JP2016518878A5 - - Google Patents

Download PDF

Info

Publication number
JP2016518878A5
JP2016518878A5 JP2016502601A JP2016502601A JP2016518878A5 JP 2016518878 A5 JP2016518878 A5 JP 2016518878A5 JP 2016502601 A JP2016502601 A JP 2016502601A JP 2016502601 A JP2016502601 A JP 2016502601A JP 2016518878 A5 JP2016518878 A5 JP 2016518878A5
Authority
JP
Japan
Prior art keywords
manipulator
tool
mapping
controller
imaging device
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
JP2016502601A
Other languages
English (en)
Japanese (ja)
Other versions
JP2016518878A (ja
JP6433481B2 (ja
Filing date
Publication date
Application filed filed Critical
Priority claimed from PCT/US2014/031044 external-priority patent/WO2014146090A1/en
Publication of JP2016518878A publication Critical patent/JP2016518878A/ja
Publication of JP2016518878A5 publication Critical patent/JP2016518878A5/ja
Application granted granted Critical
Publication of JP6433481B2 publication Critical patent/JP6433481B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

JP2016502601A 2013-03-15 2014-03-18 ロボット手術システム内のツールの相互使用可能な切換え Active JP6433481B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361793227P 2013-03-15 2013-03-15
US61/793,227 2013-03-15
PCT/US2014/031044 WO2014146090A1 (en) 2013-03-15 2014-03-18 Inter-operative switching of tools in a robotic surgical system

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2018208816A Division JP6782750B2 (ja) 2013-03-15 2018-11-06 ロボット手術システム内のツールの相互使用可能な切換え

Publications (3)

Publication Number Publication Date
JP2016518878A JP2016518878A (ja) 2016-06-30
JP2016518878A5 true JP2016518878A5 (OSRAM) 2017-04-13
JP6433481B2 JP6433481B2 (ja) 2018-12-05

Family

ID=51531011

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2016502601A Active JP6433481B2 (ja) 2013-03-15 2014-03-18 ロボット手術システム内のツールの相互使用可能な切換え
JP2018208816A Active JP6782750B2 (ja) 2013-03-15 2018-11-06 ロボット手術システム内のツールの相互使用可能な切換え

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2018208816A Active JP6782750B2 (ja) 2013-03-15 2018-11-06 ロボット手術システム内のツールの相互使用可能な切換え

Country Status (6)

Country Link
US (8) US9504527B2 (OSRAM)
EP (3) EP2969409B1 (OSRAM)
JP (2) JP6433481B2 (OSRAM)
KR (3) KR102422496B1 (OSRAM)
CN (1) CN105050528B (OSRAM)
WO (1) WO2014146090A1 (OSRAM)

