JP2017153973A - 手術システム無菌ドレープ - Google Patents
手術システム無菌ドレープ Download PDFInfo
- Publication number
- JP2017153973A JP2017153973A JP2017079726A JP2017079726A JP2017153973A JP 2017153973 A JP2017153973 A JP 2017153973A JP 2017079726 A JP2017079726 A JP 2017079726A JP 2017079726 A JP2017079726 A JP 2017079726A JP 2017153973 A JP2017153973 A JP 2017153973A
- Authority
- JP
- Japan
- Prior art keywords
- instrument
- manipulator
- drape
- surgical
- sterile
- 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 35
- 238000001356 surgical procedure Methods 0.000 claims abstract description 34
- 239000012528 membrane Substances 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims description 135
- 230000033001 locomotion Effects 0.000 claims description 115
- 238000003780 insertion Methods 0.000 claims description 75
- 230000037431 insertion Effects 0.000 claims description 75
- 239000012636 effector Substances 0.000 claims description 53
- 210000000707 wrist Anatomy 0.000 claims description 25
- 238000005096 rolling process Methods 0.000 claims description 18
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 238000002432 robotic surgery Methods 0.000 claims description 7
- 230000036512 infertility Effects 0.000 claims description 4
- 239000000523 sample Substances 0.000 claims description 3
- 238000002679 ablation Methods 0.000 claims 1
- 238000001531 micro-dissection Methods 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 description 34
- 238000003384 imaging method Methods 0.000 description 33
- 230000006835 compression Effects 0.000 description 13
- 238000007906 compression Methods 0.000 description 13
- 238000005457 optimization Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 9
- 230000008901 benefit Effects 0.000 description 8
- 210000002414 leg Anatomy 0.000 description 8
- 230000009471 action Effects 0.000 description 7
- 230000000712 assembly Effects 0.000 description 7
- 238000000429 assembly Methods 0.000 description 7
- 210000001015 abdomen Anatomy 0.000 description 6
- 230000001954 sterilising effect Effects 0.000 description 6
- 238000004659 sterilization and disinfection Methods 0.000 description 6
- 210000001519 tissue Anatomy 0.000 description 6
- 238000013519 translation Methods 0.000 description 6
- 238000005452 bending Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 241001631457 Cannula Species 0.000 description 4
- 210000000988 bone and bone Anatomy 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 239000000835 fiber Substances 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 238000012084 abdominal surgery Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005286 illumination Methods 0.000 description 3
- 239000013307 optical fiber Substances 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 210000003484 anatomy Anatomy 0.000 description 2
- 239000003831 antifriction material Substances 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 238000002594 fluoroscopy Methods 0.000 description 2
- 125000001475 halogen functional group Chemical group 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 239000000314 lubricant Substances 0.000 description 2
- 210000001165 lymph node Anatomy 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 210000004197 pelvis Anatomy 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 230000036316 preload Effects 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000008733 trauma Effects 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- XUKUURHRXDUEBC-KAYWLYCHSA-N Atorvastatin Chemical compound C=1C=CC=CC=1C1=C(C=2C=CC(F)=CC=2)N(CC[C@@H](O)C[C@@H](O)CC(O)=O)C(C(C)C)=C1C(=O)NC1=CC=CC=C1 XUKUURHRXDUEBC-KAYWLYCHSA-N 0.000 description 1
- 241001589086 Bellapiscis medius Species 0.000 description 1
- 229910000599 Cr alloy Inorganic materials 0.000 description 1
- 230000005355 Hall effect Effects 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000003187 abdominal effect Effects 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 210000001124 body fluid Anatomy 0.000 description 1
- 239000010839 body fluid Substances 0.000 description 1
- 230000009172 bursting Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 239000000788 chromium alloy Substances 0.000 description 1
- DYRBFMPPJATHRF-UHFFFAOYSA-N chromium silicon Chemical compound [Si].[Cr] DYRBFMPPJATHRF-UHFFFAOYSA-N 0.000 description 1
- 230000001112 coagulating effect Effects 0.000 description 1
- 230000019771 cognition Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229920001746 electroactive polymer Polymers 0.000 description 1
- 239000003000 extruded plastic Substances 0.000 description 1
- 230000008713 feedback mechanism Effects 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 238000002595 magnetic resonance imaging Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000013643 reference control Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 230000001568 sexual effect Effects 0.000 description 1
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000000451 tissue damage Effects 0.000 description 1
- 231100000827 tissue damage Toxicity 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Images
Classifications
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
- A61B17/3421—Cannulas
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
- A61B1/00135—Oversleeves mounted on the endoscope prior to insertion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00142—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with means for preventing contamination, e.g. by using a sanitary sheath
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
- A61B17/0218—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
- A61B17/3421—Cannulas
- A61B17/3423—Access ports, e.g. toroid shape introducers for instruments or hands
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3474—Insufflating needles, e.g. Veress needles
-
- 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
-
- 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
- A61B34/35—Surgical robots for telesurgery
-
- 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
- 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
- A61B46/00—Surgical drapes
- A61B46/20—Surgical drapes specially adapted for patients
- A61B46/23—Surgical drapes specially adapted for patients with means to retain or hold surgical implements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
- A61B50/20—Holders specially adapted for surgical or diagnostic appliances or instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
- A61B50/30—Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
-
- 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
- A61B90/90—Identification means for patients or instruments, e.g. tags
- A61B90/98—Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M13/00—Insufflators for therapeutic or disinfectant purposes, i.e. devices for blowing a gas, powder or vapour into the body
- A61M13/003—Blowing gases other than for carrying powders, e.g. for inflating, dilating or rinsing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F1/00—Springs
- F16F1/02—Springs made of steel or other material having low internal friction; Wound, torsion, leaf, cup, ring or the like springs, the material of the spring not being relevant
- F16F1/04—Wound springs
- F16F1/12—Attachments or mountings
- F16F1/121—Attachments or mountings adjustable, e.g. to modify spring characteristics
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B3/00—Focusing arrangements of general interest for cameras, projectors or printers
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B35/00—Stereoscopic photography
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F27/00—Details of transformers or inductances, in general
- H01F27/28—Coils; Windings; Conductive connections
- H01F27/2823—Wires
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F5/00—Coils
- H01F5/02—Coils wound on non-magnetic supports, e.g. formers
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F5/00—Coils
- H01F5/04—Arrangements of electric connections to coils, e.g. leads
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/51—Housings
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
- H04N23/685—Vibration or motion blur correction performed by mechanical compensation
- H04N23/687—Vibration or motion blur correction performed by mechanical compensation by shifting the lens or sensor position
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K1/00—Printed circuits
- H05K1/18—Printed circuits structurally associated with non-printed electric components
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
- A61B17/3421—Cannulas
- A61B2017/3445—Cannulas used as instrument channel for multiple instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
- A61B17/3421—Cannulas
- A61B2017/3445—Cannulas used as instrument channel for multiple instruments
- A61B2017/3447—Linked multiple cannulas
-
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- 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
- A61B2034/306—Wrists with multiple vertebrae
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
- A61B50/30—Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments
- A61B2050/3008—Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments having multiple compartments
-
- 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
- A61B2090/5025—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B3/00—Layered products comprising a layer with external or internal discontinuities or unevennesses, or a layer of non-planar shape; Layered products comprising a layer having particular features of form
- B32B3/10—Layered products comprising a layer with external or internal discontinuities or unevennesses, or a layer of non-planar shape; Layered products comprising a layer having particular features of form characterised by a discontinuous layer, i.e. formed of separate pieces of material
- B32B3/12—Layered products comprising a layer with external or internal discontinuities or unevennesses, or a layer of non-planar shape; Layered products comprising a layer having particular features of form characterised by a discontinuous layer, i.e. formed of separate pieces of material characterised by a layer of regularly- arranged cells, e.g. a honeycomb structure
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B2205/00—Adjustment of optical system relative to image or object surface other than for focusing
- G03B2205/0007—Movement of one or more optical elements for control of motion blur
- G03B2205/0015—Movement of one or more optical elements for control of motion blur by displacing one or more optical elements normal to the optical axis
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B2205/00—Adjustment of optical system relative to image or object surface other than for focusing
- G03B2205/0053—Driving means for the movement of one or more optical element
- G03B2205/0069—Driving means for the movement of one or more optical element using electromagnetic actuators, e.g. voice coils
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B5/00—Adjustment of optical system relative to image or object surface other than for focusing
- G03B5/02—Lateral adjustment of lens
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F5/00—Coils
- H01F5/02—Coils wound on non-magnetic supports, e.g. formers
- H01F2005/027—Coils wound on non-magnetic supports, e.g. formers wound on formers for receiving several coils with perpendicular winding axes, e.g. for antennae or inductive power transfer
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Public Health (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- General Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Electromagnetism (AREA)
- Radiology & Medical Imaging (AREA)
- Optics & Photonics (AREA)
- Biophysics (AREA)
- General Physics & Mathematics (AREA)
- Hematology (AREA)
- Anesthesiology (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Manipulator (AREA)
Abstract
【解決手段】一実施形態においては、無菌ドレープは、複数のドレープポケットであって、ドレープポケットの各々が手術手順を実行するための無菌フィールドに隣接する外側表面と、ロボット手術システムのマニピュレータアームに連結された非無菌器具マニピュレータに隣接する内側表面とを有する、複数のドレープポケットを有する。ドレープは、器具マニピュレータの出力部と、それぞれの手術用器具の入力部との間を接続するためのドレープポケットの各々の遠位面において複数のフレキシブルな膜を有し、回転シールは、マニピュレータアームの遠位端において回転要素にドレープポケットの各々の近位開口を連結するように設定されている。
【選択図】図2A
Description
本出願は、2010年5月14日に出願された「Surgical System」という名称の米国仮特許出願第61/334,978号明細書の利益を主張し、該出願の全開示は、全ての目的のために、本明細書において参考により援用される。
ここで図1A及び1Bを参照するに、本明細書で記載されている最小侵襲性外科手術用器具、器具アセンブリ、操作システム及び制御システムの特徴を用いるロボット支援(遠隔操作)最小侵襲性外科手術システムの特徴の例示である側面図及び正面図が示されている。主な3つの構成要素は、内視鏡撮像システム102、外科医用コンソール104(マスター)及び患者側サポートシステム100(スレーブ)であり、それらのすべてが、図示されている有線接続(電気的又は光学的)又は無線接続106により相互接続されている。1つ又はそれ以上の電子データプロセッサは、システムの機能を備えるようにそれら主要な構成要素において様々に設置されることが可能である。その例については、上記の米国特許出願第11/762,165号明細書に開示されている。破線で示されている殺菌ドレープ1000は、外科手術手順中に殺菌フィールドを維持する一方、器具とその器具に関連するマニピュレータとの間を正確なインタフェースで連結して効率的で簡単な器具交換を提供するように、患者側サポートシステム100の少なくとも一部を有利に覆う。
無菌ドレープの実施形態について、ここで詳細に説明する。図1A及び1B並びに図2A乃至2Cを参照するに、無菌フィールドからマニピュレータアームの非無菌部分を遮断し、また、外科手術手順による物質(体液)からアーム及びそのアームの種々の部品を遮蔽するように、アームアセンブリ101及び201の部分を覆う無菌ドレープ1000及び2000が示されている。一実施形態においては、無菌ドレープは、器具マニピュレータアセンブリの器具マニピュレータを受け入れるドレープポケットを有する。ドレープポケットは、無菌フィールドに隣接する外側表面と、非無菌器具マニピュレータに隣接する内側面とを有する。ドレープは更に、器具マニピュレータの出力部(例えば、関連器具に作動力を伝達するインタフェース)と、外科手術用器具の入力部(例えば、関連器具マニピュレータからの作動力を受けるインタフェース)との間を接続するドレープポケットの遠位端におけるフレキシブルな膜と、ドレープポケットの近位開口に動作可能に連結された回転シールとを有する。
ここで、無菌アダプタを有するドレープの他の実施形態について詳述する。図12は、本発明の他の実施形態に従った無菌ドレープ1250を有する伸張された無菌ドレープのドレープ部分1200aの斜視図である。ドレープ部分1200aは、図11Dのドレープ部分1100aと置き換えられることが可能であり、回転可能シール1108と実質的に同じである回転可能シール1208としてドレープ部分1100bに動作可能に連結される。ドレープ部分1200aは、回転可能シール1208と無菌アダプタ1250との間に連結された複数のドレープスリーブ1205を有する。ドレープ部分1200aは更に、器具マニピュレータの挿入機構をドレープで覆うための無菌アダプタ1250に連結されたポケット伸張部1206を有する。
エントリガイド、カニューレ及びカニューレ搭載アームの実施形態について、ここで更に詳細に説明する。上記のように、外科手術用器具は、各々の外科手術用器具マニピュレータに搭載され、且つそれにより作動される。器具は、種々の器具が特定のマニピュレータに交換可能に搭載されることが可能であるように、取り外し可能に搭載されることが可能である。一特徴においては、1つ又はそれ以上のマニピュレータが、特定種類の器具、例えば、カメラ器具を支持し且つ作動させることが可能である。器具のシャフトは、器具マニピュレータから遠位方向に延在している。シャフトは、患者の体内の方にエントリポートに(例えば、体壁を通って、自然開口において)位置している共通カニューレを通って延びる。カニューレは、マニピュレータアームに移動可能に連結されているカニューレ搭載アームに連結されている。一特徴においては、エントリガイドは、カニューレ内に少なくとも一部が位置付けられ、各々の器具シャフトは、その器具シャフトのための付加的支持を提供するように、エントリガイド中をチャネルを介して延びている。
図25A乃至25C、図26A乃至26C及び27A乃至27Cは、患者Pに関して異なる方向に位置付けられた器具挿入軸又は器具マニピュレータアセンブリロール軸を有する外科手術用システム2500の異なるビューを示している。図25A乃至25Cは、下方に向かい且つ患者Pの頭部Hの方に向かって方向付けられたマニピュレータアセンブリロール軸2541を示している。図26A乃至26Cは、下方に向かい且つ患者Pの足部Fの方に向かって方向付けられたマニピュレータアセンブリロール軸2541を示している。図27A乃至27Cは、上方に向かい且つ患者Pの頭部Hの方に向かって方向付けられたマニピュレータアセンブリロール軸2541を示している。
ここで、近位リンクにおけるカウンターバランス機構の実施形態について図30A乃至37Cを参照して詳述する。図30Aは、上記のアームアセンブリと実質的に同様のマニピュレータアームアセンブリ3001を示し、上記のアームアセンブリの特徴はアセンブリ3001に対しても適用することができ、図30Bは、アームアセンブリ3001のカウンターバランス近位リンクのより拡大されたビューを示している。図31乃至37Cは、近位リンクハウジングの壁のないカウンターバランスシステムの他のビュー及び特徴を示している。特に、図31はカウンターバランスシステムの斜視図であり、図32A乃至36Cは、隣接ピンと、線形ガイドと、線形ガイドに関してエンドプラグを移動させるための隣接ピンの運動範囲のビューを示し、図37A乃至37Cは、本発明の種々の特徴に従ったロッカーアーム及び止めネジを示すカウンターバランス近位リンクの遠位端の方からの詳細なビューを示している。
102 内視鏡撮像システム
104 外科医用コンソール
106 有線接続(電気的又は光学的)又は無線接続
108 床置き式ベース
110 天井付けベース
112 鉛直方向の調整
114 リンク
116 セットアップジョイント
118 連結セットアップリンク
120 セットアップジョイント
122 連結セットアップリンク
123 マニピュレータアセンブリヨー軸
124 ヨージョイント
126 第1マニピュレータリンク
128、132及び136 回転ジョイント
130 第2マニピュレータ
134 第3マニピュレータ
138 第4マニピュレータ
139 マニピュレータアセンブリピッチ軸
140 マニピュレータアセンブリプラットフォーム
141 マニピュレータアセンブリロール軸
142 マニピュレータアセンブリ
146 運動の遠隔中心
150 カニューレマウント
340a 回転可能ベースプレート
341 マニピュレータアセンブリロール軸
342 器具マニピュレータ
344 挿入機構
360 器具
Claims (25)
- 複数のドレープポケットであって、該複数のドレープポケットの各々は、手術手順を実行するための無菌フィールドに隣接する外側表面と、ロボット手術システムのマニピュレータアームに連結した非無菌器具マニピュレータに隣接する内側表面とを有する、複数のドレープポケット;
器具マニピュレータの出力部とそれぞれの手術用器具の入力部との間を接続するための前記ドレープポケットの各々の遠位面における複数のフレキシブルな膜;及び
前記マニピュレータアームの遠位端において回転可能要素に前記複数のドレープポケットの各々のドレープポケットの近位開口を連結するように設定された回転可能シール;
を有する無菌ドレープ。 - 前記フレキシブルな膜は、前記器具マニピュレータの手首出力ジンバルの一と前記手術用器具の手首入力ジンバルとの間、前記器具マニピュレータの揺動出力ジンバルと前記手術用器具の揺動入力ジンバルとの間、前記器具マニピュレータの把持出力部と前記手術用器具の把持入力部との間、又は前記器具マニピュレータの転がし出力部と前記手術用器具の転がし入力部との間を接続する、請求項1に記載の無菌ドレープ。
- 前記回転可能シールは、ロールカバー部分に回転可能に連結されたベースコム部分を有するラビリンスシールであり、前記ロールカバー部分は前記マニピュレータアームのフレームにフレキシブルに搭載され、前記ベースコム部分は前記マニピュレータアームの回転可能ベースプレートにフレキシブルに搭載される、請求項1に記載の無菌ドレープ。
- 前記ベースコム部分は、複数の開口を構成するリブを有するディスクを有し、前記複数の開口の各々は、器具マニピュレータを囲む、請求項3に記載の無菌ドレープ。
- 前記複数のドレープポケットの各々のドレープポケットは、前記ディスクのそれぞれのフレームに連結される、請求項4に記載の無菌ドレープ。
- 前記マニピュレータアームの遠位リンクに移動可能に連結された折り畳式カニューレマウントを受け入れるドレープ伸張部を更に有する、請求項1に記載の無菌ドレープ。
- 伸縮挿入機構を受け入れるための前記ドレープポケットの前記遠位端においてドレープポケット伸張部を更に有し、前記器具マニピュレータは前記伸縮挿入機構に沿って移動する、請求項1に記載の無菌ドレープ。
- 無菌ドレープであって:
複数のドレープポケットであって、前記複数のドレープポケットの各々は、手術手順を実行するための無菌フィールドに隣接する外側表面と、ロボット手術システムのマニピュレータアームに連結した非無菌器具マニピュレータに隣接する内側表面とを有する、複数のドレープポケット;
それぞれの器具マニピュレータの出力部と、前記手術用器具の手首、転がし、並進及び把持運動を制御するそれぞれの手術用器具の入力部との間を接続するための前記ドレープポケットの各々の遠位端における複数のフレキシブルな膜;並びに
ロールカバー部分に回転可能に連結されたベースコム部分を有する回転可能ラビリンスシールであって、前記ロールカバー部分は前記マニピュレータアームのフレームにフレキシブルに搭載されていて、前記コム部分は、前記ドレープポケットの各々の前記近位開口及び前記マニピュレータアームの回転可能ベースプレートにフレキシブルに搭載されている、回転可能ラビリンスシール;
を有する無菌ドレープ。 - 前記ベースコム部分は、複数の開口を構成するリブを有するディスクを有し、前記複数の開口の各々は、それぞれのドレープポケットの前記近位開口に連結されている、請求項8に記載の無菌ドレープ。
- 前記マニピュレータアームの遠位リンクに移動可能に連結された折り畳み式カニューレマウントを受け入れる搭載アームドレープポケットを更に有する、請求項8に記載の無菌ドレープ。
- 伸縮挿入機構を受け入れる前記ドレープポケットの各々の前記遠位面におけるドレープポケット伸張部であって、器具マニピュレータは前記伸縮挿入機構に沿って移動する、伸縮挿入機構を更に有する、請求項8に記載の無菌ドレープ。
- 無菌フィールド内で手順を実行するロボット手術システムであって:
非無菌フィールドにおいて器具マニピュレータを有するマニピュレータアーム;
前記無菌フィールドにおける手術用器具;並びに
前記無菌フィールドから前記マニピュレータアームを遮蔽するように前記マニピュレータアームを覆う無菌ドレープであって、
前記無菌フィールドに隣接する外側表面と前記非無菌器具マニピュレータに隣接する内側表面とを有するドレープポケットと、
前記手術用マニピュレータの出力部と前記手術用器具の入力部との間を接続するための前記ドレープポケットの遠位端におけるフレキシブルな膜と、
前記ドレープポケットの近位開口に動作可能に連結された回転シールと、
を有する無菌ドレープ;
を有するロボット手術システム。 - 前記フレキシブルな膜は、前記器具マニピュレータのジンバル出力の一と前記手術用器具のジンバル入力との間、前記器具マニピュレータの揺動出力ジンバルと前記手術用器具の揺動入力ジンバルとの間、前記器具マニピュレータの把持出力部と前記手術用器具の把持入力部との間、又は前記器具マニピュレータの転がし出力部と前記手術用器具の転がし入力部との間を接続する、請求項12に記載のロボット手術システム。
- 前記可能回転シールは、ロールカバー部分に回転可能に連結されたベースコム部分を有するラビリンスシールであり、前記ロールカバー部分は前記マニピュレータアームのフレームにフレキシブルに搭載され、前記ベースコム部分は前記マニピュレータアームの回転可能ベースプレートにフレキシブルに搭載される、請求項12に記載のロボット手術システム。
- 前記ベースコム部分は、複数の開口を構成するリブを有するディスクを有し、前記複数の開口の各々は、器具マニピュレータを囲む、請求項14に記載のロボット手術システム。
- 前記ドレープは複数のドレープポケットを更に有し、前記複数のドレープポケットの各々は、前記ディスクのそれぞれのフレームに結合され、前記複数のドレープポケットの各々は、前記器具マニピュレータの出力部と前記手術用器具の入力部との間を接続するための遠位端にフレキシブルな膜を有する、請求項14に記載のロボット手術システム。
- 前記ドレープは、伸縮挿入軸を受け入れるための前記ドレープポケットの前記遠位端におけるドレープポケット伸張部を更に有し、前記器具マニピュレータは前記伸縮挿入軸に沿って移動する、請求項12に記載のロボット手術システム。
- 前記マニピュレータアームは折り畳式カニューレマウントを更に有する、請求項12に記載のロボット手術システム。
- 前記手術用器具は、顎、はさみ、把持器、針用ホルダ、微小解剖器、ステープルアプライヤ、タッカ及びクリップアプライヤのうちのエンドエフェクタを有するジョイントツールと、切断刃、焼灼プローブ、洗浄器、カテーテル及び吸入オリフィスのうちの非ジョイントツールとを含む群から選択される、請求項12に記載のロボット手術システム。
- 無菌ドレープでロボット手術システムのマニピュレータアームを覆う方法であって:
器具マニピュレータの遠位端において出力部に隣接する前記無菌ドレープのフレキシブルな膜を位置付ける段階;
前記器具マニピュレータの前記遠位端から前記無菌ドレープのドレープポケットを有する前記器具マニピュレータの近位端まで前記器具マニピュレータをドレープで覆う段階; 前記マニピュレータアームの回転可能ベースプレートに及び前記マニピュレータアームのフレームに前記無菌ドレープの回転可能シールを連結する段階;並びに
前記マニピュレータアームの遠位端から前記マニピュレータアームの近位端までの前記マニピュレータアームの残りの部分をドレープで覆う段階;
を有する方法。 - 前記回転可能シールは、ロールカバー部分に回転可能に連結されたベースコム部分を有するラビリンスシールであり、前記無菌ドレープの前記回転可能シールを連結する段階は、前記マニピュレータアームの前記回転可能ベースプレートに前記コム部分を及び前記マニピュレータアームの前記フレームに前記ロールカバー部分をフレキシブルに搭載する段階を有する、請求項20に記載の方法。
- 前記ベースコム部分は、複数の開口を構成するリブを有するディスクを有し、前記複数の開口の各々は器具マニピュレータを囲み、当該方法は、前記マニピュレータアームに前記回転可能シールを連結する前に、器具マニピュレータを開口の中を通す段階を更に有する、請求項21に記載の方法。
- 前記マニピュレータアームのカニューレマウントを折り畳む段階と、前記無菌ドレープ内に前記折り畳まれたカニューレマウントを展開する段階とを有する、請求項20に記載の方法。
- 前記フレキシブルな膜を介して前記器具マニピュレータの前記出力部に無菌手術器具の入力部を動作可能に連結する段階を更に有する、請求項20に記載の方法。
- 前記器具マニピュレータのジンバル出力部の一と前記手術用器具のジンバル入力部との間を、前記器具マニピュレータの揺動出力部と前記手術用器具の揺動入力部との間、前記器具マニピュレータの把持出力部と前記手術用器具の把持入力部との間、又は前記器具マニピュレータの転がし出力部と前記手術用器具の転がし入力部との間を接続する段階を更に有する、請求項24に記載の方法。
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US33497810P | 2010-05-14 | 2010-05-14 | |
US61/334,978 | 2010-05-14 | ||
US12/855,499 US8746252B2 (en) | 2010-05-14 | 2010-08-12 | Surgical system sterile drape |
US12/855,499 | 2010-08-12 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015083153A Division JP6130428B2 (ja) | 2010-05-14 | 2015-04-15 | 手術システム無菌ドレープ |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2017153973A true JP2017153973A (ja) | 2017-09-07 |
JP6285064B2 JP6285064B2 (ja) | 2018-02-28 |
Family
ID=44121151
Family Applications (8)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013511203A Active JP5782114B2 (ja) | 2010-05-14 | 2011-05-04 | 手術システム無菌ドレープ |
JP2013510169A Active JP5775154B2 (ja) | 2010-05-14 | 2011-05-04 | 手術システム器具マニピュレータ |
JP2013510168A Active JP5849090B2 (ja) | 2010-05-14 | 2011-05-04 | 手術システム器具マウンティング |
JP2013510170A Withdrawn JP2013528065A (ja) | 2010-05-14 | 2011-05-04 | 手術システムアーキテクチャ |
JP2015083153A Active JP6130428B2 (ja) | 2010-05-14 | 2015-04-15 | 手術システム無菌ドレープ |
JP2015133881A Active JP6113787B2 (ja) | 2010-05-14 | 2015-07-02 | 手術システム器具マニピュレータ |
JP2015233121A Active JP6104353B2 (ja) | 2010-05-14 | 2015-11-30 | 手術システム器具マウンティング |
JP2017079726A Active JP6285064B2 (ja) | 2010-05-14 | 2017-04-13 | 手術システム無菌ドレープ |
Family Applications Before (7)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013511203A Active JP5782114B2 (ja) | 2010-05-14 | 2011-05-04 | 手術システム無菌ドレープ |
JP2013510169A Active JP5775154B2 (ja) | 2010-05-14 | 2011-05-04 | 手術システム器具マニピュレータ |
JP2013510168A Active JP5849090B2 (ja) | 2010-05-14 | 2011-05-04 | 手術システム器具マウンティング |
JP2013510170A Withdrawn JP2013528065A (ja) | 2010-05-14 | 2011-05-04 | 手術システムアーキテクチャ |
JP2015083153A Active JP6130428B2 (ja) | 2010-05-14 | 2015-04-15 | 手術システム無菌ドレープ |
JP2015133881A Active JP6113787B2 (ja) | 2010-05-14 | 2015-07-02 | 手術システム器具マニピュレータ |
JP2015233121A Active JP6104353B2 (ja) | 2010-05-14 | 2015-11-30 | 手術システム器具マウンティング |
Country Status (7)
Country | Link |
---|---|
US (25) | US20110282357A1 (ja) |
EP (7) | EP2568908B1 (ja) |
JP (8) | JP5782114B2 (ja) |
KR (14) | KR20130076825A (ja) |
CN (9) | CN102892376B (ja) |
BR (4) | BR112012028465B1 (ja) |
WO (6) | WO2011143016A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2020081858A (ja) * | 2018-11-30 | 2020-06-04 | シーメンス ヘルスケア ゲゼルシヤフト ミツト ベシユレンクテル ハフツング | X線装置を制御する装置及び方法 |
JP2020103889A (ja) * | 2018-12-26 | 2020-07-09 | 川崎重工業株式会社 | 外科手術システムに使用されるマニピュレータアームおよび患者側システム |
Families Citing this family (1025)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9492235B2 (en) * | 1999-09-17 | 2016-11-15 | Intuitive Surgical Operations, Inc. | Manipulator arm-to-patient collision avoidance using a null-space |
US8414505B1 (en) | 2001-02-15 | 2013-04-09 | Hansen Medical, Inc. | Catheter driver system |
US9155544B2 (en) * | 2002-03-20 | 2015-10-13 | P Tech, Llc | Robotic systems and methods |
