JP6180692B1 - 医療用マニピュレータシステム - Google Patents
医療用マニピュレータシステム Download PDFInfo
- Publication number
- JP6180692B1 JP6180692B1 JP2017525128A JP2017525128A JP6180692B1 JP 6180692 B1 JP6180692 B1 JP 6180692B1 JP 2017525128 A JP2017525128 A JP 2017525128A JP 2017525128 A JP2017525128 A JP 2017525128A JP 6180692 B1 JP6180692 B1 JP 6180692B1
- Authority
- JP
- Japan
- Prior art keywords
- manipulator
- mode
- unit
- visual field
- medical
- 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
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
- A61B34/74—Manipulators with manual electric input means
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—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
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
- A61B1/0005—Display arrangement combining images e.g. side-by-side, superimposed or tiled
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2059—Mechanical position encoders
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
- A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
-
- 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
- A61B34/25—User interfaces for surgical systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39389—Laparoscopic surgery, camera on center of operated part, view around, scale
Abstract
Description
たとえば、内視鏡画像の表示領域の外側に設定された境界領域に内視鏡の視野外に位置する処置具の位置及び配向を表示させる技術が特許文献1に開示されている。
特許文献1に開示された技術によれば、内視鏡の視野外に位置する処置具の位置及び配向を操作者に容易に把握させ、内視鏡の視野外の処置具を視野内へと容易に移動させることができる。
本発明は、使い勝手の良い医療用マニピュレータシステムを提供することを目的とする。
図1に示すように、本実施形態の医療用マニピュレータシステム1は、撮像部3を有する第一マニピュレータ2と、所定の基準座標系における第一マニピュレータ2の位置及び姿勢を検知する第一位置姿勢検知部4と、前記第一マニピュレータ2を駆動させる第一駆動部6と、エンドエフェクタ8を有する第二マニピュレータ7と、上記の基準座標系における第二マニピュレータ7の位置及び姿勢を検知する第二位置姿勢検知部9と、第二マニピュレータ7を駆動させる第二駆動部11と、第一マニピュレータ2の撮像部3に接続された画像処理装置12と、第一マニピュレータ2及び第二マニピュレータ7を操作するための操作部13と、操作部13に対する操作入力に基づいて第一マニピュレータ2及び第二マニピュレータ7を制御する制御部15と、制御部15に接続された表示部22とを備えている。
なお、第一マニピュレータ2の撮像部3の視野方向を変更するための別のアクチュエータ(不図示)が第一マニピュレータ2に配されていてもよく、この場合、このアクチュエータは第一駆動部6の一部として制御部15により制御される。
なお、第二マニピュレータ7においてエンドエフェクタ8が首振り等の動作をすることができる場合には、第二位置姿勢検知部9のエンコーダは、第二マニピュレータ7自身の位置及び姿勢を検知するための第一のエンコーダと、エンドエフェクタ8の位置及び姿勢を検知するための第二のエンコーダとを含んでいてもよい。
図2に示すように、制御部15は、位置情報取得部16と、視野領域取得部17と、画像生成部18と、画像重畳部19と、制御信号出力部20と、判別部21とを有している。
本実施形態における基準座標系は、本実施形態の医療用マニピュレータに対して設定された所定の位置を原点とする直交座標系である。
第一位置P1の情報は撮像部3の位置の座標及びその姿勢の情報を含み、第二位置P2の情報はエンドエフェクタ8の位置の座標及びその姿勢の情報を含む。
また、視野領域取得部17は、撮像部3の画角等の光学特性並びに撮像部3の位置及び姿勢(第一位置P1の情報)に基づいて、撮像部3が配される体内の空間内に視野空間S1(図3及び図4参照)を規定する。たとえば、視野領域取得部17は、撮像部3の画角等の光学特性並びに撮像部3の位置及び姿勢(第一位置P1の情報)に基づいて、基準座標系における視野空間S1の位置を算出する。視野空間S1は、撮像部3によって撮像可能な範囲のうち視野中心を含む一部であってもよいし、撮像部3の画角によって規定される空間であってもよい。
視野空間S1は、表示部22に表示される画像において、撮像部3の撮像視野(視野領域A1,図5参照)と対応する。
境界空間S2は、表示部22に表示される画像において、視野領域A1の周囲に位置する撮像視野外の領域(境界領域A2,図5参照)と対応する。
画像生成部18は、エンドエフェクタ8の形状を模した指標Mを含む立体画像(たとえば操作者の左目と右目に対応するように視差を考慮して構成された一組の画像)を生成してもよい。
また、制御信号出力部20は、操作部13に対する操作入力に従って第二マニピュレータ7を動作させるための制御信号を生成して第二駆動部11へと出力する。さらに、制御信号出力部20は、複数の制御モードのうち判別部21により選択された1つのモードに従って、操作部13による操作指令に対する制限内容を変更する制御信号を操作部13へと出力する。
複数の制御モードは、操作部13による第二マニピュレータ7の操作を許可する第一モードと、操作部13による操作指令に対して所定の制限を加えた上で制限の範囲内で第二マニピュレータ7の操作を許可する第二モードと、操作部13による第二マニピュレータ7の操作を禁止する第三モードとを含む。
本実施形態の判別部21は、第二位置P2が視野空間S1の内にある場合(表示部22の表示上では第二位置P2が視野領域A1内にある場合)(図5参照)に第一モードを選択する。
表示部22は、制御部15から出力された画像と画像処理装置12から出力された画像とのいずれか一方を選択に応じて表示できるように、複数の入力系統及びセレクタを有していてもよい。
本実施形態の医療用マニピュレータシステム1の使用時には、医療用マニピュレータシステム1は、撮像部3とエンドエフェクタ8との位置関係に基づいて、判別部21が制御モードを切り替える。
エンドエフェクタ8が視野領域A1外且つ境界領域A2内にあるとき(図6参照)には、判別部21は複数の制御モードから第二モードを選択するので、エンドエフェクタ8はその移動速度が制限されつつも自在に移動可能である。
エンドエフェクタ8が境界領域A2外にあるとき(図7参照)には、判別部21は複数の制御モードから第三モードを選択するので、エンドエフェクタ8は操作部13による操作に反応せず停止する。
上記実施形態の変形例について説明する。以下の各変形例において、上記の実施形態に開示された構成要素と同様の構成要素には、上記実施形態と同一の符号を付し、重複する説明を省略する。
本変形例の医療用マニピュレータシステム1(図1参照)は、第二マニピュレータ7が境界空間S2内でその外延に近づくに従って第二マニピュレータ7の移動可能速度が漸次低下するように第二マニピュレータ7が制御される点で、上記実施形態と異なっている。
上記実施形態の他の変形例について説明する。図9は、本変形例の医療用マニピュレータシステムのブロック図である。
図9に示すように、本変形例の医療用マニピュレータシステム1は、第二マニピュレータ7が、第二マニピュレータ7が物体に接触したことにより物体が第二マニピュレータ7を押し返す力量を検知する触覚センサ24(接触検知手段)を有し、マスタアーム14が、第二マニピュレータ7のセンサが検知した力量を操作者の手に伝えるフィードバック手段(不図示)を有している。
なお、本変形例において、医療用マニピュレータシステム1が第二モードで動作している時に触覚センサ24が第二マニピュレータ7と物体との接触を検知した場合に、第二マニピュレータ7と物体とが接触した旨を制御部15が操作者に報知(視覚や聴覚により知覚可能なものも含む)するとともに、操作部13による第二マニピュレータ7の操作を制御部15が禁止してもよい。また、この場合、操作部13による第二マニピュレータ7の操作を制御部15が禁止することに代えて、第二マニピュレータ7と物体との接触が解消する方向にのみ第二マニピュレータ7が移動可能となるように第二モードにおいて第二マニピュレータ7の移動可能方向が制限されてもよい。
上記実施形態のさらに他の変形例について説明する。
本変形例では、第二モードにおける動作として、上記実施形態,変形例1,及び変形例2に開示した動作から1つを選択して設定することができる。
たとえば、操作部13が、第二モードにおける動作を選択するためのスイッチ(不図示)を有している。
本変形例の医療用マニピュレータシステム1では、操作者の好みに合わせて第二モードにおける動作を選択できるので、使い勝手が良い。
上記実施形態のさらに他の変形例について説明する。図10は、本変形例の医療用マニピュレータシステムのブロック図である。
図10に示すように、本変形例の医療用マニピュレータシステム1は、第一マニピュレータ2及び第二マニピュレータ7に加えて第三マニピュレータ25を有している。
また、第三マニピュレータ25は、第一多関節アーム5と同様の第三多関節アーム28(第三位置姿勢検知部27)と、第一駆動部6と同様の第三駆動部29とを有しており、制御部15によって制御される。
上記実施形態のさらに他の変形例について説明する。図11は、本変形例の医療用マニピュレータシステムのブロック図である。図12は、本変形例の医療用マニピュレータシステムの表示部に表示される画像の例を示す模式図である。
図11に示すように、本変形例では、上記の画像重畳部19に代えて、撮像部3が撮像した映像と画像生成部18が生成した画像とをそれぞれ別の表示パネル23に表示させる画像出力部30を有している。表示部22は、撮像部3が撮像した映像を表示する視野表示部22aとなる第一パネル23Aと、第二マニピュレータ7の存在に対応する指標Mを表示可能な補助表示部22bとなる第二パネル23Bとを有している。
上記実施形態のさらに他の変形例について説明する。図13は、本変形例の医療用マニピュレータシステムによって規定される視野空間及び境界空間を示す模式図である。図14は、本変形例の医療用マニピュレータシステムの表示部に表示される画像の例を示す模式図である。
2 第一マニピュレータ
3 撮像部
4 第一位置姿勢検知部
5 第一多関節アーム
6 第一駆動部
7 第二マニピュレータ
8 エンドエフェクタ
9 第二位置姿勢検知部
10 第二多関節アーム
11 第二駆動部
12 画像処理装置
13 操作部
14 マスタアーム
15 制御部
16 位置情報取得部
17 視野領域取得部
18 画像生成部
19 画像重畳部
20 制御信号出力部
21 判別部
22 表示部
22a 視野表示部
22b 補助表示部
23 表示パネル
24 触覚センサ
25 第三マニピュレータ
26 撮像部
27 第三位置姿勢検知部
28 第三多関節アーム
29 第三駆動部
30 画像出力部
Claims (7)
- 撮像部を有する第一マニピュレータと、
エンドエフェクタを有する第二マニピュレータと、
前記撮像部からの映像を表示する表示部と、
前記第一マニピュレータ又は前記第二マニピュレータを操作するための操作指令を発する操作部と、
複数の制御モードから1つのモードを選択して前記操作指令に基づいて前記第一マニピュレータ又は前記第二マニピュレータを制御する制御部と、
を備え、
前記制御部は、
