|
US10029367B2
(en)
*
|
1999-09-17 |
2018-07-24 |
Intuitive Surgical Operations, Inc. |
System and method for managing multiple null-space objectives and constraints
|
|
US9510911B2
(en)
*
|
1999-09-17 |
2016-12-06 |
Intuitive Surgical Operations, Inc. |
System and methods for managing multiple null-space objectives and SLI behaviors
|
|
US9119655B2
(en)
|
2012-08-03 |
2015-09-01 |
Stryker Corporation |
Surgical manipulator capable of controlling a surgical instrument in multiple modes
|
|
CN104349741B
(zh)
*
|
2012-06-01 |
2017-03-22 |
直观外科手术操作公司 |
手术器械操纵器方面
|
|
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
|
|
KR102668586B1
(ko)
|
2012-08-03 |
2024-05-28 |
스트리커 코포레이션 |
로봇 수술을 위한 시스템 및 방법
|
|
CN104717935B
(zh)
|
2012-08-15 |
2018-04-06 |
直观外科手术操作公司 |
利用零空间取消关节运动的系统
|
|
GB201300490D0
(en)
*
|
2013-01-11 |
2013-02-27 |
Univ Leuven Kath |
An apparatus and method for generating motion around a remote centre of motion
|
|
EP2969403B1
(en)
*
|
2013-03-15 |
2022-08-24 |
Intuitive Surgical Operations, Inc. |
System for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement
|
|
JP6423853B2
(ja)
|
2013-03-15 |
2018-11-14 |
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 |
ゼロ空間での複数の目標及びｓｌｉ動作を取り扱うシステム及び方法
|
|
JP2016512733A
(ja)
*
|
2013-03-15 |
2016-05-09 |
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 |
マニピュレータ関節動作を異方的に強調するためにゼロ空間を使用するシステム及び方法
|
|
CN105338920B
(zh)
|
2013-03-15 |
2018-01-26 |
直观外科手术操作公司 |
用于利用零空间跟踪路径的系统和方法
|
|
CN110192919B
(zh)
|
2014-03-17 |
2022-11-25 |
直观外科手术操作公司 |
用于保持工具姿态的系统和方法
|
|
EP3193768B1
(en)
*
|
2014-09-17 |
2025-12-31 |
Intuitive Surgical Operations, Inc. |
SYSTEMS FOR USING AUGMENTED JACOBIAN TO CONTROL A MANIPULATOR JOINT MOTION
|
|
EP4541305A3
(en)
|
2014-10-27 |
2025-07-30 |
Intuitive Surgical Operations, Inc. |
System and method for integrated surgical table
|
|
CN107072864B
(zh)
|
2014-10-27 |
2019-06-14 |
直观外科手术操作公司 |
用于配准到手术台的系统及方法
|
|
WO2016069650A1
(en)
|
2014-10-27 |
2016-05-06 |
Intuitive Surgical Operations, Inc. |
System and method for integrated surgical table icons
|
|
KR102655083B1
(ko)
|
2014-10-27 |
2024-04-08 |
인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 |
브레이크 해제가 능동적으로 제어되는 의료 장치
|
|
WO2016069659A1
(en)
|
2014-10-27 |
2016-05-06 |
Intuitive Surgical Operations, Inc. |
System and method for instrument disturbance compensation
|
|
EP3741345A1
(en)
|
2014-10-27 |
2020-11-25 |
Intuitive Surgical Operations, Inc. |
System for integrated surgical table motion
|
|
KR102479287B1
(ko)
|
2014-10-27 |
2022-12-20 |
인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 |
반응 운동 동안 제어점을 감시하기 위한 시스템 및 방법
|
|
DE102014118001A1
(de)
*
|
2014-12-05 |
2016-06-09 |
Broetje-Automation Gmbh |
Verfahren zur Bewegungssimulation eines Manipulators
|
|
DE102014226933B3
(de)
*
|
2014-12-23 |
2016-03-24 |
Kuka Roboter Gmbh |
Vorrichtung und Verfahren zum Aufnehmen von Positionen
|
|