Families Citing this family (98)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10893912B2 (en) * 2006-02-16 2021-01-19 Globus Medical Inc. Surgical tool systems and methods
US9782229B2 (en) * 2007-02-16 2017-10-10 Globus Medical, Inc. Surgical robot platform
US12402960B2 (en) 2010-10-11 2025-09-02 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
US10092359B2 (en) 2010-10-11 2018-10-09 Ecole Polytechnique Federale De Lausanne Mechanical manipulator for surgical instruments
CA2841459C (en) 2011-07-11 2020-07-28 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
JP5715304B2 (ja) 2011-07-27 2015-05-07 エコール ポリテクニーク フェデラル デ ローザンヌ （イーピーエフエル） 遠隔操作のための機械的遠隔操作装置
EP3730031A1 (en) 2011-10-03 2020-10-28 Board of Regents of the University of Nebraska Robotic surgical devices and systems
WO2014011238A2 (en) 2012-05-01 2014-01-16 Board Of Regents Of The University Of Nebraska Single site robotic device and related systems and methods
US20170258535A1 (en) * 2012-06-21 2017-09-14 Globus Medical, Inc. Surgical robotic automation with tracking markers
US12295680B2 (en) 2012-08-08 2025-05-13 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
WO2014025399A1 (en) 2012-08-08 2014-02-13 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US9888966B2 (en) 2013-03-14 2018-02-13 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
EP2969404B1 (en) * 2013-03-15 2021-08-11 Intuitive Surgical Operations, Inc. Systems for using the null space to emphasize anipulator joint motion anisotropically
CN105050528B (zh) 2013-03-15 2019-04-19 直观外科手术操作公司 机器人外科手术系统中工具的手术中转换
US10966700B2 (en) 2013-07-17 2021-04-06 Virtual Incision Corporation Robotic surgical devices, systems and related methods
EP3102139B1 (en) 2014-02-03 2018-06-13 DistalMotion SA Mechanical teleoperated device comprising an interchangeable distal instrument
US9949783B2 (en) * 2014-04-04 2018-04-24 Covidien Lp Systems and methods for optimizing emissions from simultaneous activation of electrosurgery generators
JP6218681B2 (ja) * 2014-06-17 2017-10-25 オリンパス株式会社 医療システムの設定方法
EP3185808B1 (en) 2014-08-27 2022-02-23 DistalMotion SA Surgical system for microsurgical techniques
EP4286104A3 (en) 2014-11-11 2024-02-14 Board of Regents of the University of Nebraska Robotic device with compact joint design and related systems and methods
CN107107343B (zh) 2014-12-11 2020-04-10 提坦医疗公司 用于操纵工具的致动器和驱动器
WO2016097868A1 (en) 2014-12-19 2016-06-23 Distalmotion Sa Reusable surgical instrument for minimally invasive procedures
EP4289385A3 (en) 2014-12-19 2024-03-27 DistalMotion SA Surgical instrument with articulated end-effector
EP3232973B1 (en) 2014-12-19 2020-04-01 DistalMotion SA Sterile interface for articulated surgical instruments
WO2016097873A2 (en) 2014-12-19 2016-06-23 Distalmotion Sa Articulated handle for mechanical telemanipulator
US10864049B2 (en) 2014-12-19 2020-12-15 Distalmotion Sa Docking system for mechanical telemanipulator
WO2016162752A1 (en) * 2015-04-09 2016-10-13 Distalmotion Sa Mechanical teleoperated device for remote manipulation
WO2016162751A1 (en) 2015-04-09 2016-10-13 Distalmotion Sa Articulated hand-held instrument
JP7148242B2 (ja) 2015-07-09 2022-10-05 川崎重工業株式会社 手術用ロボット
CN114027986B (zh) 2015-08-03 2024-06-14 内布拉斯加大学董事会 机器人手术装置系统及相关方法
EP4545034A3 (en) 2015-08-28 2025-07-09 Distalmotion SA Surgical instrument with increased actuation force
US10265863B2 (en) * 2015-09-09 2019-04-23 Carbon Robotics, Inc. Reconfigurable robotic system and methods
DE102016116702B4 (de) * 2015-09-14 2019-01-24 Fanuc Corporation Messsystem zum Kalibrieren der mechanischen Parameter eines Roboters
