JP2013510661A5 - - Google Patents

Download PDF

Info

Publication number
JP2013510661A5
JP2013510661A5 JP2012538933A JP2012538933A JP2013510661A5 JP 2013510661 A5 JP2013510661 A5 JP 2013510661A5 JP 2012538933 A JP2012538933 A JP 2012538933A JP 2012538933 A JP2012538933 A JP 2012538933A JP 2013510661 A5 JP2013510661 A5 JP 2013510661A5
Authority
JP
Japan
Prior art keywords
cannula
distal end
surgical
motion
center
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
Application number
JP2012538933A
Other languages
English (en)
Japanese (ja)
Other versions
JP2013510661A (ja
JP5722336B2 (ja
Filing date
Publication date
Priority claimed from US12/618,549 external-priority patent/US20110071541A1/en
Priority claimed from US12/618,583 external-priority patent/US8545515B2/en
Application filed filed Critical
Priority claimed from PCT/US2010/056173 external-priority patent/WO2011060031A1/en
Publication of JP2013510661A publication Critical patent/JP2013510661A/ja
Publication of JP2013510661A5 publication Critical patent/JP2013510661A5/ja
Application granted granted Critical
Publication of JP5722336B2 publication Critical patent/JP5722336B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

JP2012538933A 2009-11-13 2010-11-10 湾曲カニューレ外科手術システム Active JP5722336B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US12/618,549 US20110071541A1 (en) 2009-09-23 2009-11-13 Curved cannula
US12/618,549 2009-11-13
US12/618,583 US8545515B2 (en) 2009-09-23 2009-11-13 Curved cannula surgical system
US12/618,583 2009-11-13
PCT/US2010/056173 WO2011060031A1 (en) 2009-09-23 2010-11-10 Curved cannula surgical system

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2015007410A Division JP6000382B2 (ja) 2009-11-13 2015-01-19 湾曲カニューレ外科手術システム

Publications (3)

Publication Number Publication Date
JP2013510661A JP2013510661A (ja) 2013-03-28
JP2013510661A5 true JP2013510661A5 (https=) 2013-10-31
JP5722336B2 JP5722336B2 (ja) 2015-05-20

Family

ID=43754950

Family Applications (4)

Application Number Title Priority Date Filing Date
JP2012538937A Active JP5824456B2 (ja) 2009-11-13 2010-11-10 湾曲カニューレ、ロボットマニピュレーター、および受動的に可撓性であるシャフトを有する外科手術器具
JP2012538933A Active JP5722336B2 (ja) 2009-11-13 2010-11-10 湾曲カニューレ外科手術システム
JP2015007410A Active JP6000382B2 (ja) 2009-11-13 2015-01-19 湾曲カニューレ外科手術システム
JP2016054862A Withdrawn JP2016105938A (ja) 2009-11-13 2016-03-18 湾曲カニューレ外科手術システム

Family Applications Before (1)

Application Number Title Priority Date Filing Date
JP2012538937A Active JP5824456B2 (ja) 2009-11-13 2010-11-10 湾曲カニューレ、ロボットマニピュレーター、および受動的に可撓性であるシャフトを有する外科手術器具

Family Applications After (2)

Application Number Title Priority Date Filing Date
JP2015007410A Active JP6000382B2 (ja) 2009-11-13 2015-01-19 湾曲カニューレ外科手術システム
JP2016054862A Withdrawn JP2016105938A (ja) 2009-11-13 2016-03-18 湾曲カニューレ外科手術システム

Country Status (5)

Country Link
EP (1) EP2467074B1 (https=)
JP (4) JP5824456B2 (https=)
KR (5) KR20120115486A (https=)
CN (2) CN102596062B (https=)
BR (1) BR112012011326B1 (https=)

