JP6553607B2 - プリロードをかけられた手術器具インタフェース - Google Patents

プリロードをかけられた手術器具インタフェース Download PDF

Info

Publication number
JP6553607B2
JP6553607B2 JP2016534811A JP2016534811A JP6553607B2 JP 6553607 B2 JP6553607 B2 JP 6553607B2 JP 2016534811 A JP2016534811 A JP 2016534811A JP 2016534811 A JP2016534811 A JP 2016534811A JP 6553607 B2 JP6553607 B2 JP 6553607B2
Authority
JP
Japan
Prior art keywords
assembly
drive
preload
disk
drive output
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
JP2016534811A
Other languages
English (en)
Japanese (ja)
Other versions
JP2016533816A5 (enExample
JP2016533816A (ja
Inventor
クーパー，トーマス，ジー
マクグロガン，アンソニー，ケイ
ホロップ，ロバート，イー
ソロモン，トッド，アール
デュヴァル，ユージーン，エフ
アンダーソン，ケント，エム
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
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 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 JP2016533816A publication Critical patent/JP2016533816A/ja
Publication of JP2016533816A5 publication Critical patent/JP2016533816A5/ja
Application granted granted Critical
Publication of JP6553607B2 publication Critical patent/JP6553607B2/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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • 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
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D1/00—Couplings for rigidly connecting two coaxial shafts or other movable machine elements
    • F16D1/10—Quick-acting couplings in which the parts are connected by simply bringing them together axially
    • F16D2001/102—Quick-acting couplings in which the parts are connected by simply bringing them together axially the torque is transmitted via polygon shaped connections
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/2062—Arrangements for driving the actuator
    • F16H2025/2075—Coaxial drive motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/2003—Screw mechanisms with arrangements for taking up backlash
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H25/2015—Means specially adapted for stopping actuators in the end position; Position sensing means

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
JP2016534811A 2013-08-15 2014-08-13 プリロードをかけられた手術器具インタフェース Active JP6553607B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361866115P 2013-08-15 2013-08-15
US61/866,115 2013-08-15
PCT/US2014/050838 WO2015023730A1 (en) 2013-08-15 2014-08-13 Preloaded surgical instrument interface

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2019052645A Division JP6776389B2 (ja) 2013-08-15 2019-03-20 プリロードをかけられた手術器具インタフェース

Publications (3)

Publication Number Publication Date
JP2016533816A JP2016533816A (ja) 2016-11-04
JP2016533816A5 JP2016533816A5 (enExample) 2017-09-21
JP6553607B2 true JP6553607B2 (ja) 2019-07-31

Family

ID=52468651

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2016534811A Active JP6553607B2 (ja) 2013-08-15 2014-08-13 プリロードをかけられた手術器具インタフェース
JP2019052645A Active JP6776389B2 (ja) 2013-08-15 2019-03-20 プリロードをかけられた手術器具インタフェース

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2019052645A Active JP6776389B2 (ja) 2013-08-15 2019-03-20 プリロードをかけられた手術器具インタフェース

Country Status (6)

Country Link
US (5) US10799303B2 (enExample)
EP (2) EP3708105B1 (enExample)
JP (2) JP6553607B2 (enExample)
KR (3) KR102731855B1 (enExample)
CN (2) CN109247987B (enExample)
WO (1) WO2015023730A1 (enExample)

Families Citing this family (66)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9259274B2 (en) 2008-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
US9339342B2 (en) 2008-09-30 2016-05-17 Intuitive Surgical Operations, Inc. Instrument interface
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
US10550918B2 (en) 2013-08-15 2020-02-04 Intuitive Surgical Operations, Inc. Lever actuated gimbal plate
WO2015023793A1 (en) 2013-08-15 2015-02-19 Intuitive Surgical Operations, Inc. Variable instrument preload mechanism controller
CN108784838B (zh) 2013-08-15 2021-06-08 直观外科手术操作公司 器械无菌适配器驱动接口
CN109602496B (zh) 2013-08-15 2021-07-20 直观外科手术操作公司 机器人器械从动元件
US10271911B2 (en) 2013-08-15 2019-04-30 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive features
US10076348B2 (en) 2013-08-15 2018-09-18 Intuitive Surgical Operations, Inc. Rotary input for lever actuation
EP3527161A1 (en) 2013-08-15 2019-08-21 Intuitive Surgical Operations Inc. Actuator interface to instrument sterile adapter
JP6553607B2 (ja) 2013-08-15 2019-07-31 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 プリロードをかけられた手術器具インタフェース
EP3119344B1 (en) 2014-03-17 2019-08-21 Intuitive Surgical Operations, Inc. Latch to secure surgical instrument to actuator
EP3679885B1 (en) 2014-03-17 2024-02-28 Intuitive Surgical Operations, Inc. Systems and methods for confirming disc engagement
KR102708970B1 (ko) 2014-03-17 2024-09-25 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술용 드레이프와 수술용 드레이프를 포함하는 시스템 및 부착 센서
US10011018B2 (en) 2014-08-15 2018-07-03 Intuitive Surgical Operations, Inc. Entry guide manipulator with a roll system and an instrument manipulator positioning system
US10357324B2 (en) 2015-02-20 2019-07-23 Stryker Corporation Sterile barrier assembly, mounting system, and method for coupling surgical components
JP6657244B2 (ja) * 2015-02-26 2020-03-04 コヴィディエン リミテッド パートナーシップ ソフトウェア及び誘導管を備えたロボット制御の遠隔運動中心
US10667877B2 (en) 2015-06-19 2020-06-02 Covidien Lp Controlling robotic surgical instruments with bidirectional coupling
WO2017120027A1 (en) 2016-01-07 2017-07-13 Intuitive Surgical Operations, Inc. Telescoping cannula arm
EP3410917B1 (en) 2016-02-01 2020-11-25 Intuitive Surgical Operations, Inc. Reduction of endoscope high frequency leakage current using a common-mode choke
US11272992B2 (en) 2016-06-03 2022-03-15 Covidien Lp Robotic surgical assemblies and instrument drive units thereof
US20190231451A1 (en) 2016-07-14 2019-08-01 Intuitive Surgical Operations, Inc. Geared roll drive for medical instrument
US11020190B2 (en) 2016-07-14 2021-06-01 Intuitive Surgical Operations, Inc. Automated instrument preload engage/disengage mechanism
WO2018013304A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Controller controlled instrument preload mechanism
US11883123B2 (en) 2016-07-14 2024-01-30 Intuitive Surgical Operations, Inc. Mechanism for managing and retaining a surgical drape
KR102533374B1 (ko) 2016-07-14 2023-05-26 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 드레이핑을 위한 자동적인 매니퓰레이터 어셈블리 전개
US11890070B2 (en) 2016-07-14 2024-02-06 Intuitive Surgical Operations, Inc. Instrument release
JP7079238B2 (ja) 2016-07-14 2022-06-01 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 機械的ロックアウトを有する滅菌アダプタを含む手術装置
WO2018013298A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Geared grip actuation for medical instruments
EP3484341B1 (en) 2016-07-14 2023-03-08 Intuitive Surgical Operations, Inc. An endoscope including a plurality of individually testable subassemblies
CN109475390B (zh) * 2016-07-14 2022-03-04 直观外科手术操作公司 包含在手术器械的主体内的压力测试端口
GB2555654B (en) * 2016-11-08 2021-10-06 Cmr Surgical Ltd Attachment structure for securing a robot arm to a support structure
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
CA3050410A1 (en) * 2017-01-23 2018-07-26 Human Xtensions Ltd. Minimally invasive device and system
US10820951B2 (en) 2017-03-14 2020-11-03 Verb Surgical Inc. Techniques for damping vibration in a robotic surgical system
IT201700042116A1 (it) 2017-04-14 2018-10-14 Medical Microinstruments Spa Assieme robotico per chirurgia
US10792119B2 (en) 2017-05-22 2020-10-06 Ethicon Llc Robotic arm cart and uses therefor
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
US11058508B2 (en) 2017-06-29 2021-07-13 Verb Surgical Inc. Sterile adapter for a linearly-actuating instrument driver
US12279847B2 (en) 2017-11-10 2025-04-22 Intuitive Surgical Operations, Inc. Sterile channel pre-drape assembly
WO2019130984A1 (ja) * 2017-12-28 2019-07-04 株式会社メディカロイド 手術器具、被取付装置、医療用処置具、手術ロボットおよび遠隔手術システム
US12193774B2 (en) 2018-01-09 2025-01-14 Covidien Lp Sterile interface module for robotic surgical assemblies
JP6778769B2 (ja) * 2018-01-12 2020-11-04 エスエス イノベーションズ チャイナ カンパニー リミテッドＳＳ Ｉｎｎｏｖａｔｉｏｎｓ Ｃｈｉｎａ Ｃｏ． Ｌｔｄ ロボット手術システムための滅菌アダプタアセンブリ
KR102543370B1 (ko) * 2018-01-16 2023-06-13 가부시키가이샤 기타가와 뎃꼬쇼 로봇용 엔드 이펙터의 장착 구조 및 로봇용 엔드 이펙터
US11497567B2 (en) 2018-02-08 2022-11-15 Intuitive Surgical Operations, Inc. Jointed control platform
US11118661B2 (en) 2018-02-12 2021-09-14 Intuitive Surgical Operations, Inc. Instrument transmission converting roll to linear actuation
KR102707236B1 (ko) 2018-03-29 2024-09-20 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 듀얼 브레이크 셋업 조인트
CN118902621A (zh) * 2018-06-27 2024-11-08 奥瑞斯健康公司 用于医疗器械的对准系统和附接系统
WO2020075419A1 (ja) * 2018-10-11 2020-04-16 ソニー株式会社 制御装置、制御方法および制御プログラム
WO2020117913A2 (en) 2018-12-04 2020-06-11 Mako Surgical Corp. Mounting system with sterile barrier assembly for use in coupling surgical components
JP6866417B2 (ja) * 2019-03-28 2021-04-28 株式会社メディカロイド アダプタおよびアダプタの装着方法
WO2020252184A1 (en) 2019-06-13 2020-12-17 Intuitive Surgical Operations, Inc. Medical tool with length conservation mechanism for actuating tension bands
US11376082B2 (en) * 2019-06-27 2022-07-05 Cilag Gmbh International Robotic surgical system with local sensing of functional parameters based on measurements of multiple physical inputs
WO2021041395A1 (en) * 2019-08-28 2021-03-04 Covidien Lp Sterile interface module for robotic surgical assemblies
US20230070830A1 (en) * 2020-02-10 2023-03-09 Medical Microinstruments, Inc. Sterile barrier assembly and robotic surgery system
US11648023B2 (en) 2020-02-10 2023-05-16 Covidien Lp Drive mechanisms for surgical instruments
CN115697236A (zh) * 2020-05-04 2023-02-03 直观外科手术操作公司 用于驱动多根缆线的具有单输入装置的医疗器械
CN114681059B (zh) * 2020-12-30 2025-04-04 韩商未来股份有限公司 手术机器人装置及手术机器人装置的负载补偿方法
CN113349936A (zh) * 2021-07-14 2021-09-07 深圳康诺思腾科技有限公司 一种无菌适配器与手术器械后端的导向定位结构
JP7766979B2 (ja) * 2021-10-28 2025-11-11 株式会社ミツトヨ 非接触プローブ及び形状測定装置
US12433626B2 (en) 2021-11-19 2025-10-07 Covidien Lp Drive mechanisms for surgical instruments
CN115837659B (zh) * 2022-11-21 2025-01-24 佗道医疗科技有限公司 一种手术器械对位工装平台及偏置角度测量方法
CN117067257A (zh) * 2023-07-28 2023-11-17 杭州唯精医疗机器人有限公司 调节工装及手术机器人
CN119033476B (zh) * 2024-10-31 2025-04-18 艺柏湾医疗科技(上海)有限公司 一种灭菌隔离器、器械操纵装置及手术机器人

Family Cites Families (193)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US793510A (en) 1905-03-27 1905-06-27 Stuart W Cramer Machine for dyeing, &c.
US3596498A (en) 1968-12-27 1971-08-03 Textron Inc Press
US4117359A (en) 1974-01-30 1978-09-26 Teldix Gmbh Bearing and drive structure for spinning turbine
FR2434685A1 (fr) 1978-09-04 1980-03-28 Commissariat Energie Atomique Manipulateur motorise
US4281447A (en) 1979-03-01 1981-08-04 Mcdonnell Douglas Corporation Detachable tool interface system for a robot
US4259876A (en) 1979-10-02 1981-04-07 Belyanin Petr N Mechanical arm
US4724713A (en) * 1985-11-01 1988-02-16 Federal Products Corp. Drive system for air bearing machines
US4696524A (en) 1986-03-03 1987-09-29 Custom Tool & Mfg. Co. Robot arm coupling apparatus
ES2014016B3 (es) 1986-09-24 1990-06-16 Siemens Ag Colocacion de funcionamiento, especialmente para mecanismo de elevacion de ventanas de un vehiculo.
US4911399A (en) 1989-06-06 1990-03-27 Anglo-American, Inc. Cam valve for regulation of fluid flow through flexible tubing
US6312442B1 (en) 1992-06-02 2001-11-06 General Surgical Innovations, Inc. Method for developing an anatomic space for laparoscopic hernia repair
JPH06114000A (ja) 1992-09-30 1994-04-26 Olympus Optical Co Ltd 医療用マニピュレータ
AU697895B2 (en) 1994-04-28 1998-10-22 Ethicon Endo-Surgery, Inc. Identification device for surgical instrument
ES2114405B1 (es) 1994-08-11 1999-02-16 Daumal Castellon Melchor Sistema de fijacion rapido.
US5528955A (en) 1994-09-08 1996-06-25 Hannaford; Blake Five axis direct-drive mini-robot having fifth actuator located at non-adjacent joint
US5814038A (en) 1995-06-07 1998-09-29 Sri International Surgical manipulator for a telerobotic system
DE19541458C1 (de) 1995-11-07 1997-03-06 Siemens Ag Flexibler Aktor
US5855583A (en) 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US5792135A (en) 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US6132368A (en) 1996-12-12 2000-10-17 Intuitive Surgical, Inc. Multi-component telepresence system and method
US6331181B1 (en) 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US8529582B2 (en) 1996-12-12 2013-09-10 Intuitive Surgical Operations, Inc. Instrument interface of a robotic surgical system
US7727244B2 (en) 1997-11-21 2010-06-01 Intuitive Surgical Operation, Inc. Sterile surgical drape
US8206406B2 (en) 1996-12-12 2012-06-26 Intuitive Surgical Operations, Inc. Disposable sterile surgical adaptor
US7699855B2 (en) 1996-12-12 2010-04-20 Intuitive Surgical Operations, Inc. Sterile surgical adaptor
US7666191B2 (en) 1996-12-12 2010-02-23 Intuitive Surgical, Inc. Robotic surgical system with sterile surgical adaptor
JP3578375B2 (ja) 1997-03-17 2004-10-20 技術研究組合医療福祉機器研究所 ロボットアーム駆動装置およびロボットハンド
US6139245A (en) 1997-07-11 2000-10-31 Brooks Automation Inc. Robot arm relocation system
US20020087048A1 (en) 1998-02-24 2002-07-04 Brock David L. Flexible instrument
US6459926B1 (en) 1998-11-20 2002-10-01 Intuitive Surgical, Inc. Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
US6394998B1 (en) 1999-01-22 2002-05-28 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
FR2792865B1 (fr) 1999-04-27 2001-06-15 Cie Generale De Participations Dispositif de telecommande de mouvement notamment d'organes de prehension
US7594912B2 (en) 2004-09-30 2009-09-29 Intuitive Surgical, Inc. Offset remote center manipulator for robotic surgery
US6311576B1 (en) * 1999-10-04 2001-11-06 Techmetric Inc. Anti-backlash nut for lead screw
CA2324967A1 (en) 2000-11-01 2002-05-01 3816133 Canada Inc. System for monitoring patients with alzheimer's disease or related dementia
AU773391B2 (en) 2000-05-22 2004-05-27 Jiwan Steven Dr Singh Uterine cannula and pelvic suport for gynaecological laparoscopy
US6829455B2 (en) 2000-10-20 2004-12-07 Canon Kabushiki Kaisha Driving force transmission mechanism, image forming apparatus equipped with such a mechanism, and process unit of such an apparatus
JP2002200091A (ja) 2000-12-27 2002-07-16 Mizuho Co Ltd 手術器械操作における駆動ワイヤーの緩み補正機構
US20020096885A1 (en) 2001-01-22 2002-07-25 Benito Gomez Pinion assembly
US6994708B2 (en) 2001-04-19 2006-02-07 Intuitive Surgical Robotic tool with monopolar electro-surgical scissors
DE10119334C1 (de) 2001-04-20 2002-03-14 Porsche Ag Reibungskupplung
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
JP2003024336A (ja) 2001-07-16 2003-01-28 Hitachi Ltd 術具装置
JP4776823B2 (ja) 2001-07-23 2011-09-21 Ｈｏｙａ株式会社 ギヤバックラッシ除去機構及びモータ駆動装置
US7428855B2 (en) 2002-05-22 2008-09-30 Duval Eugene F Counter balance system and method with one or more mechanical arms
AT413420B (de) 2002-06-07 2006-02-15 Techmo Entw & Vertriebs Gmbh Verfahren und anordnung zum raschen verbinden und lösen von miteinander verbindbaren elementen
CN2573759Y (zh) 2002-08-20 2003-09-17 樊明月 皮带轮的离合装置
US7331967B2 (en) 2002-09-09 2008-02-19 Hansen Medical, Inc. Surgical instrument coupling mechanism
JP3680050B2 (ja) 2002-09-18 2005-08-10 株式会社東芝 医療用マニピュレータ及びその制御方法
EP2589406B1 (en) 2003-05-21 2018-10-10 The Johns Hopkins University Devices and systems for minimally invasive surgery of the throat and other portions of mammalian body
US9002518B2 (en) 2003-06-30 2015-04-07 Intuitive Surgical Operations, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
US20070018958A1 (en) 2003-10-24 2007-01-25 Tavakoli Seyed M Force reflective robotic control system and minimally invasive surgical device
ITPI20030107A1 (it) 2003-11-14 2005-05-15 Massimo Bergamasco Dispositivo per l'esecuzione di operazioni
US8021326B2 (en) 2004-03-05 2011-09-20 Hansen Medical, Inc. Instrument driver for robotic catheter system
US8052636B2 (en) 2004-03-05 2011-11-08 Hansen Medical, Inc. Robotic catheter system and methods
JP2005288590A (ja) 2004-03-31 2005-10-20 Hiroshi Kinoshita 多関節型マニピュレータ
US7708751B2 (en) 2004-05-21 2010-05-04 Ethicon Endo-Surgery, Inc. MRI biopsy device
US7377906B2 (en) 2004-06-15 2008-05-27 Biosense Webster, Inc. Steering mechanism for bi-directional catheter
US9072535B2 (en) 2011-05-27 2015-07-07 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with rotatable staple deployment arrangements
JP4373879B2 (ja) 2004-08-26 2009-11-25 株式会社日立製作所 手術器具
US7763015B2 (en) 2005-01-24 2010-07-27 Intuitive Surgical Operations, Inc. Modular manipulator support for robotic surgery
US7837674B2 (en) 2005-01-24 2010-11-23 Intuitive Surgical Operations, Inc. Compact counter balance for robotic surgical systems
CN100435713C (zh) 2005-04-07 2008-11-26 中国科学院合肥智能机械研究所 一种体内微机器人的外磁场驱动系统
US8800838B2 (en) 2005-08-31 2014-08-12 Ethicon Endo-Surgery, Inc. Robotically-controlled cable-based surgical end effectors
US7357287B2 (en) 2005-09-29 2008-04-15 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having preloaded firing assistance mechanism
KR101337278B1 (ko) 2005-12-20 2013-12-09 인튜어티브 서지컬 인코포레이티드 로봇 수술 시스템의 기구 인터페이스
CN101371058B (zh) 2006-01-13 2011-03-02 博格华纳公司 离合器组件及摩擦片
US8162926B2 (en) 2006-01-25 2012-04-24 Intuitive Surgical Operations Inc. Robotic arm with five-bar spherical linkage
US20120292367A1 (en) 2006-01-31 2012-11-22 Ethicon Endo-Surgery, Inc. Robotically-controlled end effector
EP1815949A1 (en) 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Medical robotic system with manipulator arm of the cylindrical coordinate type
EP1815950A1 (en) 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Robotic surgical system for performing minimally invasive medical procedures
JP5124096B2 (ja) 2006-03-03 2013-01-23 川崎重工業株式会社 清潔空間用ロボットシステム
US7823330B2 (en) 2006-03-09 2010-11-02 Strattec Power Access Llc Apparatus and method for drums in a sliding door mechanism
US8236010B2 (en) 2006-03-23 2012-08-07 Ethicon Endo-Surgery, Inc. Surgical fastener and cutter with mimicking end effector
US9675375B2 (en) 2006-03-29 2017-06-13 Ethicon Llc Ultrasonic surgical system and method
US20070232858A1 (en) 2006-03-31 2007-10-04 Boston Scientific Scimed, Inc. Steering system tension control devices
US20080071288A1 (en) 2006-06-13 2008-03-20 Intuitive Surgical, Inc. Minimally invasive surgery guide tube
US8597280B2 (en) 2006-06-13 2013-12-03 Intuitive Surgical Operations, Inc. Surgical instrument actuator
EP2040635A1 (en) * 2006-06-14 2009-04-01 MacDonald Dettwiler & Associates Inc. Surgical manipulator with right-angle pulley drive mechanisms
US8151661B2 (en) 2006-06-30 2012-04-10 Intuituve Surgical Operations, Inc. Compact capstan
US7736254B2 (en) 2006-10-12 2010-06-15 Intuitive Surgical Operations, Inc. Compact cable tension tender device
EP1915963A1 (en) 2006-10-25 2008-04-30 The European Atomic Energy Community (EURATOM), represented by the European Commission Force estimation for a minimally invasive robotic surgery system
US8157793B2 (en) 2006-10-25 2012-04-17 Terumo Kabushiki Kaisha Manipulator for medical use
US7935130B2 (en) 2006-11-16 2011-05-03 Intuitive Surgical Operations, Inc. Two-piece end-effectors for robotic surgical tools
CN100571606C (zh) 2006-12-21 2009-12-23 中国科学院电工研究所 一种微型机器人及其体外导向系统
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
EP1987786B1 (en) 2007-05-02 2013-11-06 Arthrex, Inc. Flip retrograde cutting instrument
US8945148B2 (en) 2007-06-13 2015-02-03 Intuitive Surgical Operations, Inc. Surgical system instrument manipulator
US8444631B2 (en) 2007-06-14 2013-05-21 Macdonald Dettwiler & Associates Inc Surgical manipulator
US9050120B2 (en) 2007-09-30 2015-06-09 Intuitive Surgical Operations, Inc. Apparatus and method of user interface with alternate tool mode for robotic surgical tools
WO2009079781A1 (en) * 2007-12-21 2009-07-02 Macdonald Dettwiler & Associates Inc. Surgical manipulator
US9179912B2 (en) 2008-02-14 2015-11-10 Ethicon Endo-Surgery, Inc. Robotically-controlled motorized surgical cutting and fastening instrument
KR100975047B1 (ko) 2008-02-15 2010-08-11 (주)미래컴퍼니 수술용 인스트루먼트의 커플링 구조
US7886743B2 (en) 2008-03-31 2011-02-15 Intuitive Surgical Operations, Inc. Sterile drape interface for robotic surgical instrument
US8333755B2 (en) 2008-03-31 2012-12-18 Intuitive Surgical Operations, Inc. Coupler to transfer controller motion from a robotic manipulator to an attached instrument
WO2009151205A1 (ko) 2008-06-11 2009-12-17 (주)미래컴퍼니 수술용 로봇 암의 인스트루먼트
US20140100558A1 (en) 2012-10-05 2014-04-10 Gregory P. Schmitz Micro-articulated surgical instruments using micro gear actuation
US9204923B2 (en) 2008-07-16 2015-12-08 Intuitive Surgical Operations, Inc. Medical instrument electronically energized using drive cables
US8771270B2 (en) 2008-07-16 2014-07-08 Intuitive Surgical Operations, Inc. Bipolar cautery instrument
US9386983B2 (en) 2008-09-23 2016-07-12 Ethicon Endo-Surgery, Llc Robotically-controlled motorized surgical instrument
US9259274B2 (en) 2008-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
US9339342B2 (en) 2008-09-30 2016-05-17 Intuitive Surgical Operations, Inc. Instrument interface
US8720448B2 (en) * 2008-11-07 2014-05-13 Hansen Medical, Inc. Sterile interface apparatus
US8161838B2 (en) 2008-12-22 2012-04-24 Intuitive Surgical Operations, Inc. Method and apparatus for reducing at least one friction force opposing an axial force exerted through an actuator element
US8306656B1 (en) 2009-01-12 2012-11-06 Titan Medical Inc. Method and system for performing medical procedure
US8602031B2 (en) * 2009-01-12 2013-12-10 Hansen Medical, Inc. Modular interfaces and drive actuation through barrier
JP2010220955A (ja) 2009-03-25 2010-10-07 Fujifilm Corp 医療用マニピュレータ、及びその初期化方法
US8945163B2 (en) 2009-04-01 2015-02-03 Ethicon Endo-Surgery, Inc. Methods and devices for cutting and fastening tissue
US10080482B2 (en) 2009-06-30 2018-09-25 Intuitive Surgical Operations, Inc. Compliant surgical device
WO2011037394A2 (ko) 2009-09-23 2011-03-31 주식회사 이턴 멸균 어댑터, 휠의 체결 구조 및 수술용 인스트루먼트의 체결 구조
KR101037069B1 (ko) * 2009-09-23 2011-05-26 주식회사 이턴 멸균 어댑터
NL1037348C2 (en) 2009-10-02 2011-04-05 Univ Eindhoven Tech Surgical robot, instrument manipulator, combination of an operating table and a surgical robot, and master-slave operating system.
EP3381397B1 (en) 2009-11-13 2020-01-08 Intuitive Surgical Operations Inc. Motor interface for parallel drive shafts within an independently rotating member
US7752937B1 (en) 2009-12-21 2010-07-13 Winzeler Gear, Inc Anti-backlash gear
US8887595B2 (en) 2009-12-22 2014-11-18 Intuitive Surgical Operations, Inc. Instrument wrist with cycloidal surfaces
US8449569B2 (en) 2009-12-30 2013-05-28 MiT Capital Partners, LLC Apparatus for manipulation of implantable medical device and associated method
KR101066196B1 (ko) 2010-03-15 2011-09-20 주식회사 이턴 싱글포트 수술용 로봇 암 커플러 및 이를 구비한 수술용 로봇
US8644988B2 (en) 2010-05-14 2014-02-04 Intuitive Surgical Operations, Inc. Drive force control in medical instrument providing position measurements
KR101181569B1 (ko) 2010-05-25 2012-09-10 정창욱 단일 통로 수술 모드와 다통로 수술 모드를 실현할 수 있는 수술용 로봇 시스템 및 그 제어 방법
AT508701B1 (de) 2010-06-23 2011-05-15 Miba Sinter Austria Gmbh Zahnradanordnung
US8512199B2 (en) 2010-07-26 2013-08-20 Rethink Robotics, Inc. Minimizing backlash utilizing series elastic elements
US8978511B2 (en) 2010-11-09 2015-03-17 Shimano Inc. Position control mechanism
US9101379B2 (en) 2010-11-12 2015-08-11 Intuitive Surgical Operations, Inc. Tension control in actuation of multi-joint medical instruments
WO2012068092A2 (en) 2010-11-15 2012-05-24 Milwaukee Electric Tool Corporation Powered dispensing tool
US8578810B2 (en) 2011-02-14 2013-11-12 Intuitive Surgical Operations, Inc. Jointed link structures exhibiting preferential bending, and related methods
US9259277B2 (en) 2011-05-13 2016-02-16 Intuitive Surgical Operations, Inc. Instrument actuation interface
US8978497B2 (en) 2011-05-26 2015-03-17 Tolomatic, Inc. Linear actuator with anti-rotation mechanism
US11207064B2 (en) 2011-05-27 2021-12-28 Cilag Gmbh International Automated end effector component reloading system for use with a robotic system
KR102012698B1 (ko) 2011-05-31 2019-08-21 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 로봇 수술 기구에서의 파지력 제어
JP5879773B2 (ja) 2011-06-30 2016-03-08 日産自動車株式会社 カップリング装置
JP5936914B2 (ja) 2011-08-04 2016-06-22 オリンパス株式会社 操作入力装置およびこれを備えるマニピュレータシステム
JP6005950B2 (ja) 2011-08-04 2016-10-12 オリンパス株式会社 手術支援装置及びその制御方法
JP6081061B2 (ja) 2011-08-04 2017-02-15 オリンパス株式会社 手術支援装置
JP6000641B2 (ja) 2011-08-04 2016-10-05 オリンパス株式会社 マニピュレータシステム
JP5931497B2 (ja) 2011-08-04 2016-06-08 オリンパス株式会社 手術支援装置およびその組立方法
JP5841451B2 (ja) 2011-08-04 2016-01-13 オリンパス株式会社 手術器具およびその制御方法
JP6009840B2 (ja) 2011-08-04 2016-10-19 オリンパス株式会社 医療機器
CN102488554B (zh) * 2011-11-14 2013-06-05 天津大学 一种基于模块关节的微创外科手术机器人用微器械末端
FR2984979B1 (fr) 2011-12-22 2017-01-27 Valeo Materiaux De Friction Dispositif de friction pour un embrayage
CA2796525A1 (en) 2011-12-23 2013-06-23 Covidien Lp Apparatus for endoscopic procedures
WO2013119545A1 (en) 2012-02-10 2013-08-15 Ethicon-Endo Surgery, Inc. Robotically controlled surgical instrument
US9868198B2 (en) 2012-06-01 2018-01-16 Covidien Lp Hand held surgical handle assembly, surgical adapters for use between surgical handle assembly and surgical loading units, and methods of use
KR102322620B1 (ko) 2012-06-01 2021-11-05 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 하드웨어 제한형 원격 중심 로봇 매니퓰레이터용 여유 축 및 자유도
EP3623120A1 (en) 2012-06-01 2020-03-18 Intuitive Surgical Operations Inc. Instrument carriage assembly for surgical system
US9028494B2 (en) 2012-06-28 2015-05-12 Ethicon Endo-Surgery, Inc. Interchangeable end effector coupling arrangement
US20140005718A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Multi-functional powered surgical device with external dissection features
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
US20140001234A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Coupling arrangements for attaching surgical end effectors to drive systems therefor
JP6038589B2 (ja) 2012-10-17 2016-12-07 Ntn株式会社 直動案内装置
US9095367B2 (en) 2012-10-22 2015-08-04 Ethicon Endo-Surgery, Inc. Flexible harmonic waveguides/blades for surgical instruments
KR20160008169A (ko) 2013-03-14 2016-01-21 에스알아이 인터내셔널 컴팩트 로봇 리스트
US9408669B2 (en) 2013-03-15 2016-08-09 Hansen Medical, Inc. Active drive mechanism with finite range of motion
EP3527161A1 (en) 2013-08-15 2019-08-21 Intuitive Surgical Operations Inc. Actuator interface to instrument sterile adapter
CN108784838B (zh) 2013-08-15 2021-06-08 直观外科手术操作公司 器械无菌适配器驱动接口
US10076348B2 (en) 2013-08-15 2018-09-18 Intuitive Surgical Operations, Inc. Rotary input for lever actuation
CN109602496B (zh) 2013-08-15 2021-07-20 直观外科手术操作公司 机器人器械从动元件
US10271911B2 (en) 2013-08-15 2019-04-30 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive features
JP6553607B2 (ja) 2013-08-15 2019-07-31 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 プリロードをかけられた手術器具インタフェース
WO2015023793A1 (en) 2013-08-15 2015-02-19 Intuitive Surgical Operations, Inc. Variable instrument preload mechanism controller
US9750578B2 (en) 2014-03-17 2017-09-05 Intuitive Surgical Operations, Inc. Surgical instrument actuation input mechanisms, and related devices, systems, and methods
EP3119344B1 (en) 2014-03-17 2019-08-21 Intuitive Surgical Operations, Inc. Latch to secure surgical instrument to actuator
EP3679885B1 (en) 2014-03-17 2024-02-28 Intuitive Surgical Operations, Inc. Systems and methods for confirming disc engagement
CN108836233A (zh) 2014-03-19 2018-11-20 恩达马斯特有限公司 主-从柔性机器人内窥镜系统
US20150272582A1 (en) 2014-03-26 2015-10-01 Ethicon Endo-Surgery, Inc. Power management control systems for surgical instruments
US10011018B2 (en) 2014-08-15 2018-07-03 Intuitive Surgical Operations, Inc. Entry guide manipulator with a roll system and an instrument manipulator positioning system
EP3206842B1 (en) 2014-12-11 2019-05-29 Titan Medical Inc. Actuator for manipulating a tool
EP3232973B1 (en) 2014-12-19 2020-04-01 DistalMotion SA Sterile interface for articulated surgical instruments
WO2016176170A1 (en) 2015-04-27 2016-11-03 Intuitive Surgical Operations, Inc. Surgical instrument housing, and related systems, and methods
EP3851062A1 (en) 2015-05-11 2021-07-21 Covidien LP Coupling instrument drive unit and robotic surgical instrument
JP6141569B2 (ja) 2015-06-01 2017-06-07 オリンパス株式会社 医療用マニピュレータ
US10667877B2 (en) 2015-06-19 2020-06-02 Covidien Lp Controlling robotic surgical instruments with bidirectional coupling
JP6697487B2 (ja) 2015-06-19 2020-05-20 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
US10595945B2 (en) 2015-06-19 2020-03-24 Covidien Lp Robotic surgical assemblies
CN108348133B (zh) 2015-09-09 2020-11-13 奥瑞斯健康公司 用于手术机器人系统的器械装置操纵器
GB201521809D0 (en) 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Symmetrically arranged surgical instrument articulation
DE102016111737A1 (de) 2016-06-27 2017-12-28 avateramedical GmBH Instrumententrägervorrichtung für einen Manipulator eines robotischen Operationssystems
WO2018013354A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Surgical instruments with electrically isolated actuation members, related devices, and related methods
WO2018013304A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Controller controlled instrument preload mechanism
JP7079238B2 (ja) 2016-07-14 2022-06-01 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 機械的ロックアウトを有する滅菌アダプタを含む手術装置
US11890070B2 (en) 2016-07-14 2024-02-06 Intuitive Surgical Operations, Inc. Instrument release
CN115252149A (zh) 2016-07-14 2022-11-01 直观外科手术操作公司 外科手术盖布安装辅助工具
US10660651B2 (en) 2016-10-31 2020-05-26 Covidien Lp Endoscopic reposable surgical clip applier
US10398460B2 (en) 2016-12-20 2019-09-03 Ethicon Llc Robotic endocutter drivetrain with bailout and manual opening
US11026713B2 (en) 2017-10-30 2021-06-08 Cilag Gmbh International Surgical clip applier configured to store clips in a stored state
CN111770736A (zh) 2017-12-11 2020-10-13 奥瑞斯健康公司 用于基于器械的插入架构的系统和方法
US10743868B2 (en) 2017-12-21 2020-08-18 Ethicon Llc Surgical instrument comprising a pivotable distal head
US11696760B2 (en) 2017-12-28 2023-07-11 Cilag Gmbh International Safety systems for smart powered surgical stapling
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
CN118902621A (zh) 2018-06-27 2024-11-08 奥瑞斯健康公司 用于医疗器械的对准系统和附接系统
DE102018115435A1 (de) 2018-06-27 2020-01-02 avateramedical GmBH Trokarhalterung
US10531883B1 (en) 2018-07-20 2020-01-14 Syntheon 2.0, LLC Aspiration thrombectomy system and methods for thrombus removal with aspiration catheter
EP3856001A4 (en) 2018-09-28 2022-06-22 Auris Health, Inc. DEVICES, SYSTEMS AND METHODS FOR MANUAL AND ROBOTIC DRIVES OF MEDICAL INSTRUMENTS
JP6831415B2 (ja) 2019-03-28 2021-02-17 株式会社メディカロイド アダプタ

Also Published As

Publication number Publication date
KR102731855B1 (ko) 2024-11-20
EP3033036B1 (en) 2020-05-20
US11793587B2 (en) 2023-10-24
EP3708105B1 (en) 2022-02-09
US10799303B2 (en) 2020-10-13
US20230210614A1 (en) 2023-07-06
US20160184037A1 (en) 2016-06-30
KR102384055B1 (ko) 2022-04-07
KR20160047492A (ko) 2016-05-02
US11564758B2 (en) 2023-01-31
WO2015023730A1 (en) 2015-02-19
CN109247987B (zh) 2021-07-23
KR20220047883A (ko) 2022-04-19
EP3033036A1 (en) 2016-06-22
US20200222130A1 (en) 2020-07-16
JP6776389B2 (ja) 2020-10-28
KR102523090B1 (ko) 2023-04-19
CN109247987A (zh) 2019-01-22
US20250228628A1 (en) 2025-07-17
EP3708105A1 (en) 2020-09-16
CN105611893B (zh) 2018-09-28
EP3033036A4 (en) 2017-04-19
US20240090958A1 (en) 2024-03-21
US12220190B2 (en) 2025-02-11
KR20230053731A (ko) 2023-04-21
JP2016533816A (ja) 2016-11-04
JP2019122801A (ja) 2019-07-25
CN105611893A (zh) 2016-05-25

Similar Documents

Publication Publication Date Title
JP6553607B2 (ja) プリロードをかけられた手術器具インタフェース
JP6983951B2 (ja) ロボット器具の被駆動要素
JP7145808B2 (ja) 器具減菌アダプタ駆動構成
JP6659798B2 (ja) 可変器具予荷重機構コントローラ
JP6674377B2 (ja) 近位駆動ディスクおよび遠位被駆動ディスクを有する装置
JP6830940B2 (ja) 滅菌器具アダプタに対するアクチュエータ・インターフェイス

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20170807

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20170807

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20180529

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20180531

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20180828

A02 Decision of refusal

Free format text: JAPANESE INTERMEDIATE CODE: A02

Effective date: 20181120

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20190320

A911 Transfer to examiner for re-examination before appeal (zenchi)

Free format text: JAPANESE INTERMEDIATE CODE: A911

Effective date: 20190329

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: 20190604

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20190704

R150 Certificate of patent or registration of utility model

Ref document number: 6553607

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