JP5785538B2 - 腹腔鏡手術用のロボットシステム - Google Patents

腹腔鏡手術用のロボットシステム Download PDF

Info

Publication number
JP5785538B2
JP5785538B2 JP2012511310A JP2012511310A JP5785538B2 JP 5785538 B2 JP5785538 B2 JP 5785538B2 JP 2012511310 A JP2012511310 A JP 2012511310A JP 2012511310 A JP2012511310 A JP 2012511310A JP 5785538 B2 JP5785538 B2 JP 5785538B2
Authority
JP
Japan
Prior art keywords
support structure
robot system
arm
instrument
arms
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.)
Active
Application number
JP2012511310A
Other languages
English (en)
Japanese (ja)
Other versions
JP2012527276A5 (enExample
JP2012527276A (ja
Inventor
ヒルバウ， ホセップ アマット
ヒルバウ， ホセップ アマット
ヘルピ， アリシア カザルス
ヘルピ， アリシア カザルス
ボウルロン， マネル フリゴラ
ボウルロン， マネル フリゴラ
Original Assignee
ユニベルシタート ポリテクニカ デ カタルーニャ
ユニベルシタート ポリテクニカ デ カタルーニャ
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 ユニベルシタート ポリテクニカ デ カタルーニャ, ユニベルシタート ポリテクニカ デ カタルーニャ filed Critical ユニベルシタート ポリテクニカ デ カタルーニャ
Publication of JP2012527276A publication Critical patent/JP2012527276A/ja
Publication of JP2012527276A5 publication Critical patent/JP2012527276A5/ja
Application granted granted Critical
Publication of JP5785538B2 publication Critical patent/JP5785538B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/313—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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/02—Surgical instruments, devices or methods for holding wounds open, e.g. retractors; Tractors
    • A61B17/0218—Surgical instruments, devices or methods for holding wounds open, e.g. retractors; Tractors for minimally invasive 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
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • B25J17/0291—Three-dimensional joints having axes crossing at an oblique angle, i.e. other than 90 degrees

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Endoscopes (AREA)
JP2012511310A 2009-05-22 2010-05-20 腹腔鏡手術用のロボットシステム Active JP5785538B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
ES200901313A ES2388029B1 (es) 2009-05-22 2009-05-22 Sistema robótico para cirugia laparoscópica.
ESP200901313 2009-05-22
PCT/ES2010/000224 WO2010133733A1 (es) 2009-05-22 2010-05-20 Sistema robótico para cirugía laparoscópica

Publications (3)

Publication Number Publication Date
JP2012527276A JP2012527276A (ja) 2012-11-08
JP2012527276A5 JP2012527276A5 (enExample) 2013-06-20
JP5785538B2 true JP5785538B2 (ja) 2015-09-30

Family

ID=43125780

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2012511310A Active JP5785538B2 (ja) 2009-05-22 2010-05-20 腹腔鏡手術用のロボットシステム

Country Status (16)

Country Link
US (1) US9119653B2 (enExample)
EP (1) EP2433585B1 (enExample)
JP (1) JP5785538B2 (enExample)
KR (1) KR101665744B1 (enExample)
CN (1) CN102458295B (enExample)
AU (1) AU2010251107B2 (enExample)
BR (1) BRPI1011053B8 (enExample)
CA (1) CA2762780C (enExample)
ES (2) ES2388029B1 (enExample)
IL (1) IL216470A0 (enExample)
MX (1) MX336487B (enExample)
PL (1) PL2433585T3 (enExample)
RU (1) RU2531469C2 (enExample)
SG (1) SG176183A1 (enExample)
WO (1) WO2010133733A1 (enExample)
ZA (1) ZA201109443B (enExample)