Families Citing this family (82)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170258535A1 (en) * 2012-06-21 2017-09-14 Globus Medical, Inc. Surgical robotic automation with tracking markers
US11317971B2 (en) 2012-06-21 2022-05-03 Globus Medical, Inc. Systems and methods related to robotic guidance in surgery
US12004905B2 (en) 2012-06-21 2024-06-11 Globus Medical, Inc. Medical imaging systems using robotic actuators and related methods
US11045267B2 (en) 2012-06-21 2021-06-29 Globus Medical, Inc. Surgical robotic automation with tracking markers
US11793570B2 (en) 2012-06-21 2023-10-24 Globus Medical Inc. Surgical robotic automation with tracking markers
US11896446B2 (en) 2012-06-21 2024-02-13 Globus Medical, Inc Surgical robotic automation with tracking markers
US11298196B2 (en) 2012-06-21 2022-04-12 Globus Medical Inc. Surgical robotic automation with tracking markers and controlled tool advancement
US10799298B2 (en) 2012-06-21 2020-10-13 Globus Medical Inc. Robotic fluoroscopic navigation
US11399900B2 (en) 2012-06-21 2022-08-02 Globus Medical, Inc. Robotic systems providing co-registration using natural fiducials and related methods
US11857149B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. Surgical robotic systems with target trajectory deviation monitoring and related methods
US11253327B2 (en) 2012-06-21 2022-02-22 Globus Medical, Inc. Systems and methods for automatically changing an end-effector on a surgical robot
US11857266B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. System for a surveillance marker in robotic-assisted surgery
US10624710B2 (en) 2012-06-21 2020-04-21 Globus Medical, Inc. System and method for measuring depth of instrumentation
US11864839B2 (en) 2012-06-21 2024-01-09 Globus Medical Inc. Methods of adjusting a virtual implant and related surgical navigation systems
US11974822B2 (en) 2012-06-21 2024-05-07 Globus Medical Inc. Method for a surveillance marker in robotic-assisted surgery
US11589771B2 (en) 2012-06-21 2023-02-28 Globus Medical Inc. Method for recording probe movement and determining an extent of matter removed
US11864745B2 (en) 2012-06-21 2024-01-09 Globus Medical, Inc. Surgical robotic system with retractor
US11786324B2 (en) 2012-06-21 2023-10-17 Globus Medical, Inc. Surgical robotic automation with tracking markers
US11963755B2 (en) 2012-06-21 2024-04-23 Globus Medical Inc. Apparatus for recording probe movement
US8821509B2 (en) * 2012-10-27 2014-09-02 Danamed, Inc. Surgical instrument and method of using same
US10492825B2 (en) 2013-03-15 2019-12-03 Intuitive Surgical Operations, Inc. Sealing multiple surgical instruments
WO2014144771A1 (en) * 2013-03-15 2014-09-18 Intuitive Surgical Operations, Inc. Sealing multiple surgical instruments
US10292730B2 (en) 2013-03-15 2019-05-21 Intuitive Surgical Operations, Inc. Sealing multiple surgical instruments
US9888941B2 (en) 2013-03-15 2018-02-13 Intuitive Surgical Operations, Inc. Sealing multiple surgical instruments
EP2996620B1 (en) * 2013-05-15 2020-09-16 Intuitive Surgical Operations, Inc. Force transmission mechanism for teleoperated surgical system
EP2999419B1 (en) * 2013-05-22 2020-12-23 Covidien LP Apparatus for controlling surgical instruments using a port assembly
JP6274630B2 (ja) * 2013-06-19 2018-02-07 タイタン メディカル インコーポレイテッドＴｉｔａｎ Ｍｅｄｉｃａｌ Ｉｎｃ． 多関節器具位置決め装置およびそれを採用するシステム
US10932877B2 (en) * 2014-03-17 2021-03-02 Intuitive Surgical Operations, Inc. Surgical drape and systems including surgical drape and attachment sensor
KR102507087B1 (ko) * 2014-03-17 2023-03-07 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 캐뉼라 실 어셈블리
CA2957622C (en) * 2014-09-04 2023-07-04 Memic Innovative Surgery Ltd. Control of device including mechanical arms
CN113229942B (zh) * 2015-09-09 2024-11-12 奥瑞斯健康公司 手术器械装置操纵器
GB201521807D0 (en) * 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Surgical instrument shaft spokes
GB201521812D0 (en) * 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Driving a surgical instrument articulation
JP2017104451A (ja) * 2015-12-11 2017-06-15 川崎重工業株式会社 外科手術システム
US11883217B2 (en) 2016-02-03 2024-01-30 Globus Medical, Inc. Portable medical imaging system and method