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 |
US11896225B2 (en) | 2004-07-28 | 2024-02-13 | Cilag Gmbh International | Staple cartridge comprising a pan |
US8215531B2 (en) | 2004-07-28 | 2012-07-10 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument having a medical substance dispenser |
US7837674B2 (en) | 2005-01-24 | 2010-11-23 | Intuitive Surgical Operations, Inc. | Compact counter balance for robotic surgical systems |
US7763015B2 (en) | 2005-01-24 | 2010-07-27 | Intuitive Surgical Operations, Inc. | Modular manipulator support for robotic surgery |
US8496647B2 (en) | 2007-12-18 | 2013-07-30 | Intuitive Surgical Operations, Inc. | Ribbed force sensor |
US8465474B2 (en) | 2009-05-19 | 2013-06-18 | Intuitive Surgical Operations, Inc. | Cleaning of a surgical instrument force sensor |
US7673781B2 (en) | 2005-08-31 | 2010-03-09 | Ethicon Endo-Surgery, Inc. | Surgical stapling device with staple driver that supports multiple wire diameter staples |
US10159482B2 (en) | 2005-08-31 | 2018-12-25 | Ethicon Llc | Fastener cartridge assembly comprising a fixed anvil and different staple heights |
US11246590B2 (en) | 2005-08-31 | 2022-02-15 | Cilag Gmbh International | Staple cartridge including staple drivers having different unfired heights |
US11484312B2 (en) | 2005-08-31 | 2022-11-01 | Cilag Gmbh International | Staple cartridge comprising a staple driver arrangement |
US7934630B2 (en) | 2005-08-31 | 2011-05-03 | 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 |
US7669746B2 (en) | 2005-08-31 | 2010-03-02 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
US20070106317A1 (en) | 2005-11-09 | 2007-05-10 | Shelton Frederick E Iv | Hydraulically and electrically actuated articulation joints for surgical instruments |
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 |
US7930065B2 (en) | 2005-12-30 | 2011-04-19 | Intuitive Surgical Operations, Inc. | Robotic surgery system including position sensors using fiber bragg gratings |
US9962066B2 (en) | 2005-12-30 | 2018-05-08 | Intuitive Surgical Operations, Inc. | Methods and apparatus to shape flexible entry guides for minimally invasive surgery |
US20120292367A1 (en) | 2006-01-31 | 2012-11-22 | Ethicon Endo-Surgery, Inc. | Robotically-controlled end effector |
US7845537B2 (en) | 2006-01-31 | 2010-12-07 | Ethicon Endo-Surgery, Inc. | Surgical instrument having recording capabilities |
US8186555B2 (en) | 2006-01-31 | 2012-05-29 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting and fastening instrument with mechanical closure system |
US20110024477A1 (en) | 2009-02-06 | 2011-02-03 | Hall Steven G | Driven Surgical Stapler Improvements |
US11793518B2 (en) | 2006-01-31 | 2023-10-24 | Cilag Gmbh International | Powered surgical instruments with firing system lockout arrangements |
US20110290856A1 (en) | 2006-01-31 | 2011-12-01 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical instrument with force-feedback capabilities |
US9861359B2 (en) | 2006-01-31 | 2018-01-09 | Ethicon Llc | Powered surgical instruments with firing system lockout arrangements |
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 |
US8708213B2 (en) | 2006-01-31 | 2014-04-29 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a feedback system |
US20110006101A1 (en) | 2009-02-06 | 2011-01-13 | EthiconEndo-Surgery, Inc. | Motor driven surgical fastener device with cutting member lockout arrangements |
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 |
US11224427B2 (en) | 2006-01-31 | 2022-01-18 | Cilag Gmbh International | Surgical stapling system including a console and retraction assembly |
US8219178B2 (en) | 2007-02-16 | 2012-07-10 | Catholic Healthcare West | Method and system for performing invasive medical procedures using a surgical robot |
US10653497B2 (en) | 2006-02-16 | 2020-05-19 | Globus Medical, Inc. | Surgical tool systems and methods |
US9782229B2 (en) | 2007-02-16 | 2017-10-10 | Globus Medical, Inc. | Surgical robot platform |
US10357184B2 (en) | 2012-06-21 | 2019-07-23 | Globus Medical, Inc. | Surgical tool systems and method |
US10893912B2 (en) | 2006-02-16 | 2021-01-19 | Globus Medical Inc. | Surgical tool systems and methods |
US8236010B2 (en) | 2006-03-23 | 2012-08-07 | Ethicon Endo-Surgery, Inc. | Surgical fastener and cutter with mimicking end effector |
US8992422B2 (en) | 2006-03-23 | 2015-03-31 | Ethicon Endo-Surgery, Inc. | Robotically-controlled endoscopic accessory channel |
CN104688327B (zh) | 2006-06-13 | 2017-06-09 | 直观外科手术操作公司 | 微创手术系统 |
US8322455B2 (en) | 2006-06-27 | 2012-12-04 | Ethicon Endo-Surgery, Inc. | Manually driven surgical cutting and fastening instrument |
US10130359B2 (en) | 2006-09-29 | 2018-11-20 | Ethicon Llc | Method for forming a staple |
US20080078802A1 (en) | 2006-09-29 | 2008-04-03 | Hess Christopher J | Surgical staples and stapling instruments |
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 |
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 |
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 |
US11039836B2 (en) | 2007-01-11 | 2021-06-22 | Cilag Gmbh International | Staple cartridge for use with a surgical stapling instrument |
US8701958B2 (en) | 2007-01-11 | 2014-04-22 | Ethicon Endo-Surgery, Inc. | Curved end effector for a surgical stapling device |
US7604151B2 (en) | 2007-03-15 | 2009-10-20 | Ethicon Endo-Surgery, Inc. | Surgical stapling systems and staple cartridges for deploying surgical staples with tissue compression features |
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 |
US11564682B2 (en) | 2007-06-04 | 2023-01-31 | Cilag Gmbh International | Surgical stapler device |
US7753245B2 (en) | 2007-06-22 | 2010-07-13 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments |
US8408439B2 (en) | 2007-06-22 | 2013-04-02 | 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 |
US20130165945A9 (en) * | 2007-08-14 | 2013-06-27 | Hansen Medical, Inc. | Methods and devices for controlling a shapeable instrument |
US8561473B2 (en) | 2007-12-18 | 2013-10-22 | Intuitive Surgical Operations, Inc. | Force sensor temperature compensation |
US8400094B2 (en) | 2007-12-21 | 2013-03-19 | Intuitive Surgical Operations, Inc. | Robotic surgical system with patient support |
US8561870B2 (en) | 2008-02-13 | 2013-10-22 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument |
US9179912B2 (en) | 2008-02-14 | 2015-11-10 | Ethicon Endo-Surgery, Inc. | Robotically-controlled motorized surgical cutting and fastening instrument |
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 |
US8636736B2 (en) | 2008-02-14 | 2014-01-28 | Ethicon Endo-Surgery, Inc. | Motorized surgical cutting and fastening instrument |
US7819298B2 (en) | 2008-02-14 | 2010-10-26 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with control features operable with one hand |
US7866527B2 (en) | 2008-02-14 | 2011-01-11 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with interlockable firing system |
US8657174B2 (en) | 2008-02-14 | 2014-02-25 | Ethicon Endo-Surgery, Inc. | Motorized surgical cutting and fastening instrument having handle based power source |
RU2493788C2 (ru) | 2008-02-14 | 2013-09-27 | Этикон Эндо-Серджери, Инк. | Хирургический режущий и крепежный инструмент, имеющий радиочастотные электроды |
US8758391B2 (en) | 2008-02-14 | 2014-06-24 | Ethicon Endo-Surgery, Inc. | Interchangeable tools for surgical instruments |
US8573465B2 (en) | 2008-02-14 | 2013-11-05 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical end effector system with rotary actuated closure systems |
US11272927B2 (en) | 2008-02-15 | 2022-03-15 | Cilag Gmbh International | Layer arrangements for surgical staple cartridges |
US9770245B2 (en) | 2008-02-15 | 2017-09-26 | Ethicon Llc | Layer arrangements for surgical staple cartridges |
PL3476312T3 (pl) | 2008-09-19 | 2024-03-11 | Ethicon Llc | Stapler chirurgiczny z urządzeniem do dopasowania wysokości zszywek |
US7832612B2 (en) | 2008-09-19 | 2010-11-16 | Ethicon Endo-Surgery, Inc. | Lockout arrangement for a surgical stapler |
US9005230B2 (en) | 2008-09-23 | 2015-04-14 | Ethicon Endo-Surgery, Inc. | Motorized surgical instrument |
US9386983B2 (en) | 2008-09-23 | 2016-07-12 | Ethicon Endo-Surgery, Llc | Robotically-controlled motorized surgical instrument |
US8210411B2 (en) | 2008-09-23 | 2012-07-03 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting instrument |
US11648005B2 (en) | 2008-09-23 | 2023-05-16 | Cilag Gmbh International | Robotically-controlled motorized surgical instrument with an end effector |
US9339342B2 (en) * | 2008-09-30 | 2016-05-17 | Intuitive Surgical Operations, Inc. | Instrument interface |
US9259274B2 (en) | 2008-09-30 | 2016-02-16 | Intuitive Surgical Operations, Inc. | Passive preload and capstan drive for surgical instruments |
US8608045B2 (en) | 2008-10-10 | 2013-12-17 | Ethicon Endo-Sugery, Inc. | Powered surgical cutting and stapling apparatus with manually retractable firing system |
EP2394799B1 (en) * | 2009-02-03 | 2016-08-31 | Olympus Corporation | Manipulator |
US8517239B2 (en) | 2009-02-05 | 2013-08-27 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument comprising a magnetic element driver |
CA2751664A1 (en) | 2009-02-06 | 2010-08-12 | Ethicon Endo-Surgery, Inc. | Driven surgical stapler improvements |
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 |
US9138207B2 (en) | 2009-05-19 | 2015-09-22 | Teleflex Medical Incorporated | Methods and devices for laparoscopic surgery |
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 |
US20110161172A1 (en) * | 2009-12-30 | 2011-06-30 | Wei-Yeh Lee | System and method for providing user control of the user's network usage data and personal profile information |
EP2525720A1 (en) | 2010-01-20 | 2012-11-28 | EON Surgical Ltd. | System of deploying an elongate unit in a body cavity |
US8721539B2 (en) | 2010-01-20 | 2014-05-13 | EON Surgical Ltd. | Rapid laparoscopy exchange system and method of use thereof |
US20110282357A1 (en) | 2010-05-14 | 2011-11-17 | Intuitive Surgical Operations, Inc. | Surgical system architecture |
US8783543B2 (en) | 2010-07-30 | 2014-07-22 | Ethicon Endo-Surgery, Inc. | Tissue acquisition arrangements and methods for surgical stapling devices |
FR2963693B1 (fr) | 2010-08-04 | 2013-05-03 | Medtech | Procede d'acquisition automatise et assiste de surfaces anatomiques |
JP5612971B2 (ja) * | 2010-09-07 | 2014-10-22 | オリンパス株式会社 | マスタスレーブマニピュレータ |
WO2012035524A2 (en) | 2010-09-19 | 2012-03-22 | EON Surgical Ltd. | Micro laparoscopy devices and deployments thereof |
US9301753B2 (en) | 2010-09-30 | 2016-04-05 | Ethicon Endo-Surgery, Llc | Expandable tissue thickness compensator |
US11849952B2 (en) | 2010-09-30 | 2023-12-26 | Cilag Gmbh International | Staple cartridge comprising staples positioned within a compressible portion thereof |
US9332974B2 (en) | 2010-09-30 | 2016-05-10 | Ethicon Endo-Surgery, Llc | Layered tissue thickness compensator |
US9386988B2 (en) | 2010-09-30 | 2016-07-12 | Ethicon End-Surgery, LLC | Retainer assembly including a tissue thickness compensator |
US11812965B2 (en) | 2010-09-30 | 2023-11-14 | Cilag Gmbh International | Layer of material for a surgical end effector |
US9220501B2 (en) | 2010-09-30 | 2015-12-29 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensators |
US9314246B2 (en) | 2010-09-30 | 2016-04-19 | Ethicon Endo-Surgery, Llc | Tissue stapler having a thickness compensator incorporating an anti-inflammatory agent |
US9220500B2 (en) | 2010-09-30 | 2015-12-29 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator comprising structure to produce a resilient load |
RU2013119928A (ru) | 2010-09-30 | 2014-11-10 | Этикон Эндо-Серджери, Инк. | Сшивающая система, содержащая удерживающую матрицу и выравнивающую матрицу |
US11298125B2 (en) | 2010-09-30 | 2022-04-12 | Cilag Gmbh International | Tissue stapler having a thickness compensator |
US8857694B2 (en) | 2010-09-30 | 2014-10-14 | Ethicon Endo-Surgery, Inc. | Staple cartridge loading assembly |
US9241714B2 (en) | 2011-04-29 | 2016-01-26 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator and method for making the same |
US9629814B2 (en) | 2010-09-30 | 2017-04-25 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator configured to redistribute compressive forces |
US9364233B2 (en) | 2010-09-30 | 2016-06-14 | Ethicon Endo-Surgery, Llc | Tissue thickness compensators for circular surgical staplers |
US20120080498A1 (en) | 2010-09-30 | 2012-04-05 | Ethicon Endo-Surgery, Inc. | Curved end effector for a stapling instrument |
US9307989B2 (en) | 2012-03-28 | 2016-04-12 | Ethicon Endo-Surgery, Llc | Tissue stapler having a thickness compensator incorportating a hydrophobic agent |
US9232941B2 (en) | 2010-09-30 | 2016-01-12 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator comprising a reservoir |
US9272406B2 (en) | 2010-09-30 | 2016-03-01 | Ethicon Endo-Surgery, Llc | Fastener cartridge comprising a cutting member for releasing a tissue thickness compensator |
US10945731B2 (en) | 2010-09-30 | 2021-03-16 | Ethicon Llc | Tissue thickness compensator comprising controlled release and expansion |
US8695866B2 (en) | 2010-10-01 | 2014-04-15 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a power control circuit |
US9101379B2 (en) | 2010-11-12 | 2015-08-11 | Intuitive Surgical Operations, Inc. | Tension control in actuation of multi-joint medical instruments |
US8979826B2 (en) | 2010-12-29 | 2015-03-17 | Boston Scientific Scimed, Inc. | Instrument holder |
WO2012131660A1 (en) | 2011-04-01 | 2012-10-04 | Ecole Polytechnique Federale De Lausanne (Epfl) | Robotic system for spinal and other surgeries |
BR112013027794B1 (pt) | 2011-04-29 | 2020-12-15 | Ethicon Endo-Surgery, Inc | Conjunto de cartucho de grampos |
US9259277B2 (en) * | 2011-05-13 | 2016-02-16 | Intuitive Surgical Operations, Inc. | Instrument actuation interface |
US11207064B2 (en) | 2011-05-27 | 2021-12-28 | Cilag Gmbh International | Automated end effector component reloading system for use with a robotic system |
US9072535B2 (en) | 2011-05-27 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments with rotatable staple deployment arrangements |
JP6034374B2 (ja) | 2011-06-07 | 2016-11-30 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 回転位置決定装置 |
EP2741798A4 (en) | 2011-08-11 | 2015-04-15 | Univ Leland Stanford Junior | REMOTE MOTION CENTER MECHANISM AND METHOD OF USE |
US8961537B2 (en) * | 2011-08-24 | 2015-02-24 | The Chinese University Of Hong Kong | Surgical robot with hybrid passive/active control |
US9050084B2 (en) | 2011-09-23 | 2015-06-09 | Ethicon Endo-Surgery, Inc. | Staple cartridge including collapsible deck arrangement |
US10238837B2 (en) | 2011-10-14 | 2019-03-26 | Intuitive Surgical Operations, Inc. | Catheters with control modes for interchangeable probes |
US9452276B2 (en) | 2011-10-14 | 2016-09-27 | Intuitive Surgical Operations, Inc. | Catheter with removable vision probe |
US20130303944A1 (en) | 2012-05-14 | 2013-11-14 | Intuitive Surgical Operations, Inc. | Off-axis electromagnetic sensor |
US9387048B2 (en) | 2011-10-14 | 2016-07-12 | Intuitive Surgical Operations, Inc. | Catheter sensor systems |
US9713500B2 (en) * | 2011-10-25 | 2017-07-25 | Snu R&Db Foundation | Surgical robot control apparatus |
US8912746B2 (en) | 2011-10-26 | 2014-12-16 | Intuitive Surgical Operations, Inc. | Surgical instrument motor pack latch |
WO2013063675A1 (en) | 2011-11-04 | 2013-05-10 | Titan Medical Inc. | Apparatus and method for controlling an end-effector assembly |
WO2013063674A1 (en) | 2011-11-04 | 2013-05-10 | Titan Medical Inc. | Apparatus and method for controlling an end-effector assembly |
WO2013075205A1 (en) * | 2011-11-25 | 2013-05-30 | Titan Medical Inc. | Apparatus and method for mounting a trocar |
FR2983059B1 (fr) * | 2011-11-30 | 2014-11-28 | Medtech | Procede assiste par robotique de positionnement d'instrument chirurgical par rapport au corps d'un patient et dispositif de mise en oeuvre. |
US9241757B2 (en) | 2012-01-13 | 2016-01-26 | Covidien Lp | System and method for performing surgical procedures with a reusable instrument module |
US9636091B2 (en) * | 2012-01-13 | 2017-05-02 | Covidien Lp | Hand-held electromechanical surgical system |
JP6202759B2 (ja) | 2012-02-02 | 2017-09-27 | トランセンテリクス・サージカル、インク | 機械化された複数の処置器具による手術システム |
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 |
KR101917076B1 (ko) * | 2012-02-21 | 2018-11-09 | 삼성전자주식회사 | 링크 유닛 및 이를 가지는 암 모듈 |
BR112014024102B1 (pt) | 2012-03-28 | 2022-03-03 | Ethicon Endo-Surgery, Inc | Conjunto de cartucho de prendedores para um instrumento cirúrgico, e conjunto de atuador de extremidade para um instrumento cirúrgico |
MX353040B (es) | 2012-03-28 | 2017-12-18 | Ethicon Endo Surgery Inc | Unidad retenedora que incluye un compensador de grosor de tejido. |
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 |
US9254234B2 (en) * | 2012-04-11 | 2016-02-09 | University of Pittsburgh—of the Commonwealth System of Higher Education | Robotic strong arm |
DE102012008535A1 (de) * | 2012-04-27 | 2013-10-31 | Kuka Laboratories Gmbh | Chirurgierobotersystem |
EP2881064B1 (de) * | 2012-04-27 | 2019-11-13 | KUKA Deutschland GmbH | Chirurgierobotersystem |
DE102012015541A1 (de) * | 2012-08-06 | 2014-02-06 | Kuka Laboratories Gmbh | Chirurgierobotersystem |
DE102012207060A1 (de) * | 2012-04-27 | 2013-10-31 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Roboteranordnung zum Einsatz in medizinischen Bereichen |
US20130317519A1 (en) | 2012-05-25 | 2013-11-28 | Hansen Medical, Inc. | Low friction instrument driver interface for robotic systems |
EP3964159A1 (en) * | 2012-06-01 | 2022-03-09 | Intuitive Surgical Operations, Inc. | Redundant axis and degree of freedom for hardware-constrained remote center robotic manipulator |
EP2854686B1 (en) | 2012-06-01 | 2021-08-25 | Intuitive Surgical Operations, Inc. | Surgical instrument manipulator aspects |
CN108113755B (zh) * | 2012-06-01 | 2020-11-27 | 直观外科手术操作公司 | 多端口手术机器人系统架构 |
CN104334111B (zh) | 2012-06-01 | 2017-11-17 | 直观外科手术操作公司 | 用于手术系统的器械托架组件 |
US9101358B2 (en) | 2012-06-15 | 2015-08-11 | Ethicon Endo-Surgery, Inc. | Articulatable surgical instrument comprising a firing drive |
US10624710B2 (en) | 2012-06-21 | 2020-04-21 | Globus Medical, Inc. | System and method for measuring depth of instrumentation |
US11864745B2 (en) | 2012-06-21 | 2024-01-09 | Globus Medical, Inc. | Surgical robotic system with retractor |
US11045267B2 (en) | 2012-06-21 | 2021-06-29 | Globus Medical, Inc. | Surgical robotic automation with tracking markers |
US10136954B2 (en) | 2012-06-21 | 2018-11-27 | Globus Medical, Inc. | Surgical tool systems and method |
US11864839B2 (en) | 2012-06-21 | 2024-01-09 | Globus Medical Inc. | Methods of adjusting a virtual implant and related surgical navigation systems |
US11116576B2 (en) | 2012-06-21 | 2021-09-14 | Globus Medical Inc. | Dynamic reference arrays and methods of use |
US10350013B2 (en) | 2012-06-21 | 2019-07-16 | Globus Medical, Inc. | Surgical tool systems and methods |
US11607149B2 (en) | 2012-06-21 | 2023-03-21 | Globus Medical Inc. | Surgical tool systems and method |
US11793570B2 (en) | 2012-06-21 | 2023-10-24 | Globus Medical Inc. | Surgical robotic automation with tracking markers |
US11399900B2 (en) | 2012-06-21 | 2022-08-02 | Globus Medical, Inc. | Robotic systems providing co-registration using natural fiducials and related methods |
US10758315B2 (en) | 2012-06-21 | 2020-09-01 | Globus Medical Inc. | Method and system for improving 2D-3D registration convergence |
US11857266B2 (en) | 2012-06-21 | 2024-01-02 | Globus Medical, Inc. | System for a surveillance marker in robotic-assisted surgery |
US11253327B2 (en) | 2012-06-21 | 2022-02-22 | Globus Medical, Inc. | Systems and methods for automatically changing an end-effector on a surgical robot |
US11395706B2 (en) | 2012-06-21 | 2022-07-26 | Globus Medical Inc. | Surgical robot platform |
US11317971B2 (en) | 2012-06-21 | 2022-05-03 | Globus Medical, Inc. | Systems and methods related to robotic guidance in surgery |
US10231791B2 (en) | 2012-06-21 | 2019-03-19 | Globus Medical, Inc. | Infrared signal based position recognition system for use with a robot-assisted surgery |
US11974822B2 (en) | 2012-06-21 | 2024-05-07 | Globus Medical Inc. | Method for a surveillance marker in robotic-assisted surgery |
US11298196B2 (en) | 2012-06-21 | 2022-04-12 | Globus Medical Inc. | Surgical robotic automation with tracking markers and controlled tool advancement |
US11857149B2 (en) | 2012-06-21 | 2024-01-02 | Globus Medical, Inc. | Surgical robotic systems with target trajectory deviation monitoring and related methods |
US11202631B2 (en) | 2012-06-28 | 2021-12-21 | Cilag Gmbh International | Stapling assembly comprising a firing lockout |
US20140001234A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Coupling arrangements for attaching surgical end effectors to drive systems therefor |
US9289256B2 (en) | 2012-06-28 | 2016-03-22 | Ethicon Endo-Surgery, Llc | Surgical end effectors having angled tissue-contacting surfaces |
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 |
RU2636861C2 (ru) | 2012-06-28 | 2017-11-28 | Этикон Эндо-Серджери, Инк. | Блокировка пустой кассеты с клипсами |
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 |
US9204879B2 (en) | 2012-06-28 | 2015-12-08 | Ethicon Endo-Surgery, Inc. | Flexible drive member |
DE102013005493A1 (de) | 2013-03-28 | 2014-10-02 | Kuka Laboratories Gmbh | Chirurgisches Instrument |
DE102013007761A1 (de) | 2013-05-06 | 2014-11-06 | Kuka Laboratories Gmbh | Chirurgisches Instrument |
EP2881073B1 (de) * | 2012-07-03 | 2019-07-24 | KUKA Deutschland GmbH | Chirurgische Instrumentenanordnung und Antriebsstranganordnung für ein, insbesondere robotergeführtes, chirurgisches Instrument und chirurgisches Instrument |
WO2014018983A1 (en) * | 2012-07-27 | 2014-01-30 | The Board Of Trustees Of The Leland Stanford Junior University | Manipulation of imaging probe during medical procedure |
JP6195333B2 (ja) * | 2012-08-08 | 2017-09-13 | キヤノン株式会社 | ロボット装置 |
EP2884936A4 (en) | 2012-08-15 | 2016-04-27 | Intuitive Surgical Operations | DEGREES OF FREEDOM GHOSTS FOR HANDLING THE MOVEMENT OF SURGICAL SYSTEMS |
EP2885114B1 (en) | 2012-08-15 | 2021-06-30 | Intuitive Surgical Operations, Inc. | Phantom degrees of freedom for manipulating the movement of mechanical bodies |
EP2884935B1 (en) * | 2012-08-15 | 2020-04-08 | Intuitive Surgical Operations, Inc. | Phantom degrees of freedom in joint estimation and control |
US20140051934A1 (en) * | 2012-08-16 | 2014-02-20 | Covidien Lp | Stabilizing Port for Surgery for Facilitating Concurrent Introduction of Multiple Instruments |
US9050527B2 (en) | 2012-08-23 | 2015-06-09 | Wms Gaming Inc. | Interactive tether using tension and feedback |
KR102335797B1 (ko) | 2012-09-17 | 2021-12-07 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 원격조작 수술 기구 기능들에 입력 장치들을 할당하는 방법 및 시스템 |
JP2015535702A (ja) * | 2012-09-19 | 2015-12-17 | ナンヤン テクノロジカル ユニヴァーシティNanyang Technological University | フレキシブルマスター‐スレーブロボット内視鏡システム |
KR102222960B1 (ko) | 2012-11-02 | 2021-03-05 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 플럭스 전송 커넥터 및 시스템, 플럭스 모호성 해소, 플럭스 공급 경로를 매핑하는 시스템 및 방법 |
JP2016502435A (ja) * | 2012-11-14 | 2016-01-28 | 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 | 衝突防止のためのスマートドレープ |
US9820816B2 (en) | 2012-11-14 | 2017-11-21 | Intuitive Surgical Operations, Inc. | Systems and methods for a dual control surgical instrument |
JP6289488B2 (ja) | 2012-11-15 | 2018-03-07 | 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 | 低静電容量の及び/又は電磁シールドを備える内視鏡システム、並びに関連する方法 |
US11284803B2 (en) | 2012-11-15 | 2022-03-29 | Intuitive Surgical Operations, Inc. | Low capacitance endoscopic system |
US9993135B2 (en) | 2012-11-15 | 2018-06-12 | Intuitive Surgical Operations, Inc. | Endoscopic system with electrogmagnetic interference shielding |
DE102013004459A1 (de) * | 2012-12-20 | 2014-06-26 | avateramedical GmBH | Halterungs- und Positioniervorrichtung eines chirurgischen Instruments und/oder eines Endoskops für die minimal-invasive Chirurgie sowie ein chirurgisches Robotersystem |
US9386984B2 (en) | 2013-02-08 | 2016-07-12 | Ethicon Endo-Surgery, Llc | Staple cartridge comprising a releasable cover |
US9307986B2 (en) | 2013-03-01 | 2016-04-12 | Ethicon Endo-Surgery, Llc | Surgical instrument soft stop |
RU2669463C2 (ru) | 2013-03-01 | 2018-10-11 | Этикон Эндо-Серджери, Инк. | Хирургический инструмент с мягким упором |
RU2672520C2 (ru) | 2013-03-01 | 2018-11-15 | Этикон Эндо-Серджери, Инк. | Шарнирно поворачиваемые хирургические инструменты с проводящими путями для передачи сигналов |
US9668814B2 (en) | 2013-03-07 | 2017-06-06 | Hansen Medical, Inc. | Infinitely rotatable tool with finite rotating drive shafts |
US9345481B2 (en) | 2013-03-13 | 2016-05-24 | Ethicon Endo-Surgery, Llc | Staple cartridge tissue thickness sensor system |
US9498601B2 (en) | 2013-03-14 | 2016-11-22 | Hansen Medical, Inc. | Catheter tension sensing |
US9173713B2 (en) | 2013-03-14 | 2015-11-03 | Hansen Medical, Inc. | Torque-based catheter articulation |
US20140277334A1 (en) | 2013-03-14 | 2014-09-18 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
US11213363B2 (en) | 2013-03-14 | 2022-01-04 | Auris Health, Inc. | Catheter tension sensing |
US10470762B2 (en) | 2013-03-14 | 2019-11-12 | Ethicon Llc | Multi-function motor for a surgical instrument |
US9629629B2 (en) | 2013-03-14 | 2017-04-25 | Ethicon Endo-Surgey, LLC | Control systems for surgical instruments |
US9326822B2 (en) | 2013-03-14 | 2016-05-03 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
EP4364689A2 (en) | 2013-03-15 | 2024-05-08 | Intuitive Surgical Operations, Inc. | Inter-operative switching of tools in a robotic surgical system |
US10070887B2 (en) | 2013-03-15 | 2018-09-11 | Intuitive Surgical Operations, Inc. | Sealing multiple surgical instruments |
AU2014233662B2 (en) | 2013-03-15 | 2019-01-17 | Sri International | Hyperdexterous surgical system |
JP2016512725A (ja) | 2013-03-15 | 2016-05-09 | アプライド メディカル リソーシーズ コーポレイション | 機械的ゲル製外科用接近器具 |
US9888941B2 (en) | 2013-03-15 | 2018-02-13 | Intuitive Surgical Operations, Inc. | Sealing multiple surgical instruments |
US10492825B2 (en) | 2013-03-15 | 2019-12-03 | Intuitive Surgical Operations, Inc. | Sealing multiple surgical instruments |
US9452018B2 (en) | 2013-03-15 | 2016-09-27 | Hansen Medical, Inc. | Rotational support for an elongate member |
EP3520853B1 (en) | 2013-03-15 | 2023-08-09 | Intuitive Surgical Operations, Inc. | Sealing multiple surgical instruments |
KR102422759B1 (ko) * | 2013-03-15 | 2022-07-19 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 회전 보조 포트 |
US20140276647A1 (en) | 2013-03-15 | 2014-09-18 | Hansen Medical, Inc. | Vascular remote catheter manipulator |
US9101348B2 (en) * | 2013-03-15 | 2015-08-11 | Intuitive Surgical Operations, Inc. | Surgical patient side cart with drive system and method of moving a patient side cart |
US9408669B2 (en) | 2013-03-15 | 2016-08-09 | Hansen Medical, Inc. | Active drive mechanism with finite range of motion |
US9629681B2 (en) | 2013-03-15 | 2017-04-25 | Intuitive Surgical Operations, Inc. | Sealing multiple surgical instruments |
US9549783B2 (en) * | 2013-03-15 | 2017-01-24 | Corindus, Inc. | Catheter system with magnetic coupling |
KR102188100B1 (ko) * | 2013-03-15 | 2020-12-07 | 삼성전자주식회사 | 로봇 및 그 제어방법 |
US10292730B2 (en) | 2013-03-15 | 2019-05-21 | Intuitive Surgical Operations, Inc. | Sealing multiple surgical instruments |
US20140276936A1 (en) | 2013-03-15 | 2014-09-18 | Hansen Medical, Inc. | Active drive mechanism for simultaneous rotation and translation |
EP2977150B1 (en) | 2013-03-18 | 2017-06-28 | Olympus Corporation | Manipulator |
US9572577B2 (en) | 2013-03-27 | 2017-02-21 | Ethicon Endo-Surgery, Llc | Fastener cartridge comprising a tissue thickness compensator including openings therein |
US9795384B2 (en) | 2013-03-27 | 2017-10-24 | Ethicon Llc | Fastener cartridge comprising a tissue thickness compensator and a gap setting element |
US9332984B2 (en) | 2013-03-27 | 2016-05-10 | Ethicon Endo-Surgery, Llc | Fastener cartridge assemblies |
KR101994426B1 (ko) * | 2013-04-04 | 2019-07-02 | 큐렉소 주식회사 | 의료용 중재시술장치 |
ITMI20130516A1 (it) * | 2013-04-05 | 2014-10-06 | Sofar Spa | Sistema chirurgico con teli sterili |
DE102013005982A1 (de) * | 2013-04-08 | 2014-10-09 | Kuka Laboratories Gmbh | Medizinroboter |
US9649110B2 (en) | 2013-04-16 | 2017-05-16 | Ethicon Llc | Surgical instrument comprising a closing drive and a firing drive operated from the same rotatable output |
BR112015026109B1 (pt) | 2013-04-16 | 2022-02-22 | Ethicon Endo-Surgery, Inc | Instrumento cirúrgico |
DE102013007597A1 (de) * | 2013-05-02 | 2014-11-06 | Kuka Laboratories Gmbh | Roboter mit Werkzeug |
DE102013209122A1 (de) * | 2013-05-16 | 2014-11-20 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Halteeinrichtung für ein chirurgisches Instrument |
US9574644B2 (en) | 2013-05-30 | 2017-02-21 | Ethicon Endo-Surgery, Llc | Power module for use with a surgical instrument |
US9179051B1 (en) * | 2013-06-13 | 2015-11-03 | Clara Stoudt | Voice-activated hands-free camera holder systems |
KR102158499B1 (ko) * | 2013-06-24 | 2020-09-23 | 큐렉소 주식회사 | 중재시술용 바늘 삽입 엔드이펙터 |
KR102313240B1 (ko) | 2013-08-15 | 2021-10-18 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 로봇 기구 피동 요소 |
US10550918B2 (en) | 2013-08-15 | 2020-02-04 | Intuitive Surgical Operations, Inc. | Lever actuated gimbal plate |
US10076348B2 (en) | 2013-08-15 | 2018-09-18 | Intuitive Surgical Operations, Inc. | Rotary input for lever actuation |
CN108784838B (zh) | 2013-08-15 | 2021-06-08 | 直观外科手术操作公司 | 器械无菌适配器驱动接口 |
KR20230053731A (ko) * | 2013-08-15 | 2023-04-21 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 예압형 수술 기구 인터페이스 |
KR102313228B1 (ko) | 2013-08-15 | 2021-10-18 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 기구 살균 어댑터에 대한 액추에이터 인터페이스 |
EP3033035B1 (en) * | 2013-08-15 | 2020-11-25 | Intuitive Surgical Operations, Inc. | Instrument sterile adapter drive features |
EP3597135B1 (en) | 2013-08-15 | 2021-12-15 | Intuitive Surgical Operations, Inc. | Variable instrument preload mechanism controller |
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 |
SG11201601296UA (en) | 2013-08-28 | 2016-03-30 | Inst Of Technical Education | System and apparatus for guiding an instrument |
EP3037222A4 (en) * | 2013-09-24 | 2017-04-12 | Sony Olympus Medical Solutions Inc. | Medical robot arm device, medical robot arm control system, medical robot arm control method, and program |
US9283048B2 (en) | 2013-10-04 | 2016-03-15 | KB Medical SA | Apparatus and systems for precise guidance of surgical tools |
EP3091930A1 (en) * | 2013-10-07 | 2016-11-16 | Srivastava, Sudhir Prem | Modular interface for a robotic system |
US9980785B2 (en) * | 2013-10-24 | 2018-05-29 | Auris Health, Inc. | Instrument device manipulator with surgical tool de-articulation |
EP3060157B1 (en) | 2013-10-24 | 2019-12-11 | Auris Health, Inc. | System for robotic-assisted endolumenal surgery |
US10874382B2 (en) * | 2013-11-22 | 2020-12-29 | Ss Innovations China Co., Ltd. | Motorized surgical instrument |
US9937626B2 (en) | 2013-12-11 | 2018-04-10 | Covidien Lp | Wrist and jaw assemblies for robotic surgical systems |
US20150173756A1 (en) | 2013-12-23 | 2015-06-25 | Ethicon Endo-Surgery, Inc. | Surgical cutting and stapling methods |
US9763662B2 (en) | 2013-12-23 | 2017-09-19 | Ethicon Llc | Fastener cartridge comprising a firing member configured to directly engage and eject fasteners from the fastener cartridge |
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 |
TWI548388B (zh) | 2013-12-30 | 2016-09-11 | 國立臺灣大學 | 骨科手術之手持式機器人以及其控制方法 |
US9241771B2 (en) | 2014-01-15 | 2016-01-26 | KB Medical SA | Notched apparatus for guidance of an insertable instrument along an axis during spinal surgery |
US9314922B2 (en) | 2014-02-07 | 2016-04-19 | Control Interfaces LLC | Remotely operated manipulator and ROV control systems and methods |
US20150224639A1 (en) * | 2014-02-07 | 2015-08-13 | Control Interfaces LLC | Remotely operated manipulator and rov control systems and methods |
WO2015121311A1 (en) | 2014-02-11 | 2015-08-20 | KB Medical SA | Sterile handle for controlling a robotic surgical system from a sterile field |
US9962161B2 (en) | 2014-02-12 | 2018-05-08 | Ethicon Llc | Deliverable surgical instrument |
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 |
CN106232029B (zh) | 2014-02-24 | 2019-04-12 | 伊西康内外科有限责任公司 | 包括击发构件锁定件的紧固系统 |
US9884456B2 (en) | 2014-02-24 | 2018-02-06 | Ethicon Llc | Implantable layers and methods for altering one or more properties of implantable layers for use with fastening instruments |
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 |
CN111281497B (zh) | 2014-03-17 | 2023-12-26 | 直观外科手术操作公司 | 外科手术套管安装件及相关的系统和方法 |
CN118078451A (zh) * | 2014-03-17 | 2024-05-28 | 直观外科手术操作公司 | 手术器械与远程操作致动器之间的无菌屏障 |
JP6530422B2 (ja) * | 2014-03-17 | 2019-06-12 | 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 | 能動的な付勢を伴う定荷重ばね |
KR102437468B1 (ko) | 2014-03-17 | 2022-08-30 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 디스크 결합을 확인하는 시스템 및 방법 |
US10548459B2 (en) * | 2014-03-17 | 2020-02-04 | Intuitive Surgical Operations, Inc. | Systems and methods for control of imaging instrument orientation |
JP6680686B2 (ja) | 2014-03-17 | 2020-04-15 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | 手術用ドレープ並びに手術用ドレープ及び取付けセンサを含むシステム |
WO2015142812A1 (en) * | 2014-03-17 | 2015-09-24 | Intuitive Surgical Operations, Inc. | Surgical cannulas and related systems and methods of identifying surgical cannulas |
US9913642B2 (en) | 2014-03-26 | 2018-03-13 | Ethicon Llc | Surgical instrument comprising a sensor system |
US9804618B2 (en) | 2014-03-26 | 2017-10-31 | Ethicon Llc | Systems and methods for controlling a segmented circuit |
US10004497B2 (en) | 2014-03-26 | 2018-06-26 | Ethicon Llc | Interface systems for use with surgical instruments |
BR112016021943B1 (pt) | 2014-03-26 | 2022-06-14 | Ethicon Endo-Surgery, Llc | Instrumento cirúrgico para uso por um operador em um procedimento cirúrgico |
US10028761B2 (en) | 2014-03-26 | 2018-07-24 | Ethicon Llc | Feedback algorithms for manual bailout systems for surgical instruments |
JP6526047B2 (ja) | 2014-04-01 | 2019-06-05 | 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 | 遠隔操作される手術器具のための制御入力精度 |
EP3125983B1 (en) * | 2014-04-02 | 2021-05-05 | Intuitive Surgical Operations, Inc. | Systems using a steerable stylet and flexible needle |
CN103892922B (zh) * | 2014-04-08 | 2016-08-17 | 合肥德铭电子有限公司 | 用于微创手术的气动臂持物端快速泄压调节装置 |
US9801627B2 (en) | 2014-09-26 | 2017-10-31 | Ethicon Llc | Fastener cartridge for creating a flexible staple line |
US20150297222A1 (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 |
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 |
BR112016023698B1 (pt) | 2014-04-16 | 2022-07-26 | Ethicon Endo-Surgery, Llc | Cartucho de prendedores para uso com um instrumento cirúrgico |
JP6612256B2 (ja) | 2014-04-16 | 2019-11-27 | エシコン エルエルシー | 不均一な締結具を備える締結具カートリッジ |
US10046140B2 (en) | 2014-04-21 | 2018-08-14 | Hansen Medical, Inc. | Devices, systems, and methods for controlling active drive systems |
US10080552B2 (en) * | 2014-04-21 | 2018-09-25 | Covidien Lp | Adapter assembly with gimbal for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof |
CN106659537B (zh) | 2014-04-24 | 2019-06-11 | Kb医疗公司 | 结合机器人手术系统使用的手术器械固持器 |
CN106413620B (zh) | 2014-04-28 | 2019-07-05 | 柯惠Lp公司 | 用于容纳力传递构件的手术组件 |
US10285765B2 (en) | 2014-05-05 | 2019-05-14 | Vicarious Surgical Inc. | Virtual reality surgical device |
US10639113B2 (en) * | 2014-05-13 | 2020-05-05 | Covidien Lp | Robotic surgical systems and instrument drive units |
US10569052B2 (en) | 2014-05-15 | 2020-02-25 | Auris Health, Inc. | Anti-buckling mechanisms for catheters |
US10046421B2 (en) * | 2014-06-11 | 2018-08-14 | Andersen Industries, Inc. | Welding apparatus |
US10045781B2 (en) | 2014-06-13 | 2018-08-14 | Ethicon Llc | Closure lockout systems for surgical instruments |
US10792464B2 (en) | 2014-07-01 | 2020-10-06 | Auris Health, Inc. | Tool and method for using surgical endoscope with spiral lumens |
US9561083B2 (en) | 2014-07-01 | 2017-02-07 | Auris Surgical Robotics, Inc. | Articulating flexible endoscopic tool with roll capabilities |
KR101630794B1 (ko) * | 2014-07-02 | 2016-06-15 | (주)미래컴퍼니 | 수술 로봇 시스템 및 이에 구비되는 액티브 가이드 유닛 |
EP3169252A1 (en) | 2014-07-14 | 2017-05-24 | KB Medical SA | Anti-skid surgical instrument for use in preparing holes in bone tissue |
US10413372B2 (en) | 2014-07-28 | 2019-09-17 | Intuitive Surgical Operations, Inc. | Guide apparatus for delivery of a flexible instrument and methods of use |
US10390853B2 (en) | 2014-08-13 | 2019-08-27 | Covidien Lp | Robotically controlling mechanical advantage gripping |
KR101961572B1 (ko) * | 2014-08-14 | 2019-03-22 | 쿠카 도이칠란트 게엠베하 | 로봇의 포지셔닝 |
WO2016025544A1 (en) * | 2014-08-15 | 2016-02-18 | Intuitive Surgical Operations, Inc. | A surgical system with variable entry guide configurations |
LT3188645T (lt) | 2014-09-04 | 2020-07-10 | Memic Innovative Surgery Ltd. | Įtaisas ir sistema su mechaninėmis rankomis |
BR112017004361B1 (pt) | 2014-09-05 | 2023-04-11 | Ethicon Llc | Sistema eletrônico para um instrumento cirúrgico |
US11311294B2 (en) | 2014-09-05 | 2022-04-26 | Cilag Gmbh International | Powered medical device including measurement of closure state of jaws |
US10111679B2 (en) | 2014-09-05 | 2018-10-30 | Ethicon Llc | Circuitry and sensors for powered medical device |
CN107072722B (zh) | 2014-09-15 | 2020-05-12 | 柯惠Lp公司 | 机器人控制手术组件 |
US10105142B2 (en) | 2014-09-18 | 2018-10-23 | Ethicon Llc | Surgical stapler with plurality of cutting elements |
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 |
US11523821B2 (en) | 2014-09-26 | 2022-12-13 | Cilag Gmbh International | Method for creating a flexible staple line |
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 |
WO2016064616A1 (en) | 2014-10-23 | 2016-04-28 | Covidien Lp | Drive unit and rack drape for robotic surgical instruments |
US10624807B2 (en) | 2014-10-27 | 2020-04-21 | Intuitive Surgical Operations, Inc. | System and method for integrated surgical table icons |
KR102617042B1 (ko) | 2014-10-27 | 2023-12-27 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 수술 테이블에 등록하기 위한 시스템 및 방법 |
CN115444567A (zh) * | 2014-10-27 | 2022-12-09 | 直观外科手术操作公司 | 用于器械干扰补偿的系统和方法 |
CN111839731A (zh) * | 2014-10-27 | 2020-10-30 | 直观外科手术操作公司 | 用于在反应运动期间监测控制点的系统和方法 |
CN107072727B (zh) | 2014-10-27 | 2020-01-24 | 直观外科手术操作公司 | 具有主动制动器释放控制装置的医疗装置 |
KR102479015B1 (ko) | 2014-10-27 | 2022-12-20 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 통합 수술 테이블 운동을 위한 시스템 및 방법 |
CN110478036B (zh) | 2014-10-27 | 2022-05-17 | 直观外科手术操作公司 | 用于集成手术台的系统和方法 |
US11141153B2 (en) | 2014-10-29 | 2021-10-12 | Cilag Gmbh International | Staple cartridges comprising driver arrangements |
US10517594B2 (en) | 2014-10-29 | 2019-12-31 | Ethicon Llc | Cartridge assemblies for surgical staplers |
US9844376B2 (en) | 2014-11-06 | 2017-12-19 | Ethicon Llc | Staple cartridge comprising a releasable adjunct material |
DE102014117407A1 (de) | 2014-11-27 | 2016-06-02 | avateramedical GmBH | Vorrichtung zur robotergestützten Chirurgie |
DE102014117408A1 (de) * | 2014-11-27 | 2016-06-02 | avateramedical GmBH | Vorrichtung zur robotergestützten Chirurgie |
US10736636B2 (en) | 2014-12-10 | 2020-08-11 | Ethicon Llc | Articulatable surgical instrument system |
US9943309B2 (en) | 2014-12-18 | 2018-04-17 | Ethicon Llc | Surgical instruments with articulatable end effectors and movable firing beam support arrangements |
US10117649B2 (en) | 2014-12-18 | 2018-11-06 | Ethicon Llc | Surgical instrument assembly comprising a lockable articulation system |
US9987000B2 (en) | 2014-12-18 | 2018-06-05 | Ethicon Llc | Surgical instrument assembly comprising a flexible articulation system |
US10085748B2 (en) | 2014-12-18 | 2018-10-02 | Ethicon Llc | Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors |
US10188385B2 (en) | 2014-12-18 | 2019-01-29 | Ethicon Llc | Surgical instrument system comprising lockable systems |
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 |
RU2703684C2 (ru) | 2014-12-18 | 2019-10-21 | ЭТИКОН ЭНДО-СЕРДЖЕРИ, ЭлЭлСи | Хирургический инструмент с упором, который выполнен с возможностью избирательного перемещения относительно кассеты со скобами вокруг дискретной неподвижной оси |
US9844375B2 (en) | 2014-12-18 | 2017-12-19 | Ethicon Llc | Drive arrangements for articulatable surgical instruments |
US10013808B2 (en) | 2015-02-03 | 2018-07-03 | Globus Medical, Inc. | Surgeon head-mounted display apparatuses |
EP3258872B1 (en) | 2015-02-18 | 2023-04-26 | KB Medical SA | Systems for performing minimally invasive spinal surgery with a robotic surgical system using a percutaneous technique |
EP3258874B1 (en) * | 2015-02-19 | 2024-01-17 | Covidien LP | Input device for robotic surgical system |
US10357324B2 (en) * | 2015-02-20 | 2019-07-23 | Stryker Corporation | Sterile barrier assembly, mounting system, and method for coupling surgical components |
US10420618B2 (en) | 2015-02-26 | 2019-09-24 | Covidien Lp | Instrument drive unit including lead screw rails |
EP3261574A4 (en) * | 2015-02-26 | 2018-10-31 | Covidien LP | Robotically controlling remote center of motion with software and guide tube |
US9993258B2 (en) | 2015-02-27 | 2018-06-12 | Ethicon Llc | Adaptable surgical instrument handle |
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 |
US9931118B2 (en) | 2015-02-27 | 2018-04-03 | Ethicon Endo-Surgery, Llc | Reinforced battery for a surgical instrument |
US10687806B2 (en) | 2015-03-06 | 2020-06-23 | Ethicon Llc | Adaptive tissue compression techniques to adjust closure rates for multiple tissue types |
US10245033B2 (en) | 2015-03-06 | 2019-04-02 | Ethicon Llc | Surgical instrument comprising a lockable battery housing |
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 |
US9895148B2 (en) | 2015-03-06 | 2018-02-20 | Ethicon Endo-Surgery, Llc | Monitoring speed control and precision incrementing of motor for powered surgical instruments |
US9808246B2 (en) | 2015-03-06 | 2017-11-07 | Ethicon Endo-Surgery, Llc | Method of operating a powered surgical instrument |
US9993248B2 (en) | 2015-03-06 | 2018-06-12 | Ethicon Endo-Surgery, Llc | Smart sensors with local signal processing |
US10441279B2 (en) | 2015-03-06 | 2019-10-15 | Ethicon Llc | Multiple level thresholds to modify operation of 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 |
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 |
US9901342B2 (en) | 2015-03-06 | 2018-02-27 | Ethicon Endo-Surgery, Llc | Signal and power communication system positioned on a rotatable shaft |
US9924961B2 (en) | 2015-03-06 | 2018-03-27 | Ethicon Endo-Surgery, Llc | Interactive feedback system for powered surgical instruments |
US10052044B2 (en) | 2015-03-06 | 2018-08-21 | Ethicon Llc | Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures |
JP2018507727A (ja) | 2015-03-10 | 2018-03-22 | コヴィディエン リミテッド パートナーシップ | ロボット外科手術システムのコネクタ部材の正常性の測定 |
GB201504486D0 (en) * | 2015-03-17 | 2015-04-29 | Cambridge Medical Robotics Ltd | Power supply for a robotic arm instrument |
US9866035B2 (en) * | 2015-03-27 | 2018-01-09 | Irobot Corporation | Rotatable coupling |
US10433844B2 (en) | 2015-03-31 | 2019-10-08 | Ethicon Llc | Surgical instrument with selectively disengageable threaded drive systems |
WO2016164824A1 (en) * | 2015-04-09 | 2016-10-13 | Auris Surgical Robotics, Inc. | Surgical system with configurable rail-mounted mechanical arms |
US10226239B2 (en) * | 2015-04-10 | 2019-03-12 | Covidien Lp | Adapter assembly with gimbal for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof |
CA2978771A1 (en) * | 2015-04-15 | 2016-10-20 | Covidien Lp | Methods for exchanging instruments using a surgical port assembly |
CN107809981B (zh) * | 2015-04-22 | 2021-04-16 | 直观外科手术操作公司 | 用于致动元件的张力调节器,以及相关远程致动器械、系统和方法 |
GB2538326B (en) * | 2015-05-07 | 2019-06-05 | Cmr Surgical Ltd | A surgical drape for transferring drive |
WO2016183054A1 (en) | 2015-05-11 | 2016-11-17 | Covidien Lp | Coupling instrument drive unit and robotic surgical instrument |
GB2538497B (en) | 2015-05-14 | 2020-10-28 | Cmr Surgical Ltd | Torque sensing in a surgical robotic wrist |
JP6832870B2 (ja) | 2015-05-19 | 2021-02-24 | マコ サージカル コーポレーション | 生体構造を加工するためのシステム及び方法 |
CN107771062B (zh) * | 2015-06-01 | 2021-04-13 | 柯惠Lp公司 | 包含展开机构的外科盖布 |
EP3302335A4 (en) | 2015-06-03 | 2019-02-20 | Covidien LP | OFFSET INSTRUMENT DRIVE UNIT |
JP6854243B2 (ja) * | 2015-06-11 | 2021-04-07 | 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 | 器具係合のためのシステム及び方法 |
FR3037269B1 (fr) * | 2015-06-12 | 2017-07-14 | Robocath | Chaine de transmission de mouvement entre des actionneurs et un socle d'organe d'entrainement d'un element mobile |
CA2986850C (en) * | 2015-06-15 | 2023-09-26 | Human Xtensions Ltd. | Adaptor or adaptor system for rendering medical devices functionally sterile |
US10507068B2 (en) | 2015-06-16 | 2019-12-17 | Covidien Lp | Robotic surgical system torque transduction sensing |
US10182818B2 (en) | 2015-06-18 | 2019-01-22 | Ethicon Llc | Surgical end effectors with positive jaw opening arrangements |
US10667877B2 (en) | 2015-06-19 | 2020-06-02 | Covidien Lp | Controlling robotic surgical instruments with bidirectional coupling |
US10675104B2 (en) | 2015-06-19 | 2020-06-09 | Covidien Lp | Robotic surgical assemblies |
CA2987643A1 (en) | 2015-06-19 | 2016-12-22 | Covidien Lp | Robotic surgical assemblies |
WO2016209769A1 (en) | 2015-06-23 | 2016-12-29 | Covidien Lp | Robotic surgical assemblies |
WO2017007795A1 (en) | 2015-07-07 | 2017-01-12 | Intuitive Surgical Operations, Inc. | Control of multiple devices |
KR101703114B1 (ko) * | 2015-07-08 | 2017-02-06 | 한국기계연구원 | 중재시술용 마스터장치와 마스터장치의 제어방법 그리고 이것을 이용한 원격중재시술장치 |
US10058394B2 (en) | 2015-07-31 | 2018-08-28 | Globus Medical, Inc. | Robot arm and methods of use |
US10646298B2 (en) | 2015-07-31 | 2020-05-12 | Globus Medical, Inc. | Robot arm and methods of use |
US10321963B2 (en) * | 2015-08-04 | 2019-06-18 | Vanderbilt University | Apparatus and method for moving an elongate rod |
US10080615B2 (en) | 2015-08-12 | 2018-09-25 | Globus Medical, Inc. | Devices and methods for temporary mounting of parts to bone |
US11058425B2 (en) | 2015-08-17 | 2021-07-13 | 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. |
US10357251B2 (en) | 2015-08-26 | 2019-07-23 | Ethicon Llc | Surgical staples comprising hardness variations for improved fastening of tissue |
MX2018002388A (es) | 2015-08-26 | 2018-08-01 | Ethicon Llc | Tiras de grapas quirurgicas para permitir propiedades variables de la grapa y facilitar la carga del cartucho. |
WO2017037127A1 (en) | 2015-08-31 | 2017-03-09 | KB Medical SA | Robotic surgical systems and methods |
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. |
US10172619B2 (en) | 2015-09-02 | 2019-01-08 | Ethicon Llc | Surgical staple driver arrays |
LT3190942T (lt) | 2015-09-04 | 2020-07-10 | Memic Innovative Surgery Ltd. | Įtaiso su mechaninėmis rankomis įjungimas |
CN105058373B (zh) * | 2015-09-07 | 2016-10-19 | 哈尔滨工业大学 | 一种基于双虎克铰机构的机械臂柔顺对接装置 |
CN108348133B (zh) * | 2015-09-09 | 2020-11-13 | 奥瑞斯健康公司 | 用于手术机器人系统的器械装置操纵器 |
US10034716B2 (en) | 2015-09-14 | 2018-07-31 | Globus Medical, Inc. | Surgical robotic systems and methods thereof |
EP3349675B1 (en) | 2015-09-15 | 2020-10-21 | Applied Medical Resources Corporation | Surgical robotic access system |
DE102015115559A1 (de) | 2015-09-15 | 2017-03-16 | Karl Storz Gmbh & Co. Kg | Manipulationssystem sowie Handhabungsvorrichtung für chirurgische Instrumente |
US10363036B2 (en) | 2015-09-23 | 2019-07-30 | Ethicon Llc | Surgical stapler having force-based motor control |
US10105139B2 (en) | 2015-09-23 | 2018-10-23 | Ethicon Llc | Surgical stapler having downstream current-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 |
US10085751B2 (en) | 2015-09-23 | 2018-10-02 | Ethicon Llc | Surgical stapler having temperature-based motor control |
US10327769B2 (en) | 2015-09-23 | 2019-06-25 | Ethicon Llc | Surgical stapler having motor control based on a drive system component |
US10076326B2 (en) | 2015-09-23 | 2018-09-18 | Ethicon Llc | Surgical stapler having current mirror-based motor control |
WO2017053507A1 (en) | 2015-09-25 | 2017-03-30 | Covidien Lp | Elastic surgical interface for robotic surgical systems |
US10299878B2 (en) | 2015-09-25 | 2019-05-28 | Ethicon Llc | Implantable adjunct systems for determining adjunct skew |
CN108024835B (zh) | 2015-09-25 | 2021-08-31 | 柯惠Lp公司 | 机器人外科手术组件及其器械驱动连接器 |
US10980539B2 (en) | 2015-09-30 | 2021-04-20 | Ethicon Llc | Implantable adjunct comprising bonded layers |
US11890015B2 (en) | 2015-09-30 | 2024-02-06 | Cilag Gmbh International | Compressible adjunct with crossing spacer fibers |
US10172620B2 (en) | 2015-09-30 | 2019-01-08 | Ethicon Llc | Compressible adjuncts with bonding nodes |
US20170086829A1 (en) | 2015-09-30 | 2017-03-30 | Ethicon Endo-Surgery, Llc | Compressible adjunct with intermediate supporting structures |
US9771092B2 (en) | 2015-10-13 | 2017-09-26 | Globus Medical, Inc. | Stabilizer wheel assembly and methods of use |
US20180311851A1 (en) * | 2015-10-13 | 2018-11-01 | Reliance Industries Limited | An electromechanical device for removing material from an enclosed space |
CN108135670B (zh) | 2015-10-23 | 2021-02-26 | 柯惠Lp公司 | 用于检测灌注中逐步变化的手术系统 |
US9955986B2 (en) | 2015-10-30 | 2018-05-01 | Auris Surgical Robotics, Inc. | Basket apparatus |
US10639108B2 (en) | 2015-10-30 | 2020-05-05 | Auris Health, Inc. | Process for percutaneous operations |
US9949749B2 (en) | 2015-10-30 | 2018-04-24 | Auris Surgical Robotics, Inc. | Object capture with a basket |
KR102202403B1 (ko) * | 2015-11-12 | 2021-01-14 | 한국전자통신연구원 | 모발이식장치 지지용 스탠드 조립체 |
US10660714B2 (en) | 2015-11-19 | 2020-05-26 | Covidien Lp | Optical force sensor for robotic surgical system |
US10292779B2 (en) * | 2015-11-23 | 2019-05-21 | Sina Robotics And Medical Innovators Co. | Adapting manual laparoscopic surgical instruments for robotic telesurgery applications |
US10219871B2 (en) * | 2015-11-23 | 2019-03-05 | Alireza Mirbagheri | Robotic system for tele-surgery |
GB201521808D0 (en) * | 2015-12-10 | 2016-01-27 | Cambridge Medical Robotics Ltd | Interfacing a surgical robot and instrument |
JP6654883B2 (ja) * | 2015-12-11 | 2020-02-26 | 川崎重工業株式会社 | 外科手術システム、マニピュレータアーム、及びマニピュレータアーム支持体 |
JP6654884B2 (ja) * | 2015-12-11 | 2020-02-26 | 川崎重工業株式会社 | 外科手術システム |
EP3397189A4 (en) * | 2015-12-29 | 2019-09-04 | Covidien LP | ROBOTIC SURGICAL SYSTEMS AND INSTRUMENT DRIVE ASSEMBLIES |
US10265068B2 (en) | 2015-12-30 | 2019-04-23 | Ethicon Llc | Surgical instruments with separable motors and motor control circuits |
US10368865B2 (en) | 2015-12-30 | 2019-08-06 | Ethicon Llc | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
US10292704B2 (en) | 2015-12-30 | 2019-05-21 | Ethicon Llc | Mechanisms for compensating for battery pack failure in powered surgical instruments |
EP4248906A3 (en) | 2016-01-07 | 2023-12-06 | Intuitive Surgical Operations, Inc. | Telescoping cannula arm |
JP7193340B2 (ja) | 2016-01-08 | 2022-12-20 | 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 | 手術器具のためのシース並びに関連するデバイス及び方法 |
JP6110527B1 (ja) * | 2016-01-28 | 2017-04-05 | 上銀科技股▲分▼有限公司 | 伸縮性を有する医療機器の制御機構 |
US10117632B2 (en) | 2016-02-03 | 2018-11-06 | Globus Medical, Inc. | Portable medical imaging system with beam scanning collimator |
US11058378B2 (en) | 2016-02-03 | 2021-07-13 | Globus Medical, Inc. | Portable medical imaging system |
US10448910B2 (en) | 2016-02-03 | 2019-10-22 | Globus Medical, Inc. | Portable medical imaging system |
US10842453B2 (en) | 2016-02-03 | 2020-11-24 | Globus Medical, Inc. | Portable medical imaging system |
US11883217B2 (en) | 2016-02-03 | 2024-01-30 | Globus Medical, Inc. | Portable medical imaging system and method |
US20170224332A1 (en) | 2016-02-09 | 2017-08-10 | Ethicon Endo-Surgery, Llc | Surgical instruments with non-symmetrical articulation arrangements |
US11213293B2 (en) | 2016-02-09 | 2022-01-04 | Cilag Gmbh International | Articulatable surgical instruments with single articulation link arrangements |
JP6911054B2 (ja) | 2016-02-09 | 2021-07-28 | エシコン エルエルシーEthicon LLC | 非対称の関節構成を備えた外科用器具 |
US10258331B2 (en) | 2016-02-12 | 2019-04-16 | Ethicon Llc | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
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 |
US10617481B2 (en) | 2016-03-09 | 2020-04-14 | Memic Innovative Surgey Ltd. | Modular device comprising mechanical arms |
US10866119B2 (en) | 2016-03-14 | 2020-12-15 | Globus Medical, Inc. | Metal detector for detecting insertion of a surgical device into a hollow tube |
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 |
WO2017165183A1 (en) | 2016-03-25 | 2017-09-28 | Intuitive Surgical Operations, Inc. | Surgical platform supported by multiple arms |
US20190105112A1 (en) * | 2016-03-31 | 2019-04-11 | Koninklijke Philips N.V. | Image guided robot for catheter placement |
US10376263B2 (en) | 2016-04-01 | 2019-08-13 | Ethicon Llc | Anvil modification members for surgical staplers |
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 |
WO2017173524A1 (en) | 2016-04-07 | 2017-10-12 | Titan Medical Inc. | Camera positioning method and apparatus for capturing images during a medical procedure |
EP3241518A3 (en) | 2016-04-11 | 2018-01-24 | Globus Medical, Inc | Surgical tool systems and methods |
EP3442432A4 (en) | 2016-04-14 | 2019-12-11 | TransEnterix Surgical, Inc. | ELECTROMECHANICAL SURGICAL SYSTEM WITH LINEAR DRIVEN INSTRUMENT ROLL |
US10357247B2 (en) | 2016-04-15 | 2019-07-23 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
US10456137B2 (en) | 2016-04-15 | 2019-10-29 | Ethicon Llc | Staple formation detection mechanisms |
US10828028B2 (en) | 2016-04-15 | 2020-11-10 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
US10492783B2 (en) | 2016-04-15 | 2019-12-03 | Ethicon, Llc | Surgical instrument with improved stop/start control during a firing motion |
US10426467B2 (en) | 2016-04-15 | 2019-10-01 | Ethicon Llc | Surgical instrument with detection sensors |
US11179150B2 (en) | 2016-04-15 | 2021-11-23 | Cilag Gmbh International | Systems and methods for controlling a surgical stapling and cutting instrument |
US11607239B2 (en) | 2016-04-15 | 2023-03-21 | Cilag Gmbh International | Systems and methods for controlling a surgical stapling and cutting instrument |
US10335145B2 (en) | 2016-04-15 | 2019-07-02 | Ethicon Llc | Modular surgical instrument with configurable operating mode |
US10405859B2 (en) | 2016-04-15 | 2019-09-10 | Ethicon Llc | Surgical instrument with adjustable stop/start control 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 |
US10454347B2 (en) | 2016-04-29 | 2019-10-22 | Auris Health, Inc. | Compact height torque sensing articulation axis assembly |
CN109219414B (zh) | 2016-05-26 | 2021-11-19 | 柯惠Lp公司 | 机器人手术组合件 |
EP3463158B1 (en) * | 2016-05-26 | 2023-08-30 | Covidien LP | Cannula assemblies for use with robotic surgical systems |
JP6949052B2 (ja) | 2016-05-26 | 2021-10-13 | コヴィディエン リミテッド パートナーシップ | 器具駆動部 |
EP3463163A4 (en) | 2016-06-03 | 2020-02-12 | Covidien LP | ROBOTIC SURGICAL SYSTEM WITH AN EMBEDDED IMAGER |
WO2017210074A1 (en) | 2016-06-03 | 2017-12-07 | Covidien Lp | Passive axis system for robotic surgical systems |
EP3463162A4 (en) | 2016-06-03 | 2020-06-24 | Covidien LP | SYSTEMS, METHODS AND COMPUTER READABLE PROGRAM PRODUCTS FOR CONTROLLING A ROBOT CONTROLLED MANIPULATOR |
WO2017210499A1 (en) | 2016-06-03 | 2017-12-07 | Covidien Lp | Control arm for robotic surgical systems |
JP6957532B2 (ja) | 2016-06-24 | 2021-11-02 | エシコン エルエルシーEthicon LLC | ワイヤステープル及び打ち抜き加工ステープルを含むステープルカートリッジ |
USD850617S1 (en) | 2016-06-24 | 2019-06-04 | Ethicon Llc | Surgical fastener cartridge |
US10675024B2 (en) | 2016-06-24 | 2020-06-09 | Ethicon Llc | Staple cartridge comprising overdriven staples |
USD826405S1 (en) | 2016-06-24 | 2018-08-21 | Ethicon Llc | Surgical fastener |
USD847989S1 (en) | 2016-06-24 | 2019-05-07 | Ethicon Llc | Surgical fastener cartridge |
CN106137396B (zh) * | 2016-06-27 | 2018-11-27 | 哈尔滨思哲睿智能医疗设备有限公司 | 一种用于腹腔镜手术机器人器械的连接机构 |
EP3478355A4 (en) | 2016-06-30 | 2020-03-04 | Intuitive Surgical Operations Inc. | ORIENTABLE ELONGATE DEVICE SYSTEMS AND METHODS |
CN114052854A (zh) * | 2016-07-01 | 2022-02-18 | 直观外科手术操作公司 | 计算机辅助的医疗系统和方法 |
WO2018005354A1 (en) * | 2016-07-01 | 2018-01-04 | Intuitive Surgical Operations, Inc. | Method for positioning an endoscope with flexible shaft |
KR102454613B1 (ko) * | 2016-07-14 | 2022-10-17 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 수술용 드레이프 설치 보조기구 |
US11890070B2 (en) | 2016-07-14 | 2024-02-06 | Intuitive Surgical Operations, Inc. | Instrument release |
WO2018013316A1 (en) | 2016-07-14 | 2018-01-18 | Intuitive Surgical Operations, Inc. | Geared roll drive for medical instrument |
EP3484397A4 (en) | 2016-07-14 | 2020-07-22 | Intuitive Surgical Operations Inc. | MEDICAL INSTRUMENT WITH SEVERAL CABLES |
US11020190B2 (en) * | 2016-07-14 | 2021-06-01 | Intuitive Surgical Operations, Inc. | Automated instrument preload engage/disengage mechanism |
EP3484396B1 (en) | 2016-07-14 | 2023-02-15 | Intuitive Surgical Operations, Inc. | Automatic manipulator assembly deployment for draping |
US20190290310A1 (en) | 2016-07-14 | 2019-09-26 | Intuitive Surgical Operations, Inc. | Surgical instruments with electrically isolated actuation members, related devices, and related methods |
CN113440263B (zh) | 2016-07-14 | 2024-03-26 | 直观外科手术操作公司 | 计算机辅助式远程操作系统中的次级器械控制 |
WO2018013300A1 (en) | 2016-07-14 | 2018-01-18 | Intuitive Surgical Operations, Inc. | Mechanism for managing and retaining a surgical drape |
WO2018013298A1 (en) | 2016-07-14 | 2018-01-18 | Intuitive Surgical Operations, Inc. | Geared grip actuation for medical instruments |
CN109414300B (zh) | 2016-07-14 | 2021-11-09 | 直观外科手术操作公司 | 器械冲洗系统 |
WO2018013309A1 (en) * | 2016-07-14 | 2018-01-18 | Intuitive Surgical Operations, Inc. | Telescoping medical device assembly and sterile drape |
US11490978B2 (en) | 2016-07-14 | 2022-11-08 | Intuitive Surgical Operations, Inc. | Instruments with electrically isolated components, related systems and methods |
US11026757B2 (en) | 2016-07-20 | 2021-06-08 | Intuitive Surgical Operations, Inc. | Surgical cannulas, and related systems and methods |
GB2600067B (en) * | 2016-07-29 | 2022-08-10 | Cmr Surgical Ltd | Motion feedthrough |
GB2552540B (en) | 2016-07-29 | 2021-11-24 | Cmr Surgical Ltd | Interface structure |
US11925431B2 (en) | 2016-07-29 | 2024-03-12 | Cmr Surgical Limited | Motion feedthrough |
US11241559B2 (en) | 2016-08-29 | 2022-02-08 | Auris Health, Inc. | Active drive for guidewire manipulation |
EP3506836A4 (en) | 2016-08-31 | 2020-04-29 | Auris Health, Inc. | EXTENSION FOR SURGICAL INSTRUMENT |
WO2018048948A1 (en) * | 2016-09-12 | 2018-03-15 | Applied Medical Resources Corporation | Surgical robotic access system for irregularly shaped robotic actuators and associated robotic surgical instruments |
CN116158859A (zh) * | 2016-09-15 | 2023-05-26 | 直观外科手术操作公司 | 计算机辅助远程操作手术系统和方法 |
WO2018056584A1 (ko) | 2016-09-21 | 2018-03-29 | 삼성전자 주식회사 | 피부 상태 측정 방법 및 이를 위한 전자 장치 |
WO2018057690A1 (en) | 2016-09-22 | 2018-03-29 | Intuitive Surgical Operations, Inc. | Tension regulation of remotely actuated instruments, and related devices, systems, and methods |
CN106236276B (zh) * | 2016-09-28 | 2019-09-17 | 微创(上海)医疗机器人有限公司 | 手术机器人系统 |
KR101853867B1 (ko) | 2016-10-18 | 2018-05-02 | 한국기계연구원 | 중재시술용 손잡이유닛과 이것을 이용한 중재시술용 마스터장치 그리고 이것을 이용한 원격중재시술시스템 |
GB2555654B (en) * | 2016-11-08 | 2021-10-06 | Cmr Surgical Ltd | Attachment structure for securing a robot arm to a support structure |
US11399886B2 (en) * | 2016-11-11 | 2022-08-02 | Intuitive Surgical Operations, Inc. | Surgical instruments, related systems, and related methods |
US11166744B2 (en) | 2016-11-14 | 2021-11-09 | Intuitive Surgical Operations, Inc. | Electrically conductive reducer device, related systems, and related methods |
CN115349951A (zh) | 2016-11-21 | 2022-11-18 | 直观外科手术操作公司 | 线缆长度持恒的医疗器械 |
JP6938634B2 (ja) * | 2016-12-20 | 2021-09-22 | バーブ サージカル インコーポレイテッドVerb Surgical Inc. | ロボット外科用システムで使用するための無菌アダプタ制御システム及び通信インターフェース |
US10426471B2 (en) | 2016-12-21 | 2019-10-01 | Ethicon Llc | Surgical instrument with multiple failure response modes |
US10624671B2 (en) * | 2016-12-21 | 2020-04-21 | Ethicon Llc | Trocar attachment devices and methods |
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 |
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 |
US10639035B2 (en) | 2016-12-21 | 2020-05-05 | Ethicon Llc | Surgical stapling instruments and replaceable tool assemblies thereof |
US10675026B2 (en) | 2016-12-21 | 2020-06-09 | Ethicon Llc | Methods of stapling tissue |
US10835246B2 (en) | 2016-12-21 | 2020-11-17 | Ethicon Llc | Staple cartridges and arrangements of staples and staple cavities therein |
US10492785B2 (en) | 2016-12-21 | 2019-12-03 | Ethicon Llc | Shaft assembly comprising a lockout |
MX2019007311A (es) | 2016-12-21 | 2019-11-18 | Ethicon Llc | Sistemas de engrapado quirurgico. |
US10537324B2 (en) | 2016-12-21 | 2020-01-21 | Ethicon Llc | Stepped staple cartridge with asymmetrical staples |
US10687810B2 (en) | 2016-12-21 | 2020-06-23 | Ethicon Llc | Stepped staple cartridge with tissue retention and gap setting features |
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 |
US11191540B2 (en) | 2016-12-21 | 2021-12-07 | Cilag Gmbh International | Protective cover arrangements for a joint interface between a movable jaw and actuator shaft of a surgical instrument |
US10695055B2 (en) | 2016-12-21 | 2020-06-30 | Ethicon Llc | Firing assembly comprising a lockout |
US11134942B2 (en) | 2016-12-21 | 2021-10-05 | Cilag Gmbh International | Surgical stapling instruments and staple-forming anvils |
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 |
US11684367B2 (en) | 2016-12-21 | 2023-06-27 | Cilag Gmbh International | Stepped assembly having and end-of-life indicator |
US10448950B2 (en) | 2016-12-21 | 2019-10-22 | Ethicon Llc | Surgical staplers with independently actuatable closing and firing systems |
US10856868B2 (en) | 2016-12-21 | 2020-12-08 | Ethicon Llc | Firing member pin configurations |
US10682138B2 (en) | 2016-12-21 | 2020-06-16 | Ethicon Llc | Bilaterally asymmetric staple forming pocket pairs |
US10945727B2 (en) | 2016-12-21 | 2021-03-16 | Ethicon Llc | Staple cartridge with deformable driver retention features |
US10881401B2 (en) | 2016-12-21 | 2021-01-05 | Ethicon Llc | Staple firing member comprising a missing cartridge and/or spent cartridge lockout |
US20180168625A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Surgical stapling instruments with smart staple cartridges |
US10244926B2 (en) | 2016-12-28 | 2019-04-02 | Auris Health, Inc. | Detecting endolumenal buckling of flexible instruments |
US10543048B2 (en) | 2016-12-28 | 2020-01-28 | Auris Health, Inc. | Flexible instrument insertion using an adaptive insertion force threshold |
CN106667579B (zh) * | 2016-12-30 | 2020-02-21 | 哈尔滨思哲睿智能医疗设备有限公司 | 一种用于腹腔镜手术机器人器械的连接机构 |
US11173003B2 (en) | 2017-01-10 | 2021-11-16 | Intuitive Surgical Operations, Inc. | Systems and methods for using a robotic medical system |
EP3360502A3 (en) | 2017-01-18 | 2018-10-31 | KB Medical SA | Robotic navigation of robotic surgical systems |
US10617858B2 (en) | 2017-01-24 | 2020-04-14 | Intuitive Surgical Operations, Inc. | Surgical port features with electrically conductive portions, related devices, and related methods |
US11235133B2 (en) | 2017-01-24 | 2022-02-01 | Intuitive Surgical Operations, Inc. | Surgical instrument ports configured for use with wound retractors, and related devices and methods |
EP3576641A4 (en) | 2017-01-31 | 2021-01-20 | TransEnterix Surgical, Inc. | HYDRAULIC INSTRUMENT DRIVE SYSTEM FOR MINIMAL INVASIVE SURGERY |
EP3576599A4 (en) * | 2017-02-06 | 2020-11-18 | Intuitive Surgical Operations Inc. | SYSTEMS AND METHODS FOR COUPLING COMPONENTS OF A MEDICAL SYSTEM |
EP3579780A4 (en) * | 2017-02-08 | 2020-02-19 | Intuitive Surgical Operations Inc. | REPOSITIONING SYSTEM FOR A REMOTE CONTROLLED MANIPULATOR AND RELATED METHOD |
CA3051258A1 (en) | 2017-02-09 | 2018-08-16 | Vicarious Surgical Inc. | Virtual reality surgical tools system |
EP3582708A4 (en) | 2017-02-15 | 2020-12-23 | Covidien LP | CRUSH PREVENTION SYSTEM AND DEVICE FOR MEDICAL ROBOTIC APPLICATIONS |
EP3363401A1 (en) * | 2017-02-16 | 2018-08-22 | Microsure B.V. | Robotic manipulator interface for hinged surgical tools |
US10624738B2 (en) * | 2017-02-23 | 2020-04-21 | Edwards Lifesciences Corporation | Heart valve manufacturing devices and methods |
US10357321B2 (en) | 2017-02-24 | 2019-07-23 | Intuitive Surgical Operations, Inc. | Splayed cable guide for a medical instrument |
US11779410B2 (en) | 2017-03-09 | 2023-10-10 | Momentis Surgical Ltd | Control console including an input arm for control of a surgical mechanical arm |
US10973592B2 (en) | 2017-03-09 | 2021-04-13 | Memie Innovative Surgery Ltd. | Control console for surgical device with mechanical arms |
GB2560384B (en) | 2017-03-10 | 2022-07-20 | Cmr Surgical Ltd | Controlling a surgical instrument |
US11071594B2 (en) | 2017-03-16 | 2021-07-27 | KB Medical SA | Robotic navigation of robotic surgical systems |
CN108618845B (zh) * | 2017-03-20 | 2022-07-29 | 新加坡国立大学 | 一种可固定于颅骨的并联脑外科微创手术机器人 |
US11076926B2 (en) | 2017-03-21 | 2021-08-03 | Intuitive Surgical Operations, Inc. | Manual release for medical device drive system |
IT201700042116A1 (it) * | 2017-04-14 | 2018-10-14 | Medical Microinstruments Spa | Assieme robotico per chirurgia |
WO2018203426A1 (ja) * | 2017-05-01 | 2018-11-08 | 株式会社メディカロイド | 処置具ユニット、医療用処置具および手術システム |
CN106983513B (zh) * | 2017-05-02 | 2023-03-21 | 内蒙古智牧溯源技术开发有限公司 | 一种基于rfid及物联网的牲畜体征检测装置 |
WO2018209518A1 (en) * | 2017-05-15 | 2018-11-22 | Bio-Medical Engineering (HK) Limited | Systems, devices, and methods for performing surgical actions via externally driven driving assemblies |
EP3629979A4 (en) | 2017-05-24 | 2021-02-17 | Covidien LP | PRESENCE DETECTION FOR ELECTROSURGICAL TOOLS IN A ROBOTIC SYSTEM |
JP2020520694A (ja) | 2017-05-25 | 2020-07-16 | コヴィディエン リミテッド パートナーシップ | ロボット手術システムおよびロボット手術システムのコンポーネントを覆うためのドレープ |
EP3629980A4 (en) | 2017-05-25 | 2021-03-10 | Covidien LP | ROBOTIC SURGICAL SYSTEM WITH AUTOMATED GUIDANCE |
US11553974B2 (en) | 2017-05-25 | 2023-01-17 | Covidien Lp | Systems and methods for detection of objects within a field of view of an image capture device |
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 |
