JP2017502709A - ロボット支援管腔内手術のためのシステムおよび関連する方法 - Google Patents
ロボット支援管腔内手術のためのシステムおよび関連する方法 Download PDFInfo
- Publication number
- JP2017502709A JP2017502709A JP2016526233A JP2016526233A JP2017502709A JP 2017502709 A JP2017502709 A JP 2017502709A JP 2016526233 A JP2016526233 A JP 2016526233A JP 2016526233 A JP2016526233 A JP 2016526233A JP 2017502709 A JP2017502709 A JP 2017502709A
- Authority
- JP
- Japan
- Prior art keywords
- tool
- coupled
- endoscopic tool
- instrument device
- robot arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001356 surgical procedure Methods 0.000 title claims description 12
- 238000000034 method Methods 0.000 title description 99
- 210000002435 tendon Anatomy 0.000 claims description 76
- 230000007246 mechanism Effects 0.000 claims description 66
- 230000007935 neutral effect Effects 0.000 claims description 15
- 230000033001 locomotion Effects 0.000 abstract description 24
- 230000008569 process Effects 0.000 description 47
- 238000005452 bending Methods 0.000 description 33
- 238000009954 braiding Methods 0.000 description 20
- 210000000621 bronchi Anatomy 0.000 description 16
- 230000000875 corresponding effect Effects 0.000 description 15
- 210000003484 anatomy Anatomy 0.000 description 13
- 238000002591 computed tomography Methods 0.000 description 12
- 238000005094 computer simulation Methods 0.000 description 12
- 239000000463 material Substances 0.000 description 12
- 238000012545 processing Methods 0.000 description 11
- 238000013276 bronchoscopy Methods 0.000 description 10
- 230000005672 electromagnetic field Effects 0.000 description 10
- 230000008901 benefit Effects 0.000 description 9
- 230000003902 lesion Effects 0.000 description 9
- 238000004519 manufacturing process Methods 0.000 description 9
- 230000003287 optical effect Effects 0.000 description 9
- 238000001574 biopsy Methods 0.000 description 8
- 230000008859 change Effects 0.000 description 8
- 239000002131 composite material Substances 0.000 description 8
- 238000005286 illumination Methods 0.000 description 8
- 238000003384 imaging method Methods 0.000 description 8
- 230000006835 compression Effects 0.000 description 7
- 238000007906 compression Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 238000002594 fluoroscopy Methods 0.000 description 7
- 238000003780 insertion Methods 0.000 description 7
- 230000037431 insertion Effects 0.000 description 7
- 238000005259 measurement Methods 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 6
- 230000005484 gravity Effects 0.000 description 6
- 238000003032 molecular docking Methods 0.000 description 6
- 230000003014 reinforcing effect Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 239000000835 fiber Substances 0.000 description 5
- 230000037361 pathway Effects 0.000 description 5
- 229920000642 polymer Polymers 0.000 description 5
- 210000003437 trachea Anatomy 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 4
- 230000007423 decrease Effects 0.000 description 4
- 238000007667 floating Methods 0.000 description 4
- 239000012530 fluid Substances 0.000 description 4
- 229910001220 stainless steel Inorganic materials 0.000 description 4
- 239000010935 stainless steel Substances 0.000 description 4
- 210000001519 tissue Anatomy 0.000 description 4
- 230000009466 transformation Effects 0.000 description 4
- 238000005266 casting Methods 0.000 description 3
- 239000011248 coating agent Substances 0.000 description 3
- 238000000576 coating method Methods 0.000 description 3
- 230000008602 contraction Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 239000012636 effector Substances 0.000 description 3
- 230000004807 localization Effects 0.000 description 3
- 210000004072 lung Anatomy 0.000 description 3
- 238000013507 mapping Methods 0.000 description 3
- 239000000523 sample Substances 0.000 description 3
- 239000013589 supplement Substances 0.000 description 3
- 210000000707 wrist Anatomy 0.000 description 3
- 206010002091 Anaesthesia Diseases 0.000 description 2
- 239000004696 Poly ether ether ketone Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 2
- 238000002679 ablation Methods 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 230000037005 anaesthesia Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000002406 microsurgery Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 229920002530 polyetherether ketone Polymers 0.000 description 2
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 2
- 239000004810 polytetrafluoroethylene Substances 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 230000001225 therapeutic effect Effects 0.000 description 2
- 238000011282 treatment Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- JOYRKODLDBILNP-UHFFFAOYSA-N Ethyl urethane Chemical compound CCOC(N)=O JOYRKODLDBILNP-UHFFFAOYSA-N 0.000 description 1
- 229920000271 Kevlar® Polymers 0.000 description 1
- 239000004677 Nylon Substances 0.000 description 1
- 206010035148 Plague Diseases 0.000 description 1
- 229920002614 Polyether block amide Polymers 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 210000000436 anus Anatomy 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000003190 augmentative effect Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000090 biomarker Substances 0.000 description 1
- 210000001124 body fluid Anatomy 0.000 description 1
- 239000010839 body fluid Substances 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000002872 contrast media Substances 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000001804 debridement Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000012377 drug delivery Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009429 electrical wiring Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000001839 endoscopy Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 238000000799 fluorescence microscopy Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 239000012216 imaging agent Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000004761 kevlar Substances 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003097 mucus Anatomy 0.000 description 1
- 238000003333 near-infrared imaging Methods 0.000 description 1
- HLXZNVUGXRDIFK-UHFFFAOYSA-N nickel titanium Chemical compound [Ti].[Ti].[Ti].[Ti].[Ti].[Ti].[Ti].[Ti].[Ti].[Ti].[Ti].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni].[Ni] HLXZNVUGXRDIFK-UHFFFAOYSA-N 0.000 description 1
- 229910001000 nickel titanium Inorganic materials 0.000 description 1
- 210000001331 nose Anatomy 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 210000003800 pharynx Anatomy 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 210000000130 stem cell Anatomy 0.000 description 1
- 239000003351 stiffener Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 229940126585 therapeutic drug Drugs 0.000 description 1
- 229920001187 thermosetting polymer Polymers 0.000 description 1
- 239000004634 thermosetting polymer Substances 0.000 description 1
- WFKWXMTUELFFGS-UHFFFAOYSA-N tungsten Chemical compound [W] WFKWXMTUELFFGS-UHFFFAOYSA-N 0.000 description 1
- 229910052721 tungsten Inorganic materials 0.000 description 1
- 239000010937 tungsten Substances 0.000 description 1
- 210000003708 urethra Anatomy 0.000 description 1
- 210000001215 vagina Anatomy 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
- 238000009941 weaving Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- 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
- A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
-
- 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
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
-
- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/0016—Holding or positioning arrangements using motor drive units
-
- 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
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0057—Constructional details of force transmission elements, e.g. control wires
-
- 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
- A61B1/012—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 characterised by internal passages or accessories therefor
- A61B1/018—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 characterised by internal passages or accessories therefor for receiving instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61M25/00—Catheters; Hollow probes
- A61M25/0009—Making of catheters or other medical or surgical tubes
-
- 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
- A61M25/00—Catheters; Hollow probes
- A61M25/0009—Making of catheters or other medical or surgical tubes
- A61M25/0012—Making of catheters or other medical or surgical tubes with embedded structures, e.g. coils, braids, meshes, strands or radiopaque coils
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
-
- 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
- A61B1/04—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 combined with photographic or television appliances
- A61B1/05—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 combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
-
- 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
- A61B2017/00526—Methods of manufacturing
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- 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
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49815—Disassembling
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Radiology & Medical Imaging (AREA)
- Robotics (AREA)
- Pulmonology (AREA)
- Hematology (AREA)
- Anesthesiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Primary Health Care (AREA)
- Epidemiology (AREA)
- General Business, Economics & Management (AREA)
- Business, Economics & Management (AREA)
- Manipulator (AREA)
- Endoscopes (AREA)
Abstract
Description
本出願は、2013年10月24日に出願された米国特許仮出願第61/895,312号(代理人ドケット番号41663-711.101);2013年10月24日に出願された米国特許仮出願第61/895,315号(代理人ドケット番号41663-712.101);2013年10月25日に出願された米国特許仮出願第61/895,602号(代理人ドケット番号41663-713.101);2014年2月14日に出願された米国特許仮出願第61/940,180号(代理人ドケット番号41663-714.101);2014年7月1日に出願された米国特許仮出願第62/019,816号(代理人ドケット番号41663-713.102);および2014年8月14日に出願された米国特許仮出願第62/037,520号(代理人ドケット番号41663-715.101)への優先権を主張する。これらの出願の全内容が参照により本明細書に組み入れられる。
本出願の分野は医療装置に関する。より具体的には、本発明の分野は、ロボット支援管腔内手術のためのシステムおよびツールに関する。
内視鏡検査は、画像撮影および人体内の解剖学的位置への治療薬送達の両方に広く使用されている最小侵襲技術である。一般に、処置が実施される体内の手術部位にツールを送達するために(たとえば、小さな切開部または体の自然な開口部(鼻、肛門、膣、尿道、喉など)を通して)フレキシブル内視鏡が使用される。内視鏡は、非直線の管腔または経路のナビゲーションを可能にする可撓性シャフトの末端で、画像撮影、照明および操舵能力を有し得る。
特定の好ましい態様および例が以下に開示されるが、本発明の主題は、具体的に開示される態様を超えて他の代替態様および/または使用ならびにそれらの変形および均等物に及ぶ。したがって、明細書に付随する特許請求の範囲は、以下に記す特定の態様のいずれによっても限定されない。たとえば、本明細書に開示される任意の方法またはプロセスにおいて、方法またはプロセスの行為または動作は、任意の適当な順序で実施され得、必ずしも、開示される任意の特定の順序に限定されない。他方、特定の態様の理解に役立ち得るようなやり方で様々な動作が複数の別々の動作として記載されることもあるが、記載の順序は、それらの動作が順序依存性であることを暗示するものと解釈されるべきではない。加えて、本明細書に記載される構造、システムおよび/または装置は、統合された部品として具現化されてもよいし、または別々の部品として具現化されてもよい。
管腔内外科手術ロボットシステムは、やっかいな腕の動きおよび位置を要することなく、エルゴノミクス的な位置に着座し、ロボット内視鏡ツールを患者内の所望の解剖学的位置に制御する能力を外科医に提供する。
図1は、本発明の態様のロボット内視鏡システムである。図1に示すように、ロボットシステム100は、少なくとも一つのメカニカルアーム、たとえばアーム102を有するシステムカート101を含み得る。システムカート101は、遠隔に位置するコマンドコンソール(図示せず)と通信状態にあり得る。実際、システムカート101は、医師がコマンドコンソールから快適にシステム100を制御し得る間、患者へのアクセスを提供するように配置され得る。いくつかの態様において、システムカート100は、安定性および患者へのアクセスのために、手術台またはベッドに統合されてもよい。
アーム102の基端はカート101に固く取付けまたは結合され得る。メカニカルアーム102は、アーム一つあたり少なくとも一つのジョイント、たとえばジョイント111によって接続された複数のリンケージ110を含む。メカニカルアーム102がロボットアームであるならば、ジョイント111は、少なくとも一つの自由度の動きに作用するために、一つまたは複数のアクチュエータを含み得る。アーム102は、全体として、好ましくは、三つよりも多い自由度を有する。ワイヤおよび回路の組み合わせを通して、各アームはまた、パワーおよび制御信号をシステムカート101からアームの末端に位置する器具へと運び得る。
システム100中のアーム102は、多様な処置に使用するために多様な姿勢に配置され得る。たとえば、システム100のアーム102は、別のロボットシステムと組み合わさって、そのIDMを整合させて、内視鏡ツール118の挿入および操作を容易にする「仮軌道」を形成するように配置され得る。他の処置の場合、アームは異なるふうに配置され得る。したがって、システム100中のアームの使用は、特定の医療処置と直に結び付く設計を有するロボットシステムには見られない融通性を提供する。システム100のアームは、潜在的にはるかに大きい行程および積荷能力を提供する。
図1に戻ると、ロボット外科手術システム100は、たとえばIDM117およびツール118(エンドエフェクタとも知られる)を交換することによって複数の外科手術システム構成を提供するようなやり方で構成され得る。システムは、手術室中の様々な場所または好都合な近場に設置された一つまたは複数の可動ロボットプラットフォームを含み得る。各プラットフォームは、プラットフォームに結合されるロボットアームのためのパワー、空気圧、照明光源、データ通信ケーブルおよび制御電子部品のいくつかまたはすべてを提供し得、モジュールもまた、これらのユーティリティから供給を受け得る。または、システム100は、一つまたは複数の可動カート101に取り付けられた複数のアーム102を有してもよいし、またはアームは、複数の外科手術構成を提供するために、フロアに取り付けられてもよい。
図9Aは、本発明の態様の、マニピュレータを含むロボット医療システムの一部分を示す。システム900は、ロボットアーム901、関節インタフェース902、器具装置マニピュレータ(「IDM」)903および内視鏡ツール904の部分図を含む。いくつかの態様において、ロボットアーム901は、単に、複数のジョイントおよびリンケージを有するより大きなロボットアームのリンケージであってもよい。関節インタフェース902はIDM903をロボットアーム901に結合する。結合に加えて、関節インタフェース902はまた、空気圧、パワー信号、制御信号およびフィードバック信号をアーム901およびIDM903へと、およびそれらから伝達し得る。
好ましい態様において、図1のロボットシステム100は、管腔内処置のためにカスタマイズされたツール、たとえば内視鏡ツール118を駆動し得る。図14は、本発明の態様の、図1のロボットシステム100とともに使用され得る内視鏡ツールの図である。内視鏡ツール1400は、「シース」および「リーダ」と呼ばれる、入れ子式に収容された縦方向に整合した管状ボディの周囲に配置され得る。外径が大きいほうの管状ツールであるシース1401は、基端シース部分1402、末端シース部分1403および中央シースルーメン(図示せず)で構成され得る。シースベース1404に受けられた信号により、末端シース部分1403を術者の所望の方向に屈曲させ得る。シース1401内には、外径が小さいほうのリーダ1405が入れ子式に収容されている。リーダ1405は、基端リーダ部分1406および末端リーダ部分1407および中央作業チャネルを含み得る。シースベース1404と同様に、リーダベース1408は、多くの場合、IDM(たとえば図9Aの903)からリーダベース1408に送られる制御信号に基づいて末端リーダ部分1407の屈曲を制御する。
背景として、操舵可能なカテーテルは、旧来、プルルーメンを組機、すなわち編組機に入れ、ポリマージャケットを編組ワイヤ上に適用した状態で、ワイヤまたは繊維、すなわち編組ワイヤをプロセスマンドレルの周囲に編組することによって製造される。シースおよびリーダ内視鏡ツールの態様は、操舵可能なカテーテルの構成方法の局面を使用して構成され得る。
本発明の態様において、解剖学的管腔中の内視鏡ツールのナビゲーションは、低線量コンピュータ断層撮影(CT)スキャンによって生成された二次元画像の収集に基づくコンピュータ生成三次元マップの使用を含み得る。術前処置中に患者の内部構造の断面をそれぞれが表す二次元CTスキャンを収集し得る。これらのスキャンを解析して、患者内の空洞および解剖学的空間、たとえば肺の気管支または尿道の経路を決定し得る。
図29Aは、本発明の態様の、解剖学的管腔内の内視鏡ツールの末端を示す。図29A中、シャフト2901を含む内視鏡ツール2900が、手術部位2903に向かって解剖学的管腔2902中をナビゲートされる状態で示されている。ナビゲーション中、シャフト2901は非屈曲状態であり得る。
図1のシステム100に関して説明したように、コマンドコンソールの態様が、術者、すなわち医師がロボット管腔内システムをエルゴノミクス的位置から遠隔制御することを可能にする。好ましい態様において、コマンドコンソールは、(i)術者がロボット内視鏡ツールを制御することを可能にし、かつ(ii)エルゴノミクス的位置からナビゲーション環境を表示する、ユーザインタフェースを利用する。
Claims (20)
- 基端および末端部分を有する第一のロボットアームと、
第一のロボットアームの該末端部分に結合された第一の機構交換インタフェースと、
患者内の手術部位において外科的処置を実施するように構成されているロボット駆動ツールを操作するように構成されており、第一の機構交換インタフェースに結合されており、駆動ユニットを含む、第一の器具装置マニピュレータと
を含む、ロボット支援外科的処置を実施するためのシステム。 - 駆動ユニットがモータを含む、請求項1記載のシステム。
- 第一の器具装置マニピュレータが、機構交換インタフェースおよび第一のロボットアームから解放可能に係合解除できるように構成されている、請求項1記載のシステム。
- 第一の機構交換インタフェースが、複数の器具装置マニピュレータとインタフェースするように構成されている、請求項1記載のシステム。
- 第一の機構交換インタフェースが、電気信号を第一のロボットアームから第一の器具装置マニピュレータへと運ぶように構成されている、請求項1記載のシステム。
- 細長い一次ボディを含む、第一の器具装置マニピュレータに結合された内視鏡ツールをさらに含む、請求項1記載のシステム。
- 細長い一次ボディの末端部分に電磁トラッカが結合されている、請求項6記載のシステム。
- 細長い一次ボディの末端部分に加速度計が結合されている、請求項6記載のシステム。
- 細長い一次ボディが、
細長い一次ボディの中立軸と縦方向に整合した作業チャネルと、
作業チャネルの周囲でらせん状に斜めに整合したプルルーメンと
を含む、請求項6記載のシステム。 - らせんの角度が細長い一次ボディの長さに沿って変化する、請求項9記載のシステム。
- 細長い一次ボディの末端部分に固く結合された、第一の器具装置マニピュレータに応答する細長い腱をプルルーメンが含む、請求項9記載のシステム。
- 内視鏡ツールがさらに、細長い一次ボディの周囲で縦方向に整合している細長い二次ボディを含み、細長い一次ボディが基端部分および末端部分を含み、かつデジタルカメラが末端に結合されている、請求項6記載のシステム。
- 第二の機構交換インタフェースを介して第二の器具装置マニピュレータに結合された第二のロボットアームをさらに含み、
第二の器具装置マニピュレータが内視鏡ツールに結合されており、かつ
第一の器具装置マニピュレータおよび第二の器具装置マニピュレータが、整合すると、内視鏡ツールを操作するための仮軌道を形成するように構成されている、
請求項12記載のシステム。 - 第一の器具装置マニピュレータが細長い二次ボディを機能的に制御し、第二の器具装置マニピュレータが細長い一次ボディを機能的に制御する、請求項13記載のシステム。
- 第一のロボットアームおよび第二のロボットアームが可動システムカートに結合されている、請求項13記載のシステム。
- 第一のロボットアームおよび第二のロボットアームが、患者を保持するように構成されている手術台に結合されている、請求項13記載のシステム。
- システムカートが、センサデータをコマンドコンソールに送り、該コマンドコンソールからコマンド信号を受けるように構成されている、請求項15記載のシステム。
- コマンドコンソールがシステムカートから切り離されている、請求項17記載のシステム。
- コマンドコンソールが、表示モジュールと、内視鏡ツールを制御するための制御モジュールとを含む、請求項17記載のシステム。
- 制御モジュールがジョイスティックコントローラである、請求項19記載のシステム。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019195017A JP6932757B2 (ja) | 2013-10-24 | 2019-10-28 | ロボット支援管腔内手術のためのシステムおよび関連する方法 |
Applications Claiming Priority (13)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201361895315P | 2013-10-24 | 2013-10-24 | |
US201361895312P | 2013-10-24 | 2013-10-24 | |
US61/895,315 | 2013-10-24 | ||
US61/895,312 | 2013-10-24 | ||
US201361895602P | 2013-10-25 | 2013-10-25 | |
US61/895,602 | 2013-10-25 | ||
US201461940180P | 2014-02-14 | 2014-02-14 | |
US61/940,180 | 2014-02-14 | ||
US201462019816P | 2014-07-01 | 2014-07-01 | |
US62/019,816 | 2014-07-01 | ||
US201462037520P | 2014-08-14 | 2014-08-14 | |
US62/037,520 | 2014-08-14 | ||
PCT/US2014/062284 WO2015061756A1 (en) | 2013-10-24 | 2014-10-24 | System for robotic-assisted endolumenal surgery and related methods |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019195017A Division JP6932757B2 (ja) | 2013-10-24 | 2019-10-28 | ロボット支援管腔内手術のためのシステムおよび関連する方法 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2017502709A true JP2017502709A (ja) | 2017-01-26 |
JP2017502709A5 JP2017502709A5 (ja) | 2017-11-30 |
JP6656148B2 JP6656148B2 (ja) | 2020-03-04 |
Family
ID=52993670
