JP6853346B2 - 長さを維持する外科用器具 - Google Patents
長さを維持する外科用器具 Download PDFInfo
- Publication number
- JP6853346B2 JP6853346B2 JP2019511879A JP2019511879A JP6853346B2 JP 6853346 B2 JP6853346 B2 JP 6853346B2 JP 2019511879 A JP2019511879 A JP 2019511879A JP 2019511879 A JP2019511879 A JP 2019511879A JP 6853346 B2 JP6853346 B2 JP 6853346B2
- Authority
- JP
- Japan
- Prior art keywords
- surgical
- cable
- input controller
- reciprocating
- effector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000012636 effector Substances 0.000 claims description 98
- 210000000707 wrist Anatomy 0.000 claims description 67
- 230000008859 change Effects 0.000 claims description 5
- 238000001356 surgical procedure Methods 0.000 description 16
- 230000008878 coupling Effects 0.000 description 15
- 238000010168 coupling process Methods 0.000 description 15
- 238000005859 coupling reaction Methods 0.000 description 15
- 238000004590 computer program Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 9
- 230000007423 decrease Effects 0.000 description 8
- 230000007935 neutral effect Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 6
- 230000003247 decreasing effect Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 210000003484 anatomy Anatomy 0.000 description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000001629 suppression Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000002591 computed tomography Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 230000004913 activation Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000014509 gene expression Effects 0.000 description 2
- 210000000936 intestine Anatomy 0.000 description 2
- 238000002357 laparoscopic surgery Methods 0.000 description 2
- 230000003278 mimic effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000036316 preload Effects 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 101100347605 Arabidopsis thaliana VIII-A gene Proteins 0.000 description 1
- 101100347612 Arabidopsis thaliana VIII-B gene Proteins 0.000 description 1
- 241000699670 Mus sp. Species 0.000 description 1
- 240000004050 Pentaglottis sempervirens Species 0.000 description 1
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 description 1
- 210000003815 abdominal wall Anatomy 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 210000001072 colon Anatomy 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000002432 robotic surgery Methods 0.000 description 1
- 210000002784 stomach Anatomy 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Leader-follower robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1641—Programme controls characterised by the control loop compensation for backlash, friction, compliance, elasticity in the joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
-
- 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
- A61B17/00—Surgical instruments, devices or methods
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
- A61B2034/715—Cable tensioning mechanisms for removing slack
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
- A61B2034/743—Keyboards
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Mechanical Engineering (AREA)
- Ophthalmology & Optometry (AREA)
- Manipulator (AREA)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/US2016/049775 WO2018044306A1 (en) | 2016-08-31 | 2016-08-31 | Length conservative surgical instrument |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2019528139A JP2019528139A (ja) | 2019-10-10 |
| JP2019528139A5 JP2019528139A5 (OSRAM) | 2019-11-21 |
| JP6853346B2 true JP6853346B2 (ja) | 2021-03-31 |
Family
ID=61241126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2019511879A Active JP6853346B2 (ja) | 2016-08-31 | 2016-08-31 | 長さを維持する外科用器具 |
Country Status (7)
| Country | Link |
|---|---|
| US (4) | US9962228B2 (OSRAM) |
| EP (1) | EP3506836B1 (OSRAM) |
| JP (1) | JP6853346B2 (OSRAM) |
| KR (2) | KR102555546B1 (OSRAM) |
| CN (1) | CN109069138B (OSRAM) |
| AU (1) | AU2016422171B2 (OSRAM) |
| WO (1) | WO2018044306A1 (OSRAM) |
Families Citing this family (244)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8414505B1 (en) | 2001-02-15 | 2013-04-09 | Hansen Medical, Inc. | Catheter driver system |
| WO2005087128A1 (en) | 2004-03-05 | 2005-09-22 | Hansen Medical, Inc. | Robotic catheter system |
| WO2007005976A1 (en) | 2005-07-01 | 2007-01-11 | Hansen Medical, Inc. | Robotic catheter system |
| US9232959B2 (en) | 2007-01-02 | 2016-01-12 | Aquabeam, Llc | Multi fluid tissue resection methods and devices |
| US12290277B2 (en) | 2007-01-02 | 2025-05-06 | Aquabeam, Llc | Tissue resection with pressure sensing |
| EP2259742B1 (en) | 2008-03-06 | 2020-01-01 | AquaBeam LLC | Tissue ablation and cautery with optical energy carried in fluid stream |
| US9254123B2 (en) | 2009-04-29 | 2016-02-09 | Hansen Medical, Inc. | Flexible and steerable elongate instruments with shape control and support elements |
| US8672837B2 (en) | 2010-06-24 | 2014-03-18 | Hansen Medical, Inc. | Methods and devices for controlling a shapeable medical device |
| US20120191107A1 (en) | 2010-09-17 | 2012-07-26 | Tanner Neal A | Systems and methods for positioning an elongate member inside a body |
| EP2627278B1 (en) | 2010-10-11 | 2015-03-25 | Ecole Polytechnique Fédérale de Lausanne (EPFL) | Mechanical manipulator for surgical instruments |
| US12402960B2 (en) | 2010-10-11 | 2025-09-02 | Ecole Polytechnique Federale De Lausanne (Epfl) | Mechanical manipulator for surgical instruments |
| US20120191086A1 (en) | 2011-01-20 | 2012-07-26 | Hansen Medical, Inc. | System and method for endoluminal and translumenal therapy |
| JP5715304B2 (ja) | 2011-07-27 | 2015-05-07 | エコール ポリテクニーク フェデラル デ ローザンヌ （イーピーエフエル） | 遠隔操作のための機械的遠隔操作装置 |
| US9138166B2 (en) | 2011-07-29 | 2015-09-22 | Hansen Medical, Inc. | Apparatus and methods for fiber integration and registration |
| US9452276B2 (en) | 2011-10-14 | 2016-09-27 | Intuitive Surgical Operations, Inc. | Catheter with removable vision probe |
| US9387048B2 (en) | 2011-10-14 | 2016-07-12 | Intuitive Surgical Operations, Inc. | Catheter sensor systems |
| US20130303944A1 (en) | 2012-05-14 | 2013-11-14 | Intuitive Surgical Operations, Inc. | Off-axis electromagnetic sensor |
| US10238837B2 (en) | 2011-10-14 | 2019-03-26 | Intuitive Surgical Operations, Inc. | Catheters with control modes for interchangeable probes |
| CN108606773B (zh) | 2012-02-29 | 2020-08-11 | 普罗赛普特生物机器人公司 | 自动化图像引导的组织切除和处理 |
| US10383765B2 (en) | 2012-04-24 | 2019-08-20 | Auris Health, Inc. | Apparatus and method for a global coordinate system for use in robotic surgery |
| US20130317519A1 (en) | 2012-05-25 | 2013-11-28 | Hansen Medical, Inc. | Low friction instrument driver interface for robotic systems |
| US20140148673A1 (en) | 2012-11-28 | 2014-05-29 | Hansen Medical, Inc. | Method of anchoring pullwire directly articulatable region in catheter |
| US10231867B2 (en) | 2013-01-18 | 2019-03-19 | Auris Health, Inc. | Method, apparatus and system for a water jet |
| US9668814B2 (en) | 2013-03-07 | 2017-06-06 | Hansen Medical, Inc. | Infinitely rotatable tool with finite rotating drive shafts |
| US10149720B2 (en) | 2013-03-08 | 2018-12-11 | Auris Health, Inc. | Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment |
| US10080576B2 (en) | 2013-03-08 | 2018-09-25 | Auris Health, Inc. | Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment |
| US9566414B2 (en) | 2013-03-13 | 2017-02-14 | Hansen Medical, Inc. | Integrated catheter and guide wire controller |
| US9057600B2 (en) | 2013-03-13 | 2015-06-16 | Hansen Medical, Inc. | Reducing incremental measurement sensor error |
