JP6293777B2 - 画像キャプチャ装置及び操作可能な装置可動アームの制御された動作の間の衝突回避 - Google Patents

画像キャプチャ装置及び操作可能な装置可動アームの制御された動作の間の衝突回避 Download PDF

Info

Publication number
JP6293777B2
JP6293777B2 JP2015545931A JP2015545931A JP6293777B2 JP 6293777 B2 JP6293777 B2 JP 6293777B2 JP 2015545931 A JP2015545931 A JP 2015545931A JP 2015545931 A JP2015545931 A JP 2015545931A JP 6293777 B2 JP6293777 B2 JP 6293777B2
Authority
JP
Japan
Prior art keywords
movable arm
image capture
capture device
coordinate system
reference coordinate
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
JP2015545931A
Other languages
English (en)
Japanese (ja)
Other versions
JP2016504077A (ja
JP2016504077A5 (enExample
Inventor
ブローム，ルッツ
ニーブラー，クリスティーネ
クンツェ，ホルガー
アズィズィアン，マーディ
ソージャー，ジョナサン
Original Assignee
インテュイティブ サージカル オペレーションズ， インコーポレイテッド
インテュイティブ サージカル オペレーションズ， インコーポレイテッド
シーメンス ヘルスケア ゲーエムベーハー
シーメンス ヘルスケア ゲーエムベーハー
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by インテュイティブ サージカル オペレーションズ， インコーポレイテッド, インテュイティブ サージカル オペレーションズ， インコーポレイテッド, シーメンス ヘルスケア ゲーエムベーハー, シーメンス ヘルスケア ゲーエムベーハー filed Critical インテュイティブ サージカル オペレーションズ， インコーポレイテッド
Publication of JP2016504077A publication Critical patent/JP2016504077A/ja
Publication of JP2016504077A5 publication Critical patent/JP2016504077A5/ja
Application granted granted Critical
Publication of JP6293777B2 publication Critical patent/JP6293777B2/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
    • 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
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/10—Safety means specially adapted therefor
    • A61B6/102—Protection against mechanical damage, e.g. anti-collision devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
    • A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4458—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being attached to robotic arms
    • 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
    • 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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • A61B1/00004—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
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00071—Insertion part of the endoscope body
    • A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
    • A61B1/00087—Tools
    • 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
    • A61B1/00163—Optical arrangements
    • A61B1/00174—Optical arrangements characterised by the viewing angles
    • A61B1/00183—Optical arrangements characterised by the viewing angles for variable viewing angles
    • 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
    • A61B1/04—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 combined with photographic or television appliances
    • A61B1/05—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 combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00216—Electrical control of surgical instruments with eye tracking or head position tracking control
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
    • A61B2090/306—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure using optical fibres
    • 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
    • A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two 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
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • 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
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device
    • Y10S901/47—Optical

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Optics & Photonics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Manipulator (AREA)
JP2015545931A 2012-12-10 2013-12-10 画像キャプチャ装置及び操作可能な装置可動アームの制御された動作の間の衝突回避 Active JP6293777B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201261735170P 2012-12-10 2012-12-10
US61/735,170 2012-12-10
PCT/US2013/074163 WO2014093367A1 (en) 2012-12-10 2013-12-10 Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms
US14/101,769 US9259282B2 (en) 2012-12-10 2013-12-10 Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms
US14/101,769 2013-12-10

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2018024100A Division JP6543742B2 (ja) 2012-12-10 2018-02-14 画像キャプチャ装置及び操作可能な装置可動アームの制御された動作の間の衝突回避

Publications (3)

Publication Number Publication Date
JP2016504077A JP2016504077A (ja) 2016-02-12
JP2016504077A5 JP2016504077A5 (enExample) 2017-01-19
JP6293777B2 true JP6293777B2 (ja) 2018-03-14

Family

ID=50881820

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2015545931A Active JP6293777B2 (ja) 2012-12-10 2013-12-10 画像キャプチャ装置及び操作可能な装置可動アームの制御された動作の間の衝突回避
JP2018024100A Active JP6543742B2 (ja) 2012-12-10 2018-02-14 画像キャプチャ装置及び操作可能な装置可動アームの制御された動作の間の衝突回避

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2018024100A Active JP6543742B2 (ja) 2012-12-10 2018-02-14 画像キャプチャ装置及び操作可能な装置可動アームの制御された動作の間の衝突回避

Country Status (6)

Country Link
US (3) US9259282B2 (enExample)
EP (2) EP2928407B1 (enExample)
JP (2) JP6293777B2 (enExample)
KR (1) KR102218244B1 (enExample)
CN (3) CN105188590B (enExample)
WO (1) WO2014093367A1 (enExample)