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016526233A Active JP6656148B2 (ja) | 2013-10-24 | 2014-10-24 | ロボット支援管腔内手術のためのシステムおよび関連する方法 |
JP2019195017A Active JP6932757B2 (ja) | 2013-10-24 | 2019-10-28 | ロボット支援管腔内手術のためのシステムおよび関連する方法 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019195017A Active JP6932757B2 (ja) | 2013-10-24 | 2019-10-28 | ロボット支援管腔内手術のためのシステムおよび関連する方法 |
Country Status (6)
Country | Link |
---|---|
US (8) | US9763741B2 (ja) |
EP (2) | EP3060157B1 (ja) |
JP (2) | JP6656148B2 (ja) |
KR (1) | KR102332023B1 (ja) |
CN (2) | CN105939647B (ja) |
WO (1) | WO2015061756A1 (ja) |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2018532467A (ja) * | 2015-09-18 | 2018-11-08 | オーリス ヘルス インコーポレイテッド | 管状網のナビゲーション |
WO2019207676A1 (ja) * | 2018-04-25 | 2019-10-31 | オリンパス株式会社 | 処置具および処置システム |
JP2020058798A (ja) * | 2018-10-04 | 2020-04-16 | バイオセンス・ウエブスター・(イスラエル)・リミテッドBiosense Webster (Israel), Ltd. | プローブの自動再挿入 |
JP2020516412A (ja) * | 2017-04-18 | 2020-06-11 | セント・ジュード・メディカル,カーディオロジー・ディヴィジョン,インコーポレイテッド | トルク付与可能なスティーラブル・シース |
JP2020520691A (ja) * | 2017-05-12 | 2020-07-16 | オーリス ヘルス インコーポレイテッド | 生検装置およびシステム |
JP2020526254A (ja) * | 2017-06-28 | 2020-08-31 | オーリス ヘルス インコーポレイテッド | 器具挿入補償 |
JP2020528777A (ja) * | 2017-07-25 | 2020-10-01 | セフィア・バルブ・テクノロジーズ, インコーポレイテッドCephea Valve Technologies, Inc. | 心臓弁を位置決めするシステム及び方法 |
JP2020536754A (ja) * | 2017-10-10 | 2020-12-17 | オーリス ヘルス インコーポレイテッド | 手術ロボットアームに対する不適切な力の検出 |
JP2021505345A (ja) * | 2017-12-11 | 2021-02-18 | オーリス ヘルス インコーポレイテッド | 器具ベースの挿入アーキテクチャのためのシステム及び方法 |
WO2021112067A1 (ja) * | 2019-12-02 | 2021-06-10 | 朝日インテック株式会社 | カテーテル |
JP2022500098A (ja) * | 2018-09-17 | 2022-01-04 | 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 |
WO2022209102A1 (ja) * | 2021-03-31 | 2022-10-06 | ソニーグループ株式会社 | 手術ロボット及び手術システム |
Families Citing this family (442)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8414505B1 (en) | 2001-02-15 | 2013-04-09 | Hansen Medical, Inc. | Catheter driver system |
US7972298B2 (en) | 2004-03-05 | 2011-07-05 | Hansen Medical, Inc. | Robotic catheter system |
US8465474B2 (en) | 2009-05-19 | 2013-06-18 | Intuitive Surgical Operations, Inc. | Cleaning of a surgical instrument force sensor |
US8496647B2 (en) | 2007-12-18 | 2013-07-30 | Intuitive Surgical Operations, Inc. | Ribbed force sensor |
EP1906858B1 (en) | 2005-07-01 | 2016-11-16 | Hansen Medical, Inc. | Robotic catheter system |
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 |
US9232959B2 (en) | 2007-01-02 | 2016-01-12 | Aquabeam, Llc | Multi fluid tissue resection methods and devices |
US8561473B2 (en) | 2007-12-18 | 2013-10-22 | Intuitive Surgical Operations, Inc. | Force sensor temperature compensation |
JP5506702B2 (ja) | 2008-03-06 | 2014-05-28 | アクアビーム エルエルシー | 流体流れ内を伝達される光学エネルギーによる組織切除および焼灼 |
US8218847B2 (en) | 2008-06-06 | 2012-07-10 | Superdimension, Ltd. | Hybrid registration method |
US9259274B2 (en) | 2008-09-30 | 2016-02-16 | Intuitive Surgical Operations, Inc. | Passive preload and capstan drive for surgical instruments |
US9339342B2 (en) | 2008-09-30 | 2016-05-17 | Intuitive Surgical Operations, Inc. | Instrument interface |
US9254123B2 (en) | 2009-04-29 | 2016-02-09 | Hansen Medical, Inc. | Flexible and steerable elongate instruments with shape control and support elements |
US8672837B2 (en) | 2010-06-24 | 2014-03-18 | Hansen Medical, Inc. | Methods and devices for controlling a shapeable medical device |
US20120071752A1 (en) | 2010-09-17 | 2012-03-22 | Sewell Christopher M | User interface and method for operating a robotic medical system |
EP2627278B1 (en) | 2010-10-11 | 2015-03-25 | Ecole Polytechnique Fédérale de Lausanne (EPFL) | Mechanical manipulator for surgical instruments |
US20120191079A1 (en) | 2011-01-20 | 2012-07-26 | Hansen Medical, Inc. | System and method for endoluminal and translumenal therapy |
JP5715304B2 (ja) | 2011-07-27 | 2015-05-07 | エコール ポリテクニーク フェデラル デ ローザンヌ (イーピーエフエル) | 遠隔操作のための機械的遠隔操作装置 |
US20130030363A1 (en) | 2011-07-29 | 2013-01-31 | Hansen Medical, Inc. | Systems and methods utilizing shape sensing fibers |
US20130303944A1 (en) | 2012-05-14 | 2013-11-14 | Intuitive Surgical Operations, Inc. | Off-axis electromagnetic sensor |
US9452276B2 (en) | 2011-10-14 | 2016-09-27 | Intuitive Surgical Operations, Inc. | Catheter with removable vision probe |
US9504604B2 (en) | 2011-12-16 | 2016-11-29 | Auris Surgical Robotics, Inc. | Lithotripsy eye treatment |
EP2819599B1 (en) | 2012-02-29 | 2018-05-23 | Procept Biorobotics Corporation | Automated image-guided tissue resection and treatment |
US10383765B2 (en) | 2012-04-24 | 2019-08-20 | Auris Health, Inc. | Apparatus and method for a global coordinate system for use in robotic surgery |
US11871901B2 (en) | 2012-05-20 | 2024-01-16 | Cilag Gmbh International | Method for situational awareness for surgical network or surgical network connected device capable of adjusting function based on a sensed situation or usage |
US20130317519A1 (en) | 2012-05-25 | 2013-11-28 | Hansen Medical, Inc. | Low friction instrument driver interface for robotic systems |
US20140148673A1 (en) | 2012-11-28 | 2014-05-29 | Hansen Medical, Inc. | Method of anchoring pullwire directly articulatable region in catheter |
US10231867B2 (en) | 2013-01-18 | 2019-03-19 | Auris Health, Inc. | Method, apparatus and system for a water jet |
US9668814B2 (en) | 2013-03-07 | 2017-06-06 | Hansen Medical, Inc. | Infinitely rotatable tool with finite rotating drive shafts |
US10149720B2 (en) | 2013-03-08 | 2018-12-11 | Auris Health, Inc. | Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment |
US9867635B2 (en) | 2013-03-08 | 2018-01-16 | Auris Surgical Robotics, Inc. | Method, apparatus and system for a water jet |
US10080576B2 (en) | 2013-03-08 | 2018-09-25 | Auris Health, Inc. | Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment |
US9057600B2 (en) | 2013-03-13 | 2015-06-16 | Hansen Medical, Inc. | Reducing incremental measurement sensor error |
US9566414B2 (en) | 2013-03-13 | 2017-02-14 | Hansen Medical, Inc. | Integrated catheter and guide wire controller |
US9498601B2 (en) | 2013-03-14 | 2016-11-22 | Hansen Medical, Inc. | Catheter tension sensing |
US11213363B2 (en) | 2013-03-14 | 2022-01-04 | Auris Health, Inc. | Catheter tension sensing |
US9173713B2 (en) | 2013-03-14 | 2015-11-03 | Hansen Medical, Inc. | Torque-based catheter articulation |
US9326822B2 (en) | 2013-03-14 | 2016-05-03 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
US20140277334A1 (en) | 2013-03-14 | 2014-09-18 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
US9271663B2 (en) | 2013-03-15 | 2016-03-01 | Hansen Medical, Inc. | Flexible instrument localization from both remote and elongation sensors |
US9283046B2 (en) | 2013-03-15 | 2016-03-15 | Hansen Medical, Inc. | User interface for active drive apparatus with finite range of motion |
US9014851B2 (en) | 2013-03-15 | 2015-04-21 | Hansen Medical, Inc. | Systems and methods for tracking robotically controlled medical instruments |
US20140276647A1 (en) | 2013-03-15 | 2014-09-18 | Hansen Medical, Inc. | Vascular remote catheter manipulator |
US9408669B2 (en) | 2013-03-15 | 2016-08-09 | Hansen Medical, Inc. | Active drive mechanism with finite range of motion |
US20140276936A1 (en) | 2013-03-15 | 2014-09-18 | Hansen Medical, Inc. | Active drive mechanism for simultaneous rotation and translation |
US9452018B2 (en) | 2013-03-15 | 2016-09-27 | Hansen Medical, Inc. | Rotational support for an elongate member |
US9629595B2 (en) | 2013-03-15 | 2017-04-25 | Hansen Medical, Inc. | Systems and methods for localizing, tracking and/or controlling medical instruments |
US10376672B2 (en) | 2013-03-15 | 2019-08-13 | Auris Health, Inc. | Catheter insertion system and method of fabrication |
US10849702B2 (en) | 2013-03-15 | 2020-12-01 | Auris Health, Inc. | User input devices for controlling manipulation of guidewires and catheters |
JP5713047B2 (ja) * | 2013-04-18 | 2015-05-07 | 株式会社安川電機 | 移動ロボット、移動ロボットの位置決めシステム、及び、移動ロボットの位置決め方法 |
US11020016B2 (en) | 2013-05-30 | 2021-06-01 | Auris Health, Inc. | System and method for displaying anatomy and devices on a movable display |
US10744035B2 (en) | 2013-06-11 | 2020-08-18 | Auris Health, Inc. | Methods for robotic assisted cataract surgery |
US8870948B1 (en) | 2013-07-17 | 2014-10-28 | Cephea Valve Technologies, Inc. | System and method for cardiac valve repair and replacement |
US10512511B2 (en) | 2013-07-24 | 2019-12-24 | Centre For Surgical Invention And Innovation | Multi-function mounting interface for an image-guided robotic system and quick release interventional toolset |
US10426661B2 (en) | 2013-08-13 | 2019-10-01 | Auris Health, Inc. | Method and apparatus for laser assisted cataract surgery |
WO2015042453A1 (en) | 2013-09-20 | 2015-03-26 | Canon U.S.A., Inc. | Control apparatus for tendon-driven device |
WO2015061756A1 (en) | 2013-10-24 | 2015-04-30 | Auris Surgical Robotics, Inc. | System for robotic-assisted endolumenal surgery and related methods |
US9993313B2 (en) | 2013-10-24 | 2018-06-12 | Auris Health, Inc. | Instrument device manipulator with roll mechanism |
WO2015124159A1 (en) | 2014-02-21 | 2015-08-27 | 3Dintegrated Aps | A set comprising a surgical instrument |
EP2923669B1 (en) | 2014-03-24 | 2017-06-28 | Hansen Medical, Inc. | Systems and devices for catheter driving instinctiveness |
US10046140B2 (en) | 2014-04-21 | 2018-08-14 | Hansen Medical, Inc. | Devices, systems, and methods for controlling active drive systems |
ES2964307T3 (es) | 2014-05-05 | 2024-04-05 | Vicarious Surgical Inc | Dispositivo quirúrgico de realidad virtual |
US10569052B2 (en) | 2014-05-15 | 2020-02-25 | Auris Health, Inc. | Anti-buckling mechanisms for catheters |
US9561083B2 (en) | 2014-07-01 | 2017-02-07 | Auris Surgical Robotics, Inc. | Articulating flexible endoscopic tool with roll capabilities |
US10792464B2 (en) | 2014-07-01 | 2020-10-06 | Auris Health, Inc. | Tool and method for using surgical endoscope with spiral lumens |
US10159533B2 (en) | 2014-07-01 | 2018-12-25 | Auris Health, Inc. | Surgical system with configurable rail-mounted mechanical arms |
US9744335B2 (en) | 2014-07-01 | 2017-08-29 | Auris Surgical Robotics, Inc. | Apparatuses and methods for monitoring tendons of steerable catheters |
US9788910B2 (en) | 2014-07-01 | 2017-10-17 | Auris Surgical Robotics, Inc. | Instrument-mounted tension sensing mechanism for robotically-driven medical instruments |
US9603668B2 (en) | 2014-07-02 | 2017-03-28 | Covidien Lp | Dynamic 3D lung map view for tool navigation inside the lung |
US9633431B2 (en) | 2014-07-02 | 2017-04-25 | Covidien Lp | Fluoroscopic pose estimation |
EP3200718A4 (en) | 2014-09-30 | 2018-04-25 | Auris Surgical Robotics, Inc | Configurable robotic surgical system with virtual rail and flexible endoscope |
US10499999B2 (en) | 2014-10-09 | 2019-12-10 | Auris Health, Inc. | Systems and methods for aligning an elongate member with an access site |
US10314463B2 (en) | 2014-10-24 | 2019-06-11 | Auris Health, Inc. | Automated endoscope calibration |
KR102545930B1 (ko) * | 2014-10-27 | 2023-06-22 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 통합 수술 테이블을 위한 시스템 및 방법 |
KR102574095B1 (ko) | 2014-10-27 | 2023-09-06 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 기기 교란 보상을 위한 시스템 및 방법 |
US11504192B2 (en) | 2014-10-30 | 2022-11-22 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
US9974525B2 (en) | 2014-10-31 | 2018-05-22 | Covidien Lp | Computed tomography enhanced fluoroscopic system, device, and method of utilizing the same |
EP3229736B1 (en) | 2014-12-09 | 2024-01-10 | Cephea Valve Technologies, Inc. | Replacement cardiac valves and method of manufacture |
WO2016097871A1 (en) | 2014-12-19 | 2016-06-23 | Distalmotion Sa | Docking system for mechanical telemanipulator |
WO2016097861A1 (en) | 2014-12-19 | 2016-06-23 | Distalmotion Sa | Sterile interface for articulated surgical instruments |
EP3653145B1 (en) | 2014-12-19 | 2024-01-24 | DistalMotion SA | Reusable surgical instrument for minimally invasive procedures |
US10864052B2 (en) | 2014-12-19 | 2020-12-15 | Distalmotion Sa | Surgical instrument with articulated end-effector |
US20160206179A1 (en) * | 2015-01-15 | 2016-07-21 | National Taiwan University | Assistive robot endoscopic system with intuitive maneuverability for laparoscopic surgery and method thereof |
CA2974996C (en) * | 2015-02-02 | 2023-02-28 | The University Of Western Ontario | Navigation by bending forces |
US11819636B2 (en) | 2015-03-30 | 2023-11-21 | Auris Health, Inc. | Endoscope pull wire electrical circuit |
US20160287279A1 (en) | 2015-04-01 | 2016-10-06 | Auris Surgical Robotics, Inc. | Microsurgical tool for robotic applications |
WO2016164824A1 (en) * | 2015-04-09 | 2016-10-13 | Auris Surgical Robotics, Inc. | Surgical system with configurable rail-mounted mechanical arms |
WO2018136959A1 (en) | 2017-01-23 | 2018-07-26 | Cephea Valve Technologies, Inc. | Replacement mitral valves |
EP3294220B1 (en) | 2015-05-14 | 2023-12-06 | Cephea Valve Technologies, Inc. | Cardiac valve delivery devices and systems |
EP3294221B1 (en) | 2015-05-14 | 2024-03-06 | Cephea Valve Technologies, Inc. | Replacement mitral valves |
US9622827B2 (en) | 2015-05-15 | 2017-04-18 | Auris Surgical Robotics, Inc. | Surgical robotics system |
WO2016190049A1 (ja) | 2015-05-28 | 2016-12-01 | オリンパス株式会社 | シース部材、マニピュレータ、及びマニピュレータシステム |
DE102015109368A1 (de) * | 2015-06-12 | 2016-12-15 | avateramedical GmBH | Vorrichtung und Verfahren zur robotergestützten Chirurgie sowie Positionierhilfseinheit |
JP6644816B2 (ja) * | 2015-06-30 | 2020-02-12 | キヤノン ユーエスエイ,インコーポレイテッドCanon U.S.A.,Inc | マニピュレータを制御する方法および装置 |
WO2017015167A1 (en) * | 2015-07-17 | 2017-01-26 | Deka Products Limited Partnership | Robotic surgery system, mithod, and appratus |
US11020144B2 (en) * | 2015-07-21 | 2021-06-01 | 3Dintegrated Aps | Minimally invasive surgery system |
WO2017012624A1 (en) | 2015-07-21 | 2017-01-26 | 3Dintegrated Aps | Cannula assembly kit, trocar assembly kit, sleeve assembly, minimally invasive surgery system and method therefor |
US10674982B2 (en) | 2015-08-06 | 2020-06-09 | Covidien Lp | System and method for local three dimensional volume reconstruction using a standard fluoroscope |
US10702226B2 (en) | 2015-08-06 | 2020-07-07 | Covidien Lp | System and method for local three dimensional volume reconstruction using a standard fluoroscope |
US10716525B2 (en) | 2015-08-06 | 2020-07-21 | Covidien Lp | System and method for navigating to target and performing procedure on target utilizing fluoroscopic-based local three dimensional volume reconstruction |
US11202680B2 (en) | 2015-08-14 | 2021-12-21 | Intuitive Surgical Operations, Inc. | Systems and methods of registration for image-guided surgery |
EP3795061A1 (en) * | 2015-08-14 | 2021-03-24 | Intuitive Surgical Operations, Inc. | Systems and methods of registration for image-guided surgery |
US10786272B2 (en) | 2015-08-28 | 2020-09-29 | Distalmotion Sa | Surgical instrument with increased actuation force |
WO2017041015A1 (en) * | 2015-09-04 | 2017-03-09 | Mako Surgical Corp. | Steering mechanism for portable surgical robot |
EP4137034A1 (en) | 2015-09-09 | 2023-02-22 | Auris Health, Inc. | Instrument device manipulator for a surgical robotics system |
US10265863B2 (en) * | 2015-09-09 | 2019-04-23 | Carbon Robotics, Inc. | Reconfigurable robotic system and methods |
GB2542566A (en) * | 2015-09-22 | 2017-03-29 | Rolls Royce Plc | Apparatus, methods, computer programs, and non-transitory computer readable storage mediums for controlling movement of robotic machinery |
WO2017059870A1 (en) * | 2015-10-09 | 2017-04-13 | 3Dintegrated Aps | A laparoscopic tool system for minimally invasive surgery |
DK178899B1 (en) | 2015-10-09 | 2017-05-08 | 3Dintegrated Aps | A depiction system |
CN106611389B (zh) * | 2015-10-22 | 2020-11-03 | 沈阳新松机器人自动化股份有限公司 | 一种机器人、机器人的点餐方法及其点餐系统 |
US10639108B2 (en) | 2015-10-30 | 2020-05-05 | Auris Health, Inc. | Process for percutaneous operations |
US9955986B2 (en) | 2015-10-30 | 2018-05-01 | Auris Surgical Robotics, Inc. | Basket apparatus |
CN109069136B (zh) * | 2015-10-30 | 2021-07-20 | 奥瑞斯健康公司 | 用于经皮手术的过程 |
US9949749B2 (en) | 2015-10-30 | 2018-04-24 | Auris Surgical Robotics, Inc. | Object capture with a basket |
CN105196284B (zh) * | 2015-11-02 | 2017-01-11 | 哈尔滨工业大学 | 一种三自由度串联型自重力平衡被动机械臂 |
FI20155784A (fi) * | 2015-11-02 | 2017-05-03 | Cryotech Nordic Oü | Automatisoitu järjestelmä laser-avusteiseen dermatologiseen hoitoon ja ohjausmenetelmä |