| US9498601B2 (en) | 2013-03-14 | 2016-11-22 | Hansen Medical, Inc. | Catheter tension sensing |
| US9173713B2 (en) | 2013-03-14 | 2015-11-03 | Hansen Medical, Inc. | Torque-based catheter articulation |
| US9326822B2 (en) | 2013-03-14 | 2016-05-03 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
| US11213363B2 (en) | 2013-03-14 | 2022-01-04 | Auris Health, Inc. | Catheter tension sensing |
| US20140277334A1 (en) | 2013-03-14 | 2014-09-18 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
| US9271663B2 (en) | 2013-03-15 | 2016-03-01 | Hansen Medical, Inc. | Flexible instrument localization from both remote and elongation sensors |
| US9408669B2 (en) | 2013-03-15 | 2016-08-09 | Hansen Medical, Inc. | Active drive mechanism with finite range of motion |
| US10376672B2 (en) | 2013-03-15 | 2019-08-13 | Auris Health, Inc. | Catheter insertion system and method of fabrication |
| US9283046B2 (en) | 2013-03-15 | 2016-03-15 | Hansen Medical, Inc. | User interface for active drive apparatus with finite range of motion |
| US20140276647A1 (en) | 2013-03-15 | 2014-09-18 | Hansen Medical, Inc. | Vascular remote catheter manipulator |
| US9452018B2 (en) | 2013-03-15 | 2016-09-27 | Hansen Medical, Inc. | Rotational support for an elongate member |
| US9014851B2 (en) | 2013-03-15 | 2015-04-21 | Hansen Medical, Inc. | Systems and methods for tracking robotically controlled medical instruments |
| US20140276936A1 (en) | 2013-03-15 | 2014-09-18 | Hansen Medical, Inc. | Active drive mechanism for simultaneous rotation and translation |
| US10849702B2 (en) | 2013-03-15 | 2020-12-01 | Auris Health, Inc. | User input devices for controlling manipulation of guidewires and catheters |
| US9629595B2 (en) | 2013-03-15 | 2017-04-25 | Hansen Medical, Inc. | Systems and methods for localizing, tracking and/or controlling medical instruments |
| US11020016B2 (en) | 2013-05-30 | 2021-06-01 | Auris Health, Inc. | System and method for displaying anatomy and devices on a movable display |
| WO2014201165A1 (en) | 2013-06-11 | 2014-12-18 | Auris Surgical Robotics, Inc. | System for robotic assisted cataract surgery |
| US10426661B2 (en) | 2013-08-13 | 2019-10-01 | Auris Health, Inc. | Method and apparatus for laser assisted cataract surgery |
| US10076348B2 (en) | 2013-08-15 | 2018-09-18 | Intuitive Surgical Operations, Inc. | Rotary input for lever actuation |
| US10550918B2 (en) | 2013-08-15 | 2020-02-04 | Intuitive Surgical Operations, Inc. | Lever actuated gimbal plate |
| KR102332023B1 (ko) | 2013-10-24 | 2021-12-01 | 아우리스 헬스, 인크. | 로봇-보조식 내강 내부 수술용 시스템 및 이와 관련된 방법 |
| EP3102139B1 (en) | 2014-02-03 | 2018-06-13 | DistalMotion SA | Mechanical teleoperated device comprising an interchangeable distal instrument |
| EP2923669B1 (en) | 2014-03-24 | 2017-06-28 | Hansen Medical, Inc. | Systems and devices for catheter driving instinctiveness |
| US10046140B2 (en) | 2014-04-21 | 2018-08-14 | Hansen Medical, Inc. | Devices, systems, and methods for controlling active drive systems |
| US10569052B2 (en) | 2014-05-15 | 2020-02-25 | Auris Health, Inc. | Anti-buckling mechanisms for catheters |
| US10792464B2 (en) | 2014-07-01 | 2020-10-06 | Auris Health, Inc. | Tool and method for using surgical endoscope with spiral lumens |
| US9744335B2 (en) | 2014-07-01 | 2017-08-29 | Auris Surgical Robotics, Inc. | Apparatuses and methods for monitoring tendons of steerable catheters |
| US10159533B2 (en) | 2014-07-01 | 2018-12-25 | Auris Health, Inc. | Surgical system with configurable rail-mounted mechanical arms |
| US9561083B2 (en) | 2014-07-01 | 2017-02-07 | Auris Surgical Robotics, Inc. | Articulating flexible endoscopic tool with roll capabilities |
| WO2016030767A1 (en) | 2014-08-27 | 2016-03-03 | Distalmotion Sa | Surgical system for microsurgical techniques |
| CN107427327A (zh) | 2014-09-30 | 2017-12-01 | 奥瑞斯外科手术机器人公司 | 具有虚拟轨迹和柔性内窥镜的可配置机器人外科手术系统 |
| US10499999B2 (en) | 2014-10-09 | 2019-12-10 | Auris Health, Inc. | Systems and methods for aligning an elongate member with an access site |
| US10314463B2 (en) | 2014-10-24 | 2019-06-11 | Auris Health, Inc. | Automated endoscope calibration |
| US10864049B2 (en) | 2014-12-19 | 2020-12-15 | Distalmotion Sa | Docking system for mechanical telemanipulator |
| ES2975974T3 (es) | 2014-12-19 | 2024-07-18 | Distalmotion Sa | Instrumento quirúrgico reutilizable para procedimientos mínimamente invasivos |
| US10548680B2 (en) | 2014-12-19 | 2020-02-04 | Distalmotion Sa | Articulated handle for mechanical telemanipulator |
| ES2968221T3 (es) | 2014-12-19 | 2024-05-08 | Distalmotion Sa | Instrumento quirúrgico con efector final articulado |
| US11039820B2 (en) | 2014-12-19 | 2021-06-22 | Distalmotion Sa | Sterile interface for articulated surgical instruments |
| US11819636B2 (en) | 2015-03-30 | 2023-11-21 | Auris Health, Inc. | Endoscope pull wire electrical circuit |
| US20160287279A1 (en) | 2015-04-01 | 2016-10-06 | Auris Surgical Robotics, Inc. | Microsurgical tool for robotic applications |
| EP3280337B1 (en) | 2015-04-09 | 2019-11-13 | DistalMotion SA | Articulated hand-held instrument |
| WO2016164824A1 (en) | 2015-04-09 | 2016-10-13 | Auris Surgical Robotics, Inc. | Surgical system with configurable rail-mounted mechanical arms |
| WO2016162752A1 (en) | 2015-04-09 | 2016-10-13 | Distalmotion Sa | Mechanical teleoperated device for remote manipulation |
| US9622827B2 (en) | 2015-05-15 | 2017-04-18 | Auris Surgical Robotics, Inc. | Surgical robotics system |
| US10786272B2 (en) | 2015-08-28 | 2020-09-29 | Distalmotion Sa | Surgical instrument with increased actuation force |
| WO2017044884A1 (en) | 2015-09-09 | 2017-03-16 | Auris Surgical Robotics, Inc. | Instrument device manipulator for a surgical robotics system |
| CN108778113B (zh) | 2015-09-18 | 2022-04-15 | 奥瑞斯健康公司 | 管状网络的导航 |
| US9949749B2 (en) | 2015-10-30 | 2018-04-24 | Auris Surgical Robotics, Inc. | Object capture with a basket |
| US10231793B2 (en) | 2015-10-30 | 2019-03-19 | Auris Health, Inc. | Object removal through a percutaneous suction tube |
| US9955986B2 (en) | 2015-10-30 | 2018-05-01 | Auris Surgical Robotics, Inc. | Basket apparatus |
| US10143526B2 (en) | 2015-11-30 | 2018-12-04 | Auris Health, Inc. | Robot-assisted driving systems and methods |
| US10932861B2 (en) | 2016-01-14 | 2021-03-02 | Auris Health, Inc. | Electromagnetic tracking surgical system and method of controlling the same |
| US10932691B2 (en) | 2016-01-26 | 2021-03-02 | Auris Health, Inc. | Surgical tools having electromagnetic tracking components |
| US11324554B2 (en) | 2016-04-08 | 2022-05-10 | Auris Health, Inc. | Floating electromagnetic field generator system and method of controlling the same |
| US10454347B2 (en) | 2016-04-29 | 2019-10-22 | Auris Health, Inc. | Compact height torque sensing articulation axis assembly |
| US20190231451A1 (en) | 2016-07-14 | 2019-08-01 | Intuitive Surgical Operations, Inc. | Geared roll drive for medical instrument |
| CN109414300B (zh) | 2016-07-14 | 2021-11-09 | 直观外科手术操作公司 | 器械冲洗系统 |
| WO2018013298A1 (en) | 2016-07-14 | 2018-01-18 | Intuitive Surgical Operations, Inc. | Geared grip actuation for medical instruments |
| WO2018013187A1 (en) | 2016-07-14 | 2018-01-18 | Intuitive Surgical Operations, Inc. | Instrument release |
| KR102400881B1 (ko) | 2016-07-14 | 2022-05-24 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 다중 케이블 의료 기기 |
| US11037464B2 (en) | 2016-07-21 | 2021-06-15 | Auris Health, Inc. | System with emulator movement tracking for controlling medical devices |
| US10463439B2 (en) | 2016-08-26 | 2019-11-05 | Auris Health, Inc. | Steerable catheter with shaft load distributions |
| US11241559B2 (en) | 2016-08-29 | 2022-02-08 | Auris Health, Inc. | Active drive for guidewire manipulation |
