 2015-02-20 | 2023-11-28 | 스트리커 코포레이션 | 멸균 차단 조립체, 장착 시스템, 및 수술용 구성 요소들을 결합하기 위한 방법 |
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 |
US11154301B2 (en) | 2015-02-27 | 2021-10-26 | Cilag Gmbh International | Modular stapling assembly |
US10159483B2 (en) | 2015-02-27 | 2018-12-25 | Ethicon Llc | Surgical apparatus configured to track an end-of-life parameter |
US9993258B2 (en) | 2015-02-27 | 2018-06-12 | Ethicon Llc | Adaptable surgical instrument handle |
US9895148B2 (en) | 2015-03-06 | 2018-02-20 | Ethicon Endo-Surgery, Llc | Monitoring speed control and precision incrementing of motor for powered surgical instruments |
US10617412B2 (en) | 2015-03-06 | 2020-04-14 | Ethicon Llc | System for detecting the mis-insertion of a staple cartridge into a surgical stapler |
US9993248B2 (en) | 2015-03-06 | 2018-06-12 | Ethicon Endo-Surgery, Llc | Smart sensors with local signal processing |
US10687806B2 (en) | 2015-03-06 | 2020-06-23 | Ethicon Llc | Adaptive tissue compression techniques to adjust closure rates for multiple tissue types |
US10045776B2 (en) | 2015-03-06 | 2018-08-14 | Ethicon Llc | Control techniques and sub-processor contained within modular shaft with select control processing from handle |
US9924961B2 (en) | 2015-03-06 | 2018-03-27 | Ethicon Endo-Surgery, Llc | Interactive feedback system for powered surgical instruments |
US9901342B2 (en) | 2015-03-06 | 2018-02-27 | Ethicon Endo-Surgery, Llc | Signal and power communication system positioned on a rotatable shaft |
US10245033B2 (en) | 2015-03-06 | 2019-04-02 | Ethicon Llc | Surgical instrument comprising a lockable battery housing |
US10441279B2 (en) | 2015-03-06 | 2019-10-15 | Ethicon Llc | Multiple level thresholds to modify operation of powered surgical instruments |
US10548504B2 (en) | 2015-03-06 | 2020-02-04 | Ethicon Llc | Overlaid multi sensor radio frequency (RF) electrode system to measure tissue compression |
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 |
US9808246B2 (en) | 2015-03-06 | 2017-11-07 | Ethicon Endo-Surgery, Llc | Method of operating a powered surgical instrument |
AU2016229897B2 (en) | 2015-03-10 | 2020-07-16 | Covidien Lp | Measuring health of a connector member of a robotic surgical system |
WO2016149819A1 (en) * | 2015-03-23 | 2016-09-29 | Janabi-Sharifi Farrokh | Temperature invariant force and torque sensor assemblies |
US10390825B2 (en) | 2015-03-31 | 2019-08-27 | Ethicon Llc | Surgical instrument with progressive rotary drive systems |
EP3302335A4 (en) | 2015-06-03 | 2019-02-20 | Covidien LP | OFFSET INSTRUMENT DRIVE UNIT |
US10166080B2 (en) * | 2015-06-12 | 2019-01-01 | The Johns Hopkins University | Cooperatively-controlled surgical robotic system with redundant force sensing |
US10507068B2 (en) | 2015-06-16 | 2019-12-17 | Covidien Lp | Robotic surgical system torque transduction sensing |
US10368861B2 (en) | 2015-06-18 | 2019-08-06 | Ethicon Llc | Dual articulation drive system arrangements for articulatable surgical instruments |
CN107820412B (zh) | 2015-06-23 | 2021-01-15 | 柯惠Lp公司 | 机器人手术组合件 |
US10646298B2 (en) | 2015-07-31 | 2020-05-12 | Globus Medical, Inc. | Robot arm and methods of use |
US10058394B2 (en) * | 2015-07-31 | 2018-08-28 | Globus Medical, Inc. | Robot arm and methods of use |
WO2017024081A1 (en) * | 2015-08-03 | 2017-02-09 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices systems and related methods |
US10835249B2 (en) | 2015-08-17 | 2020-11-17 | Ethicon Llc | Implantable layers for a surgical instrument |
MX2022009705A (es) | 2015-08-26 | 2022-11-07 | Ethicon Llc | Metodo para formar una grapa contra un yunque de un instrumento de engrapado quirurgico. |
US10166026B2 (en) | 2015-08-26 | 2019-01-01 | Ethicon Llc | Staple cartridge assembly including features for controlling the rotation of staples when being ejected therefrom |
RU2725081C2 (ru) | 2015-08-26 | 2020-06-29 | ЭТИКОН ЭлЭлСи | Полоски с хирургическими скобами, допускающие наличие скоб с переменными свойствами и обеспечивающие простую загрузку кассеты |
US10357252B2 (en) | 2015-09-02 | 2019-07-23 | Ethicon Llc | Surgical staple configurations with camming surfaces located between portions supporting surgical staples |
MX2022006189A (es) | 2015-09-02 | 2022-06-16 | Ethicon Llc | Configuraciones de grapas quirurgicas con superficies de leva situadas entre porciones que soportan grapas quirurgicas. |
US10076326B2 (en) | 2015-09-23 | 2018-09-18 | Ethicon Llc | Surgical stapler having current mirror-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 |
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 |
US10085751B2 (en) | 2015-09-23 | 2018-10-02 | Ethicon Llc | Surgical stapler having temperature-based motor control |
WO2017053363A1 (en) | 2015-09-25 | 2017-03-30 | Covidien Lp | Robotic surgical assemblies and instrument drive connectors thereof |
US10299878B2 (en) | 2015-09-25 | 2019-05-28 | Ethicon Llc | Implantable adjunct systems for determining adjunct skew |
US10433846B2 (en) | 2015-09-30 | 2019-10-08 | Ethicon Llc | Compressible adjunct with crossing spacer fibers |
US10980539B2 (en) | 2015-09-30 | 2021-04-20 | Ethicon Llc | Implantable adjunct comprising bonded layers |
US10478188B2 (en) | 2015-09-30 | 2019-11-19 | Ethicon Llc | Implantable layer comprising a constricted configuration |
US11890015B2 (en) | 2015-09-30 | 2024-02-06 | Cilag Gmbh International | Compressible adjunct with crossing spacer fibers |
WO2017070275A1 (en) | 2015-10-23 | 2017-04-27 | Covidien Lp | Surgical system for detecting gradual changes in perfusion |
JP6956081B2 (ja) | 2015-11-11 | 2021-10-27 | マコ サージカル コーポレーション | ロボットシステム及びロボットシステムをバックドライブする方法 |
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 |
WO2017087439A1 (en) | 2015-11-19 | 2017-05-26 | Covidien Lp | Optical force sensor for robotic surgical system |
GB2547182B (en) * | 2015-12-10 | 2021-04-21 | Cmr Surgical Ltd | Measuring robot performance |
US10562191B2 (en) * | 2015-12-29 | 2020-02-18 | Robomotive Laboratories LLC | Method of controlling devices with sensation of applied force |
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 |
JP7182464B2 (ja) * | 2016-01-12 | 2022-12-02 | 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 | 触覚アクチュエータの均一なスケーリング |
KR20180100702A (ko) | 2016-01-29 | 2018-09-11 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 가변 속도 수술 기기용 시스템 및 방법 |
JP6985277B2 (ja) * | 2016-02-01 | 2021-12-22 | イマジナリス エス.アール.エル. | 放射線撮像デバイス |
US11213293B2 (en) | 2016-02-09 | 2022-01-04 | Cilag Gmbh International | Articulatable surgical instruments with single articulation link arrangements |
US10245030B2 (en) | 2016-02-09 | 2019-04-02 | Ethicon Llc | Surgical instruments with tensioning arrangements for cable driven articulation systems |
BR112018016098B1 (pt) | 2016-02-09 | 2023-02-23 | Ethicon Llc | Instrumento cirúrgico |
US11224426B2 (en) | 2016-02-12 | 2022-01-18 | Cilag Gmbh International | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
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 |
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 |