DE102014226899A1
(de)
*
|
2014-12-23 |
2016-06-23 |
Siemens Healthcare Gmbh |
Verfahren zum Betreiben eines medizinisch-robotischen Geräts und ein medizinisch-robotisches Gerät
|
|
US20160202670A1
(en)
*
|
2015-01-08 |
2016-07-14 |
Northwestern University |
System and method for sequential action control for nonlinear systems
|
|
DE102015101018A1
(de)
|
2015-01-23 |
2016-07-28 |
MAQUET GmbH |
Vorrichtung zum Halten und Bewegen eines Laparoskops während einer Operation
|
|
JP5975129B1
(ja)
|
2015-03-02 |
2016-08-23 |
株式会社安川電機 |
ロボット
|
|
US9949749B2
(en)
|
2015-10-30 |
2018-04-24 |
Auris Surgical Robotics, Inc. |
Object capture with a basket
|
|
US9955986B2
(en)
|
2015-10-30 |
2018-05-01 |
Auris Surgical Robotics, Inc. |
Basket apparatus
|
|
US10231793B2
(en)
|
2015-10-30 |
2019-03-19 |
Auris Health, Inc. |
Object removal through a percutaneous suction tube
|
|
KR102584754B1
(ko)
|
2015-11-11 |
2023-10-05 |
마코 서지컬 코포레이션 |
로봇식 시스템 및 그를 역구동하는 방법
|
|
US10525233B2
(en)
|
2015-12-04 |
2020-01-07 |
Project Moray, Inc. |
Input and articulation system for catheters and other uses
|
|
JP6673684B2
(ja)
*
|
2015-12-11 |
2020-03-25 |
株式会社メディカロイド |
遠隔操作装置及び遠隔手術システム
|
|
CN108348298B
(zh)
*
|
2016-01-21 |
2021-05-14 |
奥林巴斯株式会社 |
医疗用机械手系统
|
|
CN105832417B
(zh)
*
|
2016-01-22 |
2018-10-30 |
中国科学院重庆绿色智能技术研究院 |
一种微创手术机器人机械臂rcm机构
|
|
US10717194B2
(en)
|
2016-02-26 |
2020-07-21 |
Intuitive Surgical Operations, Inc. |
System and method for collision avoidance using virtual boundaries
|
|
JP6857649B2
(ja)
*
|
2016-04-15 |
2021-04-14 |
川崎重工業株式会社 |
外科手術システムの制御方法および外科手術システム
|
|
US10065311B1
(en)
*
|
2016-06-08 |
2018-09-04 |
X Development Llc |
Singularity handling for robot jogging
|
|
KR102735980B1
(ko)
*
|
2016-06-09 |
2024-12-02 |
인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 |
컴퓨터 보조 원격 조작 수술 시스템 및 방법
|
|
EP3478213A4
(en)
|
2016-07-01 |
2020-02-19 |
Intuitive Surgical Operations Inc. |
COMPUTER-AIDED MEDICAL SYSTEMS AND METHODS
|
|
EP3484400A4
(en)
*
|
2016-07-14 |
2020-04-01 |
Intuitive Surgical Operations Inc. |
IDENTIFICATION OF INSTRUMENTS ON A SCREEN IN A TELEOPERATIONAL MEDICAL SYSTEM.
|
|
US10531929B2
(en)
*
|
2016-08-16 |
2020-01-14 |
Ethicon Llc |
Control of robotic arm motion based on sensed load on cutting tool
|
|
US10709511B2
(en)
|
2016-08-16 |
2020-07-14 |
Ethicon Llc |
Control of jaw or clamp arm closure in concert with advancement of device
|
|
US10390895B2
(en)
|
2016-08-16 |
2019-08-27 |
Ethicon Llc |
Control of advancement rate and application force based on measured forces
|
|
CN106584445B
(zh)
*
|
2016-12-16 |
2018-12-25 |
微创（上海）医疗机器人有限公司 |
不动点机构
|
|
US10251716B2
(en)
*
|
2016-12-19 |
2019-04-09 |
Ethicon Llc |
Robotic surgical system with selective motion control decoupling
|
|
DE102017102621B3
(de)
*
|
2017-02-09 |
2018-05-09 |
Franka Emika Gmbh |
Roboter
|
|
EP3443908B1
(de)
*
|
2017-08-15 |
2021-01-06 |
Siemens Healthcare GmbH |