| KR102555546B1 (ko) | 2016-08-31 | 2023-07-19 | 아우리스 헬스, 인코포레이티드 | 길이 보존 수술용 기구 |
| US9931025B1 (en) | 2016-09-30 | 2018-04-03 | Auris Surgical Robotics, Inc. | Automated calibration of endoscopes with pull wires |
| CN110198681B (zh) * | 2016-11-21 | 2022-09-13 | 直观外科手术操作公司 | 线缆长度持恒的医疗器械 |
| US10244926B2 (en) | 2016-12-28 | 2019-04-02 | Auris Health, Inc. | Detecting endolumenal buckling of flexible instruments |
| US10136959B2 (en) | 2016-12-28 | 2018-11-27 | Auris Health, Inc. | Endolumenal object sizing |
| US10543048B2 (en) | 2016-12-28 | 2020-01-28 | Auris Health, Inc. | Flexible instrument insertion using an adaptive insertion force threshold |
| WO2018132386A1 (en) | 2017-01-10 | 2018-07-19 | Intuitive Surgical Operations, Inc. | Systems and methods for using a robotic medical system |
| US10357321B2 (en) * | 2017-02-24 | 2019-07-23 | Intuitive Surgical Operations, Inc. | Splayed cable guide for a medical instrument |
| US11076926B2 (en) | 2017-03-21 | 2021-08-03 | Intuitive Surgical Operations, Inc. | Manual release for medical device drive system |
| KR102545869B1 (ko) | 2017-03-28 | 2023-06-23 | 아우리스 헬스, 인코포레이티드 | 샤프트 작동 핸들 |
| AU2018243364B2 (en) | 2017-03-31 | 2023-10-05 | Auris Health, Inc. | Robotic systems for navigation of luminal networks that compensate for physiological noise |
| JP7314052B2 (ja) | 2017-04-07 | 2023-07-25 | オーリス ヘルス インコーポレイテッド | 患者イントロデューサのアライメント |
| US10285574B2 (en) | 2017-04-07 | 2019-05-14 | Auris Health, Inc. | Superelastic medical instrument |
| US11058503B2 (en) | 2017-05-11 | 2021-07-13 | Distalmotion Sa | Translational instrument interface for surgical robot and surgical robot systems comprising the same |
| CN110831498B (zh) | 2017-05-12 | 2022-08-12 | 奥瑞斯健康公司 | 活检装置和系统 |
| CN110769736B (zh) | 2017-05-17 | 2023-01-13 | 奥瑞斯健康公司 | 可更换工作通道 |
| US10022192B1 (en) | 2017-06-23 | 2018-07-17 | Auris Health, Inc. | Automatically-initialized robotic systems for navigation of luminal networks |
| KR102578978B1 (ko) | 2017-06-28 | 2023-09-19 | 아우리스 헬스, 인코포레이티드 | 전자파 왜곡 검출 |
| KR102341451B1 (ko) | 2017-06-28 | 2021-12-23 | 아우리스 헬스, 인코포레이티드 | 기기의 삽입 보상을 위한 로봇 시스템, 방법 및 비일시적 컴퓨터 가독 저장 매체 |
| CN110809452B (zh) | 2017-06-28 | 2023-05-23 | 奥瑞斯健康公司 | 电磁场发生器对准 |
| US11026758B2 (en) | 2017-06-28 | 2021-06-08 | Auris Health, Inc. | Medical robotics systems implementing axis constraints during actuation of one or more motorized joints |
| US10426559B2 (en) | 2017-06-30 | 2019-10-01 | Auris Health, Inc. | Systems and methods for medical instrument compression compensation |
| US10464209B2 (en) | 2017-10-05 | 2019-11-05 | Auris Health, Inc. | Robotic system with indication of boundary for robotic arm |
| US10145747B1 (en) | 2017-10-10 | 2018-12-04 | Auris Health, Inc. | Detection of undesirable forces on a surgical robotic arm |
| US10016900B1 (en) | 2017-10-10 | 2018-07-10 | Auris Health, Inc. | Surgical robotic arm admittance control |
| US10555778B2 (en) | 2017-10-13 | 2020-02-11 | Auris Health, Inc. | Image-based branch detection and mapping for navigation |
| US11058493B2 (en) | 2017-10-13 | 2021-07-13 | Auris Health, Inc. | Robotic system configured for navigation path tracing |
| CN110662506B (zh) * | 2017-11-10 | 2023-06-20 | 直观外科手术操作公司 | 联合器械的致动中的张力控制 |
| JP7233427B2 (ja) * | 2017-11-13 | 2023-03-06 | ヴィカリアス サージカル インク． | バーチャルリアリティーを用いたリストアセンブリ |
| WO2019113249A1 (en) | 2017-12-06 | 2019-06-13 | Auris Health, Inc. | Systems and methods to correct for uncommanded instrument roll |
| KR102473254B1 (ko) | 2017-12-08 | 2022-12-06 | 아우리스 헬스, 인코포레이티드 | 지향된 유체 공학 |
| JP7314136B2 (ja) | 2017-12-08 | 2023-07-25 | オーリス ヘルス インコーポレイテッド | 医療器具のナビゲーションおよびターゲット用のシステムおよび方法 |
| EP3723655A4 (en) | 2017-12-11 | 2021-09-08 | Auris Health, Inc. | SYSTEMS AND METHODS FOR INSTRUMENT-BASED INSERTION ARCHITECTURES |
| JP7322026B2 (ja) | 2017-12-14 | 2023-08-07 | オーリス ヘルス インコーポレイテッド | 器具の位置推定のシステムおよび方法 |
| US11160615B2 (en) | 2017-12-18 | 2021-11-02 | Auris Health, Inc. | Methods and systems for instrument tracking and navigation within luminal networks |
| KR102798863B1 (ko) | 2018-01-17 | 2025-04-23 | 아우리스 헬스, 인코포레이티드 | 개선된 로봇 아암을 갖는 수술 로봇 시스템 |
| USD932628S1 (en) | 2018-01-17 | 2021-10-05 | Auris Health, Inc. | Instrument cart |
| USD924410S1 (en) | 2018-01-17 | 2021-07-06 | Auris Health, Inc. | Instrument tower |
| USD873878S1 (en) | 2018-01-17 | 2020-01-28 | Auris Health, Inc. | Robotic arm |
| CN111885980B (zh) | 2018-01-17 | 2023-03-28 | 奥瑞斯健康公司 | 具有可调式臂支撑件的外科平台 |
| USD901018S1 (en) | 2018-01-17 | 2020-11-03 | Auris Health, Inc. | Controller |
| USD901694S1 (en) | 2018-01-17 | 2020-11-10 | Auris Health, Inc. | Instrument handle |
| US12376927B2 (en) | 2018-02-07 | 2025-08-05 | Distalmotion Sa | Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy |
| EP3749243A1 (en) | 2018-02-07 | 2020-12-16 | Distalmotion SA | Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy |
| 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 |
| CN116370084A (zh) | 2018-02-13 | 2023-07-04 | 奥瑞斯健康公司 | 用于驱动医疗器械的系统和方法 |
| EP3761895A4 (en) | 2018-03-07 | 2021-11-24 | Intuitive Surgical Operations, Inc. | LOW FRICTION MEDICAL TOOLS WITH ROLLER ASSISTED TENSION ELEMENTS |
| US11439376B2 (en) | 2018-03-07 | 2022-09-13 | Intuitive Surgical Operations, Inc. | Low-friction, small profile medical tools having easy-to-assemble components |
| WO2019173268A1 (en) | 2018-03-07 | 2019-09-12 | Intuitive Surgical Operations, Inc. | Low-friction, small profile medical tools having easy-to-assemble components |
| EP3773135B1 (en) | 2018-03-28 | 2024-02-14 | Auris Health, Inc. | Medical instruments with variable bending stiffness profiles |
| JP7214747B2 (ja) | 2018-03-28 | 2023-01-30 | オーリス ヘルス インコーポレイテッド | 位置センサの位置合わせのためのシステム及び方法 |
| WO2019191143A1 (en) | 2018-03-28 | 2019-10-03 | Auris Health, Inc. | Systems and methods for displaying estimated location of instrument |
| KR20250002662A (ko) | 2018-05-18 | 2025-01-07 | 아우리스 헬스, 인코포레이티드 | 로봇식 원격작동 시스템을 위한 제어기 |
| CN108888301B (zh) * | 2018-05-29 | 2021-04-23 | 上海微创医疗机器人（集团）股份有限公司 | 蛇形手术器械 |
| CN110831486B (zh) | 2018-05-30 | 2022-04-05 | 奥瑞斯健康公司 | 用于基于定位传感器的分支预测的系统和方法 |
| MX2020012897A (es) | 2018-05-31 | 2021-05-27 | Auris Health Inc | Sistemas roboticos y metodos para navegacion de la red luminal que detectan ruido fisiologico. |
| WO2019232236A1 (en) | 2018-05-31 | 2019-12-05 | Auris Health, Inc. | Image-based airway analysis and mapping |
| EP4454591A3 (en) | 2018-05-31 | 2025-01-15 | Auris Health, Inc. | Path-based navigation of tubular networks |
| WO2019236450A1 (en) | 2018-06-07 | 2019-12-12 | Auris Health, Inc. | Robotic medical systems with high force instruments |
| 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 |
| US10667875B2 (en) | 2018-06-27 | 2020-06-02 | Auris Health, Inc. | Systems and techniques for providing multiple perspectives during medical procedures |
| JP7391886B2 (ja) * | 2018-06-28 | 2023-12-05 | オーリス ヘルス インコーポレイテッド | 滑車共有を組み込んだ医療システム |
| CN112804946B (zh) | 2018-08-07 | 2025-03-25 | 奥瑞斯健康公司 | 将基于应变的形状感测与导管控制相结合 |
| CN112566584A (zh) | 2018-08-15 | 2021-03-26 | 奥瑞斯健康公司 | 用于组织烧灼的医疗器械 |
| EP3806758A4 (en) | 2018-08-17 | 2022-04-06 | Auris Health, Inc. | BIPOLAR MEDICAL INSTRUMENT |
| EP3820384A4 (en) | 2018-08-24 | 2022-06-08 | Auris Health, Inc. | Manually and robotically controllable medical instruments |
| JP6783274B2 (ja) * | 2018-08-28 | 2020-11-11 | 株式会社メディカロイド | 手術器具 |
| JP6894036B2 (ja) * | 2018-08-28 | 2021-06-23 | 株式会社メディカロイド | 手術器具 |
| EP3813715B1 (en) | 2018-09-17 | 2025-11-12 | Auris Health, Inc. | Systems for concomitant medical procedures |
| WO2020068853A2 (en) | 2018-09-26 | 2020-04-02 | Auris Health, Inc. | Articulating medical instruments |