Families Citing this family (245)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9295525B2 (en) 1999-09-17 2016-03-29 Intuitive Surgical Operations, Inc. Phantom degrees of freedom for manipulating the movement of surgical systems
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
US10357184B2 (en) 2012-06-21 2019-07-23 Globus Medical, Inc. Surgical tool systems and method
US10893912B2 (en) 2006-02-16 2021-01-19 Globus Medical Inc. Surgical tool systems and methods
US9254123B2 (en) 2009-04-29 2016-02-09 Hansen Medical, Inc. Flexible and steerable elongate instruments with shape control and support elements
US8672837B2 (en) 2010-06-24 2014-03-18 Hansen Medical, Inc. Methods and devices for controlling a shapeable medical device
US8827948B2 (en) 2010-09-17 2014-09-09 Hansen Medical, Inc. Steerable catheters
US9308050B2 (en) 2011-04-01 2016-04-12 Ecole Polytechnique Federale De Lausanne (Epfl) Robotic system and method for spinal and other surgeries
US20130030363A1 (en) 2011-07-29 2013-01-31 Hansen Medical, Inc. Systems and methods utilizing shape sensing fibers
CN102689301B (zh) * 2012-05-25 2015-02-11 北京卫星制造厂 一种导轨摆臂式位置机构
US20130317519A1 (en) 2012-05-25 2013-11-28 Hansen Medical, Inc. Low friction instrument driver interface for robotic systems
US11116576B2 (en) 2012-06-21 2021-09-14 Globus Medical Inc. Dynamic reference arrays and methods of use
US12004905B2 (en) 2012-06-21 2024-06-11 Globus Medical, Inc. Medical imaging systems using robotic actuators and related methods
US20150032164A1 (en) 2012-06-21 2015-01-29 Globus Medical, Inc. Methods for Performing Invasive Medical Procedures Using a Surgical Robot
US10136954B2 (en) 2012-06-21 2018-11-27 Globus Medical, Inc. Surgical tool systems and method
US11793570B2 (en) 2012-06-21 2023-10-24 Globus Medical Inc. Surgical robotic automation with tracking markers
WO2013192598A1 (en) 2012-06-21 2013-12-27 Excelsius Surgical, L.L.C. Surgical robot platform
US11253327B2 (en) 2012-06-21 2022-02-22 Globus Medical, Inc. Systems and methods for automatically changing an end-effector on a surgical robot
US12465433B2 (en) 2012-06-21 2025-11-11 Globus Medical Inc. Methods of adjusting a virtual implant and related surgical navigation systems
US10350013B2 (en) 2012-06-21 2019-07-16 Globus Medical, Inc. Surgical tool systems and methods
US11864745B2 (en) 2012-06-21 2024-01-09 Globus Medical, Inc. Surgical robotic system with retractor
US11864839B2 (en) 2012-06-21 2024-01-09 Globus Medical Inc. Methods of adjusting a virtual implant and related surgical navigation systems
US11045267B2 (en) 2012-06-21 2021-06-29 Globus Medical, Inc. Surgical robotic automation with tracking markers
US12329593B2 (en) 2012-06-21 2025-06-17 Globus Medical, Inc. Surgical robotic automation with tracking markers
US12220120B2 (en) 2012-06-21 2025-02-11 Globus Medical, Inc. Surgical robotic system with retractor
US12310683B2 (en) 2012-06-21 2025-05-27 Globus Medical, Inc. Surgical tool systems and method
US11399900B2 (en) 2012-06-21 2022-08-02 Globus Medical, Inc. Robotic systems providing co-registration using natural fiducials and related methods
US11857266B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. System for a surveillance marker in robotic-assisted surgery
US11974822B2 (en) 2012-06-21 2024-05-07 Globus Medical Inc. Method for a surveillance marker in robotic-assisted surgery
US10624710B2 (en) 2012-06-21 2020-04-21 Globus Medical, Inc. System and method for measuring depth of instrumentation
US12446981B2 (en) 2012-06-21 2025-10-21 Globus Medical, Inc. System and method for surgical tool insertion using multiaxis force and moment feedback
US11298196B2 (en) 2012-06-21 2022-04-12 Globus Medical Inc. Surgical robotic automation with tracking markers and controlled tool advancement
US11857149B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. Surgical robotic systems with target trajectory deviation monitoring and related methods
US11395706B2 (en) 2012-06-21 2022-07-26 Globus Medical Inc. Surgical robot platform
US12262954B2 (en) 2012-06-21 2025-04-01 Globus Medical, Inc. Surgical robotic automation with tracking markers
US10231791B2 (en) 2012-06-21 2019-03-19 Globus Medical, Inc. Infrared signal based position recognition system for use with a robot-assisted surgery
US10758315B2 (en) 2012-06-21 2020-09-01 Globus Medical Inc. Method and system for improving 2D-3D registration convergence
US12472008B2 (en) 2012-06-21 2025-11-18 Globus Medical, Inc. Robotic fluoroscopic navigation
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
CN104718054B (zh) * 2012-08-15 2017-03-01 直观外科手术操作公司 操纵机械体的活动的假想自由度(dof)
WO2014028563A1 (en) 2012-08-15 2014-02-20 Intuitive Surgical Operations, Inc. Phantom degrees of freedom in joint estimation and control