SI3219283T1 (sl) 2016-03-09 2021-04-30 Memic Innovative Surgery Ltd. Modularna kirurška naprava, ki zajema mehanske roke
CN105686883B (zh) * 2016-03-14 2018-11-30 昆山一邦泰汽车零部件制造有限公司 一种冗余自由度持镜机械臂
US10973599B2 (en) * 2016-03-25 2021-04-13 Intuitive Surgical Operations, Inc. Surgical platform supported by multiple arms
KR102735980B1 (ko) * 2016-06-09 2024-12-02 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 컴퓨터 보조 원격 조작 수술 시스템 및 방법
JP6632487B2 (ja) 2016-07-13 2020-01-22 キヤノン株式会社 連続体ロボット、その運動学の補正方法、および連続体ロボットの制御方法
US11207145B2 (en) * 2016-07-14 2021-12-28 Intuitive Surgical Operations, Inc. Multi-cable medical instrument
JP7044760B2 (ja) * 2016-09-09 2022-03-30 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 可撓性引張部材を用いたプッシュ／プル方式の手術用器具エンドエフェクタの作動
WO2018070040A1 (ja) * 2016-10-14 2018-04-19 株式会社メディカロイド 把持機構
US10973592B2 (en) 2017-03-09 2021-04-13 Memie Innovative Surgery Ltd. Control console for surgical device with mechanical arms
US20180311473A1 (en) * 2017-04-25 2018-11-01 Project Moray, Inc. Hybrid fluid/mechanical actuation and transseptal systems for catheters and other uses
WO2019093968A1 (en) * 2017-11-09 2019-05-16 Endomaster Pte Ltd. Endoscopy system
CN108567489B (zh) * 2018-03-23 2022-05-13 深圳市精锋医疗科技股份有限公司 操作臂、从操作设备及手术机器人
CN108839047B (zh) * 2018-03-28 2020-07-31 江苏求恒医疗器械有限公司 一种医疗器械夹具
CN111936072B (zh) * 2018-04-10 2024-08-02 直观外科手术操作公司 具有柔线布设的可关节运动的医疗装置
GB201806943D0 (en) * 2018-04-27 2018-06-13 Imperial Innovations Ltd Laparoscopic instruments
CN108514447A (zh) * 2018-06-11 2018-09-11 沈阳尚贤微创医疗器械股份有限公司 内镜手术机器人控制终端及机器人系统
CN108742733A (zh) * 2018-06-29 2018-11-06 哈尔滨理工大学 新型可收缩式微创手术操作臂
WO2020017605A1 (ja) * 2018-07-18 2020-01-23 リバーフィールド株式会社 医療用器具の関節部および医療用器具
CN108888360B (zh) * 2018-08-02 2024-05-28 北京德迈特科技发展有限公司 术前定位针
CA3116287A1 (en) 2018-10-15 2020-04-23 Mazor Robotics Ltd. Versatile multi-arm robotic surgical system
KR102149167B1 (ko) 2018-11-07 2020-08-31 주식회사 삼육오엠씨네트웍스 인공지능 기반의 캐뉼라 수술 진단 장치
JP6870010B2 (ja) * 2019-01-21 2021-05-12 株式会社メディカロイド 手術システムおよび支持装置
JP7441850B2 (ja) * 2019-03-07 2024-03-01 プロセプト バイオロボティクス コーポレイション 撮像プローブのための剛性シース
IL265963A (en) * 2019-04-10 2020-10-28 Tamar Robotics Ltd Steerable needle with tip navigation
CN109893255A (zh) * 2019-04-17 2019-06-18 李宽正 微创神经内镜弧形导引器及其使用方法
CN111714162B (zh) * 2019-05-10 2023-03-28 上海微创医疗机器人（集团）股份有限公司 手术装置及手术器械
JP6791516B1 (ja) * 2019-10-17 2020-11-25 リバーフィールド株式会社 手術ロボット用術具
CN110786932B (zh) * 2019-11-19 2022-04-12 杭州唯精医疗机器人有限公司 聚散式微创手术机器人从臂系统
US12329401B2 (en) * 2019-12-12 2025-06-17 Intuitive Surgical Operations, Inc. Instrument shafts with relief features, and related devices, systems, and methods
CN113967076B (zh) * 2020-07-23 2026-01-02 北京术锐机器人股份有限公司 一种多关节机械臂组及含该臂组的手术机器人系统
CN113967054A (zh) * 2020-07-23 2022-01-25 北京术锐技术有限公司 一种单孔手术装置及医疗设备系统
CA3173684A1 (en) * 2020-08-19 2022-02-24 Kai Xu Robot system and control method
CN113749777B (zh) * 2020-08-26 2023-07-18 上海微创医疗机器人（集团）股份有限公司 手术器械平台、器械组件及手术器械
US12274525B2 (en) 2020-09-29 2025-04-15 Mazor Robotics Ltd. Systems and methods for tracking anatomical motion
EP3981461A1 (de) 2020-10-06 2022-04-13 Erbe Elektromedizin GmbH Instrument mit halterung
JP7520678B2 (ja) * 2020-10-07 2024-07-23 株式会社メディカロイド 手術器具
KR102537304B1 (ko) 2020-10-21 2023-05-30 주식회사 삼육오엠씨(365mc) 음파 탐지를 이용한 캐뉼라 기반의 지방흡입 장치 및 위험도 모니터링 방법
US12465441B2 (en) 2021-02-01 2025-11-11 Mazor Robotics Ltd. Multi-arm robotic systems and methods for identifying a target
US12508085B2 (en) 2021-02-04 2025-12-30 Mazor Robotics Ltd. Systems, methods, and devices for verifying mechanical coupling between anatomical elements
US12150728B2 (en) 2021-04-14 2024-11-26 Globus Medical, Inc. End effector for a surgical robot
CN113413201B (zh) * 2021-07-30 2023-09-08 上海微创医疗机器人（集团）股份有限公司 一种穿刺器及腔镜机器人
WO2023006049A1 (zh) * 2021-07-30 2023-02-02 上海微创医疗机器人（集团）股份有限公司 一种穿刺器及腔镜机器人
DE102021122841A1 (de) 2021-09-02 2023-03-02 Olympus Winter & Ibe Gmbh Verfahren zum Betreiben eines chirurgischen Systems
CN114010320B (zh) * 2021-09-15 2022-09-23 苏州中科华影健康科技有限公司 一种柔性手术器械控制装置及内镜手术机器人系统
CN114569249B (zh) * 2022-02-28 2023-10-31 复旦大学 一种用于复杂气道插管机器人的软镜递送装置
CN116177305A (zh) * 2022-11-09 2023-05-30 上海卓昕医疗科技有限公司 一种用于多种柔性线束器械自动更换的输送装置及机器人
WO2025153572A1 (en) 2024-01-15 2025-07-24 Symphera Gmbh Improved surgery system