Verfahren zum betreiben eines röntgengeräts mit einem gelenkarm und röntgengerät mit einem gelenkarm
|
|
PL422866A1
(pl)
*
|
2017-09-15 |
2019-03-25 |
Przemysłowy Instytut Automatyki i Pomiarów PIAP |
Ramię manipulatora zwłaszcza pirotechnicznego
|
|
US11259880B1
(en)
*
|
2018-01-25 |
2022-03-01 |
Integrity Implants Inc. |
Guiding the trajectory of a second surgical device
|
|
CN108272509B
(zh)
*
|
2018-02-08 |
2023-05-02 |
哈尔滨工业大学深圳研究生院 |
一种悬吊式多操作臂系统
|
|
US10881472B2
(en)
|
2018-02-20 |
2021-01-05 |
Verb Surgical Inc. |
Correcting a robotic surgery user interface device tracking input
|
|
JP7208752B2
(ja)
*
|
2018-09-26 |
2023-01-19 |
ソニー・オリンパスメディカルソリューションズ株式会社 |
医療用観察システム、医療用観察装置、および制御方法
|
|
CN111249007B
(zh)
*
|
2018-11-30 |
2021-09-07 |
上海微创医疗机器人（集团）股份有限公司 |
医疗机器人及其用于夹持医疗器械的机械臂
|
|
WO2020172394A1
(en)
|
2019-02-22 |
2020-08-27 |
Auris Health, Inc. |
Surgical platform with motorized arms for adjustable arm supports
|
|
JP7547395B2
(ja)
*
|
2019-06-24 |
2024-09-09 |
ヴィカリアス・サージカル・インコーポレイテッド |
ロボットアセンブリ用の装置および方法
|
|
CN114126529B
(zh)
|
2019-06-25 |
2026-03-27 |
奥瑞斯健康公司 |
包括具有混合重定向表面的腕部的医疗器械
|
|
WO2020263629A1
(en)
|
2019-06-27 |
2020-12-30 |
Auris Health, Inc. |
Systems and methods for a medical clip applier
|
|
US11109928B2
(en)
|
2019-06-28 |
2021-09-07 |
Auris Health, Inc. |
Medical instruments including wrists with hybrid redirect surfaces
|
|
US11154985B1
(en)
|
2019-07-02 |
2021-10-26 |
X Development Llc |
Null space jog control for robotic arm
|
|
US11896330B2
(en)
|
2019-08-15 |
2024-02-13 |
Auris Health, Inc. |
Robotic medical system having multiple medical instruments
|
|
US12324645B2
(en)
|
2019-09-26 |
2025-06-10 |
Auris Health, Inc. |
Systems and methods for collision avoidance using object models
|
|
EP4034349A1
(en)
|
2019-09-26 |
2022-08-03 |
Auris Health, Inc. |
Systems and methods for collision detection and avoidance
|
|
US11737845B2
(en)
|
2019-09-30 |
2023-08-29 |
Auris Inc. |
Medical instrument with a capstan
|
|
AU2020357877B2
(en)
*
|
2019-10-01 |
2026-03-26 |
Mako Surgical Corp. |
Surgical systems for guiding robotic manipulators
|
|
US11737835B2
(en)
|
2019-10-29 |
2023-08-29 |
Auris Health, Inc. |
Braid-reinforced insulation sheath
|
|
US12357409B2
(en)
|
2019-11-21 |
2025-07-15 |
Auris Health, Inc. |
Systems and methods for draping a surgical system
|
|
CN113119096B
(zh)
*
|
2019-12-30 |
2022-10-28 |
深圳市优必选科技股份有限公司 |
机械臂空间位置调整方法、装置、机械臂及存储介质
|
|
WO2021137104A1
(en)
|
2019-12-31 |
2021-07-08 |
Auris Health, Inc. |
Dynamic pulley system
|
|
KR20220123269A
(ko)
|
2019-12-31 |
2022-09-06 |
아우리스 헬스, 인코포레이티드 |
고급 바스켓 구동 모드
|
|
GB2624133B
(en)
*
|
2020-02-25 |
2024-12-25 |
Cmr Surgical Ltd |
Controlling movement of a surgical robot arm
|
|
EP4125686A4
(en)
*
|
2020-03-26 |
2024-07-17 |
Auris Health, Inc. |
SYSTEMS AND METHODS FOR CONTROLLING CONSTRAINED MOVEMENT OF MEDICAL INSTRUMENTS
|
|
US12370002B2
(en)
|
