JP2019146970A - モジュール式手術用ロボットシステム - Google Patents
モジュール式手術用ロボットシステム Download PDFInfo
- Publication number
- JP2019146970A JP2019146970A JP2019054927A JP2019054927A JP2019146970A JP 2019146970 A JP2019146970 A JP 2019146970A JP 2019054927 A JP2019054927 A JP 2019054927A JP 2019054927 A JP2019054927 A JP 2019054927A JP 2019146970 A JP2019146970 A JP 2019146970A
- Authority
- JP
- Japan
- Prior art keywords
- component
- arm
- robotic
- patient
- shoulder
- 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.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—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
- 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
- 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
- A61M1/00—Suction or pumping devices for medical purposes; Devices for carrying-off, for treatment of, or for carrying-over, body-liquids; Drainage systems
- A61M1/71—Suction drainage systems
- A61M1/77—Suction-irrigation 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
- A61B34/20—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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2059—Mechanical position encoders
-
- 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
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37297—Two measurements, on driving motor and on slide or on both sides of motor
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pulmonology (AREA)
- Vascular Medicine (AREA)
- Anesthesiology (AREA)
- Hematology (AREA)
- Manipulator (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Otolaryngology (AREA)
- Biophysics (AREA)
Abstract
Description
しかしながら、腹腔鏡検査のような公知の低侵襲技術は、範囲と複雑度に限界がある。これは部分的には、1)アクセスポートから挿入される剛体の器具の使用によって可動性に制限があるため、2)視覚的なフィードバックに限界があるためである。ダ・ヴィンチ(da Vinci)(登録商標)サージカルシステム(カリフォルニア州サニーベール(Sunnyvale)所在のインテュイティブサージカル社(Intuitive Surgical Inc.)から入手可能)などの公知のロボットシステムにもアクセスポートによる制限がある。更に、このような公知のロボットシステムは非常に大型で高価であり、多くの病院において利用不可能であり、知覚能力および可動能力に限界があるという不利点を備えている。
a.患者の内部に完全に配置されるように寸法が設定されたモジュール式ロボットデバイスであって、
i.第1肩部構成要素及び第2肩部構成要素を含む本体構成要素と、
ii.前記第1肩部構成要素によって前記本体構成要素に対して作動的に接続された第1の可動セグメント式ロボット腕と、
iii.前記第2肩部構成要素によって前記本体構成要素に対して作動的に接続された第2可動セグメント式ロボット腕と、
iv.前記第1ロボット腕に対して作動的に接続された第1動作構成要素と、
v.前記第2ロボット腕に対して作動的に接続された第2動作構成要素と、を含む、モジュール式ロボットデバイスと、
b.患者の体を横断するポートと、
c.前記ポートを患者の内部から外部まで横切り、前記第1本体構成要素及び前記第2本体構成要素に連結するための支持ロッドと、
d.患者の外部から前記ポート及び前記支持ロッドを介して前記モジュール式ロボットデバイスを制御するためのオペレーションシステムであって、前記モジュール式ロボットデバイスと電気通信している、オペレーションシステムと、を含む。
a.患者の内部に完全に配置されるように寸法が設定されたモジュール式ロボットデバイスであって、
i.第1肩部構成要素と、
ii.第2肩部構成要素と、
iii.前記第1肩部構成要素を前記第2肩部構成要素に連結することによって形成される本体構成要素と、支持ロッドであって、前記第1肩部構成要素に回転可能に結合されており、前記支持ロッドを形成するために、前記第2肩部構成要素に回転可能に結合されている第2支持ロッド構成要素に接合することができる第1支持ロッド構成要素を更に含む支持ロッドと、
iv.前記支持ロッドを被覆することが可能なオーバチューブと、
v.前記第1肩部構成要素によって前記本体構成要素に対して作動的に接続された第1の可動セグメント式ロボット腕と、
vi.前記第2肩部構成要素によって前記本体構成要素に対して作動的に接続された第2可動セグメント式ロボット腕と、
vii.前記第1ロボット腕に対して作動的に接続された第1動作構成要素と、
viii.前記第2ロボット腕に対して作動的に接続された第2動作構成要素と、を含む、モジュール式ロボットデバイスと、
b.患者の体を横断するポートと、
c.患者の外部から前記ポート及び前記支持ロッドを介して前記モジュール式ロボットデバイスを制御するためのオペレーションシステムであって、前記モジュール式ロボットデバイスと電気通信している、オペレーションシステムと、を含む。
a.患者内部に完全に配置されるように寸法が設定されたモジュール式ロボットデバイスを提供するステップであって、
前記モジュール式ロボットデバイスが、
i.第1肩部構成要素及び第2肩部構成要素を含む本体構成要素と、
ii.前記第1肩部構成要素によって前記本体構成要素に対して作動的に接続された第1の可動セグメント式ロボット腕と、
iii.前記第2肩部構成要素によって前記本体構成要素に対して作動的に接続された第2可動セグメント式ロボット腕と、
iv.前記第1ロボット腕に対して作動的に接続された第1動作構成要素と、
v.前記第2ロボット腕に対して作動的に接続された第2動作構成要素と、を含む、ステップと、
b.患者の体腔壁を横断して配置され、且つ、前記支持梁及び前記支持ロッドが横断する流体的に密閉されたポートを提供するステップと、
c.前記ポートを患者の内部から外部まで横切り、前記第1本体構成要素及び前記第2本体構成要素に連結するための支持ロッドを提供するステップであって、前記支持ロッドが少なくとも1つのロッド構成要素を含む、ステップと、
d.前記支持ロッドを使用し、前記ポートを介して前記モジュール式手術用ロボットシステムの構成要素を患者の体内に挿入するステップと、
e.使用のため患者の体内において前記モジュール式手術用ロボットシステムを組み立てるステップと、を含む。
一実装例によれば、デバイス10は、単孔式腹腔鏡下手術用に設計されたポート32を使用し、通気された腹腔30内部に密閉することができる。別法として、デバイス10は自然孔から挿入されうるか、そうでなければ他の確立された手術方法とともに使用することができる。デバイス10は、腹腔内部において上記の支持ロッド20を使用して支持される。腹腔鏡下ポート32はまた、通気チューブ34、腹腔鏡36又はデバイスアセンブリに結合されてもされていなくてもよい他の可視化デバイスの挿入のために使用される。一例として、図3に5mm腹腔鏡36が示される。
組み立てられると、外部デバイス(不図示)は支持構成要素アセンブリを安定させるために使用することができる。この実装例によれば、デバイス10は、支持構成要素20に着脱可能に取り付けられたクランプを有する外部構成要素を使用して、患者の体腔内において所望の配置又は位置に維持される。別法として、外部構成要素は、支持構成要素に着脱可能に結合させることも取り付けることもできる任意の公知の取付構成要素を有することができる。
図12A〜12Dは、血管シーリング動作構成要素又はエンドエフェクタ82を有する前腕80の一設計を示す。血管シーリングデバイス82は切断構成要素及び様々な種類の焼灼法を含んでも含まなくてもよい。この例においては、図12B及び図12Dに最も良く示されるように、第1アクチュエータ84は平歯車84Aによってエンドエフェクタ82に結合されており、第2アクチュエータ86は平歯車86Aによってエンドエフェクタ82に結合されており、第3アクチュエータ88は平歯車88Aによってエンドエフェクタに結合されている。これら第1、第2及び第3アクチュエータ84、86、88は、前腕80の軸線(図2に記載される軸線DD)に沿うエンドエフェクタ82の回転とエンドエフェクタ82の開閉運動を提供し、エンドエフェクタ82内における切断デバイス(不図示)の並進を生じさせることができる。
Claims (1)
- モジュール式手術用ロボットシステムであって、
a.患者の内部に完全に配置されるように寸法が設定されたモジュール式ロボットデバイスであって、
i.第1肩部構成要素及び第2肩部構成要素を含む本体構成要素と、
ii.前記第1肩部構成要素によって前記本体構成要素に対して作動的に接続された第1の可動セグメント式ロボット腕と、
iii.前記第2肩部構成要素によって前記本体構成要素に対して作動的に接続された第2可動セグメント式ロボット腕と、
iv.前記第1ロボット腕に対して作動的に接続された第1動作構成要素と、
v.前記第2ロボット腕に対して作動的に接続された第2動作構成要素と、
を含む、モジュール式ロボットデバイスと、
b.患者の体を横断するポートと、
c.前記ポートを患者の内部から外部まで横切り、前記第1本体構成要素及び前記第2本体構成要素に連結するための支持ロッドと、
d.患者の外部から前記ポート及び前記支持ロッドを介して前記モジュール式ロボットデバイスを制御するためのオペレーションシステムであって、前記モジュール式ロボットデバイスと電気通信している、オペレーションシステムと、
を含む、モジュール式手術用ロボットシステム。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201261680809P | 2012-08-08 | 2012-08-08 | |
US61/680,809 | 2012-08-08 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015526504A Division JP6502848B2 (ja) | 2011-10-03 | 2012-10-09 | モジュール式手術用ロボットシステム |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2019146970A true JP2019146970A (ja) | 2019-09-05 |
Family
ID=50066740
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015526524A Pending JP2015526171A (ja) | 2012-08-08 | 2013-03-15 | ロボット手術用デバイス、システム及び関連の方法 |
JP2019054927A Pending JP2019146970A (ja) | 2012-08-08 | 2019-03-22 | モジュール式手術用ロボットシステム |
JP2019092315A Pending JP2019177147A (ja) | 2012-08-08 | 2019-05-15 | ロボットデバイス |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015526524A Pending JP2015526171A (ja) | 2012-08-08 | 2013-03-15 | ロボット手術用デバイス、システム及び関連の方法 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019092315A Pending JP2019177147A (ja) | 2012-08-08 | 2019-05-15 | ロボットデバイス |
Country Status (5)
Country | Link |
---|---|
US (2) | US10582973B2 (ja) |
EP (1) | EP2882331A4 (ja) |
JP (3) | JP2015526171A (ja) |
CA (1) | CA2880622C (ja) |
WO (1) | WO2014025399A1 (ja) |
Families Citing this family (140)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8219178B2 (en) | 2007-02-16 | 2012-07-10 | Catholic Healthcare West | Method and system for performing invasive medical procedures using a surgical robot |
US10653497B2 (en) | 2006-02-16 | 2020-05-19 | Globus Medical, Inc. | Surgical tool systems and methods |
US10893912B2 (en) | 2006-02-16 | 2021-01-19 | Globus Medical Inc. | Surgical tool systems and methods |
US10357184B2 (en) | 2012-06-21 | 2019-07-23 | Globus Medical, Inc. | Surgical tool systems and method |
US8679096B2 (en) | 2007-06-21 | 2014-03-25 | Board Of Regents Of The University Of Nebraska | Multifunctional operational component for robotic devices |
CA3068216C (en) | 2006-06-22 | 2023-03-07 | Board Of Regents Of The University Of Nebraska | Magnetically coupleable robotic devices and related methods |
US9579088B2 (en) | 2007-02-20 | 2017-02-28 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices for surgical visualization and device manipulation |
US8343171B2 (en) | 2007-07-12 | 2013-01-01 | Board Of Regents Of The University Of Nebraska | Methods and systems of actuation in robotic devices |
US20090076536A1 (en) | 2007-08-15 | 2009-03-19 | Board Of Regents Of The University Of Nebraska | Medical inflation, attachment, and delivery devices and related methods |
US9308050B2 (en) | 2011-04-01 | 2016-04-12 | Ecole Polytechnique Federale De Lausanne (Epfl) | Robotic system and method for spinal and other surgeries |
US9060781B2 (en) | 2011-06-10 | 2015-06-23 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to surgical end effectors |
US9089353B2 (en) | 2011-07-11 | 2015-07-28 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methods |
CA3098065C (en) | 2012-01-10 | 2023-10-31 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices for surgical access and insertion |
EP2844181B1 (en) | 2012-05-01 | 2021-03-10 | Board of Regents of the University of Nebraska | Single site robotic device and related systems |
US11864745B2 (en) | 2012-06-21 | 2024-01-09 | Globus Medical, Inc. | Surgical robotic system with retractor |
US12004905B2 (en) | 2012-06-21 | 2024-06-11 | Globus Medical, Inc. | Medical imaging systems using robotic actuators and related methods |
US10624710B2 (en) | 2012-06-21 | 2020-04-21 | Globus Medical, Inc. | System and method for measuring depth of instrumentation |
US11253327B2 (en) | 2012-06-21 | 2022-02-22 | Globus Medical, Inc. | Systems and methods for automatically changing an end-effector on a surgical robot |
US11395706B2 (en) | 2012-06-21 | 2022-07-26 | Globus Medical Inc. | Surgical robot platform |
US11399900B2 (en) | 2012-06-21 | 2022-08-02 | Globus Medical, Inc. | Robotic systems providing co-registration using natural fiducials and related methods |
US10136954B2 (en) | 2012-06-21 | 2018-11-27 | Globus Medical, Inc. | Surgical tool systems and method |
US11857266B2 (en) | 2012-06-21 | 2024-01-02 | Globus Medical, Inc. | System for a surveillance marker in robotic-assisted surgery |
US11298196B2 (en) | 2012-06-21 | 2022-04-12 | Globus Medical Inc. | Surgical robotic automation with tracking markers and controlled tool advancement |
US11793570B2 (en) | 2012-06-21 | 2023-10-24 | Globus Medical Inc. | Surgical robotic automation with tracking markers |
US11974822B2 (en) | 2012-06-21 | 2024-05-07 | Globus Medical Inc. | Method for a surveillance marker in robotic-assisted surgery |
US11317971B2 (en) | 2012-06-21 | 2022-05-03 | Globus Medical, Inc. | Systems and methods related to robotic guidance in surgery |
US11607149B2 (en) | 2012-06-21 | 2023-03-21 | Globus Medical Inc. | Surgical tool systems and method |
US11864839B2 (en) | 2012-06-21 | 2024-01-09 | Globus Medical Inc. | Methods of adjusting a virtual implant and related surgical navigation systems |
US11857149B2 (en) | 2012-06-21 | 2024-01-02 | Globus Medical, Inc. | Surgical robotic systems with target trajectory deviation monitoring and related methods |
US11116576B2 (en) | 2012-06-21 | 2021-09-14 | Globus Medical Inc. | Dynamic reference arrays and methods of use |
US10350013B2 (en) | 2012-06-21 | 2019-07-16 | Globus Medical, Inc. | Surgical tool systems and methods |
US10231791B2 (en) | 2012-06-21 | 2019-03-19 | Globus Medical, Inc. | Infrared signal based position recognition system for use with a robot-assisted surgery |
US11045267B2 (en) | 2012-06-21 | 2021-06-29 | Globus Medical, Inc. | Surgical robotic automation with tracking markers |
US10758315B2 (en) | 2012-06-21 | 2020-09-01 | Globus Medical Inc. | Method and system for improving 2D-3D registration convergence |
WO2013192598A1 (en) | 2012-06-21 | 2013-12-27 | Excelsius Surgical, L.L.C. | Surgical robot platform |
EP3680071B1 (en) | 2012-06-22 | 2021-09-01 | Board of Regents of the University of Nebraska | Local control robotic surgical devices |
US9770305B2 (en) | 2012-08-08 | 2017-09-26 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methods |
EP2882331A4 (en) | 2012-08-08 | 2016-03-23 | Univ Nebraska | ROBOTIC SURGICAL DEVICES, SYSTEMS AND CORRESPONDING METHODS |
WO2014160086A2 (en) | 2013-03-14 | 2014-10-02 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers |
US9888966B2 (en) | 2013-03-14 | 2018-02-13 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to force control surgical systems |
WO2014144220A1 (en) | 2013-03-15 | 2014-09-18 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methdos |
WO2014199413A1 (ja) * | 2013-06-13 | 2014-12-18 | テルモ株式会社 | 医療用マニピュレータおよびその制御方法 |
US10966700B2 (en) | 2013-07-17 | 2021-04-06 | Virtual Incision Corporation | Robotic surgical devices, systems and related methods |
US9283048B2 (en) | 2013-10-04 | 2016-03-15 | KB Medical SA | Apparatus and systems for precise guidance of surgical tools |
WO2015107099A1 (en) | 2014-01-15 | 2015-07-23 | KB Medical SA | Notched apparatus for guidance of an insertable instrument along an axis during spinal surgery |
EP3104803B1 (en) | 2014-02-11 | 2021-09-15 | KB Medical SA | Sterile handle for controlling a robotic surgical system from a sterile field |
KR102386763B1 (ko) * | 2014-03-04 | 2022-04-14 | 유니버셜 로보츠 에이/에스 | 산업용 로봇을 위한 안전 시스템 |
KR102541266B1 (ko) | 2014-03-17 | 2023-06-13 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 툴 포즈를 유지하는 시스템 및 방법 |
CN106659537B (zh) | 2014-04-24 | 2019-06-11 | Kb医疗公司 | 结合机器人手术系统使用的手术器械固持器 |
WO2015171614A1 (en) * | 2014-05-05 | 2015-11-12 | Vicarious Surgical Inc. | Virtual reality surgical device |
WO2016008880A1 (en) | 2014-07-14 | 2016-01-21 | KB Medical SA | Anti-skid surgical instrument for use in preparing holes in bone tissue |
CA2957620C (en) | 2014-09-04 | 2023-07-04 | Memic Innovative Surgery Ltd. | Device and system including mechanical arms |
EP3868322A1 (en) * | 2014-09-12 | 2021-08-25 | Board of Regents of the University of Nebraska | Quick-release effectors and related systems |
US10321964B2 (en) | 2014-09-15 | 2019-06-18 | Covidien Lp | Robotically controlling surgical assemblies |
EP4286104A3 (en) | 2014-11-11 | 2024-02-14 | Board of Regents of the University of Nebraska | Robotic device with compact joint design and related systems and methods |
US10013808B2 (en) | 2015-02-03 | 2018-07-03 | Globus Medical, Inc. | Surgeon head-mounted display apparatuses |
WO2016131903A1 (en) | 2015-02-18 | 2016-08-25 | KB Medical SA | Systems and methods for performing minimally invasive spinal surgery with a robotic surgical system using a percutaneous technique |
WO2016183054A1 (en) | 2015-05-11 | 2016-11-17 | Covidien Lp | Coupling instrument drive unit and robotic surgical instrument |
EP3310288A4 (en) | 2015-06-19 | 2019-03-06 | Covidien LP | CONTROL OF ROBOTIC SURGICAL INSTRUMENTS WITH BIDIRECTIONAL COUPLING |
US10646298B2 (en) | 2015-07-31 | 2020-05-12 | Globus Medical, Inc. | Robot arm and methods of use |
US10058394B2 (en) | 2015-07-31 | 2018-08-28 | Globus Medical, Inc. | Robot arm and methods of use |
US10806538B2 (en) | 2015-08-03 | 2020-10-20 | Virtual Incision Corporation | Robotic surgical devices, systems, and related methods |
US10080615B2 (en) | 2015-08-12 | 2018-09-25 | Globus Medical, Inc. | Devices and methods for temporary mounting of parts to bone |
EP3344179B1 (en) | 2015-08-31 | 2021-06-30 | KB Medical SA | Robotic surgical systems |
US20170239005A1 (en) | 2015-09-04 | 2017-08-24 | Memic Innovative Surgery Ltd. | Actuation of a device comprising mechanical arms |
US10034716B2 (en) | 2015-09-14 | 2018-07-31 | Globus Medical, Inc. | Surgical robotic systems and methods thereof |
US9771092B2 (en) | 2015-10-13 | 2017-09-26 | Globus Medical, Inc. | Stabilizer wheel assembly and methods of use |
US10842453B2 (en) | 2016-02-03 | 2020-11-24 | Globus Medical, Inc. | Portable medical imaging system |
US10448910B2 (en) | 2016-02-03 | 2019-10-22 | Globus Medical, Inc. | Portable medical imaging system |
US11058378B2 (en) | 2016-02-03 | 2021-07-13 | Globus Medical, Inc. | Portable medical imaging system |
US11883217B2 (en) | 2016-02-03 | 2024-01-30 | Globus Medical, Inc. | Portable medical imaging system and method |
US10117632B2 (en) | 2016-02-03 | 2018-11-06 | Globus Medical, Inc. | Portable medical imaging system with beam scanning collimator |
CA2960354A1 (en) * | 2016-03-09 | 2017-09-09 | Memic Innovative Surgery Ltd. | Modular device comprising mechanical arms |
US10866119B2 (en) | 2016-03-14 | 2020-12-15 | Globus Medical, Inc. | Metal detector for detecting insertion of a surgical device into a hollow tube |
EP3241518A3 (en) | 2016-04-11 | 2018-01-24 | Globus Medical, Inc | Surgical tool systems and methods |
EP3457951B1 (en) * | 2016-05-18 | 2024-03-06 | Virtual Incision Corporation | Robotic surgical devices and systems |
CN113328581B (zh) | 2016-05-26 | 2024-06-11 | 柯惠Lp公司 | 器械驱动单元 |
WO2018039606A1 (en) | 2016-08-25 | 2018-03-01 | Virtual Incision Corporation | Quick-release tool coupler and related systems and methods |
CN109890580B (zh) * | 2016-08-30 | 2022-06-28 | 内布拉斯加大学董事会 | 具有紧凑型关节设计和附加自由度的机器人装置及相关系统和方法 |
EP3544539A4 (en) | 2016-11-22 | 2020-08-05 | Board of Regents of the University of Nebraska | ENHANCED COARSE POSITIONING DEVICE AND RELATED SYSTEMS AND PROCESSES |
CA3045462A1 (en) | 2016-11-29 | 2018-06-07 | Virtual Incision Corporation | User controller with user presence detection and related systems and methods |
WO2018112199A1 (en) | 2016-12-14 | 2018-06-21 | Virtual Incision Corporation | Releasable attachment device for coupling to medical devices and related systems and methods |
EP3360502A3 (en) | 2017-01-18 | 2018-10-31 | KB Medical SA | Robotic navigation of robotic surgical systems |
US11350977B2 (en) * | 2017-03-08 | 2022-06-07 | Memic Innovative Surgery Ltd. | Modular electrosurgical device |
EP3592274A4 (en) * | 2017-03-08 | 2021-04-07 | Memic Innovative Surgery Ltd. | ELECTROSURGICAL DEVICE |
US11779410B2 (en) | 2017-03-09 | 2023-10-10 | Momentis Surgical Ltd | Control console including an input arm for control of a surgical mechanical arm |
US10973592B2 (en) | 2017-03-09 | 2021-04-13 | Memie Innovative Surgery Ltd. | Control console for surgical device with mechanical arms |
US11071594B2 (en) | 2017-03-16 | 2021-07-27 | KB Medical SA | Robotic navigation of robotic surgical systems |
US11135015B2 (en) | 2017-07-21 | 2021-10-05 | Globus Medical, Inc. | Robot surgical platform |
WO2019067763A1 (en) | 2017-09-27 | 2019-04-04 | Virtual Incision Corporation | ROBOTISED SURGICAL DEVICES WITH TRACKING CAMERA TECHNOLOGY AND RELATED SYSTEMS AND METHODS |
JP6778242B2 (ja) | 2017-11-09 | 2020-10-28 | グローバス メディカル インコーポレイティッド | 手術用ロッドを曲げるための手術用ロボットシステム、および関連する方法および装置 |
US11357548B2 (en) | 2017-11-09 | 2022-06-14 | Globus Medical, Inc. | Robotic rod benders and related mechanical and motor housings |
US11794338B2 (en) | 2017-11-09 | 2023-10-24 | Globus Medical Inc. | Robotic rod benders and related mechanical and motor housings |
US11134862B2 (en) | 2017-11-10 | 2021-10-05 | Globus Medical, Inc. | Methods of selecting surgical implants and related devices |
EP3735341A4 (en) | 2018-01-05 | 2021-10-06 | Board of Regents of the University of Nebraska | ROBOTIC DEVICE HAVING A SINGLE ARM OF A COMPACT JOINT DESIGN AND RELATED SYSTEMS AND PROCESSES |
US20190254753A1 (en) | 2018-02-19 | 2019-08-22 | Globus Medical, Inc. | Augmented reality navigation systems for use with robotic surgical systems and methods of their use |
US10573023B2 (en) | 2018-04-09 | 2020-02-25 | Globus Medical, Inc. | Predictive visualization of medical imaging scanner component movement |
US11337742B2 (en) | 2018-11-05 | 2022-05-24 | Globus Medical Inc | Compliant orthopedic driver |
US11278360B2 (en) | 2018-11-16 | 2022-03-22 | Globus Medical, Inc. | End-effectors for surgical robotic systems having sealed optical components |
US11602402B2 (en) | 2018-12-04 | 2023-03-14 | Globus Medical, Inc. | Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems |
US11744655B2 (en) | 2018-12-04 | 2023-09-05 | Globus Medical, Inc. | Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems |
CN114302665A (zh) | 2019-01-07 | 2022-04-08 | 虚拟切割有限公司 | 机器人辅助手术系统以及相关装置和方法 |
US11918313B2 (en) | 2019-03-15 | 2024-03-05 | Globus Medical Inc. | Active end effectors for surgical robots |
US11382549B2 (en) | 2019-03-22 | 2022-07-12 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, and related methods and devices |
US11806084B2 (en) | 2019-03-22 | 2023-11-07 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, and related methods and devices |
US11317978B2 (en) | 2019-03-22 | 2022-05-03 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices |
US11419616B2 (en) | 2019-03-22 | 2022-08-23 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices |
US11571265B2 (en) | 2019-03-22 | 2023-02-07 | Globus Medical Inc. | System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices |
US20200297357A1 (en) | 2019-03-22 | 2020-09-24 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices |
US11045179B2 (en) | 2019-05-20 | 2021-06-29 | Global Medical Inc | Robot-mounted retractor system |
US11628023B2 (en) | 2019-07-10 | 2023-04-18 | Globus Medical, Inc. | Robotic navigational system for interbody implants |
US11571171B2 (en) | 2019-09-24 | 2023-02-07 | Globus Medical, Inc. | Compound curve cable chain |
US11426178B2 (en) | 2019-09-27 | 2022-08-30 | Globus Medical Inc. | Systems and methods for navigating a pin guide driver |
US11890066B2 (en) | 2019-09-30 | 2024-02-06 | Globus Medical, Inc | Surgical robot with passive end effector |
US11864857B2 (en) | 2019-09-27 | 2024-01-09 | Globus Medical, Inc. | Surgical robot with passive end effector |
US11510684B2 (en) | 2019-10-14 | 2022-11-29 | Globus Medical, Inc. | Rotary motion passive end effector for surgical robots in orthopedic surgeries |
US11992373B2 (en) | 2019-12-10 | 2024-05-28 | Globus Medical, Inc | Augmented reality headset with varied opacity for navigated robotic surgery |
US11382699B2 (en) | 2020-02-10 | 2022-07-12 | Globus Medical Inc. | Extended reality visualization of optical tool tracking volume for computer assisted navigation in surgery |
US11207150B2 (en) | 2020-02-19 | 2021-12-28 | Globus Medical, Inc. | Displaying a virtual model of a planned instrument attachment to ensure correct selection of physical instrument attachment |
US11253216B2 (en) | 2020-04-28 | 2022-02-22 | Globus Medical Inc. | Fixtures for fluoroscopic imaging systems and related navigation systems and methods |
US11382700B2 (en) | 2020-05-08 | 2022-07-12 | Globus Medical Inc. | Extended reality headset tool tracking and control |
US11153555B1 (en) | 2020-05-08 | 2021-10-19 | Globus Medical Inc. | Extended reality headset camera system for computer assisted navigation in surgery |
US11510750B2 (en) | 2020-05-08 | 2022-11-29 | Globus Medical, Inc. | Leveraging two-dimensional digital imaging and communication in medicine imagery in three-dimensional extended reality applications |
US11317973B2 (en) | 2020-06-09 | 2022-05-03 | Globus Medical, Inc. | Camera tracking bar for computer assisted navigation during surgery |
US11382713B2 (en) | 2020-06-16 | 2022-07-12 | Globus Medical, Inc. | Navigated surgical system with eye to XR headset display calibration |
US11877807B2 (en) | 2020-07-10 | 2024-01-23 | Globus Medical, Inc | Instruments for navigated orthopedic surgeries |
US11793588B2 (en) | 2020-07-23 | 2023-10-24 | Globus Medical, Inc. | Sterile draping of robotic arms |
CN111728654B (zh) * | 2020-07-23 | 2021-06-01 | 西安交通大学医学院第一附属医院 | 一种基于机械臂的手术自动缝合器 |
US11737831B2 (en) | 2020-09-02 | 2023-08-29 | Globus Medical Inc. | Surgical object tracking template generation for computer assisted navigation during surgical procedure |
CN111991087B (zh) * | 2020-09-10 | 2022-02-11 | 苏州大学 | 一种微创手术机器人及其末端执行器 |
US11523785B2 (en) | 2020-09-24 | 2022-12-13 | Globus Medical, Inc. | Increased cone beam computed tomography volume length without requiring stitching or longitudinal C-arm movement |
US11911112B2 (en) | 2020-10-27 | 2024-02-27 | Globus Medical, Inc. | Robotic navigational system |
US11941814B2 (en) | 2020-11-04 | 2024-03-26 | Globus Medical Inc. | Auto segmentation using 2-D images taken during 3-D imaging spin |
US11717350B2 (en) | 2020-11-24 | 2023-08-08 | Globus Medical Inc. | Methods for robotic assistance and navigation in spinal surgery and related systems |
EP4331521A1 (en) * | 2021-04-28 | 2024-03-06 | Livsmed Inc. | Multi-joint type surgical device |
JP7393383B2 (ja) * | 2021-05-24 | 2023-12-06 | 川崎重工業株式会社 | 手術支援ロボットおよび多関節ロボットの作動方法 |
US11857273B2 (en) | 2021-07-06 | 2024-01-02 | Globus Medical, Inc. | Ultrasonic robotic surgical navigation |
US11439444B1 (en) | 2021-07-22 | 2022-09-13 | Globus Medical, Inc. | Screw tower and rod reduction tool |
US11918304B2 (en) | 2021-12-20 | 2024-03-05 | Globus Medical, Inc | Flat panel registration fixture and method of using same |
WO2023156965A1 (en) * | 2022-02-18 | 2023-08-24 | Neuwave Medical, Inc. | Coupling devices and related systems |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010536436A (ja) * | 2007-08-15 | 2010-12-02 | ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ | モジュール式および協調型の医療装置ならびに関連するシステムおよび方法 |
US20110152615A1 (en) * | 2009-08-21 | 2011-06-23 | Novineon Healthcare Technology Partners, Gmbh | Surgical manipulator |
WO2011135503A1 (en) * | 2010-04-26 | 2011-11-03 | Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna | Robotic apparatus for minimally invasive surgery |
JP2015524702A (ja) * | 2011-10-03 | 2015-08-27 | ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ | ロボット手術用デバイス、システム及び関連の方法 |
Family Cites Families (539)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2858947A (en) | 1953-11-16 | 1958-11-04 | Garrett Corp | Remote control manipulating apparatus |
JPS5115425B1 (ja) | 1970-12-29 | 1976-05-17 | ||
FR2183584B1 (ja) | 1972-05-10 | 1974-09-27 | Commissariat Energie Atomique | |
US3870264A (en) | 1973-03-26 | 1975-03-11 | William I Robinson | Stand |
US3971266A (en) | 1973-07-17 | 1976-07-27 | Nippondenso Co., Ltd. | Power transmission device |
DE2339827B2 (de) | 1973-08-06 | 1977-02-24 | A6 In 3-02 | Zahnaerztliches geraet |
US3922930A (en) | 1974-12-23 | 1975-12-02 | Nasa | Remotely operable articulated manipulator |
US4258716A (en) | 1978-02-06 | 1981-03-31 | The University Of Melbourne | Microsurgical instruments |
JPS5519124A (en) | 1978-07-27 | 1980-02-09 | Olympus Optical Co | Camera system for medical treatment |
US4246661A (en) | 1979-03-15 | 1981-01-27 | The Boeing Company | Digitally-controlled artificial hand |
US4353677A (en) | 1980-03-05 | 1982-10-12 | Thermwood Corporation | Wrist construction for industrial robots |
JPH0659635B2 (ja) | 1981-10-07 | 1994-08-10 | 株式会社日立製作所 | ロボツト手首 |
JPS58132490A (ja) | 1982-01-29 | 1983-08-06 | 株式会社日立製作所 | 角度伝達機構 |
US4636138A (en) | 1982-02-05 | 1987-01-13 | American Robot Corporation | Industrial robot |
US4645409A (en) | 1982-02-05 | 1987-02-24 | American Cimflex Corporation | Outer arm assembly for industrial robot |
JPS5959371A (ja) | 1982-09-30 | 1984-04-05 | フアナツク株式会社 | 工業用ロボツト |
US5307447A (en) | 1982-10-29 | 1994-04-26 | Kabushiki Kaisha Toshiba | Control system of multi-joint arm robot apparatus |
GB2130889B (en) | 1982-11-26 | 1986-06-18 | Wolf Gmbh Richard | Rectoscope |
JPS6076986A (ja) | 1983-09-30 | 1985-05-01 | 株式会社東芝 | ロボツト |
GB2162814B (en) | 1984-01-13 | 1988-02-24 | Mitsubishi Electric Corp | Wrist apparatus for industrial robot |
DE3536747A1 (de) | 1984-10-15 | 1986-04-24 | Tokico Ltd., Kawasaki, Kanagawa | Gelenkmechanismus |
DE3441332A1 (de) | 1984-11-12 | 1986-05-22 | Forschungsinstitut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen in der Institutsgemeinschaft Stuttgart e.V., 7000 Stuttgart | Gelenkantrieb, insbesondere fuer industrieroboter |
DE3525806A1 (de) | 1985-07-19 | 1987-01-29 | Kuka Schweissanlagen & Roboter | Getriebekopf fuer manipulatoren |
JPS6268293A (ja) | 1985-09-20 | 1987-03-28 | 株式会社明電舎 | マニピユレ−タ肩機構 |
DE3545068A1 (de) | 1985-12-19 | 1987-06-25 | Kuka Schweissanlagen & Roboter | Getriebekopf fuer manipulatoren |
DE3612498A1 (de) | 1986-04-14 | 1987-10-29 | Norske Stats Oljeselskap | Selbstfahrendes fahrzeug fuer rohrleitungen |
US4787270A (en) | 1987-02-11 | 1988-11-29 | Cincinnati Milacron Inc. | Robotic manipulator |
US4762455A (en) | 1987-06-01 | 1988-08-09 | Remote Technology Corporation | Remote manipulator |
IT1211195B (it) | 1987-07-10 | 1989-10-12 | Bruno Bisiach | Robot industriale a molteplici articolazioni a piu gradi di liberta di movimento |
ATE120681T1 (de) | 1987-11-30 | 1995-04-15 | Mark E Rosheim | Handgelenkroboter. |
JP2591968B2 (ja) | 1987-12-28 | 1997-03-19 | 株式会社日立製作所 | 産業用ロボットの手首 |
US5187796A (en) | 1988-03-29 | 1993-02-16 | Computer Motion, Inc. | Three-dimensional vector co-processor having I, J, and K register files and I, J, and K execution units |
US5019968A (en) | 1988-03-29 | 1991-05-28 | Yulan Wang | Three-dimensional vector processor |
US5108140A (en) | 1988-04-18 | 1992-04-28 | Odetics, Inc. | Reconfigurable end effector |
JPH0224075A (ja) | 1988-07-13 | 1990-01-26 | Mitsubishi Electric Corp | 産業用ロボット |
US4896015A (en) | 1988-07-29 | 1990-01-23 | Refractive Laser Research & Development Program, Ltd. | Laser delivery system |
US4897014A (en) | 1988-09-06 | 1990-01-30 | Harbor Branch Oceanographic Institution, Inc. | Device for interchange of tools |
US5201325A (en) | 1989-09-01 | 1993-04-13 | Andronic Devices Ltd. | Advanced surgical retractor |
US5271384A (en) | 1989-09-01 | 1993-12-21 | Mcewen James A | Powered surgical retractor |
US5562448A (en) | 1990-04-10 | 1996-10-08 | Mushabac; David R. | Method for facilitating dental diagnosis and treatment |
JP2914388B2 (ja) | 1990-04-17 | 1999-06-28 | 株式会社ユアサコーポレーション | 高分子固体電解質 |
IT1241622B (it) | 1990-10-04 | 1994-01-25 | Comau Spa | Polso di robot |
IT1241621B (it) | 1990-10-04 | 1994-01-25 | Comau Spa | Robot articolato |
JPH04144533A (ja) | 1990-10-05 | 1992-05-19 | Olympus Optical Co Ltd | 内視鏡 |
US5176649A (en) | 1991-01-28 | 1993-01-05 | Akio Wakabayashi | Insertion device for use with curved, rigid endoscopic instruments and the like |
US5217003A (en) | 1991-03-18 | 1993-06-08 | Wilk Peter J | Automated surgical system and apparatus |
US5172639A (en) | 1991-03-26 | 1992-12-22 | Gas Research Institute | Cornering pipe traveler |
US5632761A (en) | 1991-05-29 | 1997-05-27 | Origin Medsystems, Inc. | Inflatable devices for separating layers of tissue, and methods of using |
US5370134A (en) | 1991-05-29 | 1994-12-06 | Orgin Medsystems, Inc. | Method and apparatus for body structure manipulation and dissection |
EP0835639A3 (en) | 1991-05-29 | 1999-04-07 | Origin Medsystems, Inc. | Retraction apparatus for endoscopic surgery |
US5417210A (en) | 1992-05-27 | 1995-05-23 | International Business Machines Corporation | System and method for augmentation of endoscopic surgery |
US5284096A (en) | 1991-08-06 | 1994-02-08 | Osaka Gas Company, Limited | Vehicle for use in pipes |
US5674030A (en) | 1991-08-27 | 1997-10-07 | Sika Equipment Ag. | Device and method for repairing building branch lines in inacessible sewer mains |
JP2526537B2 (ja) | 1991-08-30 | 1996-08-21 | 日本電装株式会社 | 配管内エネルギ―供給システム |
US5305653A (en) | 1991-09-30 | 1994-04-26 | Tokico Ltd. | Robot wrist mechanism |
JPH05115425A (ja) | 1991-10-25 | 1993-05-14 | Olympus Optical Co Ltd | 内視鏡 |
US6731988B1 (en) | 1992-01-21 | 2004-05-04 | Sri International | System and method for remote endoscopic surgery |
US6963792B1 (en) | 1992-01-21 | 2005-11-08 | Sri International | Surgical method |
ATE238140T1 (de) | 1992-01-21 | 2003-05-15 | Stanford Res Inst Int | Chirurgisches system |
US5631973A (en) | 1994-05-05 | 1997-05-20 | Sri International | Method for telemanipulation with telepresence |
US5624380A (en) | 1992-03-12 | 1997-04-29 | Olympus Optical Co., Ltd. | Multi-degree of freedom manipulator |
US5263382A (en) | 1992-04-13 | 1993-11-23 | Hughes Aircraft Company | Six Degrees of freedom motion device |
US5372147A (en) | 1992-06-16 | 1994-12-13 | Origin Medsystems, Inc. | Peritoneal distension robotic arm |
US5297443A (en) | 1992-07-07 | 1994-03-29 | Wentz John D | Flexible positioning appendage |
US5657429A (en) | 1992-08-10 | 1997-08-12 | Computer Motion, Inc. | Automated endoscope system optimal positioning |
US5754741A (en) | 1992-08-10 | 1998-05-19 | Computer Motion, Inc. | Automated endoscope for optimal positioning |
US5515478A (en) | 1992-08-10 | 1996-05-07 | Computer Motion, Inc. | Automated endoscope system for optimal positioning |
US7074179B2 (en) | 1992-08-10 | 2006-07-11 | Intuitive Surgical Inc | Method and apparatus for performing minimally invasive cardiac procedures |
US5524180A (en) | 1992-08-10 | 1996-06-04 | Computer Motion, Inc. | Automated endoscope system for optimal positioning |
US5762458A (en) | 1996-02-20 | 1998-06-09 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive cardiac procedures |
US5588442A (en) | 1992-08-12 | 1996-12-31 | Scimed Life Systems, Inc. | Shaft movement control apparatus and method |
US5458131A (en) | 1992-08-25 | 1995-10-17 | Wilk; Peter J. | Method for use in intra-abdominal surgery |
US5297536A (en) | 1992-08-25 | 1994-03-29 | Wilk Peter J | Method for use in intra-abdominal surgery |
US5397323A (en) | 1992-10-30 | 1995-03-14 | International Business Machines Corporation | Remote center-of-motion robot for surgery |
US5769640A (en) | 1992-12-02 | 1998-06-23 | Cybernet Systems Corporation | Method and system for simulating medical procedures including virtual reality and control method and system for use therein |
US5353807A (en) | 1992-12-07 | 1994-10-11 | Demarco Thomas J | Magnetically guidable intubation device |
CA2112271A1 (en) | 1992-12-28 | 1994-06-29 | Kiichi Suyama | Intrapipe work robot apparatus and method of measuring position of intrapipe work robot |
JP3073019B2 (ja) | 1993-01-07 | 2000-08-07 | メディカル・イノヴェーションズ・コーポレーション | 胃瘻形成術用カテーテル・システム |
US6346074B1 (en) | 1993-02-22 | 2002-02-12 | Heartport, Inc. | Devices for less invasive intracardiac interventions |
US6832996B2 (en) | 1995-06-07 | 2004-12-21 | Arthrocare Corporation | Electrosurgical systems and methods for treating tissue |
US5363935A (en) | 1993-05-14 | 1994-11-15 | Carnegie Mellon University | Reconfigurable mobile vehicle with magnetic tracks |
US5791231A (en) | 1993-05-17 | 1998-08-11 | Endorobotics Corporation | Surgical robotic system and hydraulic actuator therefor |
JP3349197B2 (ja) | 1993-06-30 | 2002-11-20 | テルモ株式会社 | トロカール管 |
US5441494A (en) | 1993-07-29 | 1995-08-15 | Ethicon, Inc. | Manipulable hand for laparoscopy |
CA2103626A1 (en) | 1993-08-09 | 1995-02-10 | Septimiu Edmund Salcudean | Motion scaling tele-operating system with force feedback suitable for microsurgery |
US5728599A (en) | 1993-10-28 | 1998-03-17 | Lsi Logic Corporation | Printable superconductive leadframes for semiconductor device assembly |
JP3476878B2 (ja) | 1993-11-15 | 2003-12-10 | オリンパス株式会社 | 手術用マニピュレータ |
US5876325A (en) | 1993-11-02 | 1999-03-02 | Olympus Optical Co., Ltd. | Surgical manipulation system |
US5458598A (en) | 1993-12-02 | 1995-10-17 | Cabot Technology Corporation | Cutting and coagulating forceps |
WO1995016396A1 (en) | 1993-12-15 | 1995-06-22 | Computer Motion, Inc. | Automated endoscope system for optimal positioning |
US5436542A (en) | 1994-01-28 | 1995-07-25 | Surgix, Inc. | Telescopic camera mount with remotely controlled positioning |
US5471515A (en) | 1994-01-28 | 1995-11-28 | California Institute Of Technology | Active pixel sensor with intra-pixel charge transfer |
JPH07223180A (ja) | 1994-02-10 | 1995-08-22 | Tescon:Kk | 水平多関節ロボット |
JP3226710B2 (ja) | 1994-05-10 | 2001-11-05 | 株式会社東芝 | 検査用画像処理装置及び方式 |
US5620417A (en) | 1994-07-07 | 1997-04-15 | Cardiovascular Imaging Systems Incorporated | Rapid exchange delivery catheter |
US5623582A (en) | 1994-07-14 | 1997-04-22 | Immersion Human Interface Corporation | Computer interface or control input device for laparoscopic surgical instrument and other elongated mechanical objects |
US5603702A (en) | 1994-08-08 | 1997-02-18 | United States Surgical Corporation | Valve system for cannula assembly |
US6646541B1 (en) | 1996-06-24 | 2003-11-11 | Computer Motion, Inc. | General purpose distributed operating room control system |
US6463361B1 (en) | 1994-09-22 | 2002-10-08 | Computer Motion, Inc. | Speech interface for an automated endoscopic system |
US7053752B2 (en) | 1996-08-06 | 2006-05-30 | Intuitive Surgical | General purpose distributed operating room control system |
US5797538A (en) | 1994-10-05 | 1998-08-25 | United States Surgical Corporation | Articulating apparatus for applying surgical fasteners to body tissue |
US6071274A (en) | 1996-12-19 | 2000-06-06 | Ep Technologies, Inc. | Loop structures for supporting multiple electrode elements |
US5653705A (en) | 1994-10-07 | 1997-08-05 | General Surgical Innovations, Inc. | Laparoscopic access port for surgical instruments or the hand |
US5672168A (en) | 1994-10-07 | 1997-09-30 | De La Torre; Roger A. | Laparoscopic access port for surgical instruments or the hand |
US5645520A (en) | 1994-10-12 | 1997-07-08 | Computer Motion, Inc. | Shape memory alloy actuated rod for endoscopic instruments |
US5814062A (en) | 1994-12-22 | 1998-09-29 | Target Therapeutics, Inc. | Implant delivery assembly with expandable coupling/decoupling mechanism |
JP3610110B2 (ja) | 1995-02-23 | 2005-01-12 | オリンパス株式会社 | 医療用マニピュレータ |
GB2301187B (en) | 1995-05-22 | 1999-04-21 | British Gas Plc | Method of and apparatus for locating an anomaly in a duct |
US5657584A (en) | 1995-07-24 | 1997-08-19 | Rensselaer Polytechnic Institute | Concentric joint mechanism |
US6714841B1 (en) | 1995-09-15 | 2004-03-30 | Computer Motion, Inc. | Head cursor control interface for an automated endoscope system for optimal positioning |
US5825982A (en) | 1995-09-15 | 1998-10-20 | Wright; James | Head cursor control interface for an automated endoscope system for optimal positioning |
US6283951B1 (en) | 1996-10-11 | 2001-09-04 | Transvascular, Inc. | Systems and methods for delivering drugs to selected locations within the body |
US5624398A (en) | 1996-02-08 | 1997-04-29 | Symbiosis Corporation | Endoscopic robotic surgical tools and methods |
US6063095A (en) | 1996-02-20 | 2000-05-16 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive surgical procedures |
US5855583A (en) | 1996-02-20 | 1999-01-05 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive cardiac procedures |
US6436107B1 (en) | 1996-02-20 | 2002-08-20 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive surgical procedures |
US5971976A (en) | 1996-02-20 | 1999-10-26 | Computer Motion, Inc. | Motion minimization and compensation system for use in surgical procedures |
US6699177B1 (en) | 1996-02-20 | 2004-03-02 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive surgical procedures |
US5895417A (en) | 1996-03-06 | 1999-04-20 | Cardiac Pathways Corporation | Deflectable loop design for a linear lesion ablation apparatus |
US6544276B1 (en) | 1996-05-20 | 2003-04-08 | Medtronic Ave. Inc. | Exchange method for emboli containment |
US6652480B1 (en) | 1997-03-06 | 2003-11-25 | Medtronic Ave., Inc. | Methods for reducing distal embolization |
US5807377A (en) | 1996-05-20 | 1998-09-15 | Intuitive Surgical, Inc. | Force-reflecting surgical instrument and positioning mechanism for performing minimally invasive surgery with enhanced dexterity and sensitivity |
US5797900A (en) | 1996-05-20 | 1998-08-25 | Intuitive Surgical, Inc. | Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
US5792135A (en) | 1996-05-20 | 1998-08-11 | Intuitive Surgical, Inc. | Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
US6496099B2 (en) | 1996-06-24 | 2002-12-17 | Computer Motion, Inc. | General purpose distributed operating room control system |
US6911916B1 (en) | 1996-06-24 | 2005-06-28 | The Cleveland Clinic Foundation | Method and apparatus for accessing medical data over a network |
US6642836B1 (en) | 1996-08-06 | 2003-11-04 | Computer Motion, Inc. | General purpose distributed operating room control system |
US6106521A (en) | 1996-08-16 | 2000-08-22 | United States Surgical Corporation | Apparatus for thermal treatment of tissue |
US6364888B1 (en) | 1996-09-09 | 2002-04-02 | Intuitive Surgical, Inc. | Alignment of master and slave in a minimally invasive surgical apparatus |
US6520951B1 (en) | 1996-09-13 | 2003-02-18 | Scimed Life Systems, Inc. | Rapid exchange catheter with detachable hood |
KR20000036120A (ko) | 1996-09-13 | 2000-06-26 | 둘락 노먼 씨. | 파르네실 단백질 트랜스퍼라제에 대한 트리사이클릭 저해제 |
IT1285533B1 (it) | 1996-10-22 | 1998-06-08 | Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant Anna | Robot endoscopico |
US5845646A (en) | 1996-11-05 | 1998-12-08 | Lemelson; Jerome | System and method for treating select tissue in a living being |
US6293282B1 (en) | 1996-11-05 | 2001-09-25 | Jerome Lemelson | System and method for treating select tissue in living being |
US6058323A (en) | 1996-11-05 | 2000-05-02 | Lemelson; Jerome | System and method for treating select tissue in a living being |
US6286514B1 (en) | 1996-11-05 | 2001-09-11 | Jerome Lemelson | System and method for treating select tissue in a living being |
US6132441A (en) | 1996-11-22 | 2000-10-17 | Computer Motion, Inc. | Rigidly-linked articulating wrist with decoupled motion transmission |
US5993467A (en) | 1996-11-27 | 1999-11-30 | Yoon; Inbae | Suturing instrument with rotatably mounted spreadable needle holder |
US6132368A (en) | 1996-12-12 | 2000-10-17 | Intuitive Surgical, Inc. | Multi-component telepresence system and method |
US6331181B1 (en) | 1998-12-08 | 2001-12-18 | Intuitive Surgical, Inc. | Surgical robotic tools, data architecture, and use |
US5910129A (en) | 1996-12-19 | 1999-06-08 | Ep Technologies, Inc. | Catheter distal assembly with pull wires |
US6332880B1 (en) | 1996-12-19 | 2001-12-25 | Ep Technologies, Inc. | Loop structures for supporting multiple electrode elements |
US6086529A (en) | 1997-05-13 | 2000-07-11 | Wisconsin Medical, Inc. | Bronchoscopic manifold with compressible diaphragmatic valve for simultaneous airway instrumentation |
US6066090A (en) | 1997-06-19 | 2000-05-23 | Yoon; Inbae | Branched endoscope system |
CA2298540A1 (en) | 1997-08-20 | 1999-02-25 | David J. Julius | Nucleic acid sequences encoding capsaicin receptor and capsaicin receptor-related polypeptides and uses thereof |
US6714839B2 (en) | 1998-12-08 | 2004-03-30 | Intuitive Surgical, Inc. | Master having redundant degrees of freedom |
US6139563A (en) | 1997-09-25 | 2000-10-31 | Allegiance Corporation | Surgical device with malleable shaft |
JP3342021B2 (ja) | 1997-10-17 | 2002-11-05 | サーコン コーポレーション | 組織を貫通する医療機器システム |
US6240312B1 (en) | 1997-10-23 | 2001-05-29 | Robert R. Alfano | Remote-controllable, micro-scale device for use in in vivo medical diagnosis and/or treatment |
FR2771280B1 (fr) | 1997-11-26 | 2001-01-26 | Albert P Alby | Dispositif de liaison vertebrale resilient |
US6810281B2 (en) | 2000-12-21 | 2004-10-26 | Endovia Medical, Inc. | Medical mapping system |
US20020095175A1 (en) | 1998-02-24 | 2002-07-18 | Brock David L. | Flexible instrument |
US7090683B2 (en) | 1998-02-24 | 2006-08-15 | Hansen Medical, Inc. | Flexible instrument |
US20020128662A1 (en) | 1998-02-24 | 2002-09-12 | Brock David L. | Surgical instrument |
US7371210B2 (en) | 1998-02-24 | 2008-05-13 | Hansen Medical, Inc. | Flexible instrument |
US7789875B2 (en) | 1998-02-24 | 2010-09-07 | Hansen Medical, Inc. | Surgical instruments |
US6692485B1 (en) | 1998-02-24 | 2004-02-17 | Endovia Medical, Inc. | Articulated apparatus for telemanipulator system |
US6309403B1 (en) | 1998-06-01 | 2001-10-30 | Board Of Trustees Operating Michigan State University | Dexterous articulated linkage for surgical applications |
US6030365A (en) | 1998-06-10 | 2000-02-29 | Laufer; Michael D. | Minimally invasive sterile surgical access device and method |
US6352503B1 (en) | 1998-07-17 | 2002-03-05 | Olympus Optical Co., Ltd. | Endoscopic surgery apparatus |
AU5391999A (en) | 1998-08-04 | 2000-02-28 | Intuitive Surgical, Inc. | Manipulator positioning linkage for robotic surgery |
US6852107B2 (en) | 2002-01-16 | 2005-02-08 | Computer Motion, Inc. | Minimally invasive surgical training using robotics and tele-collaboration |
US6398726B1 (en) | 1998-11-20 | 2002-06-04 | Intuitive Surgical, Inc. | Stabilizer for robotic beating-heart surgery |
US6951535B2 (en) | 2002-01-16 | 2005-10-04 | Intuitive Surgical, Inc. | Tele-medicine system that transmits an entire state of a subsystem |
US6554790B1 (en) | 1998-11-20 | 2003-04-29 | Intuitive Surgical, Inc. | Cardiopulmonary bypass device and method |
US6468265B1 (en) | 1998-11-20 | 2002-10-22 | Intuitive Surgical, Inc. | Performing cardiac surgery without cardioplegia |
US6459926B1 (en) | 1998-11-20 | 2002-10-01 | Intuitive Surgical, Inc. | Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery |
US6659939B2 (en) | 1998-11-20 | 2003-12-09 | Intuitive Surgical, Inc. | Cooperative minimally invasive telesurgical system |
US6162171A (en) | 1998-12-07 | 2000-12-19 | Wan Sing Ng | Robotic endoscope and an autonomous pipe robot for performing endoscopic procedures |
USD441076S1 (en) | 1998-12-08 | 2001-04-24 | Intuitive Surgical, Inc. | Adaptor for a medical instrument |
US6770081B1 (en) | 2000-01-07 | 2004-08-03 | Intuitive Surgical, Inc. | In vivo accessories for minimally invasive robotic surgery and methods |
US6309397B1 (en) | 1999-12-02 | 2001-10-30 | Sri International | Accessories for minimally invasive robotic surgery and methods |
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 |
US6493608B1 (en) | 1999-04-07 | 2002-12-10 | Intuitive Surgical, Inc. | Aspects of a control system of a minimally invasive surgical apparatus |
US6720988B1 (en) | 1998-12-08 | 2004-04-13 | Intuitive Surgical, Inc. | Stereo imaging system and method for use in telerobotic systems |
US6522906B1 (en) | 1998-12-08 | 2003-02-18 | Intuitive Surgical, Inc. | Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure |
US7125403B2 (en) | 1998-12-08 | 2006-10-24 | Intuitive Surgical | In vivo accessories for minimally invasive robotic surgery |
USD438617S1 (en) | 1998-12-08 | 2001-03-06 | Intuitive Surgical, Inc. | Portion of an adaptor for a medical instrument |
US6799065B1 (en) | 1998-12-08 | 2004-09-28 | Intuitive Surgical, Inc. | Image shifting apparatus and method for a telerobotic system |
USD441862S1 (en) | 1998-12-08 | 2001-05-08 | Intuitive Surgical, Inc. | Portion of an interface for a medical instrument |
USD444555S1 (en) | 1998-12-08 | 2001-07-03 | Intuitive Surgical, Inc. | Interface for a medical instrument |
US6451027B1 (en) | 1998-12-16 | 2002-09-17 | Intuitive Surgical, Inc. | Devices and methods for moving an image capture device in telesurgical systems |
US6394998B1 (en) | 1999-01-22 | 2002-05-28 | Intuitive Surgical, Inc. | Surgical tools for use in minimally invasive telesurgical applications |
US8636648B2 (en) | 1999-03-01 | 2014-01-28 | West View Research, Llc | Endoscopic smart probe |
US6159146A (en) | 1999-03-12 | 2000-12-12 | El Gazayerli; Mohamed Mounir | Method and apparatus for minimally-invasive fundoplication |
JP3596340B2 (ja) | 1999-03-18 | 2004-12-02 | 株式会社日立製作所 | 手術用挿入装置 |
US6424885B1 (en) | 1999-04-07 | 2002-07-23 | Intuitive Surgical, Inc. | Camera referenced control in a minimally invasive surgical apparatus |
US6594552B1 (en) | 1999-04-07 | 2003-07-15 | Intuitive Surgical, Inc. | Grip strength with tactile feedback for robotic surgery |
US6565554B1 (en) | 1999-04-07 | 2003-05-20 | Intuitive Surgical, Inc. | Friction compensation in a minimally invasive surgical apparatus |
US6820653B1 (en) | 1999-04-12 | 2004-11-23 | Carnegie Mellon University | Pipe inspection and repair system |
US6292678B1 (en) | 1999-05-13 | 2001-09-18 | Stereotaxis, Inc. | Method of magnetically navigating medical devices with magnetic fields and gradients, and medical devices adapted therefor |
US7637905B2 (en) | 2003-01-15 | 2009-12-29 | Usgi Medical, Inc. | Endoluminal tool deployment system |
US6450992B1 (en) | 1999-07-02 | 2002-09-17 | Smith & Nephew, Inc. | Cannula interface |
US6788018B1 (en) | 1999-08-03 | 2004-09-07 | Intuitive Surgical, Inc. | Ceiling and floor mounted surgical robot set-up arms |
US6454775B1 (en) | 1999-12-06 | 2002-09-24 | Bacchus Vascular Inc. | Systems and methods for clot disruption and retrieval |
US6661571B1 (en) | 1999-09-21 | 2003-12-09 | Olympus Optical Co., Ltd. | Surgical microscopic system |
US6936001B1 (en) | 1999-10-01 | 2005-08-30 | Computer Motion, Inc. | Heart stabilizer |
US7217240B2 (en) | 1999-10-01 | 2007-05-15 | Intuitive Surgical, Inc. | Heart stabilizer |
US6817972B2 (en) | 1999-10-01 | 2004-11-16 | Computer Motion, Inc. | Heart stabilizer |
US6491691B1 (en) | 1999-10-08 | 2002-12-10 | Intuitive Surgical, Inc. | Minimally invasive surgical hook apparatus and method for using same |
US6312435B1 (en) | 1999-10-08 | 2001-11-06 | Intuitive Surgical, Inc. | Surgical instrument with extended reach for use in minimally invasive surgery |
US6206903B1 (en) | 1999-10-08 | 2001-03-27 | Intuitive Surgical, Inc. | Surgical tool with mechanical advantage |
JP3326472B2 (ja) | 1999-11-10 | 2002-09-24 | 独立行政法人 航空宇宙技術研究所 | 多関節ロボット |
US6702805B1 (en) | 1999-11-12 | 2004-03-09 | Microdexterity Systems, Inc. | Manipulator |
US6548982B1 (en) | 1999-11-19 | 2003-04-15 | Regents Of The University Of Minnesota | Miniature robotic vehicles and methods of controlling same |
US6591239B1 (en) | 1999-12-09 | 2003-07-08 | Steris Inc. | Voice controlled surgical suite |
US6817975B1 (en) | 2000-01-14 | 2004-11-16 | Intuitive Surgical, Inc. | Endoscope |
AU2001233098A1 (en) | 2000-01-27 | 2001-08-07 | Sterilis, Inc. | Cavity enlarger method and apparatus |
US7039453B2 (en) | 2000-02-08 | 2006-05-02 | Tarun Mullick | Miniature ingestible capsule |
US6428539B1 (en) | 2000-03-09 | 2002-08-06 | Origin Medsystems, Inc. | Apparatus and method for minimally invasive surgery using rotational cutting tool |
AU2001249308A1 (en) | 2000-03-24 | 2001-10-15 | Johns Hopkins University | Peritoneal cavity device and method |
US6984203B2 (en) | 2000-04-03 | 2006-01-10 | Neoguide Systems, Inc. | Endoscope with adjacently positioned guiding apparatus |
US6837846B2 (en) | 2000-04-03 | 2005-01-04 | Neo Guide Systems, Inc. | Endoscope having a guide tube |
US6974411B2 (en) | 2000-04-03 | 2005-12-13 | Neoguide Systems, Inc. | Endoscope with single step guiding apparatus |
US6610007B2 (en) | 2000-04-03 | 2003-08-26 | Neoguide Systems, Inc. | Steerable segmented endoscope and method of insertion |
US6468203B2 (en) | 2000-04-03 | 2002-10-22 | Neoguide Systems, Inc. | Steerable endoscope and improved method of insertion |
US6508413B2 (en) | 2000-04-06 | 2003-01-21 | Siemens Westinghouse Power Corporation | Remote spray coating of nuclear cross-under piping |
US6450104B1 (en) | 2000-04-28 | 2002-09-17 | North Carolina State University | Modular observation crawler and sensing instrument and method for operating same |
DE10025285A1 (de) | 2000-05-22 | 2001-12-06 | Siemens Ag | Vollautomatische, robotergestützte Kameraführung unter Verwendung von Positionssensoren für laparoskopische Eingriffe |
US6645196B1 (en) | 2000-06-16 | 2003-11-11 | Intuitive Surgical, Inc. | Guided tool change |
JP2002000524A (ja) | 2000-06-20 | 2002-01-08 | Hitachi Ltd | 電気掃除機 |
FR2812067B1 (fr) | 2000-07-18 | 2003-05-16 | Commissariat Energie Atomique | Robot mobile apte a travailler dans des tuyaux ou d'autres passages etroits |
US6902560B1 (en) | 2000-07-27 | 2005-06-07 | Intuitive Surgical, Inc. | Roll-pitch-roll surgical tool |
US6746443B1 (en) | 2000-07-27 | 2004-06-08 | Intuitive Surgical Inc. | Roll-pitch-roll surgical tool |
US6726699B1 (en) | 2000-08-15 | 2004-04-27 | Computer Motion, Inc. | Instrument guide |
US6860877B1 (en) | 2000-09-29 | 2005-03-01 | Computer Motion, Inc. | Heart stabilizer support arm |
US6475215B1 (en) | 2000-10-12 | 2002-11-05 | Naim Erturk Tanrisever | Quantum energy surgical device and method |
US6601468B2 (en) | 2000-10-24 | 2003-08-05 | Innovative Robotic Solutions | Drive system for multiple axis robot arm |
DE10055293A1 (de) | 2000-11-03 | 2002-05-29 | Storz Karl Gmbh & Co Kg | Vorrichtung zum Halten und Positionieren eines endoskopischen Instruments |
AU2002229070B2 (en) | 2000-11-27 | 2005-06-16 | Covidien Lp | Tissue sampling and removal apparatus and method |
EP2932884B1 (en) | 2000-11-28 | 2020-09-09 | Intuitive Surgical Operations, Inc. | Endoscopic beating-heart stabilizer and vessel occlusion fastener |
JP3914155B2 (ja) | 2000-12-06 | 2007-05-16 | 本田技研工業株式会社 | 多指ハンド装置 |
JP4655175B2 (ja) | 2000-12-19 | 2011-03-23 | ソニー株式会社 | マニピュレータシステム、マスタマニピュレータ、スレーブマニピュレータ及びそれらの制御方法、並びに記録媒体 |
US6840938B1 (en) | 2000-12-29 | 2005-01-11 | Intuitive Surgical, Inc. | Bipolar cauterizing instrument |
US6934589B2 (en) | 2000-12-29 | 2005-08-23 | Medtronic, Inc. | System and method for placing endocardial leads |
US7519421B2 (en) | 2001-01-16 | 2009-04-14 | Kenergy, Inc. | Vagal nerve stimulation using vascular implanted devices for treatment of atrial fibrillation |
KR100380181B1 (ko) | 2001-02-10 | 2003-04-11 | 한국과학기술연구원 | 대장 검사용 마이크로 로봇 |
US6871563B2 (en) | 2001-02-26 | 2005-03-29 | Howie Choset | Orientation preserving angular swivel joint |
EP1373783B1 (en) | 2001-03-07 | 2005-08-03 | Carnegie-Mellon University | Gas main robotic inspection system |
US6870343B2 (en) | 2001-03-30 | 2005-03-22 | The University Of Michigan | Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness |
US6512345B2 (en) | 2001-03-30 | 2003-01-28 | The Regents Of The University Of Michigan | Apparatus for obstacle traversion |
US6774597B1 (en) | 2001-03-30 | 2004-08-10 | The Regents Of The University Of Michigan | Apparatus for obstacle traversion |
AU2002307762A1 (en) | 2001-04-18 | 2002-10-28 | Bbms Ltd. | Navigating and maneuvering of an in vivo vechicle by extracorporeal devices |
US6783524B2 (en) | 2001-04-19 | 2004-08-31 | Intuitive Surgical, Inc. | Robotic surgical tool with ultrasound cauterizing and cutting instrument |
US6994708B2 (en) | 2001-04-19 | 2006-02-07 | Intuitive Surgical | Robotic tool with monopolar electro-surgical scissors |
US6687571B1 (en) | 2001-04-24 | 2004-02-03 | Sandia Corporation | Cooperating mobile robots |
KR100413058B1 (ko) | 2001-04-24 | 2003-12-31 | 한국과학기술연구원 | 모터 구동방식의 대장검사용 마이크로 로봇 |
KR100402920B1 (ko) | 2001-05-19 | 2003-10-22 | 한국과학기술연구원 | 마이크로 로봇 |
KR100426613B1 (ko) | 2001-05-19 | 2004-04-08 | 한국과학기술연구원 | 마이크로 로봇 구동시스템 |
US7607440B2 (en) | 2001-06-07 | 2009-10-27 | Intuitive Surgical, Inc. | Methods and apparatus for surgical planning |
US6440085B1 (en) | 2001-06-12 | 2002-08-27 | Jacek Krzyzanowski | Method of assembling a non-metallic biopsy forceps jaw and a non-metallic biopsy forceps jaw |
US9226699B2 (en) * | 2002-04-19 | 2016-01-05 | Sanofi-Aventis Deutschland Gmbh | Body fluid sampling module with a continuous compression tissue interface surface |
ATE547992T1 (de) | 2001-06-29 | 2012-03-15 | Intuitive Surgical Operations | Gelenkmechanismus fuer plattformverbindung |
US6817974B2 (en) | 2001-06-29 | 2004-11-16 | Intuitive Surgical, Inc. | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
US20040243147A1 (en) | 2001-07-03 | 2004-12-02 | Lipow Kenneth I. | Surgical robot and robotic controller |
US20050083460A1 (en) | 2001-07-16 | 2005-04-21 | Nippon Sheet Glass Co., Ltd. | Semi-transmitting mirror-possessing substrate, and semi-transmitting type liquid crystal display apparatus |
JP4744026B2 (ja) | 2001-07-30 | 2011-08-10 | オリンパス株式会社 | カプセル内視鏡およびカプセル内視鏡システム |
JP3926119B2 (ja) | 2001-08-10 | 2007-06-06 | 株式会社東芝 | 医療用マニピュレータ |
US6676684B1 (en) | 2001-09-04 | 2004-01-13 | Intuitive Surgical, Inc. | Roll-pitch-roll-yaw surgical tool |
US6728599B2 (en) | 2001-09-07 | 2004-04-27 | Computer Motion, Inc. | Modularity system for computer assisted surgery |
US6764441B2 (en) | 2001-09-17 | 2004-07-20 | Case Western Reserve University | Peristaltically self-propelled endoscopic device |
US6587750B2 (en) | 2001-09-25 | 2003-07-01 | Intuitive Surgical, Inc. | Removable infinite roll master grip handle and touch sensor for robotic surgery |
AU2002332031A1 (en) | 2001-10-02 | 2003-04-14 | Arthrocare Corporation | Apparatus and methods for electrosurgical removal and digestion of tissue |
US6835173B2 (en) | 2001-10-05 | 2004-12-28 | Scimed Life Systems, Inc. | Robotic endoscope |
US7182025B2 (en) | 2001-10-17 | 2007-02-27 | William Marsh Rice University | Autonomous robotic crawler for in-pipe inspection |
US7210364B2 (en) | 2001-10-17 | 2007-05-01 | Fathi Hassan Ghorbel | Autonomous robotic crawler for in-pipe inspection |
US6730021B2 (en) | 2001-11-07 | 2004-05-04 | Computer Motion, Inc. | Tissue spreader with force measurement, force indication or force limitation |
KR100417163B1 (ko) | 2001-11-12 | 2004-02-05 | 한국과학기술연구원 | 마이크로 캡슐형 로봇 |
US7438702B2 (en) | 2001-11-13 | 2008-10-21 | Applied Medical Resources Corporation | Multi-seal trocar system |
US7294146B2 (en) | 2001-12-03 | 2007-11-13 | Xtent, Inc. | Apparatus and methods for delivery of variable length stents |
US6839612B2 (en) | 2001-12-07 | 2005-01-04 | Institute Surgical, Inc. | Microwrist system for surgical procedures |
US6793653B2 (en) | 2001-12-08 | 2004-09-21 | Computer Motion, Inc. | Multifunctional handle for a medical robotic system |
US20030114731A1 (en) | 2001-12-14 | 2003-06-19 | Cadeddu Jeffrey A. | Magnetic positioning system for trocarless laparoscopic instruments |
US6780191B2 (en) | 2001-12-28 | 2004-08-24 | Yacmur Llc | Cannula system |
US6676660B2 (en) | 2002-01-23 | 2004-01-13 | Ethicon Endo-Surgery, Inc. | Feedback light apparatus and method for use with an electrosurgical instrument |
US7967816B2 (en) | 2002-01-25 | 2011-06-28 | Medtronic, Inc. | Fluid-assisted electrosurgical instrument with shapeable electrode |
US7637919B2 (en) | 2002-01-30 | 2009-12-29 | Olympus Corporation | Anastomosis system for performing anastomosis in body |
WO2003068055A2 (en) | 2002-02-11 | 2003-08-21 | Arthrocare Corporation | Electrosurgical apparatus and methods for laparoscopy |
ATE333066T1 (de) | 2002-03-05 | 2006-08-15 | Wagner Wilhelm Wiwa | Vorrichtung und verfahren zur innenbeschichtung eines rohres |
US7831292B2 (en) | 2002-03-06 | 2010-11-09 | Mako Surgical Corp. | Guidance system and method for surgical procedures with improved feedback |
US8010180B2 (en) | 2002-03-06 | 2011-08-30 | Mako Surgical Corp. | Haptic guidance system and method |
AU2003218010A1 (en) | 2002-03-06 | 2003-09-22 | Z-Kat, Inc. | System and method for using a haptic device in combination with a computer-assisted surgery system |
US20030179308A1 (en) | 2002-03-19 | 2003-09-25 | Lucia Zamorano | Augmented tracking using video, computed data and/or sensing technologies |
JP3869291B2 (ja) | 2002-03-25 | 2007-01-17 | オリンパス株式会社 | カプセル型医療装置 |
JP3917885B2 (ja) | 2002-04-08 | 2007-05-23 | オリンパス株式会社 | カプセル内視鏡システム |
US6860346B2 (en) | 2002-04-19 | 2005-03-01 | Regents Of The University Of Minnesota | Adjustable diameter wheel assembly, and methods and vehicles using same |
US7674270B2 (en) | 2002-05-02 | 2010-03-09 | Laparocision, Inc | Apparatus for positioning a medical instrument |
FR2839440B1 (fr) | 2002-05-13 | 2005-03-25 | Perception Raisonnement Action | Systeme de positionnement sur un patient d'un dispositif d'observation et/ou d'intervention |
US6678582B2 (en) | 2002-05-30 | 2004-01-13 | Kuka Roboter Gmbh | Method and control device for avoiding collisions between cooperating robots |
US20030230372A1 (en) | 2002-06-13 | 2003-12-18 | Kurt Schmidt | Method for placing objects on the inner wall of a placed sewer pipe and device for carrying out said method |
US6801325B2 (en) | 2002-06-25 | 2004-10-05 | Intuitive Surgical, Inc. | Method and devices for inspecting and calibrating of stereoscopic endoscopes |
US7155316B2 (en) | 2002-08-13 | 2006-12-26 | Microbotics Corporation | Microsurgical robot system |
EP1542711A4 (en) | 2002-08-13 | 2009-07-01 | Wyeth Corp | PEPTIDES AS SOLUBILIZING AUXILIARIES FOR THE CONVERSION OF GROWTH FACTOR PROTEINS |
US20060122133A1 (en) | 2002-08-19 | 2006-06-08 | Weinstein Edward J | Antisense modulation of vegf co-regulated chemokine-1 expression |
US6776165B2 (en) | 2002-09-12 | 2004-08-17 | The Regents Of The University Of California | Magnetic navigation system for diagnosis, biopsy and drug delivery vehicles |
US7645510B2 (en) | 2002-09-13 | 2010-01-12 | Jds Uniphase Corporation | Provision of frames or borders around opaque flakes for covert security applications |
JP4133188B2 (ja) | 2002-10-07 | 2008-08-13 | 株式会社ハーモニック・ドライブ・システムズ | ロボットハンドの指ユニット |
US7794494B2 (en) | 2002-10-11 | 2010-09-14 | Boston Scientific Scimed, Inc. | Implantable medical devices |
JP3700848B2 (ja) | 2002-10-23 | 2005-09-28 | Necエンジニアリング株式会社 | 微小光源位置測定装置 |
US6936003B2 (en) | 2002-10-29 | 2005-08-30 | Given Imaging Ltd | In-vivo extendable element device and system, and method of use |
JP4148763B2 (ja) | 2002-11-29 | 2008-09-10 | 学校法人慈恵大学 | 内視鏡手術ロボット |
JP3686947B2 (ja) | 2002-12-09 | 2005-08-24 | 国立大学法人 東京大学 | 能動鉗子用高剛性鉗子先端部構体およびそれを具える能動鉗子 |
DE602004015729D1 (de) | 2003-02-11 | 2008-09-25 | Olympus Corp | Überrohr |
US7083615B2 (en) | 2003-02-24 | 2006-08-01 | Intuitive Surgical Inc | Surgical tool having electrocautery energy supply conductor with inhibited current leakage |
JP4612280B2 (ja) | 2003-02-25 | 2011-01-12 | 本田技研工業株式会社 | 自動作業装置及び自動作業装置制御プログラム |
JP2004283940A (ja) | 2003-03-20 | 2004-10-14 | Harada Denshi Kogyo Kk | 協調駆動機構およびそれを用いたロボット用関節機構 |
US7105000B2 (en) | 2003-03-25 | 2006-09-12 | Ethicon Endo-Surgery, Inc. | Surgical jaw assembly with increased mechanical advantage |
JP3752494B2 (ja) | 2003-03-31 | 2006-03-08 | 株式会社東芝 | マスタスレーブマニピュレータ、その制御装置及び制御方法 |
JP4329394B2 (ja) | 2003-04-30 | 2009-09-09 | 株式会社島津製作所 | 小型撮影装置 |
DE10323216B3 (de) | 2003-05-22 | 2004-12-23 | Siemens Ag | Endoskopieeinrichtung |
US7121781B2 (en) | 2003-06-11 | 2006-10-17 | Intuitive Surgical | Surgical instrument with a universal wrist |
JP4532188B2 (ja) | 2003-06-30 | 2010-08-25 | カール−ツアイス−スチフツング | 負荷回転モーメントを補償する手段を有する、殊に医療用光学器具のための保持装置 |
GB0315479D0 (en) | 2003-07-02 | 2003-08-06 | Paz Adrian | Virtual ports devices |
US20080058989A1 (en) | 2006-04-13 | 2008-03-06 | Board Of Regents Of The University Of Nebraska | Surgical camera robot |
US7960935B2 (en) | 2003-07-08 | 2011-06-14 | The Board Of Regents Of The University Of Nebraska | Robotic devices with agent delivery components and related methods |
US7042184B2 (en) | 2003-07-08 | 2006-05-09 | Board Of Regents Of The University Of Nebraska | Microrobot for surgical applications |
US7126303B2 (en) | 2003-07-08 | 2006-10-24 | Board Of Regents Of The University Of Nebraska | Robot for surgical applications |
US7066879B2 (en) | 2003-07-15 | 2006-06-27 | The Trustees Of Columbia University In The City Of New York | Insertable device and system for minimal access procedure |
US20100081875A1 (en) | 2003-07-15 | 2010-04-01 | EndoRobotics Inc. | Surgical Device For Minimal Access Surgery |
US20050021069A1 (en) | 2003-07-24 | 2005-01-27 | Gerald Feuer | Inflatable apparatus for accessing body cavity and methods of making |
JP2005074031A (ja) | 2003-09-01 | 2005-03-24 | Pentax Corp | カプセル内視鏡 |
JP4128504B2 (ja) | 2003-09-05 | 2008-07-30 | オリンパス株式会社 | カプセル型内視鏡 |
JP4128505B2 (ja) | 2003-09-05 | 2008-07-30 | オリンパス株式会社 | カプセル型内視鏡 |
US7993384B2 (en) | 2003-09-12 | 2011-08-09 | Abbott Cardiovascular Systems Inc. | Delivery system for medical devices |
DE10343494B4 (de) | 2003-09-19 | 2006-06-14 | Siemens Ag | Magnetisch navigierbare Einrichtung für den Einsatz auf dem Gebiet der medizinischen Endoskopie |
US7594815B2 (en) | 2003-09-24 | 2009-09-29 | Toly Christopher C | Laparoscopic and endoscopic trainer including a digital camera |
US7789825B2 (en) | 2003-09-29 | 2010-09-07 | Ethicon Endo-Surgery, Inc. | Handle for endoscopic device |
US7785294B2 (en) | 2003-09-30 | 2010-08-31 | Ethicon Endo-Surgery, Inc. | Woven protector for trocar seal assembly |
US20050096502A1 (en) | 2003-10-29 | 2005-05-05 | Khalili Theodore M. | Robotic surgical device |
US7147650B2 (en) | 2003-10-30 | 2006-12-12 | Woojin Lee | Surgical instrument |
JP2007510470A (ja) | 2003-11-07 | 2007-04-26 | カーネギー・メロン・ユニバーシテイ | 最小侵襲性介入用ロボット |
US7429259B2 (en) | 2003-12-02 | 2008-09-30 | Cadeddu Jeffrey A | Surgical anchor and system |
US7625338B2 (en) | 2003-12-31 | 2009-12-01 | Given Imaging, Ltd. | In-vivo sensing device with alterable fields of view |
US7344494B2 (en) | 2004-02-09 | 2008-03-18 | Karl Storz Development Corp. | Endoscope with variable direction of view module |
US20050272977A1 (en) | 2004-04-14 | 2005-12-08 | Usgi Medical Inc. | Methods and apparatus for performing endoluminal procedures |
US8277373B2 (en) | 2004-04-14 | 2012-10-02 | Usgi Medical, Inc. | Methods and apparaus for off-axis visualization |
US8562516B2 (en) | 2004-04-14 | 2013-10-22 | Usgi Medical Inc. | Methods and apparatus for obtaining endoluminal access |
EP1740084A2 (en) | 2004-04-15 | 2007-01-10 | Wilson-Cook Medical Inc. | Endoscopic surgical access devices and methods of articulating an external accessory channel |
US7998060B2 (en) | 2004-04-19 | 2011-08-16 | The Invention Science Fund I, Llc | Lumen-traveling delivery device |
US7857767B2 (en) | 2004-04-19 | 2010-12-28 | Invention Science Fund I, Llc | Lumen-traveling device |
US20070244520A1 (en) | 2004-04-19 | 2007-10-18 | Searete Llc | Lumen-traveling biological interface device and method of use |
US9801527B2 (en) | 2004-04-19 | 2017-10-31 | Gearbox, Llc | Lumen-traveling biological interface device |
US7734375B2 (en) | 2004-06-09 | 2010-06-08 | Boston Dynamics | Robot and robot leg mechanism |
US7241290B2 (en) | 2004-06-16 | 2007-07-10 | Kinetic Surgical, Llc | Surgical tool kit |
US8353897B2 (en) | 2004-06-16 | 2013-01-15 | Carefusion 2200, Inc. | Surgical tool kit |
WO2006002337A2 (en) | 2004-06-24 | 2006-01-05 | Arthrocare Corporation | Electrosurgical device having planar vertical electrode and related methods |
AU2005267378A1 (en) | 2004-06-24 | 2006-02-02 | Suture Robotics, Inc. | Semi-robotic suturing device |
US20050288555A1 (en) | 2004-06-28 | 2005-12-29 | Binmoeller Kenneth E | Methods and devices for illuminating, vievwing and monitoring a body cavity |
WO2006005075A2 (en) | 2004-06-30 | 2006-01-12 | Amir Belson | Apparatus and methods for capsule endoscopy of the esophagus |
US7979157B2 (en) | 2004-07-23 | 2011-07-12 | Mcmaster University | Multi-purpose robotic operating system and method |
US20060046226A1 (en) | 2004-08-27 | 2006-03-02 | Bergler Hans J | Dental imaging system and method of use |
US10646292B2 (en) | 2004-09-30 | 2020-05-12 | Intuitive Surgical Operations, Inc. | Electro-mechanical strap stack in robotic arms |
JP4541091B2 (ja) | 2004-10-04 | 2010-09-08 | 本田技研工業株式会社 | 加工搬送装置 |
EP1838220A4 (en) | 2004-11-08 | 2010-01-06 | Univ Johns Hopkins | bioptome |
US7163525B2 (en) | 2004-12-17 | 2007-01-16 | Ethicon Endo-Surgery, Inc. | Duckbill seal protector |
US8128680B2 (en) | 2005-01-10 | 2012-03-06 | Taheri Laduca Llc | Apparatus and method for deploying an implantable device within the body |
US20060152591A1 (en) | 2005-01-13 | 2006-07-13 | Sheng-Feng Lin | Automatic focus mechanism of an image capturing device |
US7763015B2 (en) | 2005-01-24 | 2010-07-27 | Intuitive Surgical Operations, Inc. | Modular manipulator support for robotic surgery |
US8463439B2 (en) | 2009-03-31 | 2013-06-11 | Intuitive Surgical Operations, Inc. | Optic fiber connection for a force sensing instrument |
US7785251B2 (en) | 2005-04-22 | 2010-08-31 | Wilk Patent, Llc | Port extraction method for trans-organ surgery |
US20060241570A1 (en) | 2005-04-22 | 2006-10-26 | Wilk Patent, Llc | Intra-abdominal medical method |
US20110020779A1 (en) | 2005-04-25 | 2011-01-27 | University Of Washington | Skill evaluation using spherical motion mechanism |
US7762960B2 (en) | 2005-05-13 | 2010-07-27 | Boston Scientific Scimed, Inc. | Biopsy forceps assemblies |
US10555775B2 (en) | 2005-05-16 | 2020-02-11 | Intuitive Surgical Operations, Inc. | Methods and system for performing 3-D tool tracking by fusion of sensor and/or camera derived data during minimally invasive robotic surgery |
US9789608B2 (en) | 2006-06-29 | 2017-10-17 | Intuitive Surgical Operations, Inc. | Synthetic representation of a surgical robot |
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 |
US20080183033A1 (en) | 2005-05-27 | 2008-07-31 | Bern M Jonathan | Endoscope Propulsion System and Method |
JP2009501563A (ja) | 2005-07-14 | 2009-01-22 | エンハンスド・メデイカルシステム・エルエルシー | 侵襲性処置を極小にするためのロボット |
US20070135803A1 (en) | 2005-09-14 | 2007-06-14 | Amir Belson | Methods and apparatus for performing transluminal and other procedures |
US9198728B2 (en) | 2005-09-30 | 2015-12-01 | Intouch Technologies, Inc. | Multi-camera mobile teleconferencing platform |
US20070106113A1 (en) | 2005-11-07 | 2007-05-10 | Biagio Ravo | Combination endoscopic operative delivery system |
US20070106317A1 (en) | 2005-11-09 | 2007-05-10 | Shelton Frederick E Iv | Hydraulically and electrically actuated articulation joints for surgical instruments |
US7761137B2 (en) | 2005-12-16 | 2010-07-20 | Suros Surgical Systems, Inc. | Biopsy site marker deployment device |
US7762825B2 (en) | 2005-12-20 | 2010-07-27 | Intuitive Surgical Operations, Inc. | Electro-mechanical interfaces to mount robotic surgical arms |
US7678043B2 (en) | 2005-12-29 | 2010-03-16 | Given Imaging, Ltd. | Device, system and method for in-vivo sensing of a body lumen |
US7930065B2 (en) | 2005-12-30 | 2011-04-19 | Intuitive Surgical Operations, Inc. | Robotic surgery system including position sensors using fiber bragg gratings |
US7785333B2 (en) | 2006-02-21 | 2010-08-31 | Olympus Medical Systems Corp. | Overtube and operative procedure via bodily orifice |
EP1815950A1 (en) | 2006-02-03 | 2007-08-08 | The European Atomic Energy Community (EURATOM), represented by the European Commission | Robotic surgical system for performing minimally invasive medical procedures |
EP1815949A1 (en) * | 2006-02-03 | 2007-08-08 | The European Atomic Energy Community (EURATOM), represented by the European Commission | Medical robotic system with manipulator arm of the cylindrical coordinate type |
US20060253109A1 (en) | 2006-02-08 | 2006-11-09 | David Chu | Surgical robotic helping hand system |
WO2007111571A1 (en) | 2006-03-27 | 2007-10-04 | Nanyang Technological University | Surgical robotic system for flexible endoscopy |
US7789861B2 (en) | 2006-04-18 | 2010-09-07 | Ethicon Endo-Surgery, Inc. | Pleated trocar seal |
US8585733B2 (en) | 2006-04-19 | 2013-11-19 | Vibrynt, Inc | Devices, tools and methods for performing minimally invasive abdominal surgical procedures |
US7862573B2 (en) | 2006-04-21 | 2011-01-04 | Darois Roger E | Method and apparatus for surgical fastening |
EP2012650B1 (en) | 2006-04-24 | 2016-07-27 | TransEnterix Surgical, Inc. | Natural orifice surgical system |
US7731727B2 (en) | 2006-04-26 | 2010-06-08 | Lsi Solutions, Inc. | Medical instrument to place a pursestring suture, open a hole and pass a guidewire |
JP2009535161A (ja) | 2006-04-29 | 2009-10-01 | ボード・オブ・リージエンツ,ザ・ユニバーシテイ・オブ・テキサス・システム | 貫壁性の及び管腔内の手術で用いるための装置 |
US20080064921A1 (en) | 2006-06-13 | 2008-03-13 | Intuitive Surgical, Inc. | Guide tube control of minimally invasive surgical instruments |
US8377045B2 (en) | 2006-06-13 | 2013-02-19 | Intuitive Surgical Operations, Inc. | Extendable suction surface for bracing medial devices during robotically assisted medical procedures |
US20090234369A1 (en) | 2006-06-19 | 2009-09-17 | Robarts Research Institute | Apparatus for guiding a medical tool |
US8679096B2 (en) | 2007-06-21 | 2014-03-25 | Board Of Regents Of The University Of Nebraska | Multifunctional operational component for robotic devices |
US9579088B2 (en) | 2007-02-20 | 2017-02-28 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices for surgical visualization and device manipulation |
CA3068216C (en) | 2006-06-22 | 2023-03-07 | Board Of Regents Of The University Of Nebraska | Magnetically coupleable robotic devices and related methods |
US10258425B2 (en) | 2008-06-27 | 2019-04-16 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide |
US10008017B2 (en) | 2006-06-29 | 2018-06-26 | Intuitive Surgical Operations, Inc. | Rendering tool information as graphic overlays on displayed images of tools |
EP2040634B1 (en) | 2006-07-13 | 2014-06-11 | Bovie Medical Corporation | Surgical sealing and cutting apparatus |
US8231610B2 (en) | 2006-09-06 | 2012-07-31 | National Cancer Center | Robotic surgical system for laparoscopic surgery |
US8551114B2 (en) | 2006-11-06 | 2013-10-08 | Human Robotics S.A. De C.V. | Robotic surgical device |
CN101583820B (zh) | 2006-11-13 | 2011-05-18 | 雷神萨科斯公司 | 蛇形机器人履带车 |
US7935130B2 (en) | 2006-11-16 | 2011-05-03 | Intuitive Surgical Operations, Inc. | Two-piece end-effectors for robotic surgical tools |
US8608734B2 (en) | 2006-12-27 | 2013-12-17 | Boston Scientific Scimed, Inc. | RF ablation probe array advancing device |
US8632535B2 (en) | 2007-01-10 | 2014-01-21 | Ethicon Endo-Surgery, Inc. | Interlock and surgical instrument including same |
US7655004B2 (en) | 2007-02-15 | 2010-02-02 | Ethicon Endo-Surgery, Inc. | Electroporation ablation apparatus, system, and method |
US8700213B2 (en) | 2007-03-01 | 2014-04-15 | Tokyo Institute Of Technology | Maneuvering system having inner force sense presenting function |
US8591399B2 (en) | 2007-04-25 | 2013-11-26 | Karl Storz Endovision, Inc. | Surgical method utilizing transluminal endoscope and instruments |
US9596980B2 (en) | 2007-04-25 | 2017-03-21 | Karl Storz Endovision, Inc. | Endoscope system with pivotable arms |
US9138129B2 (en) * | 2007-06-13 | 2015-09-22 | Intuitive Surgical Operations, Inc. | Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide |
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 |
US8444631B2 (en) | 2007-06-14 | 2013-05-21 | Macdonald Dettwiler & Associates Inc | Surgical manipulator |
JP5483834B2 (ja) | 2007-06-28 | 2014-05-07 | キヤノン株式会社 | 画像処理装置及び画像処理方法 |
WO2009004616A2 (en) | 2007-07-02 | 2009-01-08 | M.S.T. Medical Surgery Technologies Ltd | System for positioning endoscope and surgical instruments |
DE102007031957A1 (de) | 2007-07-10 | 2009-01-22 | Pierburg Gmbh | Kombiniertes Rückschlag- und Steuerventil |
US8343171B2 (en) | 2007-07-12 | 2013-01-01 | Board Of Regents Of The University Of Nebraska | Methods and systems of actuation in robotic devices |
ES2774799T3 (es) | 2007-08-14 | 2020-07-22 | Koninklijke Philips Nv | Sistemas de instrumentos robóticos que utilizan sensores de fibra óptica |
US20090076536A1 (en) | 2007-08-15 | 2009-03-19 | Board Of Regents Of The University Of Nebraska | Medical inflation, attachment, and delivery devices and related methods |
US8920300B2 (en) | 2007-09-19 | 2014-12-30 | Walter A. Roberts | Direct visualization robotic intra-operative radiation therapy device with radiation ablation capsule |
GB2454017A (en) | 2007-10-26 | 2009-04-29 | Prosurgics Ltd | A control assembly |
JP5364255B2 (ja) | 2007-10-31 | 2013-12-11 | テルモ株式会社 | 医療用マニピュレータ |
EP2217132B1 (en) | 2007-11-02 | 2013-05-15 | The Trustees of Columbia University in the City of New York | Insertable surgical imaging device |
US8758342B2 (en) | 2007-11-28 | 2014-06-24 | Covidien Ag | Cordless power-assisted medical cauterization and cutting device |
US20100262162A1 (en) | 2007-12-28 | 2010-10-14 | Terumo Kabushiki Kaisha | Medical manipulator and medical robot system |
EP2252231B1 (en) | 2008-03-11 | 2019-10-16 | Health Research, INC. | System and method for robotic surgery simulation |
US8020741B2 (en) | 2008-03-18 | 2011-09-20 | Barosense, Inc. | Endoscopic stapling devices and methods |
US8328802B2 (en) | 2008-03-19 | 2012-12-11 | Covidien Ag | Cordless medical cauterization and cutting device |
US8641663B2 (en) * | 2008-03-27 | 2014-02-04 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic catheter system input device |
US8727966B2 (en) | 2008-03-31 | 2014-05-20 | Intuitive Surgical Operations, Inc. | Endoscope with rotationally deployed arms |
US9895813B2 (en) | 2008-03-31 | 2018-02-20 | Intuitive Surgical Operations, Inc. | Force and torque sensing in a surgical robot setup arm |
US8636686B2 (en) | 2008-04-28 | 2014-01-28 | Ethicon Endo-Surgery, Inc. | Surgical access device |
US8562513B2 (en) | 2008-05-20 | 2013-10-22 | Olympus Medical Systems Corp. | Endoscope device |
WO2009144729A1 (en) | 2008-05-28 | 2009-12-03 | Technion Research & Development Foundation Ltd. | Laparoscopic camera array |
US8771260B2 (en) | 2008-05-30 | 2014-07-08 | Ethicon Endo-Surgery, Inc. | Actuating and articulating surgical device |
JP5195054B2 (ja) | 2008-06-11 | 2013-05-08 | パナソニック株式会社 | アームの関節、及びそれを有するロボット |
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 |
US8864652B2 (en) | 2008-06-27 | 2014-10-21 | Intuitive Surgical Operations, Inc. | Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip |
US20100010294A1 (en) | 2008-07-10 | 2010-01-14 | Ethicon Endo-Surgery, Inc. | Temporarily positionable medical devices |
US8771270B2 (en) | 2008-07-16 | 2014-07-08 | Intuitive Surgical Operations, Inc. | Bipolar cautery instrument |
WO2010009292A1 (en) | 2008-07-18 | 2010-01-21 | Boston Scientific Scimed, Inc. | Endoscope with guide |
JP2010041156A (ja) | 2008-08-01 | 2010-02-18 | Toshiba Corp | 半導体集積回路 |
EP2323578B1 (en) | 2008-08-18 | 2018-10-03 | Encision, Inc. | Enhanced control systems including flexible shielding and support systems for electrosurgical applications |
US20100069710A1 (en) | 2008-09-02 | 2010-03-18 | Ken Yamatani | treatment method |
US8834353B2 (en) | 2008-09-02 | 2014-09-16 | Olympus Medical Systems Corp. | Medical manipulator, treatment system, and treatment method |
CA2736870A1 (en) | 2008-09-12 | 2010-03-18 | Ethicon Endo-Surgery, Inc. | Ultrasonic device for fingertip control |
JP5115425B2 (ja) | 2008-09-24 | 2013-01-09 | 豊田合成株式会社 | Iii族窒化物半導体発光素子 |
CA2776320C (en) | 2008-10-07 | 2017-08-29 | The Trustees Of Columbia University In The City Of New York | Systems, devices, and method for providing insertable robotic sensory and manipulation platforms for single port surgery |
ITFI20080201A1 (it) | 2008-10-20 | 2010-04-21 | Scuola Superiore Di Studi Universit Ari E Di Perfe | Sistema robotico endoluminale |
US8333129B2 (en) | 2008-10-29 | 2012-12-18 | S.A. Robotics | Robotic manipulator arm |
KR101075363B1 (ko) | 2008-10-31 | 2011-10-19 | 정창욱 | 최소 침습 수술 도구를 포함하는 수술용 로봇 시스템 |
US9033958B2 (en) * | 2008-11-11 | 2015-05-19 | Perception Raisonnement Action En Medecine | Surgical robotic system |
US20100331856A1 (en) | 2008-12-12 | 2010-12-30 | Hansen Medical Inc. | Multiple flexible and steerable elongate instruments for minimally invasive operations |
BRPI1007339A2 (pt) | 2009-01-16 | 2017-07-25 | Univ Texas | Dispositivos médicos e métodos |
US8858547B2 (en) | 2009-03-05 | 2014-10-14 | Intuitive Surgical Operations, Inc. | Cut and seal instrument |
US8120301B2 (en) | 2009-03-09 | 2012-02-21 | Intuitive Surgical Operations, Inc. | Ergonomic surgeon control console in robotic surgical systems |
DE102009017581B4 (de) | 2009-04-18 | 2021-06-24 | Igus Gmbh | Mehrachsengelenk insbesondere für die Robotik |
KR101030427B1 (ko) | 2009-04-28 | 2011-04-20 | 국립암센터 | 최소 침습 수술을 위한 내시경 조정 장치 |
SG176213A1 (en) | 2009-05-29 | 2011-12-29 | Univ Nanyang Tech | Robotic system for flexible endoscopy |
JP2011045500A (ja) | 2009-08-26 | 2011-03-10 | Terumo Corp | 医療用マニピュレータ |
US8465476B2 (en) | 2009-09-23 | 2013-06-18 | Intuitive Surgical Operations, Inc. | Cannula mounting fixture |
US8551115B2 (en) | 2009-09-23 | 2013-10-08 | Intuitive Surgical Operations, Inc. | Curved cannula instrument |
JP2011077339A (ja) | 2009-09-30 | 2011-04-14 | Sony Corp | 半導体レーザ |
US8504134B2 (en) | 2009-10-01 | 2013-08-06 | Intuitive Surgical Operations, Inc. | Laterally fenestrated cannula |
US8888687B2 (en) | 2009-10-28 | 2014-11-18 | Boston Scientific Scimed, Inc. | Method and apparatus related to a flexible assembly at a distal end portion of a medical device |
JP5499647B2 (ja) | 2009-11-10 | 2014-05-21 | 株式会社安川電機 | ロボット及びロボットシステム |
KR101767060B1 (ko) | 2009-11-13 | 2017-08-10 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 컴팩트 손목을 구비한 수술 도구 |
US8870759B2 (en) | 2009-12-04 | 2014-10-28 | Covidien Lp | Suspension system for minimally invasive surgery |
CA2784883A1 (en) | 2009-12-17 | 2011-06-23 | Board Of Regents Of The University Of Nebraska | Modular and cooperative medical devices and related systems and methods |
US9877744B2 (en) | 2010-02-12 | 2018-01-30 | Intuitive Surgical Operations, Inc. | Entry guide for multiple instruments in a single port surgical system |
US20110238079A1 (en) | 2010-03-18 | 2011-09-29 | SPI Surgical, Inc. | Surgical Cockpit Comprising Multisensory and Multimodal Interfaces for Robotic Surgery and Methods Related Thereto |
CN102821918A (zh) | 2010-03-24 | 2012-12-12 | 株式会社安川电机 | 机器人手和机器人装置 |
US20110238080A1 (en) | 2010-03-25 | 2011-09-29 | Date Ranjit | Robotic Surgical Instrument System |
US9498298B2 (en) * | 2010-04-23 | 2016-11-22 | Kenneth I. Lipow | Ring form surgical effector |
JP5311294B2 (ja) | 2010-04-28 | 2013-10-09 | 株式会社安川電機 | ロボットの接触位置検出装置 |
US9918787B2 (en) | 2010-05-05 | 2018-03-20 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Monitoring, managing and/or protecting system and method for non-targeted tissue |
JP5653073B2 (ja) | 2010-05-19 | 2015-01-14 | キヤノン株式会社 | ロボットセル装置及び生産システム |
KR101822685B1 (ko) * | 2010-06-25 | 2018-01-26 | 마치에 제이. 키에투라키스 | 좌우로 이격된 가상 삽입 지점을 갖는 단일 포트 복강경의 접근을 위한 기구 |
US8437884B2 (en) | 2010-07-28 | 2013-05-07 | GM Global Technology Operations LLC | System and method for detecting vehicle motion |
EP2600758A1 (en) | 2010-08-06 | 2013-06-12 | Board of Regents of the University of Nebraska | Methods and systems for handling or delivering materials for natural orifice surgery |
DE102010040405B4 (de) | 2010-09-08 | 2017-07-27 | Siemens Healthcare Gmbh | Instrumentensystem für einen Endoskopieroboter |
WO2012049623A1 (en) | 2010-10-11 | 2012-04-19 | Ecole Polytechnique Federale De Lausanne (Epfl) | Mechanical manipulator for surgical instruments |
IT1404527B1 (it) | 2011-02-24 | 2013-11-22 | Comau Spa | Polso di robot articolato. |
US9060781B2 (en) | 2011-06-10 | 2015-06-23 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to surgical end effectors |
JP5582313B2 (ja) | 2011-06-28 | 2014-09-03 | 株式会社安川電機 | ロボットシステム |
US9089353B2 (en) | 2011-07-11 | 2015-07-28 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methods |
CN102499759B (zh) | 2011-10-31 | 2013-11-20 | 上海交通大学 | 多自由度单创孔腹腔微创手术机器人灵巧手 |
CN103121215A (zh) | 2011-11-18 | 2013-05-29 | 鸿富锦精密工业(深圳)有限公司 | 机器人臂部件 |
US9622825B2 (en) | 2011-11-28 | 2017-04-18 | National University Of Singapore | Robotic system for flexible endoscopy |
CA3098065C (en) | 2012-01-10 | 2023-10-31 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices for surgical access and insertion |
EP2844181B1 (en) | 2012-05-01 | 2021-03-10 | Board of Regents of the University of Nebraska | Single site robotic device and related systems |
EP2854687B1 (en) | 2012-06-01 | 2022-08-24 | Intuitive Surgical Operations, Inc. | Systems for avoiding collisions between manipulator arms using a null-space |
WO2013192598A1 (en) | 2012-06-21 | 2013-12-27 | Excelsius Surgical, L.L.C. | Surgical robot platform |
EP3680071B1 (en) | 2012-06-22 | 2021-09-01 | Board of Regents of the University of Nebraska | Local control robotic surgical devices |
US9204879B2 (en) | 2012-06-28 | 2015-12-08 | Ethicon Endo-Surgery, Inc. | Flexible drive member |
US9839480B2 (en) | 2012-07-09 | 2017-12-12 | Covidien Lp | Surgical adapter assemblies for use between surgical handle assembly and surgical end effectors |
EP2882331A4 (en) * | 2012-08-08 | 2016-03-23 | Univ Nebraska | ROBOTIC SURGICAL DEVICES, SYSTEMS AND CORRESPONDING METHODS |
US9770305B2 (en) | 2012-08-08 | 2017-09-26 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methods |
JP5549950B2 (ja) | 2012-11-19 | 2014-07-16 | 株式会社安川電機 | ロボット |
JP5418704B1 (ja) | 2013-01-17 | 2014-02-19 | 株式会社安川電機 | ロボット |
US10616491B2 (en) | 2013-02-01 | 2020-04-07 | Deka Products Limited Partnership | Endoscope with pannable camera and related method |
KR102140015B1 (ko) | 2013-02-01 | 2020-07-31 | 데카 프로덕츠 리미티드 파트너쉽 | 패닝가능한 카메라를 구비한 내시경 |
US10507066B2 (en) | 2013-02-15 | 2019-12-17 | Intuitive Surgical Operations, Inc. | Providing information of tools by filtering image areas adjacent to or on displayed images of the tools |
US9782169B2 (en) | 2013-03-01 | 2017-10-10 | Ethicon Llc | Rotary powered articulation joints for surgical instruments |
US9234606B2 (en) | 2013-03-11 | 2016-01-12 | Kohler Co. | Transverse handle assembly for a valve |
US9888966B2 (en) | 2013-03-14 | 2018-02-13 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to force control surgical systems |
WO2014160086A2 (en) | 2013-03-14 | 2014-10-02 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers |
WO2014144220A1 (en) | 2013-03-15 | 2014-09-18 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methdos |
KR102283176B1 (ko) | 2013-03-15 | 2021-07-29 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 로봇 수술 시스템에서의 수술 중 도구의 교환 |
ITMI20130666A1 (it) | 2013-04-23 | 2014-10-24 | Valuebiotech S R L | Struttura di robot, particolarmente per chirurgia mini-invasiva attraverso singola incisione parietale o orifizio naturale. |
US9797486B2 (en) | 2013-06-20 | 2017-10-24 | Covidien Lp | Adapter direct drive with manual retraction, lockout and connection mechanisms |
US10966700B2 (en) | 2013-07-17 | 2021-04-06 | Virtual Incision Corporation | Robotic surgical devices, systems and related methods |
WO2015031777A1 (en) | 2013-08-29 | 2015-03-05 | Wayne State University | Camera control system and method |
US9295522B2 (en) | 2013-11-08 | 2016-03-29 | Covidien Lp | Medical device adapter with wrist mechanism |
US10561417B2 (en) | 2013-12-09 | 2020-02-18 | Covidien Lp | Adapter assembly for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof |
CN110448377A (zh) | 2013-12-12 | 2019-11-15 | 柯惠Lp公司 | 用于机器人手术系统的齿轮系组件 |
WO2015152972A1 (en) | 2014-03-31 | 2015-10-08 | Covidien Lp | Wrist and jaw assemblies for robotic surgical systems |
US10080552B2 (en) | 2014-04-21 | 2018-09-25 | Covidien Lp | Adapter assembly with gimbal for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof |
EP3134006B1 (en) | 2014-04-22 | 2020-02-12 | Bio-Medical Engineering (HK) Limited | Single access surgical robotic devices and systems |
US10159533B2 (en) | 2014-07-01 | 2018-12-25 | Auris Health, Inc. | Surgical system with configurable rail-mounted mechanical arms |
EP3868322A1 (en) | 2014-09-12 | 2021-08-25 | Board of Regents of the University of Nebraska | Quick-release effectors and related systems |
US9849586B2 (en) | 2014-10-27 | 2017-12-26 | Ross-Hime Designs, Incorporated | Robotic manipulator |
US9814640B1 (en) | 2014-10-31 | 2017-11-14 | Space Technology Research LLC | Robotic arm bed assist |
EP4286104A3 (en) | 2014-11-11 | 2024-02-14 | Board of Regents of the University of Nebraska | Robotic device with compact joint design and related systems and methods |
CN204337044U (zh) | 2014-12-17 | 2015-05-20 | 上海交通大学 | 一种微创手术机器人的手术器械末端结构 |
CN104523309B (zh) | 2015-01-23 | 2017-01-18 | 哈尔滨工业大学 | 用于微创手术的腹腔内牵拉手术机器人 |
US9857786B2 (en) | 2015-03-31 | 2018-01-02 | Recognition Robotics, Inc. | System and method for aligning a coordinated movement machine reference frame with a measurement system reference frame |
WO2016176755A1 (en) | 2015-05-01 | 2016-11-10 | Titan Medical Inc. | Instrument collision detection and feedback |
JP6494404B2 (ja) | 2015-05-01 | 2019-04-03 | キヤノン株式会社 | 振動型駆動装置、画像形成装置、位置決めステージ及び医用システム |
GB2541369B (en) | 2015-07-22 | 2021-03-31 | Cmr Surgical Ltd | Drive mechanisms for robot arms |
US10806538B2 (en) | 2015-08-03 | 2020-10-20 | Virtual Incision Corporation | Robotic surgical devices, systems, and related methods |
US11202653B2 (en) | 2015-08-28 | 2021-12-21 | Atropos Limited | Access port device |
ITUB20155057A1 (it) | 2015-10-16 | 2017-04-16 | Medical Microinstruments S R L | Assieme robotico di chirurgia |
JP6416746B2 (ja) | 2015-12-24 | 2018-10-31 | ファナック株式会社 | 小型化された関節部を備える産業用の多関節ロボット |
CN109219412B (zh) | 2016-03-07 | 2022-02-08 | 伊西康有限责任公司 | 机器人双极器械 |
EP3457951B1 (en) | 2016-05-18 | 2024-03-06 | Virtual Incision Corporation | Robotic surgical devices and systems |
CN109890580B (zh) | 2016-08-30 | 2022-06-28 | 内布拉斯加大学董事会 | 具有紧凑型关节设计和附加自由度的机器人装置及相关系统和方法 |
US10917543B2 (en) | 2017-04-24 | 2021-02-09 | Alcon Inc. | Stereoscopic visualization camera and integrated robotics platform |
WO2019067763A1 (en) | 2017-09-27 | 2019-04-04 | Virtual Incision Corporation | ROBOTISED SURGICAL DEVICES WITH TRACKING CAMERA TECHNOLOGY AND RELATED SYSTEMS AND METHODS |
US10751883B2 (en) | 2018-08-16 | 2020-08-25 | Mitutoyo Corporation | Robot system with supplementary metrology position coordinates determination system |
CN114302665A (zh) | 2019-01-07 | 2022-04-08 | 虚拟切割有限公司 | 机器人辅助手术系统以及相关装置和方法 |
JP7306155B2 (ja) | 2019-08-22 | 2023-07-11 | スズキ株式会社 | 車両用動力伝達装置 |
US11298195B2 (en) | 2019-12-31 | 2022-04-12 | Auris Health, Inc. | Anatomical feature identification and targeting |
-
2013
- 2013-03-15 EP EP13827150.7A patent/EP2882331A4/en not_active Withdrawn
- 2013-03-15 CA CA2880622A patent/CA2880622C/en not_active Expired - Fee Related
- 2013-03-15 JP JP2015526524A patent/JP2015526171A/ja active Pending
- 2013-03-15 WO PCT/US2013/031961 patent/WO2014025399A1/en active Application Filing
- 2013-03-15 US US13/833,605 patent/US10582973B2/en active Active
-
2019
- 2019-03-22 JP JP2019054927A patent/JP2019146970A/ja active Pending
- 2019-05-15 JP JP2019092315A patent/JP2019177147A/ja active Pending
-
2020
- 2020-03-10 US US16/814,223 patent/US11832902B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010536436A (ja) * | 2007-08-15 | 2010-12-02 | ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ | モジュール式および協調型の医療装置ならびに関連するシステムおよび方法 |
US20110152615A1 (en) * | 2009-08-21 | 2011-06-23 | Novineon Healthcare Technology Partners, Gmbh | Surgical manipulator |
WO2011135503A1 (en) * | 2010-04-26 | 2011-11-03 | Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna | Robotic apparatus for minimally invasive surgery |
JP2015524702A (ja) * | 2011-10-03 | 2015-08-27 | ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ | ロボット手術用デバイス、システム及び関連の方法 |
Also Published As
Publication number | Publication date |
---|---|
EP2882331A1 (en) | 2015-06-17 |
US20200205912A1 (en) | 2020-07-02 |
EP2882331A4 (en) | 2016-03-23 |
WO2014025399A1 (en) | 2014-02-13 |
CA2880622C (en) | 2021-01-12 |
JP2015526171A (ja) | 2015-09-10 |
US10582973B2 (en) | 2020-03-10 |
US20140046340A1 (en) | 2014-02-13 |
CA2880622A1 (en) | 2014-02-13 |
US11832902B2 (en) | 2023-12-05 |
JP2019177147A (ja) | 2019-10-17 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP2019146970A (ja) | モジュール式手術用ロボットシステム | |
US11617626B2 (en) | Robotic surgical devices, systems and related methods | |
JP6502848B2 (ja) | モジュール式手術用ロボットシステム | |
US10856933B2 (en) | Surgical instrument housing incorporating a channel and methods of manufacturing the same | |
JP6419875B2 (ja) | 手術ロボットデバイス及び手術ロボットシステム | |
JP7405432B2 (ja) | 追跡カメラ技術を有するロボット手術デバイスならびに関連するシステムおよび方法 | |
US11432889B2 (en) | Robotic surgical instrument, method of assembling the same, and robotic surgical system | |
US11744444B2 (en) | Manipulator arm and patient-side system for surgical system | |
US11090099B2 (en) | Surgical forceps and methods of manufacturing the same | |
EP3097874B1 (en) | Surgical instruments including components and features facilitating the assembly and manufacturing thereof | |
US11944340B2 (en) | Suction and irrigation valve and method of priming same in a robotic surgical system | |
US20240008938A1 (en) | Robotic Surgical Devices, Systems and Related Methods | |
US11596466B2 (en) | Surgical instrument with evacuation port and method | |
US11766275B2 (en) | Articulating ultrasonic surgical instruments and systems | |
Farritor et al. | ROBOTICDEVICESWITHONBOARD CONTROL AND RELATED SYSTEMS AND DEVICES | |
US20240238055A1 (en) | Robotic surgical instruments with diverging form factors |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20190419 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20190419 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20200707 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20201006 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20210309 |