KR102543212B1 (ko) * 2015-10-26 2023-06-14 (주)한화 로봇 제어 시스템 및 방법
US10219871B2 (en) * 2015-11-23 2019-03-05 Alireza Mirbagheri Robotic system for tele-surgery
WO2017123329A1 (en) * 2016-01-15 2017-07-20 Solomon David Belu Novel vessel systems and methods relating thereto
JP6831642B2 (ja) * 2016-04-15 2021-02-17 川崎重工業株式会社 外科手術システム
US10384353B2 (en) 2016-05-16 2019-08-20 Kurion, Inc. System and method for a robotic manipulator system
JP7176757B2 (ja) * 2016-05-18 2022-11-22 バーチャル インシジョン コーポレイション ロボット手術装置、システム及び関連する方法
WO2017210497A1 (en) * 2016-06-03 2017-12-07 Covidien Lp Systems, methods, and computer-readable program products for controlling a robotically delivered manipulator
CN109475388B (zh) * 2016-07-01 2021-11-16 直观外科手术操作公司 计算机辅助的医疗系统和方法
CN106137398A (zh) * 2016-07-29 2016-11-23 苏州高通机械科技有限公司 一种脊柱手术用机械手
EP3507065B1 (en) 2016-08-30 2025-02-12 Board of Regents of the University of Nebraska Robotic device with compact joint design and an additional degree of freedom
WO2018069834A1 (en) * 2016-10-10 2018-04-19 Generic Robotics Limited A simulator for manual tasks
CN106530924B (zh) * 2016-10-26 2019-02-01 天津工业大学 一种具有重力补偿功能的5维力反馈触感装置
EP3538010A4 (en) 2016-11-11 2020-07-22 Intuitive Surgical Operations Inc. REMOTE-CONTROLLED SURGICAL SYSTEM FOR MONITORING SURGICAL INSTRUMENT WEAR
GB2552855B (en) * 2017-01-31 2019-02-13 Cmr Surgical Ltd Surgical instrument engagement detection
CN116237971A (zh) * 2017-04-07 2023-06-09 睿信科机器人股份有限公司 用于工具适配器板的快速松脱机构和配置其的机器人
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same
WO2019212583A2 (en) * 2017-08-04 2019-11-07 Intuitive Surgical Operations, Inc. Computer-assisted tele-operated surgery systems and methods
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
FR3072559B1 (fr) * 2017-10-24 2023-03-24 Spineguard Systeme medical comprenant un bras robotise et un dispositif medical destine a penetrer dans une structure anatomique
CN116370080B (zh) 2017-11-10 2025-11-21 直观外科手术操作公司 用于控制机器人操纵器或相关工具的系统和方法
CN111356413B (zh) 2017-12-14 2024-04-12 直观外科手术操作公司 具有张力带的医疗工具
CA3087094A1 (en) 2017-12-28 2019-07-04 Orbsurgical Ltd. Microsurgery-specific haptic hand controller
WO2019136360A1 (en) 2018-01-05 2019-07-11 Board Of Regents Of The University Of Nebraska Single-arm robotic device with compact joint design and related systems and methods
AU2019218707B2 (en) 2018-02-07 2024-10-24 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US12376927B2 (en) 2018-02-07 2025-08-05 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
WO2019159361A1 (ja) 2018-02-19 2019-08-22 オリンパス株式会社 医療システム
US11071441B2 (en) 2018-04-20 2021-07-27 Verb Surgical Inc. Surgical robotic tool multi-motor actuator and controller
US12042238B2 (en) * 2018-08-02 2024-07-23 Intuitive Surgical Operations, Inc. Computer-assisted tele-operated surgery systems and methods
WO2020079596A1 (en) 2018-10-15 2020-04-23 Mazor Robotics Ltd. Versatile multi-arm robotic surgical system
CN112384339B (zh) * 2018-10-22 2024-05-14 直观外科手术操作公司 用于主机/工具配准和控制以进行直观运动的系统和方法
US11589935B2 (en) 2018-12-26 2023-02-28 Kawasaki Jukogyo Kabushiki Kaisha Operation device for surgical manipulator and robotically-assisted surgical system
CN113993474A (zh) * 2018-12-28 2022-01-28 艾科缇弗外科公司 在微创手术中优化可达性、工作空间和灵巧性的系统和方法
US11903658B2 (en) 2019-01-07 2024-02-20 Virtual Incision Corporation Robotically assisted surgical system and related devices and methods
EP3920821A4 (en) * 2019-02-06 2023-01-11 Covidien LP HAND-EYE COORDINATION SYSTEM FOR A ROBOT SURGICAL SYSTEM
US20200269437A1 (en) * 2019-02-21 2020-08-27 Abb Schweiz Ag Processing module for a robot