| CN112770689B (zh) | 2018-09-26 | 2024-07-19 | 奥瑞斯健康公司 | 用于抽吸和冲洗的系统和器械 |
| EP3856001A4 (en) | 2018-09-28 | 2022-06-22 | Auris Health, Inc. | DEVICES, SYSTEMS AND METHODS FOR MANUAL AND ROBOTIC DRIVES OF MEDICAL INSTRUMENTS |
| WO2020069430A1 (en) | 2018-09-28 | 2020-04-02 | Auris Health, Inc. | Systems and methods for docking medical instruments |
| EP3856065A4 (en) | 2018-09-28 | 2022-06-29 | Auris Health, Inc. | Robotic systems and methods for concomitant endoscopic and percutaneous medical procedures |
| US11576738B2 (en) | 2018-10-08 | 2023-02-14 | Auris Health, Inc. | Systems and instruments for tissue sealing |
| US12048504B2 (en) | 2018-11-15 | 2024-07-30 | Intuitive Surgical Operations, Inc. | Cable drive limited slip capstan and shaft |
| CN120036942A (zh) | 2018-11-15 | 2025-05-27 | 直观外科手术操作公司 | 将工具轴与缆绳驱动负载解除联接 |
| EP3890640B1 (en) * | 2018-12-06 | 2025-07-30 | Covidien LP | Controller for cable driven end effectors |
| EP3870075B1 (en) | 2018-12-20 | 2025-06-11 | Auris Health, Inc. | Shielding for wristed instruments |
| EP3866718A4 (en) | 2018-12-20 | 2022-07-20 | Auris Health, Inc. | Systems and methods for robotic arm alignment and docking |
| KR102873229B1 (ko) | 2018-12-28 | 2025-10-21 | 아우리스 헬스, 인코포레이티드 | 로봇 의료 시스템 및 방법을 위한 경피 시스 |
| US11986257B2 (en) | 2018-12-28 | 2024-05-21 | Auris Health, Inc. | Medical instrument with articulable segment |
| CN111374775B (zh) * | 2018-12-29 | 2024-08-30 | 达科为（深圳）医疗设备有限公司 | 医疗机器人机械操作手 |
| WO2020154100A1 (en) | 2019-01-25 | 2020-07-30 | Auris Health, Inc. | Vessel sealer with heating and cooling capabilities |
| CN113423359A (zh) | 2019-02-08 | 2021-09-21 | 奥瑞斯健康公司 | 机器人控制的凝块操纵和移除 |
| EP3890645A4 (en) | 2019-02-22 | 2022-09-07 | Auris Health, Inc. | SURGICAL PLATFORM WITH MOTORIZED ARMS FOR ADJUSTABLE ARMRESTS |
| KR102871585B1 (ko) | 2019-03-08 | 2025-10-20 | 아우리스 헬스, 인코포레이티드 | 의료 시스템 및 응용을 위한 틸트 메커니즘 |
| US12478444B2 (en) | 2019-03-21 | 2025-11-25 | The Board Of Trustees Of The Leland Stanford Junior University | Systems and methods for localization based on machine learning |
| EP3908224A4 (en) | 2019-03-22 | 2022-10-19 | Auris Health, Inc. | SYSTEMS AND METHODS FOR INLET ALIGNMENTS ON MEDICAL DEVICES |
| WO2020197625A1 (en) | 2019-03-25 | 2020-10-01 | Auris Health, Inc. | Systems and methods for medical stapling |
| US11617627B2 (en) | 2019-03-29 | 2023-04-04 | Auris Health, Inc. | Systems and methods for optical strain sensing in medical instruments |
| KR20210149805A (ko) | 2019-04-08 | 2021-12-09 | 아우리스 헬스, 인코포레이티드 | 동시 절차를 위한 시스템, 방법, 및 작업흐름 |
| EP3976155A4 (en) * | 2019-05-31 | 2023-09-27 | Canon U.S.A. Inc. | Actively controlled steerable medical device with passive bending mode |
| WO2020252184A1 (en) | 2019-06-13 | 2020-12-17 | Intuitive Surgical Operations, Inc. | Medical tool with length conservation mechanism for actuating tension bands |
| CN114126529A (zh) | 2019-06-25 | 2022-03-01 | 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 |
| EP3989841A4 (en) | 2019-06-26 | 2023-09-20 | Auris Health, Inc. | SYSTEMS AND METHODS FOR ROBOTIC ARM ALIGNMENT AND MOORING |
| US11369386B2 (en) | 2019-06-27 | 2022-06-28 | 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 |
| EP3989793B1 (en) | 2019-06-28 | 2025-11-19 | Auris Health, Inc. | Surgical console interface |
| US11896330B2 (en) | 2019-08-15 | 2024-02-13 | Auris Health, Inc. | Robotic medical system having multiple medical instruments |
| USD975275S1 (en) | 2019-08-15 | 2023-01-10 | Auris Health, Inc. | Handle for a medical instrument |
| CN114554930A (zh) | 2019-08-15 | 2022-05-27 | 奥瑞斯健康公司 | 具有多个弯曲节段的医疗装置 |
| USD978348S1 (en) | 2019-08-15 | 2023-02-14 | Auris Health, Inc. | Drive device for a medical instrument |
| EP4021331A4 (en) | 2019-08-30 | 2023-08-30 | Auris Health, Inc. | SYSTEMS AND METHODS FOR REGISTERING POSITION SENSORS BASED ON WEIGHT |
| EP4021329B1 (en) | 2019-08-30 | 2025-12-10 | Auris Health, Inc. | Instrument image reliability systems and methods |
| US11324558B2 (en) | 2019-09-03 | 2022-05-10 | Auris Health, Inc. | Electromagnetic distortion detection and compensation |
| US11234780B2 (en) | 2019-09-10 | 2022-02-01 | Auris Health, Inc. | Systems and methods for kinematic optimization with shared robotic degrees-of-freedom |
| US12324645B2 (en) | 2019-09-26 | 2025-06-10 | Auris Health, Inc. | Systems and methods for collision avoidance using object models |
| WO2021059099A1 (en) | 2019-09-26 | 2021-04-01 | 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 |
| GB2588410B (en) * | 2019-10-22 | 2024-05-29 | Cmr Surgical Ltd | Controlling a surgical instrument |
| US11737835B2 (en) | 2019-10-29 | 2023-08-29 | Auris Health, Inc. | Braid-reinforced insulation sheath |
| CN114727850A (zh) | 2019-11-21 | 2022-07-08 | 奥瑞斯健康公司 | 用于覆盖外科系统的系统和方法 |
| EP4057882A1 (en) * | 2019-12-23 | 2022-09-21 | Sony Group Corporation | Computer assisted surgery system, surgical control apparatus and surgical control method |
| KR20220123269A (ko) | 2019-12-31 | 2022-09-06 | 아우리스 헬스, 인코포레이티드 | 고급 바스켓 구동 모드 |
| WO2021137104A1 (en) | 2019-12-31 | 2021-07-08 | Auris Health, Inc. | Dynamic pulley system |
| CN119055360A (zh) | 2019-12-31 | 2024-12-03 | 奥瑞斯健康公司 | 解剖特征识别和瞄准 |
| US11660147B2 (en) | 2019-12-31 | 2023-05-30 | Auris Health, Inc. | Alignment techniques for percutaneous access |
| KR20220123087A (ko) | 2019-12-31 | 2022-09-05 | 아우리스 헬스, 인코포레이티드 | 경피 접근을 위한 정렬 인터페이스 |
| EP4084723A1 (en) | 2019-12-31 | 2022-11-09 | Auris Health, Inc. | Manual actuator for a robotic medical system |
| US11737663B2 (en) | 2020-03-30 | 2023-08-29 | Auris Health, Inc. | Target anatomical feature localization |
| CN115515523A (zh) | 2020-03-30 | 2022-12-23 | 奥瑞斯健康公司 | 机器人外科手术的工作空间优化 |
| WO2021225863A1 (en) * | 2020-05-04 | 2021-11-11 | Intuitive Surgical Operations, Inc. | Medical instrument having single input for driving multiple cables |
| EP4171427A4 (en) | 2020-06-29 | 2024-08-07 | Auris Health, Inc. | Systems and methods for detecting contact between a link and an external object |
| US11931901B2 (en) | 2020-06-30 | 2024-03-19 | Auris Health, Inc. | Robotic medical system with collision proximity indicators |
| US11357586B2 (en) | 2020-06-30 | 2022-06-14 | Auris Health, Inc. | Systems and methods for saturated robotic movement |
| CN111839592B (zh) * | 2020-08-13 | 2023-12-29 | 厦门市领汇医疗科技有限公司 | 一种前列腺检测装置 |
| KR20230058117A (ko) * | 2020-08-27 | 2023-05-02 | 버브 서지컬 인크. | 수술 로봇 시스템에서 외부 부하 하의 백래시, 마찰, 및 컴플라이언스를 갖는 수술 기구의 제어 |
| EP4213756A1 (en) * | 2020-09-15 | 2023-07-26 | Covidien LP | Surgical robotic system for controlling wristed instruments |
| CN112057174B (zh) * | 2020-09-30 | 2025-06-13 | 深圳市精锋医疗科技股份有限公司 | 手术器械、从操作设备及手术机器人 |
| US12349997B2 (en) * | 2020-09-30 | 2025-07-08 | Shenzhen Edge Medical Co., Ltd. | Surgical instrument, slave operating device, and surgical robot |
| EP4223248A4 (en) * | 2020-09-30 | 2024-10-16 | Shenzhen Edge Medical Co., Ltd. | Surgical instrument, slave operating equipment, and surgical robot |
| CN112043393A (zh) * | 2020-09-30 | 2020-12-08 | 深圳市精锋医疗科技有限公司 | 手术器械、从操作设备及手术机器人 |
| CN120284476A (zh) * | 2020-09-30 | 2025-07-11 | 深圳市精锋医疗科技股份有限公司 | 手术器械、从操作设备及手术机器人 |
| CN112274252B (zh) * | 2020-09-30 | 2025-05-09 | 深圳市精锋医疗科技股份有限公司 | 手术器械、从操作设备及手术机器人 |
| US12017369B2 (en) * | 2020-10-05 | 2024-06-25 | Verb Surgical Inc. | Null space control for end effector joints of a robotic instrument |
| CN120983156A (zh) * | 2020-12-19 | 2025-11-21 | 深圳市精锋医疗科技股份有限公司 | 手术器械、从操作设备及手术机器人 |
| CN113274104B (zh) * | 2021-07-01 | 2025-04-08 | 中国石油大学(华东) | 一种柔索驱动核磁兼容穿刺定位手术机器人 |
| EP4384061A4 (en) | 2021-08-11 | 2025-05-28 | W Endoluminal Robotics Ltd | Bipronged approach to bronchoscopy |
| US20230049257A1 (en) * | 2021-08-12 | 2023-02-16 | Cmr Surgical Limited | Surgical robot arm and instrument detachment |
| EP4401666A1 (en) | 2021-09-13 | 2024-07-24 | DistalMotion SA | Instruments for surgical robotic system and interfaces for the same |
| IT202100024434A1 (it) * | 2021-09-23 | 2023-03-23 | Medical Microinstruments Inc | Metodo di controllo di un terminale articolato attuato mediante uno o più tendini di attuazione di uno strumento chirurgico di un sistema robotizzato per chirurgia |
| CN113712670A (zh) * | 2021-11-02 | 2021-11-30 | 极限人工智能(北京)有限公司 | 多功能通道器及微创手术机器人 |
| CN116264990B (zh) * | 2021-12-16 | 2025-09-16 | 瑞龙诺赋(上海)医疗科技有限公司 | 自由度调节机构、手术器械及手术机器人 |
| EP4458286A4 (en) * | 2021-12-29 | 2025-04-30 | Livsmed Inc. | SURGICAL INSTRUMENT |
| CN116849814A (zh) * | 2022-01-04 | 2023-10-10 | 常州唯精医疗机器人有限公司 | 一种开合式手术器械及微创手术机器人 |
| US12390292B2 (en) | 2022-04-26 | 2025-08-19 | Cilag Gmbh International | Insertion coupled inserting surgical instruments |
| US12402967B2 (en) * | 2022-04-26 | 2025-09-02 | Cilag Gmbh International | Surgical instruments with actuatable tailpiece |
| WO2024019559A1 (ko) * | 2022-07-20 | 2024-01-25 | 한국항공대학교산학협력단 | 자궁 거상기, 이를 포함하는 자궁 거상기 로봇 및 이를 포함하는 자궁 거상기 시스템 |
| US11844585B1 (en) | 2023-02-10 | 2023-12-19 | Distalmotion Sa | Surgical robotics systems and devices having a sterile restart, and methods thereof |
| KR102581060B1 (ko) | 2023-04-26 | 2023-09-21 | 주식회사 크리넷 | 친환경 아이스팩 조성물, 이를 포함하는 아이스팩 및 이의 제조방법 |
| CN119074209A (zh) * | 2024-11-06 | 2024-12-06 | 哈尔滨思哲睿智能医疗设备股份有限公司 | 手术器械控制方法、装置、电子设备、存储介质及产品 |
Family Cites Families (364)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2556601A (en) | 1947-02-10 | 1951-06-12 | Niles Bement Pond Co | Multiple tapping head |
| US2566183A (en) | 1947-05-29 | 1951-08-28 | Skilsaw Inc | Portable power-driven tool |
| US2623175A (en) | 1949-03-25 | 1952-12-23 | Radiart Corp | Reel antenna |
| US2730699A (en) | 1952-02-01 | 1956-01-10 | Gen Dynamics Corp | Telemetering system |
| US2884808A (en) | 1957-10-23 | 1959-05-05 | Mueller Co | Drive for drilling machine |
| US3294183A (en) | 1964-09-30 | 1966-12-27 | Black & Decker Mfg Co | Power driven tools |
| US3472083A (en) | 1967-10-25 | 1969-10-14 | Lawrence S Schnepel | Torque wrench |
| US3513724A (en) | 1968-07-17 | 1970-05-26 | Monogram Ind Inc | Speed reduction mechanism |
| US3595074A (en) | 1968-10-30 | 1971-07-27 | Clarence Johnson | Torque transducer |
| JPS5025234B1 (OSRAM) | 1970-02-20 | 1975-08-21 | ||
| JPS4921672Y1 (OSRAM) | 1970-08-21 | 1974-06-10 | ||
| GB1372327A (en) * | 1971-10-11 | 1974-10-30 | Commissariat Energie Atomique | Articulated manipulator |
| US3734207A (en) | 1971-12-27 | 1973-05-22 | M Fishbein | Battery powered orthopedic cutting tool |
| US3926386A (en) | 1974-07-09 | 1975-12-16 | Us Air Force | Spool for wire deployment |
| US3921536A (en) | 1975-01-30 | 1975-11-25 | Hall Ski Lift Company Inc | Cable grip tester |
| DE2524605A1 (de) | 1975-06-03 | 1976-12-23 | Heinz Peter Dipl Brandstetter | Vorrichtung zum messen von mechanischer arbeit und leistung |
| SE414272B (sv) | 1978-10-17 | 1980-07-21 | Viggo Ab | Kanyl- eller kateteraggregat |
| US4241884A (en) | 1979-03-20 | 1980-12-30 | George Lynch | Powered device for controlling the rotation of a reel |
| AT365363B (de) | 1979-09-20 | 1982-01-11 | Philips Nv | Aufzeichnungs- und/oder wiedergabegeraet |
| CH643092A5 (de) | 1980-02-18 | 1984-05-15 | Gruenbaum Heinrich Leuzinger | Vorrichtung zum messen des von einem elektromotor ausgeuebten drehmomentes. |
| US4357843A (en) | 1980-10-31 | 1982-11-09 | Peck-O-Matic, Inc. | Tong apparatus for threadedly connecting and disconnecting elongated members |
| JPS57144633A (en) | 1981-03-05 | 1982-09-07 | Inoue Japax Res Inc | Wire electrode feeder |
| US4507026A (en) | 1982-09-29 | 1985-03-26 | Boeing Aerospace Company | Depth control assembly |
| US4555960A (en) | 1983-03-23 | 1985-12-03 | Cae Electronics, Ltd. | Six degree of freedom hand controller |
| US4688555A (en) * | 1986-04-25 | 1987-08-25 | Circon Corporation | Endoscope with cable compensating mechanism |
| US4784150A (en) | 1986-11-04 | 1988-11-15 | Research Corporation | Surgical retractor and blood flow monitor |
| US4745908A (en) | 1987-05-08 | 1988-05-24 | Circon Corporation | Inspection instrument fexible shaft having deflection compensation means |
| US4907168A (en) | 1988-01-11 | 1990-03-06 | Adolph Coors Company | Torque monitoring apparatus |
| US4857058A (en) | 1988-07-11 | 1989-08-15 | Payton Hugh W | Support patch for intravenous catheter |
| US4945790A (en) | 1989-08-07 | 1990-08-07 | Arthur Golden | Multi-purpose hand tool |
| US5350101A (en) | 1990-11-20 | 1994-09-27 | Interventional Technologies Inc. | Device for advancing a rotatable tube |
| DE4104490C2 (de) | 1991-02-14 | 1994-05-05 | Porsche Ag | Elektro-hydraulische Steuerung für ein Automatgetriebe |
| US5234428A (en) | 1991-06-11 | 1993-08-10 | Kaufman David I | Disposable electrocautery/cutting instrument with integral continuous smoke evacuation |
| JPH05146975A (ja) | 1991-11-26 | 1993-06-15 | Bridgestone Corp | 多軸電動オートナツトランナ |
| US5256150A (en) | 1991-12-13 | 1993-10-26 | Endovascular Technologies, Inc. | Large-diameter expandable sheath and method |
| US5207128A (en) | 1992-03-23 | 1993-05-04 | Weatherford-Petco, Inc. | Tong with floating jaws |
| WO1993020876A1 (en) | 1992-04-14 | 1993-10-28 | Du-Med B.V. | Electronic catheter displacement sensor |
| GB2280343A (en) | 1993-07-08 | 1995-01-25 | Innovative Care Ltd | A laser targeting device for use with image intensifiers |
| US5524180A (en) | 1992-08-10 | 1996-06-04 | Computer Motion, Inc. | Automated endoscope system for optimal positioning |
| US5368564A (en) | 1992-12-23 | 1994-11-29 | Angeion Corporation | Steerable catheter |
| US5779623A (en) | 1993-10-08 | 1998-07-14 | Leonard Medical, Inc. | Positioner for medical instruments |
| JP3476878B2 (ja) | 1993-11-15 | 2003-12-10 | オリンパス株式会社 | 手術用マニピュレータ |
| US6154000A (en) | 1994-09-07 | 2000-11-28 | Omnitek Research & Development, Inc. | Apparatus for providing a controlled deflection and/or actuator apparatus |
| US5559294A (en) | 1994-09-15 | 1996-09-24 | Condux International, Inc. | Torque measuring device |
| DE19625850B4 (de) | 1995-06-27 | 2008-01-31 | Matsushita Electric Works, Ltd., Kadoma | Planetengetriebe |
| US6436107B1 (en) | 1996-02-20 | 2002-08-20 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive surgical procedures |
| US5855583A (en) | 1996-02-20 | 1999-01-05 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive cardiac procedures |
| US5842390A (en) | 1996-02-28 | 1998-12-01 | Frank's Casing Crew And Rental Tools Inc. | Dual string backup tong |
| US5797900A (en) * | 1996-05-20 | 1998-08-25 | Intuitive Surgical, Inc. | Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
| US5792135A (en) | 1996-05-20 | 1998-08-11 | Intuitive Surgical, Inc. | Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
| US5767840A (en) | 1996-06-28 | 1998-06-16 | International Business Machines Corporation | Six-degrees-of-freedom movement sensor having strain gauge mechanical supports |
| DE19649082C1 (de) | 1996-11-27 | 1998-01-08 | Fraunhofer Ges Forschung | Vorrichtung zur Fernsteuerung eines Werkzeugs |
| US6331181B1 (en) | 1998-12-08 | 2001-12-18 | Intuitive Surgical, Inc. | Surgical robotic tools, data architecture, and use |
| US6272371B1 (en) | 1997-01-03 | 2001-08-07 | Biosense Inc. | Bend-responsive catheter |
| DE19717108A1 (de) | 1997-04-23 | 1998-11-05 | Stm Medtech Starnberg | Stülpschlauchsystem |
| US6394993B1 (en) | 1997-05-21 | 2002-05-28 | Nestec, Ltd. | Protective spiking port, container implementing same and method for protecting a container |
| US6185478B1 (en) | 1997-05-29 | 2001-02-06 | Seiko Epson Corporation | Printing apparatus, control method for a printing apparatus, and recording medium for recording a control program for a printing apparatus |
| US6231565B1 (en) | 1997-06-18 | 2001-05-15 | United States Surgical Corporation | Robotic arm DLUs for performing surgical tasks |
| EP2362286B1 (en) * | 1997-09-19 | 2015-09-02 | Massachusetts Institute Of Technology | Robotic apparatus |
| US5921968A (en) | 1997-11-25 | 1999-07-13 | Merit Medical Systems, Inc. | Valve apparatus with adjustable quick-release mechanism |
| GB2334270A (en) | 1998-02-14 | 1999-08-18 | Weatherford Lamb | Apparatus for attachment to pipe handling arm |
| US20080177285A1 (en) | 1998-02-24 | 2008-07-24 | Hansen Medical, Inc. | Surgical instrument |
| IL123646A (en) | 1998-03-11 | 2010-05-31 | Refael Beyar | Remote control catheterization |
| US6171234B1 (en) | 1998-09-25 | 2001-01-09 | Scimed Life Systems, Inc. | Imaging gore loading tool |
| US6620173B2 (en) | 1998-12-08 | 2003-09-16 | Intuitive Surgical, Inc. | Method for introducing an end effector to a surgical site in minimally invasive surgery |
| US6394998B1 (en) * | 1999-01-22 | 2002-05-28 | Intuitive Surgical, Inc. | Surgical tools for use in minimally invasive telesurgical applications |
| US6084371A (en) | 1999-02-19 | 2000-07-04 | Lockheed Martin Energy Research Corporation | Apparatus and methods for a human de-amplifier system |
| JP2003530131A (ja) | 1999-03-07 | 2003-10-14 | ディスクレ リミテッド | コンピューターを利用する手術方法及び装置 |
| US6289579B1 (en) | 1999-03-23 | 2001-09-18 | Motorola, Inc. | Component alignment and transfer apparatus |
| AU7641000A (en) | 1999-08-27 | 2001-03-26 | Helmut Wollschlager | Device for handling a catheter |
| US8004229B2 (en) | 2005-05-19 | 2011-08-23 | Intuitive Surgical Operations, Inc. | Software center and highly configurable robotic systems for surgery and other uses |
| US8768516B2 (en) | 2009-06-30 | 2014-07-01 | Intuitive Surgical Operations, Inc. | Control of medical robotic system manipulator about kinematic singularities |
| US9345544B2 (en) | 1999-09-17 | 2016-05-24 | Intuitive Surgical Operations, Inc. | Systems and methods for avoiding collisions between manipulator arms using a null-space |
| US6427783B2 (en) | 2000-01-12 | 2002-08-06 | Baker Hughes Incorporated | Steerable modular drilling assembly |
| US6858005B2 (en) | 2000-04-03 | 2005-02-22 | Neo Guide Systems, Inc. | Tendon-driven endoscope and methods of insertion |
| DE10025285A1 (de) | 2000-05-22 | 2001-12-06 | Siemens Ag | Vollautomatische, robotergestützte Kameraführung unter Verwendung von Positionssensoren für laparoskopische Eingriffe |
| US20020100254A1 (en) | 2000-10-12 | 2002-08-01 | Dsd Communications, Inc. | System and method for targeted advertising and marketing |
| EP1199622B1 (de) | 2000-10-20 | 2007-12-12 | Deere & Company | Bedienungselement |
| US6676557B2 (en) | 2001-01-23 | 2004-01-13 | Black & Decker Inc. | First stage clutch |
| US6487940B2 (en) | 2001-01-23 | 2002-12-03 | Associated Toolmakers Incorporated | Nut driver |
| US8414505B1 (en) | 2001-02-15 | 2013-04-09 | Hansen Medical, Inc. | Catheter driver system |
| US7766894B2 (en) | 2001-02-15 | 2010-08-03 | Hansen Medical, Inc. | Coaxial catheter system |
| EP2298220B1 (en) | 2001-02-15 | 2016-06-08 | Hansen Medical, Inc. | Flexible instrument |
| US6612143B1 (en) | 2001-04-13 | 2003-09-02 | Orametrix, Inc. | Robot and method for bending orthodontic archwires and other medical devices |
| US6640412B2 (en) | 2001-04-26 | 2003-11-04 | Endovascular Technologies, Inc. | Method for loading a stent using a collapsing machine |
| US7635342B2 (en) | 2001-05-06 | 2009-12-22 | Stereotaxis, Inc. | System and methods for medical device advancement and rotation |
| US7766856B2 (en) | 2001-05-06 | 2010-08-03 | Stereotaxis, Inc. | System and methods for advancing a catheter |
| AU2002305341A1 (en) | 2001-05-06 | 2002-11-18 | Stereotaxis, Inc. | System and methods for advancing a catheter |
| CA2351993C (en) | 2001-06-29 | 2003-02-18 | New World Technologie Inc. | Torque tool |
| US20060199999A1 (en) | 2001-06-29 | 2006-09-07 | Intuitive Surgical Inc. | Cardiac tissue ablation instrument with flexible wrist |
| US20040243147A1 (en) | 2001-07-03 | 2004-12-02 | Lipow Kenneth I. | Surgical robot and robotic controller |
| US6830545B2 (en) | 2002-05-13 | 2004-12-14 | Everest Vit | Tube gripper integral with controller for endoscope of borescope |
| US7044936B2 (en) | 2002-08-21 | 2006-05-16 | Arrow International Inc. | Catheter connector with pivot lever spring latch |
| US7660623B2 (en) | 2003-01-30 | 2010-02-09 | Medtronic Navigation, Inc. | Six degree of freedom alignment display for medical procedures |
| EP1442720A1 (en) | 2003-01-31 | 2004-08-04 | Tre Esse Progettazione Biomedica S.r.l | Apparatus for the maneuvering of flexible catheters in the human cardiovascular system |
| US7246273B2 (en) | 2003-02-28 | 2007-07-17 | Sony Corporation | Method of, apparatus and graphical user interface for automatic diagnostics |
| US20050004579A1 (en) | 2003-06-27 | 2005-01-06 | Schneider M. Bret | Computer-assisted manipulation of catheters and guide wires |
| US9002518B2 (en) | 2003-06-30 | 2015-04-07 | Intuitive Surgical Operations, Inc. | Maximum torque driving of robotic surgical tools in robotic surgical systems |
| DE602004031974D1 (de) | 2003-12-11 | 2011-05-05 | Cook Inc | Hämostaseventilanordnung |
| US8287584B2 (en) | 2005-11-14 | 2012-10-16 | Sadra Medical, Inc. | Medical implant deployment tool |
| US7344494B2 (en) | 2004-02-09 | 2008-03-18 | Karl Storz Development Corp. | Endoscope with variable direction of view module |
| US7204168B2 (en) * | 2004-02-25 | 2007-04-17 | The University Of Manitoba | Hand controller and wrist device |
| WO2005087128A1 (en) | 2004-03-05 | 2005-09-22 | Hansen Medical, Inc. | Robotic catheter system |
| US8052636B2 (en) | 2004-03-05 | 2011-11-08 | Hansen Medical, Inc. | Robotic catheter system and methods |
| DE102004020465B3 (de) | 2004-04-26 | 2005-09-01 | Aumann Gmbh | Drahtzugregler für Wickelmaschinen |
| US7974674B2 (en) | 2004-05-28 | 2011-07-05 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic surgical system and method for surface modeling |
| US10258285B2 (en) | 2004-05-28 | 2019-04-16 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic surgical system and method for automated creation of ablation lesions |
| IL162318A (en) | 2004-06-03 | 2011-07-31 | Tal Wenderow | Transmission for a remote catheterization system |
| US8005537B2 (en) | 2004-07-19 | 2011-08-23 | Hansen Medical, Inc. | Robotically controlled intravascular tissue injection system |
| US7314097B2 (en) | 2005-02-24 | 2008-01-01 | Black & Decker Inc. | Hammer drill with a mode changeover mechanism |
| US20060237205A1 (en) | 2005-04-21 | 2006-10-26 | Eastway Fair Company Limited | Mode selector mechanism for an impact driver |
| US7789874B2 (en) | 2005-05-03 | 2010-09-07 | Hansen Medical, Inc. | Support assembly for robotic catheter system |
| US8104479B2 (en) | 2005-06-23 | 2012-01-31 | Volcano Corporation | Pleated bag for interventional pullback systems |
| US20070005002A1 (en) | 2005-06-30 | 2007-01-04 | Intuitive Surgical Inc. | Robotic surgical instruments for irrigation, aspiration, and blowing |
| WO2007005976A1 (en) | 2005-07-01 | 2007-01-11 | Hansen Medical, Inc. | Robotic catheter system |
| JP4763420B2 (ja) | 2005-10-27 | 2011-08-31 | オリンパスメディカルシステムズ株式会社 | 内視鏡用操作補助装置 |
| JP5121132B2 (ja) | 2005-11-02 | 2013-01-16 | オリンパスメディカルシステムズ株式会社 | 内視鏡システム、及び内視鏡用操作補助装置 |