US10143526B2 (en) | 2015-11-30 | 2018-12-04 | Auris Health, Inc. | Robot-assisted driving systems and methods |
EP3402433B1 (en) * | 2016-01-12 | 2021-03-10 | Intuitive Surgical Operations, Inc. | Staged force feedback transitioning between control states |
JP6752576B2 (ja) * | 2016-01-13 | 2020-09-09 | キヤノン株式会社 | 駆動機構、ロボット装置、駆動機構の制御方法、ロボット装置の制御方法、物品の製造方法、制御プログラム、記録媒体、及び支持部材 |
US10932861B2 (en) | 2016-01-14 | 2021-03-02 | Auris Health, Inc. | Electromagnetic tracking surgical system and method of controlling the same |
US10932691B2 (en) | 2016-01-26 | 2021-03-02 | Auris Health, Inc. | Surgical tools having electromagnetic tracking components |
EP3273884A4 (en) | 2016-02-05 | 2019-01-23 | Board of Regents of the University of Texas System | SURGICAL APPARATUS |
AU2017214568B9 (en) | 2016-02-05 | 2020-07-09 | Board Of Regents Of The University Of Texas System | Steerable intra-luminal medical device |
WO2017144710A1 (en) * | 2016-02-24 | 2017-08-31 | Bainisha Cvba | Elastic movement sensors and calibration |
US11324554B2 (en) | 2016-04-08 | 2022-05-10 | Auris Health, Inc. | Floating electromagnetic field generator system and method of controlling the same |
US10454347B2 (en) | 2016-04-29 | 2019-10-22 | Auris Health, Inc. | Compact height torque sensing articulation axis assembly |
US11166768B2 (en) * | 2016-05-26 | 2021-11-09 | Siemens Healthcare Gmbh | 3D printed robot for holding medical instruments during procedures and its control |
EP3471665B1 (en) | 2016-06-17 | 2023-10-11 | Cephea Valve Technologies, Inc. | Cardiac valve delivery devices |
WO2017221367A1 (ja) * | 2016-06-23 | 2017-12-28 | オリンパス株式会社 | 医療用システム |
CN109414296A (zh) * | 2016-07-06 | 2019-03-01 | 皇家飞利浦有限公司 | 测量细长管腔内设备的移动长度 |
KR102543919B1 (ko) | 2016-07-14 | 2023-06-16 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 다중 케이블 의료 기기 |
US11007024B2 (en) | 2016-07-14 | 2021-05-18 | Intuitive Surgical Operations, Inc. | Geared grip actuation for medical instruments |
US20190231451A1 (en) | 2016-07-14 | 2019-08-01 | Intuitive Surgical Operations, Inc. | Geared roll drive for medical instrument |
US11037464B2 (en) | 2016-07-21 | 2021-06-15 | Auris Health, Inc. | System with emulator movement tracking for controlling medical devices |
US10111719B2 (en) * | 2016-08-16 | 2018-10-30 | Ethicon Llc | Control of the rate of actuation of tool mechanism based on inherent parameters |
KR101903074B1 (ko) * | 2016-08-24 | 2018-10-01 | 울산과학기술원 | 회전형 동축 광-전자기 도파관 집합체를 포함하는 광음향-초음파 내시경 시스템과 그 구현 방법 |
US10463439B2 (en) | 2016-08-26 | 2019-11-05 | Auris Health, Inc. | Steerable catheter with shaft load distributions |
US11241559B2 (en) | 2016-08-29 | 2022-02-08 | Auris Health, Inc. | Active drive for guidewire manipulation |
AU2016422171B2 (en) | 2016-08-31 | 2022-01-20 | Auris Health, Inc. | Length conservative surgical instrument |
CN108366831B (zh) * | 2016-09-16 | 2022-03-18 | 威博外科公司 | 用于将机器人臂安装到手术台的手术台转接件 |
US11389360B2 (en) * | 2016-09-16 | 2022-07-19 | Verb Surgical Inc. | Linkage mechanisms for mounting robotic arms to a surgical table |
US10568703B2 (en) | 2016-09-21 | 2020-02-25 | Verb Surgical Inc. | User arm support for use in a robotic surgical system |
US9931025B1 (en) | 2016-09-30 | 2018-04-03 | Auris Surgical Robotics, Inc. | Automated calibration of endoscopes with pull wires |
US20200237446A1 (en) | 2016-10-26 | 2020-07-30 | Prichard Medical, LLC | Surgical instrument with led lighting and absolute orientation |
US20180110569A1 (en) * | 2016-10-26 | 2018-04-26 | Prichard Medical, LLC | Surgical instrument with led lighting and absolute orientation |
US11241290B2 (en) | 2016-11-21 | 2022-02-08 | Intuitive Surgical Operations, Inc. | Cable length conserving medical instrument |
KR102619317B1 (ko) | 2016-12-28 | 2024-01-03 | 아우리스 헬스, 인코포레이티드 | 가요성 기구 삽입을 위한 장치 |
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 |
US10136959B2 (en) | 2016-12-28 | 2018-11-27 | Auris Health, Inc. | Endolumenal object sizing |
AU2018203053B2 (en) | 2017-01-23 | 2020-03-05 | Cephea Valve Technologies, Inc. | Replacement mitral valves |
WO2018144636A1 (en) | 2017-02-01 | 2018-08-09 | Intuitive Surgical Operations, Inc. | Systems and methods of registration for image-guided procedures |
WO2018148394A1 (en) | 2017-02-09 | 2018-08-16 | Vicarious Surgical Inc. | Virtual reality surgical tools system |
US11793579B2 (en) | 2017-02-22 | 2023-10-24 | Covidien Lp | Integration of multiple data sources for localization and navigation |
US10357321B2 (en) | 2017-02-24 | 2019-07-23 | Intuitive Surgical Operations, Inc. | Splayed cable guide for a medical instrument |
DE102017103818A1 (de) | 2017-02-24 | 2018-08-30 | Hoya Corporation | Endoskop mit einem steuerbaren beweglichen Zwischenabschnitt proximal vom Biegeabschnitt |
JPWO2018159328A1 (ja) * | 2017-02-28 | 2019-12-19 | ソニー株式会社 | 医療用アームシステム、制御装置及び制御方法 |
KR102090363B1 (ko) * | 2017-03-06 | 2020-03-17 | 한양대학교 에리카산학협력단 | 연성 메커니즘 |
US10792466B2 (en) | 2017-03-28 | 2020-10-06 | Auris Health, Inc. | Shaft actuating handle |
EP3600031A4 (en) | 2017-03-31 | 2021-01-20 | Auris Health, Inc. | ROBOTIC NAVIGATION SYSTEMS IN LUMINAL NETWORKS COMPENSATION FOR PHYSIOLOGICAL NOISE |
US10285574B2 (en) | 2017-04-07 | 2019-05-14 | Auris Health, Inc. | Superelastic medical instrument |
US10987174B2 (en) | 2017-04-07 | 2021-04-27 | Auris Health, Inc. | Patient introducer alignment |
US11278366B2 (en) | 2017-04-27 | 2022-03-22 | Canon U.S.A., Inc. | Method for controlling a flexible manipulator |
US11058503B2 (en) * | 2017-05-11 | 2021-07-13 | Distalmotion Sa | Translational instrument interface for surgical robot and surgical robot systems comprising the same |
AU2018270785B2 (en) | 2017-05-17 | 2023-11-23 | Auris Health, Inc. | Exchangeable working channel |
US10575907B2 (en) | 2017-06-21 | 2020-03-03 | Biosense Webster (Israel) Ltd. | Registration with trajectory information with shape sensing |
US10022192B1 (en) | 2017-06-23 | 2018-07-17 | Auris Health, Inc. | Automatically-initialized robotic systems for navigation of luminal networks |
AU2018292284B2 (en) | 2017-06-28 | 2023-03-23 | Auris Health, Inc. | Electromagnetic field generator alignment |
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 |
EP3644886A4 (en) | 2017-06-28 | 2021-03-24 | Auris Health, Inc. | ELECTROMAGNETIC DISTORTION DETECTION |
US10699448B2 (en) | 2017-06-29 | 2020-06-30 | Covidien Lp | System and method for identifying, marking and navigating to a target using real time two dimensional fluoroscopic data |
US10426559B2 (en) | 2017-06-30 | 2019-10-01 | Auris Health, Inc. | Systems and methods for medical instrument compression compensation |
US11007641B2 (en) | 2017-07-17 | 2021-05-18 | Canon U.S.A., Inc. | Continuum robot control methods and apparatus |
CN107485447B (zh) * | 2017-08-09 | 2023-07-04 | 北京信息科技大学 | 一种面向膝盖软骨移植术的术中器具位姿导航装置及方法 |
WO2019033070A1 (en) * | 2017-08-11 | 2019-02-14 | Neural Analytics, Inc. | MULTI-DEVICE SYSTEM |
CA3075692A1 (en) | 2017-09-14 | 2019-03-21 | Vicarious Surgical Inc. | Virtual reality surgical camera system |
CN111093463A (zh) | 2017-09-28 | 2020-05-01 | 安布股份有限公司 | 内窥镜 |
US10464209B2 (en) | 2017-10-05 | 2019-11-05 | Auris Health, Inc. | Robotic system with indication of boundary for robotic arm |
US10016900B1 (en) | 2017-10-10 | 2018-07-10 | Auris Health, Inc. | Surgical robotic arm admittance control |
EP3694412A4 (en) | 2017-10-10 | 2021-08-18 | Covidien LP | SYSTEM AND METHOD FOR IDENTIFYING AND MARKING A TARGET IN A THREE-DIMENSIONAL FLUOROSCOPIC RECONSTRUCTION |
US11058493B2 (en) | 2017-10-13 | 2021-07-13 | Auris Health, Inc. | Robotic system configured for navigation path tracing |
US10555778B2 (en) | 2017-10-13 | 2020-02-11 | Auris Health, Inc. | Image-based branch detection and mapping for navigation |
US11317919B2 (en) | 2017-10-30 | 2022-05-03 | Cilag Gmbh International | Clip applier comprising a clip crimping system |
EP3706613A4 (en) * | 2017-10-30 | 2021-04-28 | 270 Surgical Ltd. | MEDICAL IMAGING DEVICE EQUIPPED WITH A FOLDABLE ELECTRONIC CIRCUIT BOARD |
US11229436B2 (en) | 2017-10-30 | 2022-01-25 | Cilag Gmbh International | Surgical system comprising a surgical tool and a surgical hub |
US11141160B2 (en) | 2017-10-30 | 2021-10-12 | Cilag Gmbh International | Clip applier comprising a motor controller |
US11564756B2 (en) | 2017-10-30 | 2023-01-31 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
US11291510B2 (en) | 2017-10-30 | 2022-04-05 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
US11911045B2 (en) | 2017-10-30 | 2024-02-27 | Cllag GmbH International | Method for operating a powered articulating multi-clip applier |
US11510741B2 (en) | 2017-10-30 | 2022-11-29 | Cilag Gmbh International | Method for producing a surgical instrument comprising a smart electrical system |
US11129636B2 (en) | 2017-10-30 | 2021-09-28 | Cilag Gmbh International | Surgical instruments comprising an articulation drive that provides for high articulation angles |
US11801098B2 (en) | 2017-10-30 | 2023-10-31 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
US11311342B2 (en) | 2017-10-30 | 2022-04-26 | Cilag Gmbh International | Method for communicating with surgical instrument systems |
JP7115493B2 (ja) * | 2017-11-01 | 2022-08-09 | ソニーグループ株式会社 | 手術アームシステム及び手術アーム制御システム |
US10675107B2 (en) | 2017-11-15 | 2020-06-09 | Intuitive Surgical Operations, Inc. | Surgical instrument end effector with integral FBG |
EP3710209A2 (en) | 2017-11-15 | 2020-09-23 | Steerable Instruments NV | Devices to enhance robotic arm tasks |
US10987179B2 (en) | 2017-12-06 | 2021-04-27 | Auris Health, Inc. | Systems and methods to correct for uncommanded instrument roll |
EP3684281A4 (en) | 2017-12-08 | 2021-10-13 | Auris Health, Inc. | SYSTEM AND PROCEDURE FOR NAVIGATION AND TARGETING OF MEDICAL INSTRUMENTS |
KR102473254B1 (ko) | 2017-12-08 | 2022-12-06 | 아우리스 헬스, 인코포레이티드 | 지향된 유체 공학 |
KR20200100613A (ko) | 2017-12-14 | 2020-08-26 | 아우리스 헬스, 인코포레이티드 | 기구 위치 추정을 위한 시스템 및 방법 |
US11160615B2 (en) | 2017-12-18 | 2021-11-02 | Auris Health, Inc. | Methods and systems for instrument tracking and navigation within luminal networks |
US11896443B2 (en) | 2017-12-28 | 2024-02-13 | Cilag Gmbh International | Control of a surgical system through a surgical barrier |
US11540855B2 (en) | 2017-12-28 | 2023-01-03 | Cilag Gmbh International | Controlling activation of an ultrasonic surgical instrument according to the presence of tissue |
US11096693B2 (en) | 2017-12-28 | 2021-08-24 | Cilag Gmbh International | Adjustment of staple height of at least one row of staples based on the sensed tissue thickness or force in closing |
US11576677B2 (en) | 2017-12-28 | 2023-02-14 | Cilag Gmbh International | Method of hub communication, processing, display, and cloud analytics |
US11304763B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Image capturing of the areas outside the abdomen to improve placement and control of a surgical device in use |
US11612408B2 (en) | 2017-12-28 | 2023-03-28 | Cilag Gmbh International | Determining tissue composition via an ultrasonic system |
US11464535B2 (en) | 2017-12-28 | 2022-10-11 | Cilag Gmbh International | Detection of end effector emersion in liquid |
US11818052B2 (en) | 2017-12-28 | 2023-11-14 | Cilag Gmbh International | Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs |
US11998193B2 (en) | 2017-12-28 | 2024-06-04 | Cilag Gmbh International | Method for usage of the shroud as an aspect of sensing or controlling a powered surgical device, and a control algorithm to adjust its default operation |
US11308075B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Surgical network, instrument, and cloud responses based on validation of received dataset and authentication of its source and integrity |
US11311306B2 (en) | 2017-12-28 | 2022-04-26 | Cilag Gmbh International | Surgical systems for detecting end effector tissue distribution irregularities |
US11857152B2 (en) | 2017-12-28 | 2024-01-02 | Cilag Gmbh International | Surgical hub spatial awareness to determine devices in operating theater |
US11166772B2 (en) | 2017-12-28 | 2021-11-09 | Cilag Gmbh International | Surgical hub coordination of control and communication of operating room devices |
US11266468B2 (en) | 2017-12-28 | 2022-03-08 | Cilag Gmbh International | Cooperative utilization of data derived from secondary sources by intelligent surgical hubs |
US11659023B2 (en) | 2017-12-28 | 2023-05-23 | Cilag Gmbh International | Method of hub communication |
US11179208B2 (en) | 2017-12-28 | 2021-11-23 | Cilag Gmbh International | Cloud-based medical analytics for security and authentication trends and reactive measures |
US10758310B2 (en) | 2017-12-28 | 2020-09-01 | Ethicon Llc | Wireless pairing of a surgical device with another device within a sterile surgical field based on the usage and situational awareness of devices |
US11602393B2 (en) | 2017-12-28 | 2023-03-14 | Cilag Gmbh International | Surgical evacuation sensing and generator control |
US11423007B2 (en) | 2017-12-28 | 2022-08-23 | Cilag Gmbh International | Adjustment of device control programs based on stratified contextual data in addition to the data |
US11253315B2 (en) | 2017-12-28 | 2022-02-22 | Cilag Gmbh International | Increasing radio frequency to create pad-less monopolar loop |
US11678881B2 (en) | 2017-12-28 | 2023-06-20 | Cilag Gmbh International | Spatial awareness of surgical hubs in operating rooms |
US10507070B2 (en) * | 2017-12-28 | 2019-12-17 | Ifeanyi Ugochuku | Single port multi-instrument surgical robot |
US11744604B2 (en) | 2017-12-28 | 2023-09-05 | Cilag Gmbh International | Surgical instrument with a hardware-only control circuit |
US11446052B2 (en) | 2017-12-28 | 2022-09-20 | Cilag Gmbh International | Variation of radio frequency and ultrasonic power level in cooperation with varying clamp arm pressure to achieve predefined heat flux or power applied to tissue |
US11832840B2 (en) | 2017-12-28 | 2023-12-05 | Cilag Gmbh International | Surgical instrument having a flexible circuit |
US11291495B2 (en) | 2017-12-28 | 2022-04-05 | Cilag Gmbh International | Interruption of energy due to inadvertent capacitive coupling |
US11304745B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Surgical evacuation sensing and display |
US11026751B2 (en) | 2017-12-28 | 2021-06-08 | Cilag Gmbh International | Display of alignment of staple cartridge to prior linear staple line |
US11147607B2 (en) | 2017-12-28 | 2021-10-19 | Cilag Gmbh International | Bipolar combination device that automatically adjusts pressure based on energy modality |
US11013563B2 (en) | 2017-12-28 | 2021-05-25 | Ethicon Llc | Drive arrangements for robot-assisted surgical platforms |
US11903601B2 (en) | 2017-12-28 | 2024-02-20 | Cilag Gmbh International | Surgical instrument comprising a plurality of drive systems |
US11389164B2 (en) | 2017-12-28 | 2022-07-19 | Cilag Gmbh International | Method of using reinforced flexible circuits with multiple sensors to optimize performance of radio frequency devices |
US11304699B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Method for adaptive control schemes for surgical network control and interaction |
US11419630B2 (en) | 2017-12-28 | 2022-08-23 | Cilag Gmbh International | Surgical system distributed processing |
US11786245B2 (en) | 2017-12-28 | 2023-10-17 | Cilag Gmbh International | Surgical systems with prioritized data transmission capabilities |
US11589888B2 (en) | 2017-12-28 | 2023-02-28 | Cilag Gmbh International | Method for controlling smart energy devices |
US11612444B2 (en) | 2017-12-28 | 2023-03-28 | Cilag Gmbh International | Adjustment of a surgical device function based on situational awareness |
US11160605B2 (en) | 2017-12-28 | 2021-11-02 | Cilag Gmbh International | Surgical evacuation sensing and motor control |
US11937769B2 (en) | 2017-12-28 | 2024-03-26 | Cilag Gmbh International | Method of hub communication, processing, storage and display |
US11410259B2 (en) | 2017-12-28 | 2022-08-09 | Cilag Gmbh International | Adaptive control program updates for surgical devices |
US11234756B2 (en) | 2017-12-28 | 2022-02-01 | Cilag Gmbh International | Powered surgical tool with predefined adjustable control algorithm for controlling end effector parameter |
US11364075B2 (en) | 2017-12-28 | 2022-06-21 | Cilag Gmbh International | Radio frequency energy device for delivering combined electrical signals |