前記第一マニピュレータに設定された所定部位の位置を第一位置として取得するとともに前記第二マニピュレータに設定された所定部位の位置を第二位置として取得する位置情報取得部と、
前記撮像部が撮像した映像を取得し、視野領域を算出する視野領域取得部と、
前記視野領域,前記第一位置,及び前記第二位置に基づいて前記複数の制御モードから1つのモードを選択する判別部と、
を有し、
前記複数の制御モードは、
前記操作部による前記第二マニピュレータの操作を許可する第一モードと、
前記操作部による前記操作指令に対して所定の制限を加えた上で前記制限の範囲内で前記第二マニピュレータの操作を許可する第二モードと、
前記操作部による前記第二マニピュレータの操作を禁止する第三モードと、
を含み、
前記判別部は、
前記第二位置が前記視野領域の内にある場合に前記第一モードを選択し、
前記第二位置が前記視野領域の外にあり且つ前記第一位置と前記第二位置との距離が所定値以下である場合に前記第二モードを選択し、
前記第二位置が前記視野領域の外にあり且つ前記第一位置と前記第二位置との距離が前記所定値を超えている場合に前記第三モードを選択する
医療用マニピュレータシステム。 - 前記表示部は、
前記撮像部が撮像した前記映像を表示する視野表示部と、
前記第二マニピュレータの存在に対応する指標を表示可能な補助表示部と、
を有する請求項1に記載の医療用マニピュレータシステム。 - 前記第二モードは、前記第一モードにおける前記第二マニピュレータの動作速度よりも低速で前記第二マニピュレータを動作させるように前記第二マニピュレータの動作速度を制限する
請求項1に記載の医療用マニピュレータシステム。 - 前記第二モードは、
前記第二マニピュレータの動作可能方向を前記第一モードよりも制限する
請求項1に記載の医療用マニピュレータシステム。 - 前記第二モードは、
前記動作可能方向を前記第二位置が前記視野領域に向かう方向のみに制限する
請求項4に記載の医療用マニピュレータシステム。 - 前記第二モードにおける制限の内容を設定する設定手段をさらに有する請求項1に記載の医療用マニピュレータシステム。
- 前記第二マニピュレータは、前記第二マニピュレータが物体に接触したことを検知可能な接触検知手段をさらに有し、
前記第二モードは、前記第二マニピュレータと前記物体とが接触したことを前記接触検知手段が検知したときに、前記第二マニピュレータと前記物体とが接触したことを操作者に報知し、且つ、前記操作部による前記第二マニピュレータの操作を禁止する
請求項1に記載の医療用マニピュレータシステム。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2015/086539 WO2017115425A1 (ja) | 2015-12-28 | 2015-12-28 | 医療用マニピュレータシステム |
Publications (2)
Publication Number | Publication Date |
---|---|
JP6180692B1 true JP6180692B1 (ja) | 2017-08-16 |
JPWO2017115425A1 JPWO2017115425A1 (ja) | 2017-12-28 |
Family
ID=59225376
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017525128A Active JP6180692B1 (ja) | 2015-12-28 | 2015-12-28 | 医療用マニピュレータシステム |
Country Status (3)
Country | Link |
---|---|
US (1) | US11051897B2 (ja) |
JP (1) | JP6180692B1 (ja) |
WO (1) | WO2017115425A1 (ja) |
Families Citing this family (244)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20070084897A1 (en) | 2003-05-20 | 2007-04-19 | Shelton Frederick E Iv | Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism |
US9060770B2 (en) | 2003-05-20 | 2015-06-23 | Ethicon Endo-Surgery, Inc. | Robotically-driven surgical instrument with E-beam driver |
US11896225B2 (en) | 2004-07-28 | 2024-02-13 | Cilag Gmbh International | Staple cartridge comprising a pan |
US7934630B2 (en) | 2005-08-31 | 2011-05-03 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
US11246590B2 (en) | 2005-08-31 | 2022-02-15 | Cilag Gmbh International | Staple cartridge including staple drivers having different unfired heights |
US7669746B2 (en) | 2005-08-31 | 2010-03-02 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
US10159482B2 (en) | 2005-08-31 | 2018-12-25 | Ethicon Llc | Fastener cartridge assembly comprising a fixed anvil and different staple heights |
US11484312B2 (en) | 2005-08-31 | 2022-11-01 | Cilag Gmbh International | Staple cartridge comprising a staple driver arrangement |
US20070106317A1 (en) | 2005-11-09 | 2007-05-10 | Shelton Frederick E Iv | Hydraulically and electrically actuated articulation joints for surgical instruments |
US8820603B2 (en) | 2006-01-31 | 2014-09-02 | Ethicon Endo-Surgery, Inc. | Accessing data stored in a memory of a surgical instrument |
US20110290856A1 (en) | 2006-01-31 | 2011-12-01 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical instrument with force-feedback capabilities |
US11793518B2 (en) | 2006-01-31 | 2023-10-24 | Cilag Gmbh International | Powered surgical instruments with firing system lockout arrangements |
US7753904B2 (en) | 2006-01-31 | 2010-07-13 | Ethicon Endo-Surgery, Inc. | Endoscopic surgical instrument with a handle that can articulate with respect to the shaft |
US8708213B2 (en) | 2006-01-31 | 2014-04-29 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a feedback system |
US20120292367A1 (en) | 2006-01-31 | 2012-11-22 | Ethicon Endo-Surgery, Inc. | Robotically-controlled end effector |
US7845537B2 (en) | 2006-01-31 | 2010-12-07 | Ethicon Endo-Surgery, Inc. | Surgical instrument having recording capabilities |
US8186555B2 (en) | 2006-01-31 | 2012-05-29 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting and fastening instrument with mechanical closure system |
US8992422B2 (en) | 2006-03-23 | 2015-03-31 | Ethicon Endo-Surgery, Inc. | Robotically-controlled endoscopic accessory channel |
US10568652B2 (en) | 2006-09-29 | 2020-02-25 | Ethicon Llc | Surgical staples having attached drivers of different heights and stapling instruments for deploying the same |
US11291441B2 (en) | 2007-01-10 | 2022-04-05 | Cilag Gmbh International | Surgical instrument with wireless communication between control unit and remote sensor |
US8684253B2 (en) | 2007-01-10 | 2014-04-01 | Ethicon Endo-Surgery, Inc. | Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor |
US8701958B2 (en) | 2007-01-11 | 2014-04-22 | Ethicon Endo-Surgery, Inc. | Curved end effector for a surgical stapling device |
US8727197B2 (en) | 2007-03-15 | 2014-05-20 | Ethicon Endo-Surgery, Inc. | Staple cartridge cavity configuration with cooperative surgical staple |
US11672531B2 (en) | 2007-06-04 | 2023-06-13 | Cilag Gmbh International | Rotary drive systems for surgical instruments |
US8931682B2 (en) | 2007-06-04 | 2015-01-13 | Ethicon Endo-Surgery, Inc. | Robotically-controlled shaft based rotary drive systems for surgical instruments |
US11849941B2 (en) | 2007-06-29 | 2023-12-26 | Cilag Gmbh International | Staple cartridge having staple cavities extending at a transverse angle relative to a longitudinal cartridge axis |
US8636736B2 (en) | 2008-02-14 | 2014-01-28 | Ethicon Endo-Surgery, Inc. | Motorized surgical cutting and fastening instrument |
US9179912B2 (en) | 2008-02-14 | 2015-11-10 | Ethicon Endo-Surgery, Inc. | Robotically-controlled motorized surgical cutting and fastening instrument |
US7866527B2 (en) | 2008-02-14 | 2011-01-11 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with interlockable firing system |
US7819298B2 (en) | 2008-02-14 | 2010-10-26 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with control features operable with one hand |
BRPI0901282A2 (pt) | 2008-02-14 | 2009-11-17 | Ethicon Endo Surgery Inc | instrumento cirúrgico de corte e fixação dotado de eletrodos de rf |
US11648005B2 (en) | 2008-09-23 | 2023-05-16 | Cilag Gmbh International | Robotically-controlled motorized surgical instrument with an end effector |
US9005230B2 (en) | 2008-09-23 | 2015-04-14 | Ethicon Endo-Surgery, Inc. | Motorized surgical instrument |
US8210411B2 (en) | 2008-09-23 | 2012-07-03 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting instrument |
US9386983B2 (en) | 2008-09-23 | 2016-07-12 | Ethicon Endo-Surgery, Llc | Robotically-controlled motorized surgical instrument |
US8608045B2 (en) | 2008-10-10 | 2013-12-17 | Ethicon Endo-Sugery, Inc. | Powered surgical cutting and stapling apparatus with manually retractable firing system |
US9629814B2 (en) | 2010-09-30 | 2017-04-25 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator configured to redistribute compressive forces |
US11298125B2 (en) | 2010-09-30 | 2022-04-12 | Cilag Gmbh International | Tissue stapler having a thickness compensator |
US9113865B2 (en) | 2010-09-30 | 2015-08-25 | Ethicon Endo-Surgery, Inc. | Staple cartridge comprising a layer |
US11812965B2 (en) | 2010-09-30 | 2023-11-14 | Cilag Gmbh International | Layer of material for a surgical end effector |
US11925354B2 (en) | 2010-09-30 | 2024-03-12 | Cilag Gmbh International | Staple cartridge comprising staples positioned within a compressible portion thereof |
US10945731B2 (en) | 2010-09-30 | 2021-03-16 | Ethicon Llc | Tissue thickness compensator comprising controlled release and expansion |
US9700317B2 (en) | 2010-09-30 | 2017-07-11 | Ethicon Endo-Surgery, Llc | Fastener cartridge comprising a releasable tissue thickness compensator |
US9386988B2 (en) | 2010-09-30 | 2016-07-12 | Ethicon End-Surgery, LLC | Retainer assembly including a tissue thickness compensator |
US9351730B2 (en) | 2011-04-29 | 2016-05-31 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator comprising channels |
US8695866B2 (en) | 2010-10-01 | 2014-04-15 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a power control circuit |
AU2012250197B2 (en) | 2011-04-29 | 2017-08-10 | Ethicon Endo-Surgery, Inc. | Staple cartridge comprising staples positioned within a compressible portion thereof |
US9072535B2 (en) | 2011-05-27 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments with rotatable staple deployment arrangements |
BR112014024098B1 (pt) | 2012-03-28 | 2021-05-25 | Ethicon Endo-Surgery, Inc. | cartucho de grampos |
JP6305979B2 (ja) | 2012-03-28 | 2018-04-04 | エシコン・エンド−サージェリィ・インコーポレイテッドEthicon Endo−Surgery,Inc. | 複数の層を含む組織厚さコンペンセーター |
US9101358B2 (en) | 2012-06-15 | 2015-08-11 | Ethicon Endo-Surgery, Inc. | Articulatable surgical instrument comprising a firing drive |
US20140001231A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Firing system lockout arrangements for surgical instruments |
US9289256B2 (en) | 2012-06-28 | 2016-03-22 | Ethicon Endo-Surgery, Llc | Surgical end effectors having angled tissue-contacting surfaces |
US9408606B2 (en) | 2012-06-28 | 2016-08-09 | Ethicon Endo-Surgery, Llc | Robotically powered surgical device with manually-actuatable reversing system |
US9282974B2 (en) | 2012-06-28 | 2016-03-15 | Ethicon Endo-Surgery, Llc | Empty clip cartridge lockout |
BR112014032776B1 (pt) | 2012-06-28 | 2021-09-08 | Ethicon Endo-Surgery, Inc | Sistema de instrumento cirúrgico e kit cirúrgico para uso com um sistema de instrumento cirúrgico |
BR112015021098B1 (pt) | 2013-03-01 | 2022-02-15 | Ethicon Endo-Surgery, Inc | Cobertura para uma junta de articulação e instrumento cirúrgico |
US10136887B2 (en) | 2013-04-16 | 2018-11-27 | Ethicon Llc | Drive system decoupling arrangement for a surgical instrument |
BR112015026109B1 (pt) | 2013-04-16 | 2022-02-22 | Ethicon Endo-Surgery, Inc | Instrumento cirúrgico |
MX369362B (es) | 2013-08-23 | 2019-11-06 | Ethicon Endo Surgery Llc | Dispositivos de retraccion de miembros de disparo para instrumentos quirurgicos electricos. |
US9924942B2 (en) | 2013-08-23 | 2018-03-27 | Ethicon Llc | Motor-powered articulatable surgical instruments |
US9804618B2 (en) | 2014-03-26 | 2017-10-31 | Ethicon Llc | Systems and methods for controlling a segmented circuit |
CN106456176B (zh) | 2014-04-16 | 2019-06-28 | 伊西康内外科有限责任公司 | 包括具有不同构型的延伸部的紧固件仓 |
BR112016023825B1 (pt) | 2014-04-16 | 2022-08-02 | Ethicon Endo-Surgery, Llc | Cartucho de grampos para uso com um grampeador cirúrgico e cartucho de grampos para uso com um instrumento cirúrgico |
US20150297222A1 (en) | 2014-04-16 | 2015-10-22 | Ethicon Endo-Surgery, Inc. | Fastener cartridges including extensions having different configurations |
JP6532889B2 (ja) | 2014-04-16 | 2019-06-19 | エシコン エルエルシーEthicon LLC | 締結具カートリッジ組立体及びステープル保持具カバー配置構成 |
US11311294B2 (en) | 2014-09-05 | 2022-04-26 | Cilag Gmbh International | Powered medical device including measurement of closure state of jaws |
BR112017004361B1 (pt) | 2014-09-05 | 2023-04-11 | Ethicon Llc | Sistema eletrônico para um instrumento cirúrgico |
US10135242B2 (en) | 2014-09-05 | 2018-11-20 | Ethicon Llc | Smart cartridge wake up operation and data retention |
US11523821B2 (en) | 2014-09-26 | 2022-12-13 | Cilag Gmbh International | Method for creating a flexible staple line |
US9924944B2 (en) | 2014-10-16 | 2018-03-27 | Ethicon Llc | Staple cartridge comprising an adjunct material |
US11141153B2 (en) | 2014-10-29 | 2021-10-12 | Cilag Gmbh International | Staple cartridges comprising driver arrangements |
US10517594B2 (en) | 2014-10-29 | 2019-12-31 | Ethicon Llc | Cartridge assemblies for surgical staplers |
US9844376B2 (en) | 2014-11-06 | 2017-12-19 | Ethicon Llc | Staple cartridge comprising a releasable adjunct material |
US10736636B2 (en) | 2014-12-10 | 2020-08-11 | Ethicon Llc | Articulatable surgical instrument system |
US10085748B2 (en) | 2014-12-18 | 2018-10-02 | Ethicon Llc | Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors |
US9844375B2 (en) | 2014-12-18 | 2017-12-19 | Ethicon Llc | Drive arrangements for articulatable surgical instruments |
US10004501B2 (en) | 2014-12-18 | 2018-06-26 | Ethicon Llc | Surgical instruments with improved closure arrangements |
US9987000B2 (en) | 2014-12-18 | 2018-06-05 | Ethicon Llc | Surgical instrument assembly comprising a flexible articulation system |
RU2703684C2 (ru) | 2014-12-18 | 2019-10-21 | ЭТИКОН ЭНДО-СЕРДЖЕРИ, ЭлЭлСи | Хирургический инструмент с упором, который выполнен с возможностью избирательного перемещения относительно кассеты со скобами вокруг дискретной неподвижной оси |
US9844374B2 (en) | 2014-12-18 | 2017-12-19 | Ethicon Llc | Surgical instrument systems comprising an articulatable end effector and means for adjusting the firing stroke of a firing member |
US11154301B2 (en) | 2015-02-27 | 2021-10-26 | Cilag Gmbh International | Modular stapling assembly |
US9993248B2 (en) | 2015-03-06 | 2018-06-12 | Ethicon Endo-Surgery, Llc | Smart sensors with local signal processing |
US10052044B2 (en) | 2015-03-06 | 2018-08-21 | Ethicon Llc | Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures |
JP2020121162A (ja) | 2015-03-06 | 2020-08-13 | エシコン エルエルシーEthicon LLC | 測定の安定性要素、クリープ要素、及び粘弾性要素を決定するためのセンサデータの時間依存性評価 |
US10441279B2 (en) | 2015-03-06 | 2019-10-15 | Ethicon Llc | Multiple level thresholds to modify operation of powered surgical instruments |
US10390825B2 (en) | 2015-03-31 | 2019-08-27 | Ethicon Llc | Surgical instrument with progressive rotary drive systems |
US10238386B2 (en) | 2015-09-23 | 2019-03-26 | Ethicon Llc | Surgical stapler having motor control based on an electrical parameter related to a motor current |
US10105139B2 (en) | 2015-09-23 | 2018-10-23 | Ethicon Llc | Surgical stapler having downstream current-based motor control |
US11890015B2 (en) | 2015-09-30 | 2024-02-06 | Cilag Gmbh International | Compressible adjunct with crossing spacer fibers |
US10285699B2 (en) | 2015-09-30 | 2019-05-14 | Ethicon Llc | Compressible adjunct |
US10292704B2 (en) | 2015-12-30 | 2019-05-21 | Ethicon Llc | Mechanisms for compensating for battery pack failure in powered surgical instruments |
BR112018016098B1 (pt) | 2016-02-09 | 2023-02-23 | Ethicon Llc | Instrumento cirúrgico |
US11213293B2 (en) | 2016-02-09 | 2022-01-04 | Cilag Gmbh International | Articulatable surgical instruments with single articulation link arrangements |
US11224426B2 (en) | 2016-02-12 | 2022-01-18 | Cilag Gmbh International | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
US10448948B2 (en) | 2016-02-12 | 2019-10-22 | Ethicon Llc | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
US11607239B2 (en) | 2016-04-15 | 2023-03-21 | Cilag Gmbh International | Systems and methods for controlling a surgical stapling and cutting instrument |
US10492783B2 (en) | 2016-04-15 | 2019-12-03 | Ethicon, Llc | Surgical instrument with improved stop/start control during a firing motion |
US10357247B2 (en) | 2016-04-15 | 2019-07-23 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
US10426467B2 (en) | 2016-04-15 | 2019-10-01 | Ethicon Llc | Surgical instrument with detection sensors |
US10828028B2 (en) | 2016-04-15 | 2020-11-10 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
US20170296173A1 (en) | 2016-04-18 | 2017-10-19 | Ethicon Endo-Surgery, Llc | Method for operating a surgical instrument |
US11317917B2 (en) | 2016-04-18 | 2022-05-03 | Cilag Gmbh International | Surgical stapling system comprising a lockable firing assembly |
US10478181B2 (en) | 2016-04-18 | 2019-11-19 | Ethicon Llc | Cartridge lockout arrangements for rotary powered surgical cutting and stapling instruments |
CN110099619B (zh) | 2016-12-21 | 2022-07-15 | 爱惜康有限责任公司 | 用于外科端部执行器和可替换工具组件的闭锁装置 |
US10675026B2 (en) | 2016-12-21 | 2020-06-09 | Ethicon Llc | Methods of stapling tissue |
US20180168625A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Surgical stapling instruments with smart staple cartridges |
US10675025B2 (en) | 2016-12-21 | 2020-06-09 | Ethicon Llc | Shaft assembly comprising separately actuatable and retractable systems |
US10588632B2 (en) | 2016-12-21 | 2020-03-17 | Ethicon Llc | Surgical end effectors and firing members thereof |
US20180168615A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Method of deforming staples from two different types of staple cartridges with the same surgical stapling instrument |
US10588630B2 (en) | 2016-12-21 | 2020-03-17 | Ethicon Llc | Surgical tool assemblies with closure stroke reduction features |
US11419606B2 (en) | 2016-12-21 | 2022-08-23 | Cilag Gmbh International | Shaft assembly comprising a clutch configured to adapt the output of a rotary firing member to two different systems |
JP7010956B2 (ja) | 2016-12-21 | 2022-01-26 | エシコン エルエルシー | 組織をステープル留めする方法 |
US10517595B2 (en) | 2016-12-21 | 2019-12-31 | Ethicon Llc | Jaw actuated lock arrangements for preventing advancement of a firing member in a surgical end effector unless an unfired cartridge is installed in the end effector |
US11382638B2 (en) | 2017-06-20 | 2022-07-12 | Cilag Gmbh International | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified displacement distance |
US10307170B2 (en) | 2017-06-20 | 2019-06-04 | Ethicon Llc | Method for closed loop control of motor velocity of a surgical stapling and cutting instrument |
US11653914B2 (en) | 2017-06-20 | 2023-05-23 | Cilag Gmbh International | Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument according to articulation angle of end effector |
US10881399B2 (en) | 2017-06-20 | 2021-01-05 | Ethicon Llc | Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument |
US11517325B2 (en) | 2017-06-20 | 2022-12-06 | Cilag Gmbh International | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured displacement distance traveled over a specified time interval |
US10779820B2 (en) | 2017-06-20 | 2020-09-22 | Ethicon Llc | Systems and methods for controlling motor speed according to user input for a surgical instrument |
US10993716B2 (en) | 2017-06-27 | 2021-05-04 | Ethicon Llc | Surgical anvil arrangements |
US11324503B2 (en) | 2017-06-27 | 2022-05-10 | Cilag Gmbh International | Surgical firing member arrangements |
US11564686B2 (en) | 2017-06-28 | 2023-01-31 | Cilag Gmbh International | Surgical shaft assemblies with flexible interfaces |
USD906355S1 (en) | 2017-06-28 | 2020-12-29 | Ethicon Llc | Display screen or portion thereof with a graphical user interface for a surgical instrument |
US11678880B2 (en) | 2017-06-28 | 2023-06-20 | Cilag Gmbh International | Surgical instrument comprising a shaft including a housing arrangement |
US11020114B2 (en) | 2017-06-28 | 2021-06-01 | Cilag Gmbh International | Surgical instruments with articulatable end effector with axially shortened articulation joint configurations |
US10765427B2 (en) | 2017-06-28 | 2020-09-08 | Ethicon Llc | Method for articulating a surgical instrument |
EP3420947B1 (en) | 2017-06-28 | 2022-05-25 | Cilag GmbH International | Surgical instrument comprising selectively actuatable rotatable couplers |
US10932772B2 (en) | 2017-06-29 | 2021-03-02 | Ethicon Llc | Methods for closed loop velocity control for robotic surgical instrument |
US20200163731A1 (en) * | 2017-07-13 | 2020-05-28 | Intuitive Surgical Operations, Inc. | Systems and methods for switching control between multiple instrument arms |
US11304695B2 (en) | 2017-08-03 | 2022-04-19 | Cilag Gmbh International | Surgical system shaft interconnection |
US11471155B2 (en) | 2017-08-03 | 2022-10-18 | Cilag Gmbh International | Surgical system bailout |
US11944300B2 (en) | 2017-08-03 | 2024-04-02 | Cilag Gmbh International | Method for operating a surgical system bailout |
EP3664740A4 (en) * | 2017-08-10 | 2020-08-05 | Intuitive Surgical Operations Inc. | INCREASED INSTRUMENT USAGE TIME IN TELECHRURGICAL SYSTEMS |
US10842490B2 (en) | 2017-10-31 | 2020-11-24 | Ethicon Llc | Cartridge body design with force reduction based on firing completion |
US10779826B2 (en) | 2017-12-15 | 2020-09-22 | Ethicon Llc | Methods of operating surgical end effectors |
US10835330B2 (en) | 2017-12-19 | 2020-11-17 | Ethicon Llc | Method for determining the position of a rotatable jaw of a surgical instrument attachment assembly |
US11311290B2 (en) | 2017-12-21 | 2022-04-26 | Cilag Gmbh International | Surgical instrument comprising an end effector dampener |
US11179151B2 (en) | 2017-12-21 | 2021-11-23 | Cilag Gmbh International | Surgical instrument comprising a display |
US11324501B2 (en) | 2018-08-20 | 2022-05-10 | Cilag Gmbh International | Surgical stapling devices with improved closure members |
JP7163115B2 (ja) * | 2018-09-12 | 2022-10-31 | キヤノン株式会社 | ロボットシステム、ロボットシステムの制御方法、物品の製造方法、制御装置、操作装置、撮像装置、制御プログラム及び記録媒体 |
JP7248271B2 (ja) * | 2018-09-14 | 2023-03-29 | 国立大学法人 東京大学 | 情報処理装置、ロボットハンド制御システム、及びロボットハンド制御プログラム |
US11696761B2 (en) | 2019-03-25 | 2023-07-11 | Cilag Gmbh International | Firing drive arrangements for surgical systems |
US11452528B2 (en) | 2019-04-30 | 2022-09-27 | Cilag Gmbh International | Articulation actuators for a surgical instrument |
US11426251B2 (en) | 2019-04-30 | 2022-08-30 | Cilag Gmbh International | Articulation directional lights on a surgical instrument |
US11648009B2 (en) | 2019-04-30 | 2023-05-16 | Cilag Gmbh International | Rotatable jaw tip for a surgical instrument |
US11471157B2 (en) | 2019-04-30 | 2022-10-18 | Cilag Gmbh International | Articulation control mapping for a surgical instrument |
US11903581B2 (en) | 2019-04-30 | 2024-02-20 | Cilag Gmbh International | Methods for stapling tissue using a surgical instrument |
US11432816B2 (en) | 2019-04-30 | 2022-09-06 | Cilag Gmbh International | Articulation pin for a surgical instrument |
US11497492B2 (en) | 2019-06-28 | 2022-11-15 | Cilag Gmbh International | Surgical instrument including an articulation lock |
US11553971B2 (en) | 2019-06-28 | 2023-01-17 | Cilag Gmbh International | Surgical RFID assemblies for display and communication |
US11853835B2 (en) | 2019-06-28 | 2023-12-26 | Cilag Gmbh International | RFID identification systems for surgical instruments |
US11684434B2 (en) | 2019-06-28 | 2023-06-27 | Cilag Gmbh International | Surgical RFID assemblies for instrument operational setting control |
US11426167B2 (en) | 2019-06-28 | 2022-08-30 | Cilag Gmbh International | Mechanisms for proper anvil attachment surgical stapling head assembly |
US11627959B2 (en) | 2019-06-28 | 2023-04-18 | Cilag Gmbh International | Surgical instruments including manual and powered system lockouts |
US11464601B2 (en) | 2019-06-28 | 2022-10-11 | Cilag Gmbh International | Surgical instrument comprising an RFID system for tracking a movable component |
US11478241B2 (en) | 2019-06-28 | 2022-10-25 | Cilag Gmbh International | Staple cartridge including projections |
US11399837B2 (en) | 2019-06-28 | 2022-08-02 | Cilag Gmbh International | Mechanisms for motor control adjustments of a motorized surgical instrument |
US11376098B2 (en) | 2019-06-28 | 2022-07-05 | Cilag Gmbh International | Surgical instrument system comprising an RFID system |
US11298127B2 (en) | 2019-06-28 | 2022-04-12 | Cilag GmbH Interational | Surgical stapling system having a lockout mechanism for an incompatible cartridge |
US11291451B2 (en) | 2019-06-28 | 2022-04-05 | Cilag Gmbh International | Surgical instrument with battery compatibility verification functionality |
US11771419B2 (en) | 2019-06-28 | 2023-10-03 | Cilag Gmbh International | Packaging for a replaceable component of a surgical stapling system |
US11229437B2 (en) | 2019-06-28 | 2022-01-25 | Cilag Gmbh International | Method for authenticating the compatibility of a staple cartridge with a surgical instrument |
US11660163B2 (en) | 2019-06-28 | 2023-05-30 | Cilag Gmbh International | Surgical system with RFID tags for updating motor assembly parameters |
US11523822B2 (en) | 2019-06-28 | 2022-12-13 | Cilag Gmbh International | Battery pack including a circuit interrupter |
US11298132B2 (en) | 2019-06-28 | 2022-04-12 | Cilag GmbH Inlernational | Staple cartridge including a honeycomb extension |
US11638587B2 (en) | 2019-06-28 | 2023-05-02 | Cilag Gmbh International | RFID identification systems for surgical instruments |
US11361176B2 (en) | 2019-06-28 | 2022-06-14 | Cilag Gmbh International | Surgical RFID assemblies for compatibility detection |
US11701111B2 (en) | 2019-12-19 | 2023-07-18 | Cilag Gmbh International | Method for operating a surgical stapling instrument |
US11529137B2 (en) | 2019-12-19 | 2022-12-20 | Cilag Gmbh International | Staple cartridge comprising driver retention members |
US11446029B2 (en) | 2019-12-19 | 2022-09-20 | Cilag Gmbh International | Staple cartridge comprising projections extending from a curved deck surface |
US11304696B2 (en) | 2019-12-19 | 2022-04-19 | Cilag Gmbh International | Surgical instrument comprising a powered articulation system |
US11576672B2 (en) | 2019-12-19 | 2023-02-14 | Cilag Gmbh International | Surgical instrument comprising a closure system including a closure member and an opening member driven by a drive screw |
US11464512B2 (en) | 2019-12-19 | 2022-10-11 | Cilag Gmbh International | Staple cartridge comprising a curved deck surface |
US11504122B2 (en) | 2019-12-19 | 2022-11-22 | Cilag Gmbh International | Surgical instrument comprising a nested firing member |
US11607219B2 (en) | 2019-12-19 | 2023-03-21 | Cilag Gmbh International | Staple cartridge comprising a detachable tissue cutting knife |
US11529139B2 (en) | 2019-12-19 | 2022-12-20 | Cilag Gmbh International | Motor driven surgical instrument |
US11559304B2 (en) | 2019-12-19 | 2023-01-24 | Cilag Gmbh International | Surgical instrument comprising a rapid closure mechanism |
US11911032B2 (en) | 2019-12-19 | 2024-02-27 | Cilag Gmbh International | Staple cartridge comprising a seating cam |
US11291447B2 (en) | 2019-12-19 | 2022-04-05 | Cilag Gmbh International | Stapling instrument comprising independent jaw closing and staple firing systems |
US11844520B2 (en) | 2019-12-19 | 2023-12-19 | Cilag Gmbh International | Staple cartridge comprising driver retention members |
USD967421S1 (en) | 2020-06-02 | 2022-10-18 | Cilag Gmbh International | Staple cartridge |
USD975851S1 (en) | 2020-06-02 | 2023-01-17 | Cilag Gmbh International | Staple cartridge |
USD975278S1 (en) | 2020-06-02 | 2023-01-10 | Cilag Gmbh International | Staple cartridge |
USD974560S1 (en) | 2020-06-02 | 2023-01-03 | Cilag Gmbh International | Staple cartridge |
USD976401S1 (en) | 2020-06-02 | 2023-01-24 | Cilag Gmbh International | Staple cartridge |
USD975850S1 (en) | 2020-06-02 | 2023-01-17 | Cilag Gmbh International | Staple cartridge |
USD966512S1 (en) | 2020-06-02 | 2022-10-11 | Cilag Gmbh International | Staple cartridge |
US20220031350A1 (en) | 2020-07-28 | 2022-02-03 | Cilag Gmbh International | Surgical instruments with double pivot articulation joint arrangements |
USD1013170S1 (en) | 2020-10-29 | 2024-01-30 | Cilag Gmbh International | Surgical instrument assembly |
US11779330B2 (en) | 2020-10-29 | 2023-10-10 | Cilag Gmbh International | Surgical instrument comprising a jaw alignment system |
US11617577B2 (en) | 2020-10-29 | 2023-04-04 | Cilag Gmbh International | Surgical instrument comprising a sensor configured to sense whether an articulation drive of the surgical instrument is actuatable |
US11717289B2 (en) | 2020-10-29 | 2023-08-08 | Cilag Gmbh International | Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable |
US11517390B2 (en) | 2020-10-29 | 2022-12-06 | Cilag Gmbh International | Surgical instrument comprising a limited travel switch |
US11452526B2 (en) | 2020-10-29 | 2022-09-27 | Cilag Gmbh International | Surgical instrument comprising a staged voltage regulation start-up system |
US11896217B2 (en) | 2020-10-29 | 2024-02-13 | Cilag Gmbh International | Surgical instrument comprising an articulation lock |
US11931025B2 (en) | 2020-10-29 | 2024-03-19 | Cilag Gmbh International | Surgical instrument comprising a releasable closure drive lock |
US11844518B2 (en) | 2020-10-29 | 2023-12-19 | Cilag Gmbh International | Method for operating a surgical instrument |
US11534259B2 (en) | 2020-10-29 | 2022-12-27 | Cilag Gmbh International | Surgical instrument comprising an articulation indicator |
USD980425S1 (en) | 2020-10-29 | 2023-03-07 | Cilag Gmbh International | Surgical instrument assembly |
WO2022115667A1 (en) * | 2020-11-30 | 2022-06-02 | Intuitive Surgical Operations, Inc. | Systems providing synthetic indicators in a user interface for a robot-assisted system |
US11744581B2 (en) | 2020-12-02 | 2023-09-05 | Cilag Gmbh International | Powered surgical instruments with multi-phase tissue treatment |
US11737751B2 (en) | 2020-12-02 | 2023-08-29 | Cilag Gmbh International | Devices and methods of managing energy dissipated within sterile barriers of surgical instrument housings |
US11944296B2 (en) | 2020-12-02 | 2024-04-02 | Cilag Gmbh International | Powered surgical instruments with external connectors |
US11890010B2 (en) | 2020-12-02 | 2024-02-06 | Cllag GmbH International | Dual-sided reinforced reload for surgical instruments |
US11627960B2 (en) | 2020-12-02 | 2023-04-18 | Cilag Gmbh International | Powered surgical instruments with smart reload with separately attachable exteriorly mounted wiring connections |
US11653920B2 (en) | 2020-12-02 | 2023-05-23 | Cilag Gmbh International | Powered surgical instruments with communication interfaces through sterile barrier |
US11653915B2 (en) | 2020-12-02 | 2023-05-23 | Cilag Gmbh International | Surgical instruments with sled location detection and adjustment features |
US11678882B2 (en) | 2020-12-02 | 2023-06-20 | Cilag Gmbh International | Surgical instruments with interactive features to remedy incidental sled movements |
US11849943B2 (en) | 2020-12-02 | 2023-12-26 | Cilag Gmbh International | Surgical instrument with cartridge release mechanisms |
US11793514B2 (en) | 2021-02-26 | 2023-10-24 | Cilag Gmbh International | Staple cartridge comprising sensor array which may be embedded in cartridge body |
US11723657B2 (en) | 2021-02-26 | 2023-08-15 | Cilag Gmbh International | Adjustable communication based on available bandwidth and power capacity |
US11925349B2 (en) | 2021-02-26 | 2024-03-12 | Cilag Gmbh International | Adjustment to transfer parameters to improve available power |
US11744583B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Distal communication array to tune frequency of RF systems |
US11701113B2 (en) | 2021-02-26 | 2023-07-18 | Cilag Gmbh International | Stapling instrument comprising a separate power antenna and a data transfer antenna |
US11749877B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Stapling instrument comprising a signal antenna |
US11730473B2 (en) | 2021-02-26 | 2023-08-22 | Cilag Gmbh International | Monitoring of manufacturing life-cycle |
US11812964B2 (en) | 2021-02-26 | 2023-11-14 | Cilag Gmbh International | Staple cartridge comprising a power management circuit |
US11696757B2 (en) | 2021-02-26 | 2023-07-11 | Cilag Gmbh International | Monitoring of internal systems to detect and track cartridge motion status |
US11751869B2 (en) | 2021-02-26 | 2023-09-12 | Cilag Gmbh International | Monitoring of multiple sensors over time to detect moving characteristics of tissue |
US11723658B2 (en) | 2021-03-22 | 2023-08-15 | Cilag Gmbh International | Staple cartridge comprising a firing lockout |
US11759202B2 (en) | 2021-03-22 | 2023-09-19 | Cilag Gmbh International | Staple cartridge comprising an implantable layer |
US11826042B2 (en) | 2021-03-22 | 2023-11-28 | Cilag Gmbh International | Surgical instrument comprising a firing drive including a selectable leverage mechanism |
US11717291B2 (en) | 2021-03-22 | 2023-08-08 | Cilag Gmbh International | Staple cartridge comprising staples configured to apply different tissue compression |
US11806011B2 (en) | 2021-03-22 | 2023-11-07 | Cilag Gmbh International | Stapling instrument comprising tissue compression systems |
US11737749B2 (en) | 2021-03-22 | 2023-08-29 | Cilag Gmbh International | Surgical stapling instrument comprising a retraction system |
US11826012B2 (en) | 2021-03-22 | 2023-11-28 | Cilag Gmbh International | Stapling instrument comprising a pulsed motor-driven firing rack |
US11849944B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Drivers for fastener cartridge assemblies having rotary drive screws |
US11786243B2 (en) | 2021-03-24 | 2023-10-17 | Cilag Gmbh International | Firing members having flexible portions for adapting to a load during a surgical firing stroke |
US11744603B2 (en) | 2021-03-24 | 2023-09-05 | Cilag Gmbh International | Multi-axis pivot joints for surgical instruments and methods for manufacturing same |
US11896219B2 (en) | 2021-03-24 | 2024-02-13 | Cilag Gmbh International | Mating features between drivers and underside of a cartridge deck |
US11944336B2 (en) | 2021-03-24 | 2024-04-02 | Cilag Gmbh International | Joint arrangements for multi-planar alignment and support of operational drive shafts in articulatable surgical instruments |
US11849945B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Rotary-driven surgical stapling assembly comprising eccentrically driven firing member |
US11896218B2 (en) | 2021-03-24 | 2024-02-13 | Cilag Gmbh International | Method of using a powered stapling device |
US11832816B2 (en) | 2021-03-24 | 2023-12-05 | Cilag Gmbh International | Surgical stapling assembly comprising nonplanar staples and planar staples |
US11793516B2 (en) | 2021-03-24 | 2023-10-24 | Cilag Gmbh International | Surgical staple cartridge comprising longitudinal support beam |
US11857183B2 (en) | 2021-03-24 | 2024-01-02 | Cilag Gmbh International | Stapling assembly components having metal substrates and plastic bodies |
US11903582B2 (en) | 2021-03-24 | 2024-02-20 | Cilag Gmbh International | Leveraging surfaces for cartridge installation |
US11786239B2 (en) | 2021-03-24 | 2023-10-17 | Cilag Gmbh International | Surgical instrument articulation joint arrangements comprising multiple moving linkage features |
US20220378426A1 (en) | 2021-05-28 | 2022-12-01 | Cilag Gmbh International | Stapling instrument comprising a mounted shaft orientation sensor |
US11877745B2 (en) | 2021-10-18 | 2024-01-23 | Cilag Gmbh International | Surgical stapling assembly having longitudinally-repeating staple leg clusters |
US11937816B2 (en) | 2021-10-28 | 2024-03-26 | Cilag Gmbh International | Electrical lead arrangements for surgical instruments |
WO2023187586A1 (en) * | 2022-03-31 | 2023-10-05 | Medical Microinstruments Inc. | Method for controlling a slave device, controlled by a master device movable by an operator in a robotic system for medical or surgical teleoperation, close to motion limits of the slave device, and related robotic system |
JP2023180371A (ja) * | 2022-06-09 | 2023-12-21 | 株式会社メディカロイド | 手術システム |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009542362A (ja) * | 2006-06-29 | 2009-12-03 | インテュイティブ サージカル インコーポレイテッド | コンピュータディスプレイ画面の境界領域に表示されるツール位置および識別指標 |
US20140046341A1 (en) * | 2012-08-08 | 2014-02-13 | Intuitive Surgical Operations, Inc. | Auto exposure of a camera in a surgical robot |
JP2015150340A (ja) * | 2014-02-18 | 2015-08-24 | オリンパス株式会社 | マニピュレータ装置の制御方法 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6468265B1 (en) * | 1998-11-20 | 2002-10-22 | Intuitive Surgical, Inc. | Performing cardiac surgery without cardioplegia |
JP4624572B2 (ja) * | 2001-01-30 | 2011-02-02 | オリンパス株式会社 | 内視鏡 |
WO2012078989A1 (en) * | 2010-12-10 | 2012-06-14 | Wayne State University | Intelligent autonomous camera control for robotics with medical, military, and space applications |
US8911453B2 (en) * | 2010-12-21 | 2014-12-16 | Restoration Robotics, Inc. | Methods and systems for directing movement of a tool in hair transplantation procedures |
US9119655B2 (en) * | 2012-08-03 | 2015-09-01 | Stryker Corporation | Surgical manipulator capable of controlling a surgical instrument in multiple modes |
US9204939B2 (en) * | 2011-08-21 | 2015-12-08 | M.S.T. Medical Surgery Technologies Ltd. | Device and method for assisting laparoscopic surgery—rule based approach |
US10052157B2 (en) * | 2011-08-21 | 2018-08-21 | M.S.T. Medical Surgery Technologies Ltd | Device and method for assisting laparoscopic surgery—rule based approach |
US10092164B2 (en) * | 2011-08-21 | 2018-10-09 | M.S.T. Medical Surgery Technologies Ltd | Device and method for assisting laparoscopic surgery—rule based approach |
CN104968252A (zh) * | 2013-02-05 | 2015-10-07 | 奥林巴斯株式会社 | 自动辅助手术系统及其控制方法 |
KR102366023B1 (ko) * | 2013-12-20 | 2022-02-23 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 의료 절차 훈련을 위한 시뮬레이터 시스템 |
US10398521B2 (en) * | 2014-03-17 | 2019-09-03 | Intuitive Surgical Operations, Inc. | System and method for recentering imaging devices and input controls |
US11116383B2 (en) * | 2014-04-02 | 2021-09-14 | Asensus Surgical Europe S.à.R.L. | Articulated structured light based-laparoscope |
-
2015
- 2015-12-28 WO PCT/JP2015/086539 patent/WO2017115425A1/ja active Application Filing
- 2015-12-28 JP JP2017525128A patent/JP6180692B1/ja active Active
-
2018
- 2018-06-26 US US16/018,190 patent/US11051897B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009542362A (ja) * | 2006-06-29 | 2009-12-03 | インテュイティブ サージカル インコーポレイテッド | コンピュータディスプレイ画面の境界領域に表示されるツール位置および識別指標 |
US20140046341A1 (en) * | 2012-08-08 | 2014-02-13 | Intuitive Surgical Operations, Inc. | Auto exposure of a camera in a surgical robot |
JP2015150340A (ja) * | 2014-02-18 | 2015-08-24 | オリンパス株式会社 | マニピュレータ装置の制御方法 |
Also Published As
Publication number | Publication date |
---|---|
JPWO2017115425A1 (ja) | 2017-12-28 |
WO2017115425A1 (ja) | 2017-07-06 |
US20180296290A1 (en) | 2018-10-18 |
US11051897B2 (en) | 2021-07-06 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6180692B1 (ja) | 医療用マニピュレータシステム | |
US20230157776A1 (en) | Systems and methods for constraining a virtual reality surgical system | |
US20220047343A1 (en) | Systems and methods for onscreen identification of instruments in a teleoperational medical system | |
US10542908B2 (en) | Surgical equipment control input visualization field | |
US20190022857A1 (en) | Control apparatus and control method | |
JP7414770B2 (ja) | 医療用アーム装置、医療用アーム装置の作動方法、及び情報処理装置 | |
US10881268B2 (en) | Device to set and retrieve a reference point during a surgical procedure | |
CN113440263B (zh) | 计算机辅助式远程操作系统中的次级器械控制 | |
JP2007029232A (ja) | 内視鏡手術操作支援システム | |
KR20120004479A (ko) | 수술 로봇의 통합적 표현 | |
US11209954B2 (en) | Surgical robotic system using dynamically generated icons to represent orientations of instruments | |
JP2021019949A (ja) | 手術システム | |
CN107107338A (zh) | 用于安全地联接和断开输入设备的方法 | |
US11880513B2 (en) | System and method for motion mode management | |
CN113613576A (zh) | 用于促进外科手术器械插入到外科手术空间中的系统和方法 | |
JP5800609B2 (ja) | 医療用マスタスレーブマニピュレータ | |
US20210030502A1 (en) | System and method for repositioning input control devices | |
US10729505B2 (en) | Medical system | |
KR20160105963A (ko) | 수술 로봇 시스템 및 그 동작 제한 방법 | |
WO2023150449A1 (en) | Systems and methods for remote mentoring in a robot assisted medical system |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A821 Effective date: 20170510 Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20170509 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20170509 |
|
A871 | Explanation of circumstances concerning accelerated examination |
Free format text: JAPANESE INTERMEDIATE CODE: A871 Effective date: 20170509 |
|
A975 | Report on accelerated examination |
Free format text: JAPANESE INTERMEDIATE CODE: A971005 Effective date: 20170613 |
|
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: 20170627 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20170718 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 6180692 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |
|
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 |