JP5529408B2 - 制御組立体及びその製造方法 - Google Patents
制御組立体及びその製造方法 Download PDFInfo
- Publication number
- JP5529408B2 JP5529408B2 JP2008268152A JP2008268152A JP5529408B2 JP 5529408 B2 JP5529408 B2 JP 5529408B2 JP 2008268152 A JP2008268152 A JP 2008268152A JP 2008268152 A JP2008268152 A JP 2008268152A JP 5529408 B2 JP5529408 B2 JP 5529408B2
- Authority
- JP
- Japan
- Prior art keywords
- control
- endoscope
- control assembly
- endoscopic instrument
- freedom
- 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 - Fee Related
Links
- 238000004519 manufacturing process Methods 0.000 title claims description 8
- 230000033001 locomotion Effects 0.000 claims description 46
- 238000000034 method Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 2
- 238000001356 surgical procedure Methods 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 2
- 208000032544 Cicatrix Diseases 0.000 description 1
- 208000035473 Communicable disease Diseases 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004886 head movement Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 230000037387 scars Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
- A61B1/3132—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for laparoscopy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/01—Guiding arrangements therefore
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Pathology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Biophysics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Radiology & Medical Imaging (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Astronomy & Astrophysics (AREA)
- General Physics & Mathematics (AREA)
- Endoscopes (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
Description
本発明は内視鏡器械の動作を操縦するための制御組立体に関する。本発明の実施態様は制御組立体および制御組立体を製造する方法に関する。
2 支持構造体
3 曲線の腕
4 内視鏡取り付け台
5 取り付け部材
6 内視鏡
7 切開
8 縦軸
9 時計方向
10 反時計方向
11 上
12 下
13 上向き方向
14 下向き方向
15 制御盤
16、17、18 スィッチの各対
19、20、21、22、23、24 スィッチ
25 トラック
26 先端
27 手前端
28 患者
Claims (9)
- 内視鏡器械の動作を操縦するための制御組立体であって、その制御組立体は次の構成を含んでなる:
内視鏡器械を支え、内視鏡器械取り付け構造体により支えられる内視鏡器械の三つの独立した自由度のみを有する内視鏡の動作を提供するようにされた内視鏡器械取り付け構造体であって、各自由度を有する動作がそれぞれの軸の周囲あるいは軸に沿うように構成されている内視鏡器械取り付け構造体;
前記内視鏡の動作の三つの自由度の一つのみで内視鏡器械を駆動するようそれぞれ設定されている、三つの独立した動作の提供を可能にする三つの駆動の構造体;および
三つの独立した制御要素のそれぞれの作動が、前記三つの独立した制御要素の作動に対応する制御信号の一つを制御するように、ユーザーの入力を受信するよう設定されており、前記対応する制御信号の各々は、ユーザーの入力に従って残りの二つの駆動構造体のそれぞれの一つを独立して制御するようになっている三つの独立した制御要素であり、
前記動作の三つの自由度は、固定された共焦点の周りの自由空間において実質的に共焦点によって形成され、前記共焦点は内視鏡取り付け構造体から遠隔され、前記内視鏡器械取付けの構造体は次を含んでなる:
制御組立体の支持構造に関して回転軸の周囲を回転するように設定されている曲線のトラックで、回転軸に沿った曲率の中心をもっている曲線のトラック;および
内視鏡装置を支え、曲線のトラックによって定められた経路に沿って動き、そして曲線のトラックに関して半径方向に器械を動かす設定になっている内視鏡器械取付け台。
ここで、前記固定された共焦点は、前記回転軸に沿っており、当該回転軸は、曲線トラックが固定される取付け部材を通っている。 - 内視鏡器械が内視鏡である請求項1に従う制御組立体。
- 請求項1または2に従う制御組立体であって、ここで制御部品の少なくとも一つがそれぞれの制御信号を受信しそして駆動構造体の一つを作動する一つあるいはそれ以上のリレーをさらに含む。
- 請求項1〜3の何れかに従う制御組立体であって、制御部品を筐体で囲むようになっている使用者操作制御盤をさらに含む。
- 請求項1〜4の何れかに従う制御組立体であって、各制御組立体の駆動構造体は一つの自由度のみで操作されるように設定されている。
- 内視鏡装置の動作を操縦するための制御組立体を製造する方法であって、その方法は以下の工程を含む:
内視鏡器械を受け入れ、内視鏡器械取り付け構造体により受け入れられる内視鏡器械の三つの独立した自由度を有する動作のみを提供するようにされた内視鏡器械取り付け構造体であって、内視鏡の一つの自由度のみを有する各動作がそれぞれの軸の周囲あるいは軸に沿うように構成されている前記構造体を組み込む工程;
三つの独立した動作の提供を可能にする三つの駆動構造体を組み込む工程;そして
三つの独立した制御部品のそれぞれの作動が、使用者の入力に従って他の二つの駆動構造体のそれぞれの一つをそれぞれ制御する、三つの対応する制御信号の一つを制御するように、ユーザーの入力を受信するよう設定されている三つの独立した制御要素を組込む工程であって、
前記動作の三つの自由度は、固定された共焦点の周りの自由空間において実質的に共焦点によって形成され、前記共焦点は内視鏡取付け構造体から遠隔され、内視鏡器械取付け構造体を組み込む工程は次を含んでなる:
制御組立体の支持構造に関して回転軸の周囲を回転するように設定されている曲線のトラックで、回転軸に沿った曲率の中心をもっている曲線のトラックを組み込み;および
内視鏡装置を支え、曲線のトラックによって定められた経路に沿って動き、そして曲線のトラックに関して半径方向に器械を動かす設定になっている内視鏡器械取り付け台を組み込む。
ここで、前記固定された共焦点は、前記回転軸に沿っており、当該回転軸は、曲線トラックが固定される取付け部材を通っている。 - 内視鏡器械が内視鏡である請求項6に従う制御組立体を製造する方法。