CN113453642B (zh) 2019-02-22 2025-06-03 奥瑞斯健康公司 具有用于可调式臂支撑件的机动臂的外科平台
US12128566B2 (en) 2019-03-12 2024-10-29 Intuitive Surgical Operations, Inc. Guided tool change
CN109806004A (zh) * 2019-03-18 2019-05-28 汪俊霞 一种基于云数据技术的手术机器人系统及操作方法
US12295686B2 (en) * 2019-04-15 2025-05-13 Covidien Lp System and method for robotic cart arm assembly identification
US11123146B2 (en) 2019-05-30 2021-09-21 Titan Medical Inc. Surgical instrument apparatus, actuator, and drive
CN110811837B (zh) * 2019-09-25 2021-06-01 中奕智创医疗科技有限公司 机器人及多电机自适应控制系统、方法、装置、存储介质
CN110947999B (zh) * 2019-12-30 2020-10-27 宁波铂汉科技有限公司 一种通用机械配件加工用钻孔装置
CN114055458B (zh) * 2020-08-10 2025-03-11 东莞市李群自动化技术有限公司 一种机器人
US12274525B2 (en) 2020-09-29 2025-04-15 Mazor Robotics Ltd. Systems and methods for tracking anatomical motion
US12465441B2 (en) 2021-02-01 2025-11-11 Mazor Robotics Ltd. Multi-arm robotic systems and methods for identifying a target
WO2022184071A1 (zh) * 2021-03-02 2022-09-09 上海微创医疗机器人（集团）股份有限公司 机械臂、手术装置、手术末端装置、手术系统及工作方法
US12178418B2 (en) 2021-03-31 2024-12-31 Moon Surgical Sas Co-manipulation surgical system having a coupling mechanism removeably attachable to surgical instruments
US11819302B2 (en) 2021-03-31 2023-11-21 Moon Surgical Sas Co-manipulation surgical system having user guided stage control
US12042241B2 (en) 2021-03-31 2024-07-23 Moon Surgical Sas Co-manipulation surgical system having automated preset robot arm configurations
US11812938B2 (en) 2021-03-31 2023-11-14 Moon Surgical Sas Co-manipulation surgical system having a coupling mechanism removeably attachable to surgical instruments
US12167900B2 (en) 2021-03-31 2024-12-17 Moon Surgical Sas Co-manipulation surgical system having automated preset robot arm configurations
EP4635445A2 (en) 2021-03-31 2025-10-22 Moon Surgical SAS Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery
US11832909B2 (en) 2021-03-31 2023-12-05 Moon Surgical Sas Co-manipulation surgical system having actuatable setup joints
US11844583B2 (en) 2021-03-31 2023-12-19 Moon Surgical Sas Co-manipulation surgical system having an instrument centering mode for automatic scope movements
US12076099B2 (en) * 2021-07-06 2024-09-03 Verb Surgical Inc. Projection operator for inverse kinematics of a surgical robot for low degree of freedom tools
EP4401666A1 (en) 2021-09-13 2024-07-24 DistalMotion SA Instruments for surgical robotic system and interfaces for the same
US12447631B2 (en) 2021-09-13 2025-10-21 Osaro Automated robotic tool selection
US12458367B2 (en) 2021-09-28 2025-11-04 Spineguard Universal adapter for handheld surgical systems
US12472633B2 (en) * 2021-11-30 2025-11-18 Desarrollo De Máquinas Y Soluciones Automáticas S.L. (Desmasa) Mechanical grapple for high-pressure processing containers and method for handling high-pressure processing containers using said mechanical grapple
KR102898408B1 (ko) * 2022-12-23 2025-12-11 (주)미래컴퍼니 로봇 수술 시스템에서 수술 기구의 제어에 보조 입력 장치를 할당하는 방법 및 그 로봇 수술 시스템
US11832910B1 (en) 2023-01-09 2023-12-05 Moon Surgical Sas Co-manipulation surgical system having adaptive gravity compensation
US12370001B2 (en) 2023-01-09 2025-07-29 Moon Surgical Sas Co-manipulation surgical system having automated user override detection
US11986165B1 (en) 2023-01-09 2024-05-21 Moon Surgical Sas Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery while estimating hold force
US11844585B1 (en) 2023-02-10 2023-12-19 Distalmotion Sa Surgical robotics systems and devices having a sterile restart, and methods thereof
US12353374B1 (en) 2024-01-08 2025-07-08 Oracle International Corporation Managing changes to standard objects using custom views