US10492876B2 (en) 2012-09-17 2019-12-03 Omniguide, Inc. Devices and methods for laser surgery
US10149720B2 (en) 2013-03-08 2018-12-11 Auris Health, Inc. Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment
US9057600B2 (en) 2013-03-13 2015-06-16 Hansen Medical, Inc. Reducing incremental measurement sensor error
US9173713B2 (en) 2013-03-14 2015-11-03 Hansen Medical, Inc. Torque-based catheter articulation
US11213363B2 (en) 2013-03-14 2022-01-04 Auris Health, Inc. Catheter tension sensing
US20140277334A1 (en) 2013-03-14 2014-09-18 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US9326822B2 (en) 2013-03-14 2016-05-03 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US9014851B2 (en) 2013-03-15 2015-04-21 Hansen Medical, Inc. Systems and methods for tracking robotically controlled medical instruments
US20140276936A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Active drive mechanism for simultaneous rotation and translation
US9271663B2 (en) 2013-03-15 2016-03-01 Hansen Medical, Inc. Flexible instrument localization from both remote and elongation sensors
US20140276647A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Vascular remote catheter manipulator
US9629595B2 (en) 2013-03-15 2017-04-25 Hansen Medical, Inc. Systems and methods for localizing, tracking and/or controlling medical instruments
US9408669B2 (en) 2013-03-15 2016-08-09 Hansen Medical, Inc. Active drive mechanism with finite range of motion
US10376672B2 (en) 2013-03-15 2019-08-13 Auris Health, Inc. Catheter insertion system and method of fabrication
US11020016B2 (en) 2013-05-30 2021-06-01 Auris Health, Inc. System and method for displaying anatomy and devices on a movable display
CN103286787B (zh) * 2013-06-28 2016-06-01 招商局重庆交通科研设计院有限公司 全自动公路及隧道灯具清洁装置
US9283048B2 (en) 2013-10-04 2016-03-15 KB Medical SA Apparatus and systems for precise guidance of surgical tools
CN111166274B (zh) 2013-10-24 2025-01-28 奥瑞斯健康公司 机器人辅助腔内外科手术系统及相关方法
US9241771B2 (en) 2014-01-15 2016-01-26 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
GB2523831B (en) 2014-03-07 2020-09-30 Cmr Surgical Ltd Surgical arm
EP2923669B1 (en) 2014-03-24 2017-06-28 Hansen Medical, Inc. Systems and devices for catheter driving instinctiveness
US10046140B2 (en) 2014-04-21 2018-08-14 Hansen Medical, Inc. Devices, systems, and methods for controlling active drive systems
EP3134022B1 (en) 2014-04-24 2018-01-10 KB Medical SA Surgical instrument holder for use with a robotic surgical system
US10569052B2 (en) 2014-05-15 2020-02-25 Auris Health, Inc. Anti-buckling mechanisms for catheters
US10792464B2 (en) 2014-07-01 2020-10-06 Auris Health, Inc. Tool and method for using surgical endoscope with spiral lumens
US9744335B2 (en) 2014-07-01 2017-08-29 Auris Surgical Robotics, Inc. Apparatuses and methods for monitoring tendons of steerable catheters
US9561083B2 (en) 2014-07-01 2017-02-07 Auris Surgical Robotics, Inc. Articulating flexible endoscopic tool with roll capabilities
CN107072673A (zh) 2014-07-14 2017-08-18 Kb医疗公司 用于在骨组织中制备孔的防滑手术器械
CN104149081B (zh) * 2014-07-28 2017-01-18 广东工业大学 一种模块化的手持式双操作端主机器人
CN105455899A (zh) * 2014-08-08 2016-04-06 深圳市贝斯达医疗股份有限公司 一种用于磁共振手术导航系统的无磁机械臂
US9737371B2 (en) 2014-09-30 2017-08-22 Auris Surgical Robotics, Inc. Configurable robotic surgical system with virtual rail and flexible endoscope
US10314463B2 (en) 2014-10-24 2019-06-11 Auris Health, Inc. Automated endoscope calibration
WO2016087539A2 (en) 2014-12-02 2016-06-09 KB Medical SA Robot assisted volume removal during surgery
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
US11819636B2 (en) 2015-03-30 2023-11-21 Auris Health, Inc. Endoscope pull wire electrical circuit
WO2016164824A1 (en) * 2015-04-09 2016-10-13 Auris Surgical Robotics, Inc. Surgical system with configurable rail-mounted mechanical arms
GB2538497B (en) 2015-05-14 2020-10-28 Cmr Surgical Ltd Torque sensing in a surgical robotic wrist
US9622827B2 (en) 2015-05-15 2017-04-18 Auris Surgical Robotics, Inc. Surgical robotics system
CN104983468B (zh) * 2015-07-24 2017-11-14 绵阳美科电子设备有限责任公司 一种腔镜操作手机器手手臂及其操作方法
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
US10080615B2 (en) 2015-08-12 2018-09-25 Globus Medical, Inc. Devices and methods for temporary mounting of parts to bone
US10687905B2 (en) 2015-08-31 2020-06-23 KB Medical SA Robotic surgical systems and methods
AU2016321332B2 (en) 2015-09-09 2020-10-08 Auris Health, Inc. Instrument device manipulator for a surgical robotics system
US10034716B2 (en) * 2015-09-14 2018-07-31 Globus Medical, Inc. Surgical robotic systems and methods thereof
AU2016323982A1 (en) 2015-09-18 2018-04-12 Auris Health, Inc. Navigation of tubular networks
US9771092B2 (en) 2015-10-13 2017-09-26 Globus Medical, Inc. Stabilizer wheel assembly and methods of use
US10639108B2 (en) 2015-10-30 2020-05-05 Auris Health, Inc. Process for percutaneous operations
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US10143526B2 (en) 2015-11-30 2018-12-04 Auris Health, Inc. Robot-assisted driving systems and methods
US10117632B2 (en) 2016-02-03 2018-11-06 Globus Medical, Inc. Portable medical imaging system with beam scanning collimator
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
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
US10866119B2 (en) 2016-03-14 2020-12-15 Globus Medical, Inc. Metal detector for detecting insertion of a surgical device into a hollow tube
EP3241518B1 (en) 2016-04-11 2024-10-23 Globus Medical, Inc Surgical tool systems
US10454347B2 (en) 2016-04-29 2019-10-22 Auris Health, Inc. Compact height torque sensing articulation axis assembly
US10463439B2 (en) 2016-08-26 2019-11-05 Auris Health, Inc. Steerable catheter with shaft load distributions
US11241559B2 (en) 2016-08-29 2022-02-08 Auris Health, Inc. Active drive for guidewire manipulation
EP3506836B1 (en) 2016-08-31 2024-10-02 Auris Health, Inc. Length conservative surgical instrument
US11389360B2 (en) * 2016-09-16 2022-07-19 Verb Surgical Inc. Linkage mechanisms for mounting robotic arms to a surgical table
KR102223995B1 (ko) 2016-09-16 2021-03-10 버브 서지컬 인크. 로봇 아암을 수술 테이블에 장착하기 위한 테이블 어댑터
US11166770B2 (en) 2016-09-19 2021-11-09 Intuitive Surgical Operations, Inc. Base positioning system for a controllable arm and related methods
WO2018059838A1 (en) * 2016-09-27 2018-04-05 Brainlab Ag Efficient positioning of a mechatronic arm
CN106236276B (zh) * 2016-09-28 2019-09-17 微创（上海）医疗机器人有限公司 手术机器人系统
US9931025B1 (en) 2016-09-30 2018-04-03 Auris Surgical Robotics, Inc. Automated calibration of endoscopes with pull wires
US10244926B2 (en) 2016-12-28 2019-04-02 Auris Health, Inc. Detecting endolumenal buckling of flexible instruments
EP3360502A3 (en) 2017-01-18 2018-10-31 KB Medical SA Robotic navigation of robotic surgical systems
IT201700025766A1 (it) * 2017-03-08 2018-09-08 Epistolio S R L Robot di verniciatura
US11071594B2 (en) 2017-03-16 2021-07-27 KB Medical SA Robotic navigation of robotic surgical systems
AU2018243364B2 (en) 2017-03-31 2023-10-05 Auris Health, Inc. Robotic systems for navigation of luminal networks that compensate for physiological noise
WO2018208994A1 (en) 2017-05-12 2018-11-15 Auris Health, Inc. Biopsy apparatus and system
US10716461B2 (en) 2017-05-17 2020-07-21 Auris Health, Inc. Exchangeable working channel
US10022192B1 (en) 2017-06-23 2018-07-17 Auris Health, Inc. Automatically-initialized robotic systems for navigation of luminal networks
US11026758B2 (en) 2017-06-28 2021-06-08 Auris Health, Inc. Medical robotics systems implementing axis constraints during actuation of one or more motorized joints
US10299870B2 (en) 2017-06-28 2019-05-28 Auris Health, Inc. Instrument insertion compensation
US10426559B2 (en) 2017-06-30 2019-10-01 Auris Health, Inc. Systems and methods for medical instrument compression compensation
US10675094B2 (en) 2017-07-21 2020-06-09 Globus Medical Inc. Robot surgical platform
US10145747B1 (en) 2017-10-10 2018-12-04 Auris Health, Inc. Detection of undesirable forces on a surgical robotic arm
US10555778B2 (en) 2017-10-13 2020-02-11 Auris Health, Inc. Image-based branch detection and mapping for navigation
US11058493B2 (en) 2017-10-13 2021-07-13 Auris Health, Inc. Robotic system configured for navigation path tracing
US11357548B2 (en) 2017-11-09 2022-06-14 Globus Medical, Inc. Robotic rod benders and related mechanical and motor housings
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
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
CN110831536B (zh) 2017-12-06 2021-09-07 奥瑞斯健康公司 用于针对非命令器械滚转进行校正的系统和方法
KR102462568B1 (ko) 2017-12-11 2022-11-04 아우리스 헬스, 인코포레이티드 기구 기반 삽입 아키텍처를 위한 시스템 및 방법
AU2018384820B2 (en) 2017-12-14 2024-07-04 Auris Health, Inc. System and method for estimating instrument location
KR102743997B1 (ko) 2017-12-18 2024-12-20 아우리스 헬스, 인코포레이티드 관강내 조직망 내 기구 추적 및 항행을 위한 방법 및 시스템
CN111973280B (zh) * 2017-12-27 2022-02-22 上海微创医疗机器人（集团）股份有限公司 手术机器人终端
CN108245253A (zh) * 2018-01-09 2018-07-06 河南工程学院 一种医疗机器人专用机械臂
JP6999824B2 (ja) 2018-01-17 2022-01-19 オーリス ヘルス インコーポレイテッド 調節可能なアーム支持体を有する外科用プラットフォーム
US10888386B2 (en) 2018-01-17 2021-01-12 Auris Health, Inc. Surgical robotics systems with improved robotic arms
US10765303B2 (en) 2018-02-13 2020-09-08 Auris Health, Inc. System and method for driving medical instrument
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
CN110891469B (zh) 2018-03-28 2023-01-13 奥瑞斯健康公司 用于定位传感器的配准的系统和方法
JP7225259B2 (ja) 2018-03-28 2023-02-20 オーリス ヘルス インコーポレイテッド 器具の推定位置を示すためのシステム及び方法
KR102746051B1 (ko) 2018-03-28 2024-12-27 아우리스 헬스, 인코포레이티드 가변 굽힘 강성 프로파일을 갖는 의료 기구
US10573023B2 (en) 2018-04-09 2020-02-25 Globus Medical, Inc. Predictive visualization of medical imaging scanner component movement
WO2019231895A1 (en) 2018-05-30 2019-12-05 Auris Health, Inc. Systems and methods for location sensor-based branch prediction
KR102567087B1 (ko) 2018-05-31 2023-08-17 아우리스 헬스, 인코포레이티드 생리학적 잡음을 검출하는 내강 네트워크의 내비게이션을 위한 로봇 시스템 및 방법
KR102799357B1 (ko) 2018-05-31 2025-04-25 아우리스 헬스, 인코포레이티드 관상 네트워크의 경로-기반 내비게이션
EP3801348B1 (en) 2018-05-31 2024-05-01 Auris Health, Inc. Image-based airway analysis and mapping
EP3813632A4 (en) 2018-06-27 2022-03-09 Auris Health, Inc. ALIGNMENT AND MOUNTING SYSTEMS FOR MEDICAL INSTRUMENTS
CN112804946B (zh) 2018-08-07 2025-03-25 奥瑞斯健康公司 将基于应变的形状感测与导管控制相结合
WO2020068853A2 (en) 2018-09-26 2020-04-02 Auris Health, Inc. Articulating medical instruments
WO2020069080A1 (en) 2018-09-28 2020-04-02 Auris Health, Inc. Devices, systems, and methods for manually and robotically driving medical instruments
KR20250130720A (ko) 2018-09-28 2025-09-02 아우리스 헬스, 인코포레이티드 의료 기구를 도킹시키기 위한 시스템 및 방법
WO2020069404A1 (en) 2018-09-28 2020-04-02 Auris Health, Inc. Robotic systems and methods for concomitant endoscopic and percutaneous medical procedures
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
CN113286543A (zh) 2018-12-28 2021-08-20 奥瑞斯健康公司 具有可关节运动区段的医疗器械
US11918313B2 (en) 2019-03-15 2024-03-05 Globus Medical Inc. Active end effectors for surgical robots
US12478444B2 (en) 2019-03-21 2025-11-25 The Board Of Trustees Of The Leland Stanford Junior University Systems and methods for localization based on machine learning
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
WO2020197671A1 (en) 2019-03-22 2020-10-01 Auris Health, Inc. Systems and methods for aligning inputs on medical instruments
US11382549B2 (en) 2019-03-22 2022-07-12 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, 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
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
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
CN109998685A (zh) * 2019-03-28 2019-07-12 山东大学齐鲁医院 一种单、双臂辅助微创外科手术机器人及协作组合机器人系统
US11617627B2 (en) 2019-03-29 2023-04-04 Auris Health, Inc. Systems and methods for optical strain sensing in medical instruments
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
EP3998971A4 (en) * 2019-07-15 2023-06-21 AMDT Holdings, Inc. SPACER SET AND EXTERNAL FIXING SYSTEMS
CN114222651B (zh) * 2019-07-26 2024-07-23 汉阳大学校产学协力团 磁力驱动系统及利用其的微型机器人控制方法
US11717147B2 (en) 2019-08-15 2023-08-08 Auris Health, Inc. Medical device having multiple bending sections
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
EP4021329B1 (en) 2019-08-30 2025-12-10 Auris Health, Inc. Instrument image reliability systems and methods
EP4021331A4 (en) 2019-08-30 2023-08-30 Auris Health, Inc. SYSTEMS AND METHODS FOR REGISTERING POSITION SENSORS BASED ON WEIGHT
CN110403696B (zh) * 2019-08-30 2024-08-30 山东威高手术机器人有限公司 具有平衡结构的器械机械臂
US11571171B2 (en) 2019-09-24 2023-02-07 Globus Medical, Inc. Compound curve cable chain
US12396692B2 (en) 2019-09-24 2025-08-26 Globus Medical, Inc. Compound curve cable chain
US11890066B2 (en) 2019-09-30 2024-02-06 Globus Medical, Inc Surgical robot with passive end effector
US11426178B2 (en) 2019-09-27 2022-08-30 Globus Medical Inc. Systems and methods for navigating a pin guide driver
US12329391B2 (en) 2019-09-27 2025-06-17 Globus Medical, Inc. Systems and methods for robot-assisted knee arthroplasty surgery
US12408929B2 (en) 2019-09-27 2025-09-09 Globus Medical, Inc. Systems and methods for navigating a pin guide driver
US11864857B2 (en) 2019-09-27 2024-01-09 Globus Medical, Inc. Surgical robot with passive end effector
WO2021064536A1 (en) 2019-09-30 2021-04-08 Auris Health, Inc. Medical instrument with capstan
US11510684B2 (en) 2019-10-14 2022-11-29 Globus Medical, Inc. Rotary motion passive end effector for surgical robots in orthopedic surgeries
US12220176B2 (en) 2019-12-10 2025-02-11 Globus Medical, Inc. Extended reality instrument interaction zone for navigated robotic
US11992373B2 (en) 2019-12-10 2024-05-28 Globus Medical, Inc Augmented reality headset with varied opacity for navigated robotic surgery
US12133772B2 (en) 2019-12-10 2024-11-05 Globus Medical, Inc. Augmented reality headset for navigated robotic surgery
US12064189B2 (en) 2019-12-13 2024-08-20 Globus Medical, Inc. Navigated instrument for use in robotic guided surgery
US11660147B2 (en) 2019-12-31 2023-05-30 Auris Health, Inc. Alignment techniques for percutaneous access
JP7497440B2 (ja) 2019-12-31 2024-06-10 オーリス ヘルス インコーポレイテッド 経皮的アクセスのための位置合わせインターフェース
US11439419B2 (en) 2019-12-31 2022-09-13 Auris Health, Inc. Advanced basket drive mode
US11950872B2 (en) 2019-12-31 2024-04-09 Auris Health, Inc. Dynamic pulley system
WO2021137072A1 (en) 2019-12-31 2021-07-08 Auris Health, Inc. Anatomical feature identification and targeting
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
US12414752B2 (en) 2020-02-17 2025-09-16 Globus Medical, Inc. System and method of determining optimal 3-dimensional position and orientation of imaging device for imaging patient bones
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
US11737663B2 (en) 2020-03-30 2023-08-29 Auris Health, Inc. Target anatomical feature localization
CN115515523A (zh) * 2020-03-30 2022-12-23 奥瑞斯健康公司 机器人外科手术的工作空间优化
US11253216B2 (en) 2020-04-28 2022-02-22 Globus Medical Inc. Fixtures for fluoroscopic imaging systems and related navigation systems and methods
US11153555B1 (en) 2020-05-08 2021-10-19 Globus Medical Inc. Extended reality headset camera system for computer assisted navigation in surgery
US11382700B2 (en) 2020-05-08 2022-07-12 Globus Medical Inc. Extended reality headset tool tracking and control
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
US12070276B2 (en) 2020-06-09 2024-08-27 Globus Medical Inc. Surgical object tracking in visible light via fiducial seeding and synthetic image registration
US11382713B2 (en) 2020-06-16 2022-07-12 Globus Medical, Inc. Navigated surgical system with eye to XR headset display calibration
JP2023533921A (ja) * 2020-06-30 2023-08-07 北京術鋭機器人股▲ふん▼有限公司 手術ロボットシステム
CN113967074B (zh) * 2020-07-23 2025-11-18 北京术锐机器人股份有限公司 手术机器人体外定位臂组及含该臂组的手术机器人系统
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
WO2022029807A1 (en) * 2020-08-07 2022-02-10 Alma Mater Studiorum - Universita' Di Bologna Laparoscopic surgical instrument
US11737831B2 (en) 2020-09-02 2023-08-29 Globus Medical Inc. Surgical object tracking template generation for computer assisted navigation during surgical procedure
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
US12076091B2 (en) 2020-10-27 2024-09-03 Globus Medical, Inc. Robotic navigational system
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
CN112388668B (zh) * 2020-11-06 2021-11-23 皖南医学院 一种仿真机械臂及其控制系统
US11717350B2 (en) 2020-11-24 2023-08-08 Globus Medical Inc. Methods for robotic assistance and navigation in spinal surgery and related systems
US12070286B2 (en) 2021-01-08 2024-08-27 Globus Medical, Inc System and method for ligament balancing with robotic assistance
US12150728B2 (en) 2021-04-14 2024-11-26 Globus Medical, Inc. End effector for a surgical robot
US12178523B2 (en) 2021-04-19 2024-12-31 Globus Medical, Inc. Computer assisted surgical navigation system for spine procedures
US12458454B2 (en) 2021-06-21 2025-11-04 Globus Medical, Inc. Gravity compensation of end effector arm for robotic surgical system
US12484969B2 (en) 2021-07-06 2025-12-02 Globdus Medical Inc. Ultrasonic robotic surgical navigation
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
US12201375B2 (en) 2021-09-16 2025-01-21 Globus Medical Inc. Extended reality systems for visualizing and controlling operating room equipment
US12238087B2 (en) 2021-10-04 2025-02-25 Globus Medical, Inc. Validating credential keys based on combinations of credential value strings and input order strings
US12184636B2 (en) 2021-10-04 2024-12-31 Globus Medical, Inc. Validating credential keys based on combinations of credential value strings and input order strings
US12444045B2 (en) 2021-10-20 2025-10-14 Globus Medical, Inc. Interpolation of medical images
US20230165639A1 (en) 2021-12-01 2023-06-01 Globus Medical, Inc. Extended reality systems with three-dimensional visualizations of medical image scan slices
US11911115B2 (en) 2021-12-20 2024-02-27 Globus Medical Inc. Flat panel registration fixture and method of using same
US12103480B2 (en) 2022-03-18 2024-10-01 Globus Medical Inc. Omni-wheel cable pusher
US12048493B2 (en) 2022-03-31 2024-07-30 Globus Medical, Inc. Camera tracking system identifying phantom markers during computer assisted surgery navigation
WO2023211894A1 (en) * 2022-04-25 2023-11-02 University Of Cincinnati Bed-mounted surgical tool organization system
US12394086B2 (en) 2022-05-10 2025-08-19 Globus Medical, Inc. Accuracy check and automatic calibration of tracked instruments
US12161427B2 (en) 2022-06-08 2024-12-10 Globus Medical, Inc. Surgical navigation system with flat panel registration fixture
US12226169B2 (en) 2022-07-15 2025-02-18 Globus Medical, Inc. Registration of 3D and 2D images for surgical navigation and robotic guidance without using radiopaque fiducials in the images
US20240020840A1 (en) 2022-07-15 2024-01-18 Globus Medical, Inc. REGISTRATION OF 3D and 2D IMAGES FOR SURGICAL NAVIGATION AND ROBOTIC GUIDANCE WITHOUT USING RADIOPAQUE FIDUCIALS IN THE IMAGES
CN115431251B (zh) * 2022-09-16 2023-03-21 哈尔滨工业大学 一种仿人机器人上肢
US12318150B2 (en) 2022-10-11 2025-06-03 Globus Medical Inc. Camera tracking system for computer assisted surgery navigation

Family Cites Families (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4068156A (en) 1977-03-01 1978-01-10 Martin Marietta Corporation Rate control system for manipulator arms
JPH0710510B2 (ja) 1986-06-03 1995-02-08 フアナツク株式会社 工業用ロボツトの腕構造
US4921393A (en) 1988-03-09 1990-05-01 Sri International Articulatable structure with adjustable end-point compliance
JPH0825151B2 (ja) * 1988-09-16 1996-03-13 東京応化工業株式会社 ハンドリングユニット
CA2078295C (en) * 1991-08-05 1995-11-21 John Michael Putman Endoscope stabilizer
JPH05109866A (ja) * 1991-10-16 1993-04-30 Nec Corp ウエハ移載ロボツト
US5762458A (en) * 1996-02-20 1998-06-09 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
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
US6120433A (en) * 1994-09-01 2000-09-19 Olympus Optical Co., Ltd. Surgical manipulator system
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
US5811951A (en) 1996-10-14 1998-09-22 Regents Of The University Of California High precision redundant robotic manipulator
DE69940850D1 (de) * 1998-08-04 2009-06-18 Intuitive Surgical Inc Gelenkvorrichtung zur Positionierung eines Manipulators für Robotik-Chirurgie
DE69929481T2 (de) * 1998-11-23 2006-09-28 Microdexterity Systems Inc., Memphis Chirurgischer Manipulator
US6485250B2 (en) * 1998-12-30 2002-11-26 Brooks Automation Inc. Substrate transport apparatus with multiple arms on a common axis of rotation
US6424885B1 (en) * 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US6969385B2 (en) 2002-05-01 2005-11-29 Manuel Ricardo Moreyra Wrist with decoupled motion transmission
WO2004014244A2 (en) * 2002-08-13 2004-02-19 Microbotics Corporation Microsurgical robot system
JP2004288719A (ja) * 2003-03-19 2004-10-14 Tokyo Electron Ltd 基板搬送装置及び基板処理装置
KR200319262Y1 (ko) * 2003-02-08 2003-07-07 구영만 조명장치를 갖는 화장품
DE10324844A1 (de) 2003-04-01 2004-12-23 Tuebingen Scientific Surgical Products Gmbh Chirurgisches Instrument mit Instrumentengriff und Nullpunkteinstellung
CN100336640C (zh) * 2005-02-01 2007-09-12 天津大学 外科手术机器人从操作手
WO2006091494A1 (en) * 2005-02-22 2006-08-31 Mako Surgical Corp. Haptic guidance system and method
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
CN100463661C (zh) 2006-12-04 2009-02-25 天津大学 具有重力补偿功能的被动式手动锁紧支架
EP2170204A2 (en) * 2007-07-02 2010-04-07 M.S.T. Medical Surgery Technologies Ltd System for positioning endoscope and surgical instruments
CN100581495C (zh) * 2008-10-31 2010-01-20 天津大学 一种用于辅助微创外科手术的持镜机器人系统
KR101075363B1 (ko) 2008-10-31 2011-10-19 정창욱 최소 침습 수술 도구를 포함하는 수술용 로봇 시스템
CN101411631B (zh) * 2008-11-21 2011-05-11 南开大学 五自由度脊柱微创机器人操作机构
JP2011238748A (ja) * 2010-05-10 2011-11-24 Creative Sensor Inc 紫外光発光ダイオード固化装置
KR101103327B1 (ko) * 2011-09-29 2012-01-11 주식회사 쥬디산업 휴대용 손톱 경화기

Also Published As

Publication number Publication date
CA2762780C (en) 2017-09-26
AU2010251107A1 (en) 2012-01-19
KR101665744B1 (ko) 2016-10-12
IL216470A0 (en) 2012-01-31
BRPI1011053B1 (pt) 2020-09-29
AU2010251107B2 (en) 2015-06-25
CN102458295A (zh) 2012-05-16
ES2388029A1 (es) 2012-10-05
BRPI1011053A2 (pt) 2016-03-15
EP2433585A1 (en) 2012-03-28
MX2011012295A (es) 2011-12-16
KR20120068768A (ko) 2012-06-27
BRPI1011053B8 (pt) 2021-06-22
US9119653B2 (en) 2015-09-01
MX336487B (es) 2016-01-21
PL2433585T3 (pl) 2018-02-28
CN102458295B (zh) 2014-06-25
RU2531469C2 (ru) 2014-10-20
JP2012527276A (ja) 2012-11-08
ES2388029B1 (es) 2013-08-13
EP2433585B1 (en) 2017-09-13
EP2433585A4 (en) 2015-11-04
ES2655029T3 (es) 2018-02-16
ZA201109443B (en) 2013-02-27
CA2762780A1 (en) 2010-11-25
WO2010133733A1 (es) 2010-11-25
SG176183A1 (en) 2011-12-29
RU2011152395A (ru) 2013-06-27
US20120136372A1 (en) 2012-05-31

Similar Documents

Publication Publication Date Title
JP5785538B2 (ja) 腹腔鏡手術用のロボットシステム
JP7434246B2 (ja) ゼロ空間運動と同時にゼロ直交空間内でのクラッチングによりマニピュレータアームを位置決めするためのシステム及び方法
CN109788994B (zh) 计算机辅助的远程操作手术系统和方法
KR102530353B1 (ko) 하드웨어 제한형 원격 중심 로봇 매니퓰레이터용 여유 축 및 자유도
US10219871B2 (en) Robotic system for tele-surgery
KR102314511B1 (ko) 수술 기구 매니퓰레이터 양태들
EP3620128B1 (en) Multi-port surgical robotic system architecture
US11844584B2 (en) Robotic system for tele-surgery
US12213754B2 (en) Robotic system for tele-surgery
HK1168018B (en) Robotic system for laparoscopic surgery
HK1168018A (en) Robotic system for laparoscopic surgery

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20130430

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20130430

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20140120

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20140128

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20140424

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20141007

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20150106

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: 20150630

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20150724

R150 Certificate of patent or registration of utility model

Ref document number: 5785538

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

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250