US10314582B2 (en) | 2016-04-01 | 2019-06-11 | Ethicon Llc | Surgical instrument comprising a shifting mechanism |
US11576562B2 (en) | 2016-04-07 | 2023-02-14 | Titan Medical Inc. | Camera positioning method and apparatus for capturing images during a medical procedure |
US10828028B2 (en) | 2016-04-15 | 2020-11-10 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
US10426467B2 (en) | 2016-04-15 | 2019-10-01 | Ethicon Llc | Surgical instrument with detection sensors |
US10456137B2 (en) | 2016-04-15 | 2019-10-29 | Ethicon Llc | Staple formation detection mechanisms |
US10405859B2 (en) | 2016-04-15 | 2019-09-10 | Ethicon Llc | Surgical instrument with adjustable stop/start control during a firing motion |
US10335145B2 (en) | 2016-04-15 | 2019-07-02 | Ethicon Llc | Modular surgical instrument with configurable operating mode |
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 |
US10492783B2 (en) | 2016-04-15 | 2019-12-03 | Ethicon, Llc | Surgical instrument with improved stop/start control during a firing motion |
US10357247B2 (en) | 2016-04-15 | 2019-07-23 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
US11317917B2 (en) | 2016-04-18 | 2022-05-03 | Cilag Gmbh International | Surgical stapling system comprising a lockable firing assembly |
US20170296173A1 (en) | 2016-04-18 | 2017-10-19 | Ethicon Endo-Surgery, Llc | Method for operating a surgical instrument |
US10478181B2 (en) | 2016-04-18 | 2019-11-19 | Ethicon Llc | Cartridge lockout arrangements for rotary powered surgical cutting and stapling instruments |
WO2017201310A1 (en) | 2016-05-18 | 2017-11-23 | Virtual Incision Corporation | Robotic surgicla devices, systems and related methods |
US11191600B2 (en) | 2016-05-26 | 2021-12-07 | Covidien Lp | Robotic surgical assemblies |
AU2017269374B2 (en) | 2016-05-26 | 2021-07-08 | Covidien Lp | Instrument drive units |
CN113180835A (zh) | 2016-06-03 | 2021-07-30 | 柯惠Lp公司 | 用于机器人手术系统的控制臂 |
WO2017210074A1 (en) | 2016-06-03 | 2017-12-07 | Covidien Lp | Passive axis system for robotic surgical systems |
US11612446B2 (en) | 2016-06-03 | 2023-03-28 | Covidien Lp | Systems, methods, and computer-readable program products for controlling a robotically delivered manipulator |
CN109152612A (zh) | 2016-06-03 | 2019-01-04 | 柯惠Lp公司 | 具有嵌入式成像仪的机器人手术系统 |
JP6756166B2 (ja) * | 2016-06-21 | 2020-09-16 | セイコーエプソン株式会社 | 力覚センサーユニットおよびロボット |
USD826405S1 (en) | 2016-06-24 | 2018-08-21 | Ethicon Llc | Surgical fastener |
USD850617S1 (en) | 2016-06-24 | 2019-06-04 | Ethicon Llc | Surgical fastener cartridge |
USD847989S1 (en) | 2016-06-24 | 2019-05-07 | Ethicon Llc | Surgical fastener cartridge |
CN109310431B (zh) | 2016-06-24 | 2022-03-04 | 伊西康有限责任公司 | 包括线材钉和冲压钉的钉仓 |
US10702270B2 (en) | 2016-06-24 | 2020-07-07 | Ethicon Llc | Stapling system for use with wire staples and stamped staples |
US11890070B2 (en) | 2016-07-14 | 2024-02-06 | Intuitive Surgical Operations, Inc. | Instrument release |
US10531929B2 (en) * | 2016-08-16 | 2020-01-14 | Ethicon Llc | Control of robotic arm motion based on sensed load on cutting tool |
US10390895B2 (en) | 2016-08-16 | 2019-08-27 | Ethicon Llc | Control of advancement rate and application force based on measured forces |
CA3034671A1 (en) | 2016-08-25 | 2018-03-01 | Shane Farritor | Quick-release tool coupler and related systems and methods |
US10702347B2 (en) | 2016-08-30 | 2020-07-07 | The Regents Of The University Of California | Robotic device with compact joint design and an additional degree of freedom and related systems and methods |
US10709512B2 (en) * | 2016-11-03 | 2020-07-14 | Verb Surgical Inc. | Tool driver with linear drives for use in robotic surgery |
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 |
JP7099728B2 (ja) | 2016-11-29 | 2022-07-12 | バーチャル インシジョン コーポレイション | ユーザの存在検出機能を備えたユーザコントローラ、関連システムおよび方法 |
WO2018102926A1 (en) * | 2016-12-07 | 2018-06-14 | Orthosoft Inc. | Torque sensor sawblade anti-skiving system |
WO2018112199A1 (en) | 2016-12-14 | 2018-06-21 | Virtual Incision Corporation | Releasable attachment device for coupling to medical devices and related systems and methods |
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 |
US10945727B2 (en) | 2016-12-21 | 2021-03-16 | Ethicon Llc | Staple cartridge with deformable driver retention features |
US11684367B2 (en) | 2016-12-21 | 2023-06-27 | Cilag Gmbh International | Stepped assembly having and end-of-life indicator |
US10485543B2 (en) | 2016-12-21 | 2019-11-26 | Ethicon Llc | Anvil having a knife slot width |
US11134942B2 (en) | 2016-12-21 | 2021-10-05 | Cilag Gmbh International | Surgical stapling instruments and staple-forming anvils |
MX2019007295A (es) | 2016-12-21 | 2019-10-15 | Ethicon Llc | Sistema de instrumento quirúrgico que comprende un bloqueo del efector de extremo y un bloqueo de la unidad de disparo. |
US20180168609A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Firing assembly comprising a fuse |
US10667811B2 (en) | 2016-12-21 | 2020-06-02 | Ethicon Llc | Surgical stapling instruments and staple-forming anvils |
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 |
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 |
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 |
US11191539B2 (en) | 2016-12-21 | 2021-12-07 | Cilag Gmbh International | Shaft assembly comprising a manually-operable retraction system for use with a motorized surgical instrument system |
US10537324B2 (en) | 2016-12-21 | 2020-01-21 | Ethicon Llc | Stepped staple cartridge with asymmetrical staples |
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 |
US10993715B2 (en) | 2016-12-21 | 2021-05-04 | Ethicon Llc | Staple cartridge comprising staples with different clamping breadths |
US10426471B2 (en) | 2016-12-21 | 2019-10-01 | Ethicon Llc | Surgical instrument with multiple failure response modes |
US10687810B2 (en) | 2016-12-21 | 2020-06-23 | Ethicon Llc | Stepped staple cartridge with tissue retention and gap setting features |
US10758230B2 (en) | 2016-12-21 | 2020-09-01 | Ethicon Llc | Surgical instrument with primary and safety processors |
US10568624B2 (en) | 2016-12-21 | 2020-02-25 | Ethicon Llc | Surgical instruments with jaws that are pivotable about a fixed axis and include separate and distinct closure and firing systems |
US20180168618A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Surgical stapling systems |
US10758229B2 (en) | 2016-12-21 | 2020-09-01 | Ethicon Llc | Surgical instrument comprising improved jaw control |
US10682138B2 (en) | 2016-12-21 | 2020-06-16 | Ethicon Llc | Bilaterally asymmetric staple forming pocket pairs |
US11090048B2 (en) | 2016-12-21 | 2021-08-17 | Cilag Gmbh International | Method for resetting a fuse of a surgical instrument shaft |
US10588632B2 (en) | 2016-12-21 | 2020-03-17 | Ethicon Llc | Surgical end effectors and firing members thereof |
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 |
BR112019011947A2 (pt) | 2016-12-21 | 2019-10-29 | Ethicon Llc | sistemas de grampeamento cirúrgico |
WO2018152141A1 (en) * | 2017-02-15 | 2018-08-23 | Covidien Lp | System and apparatus for crush prevention for medical robot applications |