Families Citing this family (302)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9948885B2 (en) * 2003-12-12 2018-04-17 Kurzweil Technologies, Inc. Virtual encounters
CA2735820A1 (en) * 2008-09-03 2010-03-11 Honda Motor Co., Ltd. Workpiece mounting system, workpiece mounting method, sunroof unit holding device, and sunroof unit holding method
US11871901B2 (en) 2012-05-20 2024-01-16 Cilag Gmbh International Method for situational awareness for surgical network or surgical network connected device capable of adjusting function based on a sensed situation or usage
JP6293777B2 (ja) 2012-12-10 2018-03-14 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 画像キャプチャ装置及び操作可能な装置可動アームの制御された動作の間の衝突回避
US9649765B2 (en) 2013-03-11 2017-05-16 Siemens Aktiengesellschaft Reducing energy consumption of industrial robots by using new methods for motion path programming
KR20160008169A (ko) 2013-03-14 2016-01-21 에스알아이 인터내셔널 컴팩트 로봇 리스트
CN105050529B (zh) * 2013-03-15 2018-08-28 直观外科手术操作公司 用于使用零空间来各向异性地增强操纵器接头运动的系统和方法
JP6396987B2 (ja) 2013-03-15 2018-09-26 エスアールアイ インターナショナルＳＲＩ Ｉｎｔｅｒｎａｔｉｏｎａｌ 超精巧外科システム
WO2014146090A1 (en) * 2013-03-15 2014-09-18 Intuitive Surgical Operations, Inc. Inter-operative switching of tools in a robotic surgical system
JP5713047B2 (ja) * 2013-04-18 2015-05-07 株式会社安川電機 移動ロボット、移動ロボットの位置決めシステム、及び、移動ロボットの位置決め方法
JP6005299B2 (ja) * 2013-11-28 2016-10-12 三菱電機株式会社 ロボットシステムおよびロボットシステムの制御方法
HUE039503T2 (hu) * 2013-12-05 2019-01-28 Nowtechnologies Zrt Személyszállító eszköz, valamint ahhoz való vezérlõberendezés és vezérlõ eljárás
US9937626B2 (en) 2013-12-11 2018-04-10 Covidien Lp Wrist and jaw assemblies for robotic surgical systems
JP5850958B2 (ja) * 2014-01-24 2016-02-03 ファナック株式会社 ワークを撮像するためのロボットプログラムを作成するロボットプログラミング装置
US10258414B2 (en) 2014-03-17 2019-04-16 Intuitive Surgical Operations, Inc. Methods and devices for table pose tracking using fudicial markers
EP3119286B1 (en) 2014-03-19 2024-05-01 Intuitive Surgical Operations, Inc. Medical devices and systems using eye gaze tracking
CN106659541B (zh) 2014-03-19 2019-08-16 直观外科手术操作公司 集成眼球凝视跟踪用于立体观看器的医疗装置、系统和方法
US9922144B2 (en) 2014-03-26 2018-03-20 Siemens Industry Software Ltd. Energy and cycle time efficiency based method for robot positioning
US20150277398A1 (en) * 2014-03-26 2015-10-01 Siemens Industry Software Ltd. Object manipulation driven robot offline programming for multiple robot system
EP2930462B1 (en) * 2014-04-08 2017-09-13 Hexagon Technology Center GmbH Method for generating information about a sensor chain of a coordinate measuring machine (CMM)
US9701011B2 (en) * 2014-05-08 2017-07-11 Siemens Industry Software Ltd. Method for robotic energy saving tool search
US9469029B2 (en) 2014-07-31 2016-10-18 Siemens Industry Software Ltd. Method and apparatus for saving energy and reducing cycle time by optimal ordering of the industrial robotic path
US9815201B2 (en) 2014-07-31 2017-11-14 Siemens Industry Software Limited Method and apparatus for industrial robotic energy saving optimization using fly-by
CN106659538B (zh) 2014-08-13 2019-05-10 柯惠Lp公司 机器人控制的具有机械优势的夹持
US9457469B2 (en) 2014-08-14 2016-10-04 Siemens Industry Software Ltd. Method and apparatus for automatic and efficient location generation for cooperative motion
EP3209208B1 (en) * 2014-10-22 2019-12-04 Carestream Health, Inc. Mobile radiographic imaging apparatus
CN111166476B (zh) 2014-10-27 2023-05-02 直观外科手术操作公司 具有主动制动器释放控制装置的医疗装置
EP4082466B1 (en) 2014-10-27 2025-07-30 Intuitive Surgical Operations, Inc. System for instrument disturbance compensation
WO2016069648A1 (en) 2014-10-27 2016-05-06 Intuitive Surgical Operations, Inc. System and method for integrated surgical table
JP6671347B2 (ja) * 2014-10-27 2020-04-08 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 手術台に対して位置合わせをするシステム及び方法
JP6676061B2 (ja) 2014-10-27 2020-04-08 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 統合された手術台運動のためのシステム及び方法
KR102628659B1 (ko) 2014-10-27 2024-01-25 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 반응 운동 동안 제어점을 감시하기 위한 시스템 및 방법
WO2016126914A1 (en) * 2015-02-05 2016-08-11 Intuitive Surgical Operations, Inc. System and method for anatomical markers
WO2016133633A1 (en) 2015-02-19 2016-08-25 Covidien Lp Repositioning method of input device for robotic surgical system
WO2016144937A1 (en) 2015-03-10 2016-09-15 Covidien Lp Measuring health of a connector member of a robotic surgical system
DE102015104821A1 (de) * 2015-03-27 2016-09-29 Medineering Gmbh Chirurgisches Instrument, System, Haltearm sowie Verfahren
WO2016168671A1 (en) * 2015-04-15 2016-10-20 Mobius Imaging, Llc Integrated medical imaging and surgical robotic system
US10959788B2 (en) 2015-06-03 2021-03-30 Covidien Lp Offset instrument drive unit
GB201509887D0 (en) 2015-06-08 2015-07-22 Univ Strathclyde Remote operations system
DE102016104970A1 (de) 2015-06-15 2016-12-15 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Scheibenbremse für ein Nutzfahrzeug und Bremsbelagsatz
CN107743384B (zh) 2015-06-16 2020-12-22 柯惠Lp公司 机器人外科手术系统扭矩传感感测
AU2016284040B2 (en) 2015-06-23 2020-04-30 Covidien Lp Robotic surgical assemblies
WO2017015599A1 (en) 2015-07-23 2017-01-26 Sri International Robotic arm and robotic surgical system
US10034716B2 (en) * 2015-09-14 2018-07-31 Globus Medical, Inc. Surgical robotic systems and methods thereof
EP3352699B1 (en) 2015-09-25 2023-08-23 Covidien LP Robotic surgical assemblies and instrument drive connectors thereof
US10299740B2 (en) * 2015-09-29 2019-05-28 General Electric Company Methods and systems for cone-beam computed tomography
CN112842228A (zh) 2015-10-23 2021-05-28 柯惠Lp公司 用于检测灌注中逐步变化的手术系统
US10231793B2 (en) 2015-10-30 2019-03-19 Auris Health, Inc. Object removal through a percutaneous suction tube
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
US10828125B2 (en) * 2015-11-03 2020-11-10 Synaptive Medical (Barbados) Inc. Dual zoom and dual field-of-view microscope
WO2017087439A1 (en) 2015-11-19 2017-05-26 Covidien Lp Optical force sensor for robotic surgical system
US10130429B1 (en) 2016-01-06 2018-11-20 Ethicon Llc Methods, systems, and devices for controlling movement of a robotic surgical system
US10219868B2 (en) 2016-01-06 2019-03-05 Ethicon Llc Methods, systems, and devices for controlling movement of a robotic surgical system
US10154886B2 (en) 2016-01-06 2018-12-18 Ethicon Llc Methods, systems, and devices for controlling movement of a robotic surgical system
US20190021699A1 (en) * 2016-01-15 2019-01-24 Koninklijke Philips N.V. Automatic probe steering to clinical views using annotations in a fused image guidance system
CN113633326B (zh) 2016-01-20 2024-09-13 直观外科手术操作公司 快速暂停和恢复医疗设备可重新定位臂中的运动偏离的系统和方法
EP3406298B1 (en) * 2016-01-20 2024-11-20 Fujidenolo Co., Ltd. System for boron neutron capture therapy
CN107427328B (zh) * 2016-01-22 2020-03-20 奥林巴斯株式会社 医疗用机械手系统
BR112018015720A2 (pt) 2016-02-01 2019-09-03 Imaginalis S R L dispositivo de imaginologia radiológica
CN108348134B (zh) * 2016-02-10 2020-05-19 奥林巴斯株式会社 内窥镜系统
EP3419544A4 (en) 2016-02-26 2019-10-23 Think Surgical, Inc. METHOD AND SYSTEM FOR MANAGING THE USER POSITIONING OF A ROBOT
CN108472086B (zh) 2016-02-26 2021-07-09 直观外科手术操作公司 使用虚拟边界避免碰撞的系统和方法
US20210212777A1 (en) 2016-03-04 2021-07-15 Covidien Lp Inverse kinematic control systems for robotic surgical system
US11576562B2 (en) 2016-04-07 2023-02-14 Titan Medical Inc. Camera positioning method and apparatus for capturing images during a medical procedure
WO2017179624A1 (ja) * 2016-04-15 2017-10-19 川崎重工業株式会社 外科手術システムの制御方法および外科手術システム
AU2017269937B2 (en) * 2016-05-23 2022-06-16 Mako Surgical Corp. Systems and methods for identifying and tracking physical objects during a robotic surgical procedure
EP3463159B1 (en) 2016-05-26 2024-01-03 Covidien LP Instrument drive units
JP7037505B2 (ja) 2016-05-26 2022-03-16 コヴィディエン リミテッド パートナーシップ ロボット外科手術アセンブリ
US10874470B2 (en) 2016-06-03 2020-12-29 Covidien Lp Passive axis system for robotic surgical systems
CN113180835A (zh) 2016-06-03 2021-07-30 柯惠Lp公司 用于机器人手术系统的控制臂
US11553984B2 (en) 2016-06-03 2023-01-17 Covidien Lp Robotic surgical system with an embedded imager
WO2017210497A1 (en) 2016-06-03 2017-12-07 Covidien Lp Systems, methods, and computer-readable program products for controlling a robotically delivered manipulator
US10427305B2 (en) * 2016-07-21 2019-10-01 Autodesk, Inc. Robotic camera control via motion capture
US10131053B1 (en) * 2016-09-14 2018-11-20 X Development Llc Real time robot collision avoidance
WO2018053282A1 (en) 2016-09-16 2018-03-22 GYS Tech, LLC d/b/a Cardan Robotics System and method for mounting a robotic arm in a surgical robotic system
CN106406312B (zh) * 2016-10-14 2017-12-26 平安科技（深圳）有限公司 导览机器人及其移动区域标定方法
CN111417352B (zh) 2016-10-21 2024-05-24 莫比乌斯成像公司 用于设定图像引导式外科手术的轨迹和目标位置的方法和系统
CN111417354B (zh) 2016-10-25 2023-12-12 莫比乌斯成像公司 用于机器人辅助手术的方法及系统
DE102016221222A1 (de) * 2016-10-27 2018-05-03 Siemens Healthcare Gmbh Verfahren zum Betrieb eines Kollisionsschutzsystems für eine medizinische Operationseinrichtung, medizinische Operationseinrichtung, Computerprogramm und Datenträger
US10660814B2 (en) 2016-11-28 2020-05-26 Verb Surgical Inc. Robotic surgical table adapter to reduce efficiency of energy transmission between attached robotic arms
WO2018112424A1 (en) * 2016-12-16 2018-06-21 Intuitive Surgical Operations, Inc. Systems and methods for teleoperated control of an imaging instrument
US10660715B2 (en) 2016-12-16 2020-05-26 Mako Surgical Corp. Techniques for detecting errors or loss of accuracy in a surgical robotic system
CA3048039A1 (en) 2017-02-15 2018-08-23 Covidien Lp System and apparatus for crush prevention for medical robot applications
JP6603890B2 (ja) * 2017-02-20 2019-11-13 パナソニックＩｐマネジメント株式会社 作業装置および電子機器組立方法
EP3585483B1 (en) * 2017-02-24 2026-01-07 The Regents of The University of California Systems for image-guided radiotherapy using dual robot architecture
JP6445604B2 (ja) * 2017-03-07 2018-12-26 上銀科技股▲フン▼有限公司 ロボットアーム
US10223821B2 (en) * 2017-04-25 2019-03-05 Beyond Imagination Inc. Multi-user and multi-surrogate virtual encounters
US10792119B2 (en) 2017-05-22 2020-10-06 Ethicon Llc Robotic arm cart and uses therefor
EP3629979A4 (en) 2017-05-24 2021-02-17 Covidien LP PRESENCE DETECTION FOR ELECTROSURGICAL TOOLS IN A ROBOTIZED SYSTEM
US11839441B2 (en) 2017-05-25 2023-12-12 Covidien Lp Robotic surgical system with automated guidance
WO2018217444A2 (en) 2017-05-25 2018-11-29 Covidien Lp Systems and methods for detection of objects within a field of view of an image capture device
CN110621255B (zh) 2017-05-25 2023-03-07 柯惠Lp公司 机器人手术系统和用于覆盖机器人手术系统的部件的盖布
US10919152B1 (en) * 2017-05-30 2021-02-16 Nimble Robotics, Inc. Teleoperating of robots with tasks by mapping to human operator pose
US10856948B2 (en) 2017-05-31 2020-12-08 Verb Surgical Inc. Cart for robotic arms and method and apparatus for registering cart to surgical table
US10485623B2 (en) 2017-06-01 2019-11-26 Verb Surgical Inc. Robotic arm cart with fine position adjustment features and uses therefor
US10913145B2 (en) 2017-06-20 2021-02-09 Verb Surgical Inc. Cart for robotic arms and method and apparatus for cartridge or magazine loading of arms
WO2019006028A1 (en) 2017-06-28 2019-01-03 Intuitive Surgical Operations, Inc. SYSTEMS AND METHODS FOR PROJECTING AN ENDOSCOPIC IMAGE ON A THREE-DIMENSIONAL VOLUME
CN107361849B (zh) 2017-07-31 2023-11-21 成都博恩思医学机器人有限公司 用于操纵执行机构的控制台
US12011236B2 (en) 2017-08-08 2024-06-18 Intuitive Surgical Operations, Inc. Systems and methods for rendering alerts in a display of a teleoperational system
CN111132631B (zh) * 2017-08-10 2024-12-31 直观外科手术操作公司 用于远程操作组件中交互点显示的系统和方法
AU2018316251B2 (en) 2017-08-11 2024-05-02 Mobius Imaging, Llc Method and apparatus for attaching a reference marker to a patient
WO2019036006A1 (en) * 2017-08-16 2019-02-21 Covidien Lp SYNTHESIS OF SPACE-SENSITIVE TRANSITIONS BETWEEN MULTIPLE VIEWPOINTS OF VIEWING DEVICES DURING MINI-INVASIVE SURGERY
WO2019036418A1 (en) 2017-08-16 2019-02-21 Covidien Lp END EFFECTOR COMPRISING A WRIST SET AND A MONOPOLAR TOOL FOR ROBOTIC SURGICAL SYSTEMS
JP7349992B2 (ja) 2017-09-05 2023-09-25 コヴィディエン リミテッド パートナーシップ ロボット手術システムのための衝突処理アルゴリズム
CN111050686B (zh) * 2017-09-05 2023-06-16 柯惠Lp公司 手术机器人系统的摄像机控制
US11583358B2 (en) 2017-09-06 2023-02-21 Covidien Lp Boundary scaling of surgical robots
CA3074685A1 (en) 2017-09-08 2019-03-14 Covidien Lp Energy disconnect for robotic surgical assemblies
EP3461415A1 (en) * 2017-09-27 2019-04-03 Koninklijke Philips N.V. System and method for positioning a mobile medical imaging system
US10610307B2 (en) * 2017-09-28 2020-04-07 General Electric Company Workflow assistant for image guided procedures
EP3461410A1 (en) * 2017-09-29 2019-04-03 Koninklijke Philips N.V. Kinematical joints for x-ray systems
WO2019070997A1 (en) 2017-10-04 2019-04-11 GYS Tech, LLC d/b/a Cardan Robotics SYSTEMS AND METHODS FOR REALIZING SPINAL SURGERY WITH SIDE ACCESS
US11678939B2 (en) 2017-10-05 2023-06-20 Mobius Imaging Llc Methods and systems for performing computer assisted surgery
US11911045B2 (en) 2017-10-30 2024-02-27 Cllag GmbH International Method for operating a powered articulating multi-clip applier
US11564756B2 (en) 2017-10-30 2023-01-31 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11510741B2 (en) 2017-10-30 2022-11-29 Cilag Gmbh International Method for producing a surgical instrument comprising a smart electrical system
US11026713B2 (en) 2017-10-30 2021-06-08 Cilag Gmbh International Surgical clip applier configured to store clips in a stored state
US11801098B2 (en) 2017-10-30 2023-10-31 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11291510B2 (en) 2017-10-30 2022-04-05 Cilag Gmbh International Method of hub communication with surgical instrument systems
WO2019108567A1 (en) 2017-12-01 2019-06-06 Covidien Lp Drape management assembly for robotic surgical systems
JP6654180B2 (ja) * 2017-12-14 2020-02-26 株式会社メディカロイド 遠隔操作装置及び遠隔手術システム
US11744604B2 (en) 2017-12-28 2023-09-05 Cilag Gmbh International Surgical instrument with a hardware-only control circuit