US11273001B2 (en) | 2017-12-28 | 2022-03-15 | Cilag Gmbh International | Surgical hub and modular device response adjustment based on situational awareness |
US11424027B2 (en) | 2017-12-28 | 2022-08-23 | Cilag Gmbh International | Method for operating surgical instrument systems |
US11832899B2 (en) | 2017-12-28 | 2023-12-05 | Cilag Gmbh International | Surgical systems with autonomously adjustable control programs |
US11969216B2 (en) | 2017-12-28 | 2024-04-30 | Cilag Gmbh International | Surgical network recommendations from real time analysis of procedure variables against a baseline highlighting differences from the optimal solution |
US11109866B2 (en) | 2017-12-28 | 2021-09-07 | Cilag Gmbh International | Method for circular stapler control algorithm adjustment based on situational awareness |
US20190201146A1 (en) | 2017-12-28 | 2019-07-04 | Ethicon Llc | Safety systems for smart powered surgical stapling |
US11278281B2 (en) | 2017-12-28 | 2022-03-22 | Cilag Gmbh International | Interactive surgical system |
US11666331B2 (en) | 2017-12-28 | 2023-06-06 | Cilag Gmbh International | Systems for detecting proximity of surgical end effector to cancerous tissue |
US11864728B2 (en) | 2017-12-28 | 2024-01-09 | Cilag Gmbh International | Characterization of tissue irregularities through the use of mono-chromatic light refractivity |
US11559307B2 (en) | 2017-12-28 | 2023-01-24 | Cilag Gmbh International | Method of robotic hub communication, detection, and control |
US11529187B2 (en) | 2017-12-28 | 2022-12-20 | Cilag Gmbh International | Surgical evacuation sensor arrangements |
US11896322B2 (en) | 2017-12-28 | 2024-02-13 | Cilag Gmbh International | Sensing the patient position and contact utilizing the mono-polar return pad electrode to provide situational awareness to the hub |
US11419667B2 (en) | 2017-12-28 | 2022-08-23 | Cilag Gmbh International | Ultrasonic energy device which varies pressure applied by clamp arm to provide threshold control pressure at a cut progression location |
US20190201039A1 (en) | 2017-12-28 | 2019-07-04 | Ethicon Llc | Situational awareness of electrosurgical systems |
US11464559B2 (en) | 2017-12-28 | 2022-10-11 | Cilag Gmbh International | Estimating state of ultrasonic end effector and control system therefor |
US10892995B2 (en) | 2017-12-28 | 2021-01-12 | Ethicon Llc | Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs |
US11100631B2 (en) | 2017-12-28 | 2021-08-24 | Cilag Gmbh International | Use of laser light and red-green-blue coloration to determine properties of back scattered light |
US11633237B2 (en) | 2017-12-28 | 2023-04-25 | Cilag Gmbh International | Usage and technique analysis of surgeon / staff performance against a baseline to optimize device utilization and performance for both current and future procedures |
US11376002B2 (en) | 2017-12-28 | 2022-07-05 | Cilag Gmbh International | Surgical instrument cartridge sensor assemblies |
US11324557B2 (en) | 2017-12-28 | 2022-05-10 | Cilag Gmbh International | Surgical instrument with a sensing array |
US11257589B2 (en) | 2017-12-28 | 2022-02-22 | Cilag Gmbh International | Real-time analysis of comprehensive cost of all instrumentation used in surgery utilizing data fluidity to track instruments through stocking and in-house processes |
US11058498B2 (en) | 2017-12-28 | 2021-07-13 | Cilag Gmbh International | Cooperative surgical actions for robot-assisted surgical platforms |
US11304720B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Activation of energy devices |
US11432885B2 (en) * | 2017-12-28 | 2022-09-06 | Cilag Gmbh International | Sensing arrangements for robot-assisted surgical platforms |
US11571234B2 (en) | 2017-12-28 | 2023-02-07 | Cilag Gmbh International | Temperature control of ultrasonic end effector and control system therefor |
US11786251B2 (en) | 2017-12-28 | 2023-10-17 | Cilag Gmbh International | Method for adaptive control schemes for surgical network control and interaction |
US11559308B2 (en) | 2017-12-28 | 2023-01-24 | Cilag Gmbh International | Method for smart energy device infrastructure |
US11284936B2 (en) | 2017-12-28 | 2022-03-29 | Cilag Gmbh International | Surgical instrument having a flexible electrode |
US11202570B2 (en) | 2017-12-28 | 2021-12-21 | Cilag Gmbh International | Communication hub and storage device for storing parameters and status of a surgical device to be shared with cloud based analytics systems |
US11969142B2 (en) | 2017-12-28 | 2024-04-30 | Cilag Gmbh International | Method of compressing tissue within a stapling device and simultaneously displaying the location of the tissue within the jaws |
US11132462B2 (en) | 2017-12-28 | 2021-09-28 | Cilag Gmbh International | Data stripping method to interrogate patient records and create anonymized record |
US11317937B2 (en) | 2018-03-08 | 2022-05-03 | Cilag Gmbh International | Determining the state of an ultrasonic end effector |
USD901018S1 (en) | 2018-01-17 | 2020-11-03 | Auris Health, Inc. | Controller |
WO2019143459A1 (en) | 2018-01-17 | 2019-07-25 | Auris Health, Inc. | Surgical platform with adjustable arm supports |
USD924410S1 (en) | 2018-01-17 | 2021-07-06 | Auris Health, Inc. | Instrument tower |
USD901694S1 (en) | 2018-01-17 | 2020-11-10 | Auris Health, Inc. | Instrument handle |
WO2019143458A1 (en) * | 2018-01-17 | 2019-07-25 | Auris Health, Inc. | Surgical robotics systems with improved robotic arms |
USD873878S1 (en) | 2018-01-17 | 2020-01-28 | Auris Health, Inc. | Robotic arm |
USD932628S1 (en) | 2018-01-17 | 2021-10-05 | Auris Health, Inc. | Instrument cart |
CA3089681A1 (en) | 2018-02-07 | 2019-08-15 | Distalmotion Sa | Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy |
US10893842B2 (en) | 2018-02-08 | 2021-01-19 | Covidien Lp | System and method for pose estimation of an imaging device and for determining the location of a medical device with respect to a target |
US10905498B2 (en) | 2018-02-08 | 2021-02-02 | Covidien Lp | System and method for catheter detection in fluoroscopic images and updating displayed position of catheter |
US11497567B2 (en) | 2018-02-08 | 2022-11-15 | Intuitive Surgical Operations, Inc. | Jointed control platform |
US10930064B2 (en) | 2018-02-08 | 2021-02-23 | Covidien Lp | Imaging reconstruction system and method |
US11118661B2 (en) | 2018-02-12 | 2021-09-14 | Intuitive Surgical Operations, Inc. | Instrument transmission converting roll to linear actuation |
KR20200122337A (ko) | 2018-02-13 | 2020-10-27 | 아우리스 헬스, 인코포레이티드 | 의료 기구를 구동시키기 위한 시스템 및 방법 |
WO2019173267A1 (en) | 2018-03-07 | 2019-09-12 | Intuitive Surgical Operations, Inc. | Low-friction, small profile medical tools having easy-to-assemble components |
US11259830B2 (en) | 2018-03-08 | 2022-03-01 | Cilag Gmbh International | Methods for controlling temperature in ultrasonic device |
US11707293B2 (en) | 2018-03-08 | 2023-07-25 | Cilag Gmbh International | Ultrasonic sealing algorithm with temperature control |
US11701162B2 (en) | 2018-03-08 | 2023-07-18 | Cilag Gmbh International | Smart blade application for reusable and disposable devices |
CN108743013A (zh) * | 2018-03-23 | 2018-11-06 | 王容 | 一种眼科用眼部手术操作系统 |
KR102489198B1 (ko) | 2018-03-28 | 2023-01-18 | 아우리스 헬스, 인코포레이티드 | 위치 센서의 정합을 위한 시스템 및 방법 |
US11278280B2 (en) | 2018-03-28 | 2022-03-22 | Cilag Gmbh International | Surgical instrument comprising a jaw closure lockout |
US11207067B2 (en) | 2018-03-28 | 2021-12-28 | Cilag Gmbh International | Surgical stapling device with separate rotary driven closure and firing systems and firing member that engages both jaws while firing |
WO2019190657A1 (en) | 2018-03-28 | 2019-10-03 | Auris Health, Inc. | Medical instruments with variable bending stiffness profiles |
EP3773304A4 (en) | 2018-03-28 | 2021-12-22 | Auris Health, Inc. | SYSTEMS AND METHODS FOR DISPLAYING THE ESTIMATED POSITION OF AN INSTRUMENT |
US11219453B2 (en) | 2018-03-28 | 2022-01-11 | Cilag Gmbh International | Surgical stapling devices with cartridge compatible closure and firing lockout arrangements |
US11471156B2 (en) | 2018-03-28 | 2022-10-18 | Cilag Gmbh International | Surgical stapling devices with improved rotary driven closure systems |
US11589865B2 (en) | 2018-03-28 | 2023-02-28 | Cilag Gmbh International | Methods for controlling a powered surgical stapler that has separate rotary closure and firing systems |
US11213294B2 (en) | 2018-03-28 | 2022-01-04 | Cilag Gmbh International | Surgical instrument comprising co-operating lockout features |
US11090047B2 (en) | 2018-03-28 | 2021-08-17 | Cilag Gmbh International | Surgical instrument comprising an adaptive control system |
CN112218595A (zh) | 2018-05-18 | 2021-01-12 | 奥瑞斯健康公司 | 用于机器人使能的远程操作的系统的控制器 |
WO2019227032A1 (en) | 2018-05-25 | 2019-11-28 | Intuitive Surgical Operations, Inc. | Fiber bragg grating end effector force sensor |
KR102499906B1 (ko) | 2018-05-30 | 2023-02-16 | 아우리스 헬스, 인코포레이티드 | 위치 센서-기반 분지부 예측을 위한 시스템 및 방법 |
CN112236083A (zh) | 2018-05-31 | 2021-01-15 | 奥瑞斯健康公司 | 用于导航检测生理噪声的管腔网络的机器人系统和方法 |
EP3801189A4 (en) | 2018-05-31 | 2022-02-23 | Auris Health, Inc. | PATH-BASED NAVIGATION OF TUBULAR NETWORKS |
WO2019232236A1 (en) | 2018-05-31 | 2019-12-05 | Auris Health, Inc. | Image-based airway analysis and mapping |
US10751140B2 (en) | 2018-06-07 | 2020-08-25 | Auris Health, Inc. | Robotic medical systems with high force instruments |
WO2020005370A1 (en) | 2018-06-27 | 2020-01-02 | Auris Health, Inc. | Systems and techniques for providing multiple perspectives during medical procedures |
JP7366943B2 (ja) | 2018-06-27 | 2023-10-23 | オーリス ヘルス インコーポレイテッド | 医療器具のための位置合わせ及び取り付けシステム |
JP7391886B2 (ja) | 2018-06-28 | 2023-12-05 | オーリス ヘルス インコーポレイテッド | 滑車共有を組み込んだ医療システム |
US11071591B2 (en) | 2018-07-26 | 2021-07-27 | Covidien Lp | Modeling a collapsed lung using CT data |
US11705238B2 (en) | 2018-07-26 | 2023-07-18 | Covidien Lp | Systems and methods for providing assistance during surgery |
WO2020033318A1 (en) | 2018-08-07 | 2020-02-13 | Auris Health, Inc. | Combining strain-based shape sensing with catheter control |
US10828118B2 (en) | 2018-08-15 | 2020-11-10 | Auris Health, Inc. | Medical instruments for tissue cauterization |
US10639114B2 (en) | 2018-08-17 | 2020-05-05 | Auris Health, Inc. | Bipolar medical instrument |
WO2020041619A2 (en) | 2018-08-24 | 2020-02-27 | Auris Health, Inc. | Manually and robotically controllable medical instruments |
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 |
WO2020068853A2 (en) | 2018-09-26 | 2020-04-02 | Auris Health, Inc. | Articulating medical instruments |
EP3813716A4 (en) | 2018-09-26 | 2022-07-13 | Auris Health, Inc. | SYSTEMS AND INSTRUMENTS FOR SUCTION AND IRRIGATION |
US11944388B2 (en) | 2018-09-28 | 2024-04-02 | Covidien Lp | Systems and methods for magnetic interference correction |
EP3856001A4 (en) | 2018-09-28 | 2022-06-22 | Auris Health, Inc. | DEVICES, SYSTEMS AND METHODS FOR MANUAL AND ROBOTIC DRIVE MEDICAL INSTRUMENTS |
WO2020069430A1 (en) | 2018-09-28 | 2020-04-02 | Auris Health, Inc. | Systems and methods for docking medical instruments |
US11576738B2 (en) | 2018-10-08 | 2023-02-14 | Auris Health, Inc. | Systems and instruments for tissue sealing |
CN109431601B (zh) * | 2018-10-09 | 2021-03-09 | 北京术锐技术有限公司 | 一种内窥镜手术机器人组合系统及其使用方法 |
US11815412B2 (en) | 2018-11-15 | 2023-11-14 | Intuitive Surgical Operations, Inc. | Strain sensor with contoured deflection surface |
US11123142B2 (en) | 2018-12-06 | 2021-09-21 | Biosense Webster (Israel) Ltd. | Quick registration of coordinate systems for robotic surgery |
US11877806B2 (en) | 2018-12-06 | 2024-01-23 | Covidien Lp | Deformable registration of computer-generated airway models to airway trees |
US11045075B2 (en) | 2018-12-10 | 2021-06-29 | Covidien Lp | System and method for generating a three-dimensional model of a surgical site |
US11617493B2 (en) | 2018-12-13 | 2023-04-04 | Covidien Lp | Thoracic imaging, distance measuring, surgical awareness, and notification system and method |
US11172184B2 (en) | 2018-12-13 | 2021-11-09 | Covidien Lp | Systems and methods for imaging a patient |
US11801113B2 (en) * | 2018-12-13 | 2023-10-31 | Covidien Lp | Thoracic imaging, distance measuring, and notification system and method |
CN109864806A (zh) * | 2018-12-19 | 2019-06-11 | 江苏集萃智能制造技术研究所有限公司 | 基于双目视觉的动态补偿功能的穿刺机器人导航系统 |
WO2020131186A1 (en) | 2018-12-20 | 2020-06-25 | Auris Health, Inc. | Systems and methods for robotic arm alignment and docking |
US11950863B2 (en) | 2018-12-20 | 2024-04-09 | Auris Health, Inc | Shielding for wristed instruments |
EP3870023A4 (en) | 2018-12-28 | 2022-07-27 | Auris Health, Inc. | MEDICAL INSTRUMENT WITH AN ARTICULABLE SEGMENT |
WO2020140072A1 (en) | 2018-12-28 | 2020-07-02 | Auris Health, Inc. | Percutaneous sheath for robotic medical systems and methods |
US11357593B2 (en) | 2019-01-10 | 2022-06-14 | Covidien Lp | Endoscopic imaging with augmented parallax |
EP3883492A4 (en) | 2019-01-25 | 2022-11-30 | Auris Health, Inc. | VESSEL SEALING DEVICE HAVING HEATING AND COOLING CAPABILITIES |
US11625825B2 (en) | 2019-01-30 | 2023-04-11 | Covidien Lp | Method for displaying tumor location within endoscopic images |
US11564751B2 (en) | 2019-02-01 | 2023-01-31 | Covidien Lp | Systems and methods for visualizing navigation of medical devices relative to targets |
US11925333B2 (en) | 2019-02-01 | 2024-03-12 | Covidien Lp | System for fluoroscopic tracking of a catheter to update the relative position of a target and the catheter in a 3D model of a luminal network |
US11744643B2 (en) | 2019-02-04 | 2023-09-05 | Covidien Lp | Systems and methods facilitating pre-operative prediction of post-operative tissue function |
US11857277B2 (en) | 2019-02-08 | 2024-01-02 | Auris Health, Inc. | Robotically controlled clot manipulation and removal |
CN113423360B (zh) * | 2019-02-18 | 2023-12-08 | 柯惠Lp公司 | 安装臂俯仰接头估计器 |
US11464511B2 (en) | 2019-02-19 | 2022-10-11 | Cilag Gmbh International | Surgical staple cartridges with movable authentication key arrangements |
US11357503B2 (en) | 2019-02-19 | 2022-06-14 | Cilag Gmbh International | Staple cartridge retainers with frangible retention features and methods of using same |
US11272931B2 (en) | 2019-02-19 | 2022-03-15 | Cilag Gmbh International | Dual cam cartridge based feature for unlocking a surgical stapler lockout |
US11317915B2 (en) | 2019-02-19 | 2022-05-03 | Cilag Gmbh International | Universal cartridge based key feature that unlocks multiple lockout arrangements in different surgical staplers |
US11369377B2 (en) | 2019-02-19 | 2022-06-28 | Cilag Gmbh International | Surgical stapling assembly with cartridge based retainer configured to unlock a firing lockout |
EP3890645A4 (en) | 2019-02-22 | 2022-09-07 | Auris Health, Inc. | SURGICAL PLATFORM EQUIPPED WITH MOTORIZED ARMS FOR ADJUSTABLE ARM SUPPORTS |
WO2020185516A1 (en) | 2019-03-08 | 2020-09-17 | Auris Health, Inc. | Tilt mechanisms for medical systems and applications tilt mechanisms for medical systems and applications tilt mechanisms for medical systems and applications tilt mechanisms for medical systems and applications tilt mechanisms for medical systems and |
JP7061585B2 (ja) * | 2019-03-20 | 2022-04-28 | 富士フイルム株式会社 | 内視鏡 |
US11638618B2 (en) | 2019-03-22 | 2023-05-02 | Auris Health, Inc. | Systems and methods for aligning inputs on medical instruments |
WO2020197625A1 (en) | 2019-03-25 | 2020-10-01 | Auris Health, Inc. | Systems and methods for medical stapling |
US11617627B2 (en) | 2019-03-29 | 2023-04-04 | Auris Health, Inc. | Systems and methods for optical strain sensing in medical instruments |
US11819285B2 (en) | 2019-04-05 | 2023-11-21 | Covidien Lp | Magnetic interference detection systems and methods |
CN114173698A (zh) | 2019-04-08 | 2022-03-11 | 奥瑞斯健康公司 | 用于伴随规程的系统、方法和工作流程 |
US11265491B2 (en) | 2019-06-20 | 2022-03-01 | Cilag Gmbh International | Fluorescence imaging with fixed pattern noise cancellation |
US11187658B2 (en) | 2019-06-20 | 2021-11-30 | Cilag Gmbh International | Fluorescence imaging with fixed pattern noise cancellation |
US11187657B2 (en) | 2019-06-20 | 2021-11-30 | Cilag Gmbh International | Hyperspectral imaging with fixed pattern noise cancellation |
US11237270B2 (en) | 2019-06-20 | 2022-02-01 | Cilag Gmbh International | Hyperspectral, fluorescence, and laser mapping imaging with fixed pattern noise cancellation |
US11233960B2 (en) | 2019-06-20 | 2022-01-25 | Cilag Gmbh International | Fluorescence imaging with fixed pattern noise cancellation |
US11221414B2 (en) * | 2019-06-20 | 2022-01-11 | Cilag Gmbh International | Laser mapping imaging with fixed pattern noise cancellation |
USD952144S1 (en) | 2019-06-25 | 2022-05-17 | Cilag Gmbh International | Surgical staple cartridge retainer with firing system authentication key |
USD950728S1 (en) | 2019-06-25 | 2022-05-03 | Cilag Gmbh International | Surgical staple cartridge |
USD964564S1 (en) | 2019-06-25 | 2022-09-20 | Cilag Gmbh International | Surgical staple cartridge retainer with a closure system authentication key |
US11369386B2 (en) | 2019-06-27 | 2022-06-28 | Auris Health, Inc. | Systems and methods for a medical clip applier |
WO2020263949A1 (en) | 2019-06-28 | 2020-12-30 | Auris Health, Inc. | Medical instruments including wrists with hybrid redirect surfaces |
WO2020264418A1 (en) | 2019-06-28 | 2020-12-30 | Auris Health, Inc. | Console overlay and methods of using same |
US20210030497A1 (en) * | 2019-07-31 | 2021-02-04 | Auris Health, Inc. | Apparatus, systems, and methods to facilitate instrument visualization |
USD978348S1 (en) | 2019-08-15 | 2023-02-14 | Auris Health, Inc. | Drive device for a medical instrument |
US11896330B2 (en) | 2019-08-15 | 2024-02-13 | Auris Health, Inc. | Robotic medical system having multiple medical instruments |
USD975275S1 (en) | 2019-08-15 | 2023-01-10 | Auris Health, Inc. | Handle for a medical instrument |
US11272995B2 (en) | 2019-08-15 | 2022-03-15 | Auris Health, Inc. | Axial motion drive devices, systems, and methods for a robotic medical system |
JP2022544554A (ja) | 2019-08-15 | 2022-10-19 | オーリス ヘルス インコーポレイテッド | 複数の屈曲部を有する医療デバイス |
US11269173B2 (en) | 2019-08-19 | 2022-03-08 | Covidien Lp | Systems and methods for displaying medical video images and/or medical 3D models |
CN114340540B (zh) | 2019-08-30 | 2023-07-04 | 奥瑞斯健康公司 | 器械图像可靠性系统和方法 |
EP4021331A4 (en) | 2019-08-30 | 2023-08-30 | Auris Health, Inc. | SYSTEMS AND METHODS FOR WEIGHT-BASED REGISTRATION OF POSITION SENSORS |
JP7494290B2 (ja) | 2019-09-03 | 2024-06-03 | オーリス ヘルス インコーポレイテッド | 電磁歪み検出及び補償 |
US11931111B2 (en) | 2019-09-09 | 2024-03-19 | Covidien Lp | Systems and methods for providing surgical guidance |
US11864935B2 (en) | 2019-09-09 | 2024-01-09 | Covidien Lp | Systems and methods for pose estimation of a fluoroscopic imaging device and for three-dimensional imaging of body structures |
WO2021048837A1 (en) | 2019-09-09 | 2021-03-18 | Magnisity Ltd | Magnetic flexible catheter tracking system and method using digital magnetometers |
WO2021048707A1 (en) | 2019-09-10 | 2021-03-18 | Auris Health, Inc. | Systems and methods for kinematic optimization with shared robotic degrees-of-freedom |
US11627924B2 (en) | 2019-09-24 | 2023-04-18 | Covidien Lp | Systems and methods for image-guided navigation of percutaneously-inserted devices |
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 |
WO2021064536A1 (en) | 2019-09-30 | 2021-04-08 | Auris Health, Inc. | Medical instrument with capstan |
WO2021081184A1 (en) * | 2019-10-23 | 2021-04-29 | Canon U.S.A., Inc. | Medical apparatus with segmented bendable sections |
JP2020036911A (ja) * | 2019-10-25 | 2020-03-12 | 川崎重工業株式会社 | 手術ロボット |
US11737835B2 (en) | 2019-10-29 | 2023-08-29 | Auris Health, Inc. | Braid-reinforced insulation sheath |
US11071601B2 (en) | 2019-11-11 | 2021-07-27 | Procept Biorobotics Corporation | Surgical probes for tissue resection with robotic arms |
TWI747079B (zh) * | 2019-11-19 | 2021-11-21 | 財團法人資訊工業策進會 | 機械手臂的定位精度量測系統與方法 |
USD933421S1 (en) * | 2019-11-29 | 2021-10-19 | Lg Electronics Inc. | Robot arm for preparing food or drink |
KR20220143818A (ko) * | 2019-12-19 | 2022-10-25 | 노아 메디컬 코퍼레이션 | 모듈식 내시경용의 시스템 및 방법 |
EP4076247A4 (en) * | 2019-12-19 | 2024-02-28 | Noah Medical Corporation | SYSTEMS AND METHODS FOR ROBOTIC BRONCHOSCOPY |
US11710555B2 (en) * | 2019-12-24 | 2023-07-25 | Fresenius Medical Care Holdings, Inc. | Medical system with docking station and mobile machine |
CN114901192A (zh) | 2019-12-31 | 2022-08-12 | 奥瑞斯健康公司 | 用于经皮进入的对准技术 |
KR20220123273A (ko) | 2019-12-31 | 2022-09-06 | 아우리스 헬스, 인코포레이티드 | 해부학적 특징부 식별 및 표적설정 |
EP4084724A4 (en) | 2019-12-31 | 2023-12-27 | Auris Health, Inc. | ADVANCED BASKET TRAINING MODE |
EP4084717A4 (en) | 2019-12-31 | 2024-02-14 | Auris Health, Inc. | DYNAMIC PULLEY SYSTEM |
WO2021137108A1 (en) | 2019-12-31 | 2021-07-08 | Auris Health, Inc. | Alignment interfaces for percutaneous access |
US11847730B2 (en) | 2020-01-24 | 2023-12-19 | Covidien Lp | Orientation detection in fluoroscopic images |
US11380060B2 (en) | 2020-01-24 | 2022-07-05 | Covidien Lp | System and method for linking a segmentation graph to volumetric data |
EP3900650A1 (en) * | 2020-04-23 | 2021-10-27 | Microsure B.V. | Surgical robotic system comprising spherical wrist |
CN111643123B (zh) * | 2020-05-26 | 2021-07-09 | 清华大学 | 一种咽拭子自动采样装置 |
AU2021291294A1 (en) | 2020-06-19 | 2023-02-02 | Remedy Robotics, Inc. | Systems and methods for guidance of intraluminal devices within the vasculature |
US11877818B2 (en) | 2020-06-26 | 2024-01-23 | Procept Biorobotics Corporation | Integration of robotic arms with surgical probes |
US11096753B1 (en) | 2020-06-26 | 2021-08-24 | Procept Biorobotics Corporation | Systems and methods for defining and modifying range of motion of probe used in patient treatment |
WO2022003485A1 (en) | 2020-06-29 | 2022-01-06 | Auris Health, Inc. | Systems and methods for detecting contact between a link and an external object |
US11357586B2 (en) | 2020-06-30 | 2022-06-14 | Auris Health, Inc. | Systems and methods for saturated robotic movement |
EP4171428A1 (en) | 2020-06-30 | 2023-05-03 | Auris Health, Inc. | Robotic medical system with collision proximity indicators |
US11950950B2 (en) | 2020-07-24 | 2024-04-09 | Covidien Lp | Zoom detection and fluoroscope movement detection for target overlay |
US20220104695A1 (en) * | 2020-10-02 | 2022-04-07 | Verb Surgical Inc. | Endoscope for sensing trocars, compatible cannulas, instruments and accessories |
USD1022197S1 (en) | 2020-11-19 | 2024-04-09 | Auris Health, Inc. | Endoscope |
CN112472299B (zh) * | 2020-11-30 | 2024-03-12 | 重庆邮电大学 | 应用于人力反馈设备的主手夹持装置 |
US10952775B1 (en) | 2020-12-14 | 2021-03-23 | Prichard Medical, LLC | Surgical instrument with orientation sensor having a user identified heading |
WO2022178031A1 (en) | 2021-02-18 | 2022-08-25 | Canon U.S.A., Inc. | Continuum robot apparatus, method, and medium |
CN113211460B (zh) * | 2021-05-01 | 2022-03-15 | 吉林大学 | 两台单臂工业机器人非接触式协同提升加工刚度的装置 |
DE102021114429A1 (de) | 2021-06-04 | 2022-12-08 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Robotersystem für minimalinvasive Chirurgie |
US11707332B2 (en) | 2021-07-01 | 2023-07-25 | Remedy Robotics, Inc. | Image space control for endovascular tools |
AU2022305235A1 (en) | 2021-07-01 | 2024-01-18 | Remedy Robotics, Inc. | Vision-based position and orientation determination for endovascular tools |
CN113349933A (zh) * | 2021-07-08 | 2021-09-07 | 杭州柳叶刀机器人有限公司 | 一种机器人系统 |
EP4370054A1 (en) * | 2021-07-15 | 2024-05-22 | Boston Scientific Scimed Inc. | Distal tip tracking and mapping |
CN113786239B (zh) * | 2021-08-26 | 2023-08-01 | 哈尔滨工业大学(深圳) | 胃部消化道下手术器械追踪和实时预警的方法和系统 |
US20230077141A1 (en) | 2021-09-08 | 2023-03-09 | Cilag Gmbh International | Robotically controlled uterine manipulator |
US11957382B2 (en) | 2021-09-08 | 2024-04-16 | Cilag Gmbh International | Robotically controlled uterine manipulator with articulation |
US20230075930A1 (en) | 2021-09-08 | 2023-03-09 | Cilag Gmbh International | Uterine manipulator with robotically driven colpotomy cup |
CN113893037B (zh) * | 2021-09-30 | 2023-03-14 | 重庆医科大学附属第一医院 | 一种支气管镜机器人及其引导方法和系统 |
WO2023152561A1 (en) * | 2022-02-10 | 2023-08-17 | Lem Surgical Ag | Mobile system for bilateral robotic tool feeding |
WO2023200981A1 (en) * | 2022-04-13 | 2023-10-19 | Taurean Surgical, Inc. | Endoscopic devices, systems and methods |
CN115281586A (zh) * | 2022-06-30 | 2022-11-04 | 中国科学院自动化研究所 | 柔性内窥镜及柔性内窥镜机器人 |
DE102022118388A1 (de) | 2022-07-22 | 2024-01-25 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Chirurgiesystem für die minimalinvasive robotische Chirurgie |
WO2024037249A1 (zh) * | 2022-08-18 | 2024-02-22 | 深圳市精锋医疗科技股份有限公司 | 导管机器人及其控制方法、介质 |
CN115414120A (zh) * | 2022-11-07 | 2022-12-02 | 中南大学 | 一种内镜导航系统 |
US20240148411A1 (en) | 2022-11-09 | 2024-05-09 | Cilag Gmbh International | Uterine manipulator for robotic surgical system |
US11844585B1 (en) | 2023-02-10 | 2023-12-19 | Distalmotion Sa | Surgical robotics systems and devices having a sterile restart, and methods thereof |
CN115919475B (zh) * | 2023-03-10 | 2023-05-23 | 北京云力境安科技有限公司 | 一种分体式软式内镜手术机器人系统 |
CN116269814B (zh) * | 2023-05-23 | 2023-08-11 | 深圳市爱博医疗机器人有限公司 | 一种手术协作机械臂 |
CN117442345B (zh) * | 2023-12-25 | 2024-03-15 | 中国人民解放军总医院第一医学中心 | 一种软式内镜器械机器人工作站 |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4745908A (en) * | 1987-05-08 | 1988-05-24 | Circon Corporation | Inspection instrument fexible shaft having deflection compensation means |
WO1994014494A2 (en) * | 1992-12-23 | 1994-07-07 | Angeion Corp. | Steerable catheter |
JP2006525087A (ja) * | 2003-04-25 | 2006-11-09 | アプライド メディカル リソーシーズ コーポレイション | 操舵可能な捩れ防止鞘部材 |
US20110009863A1 (en) * | 2009-07-10 | 2011-01-13 | Tyco Healthcare Group Lp | Shaft Constructions for Medical Devices with an Articulating Tip |
US20120136419A1 (en) * | 2010-11-29 | 2012-05-31 | Zarembo Paul E | Implantable medical leads with spiral lumens |
US20130035537A1 (en) * | 2011-08-05 | 2013-02-07 | Wallace Daniel T | Robotic systems and methods for treating tissue |
US20130144116A1 (en) * | 2006-06-13 | 2013-06-06 | Intuitive Surgical Operations, Inc. | Surgical instrument control and actuation |
WO2015093602A1 (ja) * | 2013-12-20 | 2015-06-25 | オリンパス株式会社 | 軟性マニピュレータ用ガイド部材および軟性マニピュレータ |
Family Cites Families (418)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2556601A (en) | 1947-02-10 | 1951-06-12 | Niles Bement Pond Co | Multiple tapping head |
US2566183A (en) | 1947-05-29 | 1951-08-28 | Skilsaw Inc | Portable power-driven tool |
US2730699A (en) | 1952-02-01 | 1956-01-10 | Gen Dynamics Corp | Telemetering system |
US2884808A (en) | 1957-10-23 | 1959-05-05 | Mueller Co | Drive for drilling machine |
US3294183A (en) | 1964-09-30 | 1966-12-27 | Black & Decker Mfg Co | Power driven tools |
US3472083A (en) | 1967-10-25 | 1969-10-14 | Lawrence S Schnepel | Torque wrench |
US3513724A (en) | 1968-07-17 | 1970-05-26 | Monogram Ind Inc | Speed reduction mechanism |
US3572325A (en) | 1968-10-25 | 1971-03-23 | Us Health Education & Welfare | Flexible endoscope having fluid conduits and control |
US3595074A (en) | 1968-10-30 | 1971-07-27 | Clarence Johnson | Torque transducer |
US3734207A (en) | 1971-12-27 | 1973-05-22 | M Fishbein | Battery powered orthopedic cutting tool |
DE2524605A1 (de) | 1975-06-03 | 1976-12-23 | Heinz Peter Dipl Brandstetter | Vorrichtung zum messen von mechanischer arbeit und leistung |
SE414272B (sv) | 1978-10-17 | 1980-07-21 | Viggo Ab | Kanyl- eller kateteraggregat |
US4241884A (en) | 1979-03-20 | 1980-12-30 | George Lynch | Powered device for controlling the rotation of a reel |
US4294234A (en) | 1979-06-22 | 1981-10-13 | Olympus Optical Co., Ltd. | Endoscope |
AT365363B (de) | 1979-09-20 | 1982-01-11 | Philips Nv | Aufzeichnungs- und/oder wiedergabegeraet |
CH643092A5 (de) | 1980-02-18 | 1984-05-15 | Gruenbaum Heinrich Leuzinger | Vorrichtung zum messen des von einem elektromotor ausgeuebten drehmomentes. |
US4357843A (en) | 1980-10-31 | 1982-11-09 | Peck-O-Matic, Inc. | Tong apparatus for threadedly connecting and disconnecting elongated members |
US4392485A (en) | 1981-02-17 | 1983-07-12 | Richard Wolf Gmbh | Endoscope |
JPS57144633A (en) | 1981-03-05 | 1982-09-07 | Inoue Japax Res Inc | Wire electrode feeder |
US4507026A (en) | 1982-09-29 | 1985-03-26 | Boeing Aerospace Company | Depth control assembly |
US4555960A (en) | 1983-03-23 | 1985-12-03 | Cae Electronics, Ltd. | Six degree of freedom hand controller |
US4597388A (en) | 1983-12-15 | 1986-07-01 | Trutek Research, Inc. | Apparatus for removing cataracts |
JPS60179033A (ja) | 1984-02-28 | 1985-09-12 | 雪印乳業株式会社 | 腹腔鏡 |
US5106387A (en) | 1985-03-22 | 1992-04-21 | Massachusetts Institute Of Technology | Method for spectroscopic diagnosis of tissue |
JPS61259637A (ja) | 1985-05-15 | 1986-11-17 | オリンパス光学工業株式会社 | 内視鏡装置 |
JPS6233801U (ja) | 1985-08-14 | 1987-02-27 | ||
US4688555A (en) | 1986-04-25 | 1987-08-25 | Circon Corporation | Endoscope with cable compensating mechanism |
DE3622352C1 (de) | 1986-07-03 | 1987-12-03 | Dornier System Gmbh | Funkenstrecke mit Elektrodenspitzen unterschiedlicher Geometrie |
US4741326A (en) | 1986-10-01 | 1988-05-03 | Fujinon, Inc. | Endoscope disposable sheath |
US4784150A (en) | 1986-11-04 | 1988-11-15 | Research Corporation | Surgical retractor and blood flow monitor |
US4748969A (en) | 1987-05-07 | 1988-06-07 | Circon Corporation | Multi-lumen core deflecting endoscope |
US4907168A (en) | 1988-01-11 | 1990-03-06 | Adolph Coors Company | Torque monitoring apparatus |
JPH01244732A (ja) | 1988-03-28 | 1989-09-29 | Asahi Optical Co Ltd | シース付内視鏡 |
US4869238A (en) | 1988-04-22 | 1989-09-26 | Opielab, Inc. | Endoscope for use with a disposable sheath |
US5425735A (en) | 1989-02-22 | 1995-06-20 | Psi Medical Products, Inc. | Shielded tip catheter for lithotripsy |
JPH0724086Y2 (ja) | 1989-05-01 | 1995-06-05 | 株式会社町田製作所 | 内視鏡用チャンネルチューブ |
DE3919441A1 (de) | 1989-06-14 | 1990-12-20 | Wolf Gmbh Richard | Flexibler sondenkanal |
US4945790A (en) | 1989-08-07 | 1990-08-07 | Arthur Golden | Multi-purpose hand tool |
US5257617A (en) | 1989-12-25 | 1993-11-02 | Asahi Kogaku Kogyo Kabushiki Kaisha | Sheathed endoscope and sheath therefor |
US6413234B1 (en) | 1990-02-02 | 2002-07-02 | Ep Technologies, Inc. | Assemblies for creating compound curves in distal catheter regions |
GB2235378B (en) | 1990-05-17 | 1991-07-31 | United Chinese Plastics Prod | Artifical flowers |
US5350101A (en) | 1990-11-20 | 1994-09-27 | Interventional Technologies Inc. | Device for advancing a rotatable tube |
US5152768A (en) | 1991-02-26 | 1992-10-06 | Bhatta Krishna M | Electrohydraulic lithotripsy |
US5234428A (en) | 1991-06-11 | 1993-08-10 | Kaufman David I | Disposable electrocautery/cutting instrument with integral continuous smoke evacuation |
US5417210A (en) | 1992-05-27 | 1995-05-23 | International Business Machines Corporation | System and method for augmentation of endoscopic surgery |
US5279309A (en) | 1991-06-13 | 1994-01-18 | International Business Machines Corporation | Signaling device and method for monitoring positions in a surgical operation |
JPH0549593A (ja) | 1991-08-23 | 1993-03-02 | Machida Endscope Co Ltd | 内視鏡における先端構成部とチヤンネルチユーブとの接続構造 |
US5168864A (en) | 1991-09-26 | 1992-12-08 | Clarus Medical Systems, Inc. | Deflectable endoscope |
US6406486B1 (en) | 1991-10-03 | 2002-06-18 | The General Hospital Corporation | Apparatus and method for vasodilation |
JPH07502423A (ja) | 1991-10-03 | 1995-03-16 | ザ ゼネラル ホスピタル コーポレーション | 血管拡張のための装置および方法 |
US5238005A (en) | 1991-11-18 | 1993-08-24 | Intelliwire, Inc. | Steerable catheter guidewire |
JPH05146975A (ja) | 1991-11-26 | 1993-06-15 | Bridgestone Corp | 多軸電動オートナツトランナ |
US5256150A (en) | 1991-12-13 | 1993-10-26 | Endovascular Technologies, Inc. | Large-diameter expandable sheath and method |
ATE238140T1 (de) | 1992-01-21 | 2003-05-15 | Stanford Res Inst Int | Chirurgisches system |
US5207128A (en) | 1992-03-23 | 1993-05-04 | Weatherford-Petco, Inc. | Tong with floating jaws |
GB2280343A (en) | 1993-07-08 | 1995-01-25 | Innovative Care Ltd | A laser targeting device for use with image intensifiers |
US5313934A (en) | 1992-09-10 | 1994-05-24 | Deumed Group Inc. | Lens cleaning means for invasive viewing medical instruments |
US5287861A (en) | 1992-10-30 | 1994-02-22 | Wilk Peter J | Coronary artery by-pass method and associated catheter |
CA2109980A1 (en) | 1992-12-01 | 1994-06-02 | Mir A. Imran | Steerable catheter with adjustable bend location and/or radius and method |
US5378100A (en) | 1993-04-16 | 1995-01-03 | Fullerton; Robert L. | Method and apparatus for rapidly engaging and disengaging threaded coupling members |
US5386818A (en) | 1993-05-10 | 1995-02-07 | Schneebaum; Cary W. | Laparoscopic and endoscopic instrument guiding method and apparatus |
NL9301018A (nl) | 1993-06-11 | 1995-01-02 | Cordis Europ | Bestuurd buigbare catheter. |
US5779623A (en) | 1993-10-08 | 1998-07-14 | Leonard Medical, Inc. | Positioner for medical instruments |
US5876325A (en) | 1993-11-02 | 1999-03-02 | Olympus Optical Co., Ltd. | Surgical manipulation system |
US6154000A (en) | 1994-09-07 | 2000-11-28 | Omnitek Research & Development, Inc. | Apparatus for providing a controlled deflection and/or actuator apparatus |
US5559294A (en) | 1994-09-15 | 1996-09-24 | Condux International, Inc. | Torque measuring device |
US5704534A (en) | 1994-12-19 | 1998-01-06 | Ethicon Endo-Surgery, Inc. | Articulation assembly for surgical instruments |
DE19509116C2 (de) | 1995-03-16 | 2000-01-05 | Deutsch Zentr Luft & Raumfahrt | Flexible Struktur |
DE19625850B4 (de) | 1995-06-27 | 2008-01-31 | Matsushita Electric Works, Ltd., Kadoma | Planetengetriebe |
JP3468952B2 (ja) | 1995-11-17 | 2003-11-25 | 株式会社町田製作所 | 医療用内視鏡 |
JP3318733B2 (ja) | 1995-12-22 | 2002-08-26 | 株式会社スギノマシン | 手術装置 |
US5749889A (en) | 1996-02-13 | 1998-05-12 | Imagyn Medical, Inc. | Method and apparatus for performing biopsy |
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 |
US5938587A (en) | 1996-04-25 | 1999-08-17 | Modified Polymer Components, Inc. | Flexible inner liner for the working channel of an endoscope |
US5746694A (en) | 1996-05-16 | 1998-05-05 | Wilk; Peter J. | Endoscope biopsy channel liner and associated method |
US6786896B1 (en) | 1997-09-19 | 2004-09-07 | Massachusetts Institute Of Technology | Robotic apparatus |
US5792135A (en) | 1996-05-20 | 1998-08-11 | Intuitive Surgical, Inc. | Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
US5767840A (en) | 1996-06-28 | 1998-06-16 | International Business Machines Corporation | Six-degrees-of-freedom movement sensor having strain gauge mechanical supports |
US5720775A (en) | 1996-07-31 | 1998-02-24 | Cordis Corporation | Percutaneous atrial line ablation catheter |
US6331181B1 (en) | 1998-12-08 | 2001-12-18 | Intuitive Surgical, Inc. | Surgical robotic tools, data architecture, and use |
US5910129A (en) | 1996-12-19 | 1999-06-08 | Ep Technologies, Inc. | Catheter distal assembly with pull wires |
US6272371B1 (en) | 1997-01-03 | 2001-08-07 | Biosense Inc. | Bend-responsive catheter |
US6847490B1 (en) | 1997-01-13 | 2005-01-25 | Medispectra, Inc. | Optical probe accessory device for use in vivo diagnostic procedures |
US6723063B1 (en) | 1998-06-29 | 2004-04-20 | Ekos Corporation | Sheath for use with an ultrasound element |
US5873817A (en) | 1997-05-12 | 1999-02-23 | Circon Corporation | Endoscope with resilient deflectable section |
TW403051U (en) | 1997-05-29 | 2000-08-21 | Seiko Epson Corp | Recording medium of control program for printing device and recorded printing device |
US6231565B1 (en) * | 1997-06-18 | 2001-05-15 | United States Surgical Corporation | Robotic arm DLUs for performing surgical tasks |
US6123699A (en) | 1997-09-05 | 2000-09-26 | Cordis Webster, Inc. | Omni-directional steerable catheter |
EP1023742A4 (en) | 1997-10-15 | 2006-03-22 | Analytica Of Branford Inc | CURVED INTAKE DEVICE FOR MASS SPECTROMETERS |
US6157853A (en) | 1997-11-12 | 2000-12-05 | Stereotaxis, Inc. | Method and apparatus using shaped field of repositionable magnet to guide implant |
US5921968A (en) | 1997-11-25 | 1999-07-13 | Merit Medical Systems, Inc. | Valve apparatus with adjustable quick-release mechanism |
US20080177285A1 (en) * | 1998-02-24 | 2008-07-24 | Hansen Medical, Inc. | Surgical instrument |
IL123646A (en) | 1998-03-11 | 2010-05-31 | Refael Beyar | Remote control catheterization |
DE19815598B4 (de) | 1998-04-07 | 2007-01-18 | Stm Medizintechnik Starnberg Gmbh | Flexibles Zugangsrohr mit Stülpschlauchsystem |
US6198974B1 (en) | 1998-08-14 | 2001-03-06 | Cordis Webster, Inc. | Bi-directional steerable catheter |
US6171234B1 (en) | 1998-09-25 | 2001-01-09 | Scimed Life Systems, Inc. | Imaging gore loading tool |
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 |
US6394998B1 (en) | 1999-01-22 | 2002-05-28 | Intuitive Surgical, Inc. | Surgical tools for use in minimally invasive telesurgical applications |
US6404497B1 (en) | 1999-01-25 | 2002-06-11 | Massachusetts Institute Of Technology | Polarized light scattering spectroscopy of tissue |
US6464632B1 (en) | 1999-02-13 | 2002-10-15 | James M. Taylor | Flexible inner liner for the working channel of an endoscope |
US6084371A (en) | 1999-02-19 | 2000-07-04 | Lockheed Martin Energy Research Corporation | Apparatus and methods for a human de-amplifier system |
US6289579B1 (en) | 1999-03-23 | 2001-09-18 | Motorola, Inc. | Component alignment and transfer apparatus |
US6594552B1 (en) | 1999-04-07 | 2003-07-15 | Intuitive Surgical, Inc. | Grip strength with tactile feedback for robotic surgery |
US6424885B1 (en) | 1999-04-07 | 2002-07-23 | Intuitive Surgical, Inc. | Camera referenced control in a minimally invasive surgical apparatus |
US6491626B1 (en) | 1999-04-16 | 2002-12-10 | Nuvasive | Articulation systems for positioning minimally invasive surgical tools |
EP1224919B1 (en) | 1999-05-10 | 2006-07-05 | Hansen Medical, Inc. | Surgical instrument |
US6398792B1 (en) | 1999-06-21 | 2002-06-04 | O'connor Lawrence | Angioplasty catheter with transducer using balloon for focusing of ultrasonic energy and method for use |
DE19929112A1 (de) | 1999-06-24 | 2001-01-11 | Ferton Holding Sa | Medizinisches Instrument zur Behandlung von biologischem Gewebe sowie Verfahren zum Übertragen von Druckwellen |
US7637905B2 (en) | 2003-01-15 | 2009-12-29 | Usgi Medical, Inc. | Endoluminal tool deployment system |
DE19930408A1 (de) | 1999-07-02 | 2001-01-04 | Zeiss Carl Fa | OCT-gestütztes Chirurgiesystem |
WO2001015768A1 (de) | 1999-08-27 | 2001-03-08 | Wollschlaeger Helmut | Vorrichtung zur handhabung eines katheters |
US8004229B2 (en) | 2005-05-19 | 2011-08-23 | Intuitive Surgical Operations, Inc. | Software center and highly configurable robotic systems for surgery and other uses |
US6537205B1 (en) | 1999-10-14 | 2003-03-25 | Scimed Life Systems, Inc. | Endoscopic instrument system having reduced backlash control wire action |
US6427783B2 (en) | 2000-01-12 | 2002-08-06 | Baker Hughes Incorporated | Steerable modular drilling assembly |
EP1267755B1 (de) | 2000-03-31 | 2006-05-24 | Königsee Implantate und Instrumente zur Ostheosynthese GmbH | Höhenvariierbares wirbelkörperimplantat und betätigungsinstrumentenset dafür |
US6858005B2 (en) | 2000-04-03 | 2005-02-22 | Neo Guide Systems, Inc. | Tendon-driven endoscope and methods of insertion |
US20030158545A1 (en) | 2000-09-28 | 2003-08-21 | Arthrocare Corporation | Methods and apparatus for treating back pain |
EP1199622B1 (de) | 2000-10-20 | 2007-12-12 | Deere & Company | Bedienungselement |
US6638246B1 (en) | 2000-11-28 | 2003-10-28 | Scimed Life Systems, Inc. | Medical device for delivery of a biologically active material to a lumen |
US6487940B2 (en) | 2001-01-23 | 2002-12-03 | Associated Toolmakers Incorporated | Nut driver |
US6676557B2 (en) | 2001-01-23 | 2004-01-13 | Black & Decker Inc. | First stage clutch |
US7766894B2 (en) | 2001-02-15 | 2010-08-03 | Hansen Medical, Inc. | Coaxial catheter system |
EP3097863A1 (en) | 2001-02-15 | 2016-11-30 | Hansen Medical, Inc. | Flexible instrument |
DK1389958T3 (da) | 2001-05-06 | 2009-01-12 | Stereotaxis Inc | System til fremföring af et kateter |
US7635342B2 (en) | 2001-05-06 | 2009-12-22 | Stereotaxis, Inc. | System and methods for medical device advancement and rotation |
US7766856B2 (en) | 2001-05-06 | 2010-08-03 | Stereotaxis, Inc. | System and methods for advancing a catheter |
US6716178B1 (en) | 2001-05-31 | 2004-04-06 | Advanced Cardiovascular Systems, Inc. | Apparatus and method for performing thermal and laser doppler velocimetry measurements |
US7607440B2 (en) | 2001-06-07 | 2009-10-27 | Intuitive Surgical, Inc. | Methods and apparatus for surgical planning |
US20060199999A1 (en) | 2001-06-29 | 2006-09-07 | Intuitive Surgical Inc. | Cardiac tissue ablation instrument with flexible wrist |
CA2351993C (en) | 2001-06-29 | 2003-02-18 | New World Technologie Inc. | Torque tool |
US20040243147A1 (en) | 2001-07-03 | 2004-12-02 | Lipow Kenneth I. | Surgical robot and robotic controller |
US7087061B2 (en) | 2002-03-12 | 2006-08-08 | Lithotech Medical Ltd | Method for intracorporeal lithotripsy fragmentation and apparatus for its implementation |
IL149706A0 (en) | 2002-05-16 | 2002-11-10 | Dolopaz Technologies Ltd | Multipurpose fluid jet surgical device |
US20040030349A1 (en) | 2002-08-08 | 2004-02-12 | Mikhail Boukhny | Liquefaction handpiece tip |
WO2004014244A2 (en) | 2002-08-13 | 2004-02-19 | Microbotics Corporation | Microsurgical robot system |
US7044936B2 (en) | 2002-08-21 | 2006-05-16 | Arrow International Inc. | Catheter connector with pivot lever spring latch |
US7594903B2 (en) | 2002-09-25 | 2009-09-29 | Abbott Cardiovascular Systems Inc. | Controlling shaft bending moment and whipping in a tendon deflection or other tendon system |
JP4131012B2 (ja) | 2002-10-10 | 2008-08-13 | Hoya株式会社 | 外套シース付内視鏡 |
WO2004039273A2 (en) | 2002-10-31 | 2004-05-13 | C.R. Bard, Inc. | Electrophysiology catheter with biased tip |
US20050004515A1 (en) * | 2002-11-15 | 2005-01-06 | Hart Charles C. | Steerable kink resistant sheath |
US7130700B2 (en) | 2002-11-19 | 2006-10-31 | Medtronic, Inc. | Multilumen body for an implantable medical device |
JP4685630B2 (ja) | 2002-11-25 | 2011-05-18 | エドワーズ ライフサイエンシーズ アクチェンゲゼルシャフト | 血管外組織構造をリモデリングするための方法および装置 |
TW574767B (en) | 2003-01-13 | 2004-02-01 | Uniwill Comp Corp | Antenna and shield assembly and wireless transmission module thereof |
US7660623B2 (en) | 2003-01-30 | 2010-02-09 | Medtronic Navigation, Inc. | Six degree of freedom alignment display for medical procedures |
EP1442720A1 (en) | 2003-01-31 | 2004-08-04 | Tre Esse Progettazione Biomedica S.r.l | Apparatus for the maneuvering of flexible catheters in the human cardiovascular system |
EP1593337B1 (en) | 2003-02-11 | 2008-08-13 | Olympus Corporation | Overtube |
US7297154B2 (en) | 2003-02-24 | 2007-11-20 | Maxwell Sensors Inc. | Optical apparatus for detecting and treating vulnerable plaque |
US7246273B2 (en) | 2003-02-28 | 2007-07-17 | Sony Corporation | Method of, apparatus and graphical user interface for automatic diagnostics |
US20060041188A1 (en) | 2003-03-25 | 2006-02-23 | Dirusso Carlo A | Flexible endoscope |
US20050154262A1 (en) | 2003-04-01 | 2005-07-14 | Banik Michael S. | Imaging system for video endoscope |
JP2007511247A (ja) | 2003-05-19 | 2007-05-10 | ユーエスジーアイ メディカル, インコーポレイテッド | 管腔ツール展開システム |
JP2004351005A (ja) | 2003-05-29 | 2004-12-16 | Japan Science & Technology Agency | 屈曲チューブとその製造方法 |
WO2004114037A2 (en) | 2003-06-20 | 2004-12-29 | Fanuc Robotics America, Inc. | Multiple robot arm tracking and mirror jog |
US9002518B2 (en) | 2003-06-30 | 2015-04-07 | Intuitive Surgical Operations, Inc. | Maximum torque driving of robotic surgical tools in robotic surgical systems |
US8753262B2 (en) | 2003-07-29 | 2014-06-17 | Hoya Corporation | Internal treatment apparatus having circumferential side holes |
US20050049508A1 (en) | 2003-08-06 | 2005-03-03 | Michael Forman | Treatment of age-related macular degeneration |
US6908428B2 (en) | 2003-09-04 | 2005-06-21 | Sightline Technologies Ltd. | Sleeve for endoscopic tools |
US7998112B2 (en) | 2003-09-30 | 2011-08-16 | Abbott Cardiovascular Systems Inc. | Deflectable catheter assembly and method of making same |
JP3791011B2 (ja) | 2003-12-08 | 2006-06-28 | 有限会社エスアールジェイ | バルーン取付治具 |
EP1691884B1 (en) | 2003-12-11 | 2011-03-23 | Cook Incorporated | Hemostatic valve assembly |
US8287584B2 (en) * | 2005-11-14 | 2012-10-16 | Sadra Medical, Inc. | Medical implant deployment tool |
US7204168B2 (en) | 2004-02-25 | 2007-04-17 | The University Of Manitoba | Hand controller and wrist device |
US7972298B2 (en) | 2004-03-05 | 2011-07-05 | Hansen Medical, Inc. | Robotic catheter system |
US8052636B2 (en) | 2004-03-05 | 2011-11-08 | Hansen Medical, Inc. | Robotic catheter system and methods |
CN100463648C (zh) | 2004-03-11 | 2009-02-25 | 梅德拉股份有限公司 | 能量辅助的医学设备和系统 |
WO2005094665A2 (en) | 2004-03-23 | 2005-10-13 | Boston Scientific Limited | In-vivo visualization system |
JP3923053B2 (ja) | 2004-03-31 | 2007-05-30 | ファナック株式会社 | ロボット教示装置 |
DE102004020465B3 (de) | 2004-04-26 | 2005-09-01 | Aumann Gmbh | Drahtzugregler für Wickelmaschinen |
DE102004021754A1 (de) | 2004-04-30 | 2005-11-24 | Reinhardt Thyzel | Vorrichtung zum Entfernen von Epithelzellen aus einem Linsenkapselsack eines menschlichen oder tierischen Auges |
US7974674B2 (en) | 2004-05-28 | 2011-07-05 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic surgical system and method for surface modeling |
IL162318A (en) | 2004-06-03 | 2011-07-31 | Tal Wenderow | Transmission for a remote catheterization system |
JP4767252B2 (ja) | 2004-06-14 | 2011-09-07 | ヌームアールエックス・インコーポレーテッド | 肺のアクセス装置 |
US7772541B2 (en) | 2004-07-16 | 2010-08-10 | Luna Innnovations Incorporated | Fiber optic position and/or shape sensing based on rayleigh scatter |
US8005537B2 (en) | 2004-07-19 | 2011-08-23 | Hansen Medical, Inc. | Robotically controlled intravascular tissue injection system |
US7402151B2 (en) | 2004-12-17 | 2008-07-22 | Biocardia, Inc. | Steerable guide catheters and methods for their use |
US7918787B2 (en) | 2005-02-02 | 2011-04-05 | Voyage Medical, Inc. | Tissue visualization and manipulation systems |
US7314097B2 (en) | 2005-02-24 | 2008-01-01 | Black & Decker Inc. | Hammer drill with a mode changeover mechanism |
US7967799B2 (en) | 2005-03-16 | 2011-06-28 | Alcon, Inc. | Liquefaction handpiece tip |
US20060237205A1 (en) | 2005-04-21 | 2006-10-26 | Eastway Fair Company Limited | Mode selector mechanism for an impact driver |
US7789874B2 (en) | 2005-05-03 | 2010-09-07 | Hansen Medical, Inc. | Support assembly for robotic catheter system |
US9439555B2 (en) | 2005-05-20 | 2016-09-13 | Karl Storz Endovision, Inc. | Liner for endoscope working channel |
US20060276827A1 (en) | 2005-06-02 | 2006-12-07 | Vladimir Mitelberg | Stretch resistant embolic coil delivery system with mechanical release mechanism |
AU2006261579A1 (en) | 2005-06-20 | 2006-12-28 | Cathrx Ltd | Sleeve steering and reinforcement |
US8104479B2 (en) | 2005-06-23 | 2012-01-31 | Volcano Corporation | Pleated bag for interventional pullback systems |
EP1906858B1 (en) | 2005-07-01 | 2016-11-16 | Hansen Medical, Inc. | Robotic catheter system |
US8079950B2 (en) | 2005-09-29 | 2011-12-20 | Intuitive Surgical Operations, Inc. | Autofocus and/or autoscaling in telesurgery |
JP2009514610A (ja) | 2005-11-08 | 2009-04-09 | トラスティーズ オブ ボストン ユニバーシティ | 複数の変形可能な細長い部材を用いたマニピュレータ |
CN101351236B (zh) | 2005-11-15 | 2013-05-29 | 约翰霍普金斯大学 | 一种用于生物感应和外科手术的活性套管 |
US7892186B2 (en) | 2005-12-09 | 2011-02-22 | Heraeus Materials S.A. | Handle and articulator system and method |
US8498691B2 (en) | 2005-12-09 | 2013-07-30 | Hansen Medical, Inc. | Robotic catheter system and methods |
US8292827B2 (en) | 2005-12-12 | 2012-10-23 | Boston Scientific Scimed, Inc. | Micromachined medical devices |
US8672922B2 (en) * | 2005-12-20 | 2014-03-18 | Intuitive Surgical Operations, Inc. | Wireless communication in 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 |
JP4789000B2 (ja) | 2006-02-16 | 2011-10-05 | Smc株式会社 | 減速比自動切換装置 |
WO2007098494A1 (en) | 2006-02-22 | 2007-08-30 | Hansen Medical, Inc. | System and apparatus for measuring distal forces on a working instrument |
EP3545815A1 (en) | 2006-03-22 | 2019-10-02 | Koninklijke Philips Electronics N.V. | Fiber optic instrument sensing system |
US20070233040A1 (en) * | 2006-03-31 | 2007-10-04 | Boston Scientific Scimed, Inc. | Flexible endoscope with variable stiffness shaft |
US7579550B2 (en) * | 2006-03-31 | 2009-08-25 | Boston Scientific Scimed, Inc. | Flexible device shaft with angled spiral wrap |
US8518024B2 (en) | 2006-04-24 | 2013-08-27 | Transenterix, Inc. | System and method for multi-instrument surgical access using a single access port |
US8246536B2 (en) | 2006-04-26 | 2012-08-21 | Hoya Corporation | Treatment tool insertion channel of endoscope |
JP5095124B2 (ja) | 2006-05-17 | 2012-12-12 | 富士フイルム株式会社 | 内視鏡 |
US20070270679A1 (en) | 2006-05-17 | 2007-11-22 | Duy Nguyen | Deflectable variable radius catheters |
US8992470B2 (en) | 2006-05-19 | 2015-03-31 | Boston Scientific Scimed, Inc. | Control mechanism for steerable medical device |
EP2040635A1 (en) | 2006-06-14 | 2009-04-01 | MacDonald Dettwiler & Associates Inc. | Surgical manipulator with right-angle pulley drive mechanisms |
DE102006031788A1 (de) | 2006-07-10 | 2008-01-17 | Zf Friedrichshafen Ag | Schaltelementanordnung |
US7633101B2 (en) * | 2006-07-11 | 2009-12-15 | Dsm Solutions, Inc. | Oxide isolated metal silicon-gate JFET |
US8303449B2 (en) | 2006-08-01 | 2012-11-06 | Techtronic Power Tools Technology Limited | Automatic transmission for a power tool |
JP4755047B2 (ja) | 2006-08-08 | 2011-08-24 | テルモ株式会社 | 作業機構及びマニピュレータ |
US8747350B2 (en) | 2006-09-11 | 2014-06-10 | Boston Scientific Scimed, Inc. | Steerable catheter with rapid exchange lumen |
US7496174B2 (en) | 2006-10-16 | 2009-02-24 | Oraya Therapeutics, Inc. | Portable orthovoltage radiotherapy |
JP2010506669A (ja) | 2006-10-20 | 2010-03-04 | フェムスイート, エルエルシー | 光学外科用デバイスおよびその使用方法 |
US20080139887A1 (en) | 2006-12-07 | 2008-06-12 | International Polymer Engineering, Inc. | Endoscopic working channel and method of making same |
TW200824643A (en) * | 2006-12-13 | 2008-06-16 | Chieh-Hsiao Chen | Guiding stylet apparatus |
US7699809B2 (en) | 2006-12-14 | 2010-04-20 | Urmey William F | Catheter positioning system |
US7783133B2 (en) * | 2006-12-28 | 2010-08-24 | Microvision, Inc. | Rotation compensation and image stabilization system |
US8444637B2 (en) | 2006-12-29 | 2013-05-21 | St. Jude Medical, Atrial Filbrillation Division, Inc. | Steerable ablation device |
WO2008097540A2 (en) | 2007-02-02 | 2008-08-14 | Hansen Medical, Inc. | Robotic surgical instrument and methods using bragg fiber sensors |
US20080262480A1 (en) | 2007-02-15 | 2008-10-23 | Stahler Gregory J | Instrument assembly for robotic instrument system |
US20080208001A1 (en) | 2007-02-26 | 2008-08-28 | Ron Hadani | Conforming endoscope |
US20080214925A1 (en) | 2007-03-01 | 2008-09-04 | Civco Medical Instruments Co., Inc. | Device for precision positioning of instruments at a mri scanner |
US9549689B2 (en) | 2007-03-09 | 2017-01-24 | St. Jude Medical, Atrial Fibrillation Division, Inc. | System and method for correction of inhomogeneous fields |
JP4550849B2 (ja) | 2007-03-22 | 2010-09-22 | 株式会社東芝 | アーム搭載移動ロボット |
US7695154B2 (en) | 2007-04-05 | 2010-04-13 | Dpm Associates, Llc | Illuminating footwear accessory |
US8050523B2 (en) | 2007-04-20 | 2011-11-01 | Koninklijke Philips Electronics N.V. | Optical fiber shape sensing systems |
EP2142071B1 (en) | 2007-04-20 | 2018-04-04 | Cook Medical Technologies LLC | Steerable overtube |
US20080275367A1 (en) | 2007-04-23 | 2008-11-06 | Hansen Medical, Inc | Systems and methods for mapping intra-body tissue compliance |
US20090012533A1 (en) | 2007-04-23 | 2009-01-08 | Hansen Medical, Inc. | Robotic instrument control system |
WO2008154408A1 (en) | 2007-06-06 | 2008-12-18 | Tobey Wayland E | Modular hybrid snake arm |
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 |
EP2626006B1 (en) | 2007-08-14 | 2019-10-09 | Koninklijke Philips N.V. | Robotic instrument systems utilizing optical fiber sensors |
US20090082722A1 (en) | 2007-08-21 | 2009-03-26 | Munger Gareth T | Remote navigation advancer devices and methods of use |
US7998020B2 (en) | 2007-08-21 | 2011-08-16 | Stereotaxis, Inc. | Apparatus for selectively rotating and/or advancing an elongate device |
ES2442007T3 (es) | 2007-08-28 | 2014-02-07 | Marel A/S | Dispositivo de agarre, por ejemplo para un robot |
US8224484B2 (en) | 2007-09-30 | 2012-07-17 | Intuitive Surgical Operations, Inc. | Methods of user interface with alternate tool mode for robotic surgical tools |
US9220398B2 (en) * | 2007-10-11 | 2015-12-29 | Intuitive Surgical Operations, Inc. | System for managing Bowden cables in articulating instruments |
JP2009139187A (ja) | 2007-12-05 | 2009-06-25 | Sumitomo Heavy Ind Ltd | トルク測定装置 |
US20090163851A1 (en) | 2007-12-19 | 2009-06-25 | Holloway Kenneth A | Occlusive material removal device having selectively variable stiffness |
WO2009092059A2 (en) | 2008-01-16 | 2009-07-23 | Catheter Robotics, Inc. | Remotely controlled catheter insertion system |
WO2009097461A1 (en) | 2008-01-29 | 2009-08-06 | Neoguide Systems Inc. | Apparatus and methods for automatically controlling an endoscope |
US9179912B2 (en) | 2008-02-14 | 2015-11-10 | Ethicon Endo-Surgery, Inc. | Robotically-controlled motorized surgical cutting and fastening instrument |
EP2092916A1 (en) | 2008-02-19 | 2009-08-26 | Institut National De La Sante Et De La Recherche Medicale (Inserm) | A method of treating an ocular pathology by applying high intensity focused ultrasound and device thereof |
US20090254083A1 (en) | 2008-03-10 | 2009-10-08 | Hansen Medical, Inc. | Robotic ablation catheter |
EP3479753B1 (en) | 2008-03-19 | 2020-05-13 | Carl Zeiss Meditec AG | Surgical microscopy system having an optical coherence tomography facility |
US8317745B2 (en) | 2008-03-27 | 2012-11-27 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic catheter rotatable device cartridge |
JP2009254773A (ja) | 2008-03-28 | 2009-11-05 | Fujinon Corp | 超音波検査システム及びポンプ装置 |
US10368838B2 (en) | 2008-03-31 | 2019-08-06 | Intuitive Surgical Operations, Inc. | Surgical tools for laser marking and laser cutting |
DE102008025233A1 (de) | 2008-05-27 | 2009-12-03 | Erbe Elektromedizin Gmbh | Wasserstrahlchirurgieinstrument |
US7938809B2 (en) | 2008-04-14 | 2011-05-10 | Merit Medical Systems, Inc. | Quick release hemostasis valve |
US8532734B2 (en) | 2008-04-18 | 2013-09-10 | Regents Of The University Of Minnesota | Method and apparatus for mapping a structure |
US20090264878A1 (en) | 2008-04-21 | 2009-10-22 | Electro Medical Associates, Llc | Devices and methods for ablating and removing a tissue mass |
US8228368B2 (en) | 2008-04-26 | 2012-07-24 | Intuitive Surgical Operations, Inc. | Augmented stereoscopic visualization for a surgical robot using a captured fluorescence image and captured stereoscopic visible images |
EP3646917B1 (en) | 2008-05-06 | 2021-04-28 | Corindus, Inc | Catheter system |
US20100036294A1 (en) | 2008-05-07 | 2010-02-11 | Robert Mantell | Radially-Firing Electrohydraulic Lithotripsy Probe |
CA2720969C (en) | 2008-05-12 | 2014-03-25 | Longyear Tm, Inc. | Open-faced rod spinner |
KR101479233B1 (ko) | 2008-05-13 | 2015-01-05 | 삼성전자 주식회사 | 로봇 및 그 협조작업 제어방법 |
JP5334035B2 (ja) | 2008-05-29 | 2013-11-06 | Ntn株式会社 | コイルの挿入装置 |
JP5636363B2 (ja) | 2008-06-13 | 2014-12-03 | ディージェイティー、 エルエルシー | 衝撃波バルーンカテーテル装置 |
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 |
JP2010035768A (ja) | 2008-08-04 | 2010-02-18 | Olympus Medical Systems Corp | 能動駆動式医療機器 |
CN102046059A (zh) | 2008-08-08 | 2011-05-04 | 松下电器产业株式会社 | 吸尘器的控制装置及控制方法、吸尘器、吸尘器的控制程序以及集成电子电路 |
JP2010046384A (ja) | 2008-08-25 | 2010-03-04 | Terumo Corp | 医療用マニピュレータ及び実験装置 |
US8390438B2 (en) * | 2008-09-24 | 2013-03-05 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic catheter system including haptic feedback |
EP2351509A4 (en) | 2008-10-28 | 2018-01-17 | Olympus Corporation | Medical device |
US8720448B2 (en) | 2008-11-07 | 2014-05-13 | Hansen Medical, Inc. | Sterile interface apparatus |
WO2010056648A1 (en) * | 2008-11-14 | 2010-05-20 | Saudi Arabian Oil Company | Intake for shrouded electric submersible pump assembly |
JP5286049B2 (ja) | 2008-11-25 | 2013-09-11 | 富士フイルム株式会社 | 内視鏡 |
US20100331856A1 (en) | 2008-12-12 | 2010-12-30 | Hansen Medical Inc. | Multiple flexible and steerable elongate instruments for minimally invasive operations |
WO2010068005A2 (en) | 2008-12-12 | 2010-06-17 | Rebo | Surgical robot |
US8602031B2 (en) | 2009-01-12 | 2013-12-10 | Hansen Medical, Inc. | Modular interfaces and drive actuation through barrier |
WO2010081187A1 (en) | 2009-01-15 | 2010-07-22 | Cathrx Ltd | Steerable stylet |
WO2010088187A1 (en) | 2009-01-27 | 2010-08-05 | Proteogenix, Inc. | Biomarkers for detection of neonatal sepsis in biological fluid |
WO2010088408A2 (en) * | 2009-01-28 | 2010-08-05 | Emory University | Subunit selective nmda receptor antagonists for the treatment of neurological conditions |
ITBO20090004U1 (it) | 2009-02-11 | 2010-08-12 | Tre Esse Progettazione Biomedica S R L | Manipolatore robotico per la manovra a distanza di cateteri steerable nel sistema cardiovascolare umano. |
WO2010093489A2 (en) | 2009-02-13 | 2010-08-19 | Cardiac Pacemakers, Inc. | Deployable sensor platform on the lead system of an implantable device |
US20100228191A1 (en) | 2009-03-05 | 2010-09-09 | Hansen Medical, Inc. | Lockable support assembly and method |
CN102405022B (zh) | 2009-03-14 | 2015-02-04 | 瓦索斯蒂奇股份有限公司 | 血管进入和闭合装置 |
KR101764438B1 (ko) * | 2009-03-26 | 2017-08-02 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 하나 이상의 랜드마크를 향해 내시경 디바이스의 팁을 조종하고 운전자의 내시경 길찾기를 돕기 위한 시각적 안내를 제공하는 시스템 |
EP2233103B1 (de) | 2009-03-26 | 2017-11-15 | W & H Dentalwerk Bürmoos GmbH | Medizinisches, insbesondere dentales, Handstück |
US9254123B2 (en) | 2009-04-29 | 2016-02-09 | Hansen Medical, Inc. | Flexible and steerable elongate instruments with shape control and support elements |
EP2429427B1 (en) | 2009-05-14 | 2017-10-11 | Cook Medical Technologies LLC | Access sheath with active deflection |
US10537713B2 (en) | 2009-05-25 | 2020-01-21 | Stereotaxis, Inc. | Remote manipulator device |
US20110015484A1 (en) | 2009-07-16 | 2011-01-20 | Alvarez Jeffrey B | Endoscopic robotic catheter system |
US20110015648A1 (en) | 2009-07-16 | 2011-01-20 | Hansen Medical, Inc. | Endoscopic robotic catheter system |
WO2011014562A1 (en) | 2009-07-28 | 2011-02-03 | North Carolina State University | Methods and devices for targeted injection of microspheres |
US10045882B2 (en) | 2009-10-30 | 2018-08-14 | The Johns Hopkins University | Surgical instrument and systems with integrated optical sensor |
US20120283747A1 (en) * | 2009-11-16 | 2012-11-08 | Koninklijke Philips Electronics N.V. | Human-robot shared control for endoscopic assistant robot |
US8932211B2 (en) * | 2012-06-22 | 2015-01-13 | Macroplata, Inc. | Floating, multi-lumen-catheter retractor system for a minimally-invasive, operative gastrointestinal treatment |
DE102010031274B4 (de) | 2009-12-18 | 2023-06-22 | Robert Bosch Gmbh | Handwerkzeugmaschine mit Kühlung des Getriebes |
ES2541709T3 (es) | 2009-12-21 | 2015-07-23 | Inventio Ag | Vigilancia de un medio de suspensión e impulsión de una instalación de ascensor |
US20110152880A1 (en) | 2009-12-23 | 2011-06-23 | Hansen Medical, Inc. | Flexible and steerable elongate instruments with torsion control |
US8220688B2 (en) | 2009-12-24 | 2012-07-17 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting instrument with electric actuator directional control assembly |
US8414564B2 (en) | 2010-02-18 | 2013-04-09 | Alcon Lensx, Inc. | Optical coherence tomographic system for ophthalmic surgery |
EP2542290B1 (en) | 2010-03-02 | 2019-11-06 | Corindus, Inc. | Robotic catheter system with variable drive mechanism |
US9610133B2 (en) | 2010-03-16 | 2017-04-04 | Covidien Lp | Wireless laparoscopic camera |
US20110282357A1 (en) | 2010-05-14 | 2011-11-17 | Intuitive Surgical Operations, Inc. | Surgical system architecture |
DE102010029745A1 (de) | 2010-06-07 | 2011-12-08 | Kuka Laboratories Gmbh | Werkstück-Handhabungssystem und Verfahren zum Manipulieren von Werkstücken mittels kooperierender Manipulatoren |
WO2011160686A1 (en) | 2010-06-23 | 2011-12-29 | Renzo Marco Giovanni Brun Del Re | Biopsy alignment guide |
EP2412391A1 (en) | 2010-07-27 | 2012-02-01 | Koninklijke Philips Electronics N.V. | A breast pump |
US20120071752A1 (en) | 2010-09-17 | 2012-03-22 | Sewell Christopher M | User interface and method for operating a robotic medical system |
JP2013545613A (ja) | 2010-09-25 | 2013-12-26 | クィーンズ ユニバーシティー アット キングストン | 材料の改変のためのコヒーレント撮像およびフィードバック制御のための方法およびシステム |
EP2627278B1 (en) | 2010-10-11 | 2015-03-25 | Ecole Polytechnique Fédérale de Lausanne (EPFL) | Mechanical manipulator for surgical instruments |
CN103282074B (zh) * | 2010-11-03 | 2016-08-10 | 比尔卡地亚股份有限公司 | 可操纵腔内设备和方法 |
US9095362B2 (en) | 2010-11-15 | 2015-08-04 | Intutitive Surgical Operations, Inc. | Method for passively decoupling torque applied by a remote actuator into an independently rotating member |
CN102175137B (zh) * | 2010-12-29 | 2012-06-13 | 西安交通大学 | 测量构件微小变形的引伸计 |
DE102011003118A1 (de) | 2011-01-25 | 2012-07-26 | Krones Aktiengesellschaft | Verschließeinrichtung |
DE102011011497A1 (de) | 2011-02-17 | 2012-08-23 | Kuka Roboter Gmbh | Chirurgisches Instrument |
US20120259244A1 (en) | 2011-04-08 | 2012-10-11 | Salient Surgical Technologies, Inc. | Catheter Systems and Methods of Use |
US8900131B2 (en) * | 2011-05-13 | 2014-12-02 | Intuitive Surgical Operations, Inc. | Medical system providing dynamic registration of a model of an anatomical structure for image-guided surgery |
EP2731517A2 (en) | 2011-07-11 | 2014-05-21 | Medical Vision Research & Development AB | Status control for electrically powered surgical tool systems |
US9119716B2 (en) | 2011-07-27 | 2015-09-01 | Edwards Lifesciences Corporation | Delivery systems for prosthetic heart valve |
US20130030363A1 (en) | 2011-07-29 | 2013-01-31 | Hansen Medical, Inc. | Systems and methods utilizing shape sensing fibers |
JP5931497B2 (ja) | 2011-08-04 | 2016-06-08 | オリンパス株式会社 | 手術支援装置およびその組立方法 |
WO2013040498A1 (en) | 2011-09-16 | 2013-03-21 | Translucent Medical, Inc. | System and method for virtually tracking a surgical tool on a movable display |
WO2013043804A1 (en) | 2011-09-20 | 2013-03-28 | Corindus, Inc. | Catheter force measurement apparatus and method |
US20130165908A1 (en) | 2011-12-02 | 2013-06-27 | Barosense, Inc. | Positioning device and articulation assembly for remote positioning of a tool |
US9504604B2 (en) | 2011-12-16 | 2016-11-29 | Auris Surgical Robotics, Inc. | Lithotripsy eye treatment |
US8920368B2 (en) | 2011-12-22 | 2014-12-30 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Multi-user touch-based control of a remote catheter guidance system (RCGS) |
AU2013215164A1 (en) | 2012-01-30 | 2014-08-14 | Vytronus, Inc. | Tissue necrosis methods and apparatus |
EP2809249B1 (en) * | 2012-02-03 | 2018-12-26 | Intuitive Surgical Operations, Inc. | Steerable flexible needle with embedded shape sensing |
US10383765B2 (en) | 2012-04-24 | 2019-08-20 | Auris Health, Inc. | Apparatus and method for a global coordinate system for use in robotic surgery |
US20140142591A1 (en) | 2012-04-24 | 2014-05-22 | Auris Surgical Robotics, Inc. | Method, apparatus and a system for robotic assisted surgery |
DE102012207060A1 (de) | 2012-04-27 | 2013-10-31 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Roboteranordnung zum Einsatz in medizinischen Bereichen |
CN109452930B (zh) * | 2012-05-14 | 2021-10-29 | 直观外科手术操作公司 | 用于使用减小的搜索空间的医疗设备的配准系统和方法 |
US10039473B2 (en) * | 2012-05-14 | 2018-08-07 | Intuitive Surgical Operations, Inc. | Systems and methods for navigation based on ordered sensor records |
US8979725B2 (en) | 2012-05-23 | 2015-03-17 | Mark A. D'Andrea | Brachytherapy tandem and ovoid implantation devices and methods |
US20130317519A1 (en) | 2012-05-25 | 2013-11-28 | Hansen Medical, Inc. | Low friction instrument driver interface for robotic systems |
JP2014004310A (ja) | 2012-05-31 | 2014-01-16 | Canon Inc | 医療器具 |
CN107397591B (zh) | 2012-06-01 | 2020-04-03 | 直观外科手术操作公司 | 用于使用零空间避免操纵器臂之间碰撞的系统和方法 |
US9072536B2 (en) | 2012-06-28 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Differential locking arrangements for rotary powered surgical instruments |
US9226796B2 (en) | 2012-08-03 | 2016-01-05 | Stryker Corporation | Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path |
JP5613353B2 (ja) * | 2012-09-07 | 2014-10-22 | オリンパスメディカルシステムズ株式会社 | 医療装置 |
JP6219396B2 (ja) * | 2012-10-12 | 2017-10-25 | 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 | 分岐した解剖学的構造における医療デバイスの位置決定 |
US8894610B2 (en) | 2012-11-28 | 2014-11-25 | Hansen Medical, Inc. | Catheter having unirail pullwire architecture |
US8671817B1 (en) | 2012-11-28 | 2014-03-18 | Hansen Medical, Inc. | Braiding device for catheter having acuately varying pullwires |
US20140148673A1 (en) | 2012-11-28 | 2014-05-29 | Hansen Medical, Inc. | Method of anchoring pullwire directly articulatable region in catheter |
US20140200402A1 (en) | 2013-01-16 | 2014-07-17 | Phillip Jack Snoke | Medical Device Introduction Systems and Methods |
US10231867B2 (en) | 2013-01-18 | 2019-03-19 | Auris Health, Inc. | Method, apparatus and system for a water jet |
DE102013100605A1 (de) | 2013-01-22 | 2014-07-24 | Rg Mechatronics Gmbh | Robotersystem und Verfahren zum Steuern eines Robotersystems für die minimal invasive Chirurgie |
US11172809B2 (en) * | 2013-02-15 | 2021-11-16 | Intuitive Surgical Operations, Inc. | Vision probe with access port |
DE102013002813B4 (de) | 2013-02-19 | 2017-11-09 | Rg Mechatronics Gmbh | Haltevorrichtung mit wenigstens einer Klemmbacke für ein chirurgisches Robotersystem |
US10080576B2 (en) | 2013-03-08 | 2018-09-25 | Auris Health, Inc. | Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment |
US9867635B2 (en) | 2013-03-08 | 2018-01-16 | Auris Surgical Robotics, Inc. | Method, apparatus and system for a water jet |
US10149720B2 (en) | 2013-03-08 | 2018-12-11 | Auris Health, Inc. | Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment |
US9173713B2 (en) | 2013-03-14 | 2015-11-03 | Hansen Medical, Inc. | Torque-based catheter articulation |
US9498601B2 (en) | 2013-03-14 | 2016-11-22 | Hansen Medical, Inc. | Catheter tension sensing |
US9326822B2 (en) | 2013-03-14 | 2016-05-03 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
US20140277334A1 (en) | 2013-03-14 | 2014-09-18 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
US20140276394A1 (en) | 2013-03-15 | 2014-09-18 | Hansen Medical, Inc. | Input device for controlling a catheter |
US10376672B2 (en) | 2013-03-15 | 2019-08-13 | Auris Health, Inc. | Catheter insertion system and method of fabrication |
US20140316397A1 (en) | 2013-03-15 | 2014-10-23 | Joe Denton Brown | Protective Sheath for Surgical Laser Fiber |
US20140276936A1 (en) | 2013-03-15 | 2014-09-18 | Hansen Medical, Inc. | Active drive mechanism for simultaneous rotation and translation |
US9408669B2 (en) | 2013-03-15 | 2016-08-09 | Hansen Medical, Inc. | Active drive mechanism with finite range of motion |
US9452018B2 (en) | 2013-03-15 | 2016-09-27 | Hansen Medical, Inc. | Rotational support for an elongate member |
EP2968856B1 (en) | 2013-03-16 | 2019-05-01 | Clph, Llc | Steerable catheters and methods for making them |
US9592095B2 (en) * | 2013-05-16 | 2017-03-14 | Intuitive Surgical Operations, Inc. | Systems and methods for robotic medical system integration with external imaging |
US11020016B2 (en) | 2013-05-30 | 2021-06-01 | Auris Health, Inc. | System and method for displaying anatomy and devices on a movable display |
US10744035B2 (en) | 2013-06-11 | 2020-08-18 | Auris Health, Inc. | Methods for robotic assisted cataract surgery |
US20140375784A1 (en) * | 2013-06-21 | 2014-12-25 | Omnivision Technologies, Inc. | Image Sensor With Integrated Orientation Indicator |
US10426661B2 (en) | 2013-08-13 | 2019-10-01 | Auris Health, Inc. | Method and apparatus for laser assisted cataract surgery |
JP6562919B2 (ja) * | 2013-08-15 | 2019-08-21 | 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 | 医療処置確認のためのシステム及び方法 |
JP6785656B2 (ja) * | 2013-08-15 | 2020-11-18 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | カテーテルの位置付け及び挿入のためのグラフィカル・ユーザインターフェイス |
DE102013220798A1 (de) | 2013-10-15 | 2015-04-16 | Kuka Laboratories Gmbh | Verfahren zum Handhaben von Objekten mittels wenigstens zweier Industrieroboter, und zugehöriger Industrieroboter |
US9993313B2 (en) | 2013-10-24 | 2018-06-12 | Auris Health, Inc. | Instrument device manipulator with roll mechanism |
WO2015061756A1 (en) | 2013-10-24 | 2015-04-30 | Auris Surgical Robotics, Inc. | System for robotic-assisted endolumenal surgery and related methods |
US9539020B2 (en) | 2013-12-27 | 2017-01-10 | Ethicon Endo-Surgery, Llc | Coupling features for ultrasonic surgical instrument |
CA2935557C (en) | 2014-02-07 | 2023-04-04 | Covidien Lp | Input device assemblies for robotic surgical systems |
EP3107479A4 (en) | 2014-02-21 | 2017-07-12 | Intuitive Surgical Operations, Inc. | Mechanical joints, and related systems and methods |
EP3125813A4 (en) | 2014-04-02 | 2017-12-06 | Intuitive Surgical Operations, Inc. | Actuation element guide with twisting channels |
US10569052B2 (en) | 2014-05-15 | 2020-02-25 | Auris Health, Inc. | Anti-buckling mechanisms for catheters |
US9549781B2 (en) | 2014-05-30 | 2017-01-24 | The Johns Hopkins University | Multi-force sensing surgical instrument and method of use for robotic surgical systems |
KR101488786B1 (ko) | 2014-06-30 | 2015-02-04 | 최대명 | 내시경 스코프의 관리 시스템 및 방법 |
US20160270865A1 (en) | 2014-07-01 | 2016-09-22 | Auris Surgical Robotics, Inc. | Reusable catheter with disposable balloon attachment and tapered tip |
US20170007337A1 (en) | 2014-07-01 | 2017-01-12 | Auris Surgical Robotics, Inc. | Driver-mounted torque sensing mechanism |
US10159533B2 (en) | 2014-07-01 | 2018-12-25 | Auris Health, Inc. | Surgical system with configurable rail-mounted mechanical arms |
US9561083B2 (en) | 2014-07-01 | 2017-02-07 | Auris Surgical Robotics, Inc. | Articulating flexible endoscopic tool with roll capabilities |
US9744335B2 (en) | 2014-07-01 | 2017-08-29 | Auris Surgical Robotics, Inc. | Apparatuses and methods for monitoring tendons of steerable catheters |
US10792464B2 (en) | 2014-07-01 | 2020-10-06 | Auris Health, Inc. | Tool and method for using surgical endoscope with spiral lumens |
US9788910B2 (en) | 2014-07-01 | 2017-10-17 | Auris Surgical Robotics, Inc. | Instrument-mounted tension sensing mechanism for robotically-driven medical instruments |
US20160000414A1 (en) * | 2014-07-02 | 2016-01-07 | Covidien Lp | Methods for marking biopsy location |
US9621558B2 (en) * | 2014-07-27 | 2017-04-11 | Varonis Systems, Ltd. | Granting collaboration permissions in a computerized system |
US11273290B2 (en) | 2014-09-10 | 2022-03-15 | Intuitive Surgical Operations, Inc. | Flexible instrument with nested conduits |
EP3200718A4 (en) | 2014-09-30 | 2018-04-25 | Auris Surgical Robotics, Inc | Configurable robotic surgical system with virtual rail and flexible endoscope |
US10314463B2 (en) | 2014-10-24 | 2019-06-11 | Auris Health, Inc. | Automated endoscope calibration |
JP6342794B2 (ja) | 2014-12-25 | 2018-06-13 | 新光電気工業株式会社 | 配線基板及び配線基板の製造方法 |
US20160287279A1 (en) | 2015-04-01 | 2016-10-06 | Auris Surgical Robotics, Inc. | Microsurgical tool for robotic applications |
WO2016164824A1 (en) | 2015-04-09 | 2016-10-13 | Auris Surgical Robotics, Inc. | Surgical system with configurable rail-mounted mechanical arms |
US9622827B2 (en) | 2015-05-15 | 2017-04-18 | Auris Surgical Robotics, Inc. | Surgical robotics system |
EP3305229A4 (en) | 2015-06-01 | 2019-02-20 | Olympus Corporation | MEDICAL MANIPULATOR |
EP4137034A1 (en) | 2015-09-09 | 2023-02-22 | Auris Health, Inc. | Instrument device manipulator for a surgical robotics system |
KR20240064004A (ko) | 2015-09-18 | 2024-05-10 | 아우리스 헬스, 인크. | 관형 조직망의 탐색 |
US9949749B2 (en) | 2015-10-30 | 2018-04-24 | Auris Surgical Robotics, Inc. | Object capture with a basket |
US9955986B2 (en) | 2015-10-30 | 2018-05-01 | Auris Surgical Robotics, Inc. | Basket apparatus |
US10639108B2 (en) | 2015-10-30 | 2020-05-05 | Auris Health, Inc. | Process for percutaneous operations |
US10932861B2 (en) | 2016-01-14 | 2021-03-02 | Auris Health, Inc. | Electromagnetic tracking surgical system and method of controlling the same |
US10932691B2 (en) | 2016-01-26 | 2021-03-02 | Auris Health, Inc. | Surgical tools having electromagnetic tracking components |
US11324554B2 (en) | 2016-04-08 | 2022-05-10 | Auris Health, Inc. | Floating electromagnetic field generator system and method of controlling the same |
US11037464B2 (en) | 2016-07-21 | 2021-06-15 | Auris Health, Inc. | System with emulator movement tracking for controlling medical devices |
US10463439B2 (en) | 2016-08-26 | 2019-11-05 | Auris Health, Inc. | Steerable catheter with shaft load distributions |
AU2016422171B2 (en) | 2016-08-31 | 2022-01-20 | Auris Health, Inc. | Length conservative surgical instrument |
US9931025B1 (en) | 2016-09-30 | 2018-04-03 | Auris Surgical Robotics, Inc. | Automated calibration of endoscopes with pull wires |
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 |
US10136959B2 (en) | 2016-12-28 | 2018-11-27 | Auris Health, Inc. | Endolumenal object sizing |
US10792466B2 (en) | 2017-03-28 | 2020-10-06 | Auris Health, Inc. | Shaft actuating handle |
EP3600031A4 (en) | 2017-03-31 | 2021-01-20 | Auris Health, Inc. | ROBOTIC NAVIGATION SYSTEMS IN LUMINAL NETWORKS COMPENSATION FOR PHYSIOLOGICAL NOISE |
US10987174B2 (en) | 2017-04-07 | 2021-04-27 | Auris Health, Inc. | Patient introducer alignment |
US10285574B2 (en) | 2017-04-07 | 2019-05-14 | Auris Health, Inc. | Superelastic medical instrument |
CN110831498B (zh) | 2017-05-12 | 2022-08-12 | 奥瑞斯健康公司 | 活检装置和系统 |
AU2018270785B2 (en) | 2017-05-17 | 2023-11-23 | Auris Health, Inc. | Exchangeable working channel |
US10022192B1 (en) | 2017-06-23 | 2018-07-17 | Auris Health, Inc. | Automatically-initialized robotic systems for navigation of luminal networks |
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 |
WO2019005872A1 (en) | 2017-06-28 | 2019-01-03 | Auris Health, Inc. | INSTRUMENT INSERTION COMPENSATION |
EP3644886A4 (en) | 2017-06-28 | 2021-03-24 | Auris Health, Inc. | ELECTROMAGNETIC DISTORTION DETECTION |
AU2018292284B2 (en) | 2017-06-28 | 2023-03-23 | Auris Health, Inc. | Electromagnetic field generator alignment |
US10426559B2 (en) | 2017-06-30 | 2019-10-01 | Auris Health, Inc. | Systems and methods for medical instrument compression compensation |
US10145747B1 (en) | 2017-10-10 | 2018-12-04 | Auris Health, Inc. | Detection of undesirable forces on a surgical robotic arm |
US10016900B1 (en) | 2017-10-10 | 2018-07-10 | Auris Health, Inc. | Surgical robotic arm admittance control |
-
2014
- 2014-10-24 WO PCT/US2014/062284 patent/WO2015061756A1/en active Application Filing
- 2014-10-24 CN CN201480070794.7A patent/CN105939647B/zh active Active
- 2014-10-24 KR KR1020167013804A patent/KR102332023B1/ko active IP Right Grant
- 2014-10-24 CN CN201911397119.6A patent/CN111166274A/zh active Pending
- 2014-10-24 EP EP14856482.6A patent/EP3060157B1/en active Active
- 2014-10-24 US US14/523,760 patent/US9763741B2/en active Active
- 2014-10-24 JP JP2016526233A patent/JP6656148B2/ja active Active
- 2014-10-24 EP EP19209011.6A patent/EP3689284A1/en active Pending
- 2014-11-14 US US14/542,387 patent/US9844412B2/en active Active
- 2014-11-14 US US14/542,429 patent/US10405940B2/en active Active
- 2014-11-14 US US14/542,403 patent/US10219874B2/en active Active
- 2014-11-14 US US14/542,373 patent/US10405939B2/en active Active
-
2019
- 2019-03-04 US US16/292,175 patent/US20190336238A1/en not_active Abandoned
- 2019-04-01 US US16/372,261 patent/US20190223974A1/en not_active Abandoned
- 2019-10-28 JP JP2019195017A patent/JP6932757B2/ja active Active
-
2023
- 2023-06-23 US US18/213,721 patent/US20230404701A1/en active Pending
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4745908A (en) * | 1987-05-08 | 1988-05-24 | Circon Corporation | Inspection instrument fexible shaft having deflection compensation means |
WO1994014494A2 (en) * | 1992-12-23 | 1994-07-07 | Angeion Corp. | Steerable catheter |
JP2006525087A (ja) * | 2003-04-25 | 2006-11-09 | アプライド メディカル リソーシーズ コーポレイション | 操舵可能な捩れ防止鞘部材 |
US20130144116A1 (en) * | 2006-06-13 | 2013-06-06 | Intuitive Surgical Operations, Inc. | Surgical instrument control and actuation |
US20110009863A1 (en) * | 2009-07-10 | 2011-01-13 | Tyco Healthcare Group Lp | Shaft Constructions for Medical Devices with an Articulating Tip |
US20120136419A1 (en) * | 2010-11-29 | 2012-05-31 | Zarembo Paul E | Implantable medical leads with spiral lumens |
US20130035537A1 (en) * | 2011-08-05 | 2013-02-07 | Wallace Daniel T | Robotic systems and methods for treating tissue |
WO2015093602A1 (ja) * | 2013-12-20 | 2015-06-25 | オリンパス株式会社 | 軟性マニピュレータ用ガイド部材および軟性マニピュレータ |
Cited By (25)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2018532467A (ja) * | 2015-09-18 | 2018-11-08 | オーリス ヘルス インコーポレイテッド | 管状網のナビゲーション |
JP2020516412A (ja) * | 2017-04-18 | 2020-06-11 | セント・ジュード・メディカル,カーディオロジー・ディヴィジョン,インコーポレイテッド | トルク付与可能なスティーラブル・シース |
JP2020520691A (ja) * | 2017-05-12 | 2020-07-16 | オーリス ヘルス インコーポレイテッド | 生検装置およびシステム |
US11534247B2 (en) | 2017-06-28 | 2022-12-27 | Auris Health, Inc. | Instrument insertion compensation |
JP7130682B2 (ja) | 2017-06-28 | 2022-09-05 | オーリス ヘルス インコーポレイテッド | 器具挿入補償 |
JP2020526254A (ja) * | 2017-06-28 | 2020-08-31 | オーリス ヘルス インコーポレイテッド | 器具挿入補償 |
JP2020528777A (ja) * | 2017-07-25 | 2020-10-01 | セフィア・バルブ・テクノロジーズ, インコーポレイテッドCephea Valve Technologies, Inc. | 心臓弁を位置決めするシステム及び方法 |
US11648112B2 (en) | 2017-07-25 | 2023-05-16 | Cephea Valve Technologies, Inc. | Method for positioning a heart valve |
JP2020536754A (ja) * | 2017-10-10 | 2020-12-17 | オーリス ヘルス インコーポレイテッド | 手術ロボットアームに対する不適切な力の検出 |
US11796410B2 (en) | 2017-10-10 | 2023-10-24 | Auris Health, Inc. | Robotic manipulator force determination |
JP7139421B2 (ja) | 2017-10-10 | 2022-09-20 | オーリス ヘルス インコーポレイテッド | 手術ロボットアームに対する不適切な力の検出 |
JP2021505345A (ja) * | 2017-12-11 | 2021-02-18 | オーリス ヘルス インコーポレイテッド | 器具ベースの挿入アーキテクチャのためのシステム及び方法 |
JP7467528B2 (ja) | 2017-12-11 | 2024-04-15 | オーリス ヘルス インコーポレイテッド | 器具ベースの挿入アーキテクチャのためのシステム及び方法 |
US11839439B2 (en) | 2017-12-11 | 2023-12-12 | Auris Health, Inc. | Systems and methods for instrument based insertion architectures |
JP7080986B2 (ja) | 2017-12-11 | 2022-06-06 | オーリス ヘルス インコーポレイテッド | 器具ベースの挿入アーキテクチャのためのシステム及び方法 |
JP2022105638A (ja) * | 2017-12-11 | 2022-07-14 | オーリス ヘルス インコーポレイテッド | 器具ベースの挿入アーキテクチャのためのシステム及び方法 |
WO2019207676A1 (ja) * | 2018-04-25 | 2019-10-31 | オリンパス株式会社 | 処置具および処置システム |
JP2022500098A (ja) * | 2018-09-17 | 2022-01-04 | 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 |
US11903661B2 (en) | 2018-09-17 | 2024-02-20 | Auris Health, Inc. | Systems and methods for concomitant medical procedures |
JP2020058798A (ja) * | 2018-10-04 | 2020-04-16 | バイオセンス・ウエブスター・(イスラエル)・リミテッドBiosense Webster (Israel), Ltd. | プローブの自動再挿入 |
JP7289766B2 (ja) | 2018-10-04 | 2023-06-12 | バイオセンス・ウエブスター・(イスラエル)・リミテッド | プローブの自動再挿入 |
CN114746140A (zh) * | 2019-12-02 | 2022-07-12 | 朝日英达科株式会社 | 导管 |
JP2021087479A (ja) * | 2019-12-02 | 2021-06-10 | 朝日インテック株式会社 | カテーテル |
WO2021112067A1 (ja) * | 2019-12-02 | 2021-06-10 | 朝日インテック株式会社 | カテーテル |
WO2022209102A1 (ja) * | 2021-03-31 | 2022-10-06 | ソニーグループ株式会社 | 手術ロボット及び手術システム |
Also Published As
Publication number | Publication date |
---|---|
JP6932757B2 (ja) | 2021-09-08 |
EP3060157A1 (en) | 2016-08-31 |
EP3060157B1 (en) | 2019-12-11 |
US20230404701A1 (en) | 2023-12-21 |
US10405939B2 (en) | 2019-09-10 |
US20150119638A1 (en) | 2015-04-30 |
US9763741B2 (en) | 2017-09-19 |
CN111166274A (zh) | 2020-05-19 |
US20190223974A1 (en) | 2019-07-25 |
US20190336238A1 (en) | 2019-11-07 |
WO2015061756A1 (en) | 2015-04-30 |
CN105939647B (zh) | 2020-01-21 |
JP6656148B2 (ja) | 2020-03-04 |
US9844412B2 (en) | 2017-12-19 |
US10219874B2 (en) | 2019-03-05 |
JP2020096807A (ja) | 2020-06-25 |
US20150164594A1 (en) | 2015-06-18 |
EP3060157A4 (en) | 2017-03-08 |
KR102332023B1 (ko) | 2021-12-01 |
US20150164596A1 (en) | 2015-06-18 |
EP3689284A1 (en) | 2020-08-05 |
CN105939647A (zh) | 2016-09-14 |
US20150164595A1 (en) | 2015-06-18 |
KR20160105773A (ko) | 2016-09-07 |
US10405940B2 (en) | 2019-09-10 |
US20150119637A1 (en) | 2015-04-30 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6932757B2 (ja) | ロボット支援管腔内手術のためのシステムおよび関連する方法 | |
JP7146837B2 (ja) | 仮軌道および可撓性内視鏡を有する構成可能なロボット手術システム | |
CN113164184B (zh) | 能够手动地和机器人地控制的医疗器械 | |
US11666393B2 (en) | Systems and methods for medical instrument compression compensation | |
CN112087981A (zh) | 用于标测和导航的方法和系统 | |
KR20200139199A (ko) | 가변 굽힘 강성 프로파일을 갖는 의료 기구 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20171023 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20171023 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20180726 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20180725 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20181026 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20181221 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20190116 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20190627 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20191028 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A821 Effective date: 20191028 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20191211 |
|
A911 | Transfer to examiner for re-examination before appeal (zenchi) |
Free format text: JAPANESE INTERMEDIATE CODE: A911 Effective date: 20191216 |
|
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: 20200108 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20200204 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6656148 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
RD02 | Notification of acceptance of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: R3D02 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |