JP2017515524A5 - - Google Patents

Download PDF

Info

Publication number
JP2017515524A5
JP2017515524A5 JP2016558131A JP2016558131A JP2017515524A5 JP 2017515524 A5 JP2017515524 A5 JP 2017515524A5 JP 2016558131 A JP2016558131 A JP 2016558131A JP 2016558131 A JP2016558131 A JP 2016558131A JP 2017515524 A5 JP2017515524 A5 JP 2017515524A5
Authority
JP
Japan
Prior art keywords
limit
arm
remote control
motion
remote
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2016558131A
Other languages
English (en)
Japanese (ja)
Other versions
JP6585613B2 (ja
JP2017515524A (ja
Filing date
Publication date
Application filed filed Critical
Priority claimed from PCT/US2015/018456 external-priority patent/WO2015142512A1/en
Publication of JP2017515524A publication Critical patent/JP2017515524A/ja
Publication of JP2017515524A5 publication Critical patent/JP2017515524A5/ja
Application granted granted Critical
Publication of JP6585613B2 publication Critical patent/JP6585613B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

JP2016558131A 2014-03-17 2015-03-03 遠隔操作医療システムのための構造調節システム及び方法 Active JP6585613B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201461954090P 2014-03-17 2014-03-17
US61/954,090 2014-03-17
PCT/US2015/018456 WO2015142512A1 (en) 2014-03-17 2015-03-03 Structural adjustment systems and methods for a teleoperational medical system

Publications (3)

Publication Number Publication Date
JP2017515524A JP2017515524A (ja) 2017-06-15
JP2017515524A5 true JP2017515524A5 (enExample) 2018-04-12
JP6585613B2 JP6585613B2 (ja) 2019-10-02

Family

ID=54145137

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2016558131A Active JP6585613B2 (ja) 2014-03-17 2015-03-03 遠隔操作医療システムのための構造調節システム及び方法

Country Status (6)

Country Link
US (4) US10182873B2 (enExample)
EP (2) EP3119334B1 (enExample)
JP (1) JP6585613B2 (enExample)
KR (1) KR102327948B1 (enExample)
CN (2) CN110226967B (enExample)
WO (1) WO2015142512A1 (enExample)

Families Citing this family (113)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12402960B2 (en) 2010-10-11 2025-09-02 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
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
US10265129B2 (en) 2014-02-03 2019-04-23 Distalmotion Sa Mechanical teleoperated device comprising an interchangeable distal instrument
CN110226967B (zh) 2014-03-17 2022-10-28 直观外科手术操作公司 用于远程操作医疗系统的结构调整系统和方法
JP6276619B2 (ja) 2014-03-19 2018-02-07 Hoya株式会社 眼内レンズ挿入器および眼内レンズ挿入装置
EP3405134A4 (en) 2016-01-20 2019-09-18 Intuitive Surgical Operations Inc. SYSTEM AND METHOD FOR FAST STOPPING AND RECOVERY OF MOTION DEVIATIONS IN RE-POSITIONABLE ARMS OF A MEDICAL DEVICE
CN113440263B (zh) 2016-07-14 2024-03-26 直观外科手术操作公司 计算机辅助式远程操作系统中的次级器械控制
US10737817B2 (en) * 2016-09-26 2020-08-11 Yaskawa America, Inc. Method, apparatus, and system for robotic article handling
CN116327376A (zh) * 2016-11-11 2023-06-27 直观外科手术操作公司 带有基于扫描的定位的远程操作手术系统
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same
US10464209B2 (en) * 2017-10-05 2019-11-05 Auris Health, Inc. Robotic system with indication of boundary for robotic arm
US11510741B2 (en) 2017-10-30 2022-11-29 Cilag Gmbh International Method for producing a surgical instrument comprising a smart electrical system
US11911045B2 (en) 2017-10-30 2024-02-27 Cllag GmbH International Method for operating a powered articulating multi-clip applier
US11801098B2 (en) 2017-10-30 2023-10-31 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11564703B2 (en) 2017-10-30 2023-01-31 Cilag Gmbh International Surgical suturing instrument comprising a capture width which is larger than trocar diameter
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
US20200375675A1 (en) * 2017-12-21 2020-12-03 Koninklijke Philips N.V. Compliant end-effector for image guided surgical procedures
US20190201112A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Computer implemented interactive surgical 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
US11744604B2 (en) 2017-12-28 2023-09-05 Cilag Gmbh International Surgical instrument with a hardware-only control circuit
US11559308B2 (en) 2017-12-28 2023-01-24 Cilag Gmbh International Method for smart energy device infrastructure
US11857152B2 (en) 2017-12-28 2024-01-02 Cilag Gmbh International Surgical hub spatial awareness to determine devices in operating theater
US20190206569A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Method of cloud based data analytics for use with the hub
US20190201090A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Capacitive coupled return path pad with separable array elements
US12062442B2 (en) 2017-12-28 2024-08-13 Cilag Gmbh International Method for operating surgical instrument systems
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
US11419630B2 (en) 2017-12-28 2022-08-23 Cilag Gmbh International Surgical system distributed processing
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
BR112020013021A2 (pt) 2017-12-28 2020-11-24 Ethicon Llc ajuste de uma função do dispositivo cirúrgico com base em reconhecimento situacional
US12127729B2 (en) 2017-12-28 2024-10-29 Cilag Gmbh International Method for smoke evacuation for surgical hub
US20190201142A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Automatic tool adjustments for robot-assisted surgical platforms
US11324557B2 (en) 2017-12-28 2022-05-10 Cilag Gmbh International Surgical instrument with a sensing array
US12396806B2 (en) 2017-12-28 2025-08-26 Cilag Gmbh International Adjustment of a surgical device function based on situational awareness
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
WO2019133144A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Detection and escalation of security responses of surgical instruments to increasing severity threats
US11612444B2 (en) 2017-12-28 2023-03-28 Cilag Gmbh International Adjustment of a surgical device function based on situational awareness
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
US11903601B2 (en) 2017-12-28 2024-02-20 Cilag Gmbh International Surgical instrument comprising a plurality of drive systems
US11076921B2 (en) 2017-12-28 2021-08-03 Cilag Gmbh International Adaptive control program updates for surgical hubs
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
US12096916B2 (en) 2017-12-28 2024-09-24 Cilag Gmbh International Method of sensing particulate from smoke evacuated from a patient, adjusting the pump speed based on the sensed information, and communicating the functional parameters of the system to the hub
US20190201039A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Situational awareness of electrosurgical systems
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
US11576677B2 (en) 2017-12-28 2023-02-14 Cilag Gmbh International Method of hub communication, processing, display, and cloud analytics
US11786251B2 (en) 2017-12-28 2023-10-17 Cilag Gmbh International Method for adaptive control schemes for surgical network control and interaction
US12207817B2 (en) 2017-12-28 2025-01-28 Cilag Gmbh International Safety systems for smart powered surgical stapling
US11132462B2 (en) 2017-12-28 2021-09-28 Cilag Gmbh International Data stripping method to interrogate patient records and create anonymized record
US11937769B2 (en) 2017-12-28 2024-03-26 Cilag Gmbh International Method of hub communication, processing, storage and display
US11376002B2 (en) 2017-12-28 2022-07-05 Cilag Gmbh International Surgical instrument cartridge sensor assemblies
US11464559B2 (en) 2017-12-28 2022-10-11 Cilag Gmbh International Estimating state of ultrasonic end effector and control system therefor
US11026751B2 (en) 2017-12-28 2021-06-08 Cilag Gmbh International Display of alignment of staple cartridge to prior linear staple line
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
US11896443B2 (en) 2017-12-28 2024-02-13 Cilag Gmbh International Control of a surgical system through a surgical barrier
US11864728B2 (en) 2017-12-28 2024-01-09 Cilag Gmbh International Characterization of tissue irregularities through the use of mono-chromatic light refractivity
US11659023B2 (en) 2017-12-28 2023-05-23 Cilag Gmbh International Method of hub communication
US11304699B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Method for adaptive control schemes for surgical network control and interaction
US11311306B2 (en) 2017-12-28 2022-04-26 Cilag Gmbh International Surgical systems for detecting end effector tissue distribution irregularities
US11678881B2 (en) 2017-12-28 2023-06-20 Cilag Gmbh International Spatial awareness of surgical hubs in operating rooms
US11832899B2 (en) 2017-12-28 2023-12-05 Cilag Gmbh International Surgical systems with autonomously adjustable control programs
US11612408B2 (en) 2017-12-28 2023-03-28 Cilag Gmbh International Determining tissue composition via an ultrasonic system
US11166772B2 (en) 2017-12-28 2021-11-09 Cilag Gmbh International Surgical hub coordination of control and communication of operating room devices
US11109866B2 (en) 2017-12-28 2021-09-07 Cilag Gmbh International Method for circular stapler control algorithm adjustment based on situational awareness
US10918310B2 (en) 2018-01-03 2021-02-16 Biosense Webster (Israel) Ltd. Fast anatomical mapping (FAM) using volume filling
US12376855B2 (en) 2017-12-28 2025-08-05 Cilag Gmbh International Safety systems for smart powered surgical stapling
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
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
US20190201139A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Communication arrangements for robot-assisted surgical platforms
US11666331B2 (en) 2017-12-28 2023-06-06 Cilag Gmbh International Systems for detecting proximity of surgical end effector to cancerous tissue
JP2021510327A (ja) * 2018-01-10 2021-04-22 コヴィディエン リミテッド パートナーシップ コンピュータビジョンを利用したロボット外科システムのツールの位置および状態の判定
EP3743894B1 (en) * 2018-01-22 2024-04-17 Assa Abloy AB Storing events of a sensor device
US11998291B2 (en) * 2018-02-02 2024-06-04 Covidien Lp Robotic surgical systems with user engagement monitoring
WO2019155383A1 (en) 2018-02-07 2019-08-15 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US12376927B2 (en) 2018-02-07 2025-08-05 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US11259830B2 (en) 2018-03-08 2022-03-01 Cilag Gmbh International Methods for controlling temperature in ultrasonic device
US11589915B2 (en) 2018-03-08 2023-02-28 Cilag Gmbh International In-the-jaw classifier based on a model
US11457944B2 (en) 2018-03-08 2022-10-04 Cilag Gmbh International Adaptive advanced tissue treatment pad saver mode
US11090047B2 (en) 2018-03-28 2021-08-17 Cilag Gmbh International Surgical instrument comprising an adaptive control system
US11259806B2 (en) 2018-03-28 2022-03-01 Cilag Gmbh International Surgical stapling devices with features for blocking advancement of a camming assembly of an incompatible cartridge installed therein
CN112672710A (zh) 2018-09-05 2021-04-16 纽文思公司 用于脊柱手术的系统和方法
US10751888B2 (en) * 2018-10-04 2020-08-25 Advanced Intelligent Systems Inc. Manipulator apparatus for operating on articles
US11648067B2 (en) 2018-10-05 2023-05-16 Kawasaki Jukogyo Kabushiki Kaisha Medical manipulator and surgical system including the same
US12171513B2 (en) * 2018-10-05 2024-12-24 Kawasaki Jukogyo Kabushiki Kaisha Surgical system and patient-side apparatus
WO2020075546A1 (en) * 2018-10-12 2020-04-16 Sony Corporation Surgical support system, data processing apparatus and method
CN109498162B (zh) * 2018-12-20 2023-11-03 深圳市精锋医疗科技股份有限公司 提升沉浸感的主操作台及手术机器人
US11717366B2 (en) 2018-12-26 2023-08-08 Kawasaki Jukogyo Kabushiki Kaisha Medical manipulator
US11737658B2 (en) 2018-12-26 2023-08-29 Kawasaki Jukogyo Kabushiki Kaisha Manipulator arm and patient-side system for surgical system
CN111374775B (zh) * 2018-12-29 2024-08-30 达科为(深圳)医疗设备有限公司 医疗机器人机械操作手
US11298130B2 (en) 2019-02-19 2022-04-12 Cilag Gmbh International Staple cartridge retainer with frangible authentication key
JP2020141833A (ja) 2019-03-06 2020-09-10 川崎重工業株式会社 外科手術システムの制御方法および外科手術システム
US12376934B2 (en) 2019-05-22 2025-08-05 Covidien Lp Surgical robotic arm storage assemblies and methods of replacing surgical robotic arms using the storage assemblies
WO2020236814A1 (en) * 2019-05-23 2020-11-26 Intuitive Surgical Operations, Inc. Systems and methods for generating workspace volumes and identifying reachable workspaces of surgical instruments
EP3753520B1 (de) 2019-06-19 2025-11-26 Karl Storz SE & Co. KG Medizinische handhabungsvorrichtung zur steuerung einer handhabungsvorrichtung
EP3753521B1 (de) * 2019-06-19 2025-11-26 Karl Storz SE & Co. KG Medizinische handhabungsvorrichtung zur steuerung einer handhabungsvorrichtung
EP3753519A1 (de) * 2019-06-19 2020-12-23 Karl Storz SE & Co. KG Medizinische handhabungsvorrichtung zur steuerung einer handhabungsvorrichtung
CN111382502B (zh) * 2020-02-25 2023-05-02 智慧航海(青岛)科技有限公司 船舶仿真平台运动保护方法及机构
CN111407414A (zh) * 2020-04-07 2020-07-14 上海市第一人民医院 一种用于临床诊疗的多功能远程机器人
US11571267B2 (en) 2020-04-24 2023-02-07 Verb Surgical Inc. Remote center of motion control for a surgical robot
CN111590584B (zh) 2020-05-27 2021-12-10 京东方科技集团股份有限公司 安全限位区的确定方法和装置、复位方法和医用机器人
US12004829B2 (en) * 2020-06-09 2024-06-11 Verb Surgical Inc. Inverse kinematics of a surgical robot for teleoperation with hardware constraints
WO2022070001A1 (en) * 2020-09-30 2022-04-07 Auris Health, Inc. Guided coordinated bed motion for intra-operative patient positioning in robotic surgery
CN112957129B (zh) * 2021-02-10 2022-10-18 诺创智能医疗科技(杭州)有限公司 手术器械控制方法、装置和电子装置
EP4312859A4 (en) * 2021-03-26 2025-02-19 Auris Health, Inc. Systems and methods for intra-operative adjustment of procedural setup
CN113812902B (zh) * 2021-11-22 2022-02-18 极限人工智能有限公司 柔性器械末端的控制方法、装置、电子设备及存储介质
US11699519B1 (en) * 2022-01-04 2023-07-11 Ix Innovation Llc System for maintaining and controlling surgical tools
CN117301038A (zh) * 2022-06-22 2023-12-29 瑞龙诺赋(上海)医疗科技有限公司 机械臂的调整方法、装置、电子设备以及存储介质
US12479098B2 (en) 2022-08-03 2025-11-25 Covidien Lp Surgical robotic system with access port storage
US12465447B2 (en) 2022-08-25 2025-11-11 Covidien Lp Surgical robotic system with instrument detection
US12496728B2 (en) 2022-10-25 2025-12-16 Covidien Lp Surgical robotic system and method for restoring operational state
USD1087995S1 (en) 2023-08-02 2025-08-12 Covidien Lp Surgeon display screen with a transitional graphical user interface having staple firing icon
USD1087135S1 (en) 2023-08-02 2025-08-05 Covidien Lp Surgeon display screen with a graphical user interface having spent staple icon
CN117301044B (zh) * 2023-08-31 2024-07-19 北京纳通医用机器人科技有限公司 末端工具的运动控制方法、装置、设备及存储介质
CN119795197B (zh) * 2025-03-12 2025-07-15 哈尔滨思哲睿智能医疗设备股份有限公司 手术机器人持镜臂控制方法、装置、设备和介质

Family Cites Families (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0201883A3 (en) * 1985-05-14 1988-01-13 ANDRONIC DEVICES Ltd. Advanced medical robot
JPH01188286A (ja) * 1988-01-20 1989-07-27 Toshiba Corp 産業用ロボットの教示装置
JPH08197250A (ja) * 1995-01-30 1996-08-06 Komatsu Ltd 溶接ロボット
US10820949B2 (en) * 1999-04-07 2020-11-03 Intuitive Surgical Operations, Inc. Medical robotic system with dynamically adjustable slave manipulator characteristics
US9833167B2 (en) 1999-05-18 2017-12-05 Mediguide Ltd. Method and system for superimposing virtual anatomical landmarks on an image
US8004229B2 (en) * 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
US20040243147A1 (en) * 2001-07-03 2004-12-02 Lipow Kenneth I. Surgical robot and robotic controller
JP2006321027A (ja) * 2005-05-20 2006-11-30 Hitachi Ltd マスタ・スレーブ式マニピュレータシステム及びその操作入力装置
EP1901884B1 (en) * 2005-06-30 2019-02-13 Intuitive Surgical Operations Inc. Indicator for tool state communication in multi-arm telesurgery
JP2007029232A (ja) * 2005-07-25 2007-02-08 Hitachi Medical Corp 内視鏡手術操作支援システム
US8160743B2 (en) * 2005-08-16 2012-04-17 Brainlab Ag Anthropomorphic medical robot arm with movement restrictions
US9241767B2 (en) 2005-12-20 2016-01-26 Intuitive Surgical Operations, Inc. Method for handling an operator command exceeding a medical device state limitation in a medical robotic system
EP1815950A1 (en) * 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Robotic surgical system for performing minimally invasive medical procedures
US8517933B2 (en) * 2006-06-13 2013-08-27 Intuitive Surgical Operations, Inc. Retraction of tissue for single port entry, robotically assisted medical procedures
EP2126646B1 (en) * 2006-12-27 2012-08-22 Mako Surgical Corp. Apparatus and method for providing an adjustable positive stop in space
US9089256B2 (en) 2008-06-27 2015-07-28 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
US9037295B2 (en) * 2008-03-07 2015-05-19 Perception Raisonnement Action En Medecine Dynamic physical constraint for hard surface emulation
US8282653B2 (en) 2008-03-24 2012-10-09 Board Of Regents Of The University Of Nebraska System and methods for controlling surgical tool elements
US7843158B2 (en) * 2008-03-31 2010-11-30 Intuitive Surgical Operations, Inc. Medical robotic system adapted to inhibit motions resulting in excessive end effector forces
EP2376175B1 (en) * 2008-12-12 2019-01-30 Corindus, Inc. Remote catheter procedure system
EP2475323A4 (en) 2009-09-09 2017-10-25 Engineering Services Inc. Manual instrumented medical tool system
US8521331B2 (en) * 2009-11-13 2013-08-27 Intuitive Surgical Operations, Inc. Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument
WO2011149260A2 (ko) * 2010-05-28 2011-12-01 주식회사 이턴 수술용 로봇 암의 rcm 구조
US8886331B2 (en) * 2010-06-25 2014-11-11 Vanderbilt University Apparatus and methods for percutaneous cochlear implantation
BR112013032144A2 (pt) * 2011-06-16 2016-12-13 Smith & Nephew Inc alinhamento cirúrgico utilizando referências
KR102145236B1 (ko) * 2012-06-01 2020-08-18 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 영-공간을 이용하여 매니퓰레이터 암 대 환자의 충돌을 회피하는 방법 및 시스템
JP6218631B2 (ja) * 2014-02-18 2017-10-25 オリンパス株式会社 マニピュレータ装置の作動方法
CN110226967B (zh) 2014-03-17 2022-10-28 直观外科手术操作公司 用于远程操作医疗系统的结构调整系统和方法
WO2016009301A2 (en) * 2014-07-15 2016-01-21 Koninklijke Philips N.V. Reconfigurable robot architecture for minimally invasive procedures

Similar Documents

Publication Publication Date Title
JP2017515524A5 (enExample)
JP2017515521A5 (enExample)
WO2017197247A3 (en) Anatomical model controlling
EP2949546A3 (en) Steering system
EP4331522A3 (en) System and method for patient-side instrument control
JP2017514580A5 (enExample)
EP3505131A3 (en) Image capturing of the areas outside the abdomen to improve placement and control of a surgical device in use
WO2018152203A3 (en) Modular implant delivery and positioning system
EP3357651A3 (en) Control device, robot, and robot system
EP4421815A3 (en) Systems and methods for treating neurological disorders
EP4529882A3 (en) Secondary instrument control in a computer-assisted teleoperated system
WO2017205076A3 (en) Memory device error based adaptive refresh rate and methods
EP4356848A3 (en) System and method for variable velocity surgical instrument
EP3357650A3 (en) Control device, robot, and robot system
EP4371512A3 (en) Neuromodulation catheters having braided shafts and associated systems and methods
JP2017538452A5 (enExample)
WO2014159549A3 (en) Systems, apparatus and methods for treating blood vessels
JP2018505728A5 (enExample)
RU2015108043A (ru) Система и способ для лечения методом лучевой терапии
JP2017023339A5 (enExample)
JP2019502444A5 (enExample)
JP2018187754A5 (ja) ロボットシステム及びロボットの制御方法
JP2017532134A5 (enExample)
EP3287343A3 (en) Steering control device
WO2019043508A3 (en) Endocutter control system