JP2021509061A (ja) 2017-12-28 2021-03-18 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ 状況認識に基づく外科用デバイスの機能の調節
US11864728B2 (en) 2017-12-28 2024-01-09 Cilag Gmbh International Characterization of tissue irregularities through the use of mono-chromatic light refractivity
US11389164B2 (en) 2017-12-28 2022-07-19 Cilag Gmbh International Method of using reinforced flexible circuits with multiple sensors to optimize performance of radio frequency devices
WO2019133143A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Surgical hub and modular device response adjustment based on situational awareness
US11672605B2 (en) 2017-12-28 2023-06-13 Cilag Gmbh International Sterile field interactive control displays
US11612408B2 (en) 2017-12-28 2023-03-28 Cilag Gmbh International Determining tissue composition via an ultrasonic system
US11202570B2 (en) 2017-12-28 2021-12-21 Cilag Gmbh International Communication hub and storage device for storing parameters and status of a surgical device to be shared with cloud based analytics systems
US10918310B2 (en) 2018-01-03 2021-02-16 Biosense Webster (Israel) Ltd. Fast anatomical mapping (FAM) using volume filling
US11844579B2 (en) 2017-12-28 2023-12-19 Cilag Gmbh International Adjustments based on airborne particle properties
US11969216B2 (en) 2017-12-28 2024-04-30 Cilag Gmbh International Surgical network recommendations from real time analysis of procedure variables against a baseline highlighting differences from the optimal solution
US11678881B2 (en) 2017-12-28 2023-06-20 Cilag Gmbh International Spatial awareness of surgical hubs in operating rooms
US11076921B2 (en) 2017-12-28 2021-08-03 Cilag Gmbh International Adaptive control program updates for surgical hubs
US12396806B2 (en) 2017-12-28 2025-08-26 Cilag Gmbh International Adjustment of a surgical device function based on situational awareness
US11666331B2 (en) 2017-12-28 2023-06-06 Cilag Gmbh International Systems for detecting proximity of surgical end effector to cancerous tissue
US11132462B2 (en) 2017-12-28 2021-09-28 Cilag Gmbh International Data stripping method to interrogate patient records and create anonymized record
US11696760B2 (en) 2017-12-28 2023-07-11 Cilag Gmbh International Safety systems for smart powered surgical stapling
US11998193B2 (en) 2017-12-28 2024-06-04 Cilag Gmbh International Method for usage of the shroud as an aspect of sensing or controlling a powered surgical device, and a control algorithm to adjust its default operation
US10758310B2 (en) 2017-12-28 2020-09-01 Ethicon Llc Wireless pairing of a surgical device with another device within a sterile surgical field based on the usage and situational awareness of devices
US11937769B2 (en) 2017-12-28 2024-03-26 Cilag Gmbh International Method of hub communication, processing, storage and display
US11304699B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Method for adaptive control schemes for surgical network control and interaction
US11576677B2 (en) 2017-12-28 2023-02-14 Cilag Gmbh International Method of hub communication, processing, display, and cloud analytics
US11324557B2 (en) 2017-12-28 2022-05-10 Cilag Gmbh International Surgical instrument with a sensing array
US20190201090A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Capacitive coupled return path pad with separable array elements
US11633237B2 (en) 2017-12-28 2023-04-25 Cilag Gmbh International Usage and technique analysis of surgeon / staff performance against a baseline to optimize device utilization and performance for both current and future procedures
US11166772B2 (en) 2017-12-28 2021-11-09 Cilag Gmbh International Surgical hub coordination of control and communication of operating room devices
US11109866B2 (en) 2017-12-28 2021-09-07 Cilag Gmbh International Method for circular stapler control algorithm adjustment based on situational awareness
US11818052B2 (en) 2017-12-28 2023-11-14 Cilag Gmbh International Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs
US11896443B2 (en) 2017-12-28 2024-02-13 Cilag Gmbh International Control of a surgical system through a surgical barrier
US11559308B2 (en) 2017-12-28 2023-01-24 Cilag Gmbh International Method for smart energy device infrastructure
US11464559B2 (en) 2017-12-28 2022-10-11 Cilag Gmbh International Estimating state of ultrasonic end effector and control system therefor
US11832899B2 (en) 2017-12-28 2023-12-05 Cilag Gmbh International Surgical systems with autonomously adjustable control programs
US20190201112A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Computer implemented interactive surgical systems
US12062442B2 (en) 2017-12-28 2024-08-13 Cilag Gmbh International Method for operating surgical instrument systems
US11771487B2 (en) 2017-12-28 2023-10-03 Cilag Gmbh International Mechanisms for controlling different electromechanical systems of an electrosurgical instrument
US20190201113A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Controls for robot-assisted surgical platforms
US11058498B2 (en) * 2017-12-28 2021-07-13 Cilag Gmbh International Cooperative surgical actions for robot-assisted surgical platforms
US11903601B2 (en) 2017-12-28 2024-02-20 Cilag Gmbh International Surgical instrument comprising a plurality of drive systems
US12096916B2 (en) 2017-12-28 2024-09-24 Cilag Gmbh International Method of sensing particulate from smoke evacuated from a patient, adjusting the pump speed based on the sensed information, and communicating the functional parameters of the system to the hub
US11311306B2 (en) 2017-12-28 2022-04-26 Cilag Gmbh International Surgical systems for detecting end effector tissue distribution irregularities
US20190206569A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Method of cloud based data analytics for use with the hub
US11969142B2 (en) 2017-12-28 2024-04-30 Cilag Gmbh International Method of compressing tissue within a stapling device and simultaneously displaying the location of the tissue within the jaws
US12376855B2 (en) 2017-12-28 2025-08-05 Cilag Gmbh International Safety systems for smart powered surgical stapling
US11257589B2 (en) 2017-12-28 2022-02-22 Cilag Gmbh International Real-time analysis of comprehensive cost of all instrumentation used in surgery utilizing data fluidity to track instruments through stocking and in-house processes
US11857152B2 (en) 2017-12-28 2024-01-02 Cilag Gmbh International Surgical hub spatial awareness to determine devices in operating theater
US12127729B2 (en) 2017-12-28 2024-10-29 Cilag Gmbh International Method for smoke evacuation for surgical hub
US11376002B2 (en) 2017-12-28 2022-07-05 Cilag Gmbh International Surgical instrument cartridge sensor assemblies
US11786251B2 (en) 2017-12-28 2023-10-17 Cilag Gmbh International Method for adaptive control schemes for surgical network control and interaction
US11896322B2 (en) 2017-12-28 2024-02-13 Cilag Gmbh International Sensing the patient position and contact utilizing the mono-polar return pad electrode to provide situational awareness to the hub
WO2019134743A1 (en) 2018-01-03 2019-07-11 Siemens Healthcare Gmbh Method for acquiring and for altering a configuration of a number of objects in a procedure room and corresponding device
JP2021510562A (ja) 2018-01-04 2021-04-30 コヴィディエン リミテッド パートナーシップ 手術付属品をロボット手術システムに搭載し、それを通したアクセスを提供するためのシステムおよびアセンブリ
WO2019139949A1 (en) * 2018-01-10 2019-07-18 Covidien Lp Determining positions and conditions of tools of a robotic surgical system utilizing computer vision
WO2019139815A1 (en) 2018-01-12 2019-07-18 Duke University Apparatus, method and article to facilitate motion planning of an autonomous vehicle in an environment having dynamic objects
US12102403B2 (en) 2018-02-02 2024-10-01 Coviden Lp Robotic surgical systems with user engagement monitoring
TWI822729B (zh) 2018-02-06 2023-11-21 美商即時機器人股份有限公司 用於儲存一離散環境於一或多個處理器之一機器人之運動規劃及其改良操作之方法及設備
US11189379B2 (en) 2018-03-06 2021-11-30 Digital Surgery Limited Methods and systems for using multiple data structures to process surgical data
US11589915B2 (en) 2018-03-08 2023-02-28 Cilag Gmbh International In-the-jaw classifier based on a model
US11389188B2 (en) 2018-03-08 2022-07-19 Cilag Gmbh International Start temperature of blade
CN111787880A (zh) 2018-03-08 2020-10-16 柯惠Lp公司 手术机器人系统
US11259830B2 (en) 2018-03-08 2022-03-01 Cilag Gmbh International Methods for controlling temperature in ultrasonic device
PL3769174T3 (pl) 2018-03-21 2022-10-24 Realtime Robotics, Inc. Planowanie przemieszczania robota do różnych środowisk i zadań oraz jego ulepszone działanie
US11589865B2 (en) 2018-03-28 2023-02-28 Cilag Gmbh International Methods for controlling a powered surgical stapler that has separate rotary closure and firing systems
US11090047B2 (en) 2018-03-28 2021-08-17 Cilag Gmbh International Surgical instrument comprising an adaptive control system
US11357583B2 (en) 2018-04-17 2022-06-14 Chengdu Borns Medical Robotics Inc. Laparoscope-holding robot system for laparoscopic surgery
EP3781073A4 (en) 2018-04-20 2022-01-26 Covidien LP COMPENSATION OF OBSERVER MOTION IN ROBOTIC SURGICAL SYSTEMS WITH STEREOSCOPIC DISPLAYS
JP7071045B2 (ja) 2018-04-20 2022-05-18 コヴィディエン リミテッド パートナーシップ 外科用ロボットカートの配置のためのシステムおよび方法
WO2019213436A1 (en) * 2018-05-02 2019-11-07 Epica International, Inc. System for performing robotic surgery
CN108527374A (zh) * 2018-06-29 2018-09-14 德淮半导体有限公司 应用于机械臂的防撞系统和方法
EP3817683B1 (en) 2018-07-03 2025-07-30 Covidien LP Systems, methods, and computer-readable media for detecting image degradation during surgical procedures
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
US11597084B2 (en) 2018-09-13 2023-03-07 The Charles Stark Draper Laboratory, Inc. Controlling robot torque and velocity based on context
CN112702967A (zh) 2018-09-14 2021-04-23 柯惠Lp公司 手术机器人系统和跟踪其手术器械的使用的方法
US12186040B2 (en) 2018-09-17 2025-01-07 Covidien Lp Surgical robotic systems
WO2020060790A1 (en) 2018-09-17 2020-03-26 Covidien Lp Surgical robotic systems
US11109746B2 (en) 2018-10-10 2021-09-07 Titan Medical Inc. Instrument insertion system, method, and apparatus for performing medical procedures
CA3116287A1 (en) 2018-10-15 2020-04-23 Mazor Robotics Ltd. Versatile multi-arm robotic surgical system
US11117759B2 (en) * 2018-11-29 2021-09-14 Invia Robotics, Inc. Depalletizing robots for an autonomous warehouse
WO2020117958A1 (en) 2018-12-04 2020-06-11 Duke University Apparatus, method and article to facilitate motion planning in an environment having dynamic objects
CN109620410B (zh) * 2018-12-04 2021-01-26 微创（上海）医疗机器人有限公司 机械臂防碰撞的方法及系统、医疗机器人
US11586106B2 (en) 2018-12-28 2023-02-21 Titan Medical Inc. Imaging apparatus having configurable stereoscopic perspective
DE102019200803A1 (de) * 2019-01-23 2020-07-23 Siemens Healthcare Gmbh Medizintechnischer Roboter, medizinisches System, Verfahren zu deren Betrieb, Computerprogramm und Speichermedium
US11717355B2 (en) 2019-01-29 2023-08-08 Covidien Lp Drive mechanisms for surgical instruments such as for use in robotic surgical systems
US11576733B2 (en) 2019-02-06 2023-02-14 Covidien Lp Robotic surgical assemblies including electrosurgical instruments having articulatable wrist assemblies
US11484372B2 (en) 2019-02-15 2022-11-01 Covidien Lp Articulation mechanisms for surgical instruments such as for use in robotic surgical systems
US11272931B2 (en) 2019-02-19 2022-03-15 Cilag Gmbh International Dual cam cartridge based feature for unlocking a surgical stapler lockout
WO2020190832A1 (en) * 2019-03-20 2020-09-24 Covidien Lp Robotic surgical collision detection systems
WO2020214723A1 (en) 2019-04-17 2020-10-22 Real Time Robotics, Inc. Motion planning graph generation user interface, systems, methods and articles
WO2020236778A1 (en) 2019-05-22 2020-11-26 Covidien Lp Surgical robotic arm storage assemblies and methods of replacing surgical robotic arms using the storage assemblies
TWI873149B (zh) 2019-06-24 2025-02-21 美商即時機器人股份有限公司 用於多個機械手臂於共用工作空間中之移動規劃系統及方法
US12138003B2 (en) 2019-06-25 2024-11-12 Auris Health, Inc. Medical instruments including wrists with hybrid redirect surfaces
WO2020263629A1 (en) 2019-06-27 2020-12-30 Auris Health, Inc. Systems and methods for a medical clip applier
CN114040727A (zh) 2019-06-28 2022-02-11 奥瑞斯健康公司 包括具有混合重定向表面的腕部的医疗器械
WO2020264418A1 (en) * 2019-06-28 2020-12-30 Auris Health, Inc. Console overlay and methods of using same
CN110448378B (zh) * 2019-08-13 2021-03-02 北京唯迈医疗设备有限公司 一种沉浸式介入手术一体化控制台
CN110464465B (zh) * 2019-08-14 2020-07-10 重庆文理学院 一种全膝关节置换手术辅助机器人
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
US11548140B2 (en) * 2019-08-15 2023-01-10 Covidien Lp System and method for radio based location of modular arm carts in a surgical robotic system
EP4028986A4 (en) 2019-09-11 2023-06-07 Covidien LP SYSTEMS AND METHODS FOR REDUCING SMOKE IN PICTURES
US12315109B2 (en) 2019-09-11 2025-05-27 Covidien Lp Systems and methods for neural-network based color restoration
CN114449971A (zh) 2019-09-26 2022-05-06 奥瑞斯健康公司 使用对象模型来避免碰撞的系统和方法
EP4034349A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision detection and avoidance
WO2021064536A1 (en) 2019-09-30 2021-04-08 Auris Health, Inc. Medical instrument with capstan
US11691292B2 (en) * 2019-10-14 2023-07-04 Boston Dynamics, Inc. Robot choreographer
CN110613511B (zh) * 2019-10-16 2021-03-16 武汉联影智融医疗科技有限公司 手术机器人避障方法
JP7276071B2 (ja) * 2019-10-21 2023-05-18 株式会社島津製作所 Ｘ線透視撮影装置
US11737835B2 (en) 2019-10-29 2023-08-29 Auris Health, Inc. Braid-reinforced insulation sheath
US12357409B2 (en) 2019-11-21 2025-07-15 Auris Health, Inc. Systems and methods for draping a surgical system
US20220409149A1 (en) * 2019-11-29 2022-12-29 Innovere Medical Inc. Systems and methods for passive collision control during medical imaging or therapeutic procedures
US12350828B2 (en) 2019-12-16 2025-07-08 Covidien Lp Surgical robotic systems including surgical instruments with articulation
EP4088680A4 (en) 2019-12-17 2024-07-03 Chengdu Borns Medical Robotics Inc. SURGICAL INSTRUMENT AND SURGICAL ROBOT
CN113001536B (zh) * 2019-12-20 2022-08-23 中国科学院沈阳计算技术研究所有限公司 一种面向协作多机器人的防碰撞检测方法及装置
CN115443108A (zh) 2019-12-23 2022-12-06 柯惠Lp公司 手术程序指导系统
US20230024942A1 (en) * 2019-12-23 2023-01-26 Sony Group Corporation Computer assisted surgery system, surgical control apparatus and surgical control method
CN114901200A (zh) 2019-12-31 2022-08-12 奥瑞斯健康公司 高级篮式驱动模式
WO2021137104A1 (en) 2019-12-31 2021-07-08 Auris Health, Inc. Dynamic pulley system
CN115066209A (zh) 2020-02-06 2022-09-16 柯惠Lp公司 用于缝合引导的系统和方法
WO2021173315A1 (en) 2020-02-26 2021-09-02 Covidien Lp Robotic surgical instrument including linear encoders for measuring cable displacement
WO2021188566A1 (en) 2020-03-18 2021-09-23 Realtime Robotics, Inc. Digital representations of robot operational environment, useful in motion planning for robots
US12370002B2 (en) 2020-03-30 2025-07-29 Auris Health, Inc. Workspace optimization for robotic surgery
US11919175B2 (en) 2020-04-15 2024-03-05 Mujin, Inc. Robotic system with collision avoidance mechanism and method of operation thereof
US12193768B2 (en) 2020-04-21 2025-01-14 Mazor Robotics Ltd. System and method for aligning an imaging device
EP3906882A1 (en) * 2020-05-05 2021-11-10 Ecential Robotics Surgical robotic system
US12262863B2 (en) 2020-05-12 2025-04-01 Covidien Lp Systems and methods for image mapping and fusion during surgical procedures
US12030195B2 (en) 2020-05-27 2024-07-09 Covidien Lp Tensioning mechanisms and methods for articulating surgical instruments such as for use in robotic surgical systems
US11839969B2 (en) 2020-06-29 2023-12-12 Auris Health, Inc. Systems and methods for detecting contact between a link and an external object
CN115803153A (zh) 2020-06-30 2023-03-14 马佐尔机器人有限公司 时间间隔的机器人参考系
US11357586B2 (en) 2020-06-30 2022-06-14 Auris Health, Inc. Systems and methods for saturated robotic movement
USD963851S1 (en) 2020-07-10 2022-09-13 Covidien Lp Port apparatus
WO2022014255A1 (en) * 2020-07-14 2022-01-20 Sony Group Corporation Determination of surgical performance level
US11980426B2 (en) 2020-08-03 2024-05-14 Warsaw Orthopedic, Inc. System and method for preliminary registration
CN114074328B (zh) * 2020-08-19 2024-10-18 北京术锐机器人股份有限公司 机器人系统及其控制方法
US12311553B2 (en) 2020-08-19 2025-05-27 Beijing Surgerii Robotics Company Limited Robot system and control method
WO2022037356A1 (zh) * 2020-08-19 2022-02-24 北京术锐技术有限公司 机器人系统以及控制方法
WO2022063214A1 (zh) * 2020-09-25 2022-03-31 武汉联影智融医疗科技有限公司 手术机器人控制方法、计算机设备及手术机器人系统
US12274525B2 (en) 2020-09-29 2025-04-15 Mazor Robotics Ltd. Systems and methods for tracking anatomical motion
CN112043397B (zh) * 2020-10-08 2021-09-24 深圳市精锋医疗科技有限公司 手术机器人及其运动错误检测方法、检测装置
CN114452000B (zh) * 2020-10-08 2023-08-22 深圳市精锋医疗科技股份有限公司 手术机器人及其图形化控制装置、图形化显示方法
CN113967071B (zh) 2020-10-23 2023-09-29 成都博恩思医学机器人有限公司 手术机器人机械臂跟随手术床运动的控制方法及装置
CN112426225B (zh) * 2020-11-06 2021-09-03 哈尔滨工业大学 一种基于运动捕捉的放疗手术系统
JP7755379B2 (ja) * 2020-12-25 2025-10-16 川崎重工業株式会社 手術支援ロボットシステムおよび手術支援ロボットの制御方法
CN112618024A (zh) * 2021-01-05 2021-04-09 上海交通大学医学院附属第九人民医院 多臂协同式手术机器人
CN114795493B (zh) * 2021-01-06 2025-08-26 深圳市精锋医疗科技股份有限公司 手术机器人及其引导手术臂移动的方法、控制装置
CN112932671A (zh) * 2021-01-28 2021-06-11 哈尔滨思哲睿智能医疗设备有限公司 一种腹腔镜手术机器人的语音提示控制方法及系统
US12465441B2 (en) 2021-02-01 2025-11-11 Mazor Robotics Ltd. Multi-arm robotic systems and methods for identifying a target
US12508085B2 (en) 2021-02-04 2025-12-30 Mazor Robotics Ltd. Systems, methods, and devices for verifying mechanical coupling between anatomical elements
US12161419B2 (en) * 2021-03-05 2024-12-10 Verb Surgical Inc. Robot-assisted setup for a surgical robotic system
WO2022205207A1 (zh) * 2021-03-31 2022-10-06 深圳市大疆创新科技有限公司 云台及其构型识别方法、装置
JP1705623S (enExample) * 2021-04-15 2022-01-21
CN115338855A (zh) * 2021-05-14 2022-11-15 台达电子工业股份有限公司 双臂机器人组装系统
US12409003B2 (en) 2021-05-14 2025-09-09 Covidien Lp Instrument cassette assemblies for robotic surgical instruments
US12369998B2 (en) 2021-05-28 2025-07-29 Covidien Lp Real time monitoring of a robotic drive module
US11948226B2 (en) * 2021-05-28 2024-04-02 Covidien Lp Systems and methods for clinical workspace simulation
US20220395342A1 (en) * 2021-06-10 2022-12-15 Mazor Robotics Ltd. Multi-arm robotic systems and methods for monitoring a target or performing a surgical procedure
CA3163352C (en) * 2021-06-15 2024-10-22 Orthosoft Ulc MONITORING SYSTEM FOR COMPUTER-ASSISTED AND ROBOT-ASSISTED SURGERY
US12319521B2 (en) * 2021-08-10 2025-06-03 Mujin, Inc. System and method for robotic object placement
CN218128745U (zh) * 2021-10-03 2022-12-27 崔迪 一种眼科手术机器人
US12496119B2 (en) 2021-12-06 2025-12-16 Covidien Lp Jaw member, end effector assembly, and method of manufacturing a jaw member of an electrosurgical instrument
US12390294B2 (en) 2021-12-14 2025-08-19 Covidien Lp Robotic surgical assemblies including surgical instruments having articulatable wrist assemblies
US12433699B2 (en) 2022-02-10 2025-10-07 Covidien Lp Surgical robotic systems and robotic arm carts thereof
TW202348377A (zh) * 2022-03-11 2023-12-16 美商即時機器人股份有限公司 用於在共享工作空間中之機器人之使用階段姿態之動作規劃及控制
US20230346491A1 (en) * 2022-04-29 2023-11-02 e1ectr0n, Inc. Systems and methods for embodied robot control
CN117100400A (zh) * 2022-05-16 2023-11-24 深圳康诺思腾科技有限公司 医疗器械、手术机器人及手术机器人的控制系统
EP4536127A1 (en) * 2022-06-06 2025-04-16 Lem Surgical Ag Robotic active and dynamic collision avoidance system
US12479098B2 (en) 2022-08-03 2025-11-25 Covidien Lp Surgical robotic system with access port storage
US12465447B2 (en) 2022-08-25 2025-11-11 Covidien Lp Surgical robotic system with instrument detection
WO2024049444A1 (en) * 2022-09-02 2024-03-07 Intel Corporation Post-attack real-time trajectory recovery of collaborative robotic arms
US12496728B2 (en) 2022-10-25 2025-12-16 Covidien Lp Surgical robotic system and method for restoring operational state
USD1066405S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066404S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066381S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066378S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066379S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066382S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066383S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066380S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1087995S1 (en) 2023-08-02 2025-08-12 Covidien Lp Surgeon display screen with a transitional graphical user interface having staple firing icon
USD1087135S1 (en) 2023-08-02 2025-08-05 Covidien Lp Surgeon display screen with a graphical user interface having spent staple icon
GR1010790B (el) * 2023-10-05 2024-10-15 Γεωργιος Βασιλειου Παπαϊωαννου Μεθοδος και συστημα για ρομποτικη απεικονιση 2d και 3d για χειρουργικο σχεδιασμο και ενδοχειρουργικη πλοηγηση
CN117681214B (zh) * 2024-02-04 2024-04-12 泓浒(苏州)半导体科技有限公司 基于晶圆传送的多机械臂碰撞预警方法及系统
WO2025210607A1 (en) * 2024-04-06 2025-10-09 Innovation Imaging Technologies Private Limited (Iitpl) A system and method for coordinating relative motion of patient table top and c-arm gantry of cath-lab
CN119589657A (zh) * 2024-10-09 2025-03-11 北京邮电大学 一种基于安全裕度理论的遥操作机器人辅助控制方法

Family Cites Families (58)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE456048B (sv) 1982-02-24 1988-08-29 Philips Norden Ab Sett och anordning for att bestemma kollisionsrisken for tva inbordes rorliga kroppar
US4644237A (en) 1985-10-17 1987-02-17 International Business Machines Corp. Collision avoidance system
US5737500A (en) * 1992-03-11 1998-04-07 California Institute Of Technology Mobile dexterous siren degree of freedom robot arm with real-time control system
US6659939B2 (en) 1998-11-20 2003-12-09 Intuitive Surgical, Inc. Cooperative minimally invasive telesurgical system
US6788018B1 (en) * 1999-08-03 2004-09-07 Intuitive Surgical, Inc. Ceiling and floor mounted surgical robot set-up arms
US8004229B2 (en) * 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
US7607440B2 (en) * 2001-06-07 2009-10-27 Intuitive Surgical, Inc. Methods and apparatus for surgical planning
US8010180B2 (en) * 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
US6678582B2 (en) 2002-05-30 2004-01-13 Kuka Roboter Gmbh Method and control device for avoiding collisions between cooperating robots
US6927395B2 (en) * 2002-06-14 2005-08-09 Koninklijke Philips Electronics N.V. Gamma camera collision avoidance
US7046765B2 (en) 2004-03-31 2006-05-16 Accuray, Inc. Radiosurgery x-ray system with collision avoidance subsystem
CA2513202C (en) * 2004-07-23 2015-03-31 Mehran Anvari Multi-purpose robotic operating system and method
JP2008526422A (ja) * 2005-01-13 2008-07-24 メイザー サージカル テクノロジーズ リミテッド 鍵穴脳神経外科用画像ガイドロボットシステム
US8108072B2 (en) 2007-09-30 2012-01-31 Intuitive Surgical Operations, Inc. Methods and systems for robotic instrument tool tracking with adaptive fusion of kinematics information and image information
US9789608B2 (en) 2006-06-29 2017-10-17 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
US8971597B2 (en) * 2005-05-16 2015-03-03 Intuitive Surgical Operations, Inc. Efficient vision and kinematic data fusion for robotic surgical instruments and other applications
US9867669B2 (en) 2008-12-31 2018-01-16 Intuitive Surgical Operations, Inc. Configuration marker design and detection for instrument tracking
DE102005023165A1 (de) 2005-05-19 2006-11-23 Siemens Ag Medizinisches Bildgebungssystem mit einem um einen Patienten verfahrbaren Teil und Kollisionsschutzverfahren
EP2289452A3 (en) 2005-06-06 2015-12-30 Intuitive Surgical Operations, Inc. Laparoscopic ultrasound robotic surgical system
US20070167702A1 (en) 2005-12-30 2007-07-19 Intuitive Surgical Inc. Medical robotic system providing three-dimensional telestration
US7379533B2 (en) 2006-03-10 2008-05-27 Siemens Medical Solutions Usa, Inc. Collision resolution in x-ray imaging systems
CA2542932C (en) 2006-03-28 2011-09-13 Imris Detection of collisions in medical procedures
US20080071288A1 (en) * 2006-06-13 2008-03-20 Intuitive Surgical, Inc. Minimally invasive surgery guide tube
US8849679B2 (en) * 2006-06-15 2014-09-30 Intouch Technologies, Inc. Remote controlled robot system that provides medical images
US10258425B2 (en) 2008-06-27 2019-04-16 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide
DE102006037564C5 (de) 2006-08-10 2010-09-23 Siemens Ag Verfahren zur Röntgenbildaufzeichnung mit einem robotergeführten C-Bogen-System sowie Aufzeichnungsvorrichtung zur Röntgenbildaufzeichnung
DE102007021769B4 (de) 2007-05-09 2015-06-25 Siemens Aktiengesellschaft Angiographiegerät und zugehöriges Aufnahmeverfahren mit einem Mechansimus zur Kollisionsvermeidung
US9138129B2 (en) 2007-06-13 2015-09-22 Intuitive Surgical Operations, Inc. Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide
US8655429B2 (en) * 2007-06-29 2014-02-18 Accuray Incorporated Robotic arm for a radiation treatment system
US8792964B2 (en) 2008-03-12 2014-07-29 Siemens Aktiengesellschaft Method and apparatus for conducting an interventional procedure involving heart valves using a robot-based X-ray device
US8810631B2 (en) 2008-04-26 2014-08-19 Intuitive Surgical Operations, Inc. Augmented stereoscopic visualization for a surgical robot using a captured visible image combined with a fluorescence image and a captured visible image
US8315738B2 (en) * 2008-05-21 2012-11-20 Fanuc Robotics America, Inc. Multi-arm robot system interference check via three dimensional automatic zones
US8126114B2 (en) * 2008-09-12 2012-02-28 Accuray Incorporated Seven or more degrees of freedom robotic manipulator having at least one redundant joint
WO2010044852A2 (en) 2008-10-14 2010-04-22 University Of Florida Research Foundation, Inc. Imaging platform to provide integrated navigation capabilities for surgical guidance
US8830224B2 (en) * 2008-12-31 2014-09-09 Intuitive Surgical Operations, Inc. Efficient 3-D telestration for local robotic proctoring
US20120053597A1 (en) 2009-03-10 2012-03-01 Mcmaster University Mobile robotic surgical system
KR100974464B1 (ko) * 2009-04-21 2010-08-10 주식회사 래보 수술용 인스트루먼트의 커플링 구조
US8423186B2 (en) * 2009-06-30 2013-04-16 Intuitive Surgical Operations, Inc. Ratcheting for master alignment of a teleoperated minimally-invasive surgical instrument
US8386080B2 (en) * 2009-09-15 2013-02-26 Harris Corporation Robotic apparatus implementing collision avoidance scheme and associated methods
US8623028B2 (en) * 2009-09-23 2014-01-07 Intuitive Surgical Operations, Inc. Surgical port feature
WO2011040769A2 (ko) * 2009-10-01 2011-04-07 주식회사 이턴 수술용 영상 처리 장치, 영상 처리 방법, 복강경 조작 방법, 수술 로봇 시스템 및 그 동작 제한 방법
JP5571432B2 (ja) * 2010-03-30 2014-08-13 カール シュトルツ ゲゼルシャフト ミット ベシュレンクテル ハフツング ウント コンパニー コマンディートゲゼルシャフト 医療用ロボットシステム
IT1401669B1 (it) 2010-04-07 2013-08-02 Sofar Spa Sistema di chirurgia robotizzata con controllo perfezionato.
US8918209B2 (en) * 2010-05-20 2014-12-23 Irobot Corporation Mobile human interface robot
US8460236B2 (en) * 2010-06-24 2013-06-11 Hansen Medical, Inc. Fiber optic instrument sensing system
US8855812B2 (en) 2010-07-23 2014-10-07 Chetan Kapoor System and method for robot safety and collision avoidance
JP2012051043A (ja) * 2010-08-31 2012-03-15 Yaskawa Electric Corp ロボットシステムまたはロボット制御装置
US8848874B2 (en) * 2010-09-20 2014-09-30 Siemens Medical Solutions Usa, Inc. System for recovering from collision of components of an X-ray imaging unit
EP2468207A1 (en) * 2010-12-21 2012-06-27 Renishaw (Ireland) Limited Method and apparatus for analysing images
US9259289B2 (en) 2011-05-13 2016-02-16 Intuitive Surgical Operations, Inc. Estimation of a position and orientation of a frame used in controlling movement of a tool
GB201115586D0 (en) * 2011-09-09 2011-10-26 Univ Bristol A system for anatomical reduction of bone fractures
CN103797512B (zh) * 2011-09-13 2018-10-16 皇家飞利浦有限公司 机器人与图像之间的自动联机配准
EP2744438B1 (en) * 2011-09-13 2015-04-22 Koninklijke Philips N.V. Ablation planning with lesion coverage feedback
US10925564B2 (en) * 2012-04-20 2021-02-23 Siemens Medical Solutions Usa, Inc. Medical imaging system with range imaging-based control
CN102646148B (zh) * 2012-04-25 2014-09-24 浙江大学 仿人机器人机械臂避碰运动轨迹规划方法
JP6293777B2 (ja) 2012-12-10 2018-03-14 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 画像キャプチャ装置及び操作可能な装置可動アームの制御された動作の間の衝突回避
US11014240B2 (en) * 2017-09-05 2021-05-25 Abb Schweiz Ag Robot having dynamic safety zones
US10058396B1 (en) * 2018-04-24 2018-08-28 Titan Medical Inc. System and apparatus for insertion of an instrument into a body cavity for performing a surgical procedure

Also Published As

Publication number Publication date
JP2016504077A (ja) 2016-02-12
CN117770979A (zh) 2024-03-29
EP2928407A1 (en) 2015-10-14
CN110279427B (zh) 2024-01-16
EP2928407B1 (en) 2021-09-29
KR102218244B1 (ko) 2021-02-22
US10064682B2 (en) 2018-09-04
JP6543742B2 (ja) 2019-07-10
EP2928407A4 (en) 2016-10-19
US11007023B2 (en) 2021-05-18
JP2018110873A (ja) 2018-07-19
CN105188590B (zh) 2019-04-26
EP3932628A1 (en) 2022-01-05
US20140163736A1 (en) 2014-06-12
US20160008078A1 (en) 2016-01-14
CN110279427A (zh) 2019-09-27
WO2014093367A1 (en) 2014-06-19
CN105188590A (zh) 2015-12-23
US9259282B2 (en) 2016-02-16
KR20150120944A (ko) 2015-10-28
US20180338804A1 (en) 2018-11-29

Similar Documents

Publication Publication Date Title
JP6293777B2 (ja) 画像キャプチャ装置及び操作可能な装置可動アームの制御された動作の間の衝突回避
JP7443277B2 (ja) 手術用ロボットシステムのための追跡および案内装置ならびに関連する方法
JP6662785B2 (ja) 撮像装置及び入力コントロールを再芯出しするためのシステム及び方法
JP6615871B2 (ja) 適応入力マッピングのためのシステム及び方法
JP2023002737A (ja) ロボットの配置をユーザーにガイドするための方法およびシステム
JP6619748B2 (ja) 遠隔手術台位置合わせのための方法及び装置
CN114502094A (zh) 用于碰撞检测和避免的系统和方法
CN113520425B (zh) 医学成像系统、介入系统及其控制方法
US20240407877A1 (en) System and method for repositioning input control devices
Bihlmaier Endoscope robots and automated camera guidance
KR20250132469A (ko) 유도 툴 변경 복원력을 위한 시스템들 및 방법들
WO2022147074A1 (en) Systems and methods for tracking objects crossing body wall for operations associated with a computer-assisted system
CN118891019A (zh) 用于计算机辅助系统的软件远程运动中心的设定和使用
CN120051254A (zh) 在维持部分约束的视野的同时增加计算机辅助系统的移动性
CN120351848A (zh) 外科手术空间中的计算机辅助距离测量

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20161202

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20161202

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20170810

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20170829

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20171128

A711 Notification of change in applicant

Free format text: JAPANESE INTERMEDIATE CODE: A711

Effective date: 20171205

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A821

Effective date: 20171205

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: 20180116

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20180214

R150 Certificate of patent or registration of utility model

Ref document number: 6293777

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