Family Cites Families (87)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4636137A (en) * 1980-10-24 1987-01-13 Lemelson Jerome H Tool and material manipulation apparatus and method
US4604787A (en) * 1984-08-15 1986-08-12 Transamerica Delaval Inc. Tool changer for manipulator arm
US5279309A (en) 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
US5184601A (en) 1991-08-05 1993-02-09 Putman John M Endoscope stabilizer
WO1993013916A1 (en) 1992-01-21 1993-07-22 Sri International Teleoperator system and method with telepresence
JPH06143161A (ja) * 1992-10-29 1994-05-24 Kobe Steel Ltd マニピュレータの制御方法及びその装置
WO1994026167A1 (en) 1993-05-14 1994-11-24 Sri International Remote center positioner
US6406472B1 (en) 1993-05-14 2002-06-18 Sri International, Inc. Remote center positioner
US6120433A (en) * 1994-09-01 2000-09-19 Olympus Optical Co., Ltd. Surgical manipulator system
US5855583A (en) 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US6699177B1 (en) 1996-02-20 2004-03-02 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US6786896B1 (en) 1997-09-19 2004-09-07 Massachusetts Institute Of Technology Robotic apparatus
US6010232A (en) 1996-05-29 2000-01-04 Chen; Franks Lamp holder assembly
US5799028A (en) 1996-07-18 1998-08-25 Sdl, Inc. Passivation and protection of a semiconductor surface
US6364888B1 (en) 1996-09-09 2002-04-02 Intuitive Surgical, Inc. Alignment of master and slave in a minimally invasive surgical apparatus
US6331181B1 (en) * 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US6434507B1 (en) * 1997-09-05 2002-08-13 Surgical Navigation Technologies, Inc. Medical instrument and method for use with computer-assisted image guided surgery
US6714839B2 (en) 1998-12-08 2004-03-30 Intuitive Surgical, Inc. Master having redundant degrees of freedom
AU5391999A (en) 1998-08-04 2000-02-28 Intuitive Surgical, Inc. Manipulator positioning linkage for robotic surgery
US6659939B2 (en) * 1998-11-20 2003-12-09 Intuitive Surgical, Inc. Cooperative minimally invasive telesurgical system
US6522906B1 (en) * 1998-12-08 2003-02-18 Intuitive Surgical, Inc. Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure
US6799065B1 (en) * 1998-12-08 2004-09-28 Intuitive Surgical, Inc. Image shifting apparatus and method for a telerobotic system
US6424885B1 (en) * 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US6793652B1 (en) * 1999-06-02 2004-09-21 Power Medical Interventions, Inc. Electro-mechanical surgical device
US8768516B2 (en) 2009-06-30 2014-07-01 Intuitive Surgical Operations, Inc. Control of medical robotic system manipulator about kinematic singularities
US8004229B2 (en) 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
US8271130B2 (en) 2009-03-09 2012-09-18 Intuitive Surgical Operations, Inc. Master controller having redundant degrees of freedom and added forces to create internal motion
US9517106B2 (en) 1999-09-17 2016-12-13 Intuitive Surgical Operations, Inc. Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space
US7594912B2 (en) 2004-09-30 2009-09-29 Intuitive Surgical, Inc. Offset remote center manipulator for robotic surgery
US6702805B1 (en) 1999-11-12 2004-03-09 Microdexterity Systems, Inc. Manipulator
US6645196B1 (en) * 2000-06-16 2003-11-11 Intuitive Surgical, Inc. Guided tool change
WO2002062199A2 (en) 2001-01-16 2002-08-15 Microdexterity Systems, Inc. Surgical manipulator
US6740058B2 (en) * 2001-06-08 2004-05-25 Wisconsin Alumni Research Foundation Surgical tool with integrated pressure and flow sensors
US20060178556A1 (en) * 2001-06-29 2006-08-10 Intuitive Surgical, Inc. Articulate and swapable endoscope for a surgical robot
JP3912584B2 (ja) * 2001-12-20 2007-05-09 株式会社安川電機 遠隔操作装置
JP3766805B2 (ja) * 2002-03-15 2006-04-19 株式会社日立製作所 手術支援装置
JP2004208922A (ja) * 2002-12-27 2004-07-29 Olympus Corp 医療装置及び医療用マニピュレータ並びに医療装置の制御方法
WO2004106009A1 (ja) * 2003-06-02 2004-12-09 Matsushita Electric Industrial Co., Ltd. 物品操作システムおよび方法、並びに物品管理システムおよび方法
US8057482B2 (en) * 2003-06-09 2011-11-15 OrthAlign, Inc. Surgical orientation device and method
US7883458B2 (en) * 2003-06-27 2011-02-08 Stryker Corporation System for remotely controlling two or more medical devices
US9002518B2 (en) * 2003-06-30 2015-04-07 Intuitive Surgical Operations, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
US7379790B2 (en) 2004-05-04 2008-05-27 Intuitive Surgical, Inc. Tool memory-based software upgrades for robotic surgery
US7837674B2 (en) 2005-01-24 2010-11-23 Intuitive Surgical Operations, Inc. Compact counter balance for robotic surgical systems
US10555775B2 (en) * 2005-05-16 2020-02-11 Intuitive Surgical Operations, Inc. Methods and system for performing 3-D tool tracking by fusion of sensor and/or camera derived data during minimally invasive robotic surgery
DE102005045362B4 (de) * 2005-09-22 2012-03-22 Siemens Ag Vorrichtung zur Positionsbestimmung eines medizinischen Instruments, dazugehörige bildgebende Untersuchungseinrichtung nebst dazugehörigem Verfahren
US8079950B2 (en) * 2005-09-29 2011-12-20 Intuitive Surgical Operations, Inc. Autofocus and/or autoscaling in telesurgery
US20070078466A1 (en) * 2005-09-30 2007-04-05 Restoration Robotics, Inc. Methods for harvesting follicular units using an automated system
US7962192B2 (en) * 2005-09-30 2011-06-14 Restoration Robotics, Inc. Systems and methods for aligning a tool with a desired location or object
US20070140821A1 (en) * 2005-12-19 2007-06-21 Betzalel Robotics, Llc Autonomous load/unload robot
JP4744595B2 (ja) * 2006-02-27 2011-08-10 オリンパスメディカルシステムズ株式会社 内視鏡外科手術器具
US20070255741A1 (en) * 2006-04-28 2007-11-01 Business Objects, S.A. Apparatus and method for merging metadata within a repository
CN101500470B (zh) * 2006-06-13 2015-03-25 直观外科手术操作公司 微创手术系统
US8784435B2 (en) 2006-06-13 2014-07-22 Intuitive Surgical Operations, Inc. Surgical system entry guide
KR20090051029A (ko) * 2006-06-14 2009-05-20 맥도널드 디트윌러 앤드 어소시에이츠 인코포레이티드 직각풀리 구동기구를 갖는 수술조종장치
US9718190B2 (en) * 2006-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
US20080108871A1 (en) 2006-11-06 2008-05-08 Mohr Catherine J Vacuum stabilized overtube for endoscopic surgery
WO2008083079A2 (en) * 2006-12-27 2008-07-10 Mako Surgical Corp. Apparatus and method for providing an adjustable positive stop in space
US9179984B2 (en) * 2007-02-19 2015-11-10 Medtronic Navigation, Inc. Multi-configuration tracking array and related method
US8444631B2 (en) * 2007-06-14 2013-05-21 Macdonald Dettwiler & Associates Inc Surgical manipulator
US20090076476A1 (en) * 2007-08-15 2009-03-19 Hansen Medical, Inc. Systems and methods employing force sensing for mapping intra-body tissue
US8864652B2 (en) 2008-06-27 2014-10-21 Intuitive Surgical Operations, Inc. Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip
WO2010044852A2 (en) * 2008-10-14 2010-04-22 University Of Florida Research Foundation, Inc. Imaging platform to provide integrated navigation capabilities for surgical guidance
KR101038417B1 (ko) * 2009-02-11 2011-06-01 주식회사 이턴 수술 로봇 시스템 및 그 제어 방법
CA2897462A1 (en) * 2009-02-11 2010-05-04 Certusview Technologies, Llc Management system, and associated methods and apparatus, for providing automatic assessment of a locate operation
US8423182B2 (en) * 2009-03-09 2013-04-16 Intuitive Surgical Operations, Inc. Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems
US8918207B2 (en) * 2009-03-09 2014-12-23 Intuitive Surgical Operations, Inc. Operator input device for a robotic surgical system
WO2011041638A2 (en) * 2009-10-02 2011-04-07 Cardiofocus, Inc. Cardiac ablation system with automatic safety shut-off feature
US20110295248A1 (en) * 2010-05-28 2011-12-01 Hansen Medical, Inc. System and method for automated minimally invasive instrument command
US8460236B2 (en) * 2010-06-24 2013-06-11 Hansen Medical, Inc. Fiber optic instrument sensing system
US8672837B2 (en) * 2010-06-24 2014-03-18 Hansen Medical, Inc. Methods and devices for controlling a shapeable medical device
KR101854707B1 (ko) 2010-11-15 2018-05-04 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술 기구에서 기구 샤프트 감김과 단부 작동기 작동의 해제
JP2012171088A (ja) * 2011-02-24 2012-09-10 Olympus Corp マスタ操作入力装置及びマスタスレーブマニピュレータ
US9259289B2 (en) * 2011-05-13 2016-02-16 Intuitive Surgical Operations, Inc. Estimation of a position and orientation of a frame used in controlling movement of a tool
JP6143161B2 (ja) 2012-03-30 2017-06-07 日東電工株式会社 表示装置
US9615728B2 (en) * 2012-06-27 2017-04-11 Camplex, Inc. Surgical visualization system with camera tracking
US9642606B2 (en) * 2012-06-27 2017-05-09 Camplex, Inc. Surgical visualization system
WO2014028557A1 (en) 2012-08-15 2014-02-20 Intuitive Surgical Operations, Inc. Phantom degrees of freedom for manipulating the movement of mechanical bodies
US9259282B2 (en) * 2012-12-10 2016-02-16 Intuitive Surgical Operations, Inc. Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms
CN105050528B (zh) 2013-03-15 2019-04-19 直观外科手术操作公司 机器人外科手术系统中工具的手术中转换
KR102218243B1 (ko) * 2013-03-15 2021-02-22 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 소프트웨어 구성가능한 매니퓰레이터 자유도
US9326702B2 (en) * 2013-03-15 2016-05-03 Mediguide Ltd. Medical device navigation system
CN107040709A (zh) * 2015-11-12 2017-08-11 精工爱普生株式会社 图像处理装置、机器人系统、机器人以及图像处理方法
US9949798B2 (en) * 2016-01-06 2018-04-24 Ethicon Endo-Surgery, Llc Methods, systems, and devices for controlling movement of a robotic surgical system
US10596700B2 (en) * 2016-09-16 2020-03-24 Carbon Robotics, Inc. System and calibration, registration, and training methods
WO2019002928A1 (en) 2017-06-30 2019-01-03 Kiekert Ag MOTOR VEHICLE LOCKING SYSTEM WITH PYROTECHNIC BLOCKING DEVICE
US20200015899A1 (en) * 2018-07-16 2020-01-16 Ethicon Llc Surgical visualization with proximity tracking features
US12128302B2 (en) 2022-08-02 2024-10-29 Sony Interactive Entertainment Inc. Away from keyboard (AFK) helper for game players

Similar Documents

Publication Publication Date Title
JP2016518878A5 (OSRAM)
US12329480B2 (en) Methods and devices for tele-surgical table registration
US20230172679A1 (en) Systems and methods for guided port placement selection
US11850741B2 (en) Control device, control method, and master-slave system
JP6882381B2 (ja) マニピュレータ上の手術器具及びアダプタの存在を決定する検出ピン
US11534241B2 (en) Medical manipulator system and image display method therefor
JP2016518877A5 (OSRAM)
CN107049492B (zh) 手术机器人系统及手术器械位置的显示方法
WO2016014385A3 (en) An augmented surgical reality environment for a robotic surgical system
JP2018126857A5 (ja) 制御方法、ロボットシステム、物品の製造方法、プログラム及び記録媒体
CN114401691A (zh) 用于外科机器人的手持式用户界面设备
EP4137033B1 (en) SYSTEM AND METHOD FOR RESTORING VISION
US12144574B2 (en) System and method for assisting tool exchange
CN112704564A (zh) 手术机器人系统、碰撞检测方法、系统及可读存储介质
Wang et al. Towards occlusion-free surgical instrument tracking: A modular monocular approach and an agile calibration method
US11147647B2 (en) Medical stereoscopic observation device, medical stereoscopic observation method, and program
US20150343642A1 (en) Robot, robot system, and control method
US20160165222A1 (en) Medical stereoscopic observation apparatus, medical stereoscopic observation method, and program
EP3600115A1 (en) Markerless robot tracking systems, controllers and methods
US20210132701A1 (en) System and method for assisting operator engagement with input devices
US12419698B2 (en) System and method of displaying images from imaging devices
US20240233180A1 (en) Method and system for calibrating cameras
US20190175293A1 (en) Image guidance for a decoupled kinematic control of a remote-center-of-motion
KR102131693B1 (ko) 수술로봇의 동작영역을 디스플레이하는 방법
US20250205900A1 (en) Setting and using software remote centers of motion for computer-assisted systems