US10881396B2 (en) | 2017-06-20 | 2021-01-05 | Ethicon Llc | Surgical instrument with variable duration trigger arrangement |
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 |
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 |
USD879808S1 (en) | 2017-06-20 | 2020-03-31 | Ethicon Llc | Display panel with graphical user interface |
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 |
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 |
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 |
USD879809S1 (en) | 2017-06-20 | 2020-03-31 | Ethicon Llc | Display panel with changeable graphical user interface |
US10881399B2 (en) | 2017-06-20 | 2021-01-05 | Ethicon Llc | Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument |
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 |
US10624633B2 (en) | 2017-06-20 | 2020-04-21 | Ethicon Llc | Systems and methods for controlling 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 |
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 |
USD890784S1 (en) | 2017-06-20 | 2020-07-21 | Ethicon Llc | Display panel with changeable graphical user interface |
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 |
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 |
US10646220B2 (en) | 2017-06-20 | 2020-05-12 | Ethicon Llc | Systems and methods for controlling displacement member velocity for a surgical instrument |
US11266405B2 (en) | 2017-06-27 | 2022-03-08 | Cilag Gmbh International | Surgical anvil manufacturing methods |
US10856869B2 (en) | 2017-06-27 | 2020-12-08 | Ethicon Llc | Surgical anvil arrangements |
US10772629B2 (en) | 2017-06-27 | 2020-09-15 | Ethicon Llc | Surgical anvil arrangements |
US10993716B2 (en) | 2017-06-27 | 2021-05-04 | Ethicon Llc | Surgical anvil arrangements |
US11141154B2 (en) | 2017-06-27 | 2021-10-12 | Cilag Gmbh International | Surgical end effectors and anvils |
US11324503B2 (en) | 2017-06-27 | 2022-05-10 | Cilag Gmbh International | Surgical firing member arrangements |
USD869655S1 (en) | 2017-06-28 | 2019-12-10 | Ethicon Llc | Surgical fastener cartridge |
US10211586B2 (en) | 2017-06-28 | 2019-02-19 | Ethicon Llc | Surgical shaft assemblies with watertight housings |
US11564686B2 (en) | 2017-06-28 | 2023-01-31 | Cilag Gmbh International | Surgical shaft assemblies with flexible interfaces |
USD851762S1 (en) | 2017-06-28 | 2019-06-18 | Ethicon Llc | Anvil |
US10765427B2 (en) | 2017-06-28 | 2020-09-08 | Ethicon Llc | Method for articulating a surgical instrument |
USD854151S1 (en) | 2017-06-28 | 2019-07-16 | Ethicon Llc | Surgical instrument shaft |
US11246592B2 (en) | 2017-06-28 | 2022-02-15 | Cilag Gmbh International | Surgical instrument comprising an articulation system lockable to a frame |
USD906355S1 (en) | 2017-06-28 | 2020-12-29 | Ethicon Llc | Display screen or portion thereof with a graphical user interface for a surgical instrument |
US11259805B2 (en) | 2017-06-28 | 2022-03-01 | Cilag Gmbh International | Surgical instrument comprising firing member supports |
US11058424B2 (en) | 2017-06-28 | 2021-07-13 | Cilag Gmbh International | Surgical instrument comprising an offset articulation joint |
EP3420947B1 (en) | 2017-06-28 | 2022-05-25 | Cilag GmbH International | Surgical instrument comprising selectively actuatable rotatable couplers |
US11026758B2 (en) | 2017-06-28 | 2021-06-08 | Auris Health, Inc. | Medical robotics systems implementing axis constraints during actuation of one or more motorized joints |
US11478242B2 (en) | 2017-06-28 | 2022-10-25 | Cilag Gmbh International | Jaw retainer arrangement for retaining a pivotable surgical instrument jaw in pivotable retaining engagement with a second surgical instrument jaw |
US10716614B2 (en) | 2017-06-28 | 2020-07-21 | Ethicon Llc | Surgical shaft assemblies with slip ring assemblies with increased contact pressure |
US10903685B2 (en) | 2017-06-28 | 2021-01-26 | Ethicon Llc | Surgical shaft assemblies with slip ring assemblies forming capacitive channels |
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 |
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 |
US11058508B2 (en) | 2017-06-29 | 2021-07-13 | Verb Surgical Inc. | Sterile adapter for a linearly-actuating instrument driver |
US10258418B2 (en) | 2017-06-29 | 2019-04-16 | Ethicon Llc | System for controlling articulation forces |
US10932772B2 (en) | 2017-06-29 | 2021-03-02 | Ethicon Llc | Methods for closed loop velocity control for robotic surgical instrument |
US10426559B2 (en) * | 2017-06-30 | 2019-10-01 | Auris Health, Inc. | Systems and methods for medical instrument compression compensation |
US10675094B2 (en) | 2017-07-21 | 2020-06-09 | Globus Medical Inc. | Robot surgical platform |
CN107334536B (zh) * | 2017-07-31 | 2023-05-30 | 成都博恩思医学机器人有限公司 | 一种内部支撑机构及控制台 |
CN107361849B (zh) | 2017-07-31 | 2023-11-21 | 成都博恩思医学机器人有限公司 | 用于操纵执行机构的控制台 |
US11304695B2 (en) | 2017-08-03 | 2022-04-19 | Cilag Gmbh International | Surgical system shaft interconnection |
US11974742B2 (en) | 2017-08-03 | 2024-05-07 | Cilag Gmbh International | Surgical system comprising an articulation bailout |
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 |
EP3664729B1 (en) | 2017-08-11 | 2022-11-16 | Intuitive Surgical Operations, Inc. | Medical apparatus with optical sensing |
EP3681429A4 (en) * | 2017-08-16 | 2021-09-08 | Covidien LP | ROBOTIC SURGICAL SYSTEMS AND FIELDS FOR COVERING ELEMENTS OF ROBOTIC SURGICAL SYSTEMS |
CN115068075A (zh) | 2017-08-23 | 2022-09-20 | 麦米克创新外科有限公司 | 用于阴道途径的工具与方法 |
EP3476355A4 (en) * | 2017-09-01 | 2019-10-16 | Koh Young Technology Inc | MEDICAL ARM SET |
US11628022B2 (en) | 2017-09-05 | 2023-04-18 | Covidien Lp | Collision handling algorithms for robotic surgical systems |
WO2019050878A2 (en) | 2017-09-06 | 2019-03-14 | Covidien Lp | SCALE OF LIMITS OF SURGICAL ROBOTS |
EP3681368A4 (en) | 2017-09-14 | 2021-06-23 | Vicarious Surgical Inc. | SURGICAL CAMERA SYSTEM WITH VIRTUAL REALITY |
US10857347B2 (en) | 2017-09-19 | 2020-12-08 | Pulse Biosciences, Inc. | Treatment instrument and high-voltage connectors for robotic surgical system |
US10796471B2 (en) | 2017-09-29 | 2020-10-06 | Ethicon Llc | Systems and methods of displaying a knife position for a surgical instrument |
USD907648S1 (en) | 2017-09-29 | 2021-01-12 | Ethicon Llc | Display screen or portion thereof with animated graphical user interface |
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 |
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 |
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 |
USD907647S1 (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 |
US11090075B2 (en) | 2017-10-30 | 2021-08-17 | Cilag Gmbh International | Articulation features for surgical end effector |
US11134944B2 (en) | 2017-10-30 | 2021-10-05 | Cilag Gmbh International | Surgical stapler knife motion controls |
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 |
JP6778242B2 (ja) | 2017-11-09 | 2020-10-28 | グローバス メディカル インコーポレイティッド | 手術用ロッドを曲げるための手術用ロボットシステム、および関連する方法および装置 |
US11357548B2 (en) | 2017-11-09 | 2022-06-14 | Globus Medical, Inc. | Robotic rod benders and related mechanical and motor housings |
US11794338B2 (en) | 2017-11-09 | 2023-10-24 | Globus Medical Inc. | Robotic rod benders and related mechanical and motor housings |
US11134862B2 (en) | 2017-11-10 | 2021-10-05 | Globus Medical, Inc. | Methods of selecting surgical implants and related devices |
KR102482611B1 (ko) | 2017-11-14 | 2022-12-30 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 분할 브리지 회로 힘 센서 |
JP2021511087A (ja) | 2017-11-15 | 2021-05-06 | スティーラブル インストゥルメンツ エヌヴイSteerable Instruments Nv | 制御可能な操縦可能器具 |
US10675107B2 (en) | 2017-11-15 | 2020-06-09 | Intuitive Surgical Operations, Inc. | Surgical instrument end effector with integral FBG |
US11160621B2 (en) * | 2017-11-17 | 2021-11-02 | Intuitive Surgical Operations, Inc. | Surgical instrument sterile adapter with optical coupler |
US11826114B2 (en) | 2017-11-29 | 2023-11-28 | Covidien Lp | Robotic surgical systems, instrument drive assemblies, and drive assemblies |
EP3723655A4 (en) | 2017-12-11 | 2021-09-08 | Auris Health, Inc. | SYSTEMS AND METHODS FOR INSTRUMENT-BASED INSERTION ARCHITECTURES |
JP7322026B2 (ja) | 2017-12-14 | 2023-08-07 | オーリス ヘルス インコーポレイテッド | 器具の位置推定のシステムおよび方法 |
US10743875B2 (en) | 2017-12-15 | 2020-08-18 | Ethicon Llc | Surgical end effectors with jaw stiffener arrangements configured to permit monitoring of firing member |
US10779826B2 (en) | 2017-12-15 | 2020-09-22 | Ethicon Llc | Methods of operating surgical end effectors |
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 |
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 |
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 |
US11033267B2 (en) | 2017-12-15 | 2021-06-15 | Ethicon Llc | Systems and methods of controlling a clamping member firing rate of a surgical instrument |
US11071543B2 (en) | 2017-12-15 | 2021-07-27 | Cilag Gmbh International | Surgical end effectors with clamping assemblies configured to increase jaw aperture ranges |
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 |
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 |
US10687813B2 (en) | 2017-12-15 | 2020-06-23 | Ethicon Llc | Adapters with firing stroke sensing arrangements for use in connection 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 |
US10743874B2 (en) | 2017-12-15 | 2020-08-18 | Ethicon Llc | Sealed adapters for use with electromechanical surgical instruments |
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 |
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 |
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 |
US10743868B2 (en) | 2017-12-21 | 2020-08-18 | Ethicon Llc | Surgical instrument comprising a pivotable distal head |
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 |
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 |
CN108175506A (zh) * | 2017-12-25 | 2018-06-19 | 宁波杨古诚文化传播有限公司 | 一种辅助手术用的医疗机械臂 |
EP3735199A4 (en) | 2018-01-04 | 2021-10-13 | Covidien LP | SYSTEMS AND ARRANGEMENTS FOR ATTACHING A SURGICAL ACCESSORY TO ROBOTIC SURGICAL SYSTEMS AND PROVIDING ACCESS THROUGH |
JP7463277B2 (ja) | 2018-01-17 | 2024-04-08 | オーリス ヘルス インコーポレイテッド | 改善されたロボットアームを有する外科用ロボットシステム |
US10517692B2 (en) | 2018-01-17 | 2019-12-31 | Auris Health, Inc. | Surgical platform with adjustable arm supports |
GB2570518B8 (en) * | 2018-01-30 | 2023-05-24 | Cmr Surgical Ltd | Interfacing a surgical robotic arm and instrument |
GB2570520B8 (en) * | 2018-01-30 | 2023-05-24 | Cmr Surgical Ltd | Interfacing a surgical robotic arm and instrument |
GB2570514B8 (en) * | 2018-01-30 | 2023-06-07 | Cmr Surgical Ltd | Surgical drape |
US11497567B2 (en) | 2018-02-08 | 2022-11-15 | Intuitive Surgical Operations, Inc. | Jointed control platform |
US11118661B2 (en) | 2018-02-12 | 2021-09-14 | Intuitive Surgical Operations, Inc. | Instrument transmission converting roll to linear actuation |
WO2019157763A1 (en) | 2018-02-15 | 2019-08-22 | Covidien Lp | Sheath assembly for a rigid endoscope |
US20190254753A1 (en) | 2018-02-19 | 2019-08-22 | Globus Medical, Inc. | Augmented reality navigation systems for use with robotic surgical systems and methods of their use |
US11189379B2 (en) | 2018-03-06 | 2021-11-30 | Digital Surgery Limited | Methods and systems for using multiple data structures to process surgical data |
AU2019232675B2 (en) * | 2018-03-08 | 2020-11-12 | Covidien Lp | Surgical robotic systems |
CN108852515B (zh) * | 2018-03-23 | 2022-06-24 | 深圳市精锋医疗科技股份有限公司 | 单切口手术的从操作设备及手术机器人 |
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 |
US10573023B2 (en) | 2018-04-09 | 2020-02-25 | Globus Medical, Inc. | Predictive visualization of medical imaging scanner component movement |
CA3095798A1 (en) * | 2018-04-17 | 2019-10-24 | Chengdu Borns Medical Robotics Inc. | Laparoscope-holding robot system for laparoscopic surgery |
CN110384556B (zh) * | 2018-04-20 | 2021-04-02 | 赛诺微医疗科技(浙江)有限公司 | 快换机构、采用其的器械夹持手及外科手术机器人 |
US11647888B2 (en) | 2018-04-20 | 2023-05-16 | Covidien Lp | Compensation for observer movement in robotic surgical systems having stereoscopic displays |
CN110384557B (zh) * | 2018-04-20 | 2021-03-30 | 赛诺微医疗科技(浙江)有限公司 | 组合定位机构、采用其的器械夹持手及外科手术机器人 |
US11986261B2 (en) | 2018-04-20 | 2024-05-21 | Covidien Lp | Systems and methods for surgical robotic cart placement |
KR102452566B1 (ko) | 2018-04-27 | 2022-10-06 | 주식회사 엘지화학 | 고흡수성 수지 조성물 |
CN108324384A (zh) * | 2018-05-04 | 2018-07-27 | 傅丽秋 | 一种改良型医疗手术设备 |
CN108338845A (zh) * | 2018-05-04 | 2018-07-31 | 吕丹丹 | 一种先进的医疗手术设备 |
CN108324385A (zh) * | 2018-05-04 | 2018-07-27 | 吕丹丹 | 一种医疗手术设备 |
US11980504B2 (en) | 2018-05-25 | 2024-05-14 | Intuitive Surgical Operations, Inc. | Fiber Bragg grating end effector force sensor |
CN110623746B (zh) * | 2018-06-22 | 2021-05-11 | 深圳市精锋医疗科技有限公司 | 手术机器人 |
CN109009449B (zh) * | 2018-06-22 | 2020-08-11 | 深圳市精锋医疗科技有限公司 | 操作臂及从操作设备 |
CN109124773A (zh) * | 2018-06-25 | 2019-01-04 | 深圳市精锋医疗科技有限公司 | 机械臂 |
WO2020005348A1 (en) | 2018-06-27 | 2020-01-02 | Auris Health, Inc. | Alignment and attachment systems for medical instruments |
US10667875B2 (en) * | 2018-06-27 | 2020-06-02 | Auris Health, Inc. | Systems and techniques for providing multiple perspectives during medical procedures |
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 |
WO2020018371A1 (en) | 2018-07-17 | 2020-01-23 | Intuitive Surgical Operations, Inc. | Surgical instruments with reduced capacitance, related devices, and related methods |
US11291440B2 (en) | 2018-08-20 | 2022-04-05 | Cilag Gmbh International | Method for operating a powered articulatable surgical instrument |
US11207065B2 (en) | 2018-08-20 | 2021-12-28 | Cilag Gmbh International | Method for fabricating surgical stapler anvils |
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 |
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 |
US10856870B2 (en) | 2018-08-20 | 2020-12-08 | Ethicon Llc | Switching arrangements for motor powered articulatable surgical instruments |
US11324501B2 (en) | 2018-08-20 | 2022-05-10 | Cilag Gmbh International | Surgical stapling devices with improved closure members |
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 |
US11045192B2 (en) | 2018-08-20 | 2021-06-29 | Cilag Gmbh International | Fabricating techniques for surgical stapler anvils |
US11253256B2 (en) | 2018-08-20 | 2022-02-22 | Cilag Gmbh International | Articulatable motor powered surgical instruments with dedicated articulation motor arrangements |
USD914878S1 (en) | 2018-08-20 | 2021-03-30 | Ethicon Llc | Surgical instrument anvil |
US10779821B2 (en) | 2018-08-20 | 2020-09-22 | Ethicon Llc | Surgical stapler anvils with tissue stop features configured to avoid tissue pinch |
CN113143353B (zh) * | 2018-08-24 | 2023-03-17 | 上海微创医疗机器人(集团)股份有限公司 | 蛇形手术器械 |
JP6777694B2 (ja) * | 2018-08-28 | 2020-10-28 | 株式会社メディカロイド | 内視鏡アダプタ |
JP7427654B2 (ja) | 2018-09-17 | 2024-02-05 | オーリス ヘルス インコーポレイテッド | 付随する医療処置を行うためのシステム及び方法 |
CN109091234A (zh) * | 2018-09-19 | 2018-12-28 | 中国科学院苏州生物医学工程技术研究所 | 微创手术穿刺针机器人系统 |
CN109223181A (zh) * | 2018-09-19 | 2019-01-18 | 中国科学院苏州生物医学工程技术研究所 | 用于疼痛觉治疗的穿刺针机器人 |
US11369449B2 (en) | 2018-09-20 | 2022-06-28 | Board Of Regents Of The University Of Nebraska | Modular cable-driven surgical robots |
US10820947B2 (en) | 2018-09-28 | 2020-11-03 | Auris Health, Inc. | Devices, systems, and methods for manually and robotically driving medical instruments |
JP7337151B2 (ja) | 2018-10-05 | 2023-09-01 | 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 | 医療器具を位置付けするためのシステム及び方法 |
US11109746B2 (en) | 2018-10-10 | 2021-09-07 | Titan Medical Inc. | Instrument insertion system, method, and apparatus for performing medical procedures |
EP3639983A1 (en) * | 2018-10-18 | 2020-04-22 | Technische Universität München | Anti-collision safety measures for a reconfigurable modular robot |
EP3866669A4 (en) | 2018-10-19 | 2022-06-29 | Intuitive Surgical Operations, Inc. | Cleaning devices for imaging instruments, devices, and methods |
JP6469304B1 (ja) | 2018-10-23 | 2019-02-13 | 株式会社A−Traction | 手術支援装置、その制御方法及びプログラム |
US11337742B2 (en) | 2018-11-05 | 2022-05-24 | Globus Medical Inc | Compliant orthopedic driver |
US11815412B2 (en) | 2018-11-15 | 2023-11-14 | Intuitive Surgical Operations, Inc. | Strain sensor with contoured deflection surface |
CN109452974A (zh) * | 2018-11-15 | 2019-03-12 | 山东大学齐鲁医院 | 一种折叠式辅助微创外科单孔手术机器人 |
CN109452973A (zh) * | 2018-11-15 | 2019-03-12 | 山东大学齐鲁医院 | 一种框架式辅助微创外科单孔手术机器人 |
US11278360B2 (en) | 2018-11-16 | 2022-03-22 | Globus Medical, Inc. | End-effectors for surgical robotic systems having sealed optical components |
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 |
US11744655B2 (en) | 2018-12-04 | 2023-09-05 | Globus Medical, Inc. | Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems |
JP2022510027A (ja) | 2018-12-04 | 2022-01-25 | マコ サージカル コーポレーション | 外科用構成要素の結合に使用する滅菌バリア組立体を備えた実装システム |
US11602402B2 (en) | 2018-12-04 | 2023-03-14 | Globus Medical, Inc. | Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems |
EP3890633A4 (en) | 2018-12-05 | 2022-08-10 | Intuitive Surgical Operations, Inc. | CANNULAS WITH NON-CIRCULAR CROSS SECTIONS, SYSTEMS AND METHODS |
EP3866718A4 (en) | 2018-12-20 | 2022-07-20 | Auris Health, Inc. | ROBOT ARM ALIGNMENT AND DOCKING SYSTEMS AND METHODS |
US11586106B2 (en) | 2018-12-28 | 2023-02-21 | Titan Medical Inc. | Imaging apparatus having configurable stereoscopic perspective |
US20220087764A1 (en) * | 2018-12-30 | 2022-03-24 | Memic Innovative Surgery Ltd. | Surgical drape for a robotic device |
US11730556B2 (en) | 2018-12-31 | 2023-08-22 | Asensus Surgical Us, Inc. | Compact actuation configuration and expandable instrument receiver for robotically controlled surgical instruments |
WO2020142340A1 (en) * | 2018-12-31 | 2020-07-09 | Xact Medical, Inc. | Subcutaneous delivery system |
US11690688B2 (en) | 2018-12-31 | 2023-07-04 | Asensus Surgical Us, Inc. | Compact actuation configuration and expandable instrument receiver for robotically controlled surgical instruments |
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 |
JP7153335B2 (ja) * | 2019-01-29 | 2022-10-14 | リバーフィールド株式会社 | 手術支援装置 |
US11717355B2 (en) | 2019-01-29 | 2023-08-08 | Covidien Lp | Drive mechanisms for surgical instruments such as for use in robotic surgical systems |
CN109620368A (zh) * | 2019-01-30 | 2019-04-16 | 珠海市人民医院 | 一种基于ct引导下的智能介入穿刺装置 |
US11576733B2 (en) | 2019-02-06 | 2023-02-14 | Covidien Lp | Robotic surgical assemblies including electrosurgical instruments having articulatable wrist assemblies |
EP3890644A4 (en) | 2019-02-08 | 2022-11-16 | Auris Health, Inc. | MANIPULATION AND CLOT REMOVAL WITH ROBOTIC CONTROL |
US11484372B2 (en) | 2019-02-15 | 2022-11-01 | Covidien Lp | Articulation mechanisms for surgical instruments such as for use in robotic surgical systems |
US11571569B2 (en) | 2019-02-15 | 2023-02-07 | Pulse Biosciences, Inc. | High-voltage catheters for sub-microsecond pulsing |
US11202683B2 (en) | 2019-02-22 | 2021-12-21 | Auris Health, Inc. | Surgical platform with motorized arms for adjustable arm supports |
KR102269772B1 (ko) * | 2019-03-13 | 2021-06-28 | 큐렉소 주식회사 | 수술용 로봇의 엔드이펙터 |
US11918313B2 (en) | 2019-03-15 | 2024-03-05 | Globus Medical Inc. | Active end effectors for surgical robots |
US11571265B2 (en) | 2019-03-22 | 2023-02-07 | Globus Medical Inc. | System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices |
US20200297357A1 (en) | 2019-03-22 | 2020-09-24 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices |
US11638618B2 (en) | 2019-03-22 | 2023-05-02 | Auris Health, Inc. | Systems and methods for aligning inputs on medical instruments |
US11382549B2 (en) | 2019-03-22 | 2022-07-12 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, and related methods and devices |
US20220160448A1 (en) * | 2019-03-22 | 2022-05-26 | Intuitive Surgical Operations, Inc. | Systems and methods for maintaining sterility of a component using a movable, sterile volume |
US11806084B2 (en) | 2019-03-22 | 2023-11-07 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, and related methods and devices |
US11419616B2 (en) | 2019-03-22 | 2022-08-23 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices |
US11317978B2 (en) | 2019-03-22 | 2022-05-03 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices |
US11147551B2 (en) | 2019-03-25 | 2021-10-19 | Cilag Gmbh International | Firing drive arrangements for surgical systems |
WO2020194301A1 (en) * | 2019-03-25 | 2020-10-01 | Ariel Scientific Innovations Ltd. | Manipulator with serial actuation |
US11172929B2 (en) | 2019-03-25 | 2021-11-16 | Cilag Gmbh International | Articulation drive arrangements for surgical systems |
US11696761B2 (en) | 2019-03-25 | 2023-07-11 | 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 |
JP6866417B2 (ja) * | 2019-03-28 | 2021-04-28 | 株式会社メディカロイド | アダプタおよびアダプタの装着方法 |
AT16885U1 (de) | 2019-03-28 | 2020-11-15 | Palfinger Ag | Kran mit Kransteuerung |
CN109998685A (zh) * | 2019-03-28 | 2019-07-12 | 山东大学齐鲁医院 | 一种单、双臂辅助微创外科手术机器人及协作组合机器人系统 |
US11369448B2 (en) | 2019-04-08 | 2022-06-28 | Auris Health, Inc. | Systems, methods, and workflows for concomitant procedures |
CN110251234A (zh) * | 2019-07-10 | 2019-09-20 | 苏州点合医疗科技有限公司 | 一种龙门式可撤收机械臂脊柱手术机器人 |
US11253254B2 (en) | 2019-04-30 | 2022-02-22 | Cilag Gmbh International | Shaft rotation actuator on a surgical instrument |
US11432816B2 (en) | 2019-04-30 | 2022-09-06 | Cilag Gmbh International | Articulation pin for a surgical instrument |
US11471157B2 (en) | 2019-04-30 | 2022-10-18 | Cilag Gmbh International | Articulation control mapping for 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 |
US11426251B2 (en) | 2019-04-30 | 2022-08-30 | Cilag Gmbh International | Articulation directional lights on a surgical instrument |
US11648009B2 (en) | 2019-04-30 | 2023-05-16 | Cilag Gmbh International | Rotatable jaw tip for a surgical instrument |
JP6562174B1 (ja) * | 2019-05-10 | 2019-08-21 | 株式会社A−Traction | 手術支援装置 |
US11045179B2 (en) | 2019-05-20 | 2021-06-29 | Global Medical Inc | Robot-mounted retractor system |
US11123146B2 (en) | 2019-05-30 | 2021-09-21 | Titan Medical Inc. | Surgical instrument apparatus, actuator, and drive |
WO2020263870A1 (en) * | 2019-06-24 | 2020-12-30 | Vicarious Surgical Inc. | Devices and methods for robotic assemblies |
US10881478B1 (en) | 2019-06-26 | 2021-01-05 | Titan Medical Inc. | Methods for protecting robotic surgery systems with sterile barriers |
US10881477B1 (en) * | 2019-06-26 | 2021-01-05 | Titan Medical Inc. | Sterile barrier systems for robotic surgery systems |
US11625107B2 (en) | 2019-06-27 | 2023-04-11 | Intuitive Surgical Operations, Inc. | System and method for motion mode management |
US11376098B2 (en) | 2019-06-28 | 2022-07-05 | Cilag Gmbh International | Surgical instrument system comprising an RFID system |
US11478241B2 (en) | 2019-06-28 | 2022-10-25 | Cilag Gmbh International | Staple cartridge including projections |
US11298132B2 (en) | 2019-06-28 | 2022-04-12 | Cilag GmbH Inlernational | Staple cartridge including a honeycomb extension |
US11224497B2 (en) | 2019-06-28 | 2022-01-18 | Cilag Gmbh International | Surgical systems with multiple RFID tags |
US11553971B2 (en) | 2019-06-28 | 2023-01-17 | Cilag Gmbh International | Surgical RFID assemblies for display and communication |
US11771419B2 (en) | 2019-06-28 | 2023-10-03 | Cilag Gmbh International | Packaging for a replaceable component of a surgical stapling system |
US11638587B2 (en) | 2019-06-28 | 2023-05-02 | Cilag Gmbh International | RFID identification systems for surgical instruments |
US11219455B2 (en) | 2019-06-28 | 2022-01-11 | Cilag Gmbh International | Surgical instrument including a lockout key |
US11298127B2 (en) | 2019-06-28 | 2022-04-12 | Cilag GmbH Interational | Surgical stapling system having a lockout mechanism for an incompatible cartridge |
US11051807B2 (en) | 2019-06-28 | 2021-07-06 | Cilag Gmbh International | Packaging assembly including a particulate trap |
US11259803B2 (en) | 2019-06-28 | 2022-03-01 | Cilag Gmbh International | Surgical stapling system having an information encryption protocol |
US11660163B2 (en) | 2019-06-28 | 2023-05-30 | Cilag Gmbh International | Surgical system with RFID tags for updating motor assembly parameters |
US11291451B2 (en) | 2019-06-28 | 2022-04-05 | Cilag Gmbh International | Surgical instrument with battery compatibility verification functionality |
US11627959B2 (en) | 2019-06-28 | 2023-04-18 | Cilag Gmbh International | Surgical instruments including manual and powered system lockouts |
US11399837B2 (en) | 2019-06-28 | 2022-08-02 | Cilag Gmbh International | Mechanisms for motor control adjustments of a motorized surgical instrument |
US11426167B2 (en) | 2019-06-28 | 2022-08-30 | Cilag Gmbh International | Mechanisms for proper anvil attachment surgical stapling head assembly |
US11523822B2 (en) | 2019-06-28 | 2022-12-13 | Cilag Gmbh International | Battery pack including a circuit interrupter |
US11246678B2 (en) | 2019-06-28 | 2022-02-15 | Cilag Gmbh International | Surgical stapling system having a frangible RFID tag |
US11464601B2 (en) | 2019-06-28 | 2022-10-11 | Cilag Gmbh International | Surgical instrument comprising an RFID system for tracking a movable component |
US11497492B2 (en) | 2019-06-28 | 2022-11-15 | Cilag Gmbh International | Surgical instrument including an articulation lock |
US11350938B2 (en) | 2019-06-28 | 2022-06-07 | Cilag Gmbh International | Surgical instrument comprising an aligned rfid sensor |
US11684434B2 (en) | 2019-06-28 | 2023-06-27 | Cilag Gmbh International | Surgical RFID assemblies for instrument operational setting control |
US11628023B2 (en) | 2019-07-10 | 2023-04-18 | Globus Medical, Inc. | Robotic navigational system for interbody implants |
EP3998980A4 (en) * | 2019-07-17 | 2023-08-09 | Asensus Surgical US, Inc. | COMPACT ACTUATION CONFIGURATION AND EXPANDABLE INSTRUMENT RECEIVER FOR ROBOTICALLY CONTROLLED SURGICAL INSTRUMENTS |
CN114554930A (zh) * | 2019-08-15 | 2022-05-27 | 奥瑞斯健康公司 | 具有多个弯曲节段的医疗装置 |
US11896330B2 (en) | 2019-08-15 | 2024-02-13 | Auris Health, Inc. | Robotic medical system having multiple medical instruments |
US11234780B2 (en) | 2019-09-10 | 2022-02-01 | Auris Health, Inc. | Systems and methods for kinematic optimization with shared robotic degrees-of-freedom |
US11571171B2 (en) | 2019-09-24 | 2023-02-07 | Globus Medical, Inc. | Compound curve cable chain |
CN114502094A (zh) | 2019-09-26 | 2022-05-13 | 奥瑞斯健康公司 | 用于碰撞检测和避免的系统和方法 |
US11890066B2 (en) | 2019-09-30 | 2024-02-06 | Globus Medical, Inc | Surgical robot with passive end effector |
US11426178B2 (en) | 2019-09-27 | 2022-08-30 | Globus Medical Inc. | Systems and methods for navigating a pin guide driver |
US11864857B2 (en) | 2019-09-27 | 2024-01-09 | Globus Medical, Inc. | Surgical robot with passive end effector |
CN114521129A (zh) | 2019-09-30 | 2022-05-20 | 直观外科手术操作公司 | 单端口器械接入设备 |
WO2021064536A1 (en) | 2019-09-30 | 2021-04-08 | Auris Health, Inc. | Medical instrument with capstan |
CN114430672A (zh) | 2019-09-30 | 2022-05-03 | 直观外科手术操作公司 | 器械进入引导件 |
WO2021067467A1 (en) | 2019-09-30 | 2021-04-08 | Intuitive Surgical Operations, Inc. | Single port instrument access device |
KR102343395B1 (ko) * | 2019-10-04 | 2021-12-27 | 한국기계연구원 | 생체 자극 및 치료용 정위 장치 및 이를 이용한 정위 방법 |
JP2022552095A (ja) * | 2019-10-11 | 2022-12-15 | エンドクエスト ロボティクス インコーポレイテッド | ロボット外科手術用の7自由度位置決め装置 |
US11510684B2 (en) | 2019-10-14 | 2022-11-29 | Globus Medical, Inc. | Rotary motion passive end effector for surgical robots in orthopedic surgeries |
US11529734B2 (en) * | 2019-10-31 | 2022-12-20 | Verb Surgical Inc. | Systems and methods for visual sensing of and docking with a trocar |
CN110811838B (zh) * | 2019-11-01 | 2020-10-20 | 山东大学 | 一种可实现多孔单孔互换的双操作模式手术机器人 |
US11375965B2 (en) | 2019-11-01 | 2022-07-05 | Turner Imaging Systems, Inc. | Sterile barriers for medical devices |
US11071601B2 (en) * | 2019-11-11 | 2021-07-27 | Procept Biorobotics Corporation | Surgical probes for tissue resection with robotic arms |
WO2021099887A1 (en) * | 2019-11-21 | 2021-05-27 | Auris Health, Inc. | Systems and methods for draping a surgical system |
GB2589380B (en) * | 2019-11-29 | 2024-02-21 | Cmr Surgical Ltd | Controlling a surgical instrument |
US11992373B2 (en) | 2019-12-10 | 2024-05-28 | Globus Medical, Inc | Augmented reality headset with varied opacity for navigated robotic surgery |
CN110897659B (zh) * | 2019-12-11 | 2021-03-16 | 山东大学 | 一种模块化可实现单孔与多孔转换的手术机器人 |
US11653912B2 (en) | 2019-12-12 | 2023-05-23 | Intuitive Surgical Operations, Inc. | Needle driver devices and related systems and methods |
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 |
US11559304B2 (en) | 2019-12-19 | 2023-01-24 | Cilag Gmbh International | Surgical instrument comprising a rapid closure mechanism |
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 |
US11844520B2 (en) | 2019-12-19 | 2023-12-19 | Cilag Gmbh International | Staple cartridge comprising driver retention members |
US11446029B2 (en) | 2019-12-19 | 2022-09-20 | Cilag Gmbh International | Staple cartridge comprising projections extending from a curved deck surface |
US11464512B2 (en) | 2019-12-19 | 2022-10-11 | Cilag Gmbh International | Staple cartridge comprising a curved deck surface |
US11529137B2 (en) | 2019-12-19 | 2022-12-20 | Cilag Gmbh International | Staple cartridge comprising driver retention members |
US11931033B2 (en) | 2019-12-19 | 2024-03-19 | Cilag Gmbh International | Staple cartridge comprising a latch lockout |
US11291447B2 (en) | 2019-12-19 | 2022-04-05 | Cilag Gmbh International | Stapling instrument comprising independent jaw closing and staple firing systems |
US11304696B2 (en) | 2019-12-19 | 2022-04-19 | Cilag Gmbh International | Surgical instrument comprising a powered articulation system |
US11701111B2 (en) | 2019-12-19 | 2023-07-18 | Cilag Gmbh International | Method for operating a surgical stapling instrument |
US11234698B2 (en) | 2019-12-19 | 2022-02-01 | Cilag Gmbh International | Stapling system comprising a clamp lockout and a firing lockout |
US11607219B2 (en) | 2019-12-19 | 2023-03-21 | Cilag Gmbh International | Staple cartridge comprising a detachable tissue cutting knife |
US11504122B2 (en) | 2019-12-19 | 2022-11-22 | Cilag Gmbh International | Surgical instrument comprising a nested firing member |
WO2021137071A1 (en) | 2019-12-31 | 2021-07-08 | Auris Health, Inc. | Advanced basket drive mode |
US11602372B2 (en) | 2019-12-31 | 2023-03-14 | Auris Health, Inc. | Alignment interfaces for percutaneous access |
JP2023508521A (ja) | 2019-12-31 | 2023-03-02 | オーリス ヘルス インコーポレイテッド | 解剖学的特徴の識別及び標的化 |
EP4084720A4 (en) | 2019-12-31 | 2024-01-17 | Auris Health Inc | ALIGNMENT TECHNIQUES FOR PERCUTANE ACCESS |
CN114901188A (zh) | 2019-12-31 | 2022-08-12 | 奥瑞斯健康公司 | 动态滑轮系统 |
CN114305710B (zh) * | 2020-01-07 | 2023-08-22 | 深圳市精锋医疗科技股份有限公司 | 手术器械与驱动装置的接合方法、从操作设备及手术机器人 |
CN111166471B (zh) * | 2020-01-09 | 2020-12-22 | 浙江理工大学 | 一种三轴交汇式主被动混合手术持镜臂 |
CN111249008B (zh) * | 2020-01-23 | 2021-07-27 | 诺创智能医疗科技(杭州)有限公司 | 手术机械臂及手术机器人 |
WO2021147270A1 (zh) * | 2020-01-23 | 2021-07-29 | 诺创智能医疗科技(杭州)有限公司 | 手术机械臂及手术机器人 |
CN111227944B (zh) * | 2020-01-23 | 2021-11-30 | 诺创智能医疗科技(杭州)有限公司 | 手术机械臂及手术机器人 |
CN111227940B (zh) * | 2020-01-23 | 2021-11-30 | 诺创智能医疗科技(杭州)有限公司 | 手术机械臂及手术机器人 |
CN111214291A (zh) * | 2020-01-23 | 2020-06-02 | 诺创智能医疗科技(杭州)有限公司 | 手术机械臂及手术机器人 |
CN111134847B (zh) * | 2020-01-23 | 2021-10-22 | 诺创智能医疗科技(杭州)有限公司 | 操作组件及手术机器人 |
US20230035946A1 (en) * | 2020-01-24 | 2023-02-02 | Covidien Lp | Surgical robotic systems |
IT202000002548A1 (it) * | 2020-02-10 | 2021-08-10 | Medical Microinstruments Spa | Assieme di chirurgia robotica, arena operatoria e metodo |
IT202000002536A1 (it) | 2020-02-10 | 2021-08-10 | Medical Microinstruments Spa | Adattatore sterile per un sistema di chirurgia robotica, assieme, sistema e metodo |
CA3166575A1 (en) | 2020-02-10 | 2021-08-19 | Massimiliano Simi | Sterile barrier assembly and robotic surgery system |
IT202000002545A1 (it) | 2020-02-10 | 2021-08-10 | Medical Microinstruments Spa | Assieme di barriera sterile e sistema di chirurgia robotica |
US11382699B2 (en) | 2020-02-10 | 2022-07-12 | Globus Medical Inc. | Extended reality visualization of optical tool tracking volume for computer assisted navigation in surgery |
US11207150B2 (en) | 2020-02-19 | 2021-12-28 | Globus Medical, Inc. | Displaying a virtual model of a planned instrument attachment to ensure correct selection of physical instrument attachment |
JP6892707B1 (ja) * | 2020-02-20 | 2021-06-23 | リバーフィールド株式会社 | 手術支援装置 |
CN115835829A (zh) | 2020-04-02 | 2023-03-21 | 直观外科手术操作公司 | 用于器械使用记录的设备、记录器械再处理事件的设备及相关系统和方法 |
US11253216B2 (en) | 2020-04-28 | 2022-02-22 | Globus Medical Inc. | Fixtures for fluoroscopic imaging systems and related navigation systems and methods |
US11382700B2 (en) | 2020-05-08 | 2022-07-12 | Globus Medical Inc. | Extended reality headset tool tracking and control |
US11510750B2 (en) | 2020-05-08 | 2022-11-29 | Globus Medical, Inc. | Leveraging two-dimensional digital imaging and communication in medicine imagery in three-dimensional extended reality applications |
US11153555B1 (en) | 2020-05-08 | 2021-10-19 | Globus Medical Inc. | Extended reality headset camera system for computer assisted navigation in surgery |
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 |
USD975851S1 (en) | 2020-06-02 | 2023-01-17 | Cilag Gmbh International | Staple cartridge |
USD974560S1 (en) | 2020-06-02 | 2023-01-03 | Cilag Gmbh International | Staple cartridge |
USD975278S1 (en) | 2020-06-02 | 2023-01-10 | Cilag Gmbh International | Staple cartridge |
USD976401S1 (en) | 2020-06-02 | 2023-01-24 | Cilag Gmbh International | Staple cartridge |
USD975850S1 (en) | 2020-06-02 | 2023-01-17 | Cilag Gmbh International | Staple cartridge |
US11317973B2 (en) | 2020-06-09 | 2022-05-03 | Globus Medical, Inc. | Camera tracking bar for computer assisted navigation during surgery |
US11382713B2 (en) | 2020-06-16 | 2022-07-12 | Globus Medical, Inc. | Navigated surgical system with eye to XR headset display calibration |
CA3183162A1 (en) | 2020-06-19 | 2021-12-23 | Jake Anthony Sganga | Systems and methods for guidance of intraluminal devices within the vasculature |
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 |
US11931901B2 (en) | 2020-06-30 | 2024-03-19 | Auris Health, Inc. | Robotic medical system with collision proximity indicators |
JP6998620B1 (ja) | 2020-07-01 | 2022-01-24 | 株式会社マスダック | 焼成板洗浄装置及び洗浄方法 |
USD963851S1 (en) | 2020-07-10 | 2022-09-13 | Covidien Lp | Port apparatus |
US11877807B2 (en) | 2020-07-10 | 2024-01-23 | Globus Medical, Inc | Instruments for navigated orthopedic surgeries |
US11793588B2 (en) | 2020-07-23 | 2023-10-24 | Globus Medical, Inc. | Sterile draping of robotic arms |
US11737748B2 (en) | 2020-07-28 | 2023-08-29 | Cilag Gmbh International | Surgical instruments with double spherical articulation joints with pivotable links |
CN114098845B (zh) * | 2020-08-28 | 2023-07-25 | 中国科学院沈阳自动化研究所 | 一种模块化手术机器人驱动装置 |
US11737831B2 (en) | 2020-09-02 | 2023-08-29 | Globus Medical Inc. | Surgical object tracking template generation for computer assisted navigation during surgical procedure |
US11523785B2 (en) | 2020-09-24 | 2022-12-13 | Globus Medical, Inc. | Increased cone beam computed tomography volume length without requiring stitching or longitudinal C-arm movement |
US11793500B2 (en) | 2020-09-30 | 2023-10-24 | Verb Surgical Inc. | Adjustable force and ball bearing attachment mechanism for docking cannulas to surgical robotic arms |
US11793597B2 (en) | 2020-09-30 | 2023-10-24 | Verb Surgical Inc. | Attachment mechanism for docking cannulas to surgical robotic arms |
US20230346538A1 (en) | 2020-10-07 | 2023-11-02 | Canary Medical Switzerland Ag | Providing medical devices with sensing functionality |
JP2022061812A (ja) * | 2020-10-07 | 2022-04-19 | 株式会社メディカロイド | 手術器具 |
US11919153B2 (en) | 2020-10-15 | 2024-03-05 | Intuitive Surgical Operations, Inc. | Counterbalance mechanism including drive ratio |
CN113967071B (zh) | 2020-10-23 | 2023-09-29 | 成都博恩思医学机器人有限公司 | 手术机器人机械臂跟随手术床运动的控制方法及装置 |
KR102495396B1 (ko) * | 2020-10-26 | 2023-02-06 | 주식회사 피치랩 | 의료용 다자유도 로봇 |
US11911112B2 (en) | 2020-10-27 | 2024-02-27 | Globus Medical, Inc. | Robotic navigational system |
US11844518B2 (en) | 2020-10-29 | 2023-12-19 | Cilag Gmbh International | Method for operating a surgical instrument |
USD980425S1 (en) | 2020-10-29 | 2023-03-07 | Cilag Gmbh International | Surgical instrument assembly |
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 |
US11717289B2 (en) | 2020-10-29 | 2023-08-08 | Cilag Gmbh International | Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable |
US11517390B2 (en) | 2020-10-29 | 2022-12-06 | Cilag Gmbh International | Surgical instrument comprising a limited travel switch |
US11896217B2 (en) | 2020-10-29 | 2024-02-13 | Cilag Gmbh International | Surgical instrument comprising an articulation lock |
US11534259B2 (en) | 2020-10-29 | 2022-12-27 | Cilag Gmbh International | Surgical instrument comprising an articulation indicator |
US11779330B2 (en) | 2020-10-29 | 2023-10-10 | Cilag Gmbh International | Surgical instrument comprising a jaw alignment system |
US11452526B2 (en) | 2020-10-29 | 2022-09-27 | Cilag Gmbh International | Surgical instrument comprising a staged voltage regulation start-up system |
US11931025B2 (en) | 2020-10-29 | 2024-03-19 | Cilag Gmbh International | Surgical instrument comprising a releasable closure drive lock |
USD1013170S1 (en) | 2020-10-29 | 2024-01-30 | Cilag Gmbh International | Surgical instrument assembly |
US11941814B2 (en) | 2020-11-04 | 2024-03-26 | Globus Medical Inc. | Auto segmentation using 2-D images taken during 3-D imaging spin |
US11717350B2 (en) | 2020-11-24 | 2023-08-08 | Globus Medical Inc. | Methods for robotic assistance and navigation in spinal surgery and related systems |
WO2022115686A2 (en) | 2020-11-30 | 2022-06-02 | Intuitive Surgical Operations, Inc. | Medical gas ducts for medical gas evacuation devices and related systems and methods |
CN112353496A (zh) * | 2020-11-30 | 2021-02-12 | 中国科学院沈阳自动化研究所 | 一种软式内窥镜操控机器人 |
US11627960B2 (en) | 2020-12-02 | 2023-04-18 | Cilag Gmbh International | Powered surgical instruments with smart reload with separately attachable exteriorly mounted wiring connections |
US11849943B2 (en) | 2020-12-02 | 2023-12-26 | Cilag Gmbh International | Surgical instrument with cartridge release mechanisms |
US11890010B2 (en) | 2020-12-02 | 2024-02-06 | Cllag GmbH International | Dual-sided reinforced reload for surgical instruments |
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 |
US11653920B2 (en) | 2020-12-02 | 2023-05-23 | Cilag Gmbh International | Powered surgical instruments with communication interfaces through sterile barrier |
US11653915B2 (en) | 2020-12-02 | 2023-05-23 | Cilag Gmbh International | Surgical instruments with sled location detection and adjustment features |
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 |
US11944296B2 (en) | 2020-12-02 | 2024-04-02 | Cilag Gmbh International | Powered surgical instruments with external connectors |
US11744567B2 (en) * | 2020-12-28 | 2023-09-05 | Boston Scientific Scimed, Inc. | Control mechanism for end effectors and method of use |
CN112618023B (zh) * | 2020-12-30 | 2022-05-10 | 上海微创医疗机器人(集团)股份有限公司 | 一种无菌隔离装置及手术机器人系统 |
US11730473B2 (en) | 2021-02-26 | 2023-08-22 | Cilag Gmbh International | Monitoring of manufacturing life-cycle |
US11696757B2 (en) | 2021-02-26 | 2023-07-11 | Cilag Gmbh International | Monitoring of internal systems to detect and track cartridge motion status |
US11723657B2 (en) | 2021-02-26 | 2023-08-15 | Cilag Gmbh International | Adjustable communication based on available bandwidth and power capacity |
US11701113B2 (en) | 2021-02-26 | 2023-07-18 | Cilag Gmbh International | Stapling instrument comprising a separate power antenna and a data transfer antenna |
US11749877B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Stapling instrument comprising a signal antenna |
US11812964B2 (en) | 2021-02-26 | 2023-11-14 | Cilag Gmbh International | Staple cartridge comprising a power management circuit |
US11751869B2 (en) | 2021-02-26 | 2023-09-12 | Cilag Gmbh International | Monitoring of multiple sensors over time to detect moving characteristics of tissue |
US11744583B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Distal communication array to tune frequency of RF systems |
US11950779B2 (en) | 2021-02-26 | 2024-04-09 | Cilag Gmbh International | Method of powering and communicating with a staple cartridge |
US11980362B2 (en) | 2021-02-26 | 2024-05-14 | Cilag Gmbh International | Surgical instrument system comprising a power transfer coil |
US11925349B2 (en) | 2021-02-26 | 2024-03-12 | Cilag Gmbh International | Adjustment to transfer parameters to improve available power |
US11793514B2 (en) | 2021-02-26 | 2023-10-24 | Cilag Gmbh International | Staple cartridge comprising sensor array which may be embedded in cartridge body |
US11950777B2 (en) | 2021-02-26 | 2024-04-09 | Cilag Gmbh International | Staple cartridge comprising an information access control system |
EP4301270A1 (en) * | 2021-03-01 | 2024-01-10 | Mazor Robotics Ltd. | Shrink sterile drape and related systems and methods |
JP2024511978A (ja) * | 2021-03-18 | 2024-03-18 | ヴィルトゥオーソ サージカル インコーポレイテッド | 低侵襲手術を行うためのシステム |
US11737749B2 (en) | 2021-03-22 | 2023-08-29 | Cilag Gmbh International | Surgical stapling instrument comprising a retraction system |
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 |
US11717291B2 (en) | 2021-03-22 | 2023-08-08 | Cilag Gmbh International | Staple cartridge comprising staples configured to apply different tissue compression |
US11826012B2 (en) | 2021-03-22 | 2023-11-28 | Cilag Gmbh International | Stapling instrument comprising a pulsed motor-driven firing rack |
US11723658B2 (en) | 2021-03-22 | 2023-08-15 | Cilag Gmbh International | Staple cartridge comprising a firing lockout |
US11826042B2 (en) | 2021-03-22 | 2023-11-28 | Cilag Gmbh International | Surgical instrument comprising a firing drive including a selectable leverage mechanism |
US11896218B2 (en) | 2021-03-24 | 2024-02-13 | Cilag Gmbh International | Method of using a powered stapling device |
US11849944B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Drivers for fastener cartridge assemblies having rotary drive screws |
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 |
US11786239B2 (en) | 2021-03-24 | 2023-10-17 | Cilag Gmbh International | Surgical instrument articulation joint arrangements comprising multiple moving linkage features |
US11832816B2 (en) | 2021-03-24 | 2023-12-05 | Cilag Gmbh International | Surgical stapling assembly comprising nonplanar staples and planar staples |
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 |
US11857183B2 (en) | 2021-03-24 | 2024-01-02 | Cilag Gmbh International | Stapling assembly components having metal substrates and plastic bodies |
US11849945B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Rotary-driven surgical stapling assembly comprising eccentrically driven firing member |
US11793516B2 (en) | 2021-03-24 | 2023-10-24 | Cilag Gmbh International | Surgical staple cartridge comprising longitudinal support beam |
US11903582B2 (en) | 2021-03-24 | 2024-02-20 | Cilag Gmbh International | Leveraging surfaces for cartridge installation |
CN117222371A (zh) | 2021-03-29 | 2023-12-12 | 直观外科手术操作公司 | 用于执行缝合程序的装置、系统以及方法 |
US20240173089A1 (en) * | 2021-04-14 | 2024-05-30 | Covidien Lp | Robotic remote center of motion with active portal/trocar manipulation |
CN115383787A (zh) * | 2021-05-25 | 2022-11-25 | 敏捷医疗科技(苏州)有限公司 | 机械臂及其控制方法 |
US11426886B1 (en) * | 2021-05-25 | 2022-08-30 | Rj Hanlon Company, Inc. | Protective robot wrap |
US20220378426A1 (en) | 2021-05-28 | 2022-12-01 | Cilag Gmbh International | Stapling instrument comprising a mounted shaft orientation sensor |
US11948226B2 (en) | 2021-05-28 | 2024-04-02 | Covidien Lp | Systems and methods for clinical workspace simulation |
CA3219824A1 (en) * | 2021-06-21 | 2022-12-29 | Jack Alexander HORNSBY | Robotic surgical instruments with diverging form factors |
US20220401161A1 (en) * | 2021-06-21 | 2022-12-22 | Globus Medical, Inc. | Gravity compensation of end effector arm for robotic surgical system |
CN113331952B (zh) * | 2021-06-28 | 2023-02-17 | 上海交通大学 | 基于纤维胆道镜的手术机器人 |
US11707332B2 (en) | 2021-07-01 | 2023-07-25 | Remedy Robotics, Inc. | Image space control for endovascular tools |
CA3222522A1 (en) | 2021-07-01 | 2023-01-05 | David James Bell | Vision-based position and orientation determination for endovascular tools |
US11857273B2 (en) | 2021-07-06 | 2024-01-02 | Globus Medical, Inc. | Ultrasonic robotic surgical navigation |
US11439444B1 (en) | 2021-07-22 | 2022-09-13 | Globus Medical, Inc. | Screw tower and rod reduction tool |
CN113440291B (zh) * | 2021-07-26 | 2023-05-16 | 河南医学高等专科学校 | 一种口腔手术中多功能上药清洗整合装置 |
CA3227145A1 (en) * | 2021-08-20 | 2023-02-23 | Titan Medical Inc. | Robotic surgery system |
US11877745B2 (en) | 2021-10-18 | 2024-01-23 | Cilag Gmbh International | Surgical stapling assembly having longitudinally-repeating staple leg clusters |
US11957337B2 (en) | 2021-10-18 | 2024-04-16 | Cilag Gmbh International | Surgical stapling assembly with offset ramped drive surfaces |
US11980363B2 (en) | 2021-10-18 | 2024-05-14 | Cilag Gmbh International | Row-to-row staple array variations |
WO2023069404A1 (en) | 2021-10-19 | 2023-04-27 | Intuitive Surgical Operations, Inc. | Force transmission systems using planetary gear assembly, and related devices and methods |
US11937816B2 (en) | 2021-10-28 | 2024-03-26 | Cilag Gmbh International | Electrical lead arrangements for surgical instruments |
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 |
CN114098957A (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 |
CN114098951A (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 |
CN114098992A (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 |
CN114098977A (zh) * | 2021-11-12 | 2022-03-01 | 艺柏湾医疗科技(上海)有限公司 | 手术机器人的末端机构及其控制方法和相关设备 |
WO2023101974A1 (en) * | 2021-11-30 | 2023-06-08 | Endoquest Robotics, Inc. | Force transmission systems for robotically controlled medical devices |
WO2023101968A1 (en) | 2021-11-30 | 2023-06-08 | Endoquest Robotics, Inc. | Steerable overtube assemblies for robotic surgical systems |
US11963733B2 (en) | 2021-12-01 | 2024-04-23 | Nuvasive Inc. | Connector assemblies for connecting a robotic arm with a medical end effector |
CN114209369A (zh) * | 2021-12-10 | 2022-03-22 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | 一种适于柔性弯曲的轴向动力系统 |
US11918304B2 (en) | 2021-12-20 | 2024-03-05 | Globus Medical, Inc | Flat panel registration fixture and method of using same |
CN114521967B (zh) * | 2022-02-22 | 2024-01-23 | 上海微创医疗机器人(集团)股份有限公司 | 机械臂以及医疗台车 |
CN114533275B (zh) * | 2022-02-22 | 2024-02-23 | 上海微创医疗机器人(集团)股份有限公司 | 末端关节臂、机械臂以及医疗台车 |
CN114587603B (zh) * | 2022-02-25 | 2023-04-25 | 上海奥朋医疗科技有限公司 | 用于腹腔镜手术机器人的无菌隔离装置及其腹腔镜手术机器人 |
WO2023170546A1 (en) * | 2022-03-07 | 2023-09-14 | Cilag Gmbh International | Reuseable stowage cover for robotic surgical system |
CN114642486B (zh) * | 2022-03-23 | 2023-04-07 | 哈尔滨工业大学 | 穿刺针夹持驱动装置及前列腺穿刺机器人的末端操作装置 |
WO2023212277A1 (en) | 2022-04-29 | 2023-11-02 | Intuitive Surgical Operations, Inc. | Nesting proximal links for table mounted manipulator system, and related devices, systems and methods |
WO2023212344A1 (en) | 2022-04-29 | 2023-11-02 | Intuitive Surgical Operations, Inc. | Table-mounted manipulator system, and related devices, systems and methods |
WO2023212275A1 (en) | 2022-04-29 | 2023-11-02 | Intuitive Surgical Operations, Inc. | Rail assembly for table-mounted manipulator system, and related devices, systems and methods |
WO2023250307A1 (en) | 2022-06-21 | 2023-12-28 | Intuitive Surgical Operations, Inc. | Force transmission systems for instruments, and related devices |
US20240021105A1 (en) | 2022-07-13 | 2024-01-18 | Intuitive Surgical Operations, Inc. | Surgical training model including a simulated human prostate and associated methods |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5413573A (en) * | 1991-05-24 | 1995-05-09 | Onesys Oy | Device for surgical procedures |
JP2003325543A (ja) * | 2002-05-17 | 2003-11-18 | Olympus Optical Co Ltd | 手術システムとその手術装置 |
JP2007167644A (ja) * | 2005-12-20 | 2007-07-05 | Intuitive Surgical Inc | 無菌外科手術アダプタ |
JP2011516120A (ja) * | 2008-03-31 | 2011-05-26 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | ロボット外科手術器具のための滅菌ドレープインタフェース |
Family Cites Families (276)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2941776A (en) * | 1957-05-13 | 1960-06-21 | Ritter Co Inc | Counterbalancing mechanism |
NL106631C (nl) | 1960-02-04 | 1963-11-15 | Pieter Johannes Meijs | Ondersteunings- en vastzetinrichting, in het bijzonder voor een meetklok |
DE1212789B (de) * | 1963-05-30 | 1966-03-17 | Zikesch Carl Herbert | Spannvorrichtung fuer eine Schraubendruckfeder |
US3546961A (en) | 1967-12-22 | 1970-12-15 | Gen Electric | Variable flexibility tether |
US3640140A (en) * | 1969-06-02 | 1972-02-08 | Res Engineering Co | Actuator |
US3796477A (en) * | 1972-09-25 | 1974-03-12 | Xomox Corp | Lens housing and lens cover for objective lens ring of an operating microscope |
US4160536A (en) * | 1976-10-27 | 1979-07-10 | Jac. Jacobsen A/S | Counterbalanced arm |
US4107769A (en) * | 1977-03-21 | 1978-08-15 | American Sterilizer Company | Balanced single horizontal suspension arm |
JPS57190549A (en) | 1981-05-19 | 1982-11-24 | Olympus Optical Co | Ultrasonic diagnostic apparatus |
US4437114A (en) | 1982-06-07 | 1984-03-13 | Farrand Optical Co., Inc. | Robotic vision system |
US4518307A (en) * | 1982-09-29 | 1985-05-21 | The Boeing Company | Compliant robot arm adapter assembly |
US4673988A (en) | 1985-04-22 | 1987-06-16 | E.I. Du Pont De Nemours And Company | Electronic mosaic imaging process |
US4742817A (en) | 1985-05-15 | 1988-05-10 | Olympus Optical Co., Ltd. | Endoscopic apparatus having a bendable insertion section |
US4721097A (en) | 1986-10-31 | 1988-01-26 | Circon Corporation | Endoscope sheaths and method and apparatus for installation and removal |
US4809191A (en) | 1987-04-28 | 1989-02-28 | Barry Wright Corporation | Robotic position sensor |
US4792715A (en) | 1987-11-16 | 1988-12-20 | Barsky Michael F | Robot gripper control system using PVDF piezoelectric sensors |
GB2226245A (en) | 1988-11-18 | 1990-06-27 | Alan Crockard | Endoscope, remote actuator and aneurysm clip applicator. |
US5114403A (en) * | 1989-09-15 | 1992-05-19 | Eclipse Surgical Technologies, Inc. | Catheter torque mechanism |
US4949927A (en) | 1989-10-17 | 1990-08-21 | John Madocks | Articulable column |
FR2674639A1 (fr) | 1991-03-29 | 1992-10-02 | Gaz De France | Fibre optique a reseau de bragg et ses applications. |
US5251611A (en) | 1991-05-07 | 1993-10-12 | Zehel Wendell E | Method and apparatus for conducting exploratory procedures |
US5417210A (en) * | 1992-05-27 | 1995-05-23 | International Business Machines Corporation | System and method for augmentation of endoscopic surgery |
US5631973A (en) | 1994-05-05 | 1997-05-20 | Sri International | Method for telemanipulation with telepresence |
JP3583777B2 (ja) | 1992-01-21 | 2004-11-04 | エス・アール・アイ・インターナシヨナル | テレオペレータシステムとテレプレゼンス法 |
US6963792B1 (en) | 1992-01-21 | 2005-11-08 | Sri International | Surgical method |
US5624380A (en) | 1992-03-12 | 1997-04-29 | Olympus Optical Co., Ltd. | Multi-degree of freedom manipulator |
JPH06511181A (ja) * | 1992-03-18 | 1994-12-15 | ザ・スペクトラネティックス・コーポレーション | 可捩先端を有する繊維光学カテーテル |
US5395367A (en) * | 1992-07-29 | 1995-03-07 | Wilk; Peter J. | Laparoscopic instrument with bendable shaft and removable actuator |
US5762458A (en) | 1996-02-20 | 1998-06-09 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive cardiac procedures |
US5524180A (en) | 1992-08-10 | 1996-06-04 | Computer Motion, Inc. | Automated endoscope system for optimal positioning |
US5297536A (en) | 1992-08-25 | 1994-03-29 | Wilk Peter J | Method for use in intra-abdominal surgery |
US5397323A (en) | 1992-10-30 | 1995-03-14 | International Business Machines Corporation | Remote center-of-motion robot for surgery |
US6450950B2 (en) | 1992-11-12 | 2002-09-17 | Karl Storz Gmbh & Co. Kg | Endoscope having stereo-lateral-view optics |
JP3250759B2 (ja) | 1993-04-02 | 2002-01-28 | オリンパス光学工業株式会社 | 可撓性管状挿入具の湾曲装置 |
JP2665052B2 (ja) | 1993-05-14 | 1997-10-22 | エスアールアイ インターナショナル | 遠隔中心位置決め装置 |
US6406472B1 (en) | 1993-05-14 | 2002-06-18 | Sri International, Inc. | Remote center positioner |
US5487757A (en) | 1993-07-20 | 1996-01-30 | Medtronic Cardiorhythm | Multicurve deflectable catheter |
US5876325A (en) | 1993-11-02 | 1999-03-02 | Olympus Optical Co., Ltd. | Surgical manipulation system |
US6010408A (en) | 1994-05-02 | 2000-01-04 | Eaton Corporation | Torsion isolator with active counterweight |
US5617515A (en) | 1994-07-11 | 1997-04-01 | Dynetics, Inc. | Method and apparatus for controlling and programming a robot or other moveable object |
US6120433A (en) | 1994-09-01 | 2000-09-19 | Olympus Optical Co., Ltd. | Surgical manipulator system |
US6597941B2 (en) | 1994-09-15 | 2003-07-22 | Stryker Corporation | Transillumination of body members for protection during body invasive procedures |
US5649032A (en) | 1994-11-14 | 1997-07-15 | David Sarnoff Research Center, Inc. | System for automatically aligning images to form a mosaic image |
US5868760A (en) | 1994-12-07 | 1999-02-09 | Mcguckin, Jr.; James F. | Method and apparatus for endolumenally resectioning tissue |
US5662581A (en) | 1995-01-05 | 1997-09-02 | Delaware Capital Formation, Inc. | Easily sterilizable glove system |
US5759151A (en) | 1995-06-07 | 1998-06-02 | Carnegie Mellon University | Flexible steerable device for conducting exploratory procedures |
CN1155833A (zh) | 1995-06-20 | 1997-07-30 | 伍云升 | 用于医疗处理的活节机械手 |
IL115477A0 (en) * | 1995-10-01 | 1996-01-19 | Kaplan Harel Holdings Ltd | Scanner |
AU709081B2 (en) | 1996-02-15 | 1999-08-19 | Biosense, Inc. | Medical procedures and apparatus using intrabody probes |
US6063095A (en) | 1996-02-20 | 2000-05-16 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive surgical procedures |
US5855583A (en) | 1996-02-20 | 1999-01-05 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive cardiac procedures |
US6436107B1 (en) | 1996-02-20 | 2002-08-20 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive surgical procedures |
JP3225835B2 (ja) | 1996-03-14 | 2001-11-05 | 富士写真光機株式会社 | 内視鏡の処置具固定機構 |
US5792044A (en) * | 1996-03-22 | 1998-08-11 | Danek Medical, Inc. | Devices and methods for percutaneous surgery |
US5797900A (en) | 1996-05-20 | 1998-08-25 | Intuitive Surgical, Inc. | Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
US5792135A (en) | 1996-05-20 | 1998-08-11 | Intuitive Surgical, Inc. | Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
US5755713A (en) * | 1996-06-03 | 1998-05-26 | Bilof; Michael L. | Laparoscopic instrument assembly including a plurality of instruments |
US6364888B1 (en) * | 1996-09-09 | 2002-04-02 | Intuitive Surgical, Inc. | Alignment of master and slave in a minimally invasive surgical apparatus |
US5752112A (en) | 1996-11-06 | 1998-05-12 | George Paddock, Inc. | Mounting system for body mounted camera equipment |
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 |
US8206406B2 (en) | 1996-12-12 | 2012-06-26 | Intuitive Surgical Operations, Inc. | Disposable sterile surgical adaptor |
US8182469B2 (en) | 1997-11-21 | 2012-05-22 | Intuitive Surgical Operations, Inc. | Surgical accessory clamp and method |
US7727244B2 (en) | 1997-11-21 | 2010-06-01 | Intuitive Surgical Operation, Inc. | Sterile surgical drape |
US6132368A (en) * | 1996-12-12 | 2000-10-17 | Intuitive Surgical, Inc. | Multi-component telepresence system and method |
US6331181B1 (en) * | 1998-12-08 | 2001-12-18 | Intuitive Surgical, Inc. | Surgical robotic tools, data architecture, and use |
US5892860A (en) | 1997-01-21 | 1999-04-06 | Cidra Corporation | Multi-parameter fiber optic sensor for use in harsh environments |
AUPO478397A0 (en) | 1997-01-31 | 1997-02-20 | Fairmont Medical Products Pty Ltd | Endoscopic drape |
WO1998049944A1 (en) | 1997-05-02 | 1998-11-12 | Pilling Weck Incorporated | Adjustable supporting bracket having plural ball and socket joints |
US6066090A (en) | 1997-06-19 | 2000-05-23 | Yoon; Inbae | Branched endoscope system |
GB9713018D0 (en) | 1997-06-20 | 1997-08-27 | Secr Defence | Optical fibre bend sensor |
US6030130A (en) | 1997-07-07 | 2000-02-29 | George Paddock Ii, Inc. | Body mounted camera support system |
EP2362286B1 (en) | 1997-09-19 | 2015-09-02 | Massachusetts Institute Of Technology | Robotic apparatus |
JPH11123675A (ja) * | 1997-10-22 | 1999-05-11 | Sankyo Seiki Mfg Co Ltd | ロボットの垂直軸上下機構 |
US6171277B1 (en) | 1997-12-01 | 2001-01-09 | Cordis Webster, Inc. | Bi-directional control handle for steerable catheter |
US5982791A (en) | 1998-01-14 | 1999-11-09 | Hewlett-Packard Company | Wavelength tracking in adjustable optical systems |
US7090683B2 (en) | 1998-02-24 | 2006-08-15 | Hansen Medical, Inc. | Flexible instrument |
US20020128662A1 (en) * | 1998-02-24 | 2002-09-12 | Brock David L. | Surgical instrument |
US20020087148A1 (en) | 1998-02-24 | 2002-07-04 | Brock David L. | Flexible instrument |
US7169141B2 (en) | 1998-02-24 | 2007-01-30 | Hansen Medical, Inc. | Surgical instrument |
US7758569B2 (en) * | 1998-02-24 | 2010-07-20 | Hansen Medical, Inc. | Interchangeable surgical instrument |
US6860878B2 (en) | 1998-02-24 | 2005-03-01 | Endovia Medical Inc. | Interchangeable instrument |
US7297142B2 (en) * | 1998-02-24 | 2007-11-20 | Hansen Medical, Inc. | Interchangeable surgical instrument |
DE19815598B4 (de) | 1998-04-07 | 2007-01-18 | Stm Medizintechnik Starnberg Gmbh | Flexibles Zugangsrohr mit Stülpschlauchsystem |
US6191414B1 (en) | 1998-06-05 | 2001-02-20 | Cidra Corporation | Composite form as a component for a pressure transducer |
US6629630B2 (en) | 1998-06-19 | 2003-10-07 | Scimed Life Systems, Inc. | Non-circular resection device and endoscope |
US6352503B1 (en) | 1998-07-17 | 2002-03-05 | Olympus Optical Co., Ltd. | Endoscopic surgery apparatus |
DE69940850D1 (de) | 1998-08-04 | 2009-06-18 | Intuitive Surgical Inc | Gelenkvorrichtung zur Positionierung eines Manipulators für Robotik-Chirurgie |
US6490490B1 (en) * | 1998-11-09 | 2002-12-03 | Olympus Optical Co., Ltd. | Remote operation support system and method |
US6620173B2 (en) * | 1998-12-08 | 2003-09-16 | Intuitive Surgical, Inc. | Method for introducing an end effector to a surgical site in minimally invasive surgery |
US6309397B1 (en) * | 1999-12-02 | 2001-10-30 | Sri International | Accessories for minimally invasive robotic surgery and methods |
JP4242491B2 (ja) | 1998-12-09 | 2009-03-25 | オリンパス株式会社 | 内視鏡治療装置 |
US6275628B1 (en) | 1998-12-10 | 2001-08-14 | Luna Innovations, Inc. | Single-ended long period grating optical device |
US6451027B1 (en) * | 1998-12-16 | 2002-09-17 | Intuitive Surgical, Inc. | Devices and methods for moving an image capture device in telesurgical systems |
CA2261488A1 (en) | 1999-01-21 | 2000-07-21 | Anthony Paolitto | Transabdominal device for performing closed-chest cardiac surgery |
US6394998B1 (en) | 1999-01-22 | 2002-05-28 | Intuitive Surgical, Inc. | Surgical tools for use in minimally invasive telesurgical applications |
US6571639B1 (en) | 1999-03-01 | 2003-06-03 | Luna Innovations, Inc. | Fiber optic system |
US6366722B1 (en) | 1999-03-04 | 2002-04-02 | Luna Innovations, Inc. | Optical waveguide sensors having high refractive index sensitivity |
US6396574B1 (en) | 1999-03-15 | 2002-05-28 | Korea Advanced Institute Science And Technology | Apparatus for measuring the wavelength, optical power and optical signal-to-noise ratio of each optical signal in wavelength-division multiplexing optical communication |
US6569084B1 (en) | 1999-03-31 | 2003-05-27 | Olympus Optical Co., Ltd. | Endoscope holder and endoscope device |
US6424885B1 (en) | 1999-04-07 | 2002-07-23 | Intuitive Surgical, Inc. | Camera referenced control in a minimally invasive surgical apparatus |
US7128708B2 (en) | 2002-06-13 | 2006-10-31 | Usgi Medical Inc. | Shape lockable apparatus and method for advancing an instrument through unsupported anatomy |
US7637905B2 (en) | 2003-01-15 | 2009-12-29 | Usgi Medical, Inc. | Endoluminal tool deployment system |
US6788018B1 (en) * | 1999-08-03 | 2004-09-07 | Intuitive Surgical, Inc. | Ceiling and floor mounted surgical robot set-up arms |
US6471710B1 (en) | 1999-08-13 | 2002-10-29 | Advanced Sensor Technology, Llc | Probe position sensing system and method of employment of same |
DE19938549A1 (de) * | 1999-08-18 | 2001-02-22 | Uwe Thomas | Mikrosondensystem |
US8004229B2 (en) | 2005-05-19 | 2011-08-23 | Intuitive Surgical Operations, Inc. | Software center and highly configurable robotic systems for surgery and other uses |
US8768516B2 (en) | 2009-06-30 | 2014-07-01 | Intuitive Surgical Operations, Inc. | Control of medical robotic system manipulator about kinematic singularities |
US7594912B2 (en) | 2004-09-30 | 2009-09-29 | Intuitive Surgical, Inc. | Offset remote center manipulator for robotic surgery |
SE514693C2 (sv) * | 1999-09-23 | 2001-04-02 | Elekta Ab | Stereotaktisk apparat |
US6537205B1 (en) | 1999-10-14 | 2003-03-25 | Scimed Life Systems, Inc. | Endoscopic instrument system having reduced backlash control wire action |
DE10004264C2 (de) | 2000-02-01 | 2002-06-13 | Storz Karl Gmbh & Co Kg | Vorrichtung zur intrakorporalen, minimal-invasiven Behandlung eines Patienten |
US6498886B1 (en) | 2000-02-18 | 2002-12-24 | Corning, Incorporated | Adaptive feedback control method for polarization mode dispersion or chromatic dispersion compensation |
US6527753B2 (en) | 2000-02-29 | 2003-03-04 | Olympus Optical Co., Ltd. | Endoscopic treatment system |
DE10011790B4 (de) | 2000-03-13 | 2005-07-14 | Siemens Ag | Medizinisches Instrument zum Einführen in ein Untersuchungsobjekt, sowie medizinisches Untersuchungs- oder Behandlungsgerät |
US6984203B2 (en) | 2000-04-03 | 2006-01-10 | Neoguide Systems, Inc. | Endoscope with adjacently positioned guiding apparatus |
US6671055B1 (en) | 2000-04-13 | 2003-12-30 | Luna Innovations, Inc. | Interferometric sensors utilizing bulk sensing mediums extrinsic to the input/output optical fiber |
JP2001327460A (ja) | 2000-05-18 | 2001-11-27 | Olympus Optical Co Ltd | 内視鏡装置 |
US6743239B1 (en) * | 2000-05-25 | 2004-06-01 | St. Jude Medical, Inc. | Devices with a bendable tip for medical procedures |
US6645196B1 (en) | 2000-06-16 | 2003-11-11 | Intuitive Surgical, Inc. | Guided tool change |
US6975898B2 (en) | 2000-06-19 | 2005-12-13 | University Of Washington | Medical imaging, diagnosis, and therapy using a scanning single optical fiber system |
DE10032203A1 (de) | 2000-07-01 | 2002-01-17 | Deutsches Krebsforsch | Stereotaxiesystem |
WO2002007618A1 (en) | 2000-07-21 | 2002-01-31 | Atropos Limited | A cannula |
US6746443B1 (en) * | 2000-07-27 | 2004-06-08 | Intuitive Surgical Inc. | Roll-pitch-roll surgical tool |
US6902560B1 (en) | 2000-07-27 | 2005-06-07 | Intuitive Surgical, Inc. | Roll-pitch-roll surgical tool |
US6572629B2 (en) | 2000-08-17 | 2003-06-03 | Johns Hopkins University | Gastric reduction endoscopy |
US7194118B1 (en) | 2000-11-10 | 2007-03-20 | Lucid, Inc. | System for optically sectioning and mapping surgically excised tissue |
US6468226B1 (en) * | 2000-11-22 | 2002-10-22 | Mcintyre, Iv John J. | Remote tissue biopsy apparatus and associated methods |
US6856400B1 (en) | 2000-12-14 | 2005-02-15 | Luna Technologies | Apparatus and method for the complete characterization of optical devices including loss, birefringence and dispersion effects |
US20030135204A1 (en) * | 2001-02-15 | 2003-07-17 | Endo Via Medical, Inc. | Robotically controlled medical instrument with a flexible section |
US7699835B2 (en) | 2001-02-15 | 2010-04-20 | Hansen Medical, Inc. | Robotically controlled surgical instruments |
US6578967B1 (en) | 2001-03-15 | 2003-06-17 | George Paddock Ii, Inc. | Mounting system for body mounted camera equipment and connector assemblies therefor |
US20020165524A1 (en) * | 2001-05-01 | 2002-11-07 | Dan Sanchez | Pivot point arm for a robotic system used to perform a surgical procedure |
US6808491B2 (en) | 2001-05-21 | 2004-10-26 | Syntheon, Llc | Methods and apparatus for on-endoscope instruments having end effectors and combinations of on-endoscope and through-endoscope instruments |
US20040054355A1 (en) | 2001-05-31 | 2004-03-18 | Intuitive Surgical, Inc. | Tool guide and method for introducing an end effector to a surgical site in minimally invasive surgery |
US6817974B2 (en) | 2001-06-29 | 2004-11-16 | Intuitive Surgical, Inc. | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
CA2451824C (en) * | 2001-06-29 | 2015-02-24 | Intuitive Surgical, Inc. | Platform link wrist mechanism |
JP2003024336A (ja) * | 2001-07-16 | 2003-01-28 | Hitachi Ltd | 術具装置 |
US6676684B1 (en) * | 2001-09-04 | 2004-01-13 | Intuitive Surgical, Inc. | Roll-pitch-roll-yaw surgical tool |
DE10147145C2 (de) * | 2001-09-25 | 2003-12-18 | Kunz Reiner | Multifunktionsinstrument für die mikroinvasive Chirurgie |
JP2003204920A (ja) | 2002-01-11 | 2003-07-22 | Olympus Optical Co Ltd | 挿入補助具 |
JP2003230565A (ja) | 2002-02-12 | 2003-08-19 | Univ Tokyo | 能動トロカール |
US7041052B2 (en) | 2002-06-13 | 2006-05-09 | Usgi Medical Inc. | Shape lockable apparatus and method for advancing an instrument through unsupported anatomy |
US6679836B2 (en) | 2002-06-21 | 2004-01-20 | Scimed Life Systems, Inc. | Universal programmable guide catheter |
US7331967B2 (en) | 2002-09-09 | 2008-02-19 | Hansen Medical, Inc. | Surgical instrument coupling mechanism |
US7947000B2 (en) | 2003-09-12 | 2011-05-24 | Intuitive Surgical Operations, Inc. | Cannula system for free-space navigation and method of use |
JP3680050B2 (ja) * | 2002-09-18 | 2005-08-10 | 株式会社東芝 | 医療用マニピュレータ及びその制御方法 |
US6854327B2 (en) | 2002-11-06 | 2005-02-15 | Shell Oil Company | Apparatus and method for monitoring compaction |
US6899672B2 (en) | 2002-11-08 | 2005-05-31 | Scimed Life Systems, Inc. | Endoscopic imaging system including removable deflection device |
CN1486667A (zh) | 2002-11-22 | 2004-04-07 | 带有一次性鞘套的内窥镜系统 | |
KR101026692B1 (ko) | 2002-12-06 | 2011-04-07 | 인튜어티브 서지컬 인코포레이티드 | 긴 샤프트를 포함하는 장치 |
US20040186350A1 (en) | 2003-01-13 | 2004-09-23 | Usgi Medical Corp. | Apparatus and methods for guiding an endoscope via a rigidizable wire guide |
US20040249367A1 (en) | 2003-01-15 | 2004-12-09 | Usgi Medical Corp. | Endoluminal tool deployment system |
US6925339B2 (en) | 2003-02-04 | 2005-08-02 | Zimmer Technology, Inc. | Implant registration device for surgical navigation system |
US6836578B2 (en) | 2003-04-14 | 2004-12-28 | Lake Shore Cryotronics, Inc. | System and method for measuring physical stimuli using vertical cavity surface emitting lasers with integrated tuning means |
JP2003275223A (ja) | 2003-04-21 | 2003-09-30 | Olympus Optical Co Ltd | 手術装置 |
US7371028B2 (en) | 2003-05-01 | 2008-05-13 | George Paddock Ii, Inc. | Post mounting system |
WO2005009482A2 (en) | 2003-05-21 | 2005-02-03 | The Johns Hopkins University | Devices, systems and methods for minimally invasive surgery of the throat and other portions of mammalian body |
US7090637B2 (en) | 2003-05-23 | 2006-08-15 | Novare Surgical Systems, Inc. | Articulating mechanism for remote manipulation of a surgical or diagnostic tool |
JP4460857B2 (ja) | 2003-06-23 | 2010-05-12 | オリンパス株式会社 | 外科手術用システム |
JP4559093B2 (ja) | 2003-10-03 | 2010-10-06 | オリンパス株式会社 | 医療用具支持装置 |
US20050096502A1 (en) | 2003-10-29 | 2005-05-05 | Khalili Theodore M. | Robotic surgical device |
US7481793B2 (en) | 2003-12-10 | 2009-01-27 | Boston Scientic Scimed, Inc. | Modular steerable sheath catheters |
US8052636B2 (en) | 2004-03-05 | 2011-11-08 | Hansen Medical, Inc. | Robotic catheter system and methods |
WO2005087128A1 (en) | 2004-03-05 | 2005-09-22 | Hansen Medical, Inc. | Robotic catheter system |
JP3922284B2 (ja) | 2004-03-31 | 2007-05-30 | 有限会社エスアールジェイ | 保持装置 |
US20050272977A1 (en) | 2004-04-14 | 2005-12-08 | Usgi Medical Inc. | Methods and apparatus for performing endoluminal procedures |
US7379790B2 (en) * | 2004-05-04 | 2008-05-27 | Intuitive Surgical, Inc. | Tool memory-based software upgrades for robotic surgery |
US20050251176A1 (en) | 2004-05-07 | 2005-11-10 | Usgi Medical Inc. | System for treating gastroesophageal reflux disease |
US7837615B2 (en) | 2004-05-10 | 2010-11-23 | Usgi Medical, Inc. | Shape lockable apparatus and method for advancing an instrument through unsupported anatomy |
WO2005112811A1 (en) * | 2004-05-14 | 2005-12-01 | Cardima, Inc. | Ablation probe with stabilizing member |
JP2007537831A (ja) | 2004-05-17 | 2007-12-27 | シー・アール・バード・インコーポレーテッド | 不整脈をマッピングし除去するための電気生理学的システム |
CA2472421C (en) | 2004-06-25 | 2012-04-24 | 059312 N.B. Inc. | Shape-acceleration measurement device and method |
US20060013523A1 (en) | 2004-07-16 | 2006-01-19 | Luna Innovations Incorporated | Fiber optic position and shape sensing device and method relating thereto |
US7781724B2 (en) | 2004-07-16 | 2010-08-24 | Luna Innovations Incorporated | Fiber optic position and shape sensing device and method relating thereto |
US7772541B2 (en) | 2004-07-16 | 2010-08-10 | Luna Innnovations Incorporated | Fiber optic position and/or shape sensing based on rayleigh scatter |
CN2710567Y (zh) * | 2004-07-22 | 2005-07-20 | 上海英迈吉东影图像设备有限公司 | 手术导航系统机械臂 |
CA2513202C (en) | 2004-07-23 | 2015-03-31 | Mehran Anvari | Multi-purpose robotic operating system and method |
US8075476B2 (en) | 2004-07-27 | 2011-12-13 | Intuitive Surgical Operations, Inc. | Cannula system and method of use |
US8016835B2 (en) * | 2004-08-06 | 2011-09-13 | Depuy Spine, Inc. | Rigidly guided implant placement with control assist |
US9261172B2 (en) | 2004-09-30 | 2016-02-16 | Intuitive Surgical Operations, Inc. | Multi-ply strap drive trains for surgical robotic arms |
CN100588511C (zh) * | 2004-11-22 | 2010-02-10 | 松下电器产业株式会社 | 关节构造体及机器人手臂 |
JP4588432B2 (ja) | 2004-12-15 | 2010-12-01 | 富士重工業株式会社 | 損傷探知用モジュール化センサの製造方法 |
US7763015B2 (en) * | 2005-01-24 | 2010-07-27 | Intuitive Surgical Operations, Inc. | Modular manipulator support for robotic surgery |
US7837674B2 (en) | 2005-01-24 | 2010-11-23 | Intuitive Surgical Operations, Inc. | Compact counter balance for robotic surgical systems |
CN100336640C (zh) * | 2005-02-01 | 2007-09-12 | 天津大学 | 外科手术机器人从操作手 |
US20060184161A1 (en) * | 2005-02-16 | 2006-08-17 | Usgi Medical Inc. | Flexible shaft system having interchangeable end effectors |
US7175456B2 (en) * | 2005-02-28 | 2007-02-13 | Robert Bosch Gmbh | Anti-disengagement connect system for a power tool |
US8182433B2 (en) | 2005-03-04 | 2012-05-22 | Endosense Sa | Medical apparatus system having optical fiber load sensing capability |
US8075498B2 (en) | 2005-03-04 | 2011-12-13 | Endosense Sa | Medical apparatus system having optical fiber load sensing capability |
US7752920B2 (en) | 2005-12-30 | 2010-07-13 | Intuitive Surgical Operations, Inc. | Modular force sensor |
US8463439B2 (en) * | 2009-03-31 | 2013-06-11 | Intuitive Surgical Operations, Inc. | Optic fiber connection for a force sensing instrument |
CN2824867Y (zh) * | 2005-04-22 | 2006-10-11 | 董永华 | 手术隔离单 |
US9789608B2 (en) | 2006-06-29 | 2017-10-17 | Intuitive Surgical Operations, Inc. | Synthetic representation of a surgical robot |
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 |
CN101193603B (zh) * | 2005-06-06 | 2010-11-03 | 直观外科手术公司 | 腹腔镜的超声机器人外科手术系统 |
US8241271B2 (en) | 2005-06-30 | 2012-08-14 | Intuitive Surgical Operations, Inc. | Robotic surgical instruments with a fluid flow control system for irrigation, aspiration, and blowing |
KR101332210B1 (ko) | 2005-06-30 | 2013-11-25 | 인튜어티브 서지컬 인코포레이티드 | 멀티암 로보트 원격 외과수술에서 툴 상태에 대한 인디케이터와 통신 |
JP2007029274A (ja) * | 2005-07-25 | 2007-02-08 | Hitachi Ltd | 術具装置 |
WO2007033379A2 (en) | 2005-09-14 | 2007-03-22 | Neoguide Systems, Inc. | Methods and apparatus for performing transluminal and other procedures |
GB0521281D0 (en) | 2005-10-19 | 2005-11-30 | Acrobat Company The Ltd | hybrid constrant mechanism |
JP4981680B2 (ja) | 2005-11-04 | 2012-07-25 | オリンパスメディカルシステムズ株式会社 | 内視鏡システム、内視鏡、支持部材 |
US8190238B2 (en) | 2005-12-09 | 2012-05-29 | Hansen Medical, Inc. | Robotic catheter system and methods |
US7955322B2 (en) | 2005-12-20 | 2011-06-07 | Intuitive Surgical Operations, Inc. | Wireless communication in a robotic surgical system |
US8182470B2 (en) | 2005-12-20 | 2012-05-22 | Intuitive Surgical Operations, Inc. | Telescoping insertion axis of a robotic surgical system |
US8672922B2 (en) * | 2005-12-20 | 2014-03-18 | Intuitive Surgical Operations, Inc. | Wireless communication in a robotic surgical system |
WO2007075864A1 (en) | 2005-12-20 | 2007-07-05 | Intuitive Surgical, Inc. | Instrument interface of a robotic surgical system |
US7930065B2 (en) | 2005-12-30 | 2011-04-19 | Intuitive Surgical Operations, Inc. | Robotic surgery system including position sensors using fiber bragg gratings |
EP2289455B1 (en) | 2005-12-30 | 2019-11-13 | Intuitive Surgical Operations, Inc. | Modular force sensor |
US9962066B2 (en) * | 2005-12-30 | 2018-05-08 | Intuitive Surgical Operations, Inc. | Methods and apparatus to shape flexible entry guides for minimally invasive surgery |
US8142420B2 (en) | 2006-01-25 | 2012-03-27 | Intuitive Surgical Operations Inc. | Robotic arm with five-bar spherical linkage |
US8469945B2 (en) | 2006-01-25 | 2013-06-25 | Intuitive Surgical Operations, Inc. | Center robotic arm with five-bar spherical linkage for endoscopic camera |
EP1815950A1 (en) * | 2006-02-03 | 2007-08-08 | The European Atomic Energy Community (EURATOM), represented by the European Commission | Robotic surgical system for performing minimally invasive medical procedures |
EP1815949A1 (en) | 2006-02-03 | 2007-08-08 | The European Atomic Energy Community (EURATOM), represented by the European Commission | Medical robotic system with manipulator arm of the cylindrical coordinate type |
EP3545815A1 (en) | 2006-03-22 | 2019-10-02 | Koninklijke Philips Electronics N.V. | Fiber optic instrument sensing system |
US7918783B2 (en) * | 2006-03-22 | 2011-04-05 | Boston Scientific Scimed, Inc. | Endoscope working channel with multiple functionality |
EP2038712B2 (en) | 2006-06-13 | 2019-08-28 | Intuitive Surgical Operations, Inc. | Control system configured to compensate for non-ideal actuator-to-joint linkage characteristics in a medical robotic system |
US8029516B2 (en) | 2006-06-13 | 2011-10-04 | Intuitive Surgical Operations, Inc. | Bracing of bundled medical devices for single port entry, robotically assisted medical procedures |
CN104688327B (zh) | 2006-06-13 | 2017-06-09 | 直观外科手术操作公司 | 微创手术系统 |
US8377045B2 (en) | 2006-06-13 | 2013-02-19 | Intuitive Surgical Operations, Inc. | Extendable suction surface for bracing medial devices during robotically assisted medical procedures |
US8517933B2 (en) | 2006-06-13 | 2013-08-27 | Intuitive Surgical Operations, Inc. | Retraction of tissue for single port entry, robotically assisted medical procedures |
US8597280B2 (en) | 2006-06-13 | 2013-12-03 | Intuitive Surgical Operations, Inc. | Surgical instrument actuator |
CA2655964C (en) | 2006-06-22 | 2014-10-28 | Board Of Regents Of The University Of Nebraska | Magnetically coupleable robotic devices and related methods |
US10258425B2 (en) * | 2008-06-27 | 2019-04-16 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide |
DE602006002384D1 (de) * | 2006-07-05 | 2008-10-02 | Haldex Brake Prod Ab | Scheibenbremse und Abstandselement |
US7690222B2 (en) * | 2006-08-02 | 2010-04-06 | Owens-Brockway Glass Container Inc. | Glass gob distribution |
TWM306883U (en) | 2006-08-28 | 2007-03-01 | Taiwan Sakurai Mfg Co Ltd | Glove for baseball or softball |
EP2063781A4 (en) | 2006-09-01 | 2010-07-28 | Voyage Medical Inc | ELECTROPHYSIOLOGY CARTOGRAPHY AND VISUALIZATION SYSTEM |
US8157793B2 (en) * | 2006-10-25 | 2012-04-17 | Terumo Kabushiki Kaisha | Manipulator for medical use |
US8814779B2 (en) | 2006-12-21 | 2014-08-26 | Intuitive Surgical Operations, Inc. | Stereoscopic endoscope |
US7918785B2 (en) | 2007-01-17 | 2011-04-05 | Olympus Medical Systems Corp. | Medical apparatus, treatment instrument for endoscope and endoscope apparatus |
CN100479776C (zh) * | 2007-02-02 | 2009-04-22 | 天津大学 | 微创外科手术用多自由度微机械手 |
US20080221590A1 (en) * | 2007-03-05 | 2008-09-11 | Intuitive Surgical, Inc. | Apparatus for positioning and holding in place a manually manipulated medical device during the performance of a robotically assisted medical procedure |
US20080235436A1 (en) * | 2007-03-23 | 2008-09-25 | Zimmer Vincent J | Storage access control |
US8377044B2 (en) * | 2007-03-30 | 2013-02-19 | Ethicon Endo-Surgery, Inc. | Detachable end effectors |
US8409234B2 (en) * | 2007-05-25 | 2013-04-02 | Hansen Medical, Inc. | Rotational apparatus system and method for a robotic instrument system |
US9084623B2 (en) | 2009-08-15 | 2015-07-21 | Intuitive Surgical Operations, Inc. | Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide |
US8903546B2 (en) | 2009-08-15 | 2014-12-02 | Intuitive Surgical Operations, Inc. | Smooth control of an articulated instrument across areas with different work space conditions |
US8620473B2 (en) | 2007-06-13 | 2013-12-31 | Intuitive Surgical Operations, Inc. | Medical robotic system with coupled control modes |
US8444631B2 (en) * | 2007-06-14 | 2013-05-21 | Macdonald Dettwiler & Associates Inc | Surgical manipulator |
US8264777B2 (en) | 2007-06-26 | 2012-09-11 | Qd Vision, Inc. | Portable electronic device having an electro wetting display illuminated by quantum dots |
US20090054728A1 (en) | 2007-08-21 | 2009-02-26 | Trusty Robert M | Manipulatable guide system and methods for natural orifice translumenal endoscopic surgery |
EP2234549A2 (en) * | 2007-12-20 | 2010-10-06 | Cavanaugh Medical Devices, LLC | Multi-purpose tool for minor surgery |
JP5017076B2 (ja) | 2007-12-21 | 2012-09-05 | テルモ株式会社 | マニピュレータシステム及びマニピュレータの制御方法 |
DE102008005901B4 (de) * | 2008-01-24 | 2018-08-09 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Sterilbarriere für einen chirurgischen Roboter mit Drehmomentsensoren |
KR100975047B1 (ko) * | 2008-02-15 | 2010-08-11 | (주)미래컴퍼니 | 수술용 인스트루먼트의 커플링 구조 |
US8333755B2 (en) | 2008-03-31 | 2012-12-18 | Intuitive Surgical Operations, Inc. | Coupler to transfer controller motion from a robotic manipulator to an attached instrument |
US9895813B2 (en) * | 2008-03-31 | 2018-02-20 | Intuitive Surgical Operations, Inc. | Force and torque sensing in a surgical robot setup arm |
JP5562940B2 (ja) | 2008-04-14 | 2014-07-30 | カーネギー メロン ユニバーシティ | 可視化システムを有する多関節装置 |
EP2296526B1 (en) | 2008-06-05 | 2017-12-06 | Carnegie Mellon University | Extendable articulated probe device |
WO2009151205A1 (ko) * | 2008-06-11 | 2009-12-17 | (주)미래컴퍼니 | 수술용 로봇 암의 인스트루먼트 |
US8220765B2 (en) | 2008-06-23 | 2012-07-17 | Intuitive Surgical Operations, Inc. | Spring counterbalance for rotating load |
US8414469B2 (en) | 2008-06-27 | 2013-04-09 | Intuitive Surgical Operations, Inc. | Medical robotic system having entry guide controller with instrument tip velocity limiting |
US9179832B2 (en) | 2008-06-27 | 2015-11-10 | Intuitive Surgical Operations, Inc. | Medical robotic system with image referenced camera control using partitionable orientational and translational modes |
US8490953B2 (en) | 2008-06-30 | 2013-07-23 | Intuitive Surgical Operations, Inc. | Spring counterbalance with failure detection |
US20100111645A1 (en) | 2008-11-04 | 2010-05-06 | Mayez Al-Mouhamed | Anthropomorphic force-reflective master arm |
US8720448B2 (en) * | 2008-11-07 | 2014-05-13 | Hansen Medical, Inc. | Sterile interface apparatus |
CN101474090B (zh) * | 2009-02-17 | 2010-12-08 | 哈尔滨工业大学 | 六自由度穿戴式辅助接骨并联机器人 |
CN101548904B (zh) * | 2009-05-22 | 2010-11-17 | 四川大学 | 一种手术机器人手臂 |
US8918212B2 (en) | 2009-06-24 | 2014-12-23 | Intuitive Surgical Operations, Inc. | Arm with a combined shape and force sensor |
US8918211B2 (en) | 2010-02-12 | 2014-12-23 | Intuitive Surgical Operations, Inc. | Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument |
US8504134B2 (en) | 2009-10-01 | 2013-08-06 | Intuitive Surgical Operations, Inc. | Laterally fenestrated cannula |
US8887595B2 (en) | 2009-12-22 | 2014-11-18 | Intuitive Surgical Operations, Inc. | Instrument wrist with cycloidal surfaces |
US9339341B2 (en) | 2010-02-08 | 2016-05-17 | Intuitive Surgical Operations, Inc. | Direct pull surgical gripper |
US9877744B2 (en) | 2010-02-12 | 2018-01-30 | Intuitive Surgical Operations, Inc. | Entry guide for multiple instruments in a single port surgical system |
US10376331B2 (en) | 2010-02-12 | 2019-08-13 | Intuitive Surgical Operations, Inc. | Sheaths for jointed instruments |
US8661927B2 (en) | 2010-05-14 | 2014-03-04 | Intuitive Surgical Operations, Inc. | Cable re-ordering device |
US8991278B2 (en) | 2010-05-14 | 2015-03-31 | Intuitive Surgical Operations, Inc. | Overforce protection mechanism |
US8603077B2 (en) | 2010-05-14 | 2013-12-10 | Intuitive Surgical Operations, Inc. | Force transmission for robotic surgical instrument |
US20110282357A1 (en) | 2010-05-14 | 2011-11-17 | Intuitive Surgical Operations, Inc. | Surgical system architecture |
KR102356881B1 (ko) | 2013-08-15 | 2022-02-03 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 카테터 위치설정 및 삽입을 위한 그래픽 사용자 인터페이스 |
US10912523B2 (en) | 2014-03-24 | 2021-02-09 | Intuitive Surgical Operations, Inc. | Systems and methods for anatomic motion compensation |
JP6716538B2 (ja) | 2014-07-28 | 2020-07-01 | 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 | 多数のインターベンショナル処置を計画するシステム及び方法 |
WO2019071189A2 (en) | 2017-10-05 | 2019-04-11 | GYS Tech, LLC d/b/a Cardan Robotics | METHODS AND SYSTEMS FOR PERFORMING COMPUTER-ASSISTED SURGERY |
US11069012B2 (en) | 2017-12-28 | 2021-07-20 | Cilag Gmbh International | Interactive surgical systems with condition handling of devices and data capabilities |
US11592657B2 (en) | 2018-12-18 | 2023-02-28 | Hemotech Cognition, LLC | Method and system for identifying objects in a blood sample |
-
2010
- 2010-08-12 US US12/855,434 patent/US20110282357A1/en not_active Abandoned
- 2010-08-12 US US12/855,452 patent/US8852208B2/en active Active
- 2010-08-12 US US12/855,488 patent/US8784435B2/en active Active
- 2010-08-12 US US12/855,461 patent/US9096033B2/en active Active
- 2010-08-12 US US12/855,413 patent/US8945148B2/en active Active
- 2010-08-12 US US12/855,475 patent/US9301807B2/en active Active
- 2010-08-12 US US12/855,499 patent/US8746252B2/en active Active
-
2011
- 2011-05-04 WO PCT/US2011/035097 patent/WO2011143016A1/en active Application Filing
- 2011-05-04 EP EP11719953.9A patent/EP2568908B1/en active Active
- 2011-05-04 KR KR1020127032774A patent/KR20130076825A/ko not_active Application Discontinuation
- 2011-05-04 KR KR1020207003642A patent/KR102176624B1/ko active IP Right Grant
- 2011-05-04 WO PCT/US2011/035128 patent/WO2011143024A1/en active Application Filing
- 2011-05-04 KR KR1020177036821A patent/KR101856099B1/ko active IP Right Grant
- 2011-05-04 EP EP11720924A patent/EP2568894A1/en not_active Withdrawn
- 2011-05-04 WO PCT/US2011/035113 patent/WO2011143021A1/en active Application Filing
- 2011-05-04 JP JP2013511203A patent/JP5782114B2/ja active Active
- 2011-05-04 KR KR1020127032775A patent/KR101780238B1/ko active Application Filing
- 2011-05-04 KR KR1020177025856A patent/KR101859012B1/ko active IP Right Grant
- 2011-05-04 BR BR112012028465A patent/BR112012028465B1/pt active IP Right Grant
- 2011-05-04 EP EP11720922.1A patent/EP2568909B1/en active Active
- 2011-05-04 KR KR1020217029784A patent/KR102455184B1/ko active IP Right Grant
- 2011-05-04 KR KR1020127032773A patent/KR101812485B1/ko active IP Right Grant
- 2011-05-04 JP JP2013510169A patent/JP5775154B2/ja active Active
- 2011-05-04 BR BR112012028375-8A patent/BR112012028375B1/pt active IP Right Grant
- 2011-05-04 WO PCT/US2011/035123 patent/WO2011143023A1/en active Application Filing
- 2011-05-04 KR KR1020127032245A patent/KR101812990B1/ko active IP Right Grant
- 2011-05-04 CN CN201180024117.8A patent/CN102892376B/zh active Active
- 2011-05-04 KR KR1020207031744A patent/KR102304696B1/ko active IP Right Grant
- 2011-05-04 EP EP20153951.7A patent/EP3673857A1/en active Pending
- 2011-05-04 JP JP2013510168A patent/JP5849090B2/ja active Active
- 2011-05-04 EP EP17188902.5A patent/EP3281752B1/en active Active
- 2011-05-04 JP JP2013510170A patent/JP2013528065A/ja not_active Withdrawn
- 2011-05-04 CN CN201180024036.8A patent/CN102892375B/zh active Active
- 2011-05-04 CN CN201610181366.2A patent/CN105852976B/zh active Active
- 2011-05-04 WO PCT/US2011/035117 patent/WO2011143022A1/en active Application Filing
- 2011-05-04 CN CN201510271529.1A patent/CN104958085B/zh active Active
- 2011-05-04 BR BR112012028374A patent/BR112012028374A2/pt not_active IP Right Cessation
- 2011-05-04 KR KR1020187013393A patent/KR101894849B1/ko active IP Right Grant
- 2011-05-04 CN CN201180024096XA patent/CN102892363A/zh active Pending
- 2011-05-04 KR KR1020187012564A patent/KR101960345B1/ko active IP Right Grant
- 2011-05-04 EP EP11719951.3A patent/EP2568913B1/en active Active
- 2011-05-04 EP EP20155212.2A patent/EP3677209A1/en active Pending
- 2011-05-04 WO PCT/US2011/035109 patent/WO2011143020A1/en active Application Filing
- 2011-05-04 KR KR1020187030154A patent/KR101990357B1/ko active IP Right Grant
- 2011-05-04 KR KR1020197007458A patent/KR102076823B1/ko active IP Right Grant
- 2011-05-04 BR BR112012029169A patent/BR112012029169B1/pt active IP Right Grant
- 2011-05-04 KR KR1020177036485A patent/KR101911525B1/ko active Application Filing
- 2011-05-04 CN CN201510224829.4A patent/CN104958111B/zh active Active
- 2011-05-04 CN CN201910947224.6A patent/CN110604619B/zh active Active
- 2011-05-04 CN CN201510430673.5A patent/CN105125263B/zh active Active
- 2011-05-04 CN CN201180024022.6A patent/CN102892374B/zh active Active
-
2014
- 2014-04-11 US US14/250,705 patent/US10537358B2/en active Active
- 2014-06-16 US US14/305,338 patent/US9757149B2/en active Active
- 2014-09-05 US US14/478,311 patent/US9801654B2/en active Active
- 2014-11-26 US US14/555,417 patent/US9955996B2/en active Active
-
2015
- 2015-04-15 JP JP2015083153A patent/JP6130428B2/ja active Active
- 2015-07-01 US US14/788,919 patent/US10869730B2/en active Active
- 2015-07-02 JP JP2015133881A patent/JP6113787B2/ja active Active
- 2015-11-30 JP JP2015233121A patent/JP6104353B2/ja active Active
-
2016
- 2016-11-23 US US15/360,311 patent/US10456166B2/en active Active
-
2017
- 2017-04-13 JP JP2017079726A patent/JP6285064B2/ja active Active
- 2017-09-28 US US15/718,963 patent/US10624672B2/en active Active
-
2018
- 2018-03-29 US US15/939,705 patent/US10918449B2/en active Active
- 2018-07-31 US US16/050,033 patent/US10856946B2/en active Active
-
2019
- 2019-09-09 US US16/565,113 patent/US11376086B2/en active Active
- 2019-09-11 US US16/568,118 patent/US11278364B2/en active Active
-
2020
- 2020-04-17 US US16/851,794 patent/US11596488B2/en active Active
- 2020-05-14 US US16/874,163 patent/US11684439B2/en active Active
- 2020-12-04 US US17/112,154 patent/US20210085411A1/en active Pending
-
2021
- 2021-01-27 US US17/159,764 patent/US20210220066A1/en active Pending
-
2022
- 2022-03-01 US US17/683,949 patent/US20220183780A1/en active Pending
- 2022-06-10 US US17/837,422 patent/US20220296322A1/en active Pending
-
2023
- 2023-06-01 US US18/327,238 patent/US20240000532A1/en active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5413573A (en) * | 1991-05-24 | 1995-05-09 | Onesys Oy | Device for surgical procedures |
JP2003325543A (ja) * | 2002-05-17 | 2003-11-18 | Olympus Optical Co Ltd | 手術システムとその手術装置 |
JP2007167644A (ja) * | 2005-12-20 | 2007-07-05 | Intuitive Surgical Inc | 無菌外科手術アダプタ |
JP2011516120A (ja) * | 2008-03-31 | 2011-05-26 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | ロボット外科手術器具のための滅菌ドレープインタフェース |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2020081858A (ja) * | 2018-11-30 | 2020-06-04 | シーメンス ヘルスケア ゲゼルシヤフト ミツト ベシユレンクテル ハフツング | X線装置を制御する装置及び方法 |
JP7068253B2 (ja) | 2018-11-30 | 2022-05-16 | シーメンス ヘルスケア ゲゼルシヤフト ミツト ベシユレンクテル ハフツング | X線装置を制御する装置及び方法 |
US11350898B2 (en) | 2018-11-30 | 2022-06-07 | Siemens Healthcare Gmbh | Apparatus and method for controlling an x-ray device during an intervention procedure |
JP2020103889A (ja) * | 2018-12-26 | 2020-07-09 | 川崎重工業株式会社 | 外科手術システムに使用されるマニピュレータアームおよび患者側システム |
Also Published As
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6285064B2 (ja) | 手術システム無菌ドレープ |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
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: 20180109 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20180131 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6285064 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 |