GB2560354A (en) * | 2017-03-09 | 2018-09-12 | Rolls Royce Plc | Continuum robots |
JP6984647B2 (ja) * | 2017-03-10 | 2021-12-22 | ソニーグループ株式会社 | 手術用システム、外科手術システム、制御装置、起歪体、外科手術用器具、並びに外力検知システム |
US10406685B1 (en) * | 2017-04-20 | 2019-09-10 | X Development Llc | Robot end effector control |
EP3629979A4 (en) | 2017-05-24 | 2021-02-17 | Covidien LP | PRESENCE DETECTION FOR ELECTROSURGICAL TOOLS IN A ROBOTIC SYSTEM |
CN110621255B (zh) | 2017-05-25 | 2023-03-07 | 柯惠Lp公司 | 机器人手术系统和用于覆盖机器人手术系统的部件的盖布 |
EP3629981A4 (en) | 2017-05-25 | 2021-04-07 | Covidien LP | SYSTEMS AND METHODS FOR DETECTION OF OBJECTS WITHIN A FIELD OF VIEW OF AN IMAGE CAPTURING DEVICE |
EP3629980A4 (en) | 2017-05-25 | 2021-03-10 | Covidien LP | ROBOTIC SURGICAL SYSTEM WITH AUTOMATED GUIDANCE |
USD890784S1 (en) | 2017-06-20 | 2020-07-21 | Ethicon Llc | Display panel with changeable graphical user interface |
US10368864B2 (en) | 2017-06-20 | 2019-08-06 | Ethicon Llc | Systems and methods for controlling displaying motor velocity for a surgical instrument |
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 |
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 |
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 |
USD879808S1 (en) | 2017-06-20 | 2020-03-31 | Ethicon Llc | Display panel with graphical user interface |
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 |
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 |
US10881396B2 (en) | 2017-06-20 | 2021-01-05 | Ethicon Llc | Surgical instrument with variable duration trigger arrangement |
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 |
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 |
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 |
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 |
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 |
US10881399B2 (en) | 2017-06-20 | 2021-01-05 | Ethicon Llc | Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument |
US10646220B2 (en) | 2017-06-20 | 2020-05-12 | Ethicon Llc | Systems and methods for controlling displacement member velocity for a surgical instrument |
USD879809S1 (en) | 2017-06-20 | 2020-03-31 | Ethicon Llc | Display panel with changeable graphical user interface |
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 |
US10624633B2 (en) | 2017-06-20 | 2020-04-21 | Ethicon Llc | Systems and methods for controlling 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 |
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 |
US10993716B2 (en) | 2017-06-27 | 2021-05-04 | Ethicon Llc | Surgical anvil arrangements |
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 |
US20180368844A1 (en) | 2017-06-27 | 2018-12-27 | Ethicon Llc | Staple forming pocket arrangements |
US10903685B2 (en) | 2017-06-28 | 2021-01-26 | Ethicon Llc | Surgical shaft assemblies with slip ring assemblies forming capacitive channels |
US11020114B2 (en) | 2017-06-28 | 2021-06-01 | Cilag Gmbh International | Surgical instruments with articulatable end effector with axially shortened articulation joint configurations |
US10765427B2 (en) | 2017-06-28 | 2020-09-08 | Ethicon Llc | Method for articulating a surgical instrument |
US11564686B2 (en) | 2017-06-28 | 2023-01-31 | Cilag Gmbh International | Surgical shaft assemblies with flexible interfaces |
US11259805B2 (en) | 2017-06-28 | 2022-03-01 | Cilag Gmbh International | Surgical instrument comprising firing member supports |
US11678880B2 (en) | 2017-06-28 | 2023-06-20 | Cilag Gmbh International | Surgical instrument comprising a shaft including a housing arrangement |
USD906355S1 (en) | 2017-06-28 | 2020-12-29 | Ethicon Llc | Display screen or portion thereof with a graphical user interface for a surgical instrument |
USD854151S1 (en) | 2017-06-28 | 2019-07-16 | Ethicon Llc | Surgical instrument shaft |
US10211586B2 (en) | 2017-06-28 | 2019-02-19 | Ethicon Llc | Surgical shaft assemblies with watertight housings |
USD869655S1 (en) | 2017-06-28 | 2019-12-10 | Ethicon Llc | Surgical fastener cartridge |
US11246592B2 (en) | 2017-06-28 | 2022-02-15 | Cilag Gmbh International | Surgical instrument comprising an articulation system lockable to a frame |
US10716614B2 (en) | 2017-06-28 | 2020-07-21 | Ethicon Llc | Surgical shaft assemblies with slip ring assemblies with increased contact pressure |
EP3420947B1 (en) | 2017-06-28 | 2022-05-25 | Cilag GmbH International | Surgical instrument comprising selectively actuatable rotatable couplers |
USD851762S1 (en) | 2017-06-28 | 2019-06-18 | Ethicon Llc | Anvil |
US11007022B2 (en) | 2017-06-29 | 2021-05-18 | Ethicon Llc | Closed loop velocity control techniques based on sensed tissue parameters 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 |
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 |
US10932772B2 (en) | 2017-06-29 | 2021-03-02 | Ethicon Llc | Methods for closed loop velocity control for robotic surgical instrument |
US11304695B2 (en) | 2017-08-03 | 2022-04-19 | Cilag Gmbh International | Surgical system shaft interconnection |
US11471155B2 (en) | 2017-08-03 | 2022-10-18 | Cilag Gmbh International | Surgical system bailout |
US11944300B2 (en) | 2017-08-03 | 2024-04-02 | Cilag Gmbh International | Method for operating a surgical system bailout |
US11974742B2 (en) | 2017-08-03 | 2024-05-07 | Cilag Gmbh International | Surgical system comprising an articulation bailout |
WO2019036003A1 (en) | 2017-08-16 | 2019-02-21 | Covidien Lp | PREVENTIVE MAINTENANCE OF ROBOTIC SURGICAL SYSTEMS |
US10485527B2 (en) * | 2017-08-29 | 2019-11-26 | Ethicon Llc | Control system for clip applier |
US10548601B2 (en) | 2017-08-29 | 2020-02-04 | Ethicon Llc | Control system for clip applier |
US11504126B2 (en) | 2017-08-29 | 2022-11-22 | Cilag Gmbh International | Control system for clip applier |
EP3678572A4 (en) | 2017-09-05 | 2021-09-29 | Covidien LP | COLLISION HANDLING ALGORITHMS FOR SURGICAL ROBOTIC SYSTEMS |
WO2019050878A2 (en) | 2017-09-06 | 2019-03-14 | Covidien Lp | SCALE OF LIMITS OF SURGICAL ROBOTS |
KR102023340B1 (ko) * | 2017-09-13 | 2019-09-20 | 포항공과대학교 산학협력단 | 고민감도 변형률 측정센서를 이용한 의료용 매듭실의 장력 표시 방법 |
WO2019056871A1 (zh) * | 2017-09-20 | 2019-03-28 | 微创(上海)医疗机器人有限公司 | 手术机器人系统 |
JP7405432B2 (ja) | 2017-09-27 | 2023-12-26 | バーチャル インシジョン コーポレイション | 追跡カメラ技術を有するロボット手術デバイスならびに関連するシステムおよび方法 |
USD907647S1 (en) | 2017-09-29 | 2021-01-12 | Ethicon Llc | Display screen or portion thereof with animated graphical user interface |
US10743872B2 (en) | 2017-09-29 | 2020-08-18 | Ethicon Llc | System and methods for controlling a display of a surgical instrument |
US10729501B2 (en) | 2017-09-29 | 2020-08-04 | Ethicon Llc | Systems and methods for language selection 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 |
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 |
USD917500S1 (en) | 2017-09-29 | 2021-04-27 | Ethicon Llc | Display screen or portion thereof with graphical user interface |
US11399829B2 (en) | 2017-09-29 | 2022-08-02 | Cilag Gmbh International | Systems and methods of initiating a power shutdown mode for a surgical instrument |
USD907648S1 (en) | 2017-09-29 | 2021-01-12 | Ethicon Llc | Display screen or portion thereof with animated graphical user interface |
US11096754B2 (en) | 2017-10-04 | 2021-08-24 | Mako Surgical Corp. | Sterile drape assembly for surgical robot |
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 |
US10779903B2 (en) | 2017-10-31 | 2020-09-22 | Ethicon Llc | Positive shaft rotation lock activated by jaw closure |
US10842490B2 (en) | 2017-10-31 | 2020-11-24 | Ethicon Llc | Cartridge body design with force reduction based on firing completion |
US11460360B2 (en) | 2017-11-14 | 2022-10-04 | Intuitive Surgical Operations, Inc. | Split bridge circuit force sensor |
US10675107B2 (en) | 2017-11-15 | 2020-06-09 | Intuitive Surgical Operations, Inc. | Surgical instrument end effector with integral FBG |
EP3716882A4 (en) | 2017-12-01 | 2021-08-25 | Covidien LP | DRAPE ADMINISTRATION ARRANGEMENTS FOR ROBOTIC SURGICAL SYSTEMS |
AU2017443223B2 (en) | 2017-12-11 | 2020-12-03 | Verb Surgical Inc. | Active backdriving for a robotic arm |
US10786317B2 (en) | 2017-12-11 | 2020-09-29 | Verb Surgical Inc. | Active backdriving for a robotic arm |
US10687813B2 (en) | 2017-12-15 | 2020-06-23 | Ethicon Llc | Adapters with firing stroke sensing arrangements for use in connection with electromechanical surgical instruments |
US10779826B2 (en) | 2017-12-15 | 2020-09-22 | Ethicon Llc | Methods of operating surgical end effectors |
US11033267B2 (en) | 2017-12-15 | 2021-06-15 | Ethicon Llc | Systems and methods of controlling a clamping member firing rate of a surgical instrument |
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 |
US10743875B2 (en) | 2017-12-15 | 2020-08-18 | Ethicon Llc | Surgical end effectors with jaw stiffener arrangements configured to permit monitoring of firing member |
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 |
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 |
US11071543B2 (en) | 2017-12-15 | 2021-07-27 | Cilag Gmbh International | Surgical end effectors with clamping assemblies configured to increase jaw aperture ranges |
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 |
US10743874B2 (en) | 2017-12-15 | 2020-08-18 | Ethicon Llc | Sealed adapters for use 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 |
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 |
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 |
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 |
US10716565B2 (en) | 2017-12-19 | 2020-07-21 | Ethicon Llc | Surgical instruments with dual articulation drivers |
US11045270B2 (en) | 2017-12-19 | 2021-06-29 | Cilag Gmbh International | Robotic attachment comprising exterior drive actuator |
USD910847S1 (en) | 2017-12-19 | 2021-02-16 | Ethicon Llc | Surgical instrument assembly |
US11129680B2 (en) | 2017-12-21 | 2021-09-28 | Cilag Gmbh International | Surgical instrument comprising a projector |
US11311290B2 (en) | 2017-12-21 | 2022-04-26 | Cilag Gmbh International | Surgical instrument comprising an end effector dampener |
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 |
US20190192147A1 (en) | 2017-12-21 | 2019-06-27 | Ethicon Llc | Surgical instrument comprising an articulatable distal head |
CN111556735A (zh) | 2018-01-04 | 2020-08-18 | 柯惠Lp公司 | 将手术配件安装至机器人手术系统并且提供穿过其的通路的系统和组件 |
WO2019136039A1 (en) * | 2018-01-04 | 2019-07-11 | Covidien Lp | Robotic surgical systems including torque sensors |
CN111770816B (zh) | 2018-01-05 | 2023-11-03 | 内布拉斯加大学董事会 | 具有紧凑型关节设计的单臂机器人装置及相关系统和方法 |
US12029510B2 (en) | 2018-01-10 | 2024-07-09 | Covidien Lp | Determining positions and conditions of tools of a robotic surgical system utilizing computer vision |
US12102403B2 (en) | 2018-02-02 | 2024-10-01 | Coviden Lp | Robotic surgical systems with user engagement monitoring |
US11189379B2 (en) | 2018-03-06 | 2021-11-30 | Digital Surgery Limited | Methods and systems for using multiple data structures to process surgical data |
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 |
AU2019232675B2 (en) | 2018-03-08 | 2020-11-12 | Covidien Lp | Surgical robotic systems |
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 |
WO2019204013A1 (en) | 2018-04-20 | 2019-10-24 | Covidien Lp | Systems and methods for surgical robotic cart placement |
US11647888B2 (en) | 2018-04-20 | 2023-05-16 | Covidien Lp | Compensation for observer movement in robotic surgical systems having stereoscopic displays |
IT201800005091A1 (it) | 2018-05-04 | 2019-11-04 | "Procedimento per monitorare lo stato di funzionamento di una stazione di lavorazione, relativo sistema di monitoraggio e prodotto informatico" | |
US11980504B2 (en) | 2018-05-25 | 2024-05-14 | Intuitive Surgical Operations, Inc. | Fiber Bragg grating end effector force sensor |
WO2019246525A1 (en) * | 2018-06-21 | 2019-12-26 | The Regents Of The University Of California | Training platform and method for transoral robotic surgery |
GB2575113B (en) * | 2018-06-29 | 2022-06-08 | Cmr Surgical Ltd | Detecting collisions of robot arms |
CN112105312A (zh) | 2018-07-03 | 2020-12-18 | 柯惠Lp公司 | 用于在手术程序期间检测图像退化的系统、方法和计算机可读介质 |
US11324501B2 (en) | 2018-08-20 | 2022-05-10 | Cilag Gmbh International | Surgical stapling devices with improved closure members |
US11253256B2 (en) | 2018-08-20 | 2022-02-22 | Cilag Gmbh International | Articulatable motor powered surgical instruments with dedicated articulation motor arrangements |
US11045192B2 (en) | 2018-08-20 | 2021-06-29 | Cilag Gmbh International | Fabricating techniques for surgical stapler anvils |
US11207065B2 (en) | 2018-08-20 | 2021-12-28 | Cilag Gmbh International | Method for fabricating surgical stapler anvils |
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 |
US11291440B2 (en) | 2018-08-20 | 2022-04-05 | Cilag Gmbh International | Method for operating a powered articulatable surgical instrument |
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 |
US10856870B2 (en) | 2018-08-20 | 2020-12-08 | Ethicon Llc | Switching arrangements for motor powered articulatable surgical instruments |
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 |
US10912559B2 (en) | 2018-08-20 | 2021-02-09 | Ethicon Llc | Reinforced deformable anvil tip for surgical stapler anvil |
USD914878S1 (en) | 2018-08-20 | 2021-03-30 | Ethicon Llc | Surgical instrument anvil |
EP3852667A4 (en) | 2018-09-17 | 2022-06-15 | Covidien LP | SURGICAL ROBOTIC SYSTEMS |
US11109746B2 (en) | 2018-10-10 | 2021-09-07 | Titan Medical Inc. | Instrument insertion system, method, and apparatus for performing medical procedures |
WO2020117913A2 (en) | 2018-12-04 | 2020-06-11 | Mako Surgical Corp. | Mounting system with sterile barrier assembly for use in coupling surgical components |
US11586106B2 (en) | 2018-12-28 | 2023-02-21 | Titan Medical Inc. | Imaging apparatus having configurable stereoscopic perspective |
JP7546926B2 (ja) | 2019-01-07 | 2024-09-09 | バーチャル インシジョン コーポレイション | ロボット支援手術システムと関連する装置と方法 |
IT201900001187A1 (it) | 2019-01-28 | 2020-07-28 | Univ Degli Studi Di Napoli Federico Ii | Elemento terminale per dispositivi di presa per interventi chirurgici, in particolare interventi a minima invasivita’ |
US11717355B2 (en) | 2019-01-29 | 2023-08-08 | Covidien Lp | Drive mechanisms for surgical instruments such as for use in robotic surgical systems |
US11576733B2 (en) | 2019-02-06 | 2023-02-14 | Covidien Lp | Robotic surgical assemblies including electrosurgical instruments having articulatable wrist assemblies |
US11484372B2 (en) | 2019-02-15 | 2022-11-01 | Covidien Lp | Articulation mechanisms for surgical instruments such as for use in robotic surgical systems |
EP3705074A1 (en) * | 2019-03-08 | 2020-09-09 | MAKO Surgical Corp. | Systems and methods for controlling movement of a surgical tool along a predefined path |
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 |
US20220192707A1 (en) * | 2019-04-04 | 2022-06-23 | Memorial Sloan Kettering Cancer Center | Robotic anatomical manipulation systems and methods |
EP3955842A4 (en) * | 2019-04-15 | 2023-01-11 | Covidien LP | METHOD FOR CALIBRATION OF TORQUE SENSORS OF INSTRUMENT DRIVE UNITS OF A SURGICAL ROBOT |
US11426251B2 (en) | 2019-04-30 | 2022-08-30 | Cilag Gmbh International | Articulation directional lights on a surgical instrument |
US11471157B2 (en) | 2019-04-30 | 2022-10-18 | Cilag Gmbh International | Articulation control mapping for a surgical instrument |
US11648009B2 (en) | 2019-04-30 | 2023-05-16 | Cilag Gmbh International | Rotatable jaw tip for a surgical instrument |
US11432816B2 (en) | 2019-04-30 | 2022-09-06 | Cilag Gmbh International | Articulation pin 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 |
US11246678B2 (en) | 2019-06-28 | 2022-02-15 | Cilag Gmbh International | Surgical stapling system having a frangible RFID tag |
US11298127B2 (en) | 2019-06-28 | 2022-04-12 | Cilag GmbH Interational | Surgical stapling system having a lockout mechanism for an incompatible cartridge |
US11684434B2 (en) | 2019-06-28 | 2023-06-27 | Cilag Gmbh International | Surgical RFID assemblies for instrument operational setting control |
US11426167B2 (en) | 2019-06-28 | 2022-08-30 | Cilag Gmbh International | Mechanisms for proper anvil attachment surgical stapling head assembly |
US11660163B2 (en) | 2019-06-28 | 2023-05-30 | Cilag Gmbh International | Surgical system with RFID tags for updating motor assembly parameters |
US11376098B2 (en) | 2019-06-28 | 2022-07-05 | Cilag Gmbh International | Surgical instrument system comprising an RFID system |
US11219455B2 (en) | 2019-06-28 | 2022-01-11 | Cilag Gmbh International | Surgical instrument including a lockout key |
US11638587B2 (en) | 2019-06-28 | 2023-05-02 | Cilag Gmbh International | RFID identification systems for surgical instruments |
US11627959B2 (en) | 2019-06-28 | 2023-04-18 | Cilag Gmbh International | Surgical instruments including manual and powered system lockouts |
US11291451B2 (en) | 2019-06-28 | 2022-04-05 | Cilag Gmbh International | Surgical instrument with battery compatibility verification functionality |
US11478241B2 (en) | 2019-06-28 | 2022-10-25 | Cilag Gmbh International | Staple cartridge including projections |
US11553971B2 (en) | 2019-06-28 | 2023-01-17 | Cilag Gmbh International | Surgical RFID assemblies for display and communication |
US11523822B2 (en) | 2019-06-28 | 2022-12-13 | Cilag Gmbh International | Battery pack including a circuit interrupter |
US11241235B2 (en) | 2019-06-28 | 2022-02-08 | Cilag Gmbh International | Method of using multiple RFID chips with a surgical assembly |
US11464601B2 (en) | 2019-06-28 | 2022-10-11 | Cilag Gmbh International | Surgical instrument comprising an RFID system for tracking a movable component |
US11051807B2 (en) | 2019-06-28 | 2021-07-06 | Cilag Gmbh International | Packaging assembly including a particulate trap |
US11497492B2 (en) | 2019-06-28 | 2022-11-15 | Cilag Gmbh International | Surgical instrument including an articulation lock |
US12004740B2 (en) | 2019-06-28 | 2024-06-11 | Cilag Gmbh International | Surgical stapling system having an information decryption protocol |
US11399837B2 (en) | 2019-06-28 | 2022-08-02 | Cilag Gmbh International | Mechanisms for motor control adjustments of a motorized surgical instrument |
US11259803B2 (en) | 2019-06-28 | 2022-03-01 | Cilag Gmbh International | Surgical stapling system having an information encryption protocol |
US11224497B2 (en) | 2019-06-28 | 2022-01-18 | Cilag Gmbh International | Surgical systems with multiple RFID tags |
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 |
US11723739B2 (en) * | 2019-08-15 | 2023-08-15 | Verb Surgical Inc. | Admittance compensation for surgical tool |
US11701111B2 (en) | 2019-12-19 | 2023-07-18 | Cilag Gmbh International | Method for operating a surgical stapling instrument |
US11291447B2 (en) | 2019-12-19 | 2022-04-05 | Cilag Gmbh International | Stapling instrument comprising independent jaw closing and staple firing systems |
US11931033B2 (en) | 2019-12-19 | 2024-03-19 | Cilag Gmbh International | Staple cartridge comprising a latch lockout |
US11559304B2 (en) | 2019-12-19 | 2023-01-24 | Cilag Gmbh International | Surgical instrument comprising a rapid closure mechanism |
US12035913B2 (en) | 2019-12-19 | 2024-07-16 | Cilag Gmbh International | Staple cartridge comprising a deployable knife |
US11464512B2 (en) | 2019-12-19 | 2022-10-11 | Cilag Gmbh International | Staple cartridge comprising a curved deck surface |
US11529139B2 (en) | 2019-12-19 | 2022-12-20 | Cilag Gmbh International | Motor driven surgical instrument |
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 |
US11234698B2 (en) | 2019-12-19 | 2022-02-01 | Cilag Gmbh International | Stapling system comprising a clamp lockout and a firing lockout |
US11844520B2 (en) | 2019-12-19 | 2023-12-19 | 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 |
US11304696B2 (en) | 2019-12-19 | 2022-04-19 | Cilag Gmbh International | Surgical instrument comprising a powered articulation system |
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 |
US11529137B2 (en) | 2019-12-19 | 2022-12-20 | Cilag Gmbh International | Staple cartridge comprising driver retention members |
RU2721462C1 (ru) * | 2019-12-25 | 2020-05-19 | Ассистирующие Хирургические Технологии (Аст), Лтд | Оценка усилия на роботохирургическом инструменте |
US20210298847A1 (en) * | 2020-03-31 | 2021-09-30 | Auris Health, Inc. | Systems and methods for mounting robotic components on a load cell |
EP4125687A4 (en) * | 2020-03-31 | 2024-08-14 | Auris Health Inc | PASSIVE AND ACTIVE ARM CONTROL SCHEMES WITH SENSOR INTEGRATION TO SUPPORT REMOTE OPERATION AND DIRECT MANUAL INTERACTION |
US12030195B2 (en) | 2020-05-27 | 2024-07-09 | Covidien Lp | Tensioning mechanisms and methods for articulating surgical instruments such as for use in robotic surgical systems |
CN115697232A (zh) * | 2020-05-28 | 2023-02-03 | 马佐尔机器人有限公司 | 用于盖布体积控制的系统和方法 |
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 |
USD975851S1 (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 |
USD975278S1 (en) | 2020-06-02 | 2023-01-10 | Cilag Gmbh International | Staple cartridge |
USD975850S1 (en) | 2020-06-02 | 2023-01-17 | Cilag Gmbh International | Staple cartridge |
EP4167892A1 (en) | 2020-06-19 | 2023-04-26 | Remedy Robotics, Inc. | Systems and methods for guidance of intraluminal devices within the vasculature |
WO2022003485A1 (en) * | 2020-06-29 | 2022-01-06 | Auris Health, Inc. | Systems and methods for detecting contact between a link and an external object |
USD963851S1 (en) | 2020-07-10 | 2022-09-13 | Covidien Lp | Port apparatus |
US20220031350A1 (en) | 2020-07-28 | 2022-02-03 | Cilag Gmbh International | Surgical instruments with double pivot articulation joint arrangements |
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 |
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 |
US11517390B2 (en) | 2020-10-29 | 2022-12-06 | Cilag Gmbh International | Surgical instrument comprising a limited travel switch |
US12053175B2 (en) | 2020-10-29 | 2024-08-06 | Cilag Gmbh International | Surgical instrument comprising a stowed closure actuator stop |
US11779330B2 (en) | 2020-10-29 | 2023-10-10 | Cilag Gmbh International | Surgical instrument comprising a jaw alignment system |
US11844518B2 (en) | 2020-10-29 | 2023-12-19 | Cilag Gmbh International | Method for operating a surgical instrument |
US11452526B2 (en) | 2020-10-29 | 2022-09-27 | Cilag Gmbh International | Surgical instrument comprising a staged voltage regulation start-up system |
USD1013170S1 (en) | 2020-10-29 | 2024-01-30 | Cilag Gmbh International | Surgical instrument assembly |
US11931025B2 (en) | 2020-10-29 | 2024-03-19 | Cilag Gmbh International | Surgical instrument comprising a releasable closure drive lock |
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 |
US11717289B2 (en) | 2020-10-29 | 2023-08-08 | Cilag Gmbh International | Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable |
US11627960B2 (en) | 2020-12-02 | 2023-04-18 | Cilag Gmbh International | Powered surgical instruments with smart reload with separately attachable exteriorly mounted wiring connections |
US11653915B2 (en) | 2020-12-02 | 2023-05-23 | Cilag Gmbh International | Surgical instruments with sled location detection and adjustment features |
US11944296B2 (en) | 2020-12-02 | 2024-04-02 | Cilag Gmbh International | Powered surgical instruments with external connectors |
US11653920B2 (en) | 2020-12-02 | 2023-05-23 | Cilag Gmbh International | Powered surgical instruments with communication interfaces through sterile barrier |
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 |
US11890010B2 (en) | 2020-12-02 | 2024-02-06 | Cllag GmbH International | Dual-sided reinforced reload for surgical instruments |
US11849943B2 (en) | 2020-12-02 | 2023-12-26 | Cilag Gmbh International | Surgical instrument with cartridge release mechanisms |
US11744581B2 (en) | 2020-12-02 | 2023-09-05 | Cilag Gmbh International | Powered surgical instruments with multi-phase tissue treatment |
US11678882B2 (en) | 2020-12-02 | 2023-06-20 | Cilag Gmbh International | Surgical instruments with interactive features to remedy incidental sled movements |
US20220265372A1 (en) * | 2021-02-23 | 2022-08-25 | Asensus Surgical Us, Inc. | Displaying Suture Force Information in Surgery |
US11744583B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Distal communication array to tune frequency of RF systems |
US11723657B2 (en) | 2021-02-26 | 2023-08-15 | Cilag Gmbh International | Adjustable communication based on available bandwidth and power capacity |
US11751869B2 (en) | 2021-02-26 | 2023-09-12 | Cilag Gmbh International | Monitoring of multiple sensors over time to detect moving characteristics of tissue |
US11749877B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Stapling instrument comprising a signal antenna |
US11793514B2 (en) | 2021-02-26 | 2023-10-24 | Cilag Gmbh International | Staple cartridge comprising sensor array which may be embedded in cartridge body |
US11950779B2 (en) | 2021-02-26 | 2024-04-09 | Cilag Gmbh International | Method of powering and communicating with a staple cartridge |
US11950777B2 (en) | 2021-02-26 | 2024-04-09 | Cilag Gmbh International | Staple cartridge comprising an information access control system |
US11925349B2 (en) | 2021-02-26 | 2024-03-12 | Cilag Gmbh International | Adjustment to transfer parameters to improve available power |
US11980362B2 (en) | 2021-02-26 | 2024-05-14 | Cilag Gmbh International | Surgical instrument system comprising a power transfer coil |
US12108951B2 (en) | 2021-02-26 | 2024-10-08 | Cilag Gmbh International | Staple cartridge comprising a sensing array and a temperature control system |
US11696757B2 (en) | 2021-02-26 | 2023-07-11 | Cilag Gmbh International | Monitoring of internal systems to detect and track cartridge motion status |
US11730473B2 (en) | 2021-02-26 | 2023-08-22 | Cilag Gmbh International | Monitoring of manufacturing life-cycle |
US11812964B2 (en) | 2021-02-26 | 2023-11-14 | Cilag Gmbh International | Staple cartridge comprising a power management circuit |
US11701113B2 (en) | 2021-02-26 | 2023-07-18 | Cilag Gmbh International | Stapling instrument comprising a separate power antenna and a data transfer antenna |
US11717291B2 (en) | 2021-03-22 | 2023-08-08 | Cilag Gmbh International | Staple cartridge comprising staples configured to apply different tissue compression |
US11723658B2 (en) | 2021-03-22 | 2023-08-15 | Cilag Gmbh International | Staple cartridge comprising a firing lockout |
US11826012B2 (en) | 2021-03-22 | 2023-11-28 | Cilag Gmbh International | Stapling instrument comprising a pulsed motor-driven firing rack |
US11737749B2 (en) | 2021-03-22 | 2023-08-29 | Cilag Gmbh International | Surgical stapling instrument comprising a retraction system |
US11826042B2 (en) | 2021-03-22 | 2023-11-28 | Cilag Gmbh International | Surgical instrument comprising a firing drive including a selectable leverage mechanism |
US11806011B2 (en) | 2021-03-22 | 2023-11-07 | Cilag Gmbh International | Stapling instrument comprising tissue compression systems |
US11759202B2 (en) | 2021-03-22 | 2023-09-19 | Cilag Gmbh International | Staple cartridge comprising an implantable layer |
US11896219B2 (en) | 2021-03-24 | 2024-02-13 | Cilag Gmbh International | Mating features between drivers and underside of a cartridge deck |
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 |
US11849945B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Rotary-driven surgical stapling assembly comprising eccentrically driven firing member |
US12102323B2 (en) | 2021-03-24 | 2024-10-01 | Cilag Gmbh International | Rotary-driven surgical stapling assembly comprising a floatable component |
US11849944B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Drivers for fastener cartridge assemblies having rotary drive screws |
US11786239B2 (en) | 2021-03-24 | 2023-10-17 | Cilag Gmbh International | Surgical instrument articulation joint arrangements comprising multiple moving linkage features |
US11896218B2 (en) | 2021-03-24 | 2024-02-13 | Cilag Gmbh International | Method of using a powered stapling device |
US11857183B2 (en) | 2021-03-24 | 2024-01-02 | Cilag Gmbh International | Stapling assembly components having metal substrates and plastic bodies |
US11744603B2 (en) | 2021-03-24 | 2023-09-05 | Cilag Gmbh International | Multi-axis pivot joints for surgical instruments and methods for manufacturing same |
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 |
US11903582B2 (en) | 2021-03-24 | 2024-02-20 | Cilag Gmbh International | Leveraging surfaces for cartridge installation |
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 |
US11998201B2 (en) | 2021-05-28 | 2024-06-04 | Cilag CmbH International | Stapling instrument comprising a firing lockout |
US11948226B2 (en) | 2021-05-28 | 2024-04-02 | Covidien Lp | Systems and methods for clinical workspace simulation |
US11707332B2 (en) | 2021-07-01 | 2023-07-25 | Remedy Robotics, Inc. | Image space control for endovascular tools |
WO2023278789A1 (en) | 2021-07-01 | 2023-01-05 | Remedy Robotics, Inc. | Vision-based position and orientation determination for endovascular tools |
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 |
US11957337B2 (en) | 2021-10-18 | 2024-04-16 | Cilag Gmbh International | Surgical stapling assembly with offset ramped drive surfaces |
US11937816B2 (en) | 2021-10-28 | 2024-03-26 | Cilag Gmbh International | Electrical lead arrangements for surgical instruments |
US12089841B2 (en) | 2021-10-28 | 2024-09-17 | Cilag CmbH International | Staple cartridge identification systems |
CN115553930B (zh) * | 2022-11-15 | 2023-04-25 | 科弛医疗科技(北京)有限公司 | 力反馈方法 |
WO2024155812A1 (en) * | 2023-01-20 | 2024-07-25 | Intuitive Surgical Operations, Inc. | Systems and methods for control of a surgical system |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1997040435A2 (en) * | 1996-04-19 | 1997-10-30 | Massachusetts Institute Of Technology | Base force/torque sensor apparatus for the precise control of manipulators with joint friction and a method of use thereof |
JPH11320466A (ja) * | 1998-03-26 | 1999-11-24 | Carl Zeiss:Fa | 工具を案内する方法および装置 |
JP2002530209A (ja) * | 1998-11-23 | 2002-09-17 | マイクロデクステラティー・システムズ・インコーポレーテッド | 外科用マニプレータ |
JP2005510289A (ja) * | 2001-11-21 | 2005-04-21 | コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ | インターベンショナル手法のためのロボットシステムを案内されたct画像における触覚フィードバック及び表示 |
WO2007075864A1 (en) * | 2005-12-20 | 2007-07-05 | Intuitive Surgical, Inc. | Instrument interface of a robotic surgical system |
JP2007167644A (ja) * | 2005-12-20 | 2007-07-05 | Intuitive Surgical Inc | 無菌外科手術アダプタ |
WO2007088206A2 (en) * | 2006-02-03 | 2007-08-09 | The European Atomic Energy Community (Euratom), Represented By The European Commission | Medical robotic system with manipulator arm of the cylindrical coordinate type |
WO2007111737A2 (en) * | 2005-12-30 | 2007-10-04 | Intuitive Surgical, Inc. | Force and torque sensing for surgical instruments |
WO2007143859A1 (en) * | 2006-06-14 | 2007-12-21 | Macdonald Dettwiler & Associates Inc. | Surgical manipulator with right-angle pulley drive mechanisms |
JP2008502396A (ja) * | 2004-06-15 | 2008-01-31 | ジマーゲーエムベーハー | 外科手術用のツールを誘導する画像を用いないロボット化された装置と方法 |
Family Cites Families (45)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4768918A (en) * | 1986-06-13 | 1988-09-06 | American Cimflex Corporation | Industrial robot having counterbalanced arms |
US4807486A (en) | 1987-11-09 | 1989-02-28 | Gmf Robotics Corporation | Three-axes wrist mechanism |
US5038089A (en) | 1988-03-23 | 1991-08-06 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Synchronized computational architecture for generalized bilateral control of robot arms |
JPH03178788A (ja) | 1989-12-06 | 1991-08-02 | Hitachi Ltd | マニピュレータの制御方法 |
US5178431A (en) | 1991-09-16 | 1993-01-12 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Double-V block fingers with cruciform recess |
US5631973A (en) | 1994-05-05 | 1997-05-20 | Sri International | Method for telemanipulation with telepresence |
FR2693397B1 (fr) | 1992-07-09 | 1994-09-02 | Cogema | Dispositif de retour d'information sensorielle représentative de l'effort exercé sur un télémanipulateur par son utilisateur. |
SE515119C2 (sv) * | 1995-03-30 | 2001-06-11 | Abb Ab | Industrirobot |
US5792135A (en) | 1996-05-20 | 1998-08-11 | Intuitive Surgical, Inc. | Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
US5807377A (en) | 1996-05-20 | 1998-09-15 | Intuitive Surgical, Inc. | Force-reflecting surgical instrument and positioning mechanism for performing minimally invasive surgery with enhanced dexterity and sensitivity |
US6331181B1 (en) | 1998-12-08 | 2001-12-18 | Intuitive Surgical, Inc. | Surgical robotic tools, data architecture, and use |
US7699855B2 (en) | 1996-12-12 | 2010-04-20 | Intuitive Surgical Operations, Inc. | Sterile surgical adaptor |
US7666191B2 (en) | 1996-12-12 | 2010-02-23 | Intuitive Surgical, Inc. | Robotic surgical system with sterile surgical adaptor |
US7727244B2 (en) | 1997-11-21 | 2010-06-01 | Intuitive Surgical Operation, Inc. | Sterile surgical drape |
US8182469B2 (en) | 1997-11-21 | 2012-05-22 | Intuitive Surgical Operations, Inc. | Surgical accessory clamp and method |
EP2362285B1 (en) | 1997-09-19 | 2015-03-25 | Massachusetts Institute of Technology | Robotic apparatus |
DE69940850D1 (de) | 1998-08-04 | 2009-06-18 | Intuitive Surgical Inc | Gelenkvorrichtung zur Positionierung eines Manipulators für Robotik-Chirurgie |
US6770081B1 (en) | 2000-01-07 | 2004-08-03 | Intuitive Surgical, Inc. | In vivo accessories for minimally invasive robotic surgery and methods |
US6493608B1 (en) | 1999-04-07 | 2002-12-10 | Intuitive Surgical, Inc. | Aspects of a control system of a minimally invasive surgical apparatus |
US6451027B1 (en) | 1998-12-16 | 2002-09-17 | Intuitive Surgical, Inc. | Devices and methods for moving an image capture device in telesurgical systems |
US6394998B1 (en) | 1999-01-22 | 2002-05-28 | Intuitive Surgical, Inc. | Surgical tools for use in minimally invasive telesurgical applications |
US6594552B1 (en) | 1999-04-07 | 2003-07-15 | Intuitive Surgical, Inc. | Grip strength with tactile feedback for robotic surgery |
US8944070B2 (en) | 1999-04-07 | 2015-02-03 | Intuitive Surgical Operations, Inc. | Non-force reflecting method for providing tool force information to a user of a telesurgical system |
US6377011B1 (en) | 2000-01-26 | 2002-04-23 | Massachusetts Institute Of Technology | Force feedback user interface for minimally invasive surgical simulator and teleoperator and other similar apparatus |
DE10007251A1 (de) * | 2000-02-17 | 2001-08-23 | Kuka Roboter Gmbh | Vorrichtung zum Gewichtsausgleich eines Roboterarms |
US6574356B1 (en) * | 2000-04-19 | 2003-06-03 | National Science Council | Method for three-dimensional image reconstruction of basal ganglion |
US6902560B1 (en) | 2000-07-27 | 2005-06-07 | Intuitive Surgical, Inc. | Roll-pitch-roll surgical tool |
DE60143909D1 (de) | 2000-11-28 | 2011-03-03 | Intuitive Surgical Operations | Z und gefässokklusionsverschluss |
US6783524B2 (en) | 2001-04-19 | 2004-08-31 | Intuitive Surgical, Inc. | Robotic surgical tool with ultrasound cauterizing and cutting instrument |
US6817974B2 (en) | 2001-06-29 | 2004-11-16 | Intuitive Surgical, Inc. | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
US6676684B1 (en) | 2001-09-04 | 2004-01-13 | Intuitive Surgical, Inc. | Roll-pitch-roll-yaw surgical tool |
US6587750B2 (en) * | 2001-09-25 | 2003-07-01 | Intuitive Surgical, Inc. | Removable infinite roll master grip handle and touch sensor for robotic surgery |
US6835173B2 (en) | 2001-10-05 | 2004-12-28 | Scimed Life Systems, Inc. | Robotic endoscope |
US20070018958A1 (en) * | 2003-10-24 | 2007-01-25 | Tavakoli Seyed M | Force reflective robotic control system and minimally invasive surgical device |
US8375808B2 (en) | 2005-12-30 | 2013-02-19 | Intuitive Surgical Operations, Inc. | Force sensing for surgical instruments |
US7752920B2 (en) | 2005-12-30 | 2010-07-13 | Intuitive Surgical Operations, Inc. | Modular force sensor |
US20060276882A1 (en) * | 2005-04-11 | 2006-12-07 | Cook Incorporated | Medical device including remodelable material attached to frame |
US8273076B2 (en) | 2005-06-30 | 2012-09-25 | Intuitive Surgical Operations, Inc. | Indicator for tool state and communication in multi-arm robotic telesurgery |
US8182470B2 (en) | 2005-12-20 | 2012-05-22 | Intuitive Surgical Operations, Inc. | Telescoping insertion axis of a robotic surgical system |
US7819859B2 (en) * | 2005-12-20 | 2010-10-26 | Intuitive Surgical Operations, Inc. | Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator |
WO2007075844A1 (en) | 2005-12-20 | 2007-07-05 | Intuitive Surgical, Inc. | Telescoping insertion axis of a robotic surgical system |
US7689320B2 (en) * | 2005-12-20 | 2010-03-30 | Intuitive Surgical Operations, Inc. | Robotic surgical system with joint motion controller adapted to reduce instrument tip vibrations |
EP1965717B1 (en) | 2005-12-30 | 2012-05-16 | Intuitive Surgical Operations, Inc. | Surgical instrument with modular force sensor |
US7930065B2 (en) | 2005-12-30 | 2011-04-19 | Intuitive Surgical Operations, Inc. | Robotic surgery system including position sensors using fiber bragg gratings |
CN101390027A (zh) * | 2006-02-23 | 2009-03-18 | Abb公司 | 依靠从使用者接收的力和扭矩控制物体的位置及方位的系统 |
-
2008
- 2008-03-31 US US12/060,004 patent/US9895813B2/en active Active
-
2009
- 2009-03-25 JP JP2011501996A patent/JP5575743B2/ja active Active
- 2009-03-25 WO PCT/US2009/038160 patent/WO2009123891A1/en active Application Filing
- 2009-03-25 KR KR1020107024233A patent/KR101615539B1/ko active IP Right Grant
- 2009-03-25 EP EP09726454.3A patent/EP2280662B1/en active Active
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1997040435A2 (en) * | 1996-04-19 | 1997-10-30 | Massachusetts Institute Of Technology | Base force/torque sensor apparatus for the precise control of manipulators with joint friction and a method of use thereof |
JPH11320466A (ja) * | 1998-03-26 | 1999-11-24 | Carl Zeiss:Fa | 工具を案内する方法および装置 |
JP2002530209A (ja) * | 1998-11-23 | 2002-09-17 | マイクロデクステラティー・システムズ・インコーポレーテッド | 外科用マニプレータ |
JP2005510289A (ja) * | 2001-11-21 | 2005-04-21 | コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ | インターベンショナル手法のためのロボットシステムを案内されたct画像における触覚フィードバック及び表示 |
JP2008502396A (ja) * | 2004-06-15 | 2008-01-31 | ジマーゲーエムベーハー | 外科手術用のツールを誘導する画像を用いないロボット化された装置と方法 |
WO2007075864A1 (en) * | 2005-12-20 | 2007-07-05 | Intuitive Surgical, Inc. | Instrument interface of a robotic surgical system |
JP2007167644A (ja) * | 2005-12-20 | 2007-07-05 | Intuitive Surgical Inc | 無菌外科手術アダプタ |
WO2007111737A2 (en) * | 2005-12-30 | 2007-10-04 | Intuitive Surgical, Inc. | Force and torque sensing for surgical instruments |
WO2007088206A2 (en) * | 2006-02-03 | 2007-08-09 | The European Atomic Energy Community (Euratom), Represented By The European Commission | Medical robotic system with manipulator arm of the cylindrical coordinate type |
WO2007143859A1 (en) * | 2006-06-14 | 2007-12-21 | Macdonald Dettwiler & Associates Inc. | Surgical manipulator with right-angle pulley drive mechanisms |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2015510434A (ja) * | 2012-02-15 | 2015-04-09 | 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 | 入力装置の操作者が視認可能なディスプレイ領域に器具が入ったときのその器具の制御権限の入力装置への切り換え |
KR101487241B1 (ko) | 2012-09-12 | 2015-02-02 | 주식회사 고영테크놀러지 | 수동 조작형 수술로봇 |
US10098701B2 (en) | 2012-12-14 | 2018-10-16 | Panasonic Intellectual Property Management Co., Ltd. | Force measurement apparatus, force measurement method, force measurement program, force measurement integrated electronic circuit, and master-slave device |
US9233467B2 (en) | 2013-01-10 | 2016-01-12 | Panasonic Intellectual Property Management Co., Ltd. | Control apparatus and method for master-slave robot, master-slave robot, and control program |
JP2018126549A (ja) * | 2013-02-15 | 2018-08-16 | 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 | 手術器具の近位制御のためのシステム及び方法 |
US9421686B2 (en) | 2013-05-27 | 2016-08-23 | Panasonic Intellectual Property Management Co., Ltd. | Master device for master slave apparatus, method of controlling the same, and master slave robot |
JP2023040017A (ja) * | 2014-05-05 | 2023-03-22 | バイカリアス サージカル インク. | 仮想現実外科手術デバイス |
JP2017029210A (ja) * | 2015-07-29 | 2017-02-09 | 国立大学法人鳥取大学 | 鉗子器具および圧力センサ |
WO2020122416A1 (ko) * | 2018-12-13 | 2020-06-18 | 주식회사 미래컴퍼니 | 수술용 로봇의 충돌을 완화시키는 방법 및 시스템 |
KR20200073348A (ko) * | 2018-12-13 | 2020-06-24 | (주)미래컴퍼니 | 수술용 로봇의 충돌을 완화시키는 방법 및 시스템 |
KR102149008B1 (ko) * | 2018-12-13 | 2020-08-31 | (주)미래컴퍼니 | 수술용 로봇의 충돌을 완화시키는 방법 및 시스템 |
CN113195172A (zh) * | 2018-12-13 | 2021-07-30 | 韩商未来股份有限公司 | 用于缓和手术用机器人碰撞的方法及系统 |
CN113195172B (zh) * | 2018-12-13 | 2024-03-08 | 韩商未来股份有限公司 | 用于缓和手术用机器人碰撞的方法及系统 |
JP2023519734A (ja) * | 2020-03-31 | 2023-05-12 | シーエムアール・サージカル・リミテッド | 外科手術ロボットの制御システム |
WO2023120401A1 (ja) * | 2021-12-22 | 2023-06-29 | 川崎重工業株式会社 | 手術支援システムおよび操作者側装置 |
Also Published As
Publication number | Publication date |
---|---|
WO2009123891A1 (en) | 2009-10-08 |
EP2280662B1 (en) | 2017-05-03 |
EP2280662A1 (en) | 2011-02-09 |
KR101615539B1 (ko) | 2016-04-26 |
US9895813B2 (en) | 2018-02-20 |
US20090248038A1 (en) | 2009-10-01 |
KR20110005829A (ko) | 2011-01-19 |
JP5575743B2 (ja) | 2014-08-20 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5575743B2 (ja) | 手術用ロボット設定アームにおける力とトルクの感知 | |
EP1965711B1 (en) | Force and torque sensing for surgical instruments | |
US11650111B2 (en) | Ribbed force sensor | |
US8613230B2 (en) | Force sensing for surgical instruments | |
KR101296220B1 (ko) | 모듈식 힘센서 | |
US7752920B2 (en) | Modular force sensor |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20120110 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20121228 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20130418 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20130514 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20130813 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20131120 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20140218 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20140606 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20140702 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 5575743 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |