JP4077516B2 - 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構 - Google Patents

向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構 Download PDF

Info

Publication number
JP4077516B2
JP4077516B2 JP54267197A JP54267197A JP4077516B2 JP 4077516 B2 JP4077516 B2 JP 4077516B2 JP 54267197 A JP54267197 A JP 54267197A JP 54267197 A JP54267197 A JP 54267197A JP 4077516 B2 JP4077516 B2 JP 4077516B2
Authority
JP
Japan
Prior art keywords
surgical
instrument
positioning mechanism
master device
force
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.)
Expired - Lifetime
Application number
JP54267197A
Other languages
English (en)
Japanese (ja)
Other versions
JP2002503976A (ja
JP2002503976A5 (enExample
Inventor
ジェイ． マドハニ，アクヒル
ジェイ． サリスバリー，ケニス
Original Assignee
インチュイティブ サージカル，インコーポレイテッド
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by インチュイティブ サージカル，インコーポレイテッド filed Critical インチュイティブ サージカル，インコーポレイテッド
Publication of JP2002503976A publication Critical patent/JP2002503976A/ja
Publication of JP2002503976A5 publication Critical patent/JP2002503976A5/ja
Application granted granted Critical
Publication of JP4077516B2 publication Critical patent/JP4077516B2/ja
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A61B2034/715—Cable tensioning mechanisms for removing slack
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements
    • Y10T74/20335—Wrist

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Endoscopes (AREA)
JP54267197A 1996-05-20 1997-05-20 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構 Expired - Lifetime JP4077516B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US1798196P 1996-05-20 1996-05-20
US60/017,981 1996-05-20
US08/858,048 1997-05-16
US08/858,048 US5807377A (en) 1996-05-20 1997-05-16 Force-reflecting surgical instrument and positioning mechanism for performing minimally invasive surgery with enhanced dexterity and sensitivity
PCT/US1997/008584 WO1997043943A1 (en) 1996-05-20 1997-05-20 Force-reflecting surgical instrument and positioning mechanism for performing minimally invasive surgery with enhanced dexterity and sensitivity

Related Child Applications (2)

Application Number Title Priority Date Filing Date
JP2006273077A Division JP4443548B2 (ja) 1996-05-20 2006-10-04 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2007161960A Division JP2007289726A (ja) 1996-05-20 2007-06-19 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構

Publications (3)

Publication Number Publication Date
JP2002503976A JP2002503976A (ja) 2002-02-05
JP2002503976A5 JP2002503976A5 (enExample) 2004-12-09
JP4077516B2 true JP4077516B2 (ja) 2008-04-16

Family

ID=26690587

Family Applications (9)

Application Number Title Priority Date Filing Date
JP54267197A Expired - Lifetime JP4077516B2 (ja) 1996-05-20 1997-05-20 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2006273077A Expired - Lifetime JP4443548B2 (ja) 1996-05-20 2006-10-04 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2007161960A Withdrawn JP2007289726A (ja) 1996-05-20 2007-06-19 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2010224177A Expired - Lifetime JP5207558B2 (ja) 1996-05-20 2010-10-01 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2012060838A Withdrawn JP2012179363A (ja) 1996-05-20 2012-03-16 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2012060837A Expired - Lifetime JP5868746B2 (ja) 1996-05-20 2012-03-16 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2014102072A Withdrawn JP2014236969A (ja) 1996-05-20 2014-05-16 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2015002796A Withdrawn JP2015107340A (ja) 1996-05-20 2015-01-09 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2016112427A Withdrawn JP2016185335A (ja) 1996-05-20 2016-06-06 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構

Family Applications After (8)

Application Number Title Priority Date Filing Date
JP2006273077A Expired - Lifetime JP4443548B2 (ja) 1996-05-20 2006-10-04 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2007161960A Withdrawn JP2007289726A (ja) 1996-05-20 2007-06-19 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2010224177A Expired - Lifetime JP5207558B2 (ja) 1996-05-20 2010-10-01 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2012060838A Withdrawn JP2012179363A (ja) 1996-05-20 2012-03-16 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2012060837A Expired - Lifetime JP5868746B2 (ja) 1996-05-20 2012-03-16 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2014102072A Withdrawn JP2014236969A (ja) 1996-05-20 2014-05-16 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2015002796A Withdrawn JP2015107340A (ja) 1996-05-20 2015-01-09 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP2016112427A Withdrawn JP2016185335A (ja) 1996-05-20 2016-06-06 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構

Country Status (4)

Country Link
US (1) US5807377A (enExample)
JP (9) JP4077516B2 (enExample)
CA (1) CA2255692C (enExample)
WO (1) WO1997043943A1 (enExample)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011025058A (ja) * 1996-05-20 2011-02-10 Intuitive Surgical Inc 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構

Families Citing this family (315)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5762458A (en) 1996-02-20 1998-06-09 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US5625576A (en) 1993-10-01 1997-04-29 Massachusetts Institute Of Technology Force reflecting haptic interface
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
US5971976A (en) * 1996-02-20 1999-10-26 Computer Motion, Inc. Motion minimization and compensation system for use in surgical procedures
US6436107B1 (en) 1996-02-20 2002-08-20 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
US5792135A (en) 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US6911916B1 (en) 1996-06-24 2005-06-28 The Cleveland Clinic Foundation Method and apparatus for accessing medical data over a network
US6496099B2 (en) 1996-06-24 2002-12-17 Computer Motion, Inc. General purpose distributed operating room control system
US6364888B1 (en) 1996-09-09 2002-04-02 Intuitive Surgical, Inc. Alignment of master and slave in a minimally invasive surgical apparatus
US6132441A (en) 1996-11-22 2000-10-17 Computer Motion, Inc. Rigidly-linked articulating wrist with decoupled motion transmission
US8182469B2 (en) 1997-11-21 2012-05-22 Intuitive Surgical Operations, Inc. Surgical accessory clamp and method
US6132368A (en) * 1996-12-12 2000-10-17 Intuitive Surgical, Inc. Multi-component telepresence system and method
US7666191B2 (en) 1996-12-12 2010-02-23 Intuitive Surgical, Inc. Robotic surgical system with sterile surgical adaptor
US7727244B2 (en) 1997-11-21 2010-06-01 Intuitive Surgical Operation, Inc. Sterile surgical drape
US6331181B1 (en) 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US8206406B2 (en) 1996-12-12 2012-06-26 Intuitive Surgical Operations, Inc. Disposable sterile surgical adaptor
US8529582B2 (en) 1996-12-12 2013-09-10 Intuitive Surgical Operations, Inc. Instrument interface of a robotic surgical system
US9050119B2 (en) * 2005-12-20 2015-06-09 Intuitive Surgical Operations, Inc. Cable tensioning in a robotic surgical system
US6231565B1 (en) 1997-06-18 2001-05-15 United States Surgical Corporation Robotic arm DLUs for performing surgical tasks
US6711436B1 (en) 1997-08-08 2004-03-23 Duke University Compositions, apparatus and methods for facilitating surgical procedures
US6231585B1 (en) 1997-11-20 2001-05-15 Medivas, Llc Device for stabilizing a treatment site and method of use
US6035228A (en) * 1997-11-28 2000-03-07 Picker International, Inc. Frameless stereotactic arm apparatus and method of using same
US6247738B1 (en) 1998-01-20 2001-06-19 Daum Gmbh Robot hand
US7713190B2 (en) 1998-02-24 2010-05-11 Hansen Medical, Inc. Flexible instrument
US20020120252A1 (en) * 1998-02-24 2002-08-29 Brock David L. Surgical instrument
US8414598B2 (en) 1998-02-24 2013-04-09 Hansen Medical, Inc. Flexible instrument
US6810281B2 (en) 2000-12-21 2004-10-26 Endovia Medical, Inc. Medical mapping system
US8303576B2 (en) 1998-02-24 2012-11-06 Hansen Medical, Inc. Interchangeable surgical instrument
US7169141B2 (en) 1998-02-24 2007-01-30 Hansen Medical, Inc. Surgical instrument
US7901399B2 (en) 1998-02-24 2011-03-08 Hansen Medical, Inc. Interchangeable surgical instrument
US6692485B1 (en) 1998-02-24 2004-02-17 Endovia Medical, Inc. Articulated apparatus for telemanipulator system
US7758569B2 (en) 1998-02-24 2010-07-20 Hansen Medical, Inc. Interchangeable surgical instrument
US6860878B2 (en) * 1998-02-24 2005-03-01 Endovia Medical Inc. Interchangeable instrument
US7775972B2 (en) 1998-02-24 2010-08-17 Hansen Medical, Inc. Flexible instrument
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
US7297142B2 (en) * 1998-02-24 2007-11-20 Hansen Medical, Inc. Interchangeable surgical instrument
US7789875B2 (en) 1998-02-24 2010-09-07 Hansen Medical, Inc. Surgical instruments
DE69932809T2 (de) * 1998-03-04 2007-03-29 Visx Inc., Santa Clara System zur Laserbehandlung der Altersichtigkeit
US6096004A (en) * 1998-07-10 2000-08-01 Mitsubishi Electric Information Technology Center America, Inc. (Ita) Master/slave system for the manipulation of tubular medical tools
US6985133B1 (en) 1998-07-17 2006-01-10 Sensable Technologies, Inc. Force reflecting haptic interface
US6206913B1 (en) 1998-08-12 2001-03-27 Vascular Innovations, Inc. Method and system for attaching a graft to a blood vessel
US6461320B1 (en) 1998-08-12 2002-10-08 Cardica, Inc. Method and system for attaching a graft to a blood vessel
US6951535B2 (en) 2002-01-16 2005-10-04 Intuitive Surgical, Inc. Tele-medicine system that transmits an entire state of a subsystem
US6398726B1 (en) 1998-11-20 2002-06-04 Intuitive Surgical, Inc. Stabilizer for robotic beating-heart surgery
US6659939B2 (en) 1998-11-20 2003-12-09 Intuitive Surgical, Inc. Cooperative minimally invasive telesurgical system
US6852107B2 (en) 2002-01-16 2005-02-08 Computer Motion, Inc. Minimally invasive surgical training using robotics and tele-collaboration
US8527094B2 (en) 1998-11-20 2013-09-03 Intuitive Surgical Operations, Inc. Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures
US6493608B1 (en) 1999-04-07 2002-12-10 Intuitive Surgical, Inc. Aspects of a control system of a minimally invasive surgical apparatus
US6538634B1 (en) 1998-12-18 2003-03-25 Kent Ridge Digital Labs Apparatus for the simulation of image-guided surgery
US6286387B1 (en) * 1999-03-03 2001-09-11 Suzuki Motor Corporation Three-dimensional input manipulator
US6424885B1 (en) 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US8944070B2 (en) 1999-04-07 2015-02-03 Intuitive Surgical Operations, Inc. Non-force reflecting method for providing tool force information to a user of a telesurgical system
US6594552B1 (en) * 1999-04-07 2003-07-15 Intuitive Surgical, Inc. Grip strength with tactile feedback for robotic surgery
US10820949B2 (en) 1999-04-07 2020-11-03 Intuitive Surgical Operations, Inc. Medical robotic system with dynamically adjustable slave manipulator characteristics
US6565554B1 (en) 1999-04-07 2003-05-20 Intuitive Surgical, Inc. Friction compensation in a minimally invasive surgical apparatus
EP1224918A3 (en) * 1999-05-10 2002-12-18 endoVia Medical Inc. Surgical instrument
US6428550B1 (en) 1999-05-18 2002-08-06 Cardica, Inc. Sutureless closure and deployment system for connecting blood vessels
AU5150600A (en) 1999-05-18 2000-12-05 Vascular Innovations, Inc. Tissue punch
US6673088B1 (en) 1999-05-18 2004-01-06 Cardica, Inc. Tissue punch
US6719769B2 (en) 1999-11-15 2004-04-13 Cardica, Inc. Integrated anastomosis tool with graft vessel attachment device and cutting device
US7048751B2 (en) 2001-12-06 2006-05-23 Cardica, Inc. Implantable medical device such as an anastomosis device
WO2000069364A2 (en) 1999-05-18 2000-11-23 Vascular Innovations, Inc. Implantable medical device such as an anastomosis device
US6793652B1 (en) 1999-06-02 2004-09-21 Power Medical Interventions, Inc. Electro-mechanical surgical device
US7695485B2 (en) 2001-11-30 2010-04-13 Power Medical Interventions, Llc Surgical device
US8025199B2 (en) 2004-02-23 2011-09-27 Tyco Healthcare Group Lp Surgical cutting and stapling device
US6315184B1 (en) 1999-06-02 2001-11-13 Powermed, Inc. Stapling device for use with an electromechanical driver device for use with anastomosing, stapling, and resecting instruments
US7951071B2 (en) 1999-06-02 2011-05-31 Tyco Healthcare Group Lp Moisture-detecting shaft for use with an electro-mechanical surgical device
US7032798B2 (en) 1999-06-02 2006-04-25 Power Medical Interventions, Inc. Electro-mechanical surgical device
US6981941B2 (en) 1999-06-02 2006-01-03 Power Medical Interventions Electro-mechanical surgical device
US6610071B1 (en) 1999-07-26 2003-08-26 Beth Israel Deaconess Medical Center Suture system
US7217240B2 (en) 1999-10-01 2007-05-15 Intuitive Surgical, Inc. Heart stabilizer
US6592572B1 (en) 1999-11-22 2003-07-15 Olympus Optical Co., Ltd. Surgical operation apparatus
US7635390B1 (en) 2000-01-14 2009-12-22 Marctec, Llc Joint replacement component having a modular articulating surface
US6377011B1 (en) 2000-01-26 2002-04-23 Massachusetts Institute Of Technology Force feedback user interface for minimally invasive surgical simulator and teleoperator and other similar apparatus
US8016855B2 (en) 2002-01-08 2011-09-13 Tyco Healthcare Group Lp Surgical device
DK1309277T3 (da) * 2000-07-20 2008-10-06 Kinetic Surgical Llc Håndaktiveret leddelt kirurgisk værktöj
US20100241137A1 (en) * 2000-07-20 2010-09-23 Mark Doyle Hand-actuated articulating surgical tool
US6726699B1 (en) 2000-08-15 2004-04-27 Computer Motion, Inc. Instrument guide
US6776785B1 (en) 2000-10-12 2004-08-17 Cardica, Inc. Implantable superelastic anastomosis device
US6471713B1 (en) 2000-11-13 2002-10-29 Cardica, Inc. System for deploying an anastomosis device and method of performing anastomosis
EP1355565B1 (en) 2000-11-28 2011-01-19 Intuitive Surgical Operations, Inc. Endoscopic beating-heart stabilizer and vessel occlusion fastener
US7105005B2 (en) * 2001-01-29 2006-09-12 Scanlan International, Inc. Arteriotomy scissors for minimally invasive surgical procedures
US7699835B2 (en) 2001-02-15 2010-04-20 Hansen Medical, Inc. Robotically controlled surgical instruments
US20090182226A1 (en) * 2001-02-15 2009-07-16 Barry Weitzner Catheter tracking system
US8414505B1 (en) 2001-02-15 2013-04-09 Hansen Medical, Inc. Catheter driver system
US7766894B2 (en) 2001-02-15 2010-08-03 Hansen Medical, Inc. Coaxial catheter system
US20030135204A1 (en) 2001-02-15 2003-07-17 Endo Via Medical, Inc. Robotically controlled medical instrument with a flexible section
US20020165524A1 (en) 2001-05-01 2002-11-07 Dan Sanchez Pivot point arm for a robotic system used to perform a surgical procedure
IL143255A (en) 2001-05-20 2015-09-24 Simbionix Ltd Endoscopic ultrasonography simulation
US7708741B1 (en) 2001-08-28 2010-05-04 Marctec, Llc Method of preparing bones for knee replacement surgery
US6728599B2 (en) 2001-09-07 2004-04-27 Computer Motion, Inc. Modularity system for computer assisted surgery
US6587750B2 (en) 2001-09-25 2003-07-01 Intuitive Surgical, Inc. Removable infinite roll master grip handle and touch sensor for robotic surgery
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
US6723087B2 (en) * 2001-12-14 2004-04-20 Medtronic, Inc. Apparatus and method for performing surgery on a patient
US9113878B2 (en) 2002-01-08 2015-08-25 Covidien Lp Pinion clip for right angle linear cutter
US7029482B1 (en) 2002-01-22 2006-04-18 Cardica, Inc. Integrated anastomosis system
US8012164B1 (en) 2002-01-22 2011-09-06 Cardica, Inc. Method and apparatus for creating an opening in the wall of a tubular vessel
US7335216B2 (en) 2002-01-22 2008-02-26 Cardica, Inc. Tool for creating an opening in tissue
US7223274B2 (en) 2002-01-23 2007-05-29 Cardica, Inc. Method of performing anastomosis
US7021173B2 (en) * 2002-02-06 2006-04-04 The John Hopkins University Remote center of motion robotic system and method
US7428855B2 (en) * 2002-05-22 2008-09-30 Duval Eugene F Counter balance system and method with one or more mechanical arms
ES2278167T3 (es) 2002-06-14 2007-08-01 Power Medical Interventions, Inc. Dispositivo para pinzar, cortar y grapar tejido.
WO2004014244A2 (en) 2002-08-13 2004-02-19 Microbotics Corporation Microsurgical robot system
US20040176751A1 (en) 2002-08-14 2004-09-09 Endovia Medical, Inc. Robotic medical instrument system
US7331967B2 (en) * 2002-09-09 2008-02-19 Hansen Medical, Inc. Surgical instrument coupling mechanism
US6932808B2 (en) * 2002-11-19 2005-08-23 Visx, Incorporated Ablation shape for the correction of presbyopia
SE0203567D0 (sv) * 2002-12-03 2002-12-03 Mentice Ab An interventional simulator control system
JP4861009B2 (ja) * 2002-12-06 2012-01-25 ヴィズイクス・インコーポレーテッド 患者のデータを使用した老眼矯正
US8342686B2 (en) 2002-12-06 2013-01-01 Amo Manufacturing Usa, Llc. Compound modulation transfer function for laser surgery and other optical applications
US7320517B2 (en) 2002-12-06 2008-01-22 Visx, Incorporated Compound modulation transfer function for laser surgery and other optical applications
US7386365B2 (en) * 2004-05-04 2008-06-10 Intuitive Surgical, Inc. Tool grip calibration for robotic surgery
US8911086B2 (en) 2002-12-06 2014-12-16 Amo Manufacturing Usa, Llc Compound modulation transfer function for laser surgery and other optical applications
US7460288B2 (en) * 2002-12-06 2008-12-02 Amo Manufacturing Usa, Llc Methods for determining refractive corrections from wavefront measurements
US7434936B2 (en) * 2002-12-06 2008-10-14 Amo Manufacturing Usa, Llc Residual accommodation threshold for correction of presbyopia and other presbyopia correction using patient data
US8007511B2 (en) * 2003-06-06 2011-08-30 Hansen Medical, Inc. Surgical instrument design
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
US7850456B2 (en) 2003-07-15 2010-12-14 Simbionix Ltd. Surgical simulation device, system and method
US7676194B2 (en) * 2003-08-22 2010-03-09 Rappaport Theodore S Broadband repeater with security for ultrawideband technologies
WO2005039835A1 (en) * 2003-10-24 2005-05-06 The University Of Western Ontario Force reflective robotic control system and minimally invasive surgical device
US7411576B2 (en) 2003-10-30 2008-08-12 Sensable Technologies, Inc. Force reflecting haptic interface
DE10353110B4 (de) * 2003-11-12 2006-02-16 Delta Engineering Gmbh Aktorplattform zur Führung von medizinischen Instrumenten bei minimal invasiven Interventionen
US7585306B2 (en) 2003-12-24 2009-09-08 Maquet Cardiovascular Llc Anastomosis device, tools and methods of using
US8337407B2 (en) * 2003-12-30 2012-12-25 Liposonix, Inc. Articulating arm for medical procedures
US20070142749A1 (en) * 2004-03-04 2007-06-21 Oussama Khatib Apparatus for medical and/or simulation procedures
US20050261752A1 (en) * 2004-05-18 2005-11-24 Visx, Incorporated Binocular optical treatment for presbyopia
US8162963B2 (en) 2004-06-17 2012-04-24 Maquet Cardiovascular Llc Angled anastomosis device, tools and method of using
US7387387B2 (en) * 2004-06-17 2008-06-17 Amo Manufacturing Usa, Llc Correction of presbyopia using adaptive optics and associated methods
KR100662341B1 (ko) * 2004-07-09 2007-01-02 엘지전자 주식회사 디스플레이 장치 및 그의 색 재현 방법
US8545488B2 (en) 2004-09-17 2013-10-01 The Spectranetics Corporation Cardiovascular imaging system
US20060196299A1 (en) * 2005-01-27 2006-09-07 John Taboada Seven Axis End Effector Articulating Mechanism
US8496647B2 (en) 2007-12-18 2013-07-30 Intuitive Surgical Operations, Inc. Ribbed force sensor
US7752920B2 (en) * 2005-12-30 2010-07-13 Intuitive Surgical Operations, Inc. Modular force sensor
US8463439B2 (en) 2009-03-31 2013-06-11 Intuitive Surgical Operations, Inc. Optic fiber connection for a force sensing instrument
US8465474B2 (en) 2009-05-19 2013-06-18 Intuitive Surgical Operations, Inc. Cleaning of a surgical instrument force sensor
US8375808B2 (en) 2005-12-30 2013-02-19 Intuitive Surgical Operations, Inc. Force sensing for surgical instruments
JP4534004B2 (ja) 2005-04-07 2010-09-01 学校法人慶應義塾 マニピュレータ
US20060243085A1 (en) * 2005-04-25 2006-11-02 Blake Hannaford Spherical motion mechanism
US20110020779A1 (en) * 2005-04-25 2011-01-27 University Of Washington Skill evaluation using spherical motion mechanism
US9789608B2 (en) 2006-06-29 2017-10-17 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
US7413566B2 (en) * 2005-05-19 2008-08-19 Amo Manufacturing Usa, Llc Training enhanced pseudo accommodation methods, systems and devices for mitigation of presbyopia
WO2007005976A1 (en) 2005-07-01 2007-01-11 Hansen Medical, Inc. Robotic catheter system
US8628518B2 (en) 2005-12-30 2014-01-14 Intuitive Surgical Operations, Inc. Wireless force sensor on a distal portion of a surgical instrument and method
KR101296220B1 (ko) 2005-12-30 2013-08-13 인튜어티브 서지컬 인코포레이티드 모듈식 힘센서
US9549663B2 (en) 2006-06-13 2017-01-24 Intuitive Surgical Operations, Inc. Teleoperated surgical retractor system
US8491603B2 (en) 2006-06-14 2013-07-23 MacDonald Dettwiller and Associates Inc. Surgical manipulator
EP2034922B1 (en) 2006-06-22 2017-03-15 Board of Regents of the University of Nebraska Magnetically coupleable 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
US8679096B2 (en) 2007-06-21 2014-03-25 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
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
US20090192523A1 (en) 2006-06-29 2009-07-30 Intuitive Surgical, Inc. Synthetic representation of a surgical instrument
US12357400B2 (en) 2006-06-29 2025-07-15 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
US10008017B2 (en) 2006-06-29 2018-06-26 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US9718190B2 (en) 2006-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
AU2007339977B2 (en) * 2006-12-27 2013-08-01 Mako Surgical Corp. Apparatus and method for providing an adjustable positive stop in space
WO2008086493A2 (en) * 2007-01-10 2008-07-17 Hansen Medical, Inc. Robotic catheter system
CN101627411B (zh) 2007-01-16 2014-03-19 西姆博尼克斯有限公司 用于执行模拟的图像导引医疗过程的设备和方法
US8543338B2 (en) 2007-01-16 2013-09-24 Simbionix Ltd. System and method for performing computerized simulations for image-guided procedures using a patient specific model
JP4505618B2 (ja) * 2007-04-11 2010-07-21 株式会社日立製作所 マニピュレータ装置
US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
US9084623B2 (en) 2009-08-15 2015-07-21 Intuitive Surgical Operations, Inc. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide
US8620473B2 (en) 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
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
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
US8444631B2 (en) 2007-06-14 2013-05-21 Macdonald Dettwiler & Associates Inc Surgical manipulator
WO2009014917A2 (en) 2007-07-12 2009-01-29 Board Of Regents Of The University Of Nebraska Methods and systems of actuation in robotic devices
WO2009023839A1 (en) 2007-08-15 2009-02-19 Board Of Regents Of The University Of Nebraska Medical inflation, attachment, and delivery devices and related methods
JP5475662B2 (ja) 2007-08-15 2014-04-16 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セグメント化医療装置ならびに関連するシステム
JP5334129B2 (ja) * 2007-08-28 2013-11-06 国立大学法人 千葉大学 腹腔鏡手術支援用ロボット
CN101801283B (zh) 2007-09-21 2012-07-18 Tyco医疗健康集团 手术器械
WO2009039506A1 (en) 2007-09-21 2009-03-26 Power Medical Interventions, Inc. Surgical device
US8561473B2 (en) 2007-12-18 2013-10-22 Intuitive Surgical Operations, Inc. Force sensor temperature compensation
JP4911629B2 (ja) * 2008-02-13 2012-04-04 公立大学法人高知工科大学 遠隔操作システム
US9241768B2 (en) * 2008-03-27 2016-01-26 St. Jude Medical, Atrial Fibrillation Division, Inc. Intelligent input device controller for a robotic catheter system
US8317744B2 (en) 2008-03-27 2012-11-27 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic catheter manipulator assembly
US8684962B2 (en) * 2008-03-27 2014-04-01 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic catheter device cartridge
US8317745B2 (en) * 2008-03-27 2012-11-27 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic catheter rotatable device cartridge
US9161817B2 (en) 2008-03-27 2015-10-20 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic catheter system
WO2009120982A2 (en) 2008-03-27 2009-10-01 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic catheter system with dynamic response
US20090248042A1 (en) * 2008-03-27 2009-10-01 Kirschenman Mark B Model catheter input device
WO2009120992A2 (en) * 2008-03-27 2009-10-01 St. Jude Medical, Arrial Fibrillation Division Inc. Robotic castheter system input device
US8343096B2 (en) 2008-03-27 2013-01-01 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic catheter system
US9895813B2 (en) 2008-03-31 2018-02-20 Intuitive Surgical Operations, Inc. Force and torque sensing in a surgical robot setup arm
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
US12239396B2 (en) 2008-06-27 2025-03-04 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
US9204923B2 (en) 2008-07-16 2015-12-08 Intuitive Surgical Operations, Inc. Medical instrument electronically energized using drive cables
KR101056232B1 (ko) * 2008-09-12 2011-08-11 정창욱 최소 침습 수술 도구 및 그 사용 방법
JP5435327B2 (ja) * 2008-10-27 2014-03-05 国立大学法人 名古屋工業大学 ３軸を有する手術支援マニピュレータ
KR101075363B1 (ko) * 2008-10-31 2011-10-19 정창욱 최소 침습 수술 도구를 포함하는 수술용 로봇 시스템
WO2010078344A1 (en) * 2008-12-31 2010-07-08 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic catheter system input device
US9486196B1 (en) 2009-02-04 2016-11-08 Vioptix, Inc. Retractor systems with sensors
US8688186B1 (en) 2009-02-04 2014-04-01 Vioptix, Inc. Retractor device with oximeter sensor and force sensor
US9636096B1 (en) 2009-02-04 2017-05-02 Vioptix, Inc. Retractor systems with closed loop control
JP5325621B2 (ja) * 2009-03-19 2013-10-23 オリンパス株式会社 マニピュレータの関節の変位量検出機構
US12266040B2 (en) 2009-03-31 2025-04-01 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US8918212B2 (en) 2009-06-24 2014-12-23 Intuitive Surgical Operations, Inc. Arm with a combined shape and force sensor
US9330497B2 (en) 2011-08-12 2016-05-03 St. Jude Medical, Atrial Fibrillation Division, Inc. User interface devices for electrophysiology lab diagnostic and therapeutic equipment
US9439736B2 (en) 2009-07-22 2016-09-13 St. Jude Medical, Atrial Fibrillation Division, Inc. System and method for controlling a remote medical device guidance system in three-dimensions using gestures
US9492927B2 (en) 2009-08-15 2016-11-15 Intuitive Surgical Operations, Inc. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
US8918211B2 (en) 2010-02-12 2014-12-23 Intuitive Surgical Operations, Inc. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
EP2470104A4 (en) * 2009-08-26 2017-01-04 Care Fusion 2200, Inc. Articulated surgical tool
WO2011060318A1 (en) * 2009-11-13 2011-05-19 Intuitive Surgical Operations, Inc. Motor interface for parallel drive shafts within an independently rotating member
US9259275B2 (en) 2009-11-13 2016-02-16 Intuitive Surgical Operations, Inc. Wrist articulation by linked tension members
CN105193469B (zh) 2009-11-13 2018-12-04 直观外科手术操作公司 具有复设的闭合机构的末端执行器
EP3760154B1 (en) 2009-11-13 2025-07-02 Intuitive Surgical Operations, Inc. Surgical tool with a compact wrist
WO2011075693A1 (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
EP2542296A4 (en) 2010-03-31 2014-11-26 St Jude Medical Atrial Fibrill INTUITIVE USER INTERFACE CONTROL FOR REMOTE NAVIGATION OF A CATHETER AND 3D MAPPING AND VISUALIZATION SYSTEMS
CN101791247B (zh) * 2010-04-01 2012-04-11 天津大学 微创外科手术用多自由度手术工具
CN101822558B (zh) * 2010-04-27 2012-06-27 天津理工大学 一种手术机器人系统
JP5468977B2 (ja) 2010-04-30 2014-04-09 オリンパス株式会社 光ポテンショメータ及びマニピュレータ
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
US9498107B2 (en) 2010-08-06 2016-11-22 Carefusion 2200, Inc. Clamping system
US8776800B2 (en) 2010-09-30 2014-07-15 Carefusion 2200, Inc. Sterile drape having multiple drape interface mechanisms
US8740883B2 (en) 2010-09-30 2014-06-03 Carefusion 2200, Inc. Detachable handle mechanism for use in instrument positioning
US8640706B2 (en) 2010-09-30 2014-02-04 Carefusion 2200, Inc. Interface mechanism between a drape and a handle
US9486189B2 (en) 2010-12-02 2016-11-08 Hitachi Aloka Medical, Ltd. Assembly for use with surgery system
US8761927B2 (en) 2010-12-17 2014-06-24 Disney Enterprises, Inc. Externally actuated figure
US9921712B2 (en) 2010-12-29 2018-03-20 Mako Surgical Corp. System and method for providing substantially stable control of a surgical tool
US9119655B2 (en) 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
CN102648870B (zh) * 2011-02-25 2014-03-12 上海理工大学 椎弓根螺钉植入反馈力信息采集装置
KR101242581B1 (ko) 2011-05-20 2013-03-25 인하대학교 산학협력단 Ｅｒ 유체를 이용한 3 자유도 능동 햅틱 마스터 시스템
WO2013048595A1 (en) 2011-06-10 2013-04-04 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to surgical end effectors
CA2841459C (en) 2011-07-11 2020-07-28 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
JP6502848B2 (ja) 2011-10-03 2019-04-17 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 モジュール式手術用ロボットシステム
US10582973B2 (en) 2012-08-08 2020-03-10 Virtual Incision Corporation Robotic surgical devices, systems, and related methods
JP5392729B2 (ja) * 2011-10-03 2014-01-22 公立大学法人高知工科大学 遠隔操作システム
KR101912716B1 (ko) 2011-11-01 2018-10-30 삼성전자주식회사 힘 측정 장치를 포함하는 로봇 팔
JP6475987B2 (ja) 2011-11-23 2019-02-27 リブスメド インコーポレーテッド 手術用インストルメント
JP6377530B2 (ja) 2012-01-10 2018-08-22 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 外科的挿入装置
EP2844181B1 (en) 2012-05-01 2021-03-10 Board of Regents of the University of Nebraska Single site robotic device and related systems
KR101341468B1 (ko) * 2012-05-18 2013-12-13 부산대학교 산학협력단 수술 로봇 시스템용 마스터 로봇
EP3680071B1 (en) 2012-06-22 2021-09-01 Board of Regents of the University of Nebraska Local control robotic surgical devices
RU2015107009A (ru) * 2012-08-02 2016-09-27 Конинклейке Филипс Н.В. Определение устройства управления удаленного центра движения робота
US9226796B2 (en) 2012-08-03 2016-01-05 Stryker Corporation Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path
EP4316409B1 (en) 2012-08-03 2025-06-11 Stryker Corporation Systems for robotic surgery
US9820818B2 (en) 2012-08-03 2017-11-21 Stryker Corporation System and method for controlling a surgical manipulator based on implant parameters
US12295680B2 (en) 2012-08-08 2025-05-13 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
US9770305B2 (en) 2012-08-08 2017-09-26 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
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
US9623211B2 (en) 2013-03-13 2017-04-18 The Spectranetics Corporation Catheter movement control
EP2996615B1 (en) 2013-03-13 2019-01-30 Stryker Corporation System for arranging objects in an operating room in preparation for surgical procedures
WO2014152418A1 (en) 2013-03-14 2014-09-25 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
US9757200B2 (en) 2013-03-14 2017-09-12 The Spectranetics Corporation Intelligent catheter
WO2014151952A1 (en) * 2013-03-14 2014-09-25 Sri International Compact robotic wrist
US10758308B2 (en) 2013-03-14 2020-09-01 The Spectranetics Corporation Controller to select optical channel parameters in a catheter
US11642169B2 (en) 2013-03-14 2023-05-09 The Spectranetics Corporation Smart multiplexed medical laser system
US9743987B2 (en) 2013-03-14 2017-08-29 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
US10667883B2 (en) 2013-03-15 2020-06-02 Virtual Incision Corporation Robotic surgical devices, systems, and related methods
CN105188592B (zh) 2013-03-15 2018-07-27 Sri国际公司 超灵巧型手术系统
WO2015009949A2 (en) 2013-07-17 2015-01-22 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
KR101454322B1 (ko) * 2013-07-24 2014-11-03 부산대학교 산학협력단 수술 로봇 시스템용 마스터 로봇
US10076348B2 (en) 2013-08-15 2018-09-18 Intuitive Surgical Operations, Inc. Rotary input for lever actuation
US10550918B2 (en) 2013-08-15 2020-02-04 Intuitive Surgical Operations, Inc. Lever actuated gimbal plate
JP6150672B2 (ja) * 2013-08-26 2017-06-21 オリンパス株式会社 医療用マニピュレータ
KR102306959B1 (ko) * 2013-09-04 2021-10-01 삼성전자주식회사 수술 로봇 및 수술 로봇 제어 방법
US9295522B2 (en) 2013-11-08 2016-03-29 Covidien Lp Medical device adapter with wrist mechanism
KR102237597B1 (ko) * 2014-02-18 2021-04-07 삼성전자주식회사 수술 로봇용 마스터 장치 및 그 제어 방법
US10987168B2 (en) 2014-05-29 2021-04-27 Spectranetics Llc System and method for coordinated laser delivery and imaging
CN105215992B (zh) * 2014-06-24 2017-03-08 东南大学常州研究院 用于人机交互的多自由度力觉反馈装置
JP6710199B2 (ja) 2014-09-12 2020-06-17 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 クイックリリースエンドエフェクターおよび関連するシステムおよび方法
WO2016077478A1 (en) 2014-11-11 2016-05-19 Board Of Regents Of The University Of Nebraska Robotic device with compact joint design and related systems and methods
US10646274B2 (en) 2014-12-30 2020-05-12 Regents Of The University Of Minnesota Laser catheter with use of reflected light and force indication to determine material type in vascular system
US10646118B2 (en) 2014-12-30 2020-05-12 Regents Of The University Of Minnesota Laser catheter with use of reflected light to determine material type in vascular system
US10646275B2 (en) 2014-12-30 2020-05-12 Regents Of The University Of Minnesota Laser catheter with use of determined material type in vascular system in ablation of material
FR3031060B1 (fr) * 2014-12-31 2016-12-23 Commissariat A L`Energie Atomique Et Aux Energies Alternatives Dispositif portatif d'amplification d'un effort axial
IL313151A (en) 2015-07-17 2024-07-01 Deka Products Lp Robotic surgery system, method, and apparatus
CN108472030B (zh) 2015-08-03 2021-06-18 内布拉斯加大学董事会 机器人手术装置系统及相关方法
US10856947B2 (en) * 2016-01-26 2020-12-08 Sony Corporation Grip force sensation feedback device and stylus-type force sensation feedback device
US10751136B2 (en) 2016-05-18 2020-08-25 Virtual Incision Corporation Robotic surgical devices, systems and related methods
US11007024B2 (en) 2016-07-14 2021-05-18 Intuitive Surgical Operations, Inc. Geared grip actuation for medical instruments
CN114587609B (zh) 2016-07-14 2025-01-28 直观外科手术操作公司 多线缆医疗器械
WO2018013316A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Geared roll drive for medical instrument
CN116269696A (zh) 2016-08-25 2023-06-23 内布拉斯加大学董事会 快速释放工具耦接器以及相关系统和方法
EP4523648A3 (en) 2016-08-30 2025-04-09 Board of Regents of the University of Nebraska Robotic device with compact joint design and an additional degree of freedom and related systems and methods
US10072743B1 (en) 2016-09-02 2018-09-11 Michael Brian Wittig Rotary-to-linear transmission system
WO2018094029A1 (en) * 2016-11-17 2018-05-24 Boston Scientific Scimed Inc. Hydraulic auto crossing balloon/catheter
CN115349951A (zh) * 2016-11-21 2022-11-18 直观外科手术操作公司 线缆长度持恒的医疗器械
WO2018098319A1 (en) 2016-11-22 2018-05-31 Board Of Regents Of The University Of Nebraska Improved gross positioning device and related systems and methods
CN115553922A (zh) 2016-11-29 2023-01-03 虚拟切割有限公司 具有用户存在检测的用户控制器及相关系统和方法
WO2018112199A1 (en) 2016-12-14 2018-06-21 Virtual Incision Corporation Releasable attachment device for coupling to medical devices and related systems and methods
US11202682B2 (en) 2016-12-16 2021-12-21 Mako Surgical Corp. Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site
WO2018132386A1 (en) 2017-01-10 2018-07-19 Intuitive Surgical Operations, Inc. Systems and methods for using a robotic medical system
US10357321B2 (en) 2017-02-24 2019-07-23 Intuitive Surgical Operations, Inc. Splayed cable guide for a medical instrument
US11076926B2 (en) 2017-03-21 2021-08-03 Intuitive Surgical Operations, Inc. Manual release for medical device drive system
GB2563234B (en) 2017-06-06 2021-12-08 Cmr Surgical Ltd Securing an interface element rail of a robotic surgical instrument interface
CN110709023A (zh) 2017-06-30 2020-01-17 直观外科手术操作公司 具有柔顺性弹性体电极的电外科手术器械
EP3687370B1 (en) 2017-09-27 2024-11-20 Virtual Incision Corporation Robotic surgical devices with tracking camera technology and related systems
US10470830B2 (en) * 2017-12-11 2019-11-12 Auris Health, Inc. Systems and methods for instrument based insertion architectures
KR102332121B1 (ko) 2017-12-14 2021-12-01 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 인장 밴드를 갖는 의료 도구
JP7005773B2 (ja) 2018-01-04 2022-01-24 コヴィディエン リミテッド パートナーシップ トルク伝達および機械的操作を伴う高関節運動リストアセンブリを含むロボット手術器具
CN111770816B (zh) 2018-01-05 2023-11-03 内布拉斯加大学董事会 具有紧凑型关节设计的单臂机器人装置及相关系统和方法
US11497567B2 (en) 2018-02-08 2022-11-15 Intuitive Surgical Operations, Inc. Jointed control platform
US11118661B2 (en) 2018-02-12 2021-09-14 Intuitive Surgical Operations, Inc. Instrument transmission converting roll to linear actuation
CN119837643A (zh) 2018-03-07 2025-04-18 直观外科手术操作公司 具有易组装构件的低摩擦小型医疗工具
EP3761897A4 (en) 2018-03-07 2021-11-24 Intuitive Surgical Operations, Inc. LOW-FRICTION, LOW-PRESSURE MEDICAL TOOLS WITH EASY-TO-ASSEMBLE COMPONENTS
EP3761895A4 (en) 2018-03-07 2021-11-24 Intuitive Surgical Operations, Inc. LOW FRICTION MEDICAL TOOLS WITH ROLLER ASSISTED TENSION ELEMENTS
EP3773302B1 (en) 2018-04-10 2025-06-04 Intuitive Surgical Operations, Inc. Articulable medical devices having flexible wire routing
GB201806943D0 (en) 2018-04-27 2018-06-13 Imperial Innovations Ltd Laparoscopic instruments
US12048504B2 (en) 2018-11-15 2024-07-30 Intuitive Surgical Operations, Inc. Cable drive limited slip capstan and shaft
EP3908171A4 (en) 2019-01-07 2022-09-14 Virtual Incision Corporation Robotically assisted surgical system and related devices and methods
CN113453642B (zh) 2019-02-22 2025-06-03 奥瑞斯健康公司 具有用于可调式臂支撑件的机动臂的外科平台
CN121041038A (zh) 2019-06-13 2025-12-02 直观外科手术操作公司 用于致动张力带的带有长度守恒机构的医疗工具
JP2021041037A (ja) 2019-09-13 2021-03-18 ソニー株式会社 術具、手術支援システム、並びに手術用操作ユニット
JP2021041038A (ja) 2019-09-13 2021-03-18 ソニー株式会社 術具、手術支援システム、並びに手術用操作ユニット
JP6875690B1 (ja) * 2020-02-12 2021-05-26 リバーフィールド株式会社 手術ロボット、及び手術ロボットの制御ユニット
JP2023532977A (ja) 2020-07-06 2023-08-01 バーチャル インシジョン コーポレイション 外科用ロボット位置決めシステム並びに関連する装置及び方法
USD1104267S1 (en) 2021-03-24 2025-12-02 Intuitive Surgical Operations, Inc. Surgeon control apparatus
US20250162138A1 (en) * 2022-03-09 2025-05-22 Sony Group Corporation Arm device and cable deceleration device
KR20250124786A (ko) * 2024-02-13 2025-08-20 주식회사 로엔서지컬 수술 기구 피딩 장치 및 수술 장치
KR102831278B1 (ko) * 2025-03-28 2025-07-08 (주)빅텍스 외장형 밸런싱 웨이트 구조 및 이를 포함하는 매니퓰레이터

Family Cites Families (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2434685A1 (fr) * 1978-09-04 1980-03-28 Commissariat Energie Atomique Manipulateur motorise
US5078140A (en) * 1986-05-08 1992-01-07 Kwoh Yik S Imaging device - aided robotic stereotaxis system
US4762455A (en) * 1987-06-01 1988-08-09 Remote Technology Corporation Remote manipulator
US4921393A (en) * 1988-03-09 1990-05-01 Sri International Articulatable structure with adjustable end-point compliance
US5217453A (en) * 1991-03-18 1993-06-08 Wilk Peter J Automated surgical system and apparatus
JPH0712596B2 (ja) * 1991-03-28 1995-02-15 工業技術院長 ロボットア―ムのワイヤ―干渉駆動方式
US5339799A (en) * 1991-04-23 1994-08-23 Olympus Optical Co., Ltd. Medical system for reproducing a state of contact of the treatment section in the operation unit
US5312399A (en) * 1992-09-29 1994-05-17 Hakky Said I Laser resectoscope with mechanical cutting means and laser coagulating means
US5397323A (en) * 1992-10-30 1995-03-14 International Business Machines Corporation Remote center-of-motion robot for surgery
DE69417229T2 (de) * 1993-05-14 1999-07-08 Sri International, Menlo Park, Calif. Chirurgiegerät
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
JP2524684B2 (ja) * 1993-12-27 1996-08-14 技術研究組合医療福祉機器研究所 レ―ザハンドピ―ス
JPH07184923A (ja) * 1993-12-28 1995-07-25 Hitachi Ltd 遠隔微細手術支援装置
JP3339953B2 (ja) * 1993-12-29 2002-10-28 オリンパス光学工業株式会社 医療用マスタースレーブ式マニピュレータ
JP3670325B2 (ja) * 1994-03-03 2005-07-13 オリンパス株式会社 医療器具の保持装置
JPH08117238A (ja) * 1994-10-25 1996-05-14 Olympus Optical Co Ltd 手術用マニピュレータ
US5528955A (en) * 1994-09-08 1996-06-25 Hannaford; Blake Five axis direct-drive mini-robot having fifth actuator located at non-adjacent joint
US5558668A (en) * 1994-10-11 1996-09-24 Plc Medical Systems, Inc. Medical laser treatment system and method
JPH08173442A (ja) * 1994-12-27 1996-07-09 Sony Corp マスタースレーブマニピュレータ
US5855583A (en) * 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
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

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011025058A (ja) * 1996-05-20 2011-02-10 Intuitive Surgical Inc 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構

Also Published As

Publication number Publication date
JP2012179363A (ja) 2012-09-20
JP5207558B2 (ja) 2013-06-12
JP2011025058A (ja) 2011-02-10
JP2016185335A (ja) 2016-10-27
JP2015107340A (ja) 2015-06-11
WO1997043943A1 (en) 1997-11-27
JP2007289726A (ja) 2007-11-08
JP4443548B2 (ja) 2010-03-31
JP5868746B2 (ja) 2016-02-24
JP2014236969A (ja) 2014-12-18
JP2002503976A (ja) 2002-02-05
CA2255692C (en) 2003-12-09
CA2255692A1 (en) 1997-11-27
JP2007050270A (ja) 2007-03-01
JP2012143582A (ja) 2012-08-02
US5807377A (en) 1998-09-15

Similar Documents

Publication Publication Date Title
JP4077516B2 (ja) 向上した巧緻性および感度で最低侵襲性外科手術を行うための力反映外科手術器具および位置決め機構
JP4799490B2 (ja) 向上した巧緻性および感度で最低侵襲性外科手術を行うための連結外科手術器具
US5797900A (en) Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
WO1997043943A9 (en) Force-reflecting surgical instrument and positioning mechanism for performing minimally invasive surgery with enhanced dexterity and sensitivity

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20040416

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20040416

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20060704

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20061004

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20061219

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20070306

A602 Written permission of extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A602

Effective date: 20070423

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20070619

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20080115

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20080201

R150 Certificate of patent or registration of utility model

Free format text: JAPANESE INTERMEDIATE CODE: R150

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20110208

Year of fee payment: 3

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20110208

Year of fee payment: 3

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20120208

Year of fee payment: 4

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20120208

Year of fee payment: 4

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20130208

Year of fee payment: 5

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20130208

Year of fee payment: 5

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20140208

Year of fee payment: 6

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

EXPY Cancellation because of completion of term