- 請求項6または7に従う制御組立体を製造する方法であって、ここで三つの制御要素を組込む工程が、一つあるいはそれ以上の信号を受信しそして駆動構造体の一つを作動させるように一つあるいはそれ以上のリレーと共に少なくとも一つの制御要素を組込む工程を含む。
- 請求項6から8のいずれかの一つに従う制御組立体を製造する方法であって、制御要素を筐体で囲むようにユーザー操作制御ユニットを組込む工程をさらに含む。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB0721121.2 | 2007-10-26 | ||
GB0721121A GB2454017A (en) | 2007-10-26 | 2007-10-26 | A control assembly |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2009106738A JP2009106738A (ja) | 2009-05-21 |
JP2009106738A5 JP2009106738A5 (ja) | 2011-12-01 |
JP5529408B2 true JP5529408B2 (ja) | 2014-06-25 |
Family
ID=38830068
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008268152A Expired - Fee Related JP5529408B2 (ja) | 2007-10-26 | 2008-10-17 | 制御組立体及びその製造方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US9649020B2 (ja) |
EP (1) | EP2052675B1 (ja) |
JP (1) | JP5529408B2 (ja) |
CN (1) | CN101416865B (ja) |
AU (1) | AU2008234966B2 (ja) |
GB (1) | GB2454017A (ja) |
Families Citing this family (30)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8679096B2 (en) | 2007-06-21 | 2014-03-25 | Board Of Regents Of The University Of Nebraska | Multifunctional operational component for robotic devices |
US9435995B2 (en) * | 2011-01-13 | 2016-09-06 | Poincare Systems, Inc. | Medical devices with internal motors |
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 |
EP3588217A1 (en) | 2011-07-11 | 2020-01-01 | Board of Regents of the University of Nebraska | Robotic surgical devices, systems and related methods |
US20140058205A1 (en) | 2012-01-10 | 2014-02-27 | Board Of Regents Of The University Of Nebraska | Methods, Systems, and Devices for Surgical Access and Insertion |
EP4357083A2 (en) | 2012-05-01 | 2024-04-24 | Board of Regents of the University of Nebraska | Single site robotic device and related systems and methods |
EP3964159A1 (en) | 2012-06-01 | 2022-03-09 | Intuitive Surgical Operations, Inc. | Redundant axis and degree of freedom for hardware-constrained remote center robotic manipulator |
KR102314511B1 (ko) * | 2012-06-01 | 2021-10-19 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 수술 기구 매니퓰레이터 양태들 |
US9358074B2 (en) * | 2012-06-01 | 2016-06-07 | Intuitive Surgical Operations, Inc. | Multi-port surgical robotic system architecture |
EP3189948B1 (en) | 2012-06-22 | 2018-10-17 | Board of Regents of the University of Nebraska | Local control robotic surgical devices |
WO2014025399A1 (en) | 2012-08-08 | 2014-02-13 | 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 |
CA2905948C (en) | 2013-03-14 | 2022-01-11 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers |
EP3970604A1 (en) | 2013-03-15 | 2022-03-23 | Board of Regents of the University of Nebraska | Robotic surgical devices and systems |
JP6479790B2 (ja) | 2013-07-17 | 2019-03-06 | 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 | ロボット外科的デバイス、システムおよび関連する方法 |
DE102013108228A1 (de) | 2013-07-31 | 2015-02-05 | MAQUET GmbH | Assistenzeinrichtung zur bildgebenden Unterstützung eines Operateurs während eines chirurgischen Eingriffs |
DE102013109677A1 (de) | 2013-09-05 | 2015-03-05 | MAQUET GmbH | Assistenzeinrichtung zur bildgebenden Unterstützung eines Operateurs während eines chirurgischen Eingriffs |
EP3191009B1 (en) | 2014-09-12 | 2021-03-31 | Board of Regents of the University of Nebraska | Quick-release end effectors and related systems |
US10376322B2 (en) | 2014-11-11 | 2019-08-13 | Board Of Regents Of The University Of Nebraska | Robotic device with compact joint design and related systems and methods |
DE102015101018A1 (de) | 2015-01-23 | 2016-07-28 | MAQUET GmbH | Vorrichtung zum Halten und Bewegen eines Laparoskops während einer Operation |
US10806538B2 (en) | 2015-08-03 | 2020-10-20 | Virtual Incision Corporation | Robotic surgical devices, systems, and related methods |
EP4353182A2 (en) | 2016-05-18 | 2024-04-17 | Virtual Incision Corporation | Robotic surgical devices and systems |
CN110139620B (zh) | 2016-11-22 | 2022-09-20 | 内布拉斯加大学董事会 | 改进的粗定位装置及相关系统和方法 |
JP7099728B2 (ja) | 2016-11-29 | 2022-07-12 | バーチャル インシジョン コーポレイション | ユーザの存在検出機能を備えたユーザコントローラ、関連システムおよび方法 |
US10722319B2 (en) | 2016-12-14 | 2020-07-28 | Virtual Incision Corporation | Releasable attachment device for coupling to medical devices and related systems and methods |
EP3603476A4 (en) * | 2017-03-24 | 2020-03-25 | Sony Corporation | CONTROL DEVICE FOR MEDICAL SYSTEM, CONTROL METHOD FOR MEDICAL SYSTEM AND MEDICAL SYSTEM |
US11051894B2 (en) | 2017-09-27 | 2021-07-06 | Virtual Incision Corporation | Robotic surgical devices with tracking camera technology and related systems and methods |
WO2019136360A1 (en) | 2018-01-05 | 2019-07-11 | Board Of Regents Of The University Of Nebraska | Single-arm robotic device with compact joint design and related systems and methods |
US11903658B2 (en) | 2019-01-07 | 2024-02-20 | Virtual Incision Corporation | Robotically assisted surgical system and related devices and methods |
US11850730B2 (en) | 2019-07-17 | 2023-12-26 | Asensus Surgical Us, Inc. | Double eye tracker configuration for a robot-assisted surgical system |
Family Cites Families (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5279309A (en) | 1991-06-13 | 1994-01-18 | International Business Machines Corporation | Signaling device and method for monitoring positions in a surgical operation |
US5417210A (en) * | 1992-05-27 | 1995-05-23 | International Business Machines Corporation | System and method for augmentation of endoscopic surgery |
US6406472B1 (en) * | 1993-05-14 | 2002-06-18 | Sri International, Inc. | Remote center positioner |
JP3625894B2 (ja) * | 1995-05-29 | 2005-03-02 | オリンパス株式会社 | 医療用処置装置 |
AU2997095A (en) * | 1995-06-20 | 1997-01-22 | Wan Sing Ng | Articulated arm for medical procedures |
JP3596340B2 (ja) * | 1999-03-18 | 2004-12-02 | 株式会社日立製作所 | 手術用挿入装置 |
JP4469439B2 (ja) * | 1999-06-11 | 2010-05-26 | 株式会社東芝 | 医療用マニピュレータ |
DE19961971B4 (de) * | 1999-12-22 | 2009-10-22 | Forschungszentrum Karlsruhe Gmbh | Vorrichtung zum sicheren automatischen Nachführen eines Endoskops und Verfolgen eines Instruments |
JP4014792B2 (ja) * | 2000-09-29 | 2007-11-28 | 株式会社東芝 | マニピュレータ |
DE10055293A1 (de) * | 2000-11-03 | 2002-05-29 | Storz Karl Gmbh & Co Kg | Vorrichtung zum Halten und Positionieren eines endoskopischen Instruments |
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 |
JP4186102B2 (ja) * | 2002-10-11 | 2008-11-26 | アスカ株式会社 | 内視鏡保持装置 |
US8414475B2 (en) * | 2005-04-18 | 2013-04-09 | M.S.T. Medical Surgery Technologies Ltd | Camera holder device and method thereof |
EP2181645B1 (en) * | 2005-04-18 | 2014-09-03 | M.S.T. Medical Surgery Technologies Ltd | Device of improving laparoscopic surgery |
GB0521281D0 (en) * | 2005-10-19 | 2005-11-30 | Acrobat Company The Ltd | hybrid constrant mechanism |
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 |
CA2655433C (fr) * | 2006-06-26 | 2014-11-18 | Centre National De La Recherche Scientifique (Etablissement Public A Caractere Scientifique Et Technologique) | Installation robotisee pour le positionnement et le deplacement d'un organe ou instrument et appareil de traitement comprenant une telle installation |
US8231610B2 (en) * | 2006-09-06 | 2012-07-31 | National Cancer Center | Robotic surgical system for laparoscopic surgery |
EP2170204A2 (en) * | 2007-07-02 | 2010-04-07 | M.S.T. Medical Surgery Technologies Ltd | System for positioning endoscope and surgical instruments |
JP2007260431A (ja) * | 2007-07-09 | 2007-10-11 | Toshiba Corp | 医療用マニピュレータ |
-
2007
- 2007-10-26 GB GB0721121A patent/GB2454017A/en not_active Withdrawn
-
2008
- 2008-06-06 EP EP08104304.4A patent/EP2052675B1/en not_active Not-in-force
- 2008-07-15 CN CN200810132552.2A patent/CN101416865B/zh not_active Expired - Fee Related
- 2008-08-05 US US12/186,450 patent/US9649020B2/en active Active
- 2008-10-17 JP JP2008268152A patent/JP5529408B2/ja not_active Expired - Fee Related
- 2008-10-24 AU AU2008234966A patent/AU2008234966B2/en not_active Ceased
Also Published As
Publication number | Publication date |
---|---|
AU2008234966A1 (en) | 2009-05-14 |
US20090112056A1 (en) | 2009-04-30 |
US9649020B2 (en) | 2017-05-16 |
GB2454017A (en) | 2009-04-29 |
EP2052675B1 (en) | 2016-04-06 |
CN101416865B (zh) | 2017-08-01 |
AU2008234966B2 (en) | 2014-09-11 |
GB0721121D0 (en) | 2007-12-05 |
JP2009106738A (ja) | 2009-05-21 |
CN101416865A (zh) | 2009-04-29 |
EP2052675A1 (en) | 2009-04-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5529408B2 (ja) | 制御組立体及びその製造方法 | |
US11974826B2 (en) | Computer-assisted teleoperated surgery systems and methods | |
CN107530134B (zh) | 机电手术系统 | |
CN105073055B (zh) | 用于手术器械的近端控制的系统和方法 | |
JP4781492B2 (ja) | 多関節マニピュレータ装置及びそれを有する内視鏡システム | |
JP7316762B2 (ja) | 外科手術システム及び外科手術システムの制御方法 | |
JP6081309B2 (ja) | 医療用マニピュレータ | |
JPH08224248A (ja) | 医療用マニピュレータ | |
WO2022228149A1 (zh) | 输入装置、主操作设备及手术机器人 | |
US11517383B2 (en) | Computer-assisted tele-operated surgery systems and methods | |
US20200246089A1 (en) | Device for Guiding a Medical Flexible Shaft | |
WO2017179629A1 (ja) | 外科手術システム | |
KR102199910B1 (ko) | 탈부착형 로봇 수술 도구를 이용한 다자유도 복강경 수술 장치 | |
US20240108429A1 (en) | Surgical platform supported and controlled by multiple arms | |
JP2020115968A (ja) | 手術システムおよび支持装置 | |
JP4422262B2 (ja) | 内視鏡手術システム | |
US20230093215A1 (en) | Computer-assisted tele-operated surgery systems and methods | |
JP2023008313A (ja) | 手術システム、表示方法およびプログラム | |
JP2023008647A (ja) | 手術システム、表示方法およびプログラム | |
JP2005279120A (ja) | 内視鏡用操作装置及び内視鏡システム | |
JP2024502276A (ja) | 外科手術ロボットアームのアクチュエータ機構にマルチターン回転概念を実装するためのシステム及び方法 | |
CN113951948A (zh) | 一种手术器械控制单元 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20111017 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20111017 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20130214 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20130312 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20130612 |
|
A602 | Written permission of extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A602 Effective date: 20130617 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20130711 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20130827 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20131122 |
|
A602 | Written permission of extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A602 Effective date: 20131127 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20131227 |
|
A602 | Written permission of extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A602 Effective date: 20140108 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20140124 |
|
A602 | Written permission of extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A602 Effective date: 20140129 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20140219 |
|
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: 20140318 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20140417 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 5529408 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
LAPS | Cancellation because of no payment of annual fees |