2020-03-30 |
2025-07-29 |
Auris Health, Inc. |
Workspace optimization for robotic surgery
|
|
EP4125687A4
(en)
*
|
2020-03-31 |
2024-08-14 |
Auris Health, Inc. |
PASSIVE AND ACTIVE ARM CONTROL SCHEMES WITH SENSOR INTEGRATION TO SUPPORT TELEOPERATION AND DIRECT MANUAL INTERACTION
|
|
CN115802975A
(zh)
|
2020-06-29 |
2023-03-14 |
奥瑞斯健康公司 |
用于检测连杆与外部对象之间的接触的系统和方法
|
|
US11357586B2
(en)
|
2020-06-30 |
2022-06-14 |
Auris Health, Inc. |
Systems and methods for saturated robotic movement
|
|
CN115734765A
(zh)
|
2020-06-30 |
2023-03-03 |
奥瑞斯健康公司 |
具有碰撞接近度指示器的机器人医疗系统
|
|
CN113967075B
(zh)
*
|
2020-07-23 |
2025-11-18 |
北京术锐机器人股份有限公司 |
一种具有多关节定位机械臂的手术机器人系统
|
|
US20220096169A1
(en)
*
|
2020-09-29 |
2022-03-31 |
Carnegie Mellon University |
Tracking of instrument motions using an inertial measurement system
|
|
US12017369B2
(en)
*
|
2020-10-05 |
2024-06-25 |
Verb Surgical Inc. |
Null space control for end effector joints of a robotic instrument
|
|
CN112276953B
(zh)
*
|
2020-10-27 |
2021-12-28 |
清华大学深圳国际研究生院 |
连续型超冗余机械臂的臂型协同规划方法、终端设备和存储介质
|
|
CN112706165A
(zh)
*
|
2020-12-22 |
2021-04-27 |
中山大学 |
一种面向轮式移动机械臂的跟踪控制方法及系统
|
|
EP4271311A4
(en)
*
|
2020-12-30 |
2024-12-11 |
Auris Health, Inc. |
SYSTEMS AND METHODS FOR CONTACT DETECTION AND CONTACT REACTION OF ROBOT ARMS
|
|
IT202100003431A1
(it)
*
|
2021-02-16 |
2022-08-16 |
Medical Microinstruments Inc |
Metodo per controllare una teleoperazione limitata, su un sottoinsieme di gradi libertà, di un sistema robotico di tipo master-slave per teleoperazione medica o chirurgica
|
|
US12558176B2
(en)
*
|
2021-04-12 |
2026-02-24 |
Intuitive Surgical Operations, Inc. |
Controlled resistance in backdrivable joints
|
|
KR20240085099A
(ko)
*
|
2021-10-22 |
2024-06-14 |
주식회사 리브스메드 |
수술용 로봇 암
|
|
US12076857B2
(en)
*
|
2021-11-10 |
2024-09-03 |
Robotic Technologies Of Tennessee, Llc |
Method for precise, intuitive positioning of robotic welding machine
|
|
CN114098952A
(zh)
*
|
2021-11-11 |
2022-03-01 |
深圳市精锋医疗科技股份有限公司 |
机械臂、从操作设备以及手术机器人
|
|
CN114098954B
(zh)
*
|
2021-11-11 |
2023-06-16 |
深圳市精锋医疗科技股份有限公司 |
机械臂、从操作设备、手术机器人
|
|
CN114176790B
(zh)
*
|
2021-12-13 |
2023-07-18 |
佗道医疗科技有限公司 |
一种主从式机器人的离合控制方法
|
|
CN115475014B
(zh)
*
|
2022-10-21 |
2024-10-29 |
苏州心锐医疗科技有限公司 |
一种用于多自由度外科手术器械的锁定机构
|
|
CN115816158B
(zh)
*
|
2023-02-16 |
2023-04-25 |
成都大金航太科技股份有限公司 |
任意角转接加工控制系统及复杂零件非标角转接加工方法
|
|
CN119498974B
(zh)
*
|
2023-08-24 |
2026-03-10 |
上海微创医疗机器人（集团）股份有限公司 |
控制方法及机器人系统
|
|
WO2025099597A1
(en)
*
|
2023-11-06 |
2025-05-15 |
Auris Health, Inc. |
Intraoperative excessive body wall force detection and mitigation
|
|
WO2025101815A1
(en)
*
|
2023-11-09 |
2025-05-15 |
The Regents Of The University Of California |
Intraocular robotic surgical system
|
|
JP2025152924A
(ja)
*
|
2024-03-28 |
2025-10-10 |
川崎重工業株式会社 |
ポート配置決定装置、手術ロボットシステムおよびその制御方法
|
|
CN119632687B
(zh)
*
|
2025-02-20 |
2025-05-30 |
杭州唯精医疗机器人有限公司 |
手术机器人的操纵杆零位标定方法及相关装置
|