Family Cites Families (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0699053B1 (en) * 1993-05-14 1999-03-17 Sri International Surgical apparatus
JP4176126B2 (ja) * 1996-02-20 2008-11-05 コンピュータ・モーション・インコーポレーテッド 侵襲を最小に抑えた心臓手術を施術するための方法および装置
US6364888B1 (en) * 1996-09-09 2002-04-02 Intuitive Surgical, Inc. Alignment of master and slave in a minimally invasive surgical apparatus
US6843793B2 (en) * 1998-02-24 2005-01-18 Endovia Medical, Inc. Surgical instrument
US7344547B2 (en) * 1998-09-15 2008-03-18 Phavel Systems, Inc. Laparoscopic instruments and trocar systems and related surgical method
US8527094B2 (en) * 1998-11-20 2013-09-03 Intuitive Surgical Operations, Inc. Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures
US7594912B2 (en) * 2004-09-30 2009-09-29 Intuitive Surgical, Inc. Offset remote center manipulator for robotic surgery
JP2001309920A (ja) * 2000-02-24 2001-11-06 Hitachi Ltd 鉗子及びそれを用いたマニピュレータ
US6716226B2 (en) * 2001-06-25 2004-04-06 Inscope Development, Llc Surgical clip
US20030135204A1 (en) * 2001-02-15 2003-07-17 Endo Via Medical, Inc. Robotically controlled medical instrument with a flexible section
JP2003230565A (ja) * 2002-02-12 2003-08-19 Univ Tokyo 能動トロカール
US7753901B2 (en) * 2004-07-21 2010-07-13 Tyco Healthcare Group Lp Laparoscopic instrument and cannula assembly and related surgical method
KR100585458B1 (ko) * 2004-04-13 2006-06-07 국립암센터 복강경 수술 로봇 시스템
US7763015B2 (en) * 2005-01-24 2010-07-27 Intuitive Surgical Operations, Inc. Modular manipulator support for robotic surgery
US20070049966A1 (en) * 2005-03-22 2007-03-01 Frank Bonadio Surgical instrument
JP4577215B2 (ja) * 2005-12-27 2010-11-10 株式会社島津製作所 Ｘ線検査装置
US9820771B2 (en) * 2006-03-03 2017-11-21 Axcess Instruments Inc. Apparatus and method for minimally invasive surgery
CN2889158Y (zh) * 2006-04-12 2007-04-18 徐永芳 医用硬质内窥镜
US8062211B2 (en) * 2006-06-13 2011-11-22 Intuitive Surgical Operations, Inc. Retrograde instrument
US20090062602A1 (en) * 2007-07-30 2009-03-05 Hansen Medical, Inc. Apparatus for robotic instrument having variable flexibility and torque transmission
JP5154961B2 (ja) * 2008-01-29 2013-02-27 テルモ株式会社 手術システム
US8858528B2 (en) * 2008-04-23 2014-10-14 Ncontact Surgical, Inc. Articulating cannula access device

Similar Documents

Publication Publication Date Title
JP2013510661A5 (https=)
US20220152356A1 (en) Flexible instrument with nested conduits
JP7146837B2 (ja) 仮軌道および可撓性内視鏡を有する構成可能なロボット手術システム
US20250195165A1 (en) Hand-manipulated input device for robotic system
KR102313708B1 (ko) 매립된 작동 도관을 갖는 가요성 기구
Wang et al. A cable-driven soft robot surgical system for cardiothoracic endoscopic surgery: preclinical tests in animals
KR102338048B1 (ko) 그루브형 조향가능 튜브를 갖는 가요성 기구
CN114502094A (zh) 用于碰撞检测和避免的系统和方法
CN115605157A (zh) 具有传感器集成以支持远程操作和直接手动相互作用的无源和有源臂控制方案
KR20210024484A (ko) 풀리 공유를 통합한 의료 시스템
US20100331856A1 (en) Multiple flexible and steerable elongate instruments for minimally invasive operations
EP3773135A1 (en) Medical instruments with variable bending stiffness profiles
JP2015531624A5 (https=)
US20230128263A1 (en) Elongate flexible systems with articulation joint assembly
US12484983B2 (en) Drift detection of a haptic input device in a robotic surgical system
KR20230126729A (ko) 로봇 아암의 접촉 감지 및 접촉 반응의 시스템 및 방법
Trévillot et al. Innovative endoscopic sino-nasal and anterior skull base robotics
KR20230083313A (ko) 링크장치 상호작용 감지를 사용하여 수동 조작을 활성화하는 시스템 및 방법
JP7265916B2 (ja) 外科手術システム及び外科手術システムの制御方法
US20230125107A1 (en) Reduction of false positive haptic inputs in a robotic surgical system
US20230201061A1 (en) Power assisted mobility for surgical table
KR20240163121A (ko) 지원 마스터 제어에 의한 연속 원격조작
KR20240127449A (ko) 마스터-슬레이브 복강경 로봇 수술 시스템을 위한 기구 팁 진동 감쇠
CN116889430A (zh) 具有反枢转机构的器械
WO2025049727A1 (en) Conditional brake engagement to inhibit back-driving of system components