| US20070149946A1 (en) | 2005-12-07 | 2007-06-28 | Viswanathan Raju R | Advancer system for coaxial medical devices |
| ATE547059T1 (de) | 2005-12-20 | 2012-03-15 | Intuitive Surgical Operations | Instrumentenschnittstelle eines roboter- chirurgiesystems |
| US9266239B2 (en) | 2005-12-27 | 2016-02-23 | Intuitive Surgical Operations, Inc. | Constraint based control in a minimally invasive surgical apparatus |
| US9962066B2 (en) | 2005-12-30 | 2018-05-08 | Intuitive Surgical Operations, Inc. | Methods and apparatus to shape flexible entry guides for minimally invasive surgery |
| JP4789000B2 (ja) | 2006-02-16 | 2011-10-05 | Ｓｍｃ株式会社 | 減速比自動切換装置 |
| US9675375B2 (en) | 2006-03-29 | 2017-06-13 | Ethicon Llc | Ultrasonic surgical system and method |
| US8628520B2 (en) | 2006-05-02 | 2014-01-14 | Biosense Webster, Inc. | Catheter with omni-directional optical lesion evaluation |
| WO2007136803A2 (en) | 2006-05-17 | 2007-11-29 | Hansen Medical, Inc. | Robotic instrument system |
| CN104688281B (zh) | 2006-06-13 | 2017-04-19 | 直观外科手术操作公司 | 微创手术系统 |
| US8784435B2 (en) | 2006-06-13 | 2014-07-22 | Intuitive Surgical Operations, Inc. | Surgical system entry guide |
| US8491603B2 (en) | 2006-06-14 | 2013-07-23 | MacDonald Dettwiller and Associates Inc. | Surgical manipulator |
| US8303449B2 (en) | 2006-08-01 | 2012-11-06 | Techtronic Power Tools Technology Limited | Automatic transmission for a power tool |
| JP4755047B2 (ja) | 2006-08-08 | 2011-08-24 | テルモ株式会社 | 作業機構及びマニピュレータ |
| US7699809B2 (en) | 2006-12-14 | 2010-04-20 | Urmey William F | Catheter positioning system |
| WO2008101228A2 (en) | 2007-02-15 | 2008-08-21 | Hansen Medical, Inc. | Robotic medical instrument system |
| US20080214925A1 (en) | 2007-03-01 | 2008-09-04 | Civco Medical Instruments Co., Inc. | Device for precision positioning of instruments at a mri scanner |
| JP5090045B2 (ja) * | 2007-04-03 | 2012-12-05 | テルモ株式会社 | マニピュレータ及びその制御方法 |
| US7695154B2 (en) | 2007-04-05 | 2010-04-13 | Dpm Associates, Llc | Illuminating footwear accessory |
| US20080262301A1 (en) | 2007-04-20 | 2008-10-23 | Wilson-Cook Medical Inc. | Steerable overtube |
| US8414246B2 (en) | 2007-06-06 | 2013-04-09 | Cycogs, Llc | Modular hybrid snake arm |
| US7998020B2 (en) | 2007-08-21 | 2011-08-16 | Stereotaxis, Inc. | Apparatus for selectively rotating and/or advancing an elongate device |
| US20090082722A1 (en) | 2007-08-21 | 2009-03-26 | Munger Gareth T | Remote navigation advancer devices and methods of use |
| AU2008291475B2 (en) | 2007-08-28 | 2014-02-06 | Marel A/S | Gripping device, for example for a robot |
| CN100522507C (zh) * | 2007-10-19 | 2009-08-05 | 哈尔滨工业大学 | 机器人灵巧手手指内集成电路板之间的柔性连线结构 |
| JP2009139187A (ja) | 2007-12-05 | 2009-06-25 | Sumitomo Heavy Ind Ltd | トルク測定装置 |
| JP5017076B2 (ja) | 2007-12-21 | 2012-09-05 | テルモ株式会社 | マニピュレータシステム及びマニピュレータの制御方法 |
| US8473031B2 (en) | 2007-12-26 | 2013-06-25 | Intuitive Surgical Operations, Inc. | Medical robotic system with functionality to determine and display a distance indicated by movement of a tool robotically manipulated by an operator |
| EP2231253B1 (en) | 2008-01-16 | 2019-06-12 | Catheter Precision, Inc. | Remotely controlled catheter insertion system |
| US9877859B2 (en) | 2008-01-29 | 2018-01-30 | Peter Forsell | Methods and instruments for treating obesity and gastroesophageal reflux disease |
| US9179912B2 (en) | 2008-02-14 | 2015-11-10 | Ethicon Endo-Surgery, Inc. | Robotically-controlled motorized surgical cutting and fastening instrument |
| WO2009109532A2 (en) | 2008-03-07 | 2009-09-11 | Novozymes A/S | Use of defensins against tuberculosis |
| JP5322153B2 (ja) | 2008-03-25 | 2013-10-23 | Ｎｔｎ株式会社 | 医療用線状体の駆動装置 |
| US8317745B2 (en) | 2008-03-27 | 2012-11-27 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic catheter rotatable device cartridge |
| US7886743B2 (en) | 2008-03-31 | 2011-02-15 | Intuitive Surgical Operations, Inc. | Sterile drape interface for robotic surgical instrument |
| US7938809B2 (en) | 2008-04-14 | 2011-05-10 | Merit Medical Systems, Inc. | Quick release hemostasis valve |
| EP2282803B1 (en) | 2008-05-06 | 2015-07-01 | Corindus Inc. | Catheter system |
| BRPI0911039A2 (pt) | 2008-05-12 | 2016-08-16 | Longyear Tm Inc | dispositivo de giro de haste de face aberta, mastro de perfuração, e, equipamento de perfuração |
| WO2009151205A1 (ko) | 2008-06-11 | 2009-12-17 | (주)미래컴퍼니 | 수술용 로봇 암의 인스트루먼트 |
| JP2010035768A (ja) | 2008-08-04 | 2010-02-18 | Olympus Medical Systems Corp | 能動駆動式医療機器 |
| JP2010046384A (ja) | 2008-08-25 | 2010-03-04 | Terumo Corp | 医療用マニピュレータ及び実験装置 |
| US8390438B2 (en) | 2008-09-24 | 2013-03-05 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic catheter system including haptic feedback |
| 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 |
| US8095223B2 (en) | 2008-11-26 | 2012-01-10 | B. Braun Medical, Inc. | Apparatus and method for inserting a catheter |
| US8602031B2 (en) | 2009-01-12 | 2013-12-10 | Hansen Medical, Inc. | Modular interfaces and drive actuation through barrier |
| ITBO20090004U1 (it) | 2009-02-11 | 2010-08-12 | Tre Esse Progettazione Biomedica S R L | Manipolatore robotico per la manovra a distanza di cateteri steerable nel sistema cardiovascolare umano. |
| KR100961661B1 (ko) | 2009-02-12 | 2010-06-09 | 주식회사 래보 | 수술용 항법 장치 및 그 방법 |
| WO2010093489A2 (en) | 2009-02-13 | 2010-08-19 | Cardiac Pacemakers, Inc. | Deployable sensor platform on the lead system of an implantable device |
| US8423182B2 (en) | 2009-03-09 | 2013-04-16 | Intuitive Surgical Operations, Inc. | Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems |
| CN102405022B (zh) | 2009-03-14 | 2015-02-04 | 瓦索斯蒂奇股份有限公司 | 血管进入和闭合装置 |
| US10004387B2 (en) | 2009-03-26 | 2018-06-26 | Intuitive Surgical Operations, Inc. | Method and system for assisting an operator in endoscopic navigation |
| EP2233103B1 (de) | 2009-03-26 | 2017-11-15 | W & H Dentalwerk Bürmoos GmbH | Medizinisches, insbesondere dentales, Handstück |
| KR101030371B1 (ko) | 2009-04-27 | 2011-04-20 | 국립암센터 | 최소 침습 수술을 위한 내시경 조정 장치 |
| GB0908368D0 (en) | 2009-05-15 | 2009-06-24 | Univ Leuven Kath | Adjustable remote center of motion positioner |
| ES2388029B1 (es) | 2009-05-22 | 2013-08-13 | Universitat Politècnica De Catalunya | Sistema robótico para cirugia laparoscópica. |
| US10537713B2 (en) | 2009-05-25 | 2020-01-21 | Stereotaxis, Inc. | Remote manipulator device |
| US8920369B2 (en) | 2009-06-24 | 2014-12-30 | Shifamed Holdings, Llc | Steerable delivery sheaths |
| WO2011005335A1 (en) | 2009-07-10 | 2011-01-13 | Tyco Healthcare Group Lp | Shaft constructions for medical devices with an articulating tip |
| US20110015484A1 (en) | 2009-07-16 | 2011-01-20 | Alvarez Jeffrey B | Endoscopic robotic catheter system |
| US20110015648A1 (en) | 2009-07-16 | 2011-01-20 | Hansen Medical, Inc. | Endoscopic robotic catheter system |
| US20110071541A1 (en) | 2009-09-23 | 2011-03-24 | Intuitive Surgical, Inc. | Curved cannula |
| US8277417B2 (en) | 2009-09-23 | 2012-10-02 | James J. Fedinec | Central venous catheter kit with line gripping and needle localizing devices |
| KR101666859B1 (ko) | 2009-10-01 | 2016-10-17 | 마코 서지컬 코포레이션 | 도구, 다기능 도구용 부품들의 키트 및 다기능 도구용 로봇 시스템 |
| RU2555381C2 (ru) | 2009-11-12 | 2015-07-10 | Конинклейке Филипс Электроникс Н.В. | Система направления и катетерная система |
| JP5750116B2 (ja) | 2009-11-16 | 2015-07-15 | コーニンクレッカ フィリップス エヌ ヴェ | 内視鏡支援ロボットのための人‐ロボット共用制御 |
| US8932211B2 (en) | 2012-06-22 | 2015-01-13 | Macroplata, Inc. | Floating, multi-lumen-catheter retractor system for a minimally-invasive, operative gastrointestinal treatment |
| DE102010031274B4 (de) | 2009-12-18 | 2023-06-22 | Robert Bosch Gmbh | Handwerkzeugmaschine mit Kühlung des Getriebes |
| US20110152880A1 (en) | 2009-12-23 | 2011-06-23 | Hansen Medical, Inc. | Flexible and steerable elongate instruments with torsion control |
| US8220688B2 (en) | 2009-12-24 | 2012-07-17 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting instrument with electric actuator directional control assembly |
| EP2542290B1 (en) | 2010-03-02 | 2019-11-06 | Corindus, Inc. | Robotic catheter system with variable drive mechanism |
| US9610133B2 (en) | 2010-03-16 | 2017-04-04 | Covidien Lp | Wireless laparoscopic camera |
| US9950139B2 (en) | 2010-05-14 | 2018-04-24 | C. R. Bard, Inc. | Catheter placement device including guidewire and catheter control elements |
| DE102010029275A1 (de) | 2010-05-25 | 2011-12-01 | Siemens Aktiengesellschaft | Verfahren zum Bewegen eines Instrumentenarms eines Laparoskopierobotors in einer vorgebbare Relativlage zu einem Trokar |
| US8672837B2 (en) | 2010-06-24 | 2014-03-18 | Hansen Medical, Inc. | Methods and devices for controlling a shapeable medical device |
| US8226580B2 (en) | 2010-06-30 | 2012-07-24 | Biosense Webster (Israel), Ltd. | Pressure sensing for a multi-arm catheter |
| WO2012018816A2 (en) | 2010-08-02 | 2012-02-09 | The Johns Hopkins University | Tool exchange interface and control algorithm for cooperative surgical robots |
| WO2012035923A1 (ja) | 2010-09-14 | 2012-03-22 | オリンパスメディカルシステムズ株式会社 | 内視鏡システム及び視界不良判定方法 |
| US20120191107A1 (en) | 2010-09-17 | 2012-07-26 | Tanner Neal A | Systems and methods for positioning an elongate member inside a body |
| EP2627278B1 (en) * | 2010-10-11 | 2015-03-25 | Ecole Polytechnique Fédérale de Lausanne (EPFL) | Mechanical manipulator for surgical instruments |
| CN201884596U (zh) * | 2010-11-02 | 2011-06-29 | 李国铭 | 差速器 |
| CN105748152B (zh) * | 2010-11-15 | 2018-06-26 | 直观外科手术操作公司 | 在手术仪器中去耦仪器轴滚动和末端执行器促动 |
| DE102011003118A1 (de) | 2011-01-25 | 2012-07-26 | Krones Aktiengesellschaft | Verschließeinrichtung |
| DE102011011497A1 (de) | 2011-02-17 | 2012-08-23 | Kuka Roboter Gmbh | Chirurgisches Instrument |
| EP2731517A2 (en) | 2011-07-11 | 2014-05-21 | Medical Vision Research & Development AB | Status control for electrically powered surgical tool systems |
| 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 |
| CN102973317A (zh) | 2011-09-05 | 2013-03-20 | 周宁新 | 微创手术机器人机械臂布置结构 |
| FR2979532B1 (fr) | 2011-09-07 | 2015-02-20 | Robocath | Module et procede d'entrainement d'organes medicaux souples allonges et systeme robotise associe |
| US9918681B2 (en) | 2011-09-16 | 2018-03-20 | Auris Surgical Robotics, Inc. | System and method for virtually tracking a surgical tool on a movable display |
| WO2013043804A1 (en) | 2011-09-20 | 2013-03-28 | Corindus, Inc. | Catheter force measurement apparatus and method |
| US9504604B2 (en) | 2011-12-16 | 2016-11-29 | Auris Surgical Robotics, Inc. | Lithotripsy eye treatment |
| EP2809249B1 (en) | 2012-02-03 | 2018-12-26 | Intuitive Surgical Operations, Inc. | Steerable flexible needle with embedded shape sensing |
| JP6034573B2 (ja) | 2012-02-28 | 2016-11-30 | テルモ株式会社 | 医療器具用可撓管および医療器具 |
| US10383765B2 (en) | 2012-04-24 | 2019-08-20 | Auris Health, Inc. | Apparatus and method for a global coordinate system for use in robotic surgery |
| US20140142591A1 (en) | 2012-04-24 | 2014-05-22 | Auris Surgical Robotics, Inc. | Method, apparatus and a system for robotic assisted surgery |
| DE102012207060A1 (de) | 2012-04-27 | 2013-10-31 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Roboteranordnung zum Einsatz in medizinischen Bereichen |
| US20130317519A1 (en) | 2012-05-25 | 2013-11-28 | Hansen Medical, Inc. | Low friction instrument driver interface for robotic systems |
| JP2014004310A (ja) | 2012-05-31 | 2014-01-16 | Canon Inc | 医療器具 |
| US9072536B2 (en) * | 2012-06-28 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Differential locking arrangements for rotary powered surgical instruments |
| EP2885114B1 (en) | 2012-08-15 | 2021-06-30 | Intuitive Surgical Operations, Inc. | Phantom degrees of freedom for manipulating the movement of mechanical bodies |
| JP6250673B2 (ja) | 2012-08-15 | 2017-12-20 | 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 | 手動でのロボットアームの運動によって制御される可動な手術用装着プラットフォーム |
| US20140180063A1 (en) | 2012-10-12 | 2014-06-26 | Intuitive Surgical Operations, Inc. | Determining position of medical device in branched anatomical structure |
| US8671817B1 (en) | 2012-11-28 | 2014-03-18 | Hansen Medical, Inc. | Braiding device for catheter having acuately varying pullwires |
| JP2014134530A (ja) | 2012-12-14 | 2014-07-24 | Panasonic Corp | 力計測装置、力計測方法、力計測プログラム、力計測用集積電子回路、並びに、マスタースレーブ装置 |
| US10231867B2 (en) | 2013-01-18 | 2019-03-19 | Auris Health, Inc. | Method, apparatus and system for a water jet |
| DE102013002813B4 (de) | 2013-02-19 | 2017-11-09 | Rg Mechatronics Gmbh | Haltevorrichtung mit wenigstens einer Klemmbacke für ein chirurgisches Robotersystem |
| DE102013002818A1 (de) | 2013-02-19 | 2014-08-21 | Rg Mechatronics Gmbh | Haltevorrichtung für ein chirurgisches Instrument und eine Schleuse sowie Verfahren zum Betreiben eines Roboters mit einer solchen Haltevorrichtung |
| EA033708B1 (ru) | 2013-02-26 | 2019-11-19 | Ahmet Sinan Kabakci | Роботизированная манипуляционная система |
| US9668814B2 (en) | 2013-03-07 | 2017-06-06 | Hansen Medical, Inc. | Infinitely rotatable tool with finite rotating drive shafts |
| US10080576B2 (en) | 2013-03-08 | 2018-09-25 | Auris Health, Inc. | Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment |
| US10149720B2 (en) | 2013-03-08 | 2018-12-11 | Auris Health, Inc. | Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment |
| US9867635B2 (en) | 2013-03-08 | 2018-01-16 | Auris Surgical Robotics, Inc. | Method, apparatus and system for a water jet |
| US20140276389A1 (en) | 2013-03-13 | 2014-09-18 | Sean Walker | Selective grip device for drive mechanism |
| US9326822B2 (en) | 2013-03-14 | 2016-05-03 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
| US11213363B2 (en) | 2013-03-14 | 2022-01-04 | Auris Health, Inc. | Catheter tension sensing |
| EP3900641A1 (en) | 2013-03-14 | 2021-10-27 | SRI International Inc. | Wrist and grasper system for a robotic tool |
| US9173713B2 (en) | 2013-03-14 | 2015-11-03 | Hansen Medical, Inc. | Torque-based catheter articulation |
| US9498601B2 (en) | 2013-03-14 | 2016-11-22 | Hansen Medical, Inc. | Catheter tension sensing |
| US20140277334A1 (en) | 2013-03-14 | 2014-09-18 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
| US9452018B2 (en) | 2013-03-15 | 2016-09-27 | Hansen Medical, Inc. | Rotational support for an elongate member |
| US9408669B2 (en) | 2013-03-15 | 2016-08-09 | Hansen Medical, Inc. | Active drive mechanism with finite range of motion |
| US20140276936A1 (en) | 2013-03-15 | 2014-09-18 | Hansen Medical, Inc. | Active drive mechanism for simultaneous rotation and translation |
| US20140276647A1 (en) | 2013-03-15 | 2014-09-18 | Hansen Medical, Inc. | Vascular remote catheter manipulator |
| JP6363165B2 (ja) | 2013-03-15 | 2018-07-25 | 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 | 介入器具を追跡するための形状センサーシステム及びこのシステムの使用方法 |
| US20140276394A1 (en) | 2013-03-15 | 2014-09-18 | Hansen Medical, Inc. | Input device for controlling a catheter |
| US11020016B2 (en) | 2013-05-30 | 2021-06-01 | Auris Health, Inc. | System and method for displaying anatomy and devices on a movable display |
| WO2014201165A1 (en) | 2013-06-11 | 2014-12-18 | Auris Surgical Robotics, Inc. | System for robotic assisted cataract surgery |
| US20140375784A1 (en) | 2013-06-21 | 2014-12-25 | Omnivision Technologies, Inc. | Image Sensor With Integrated Orientation Indicator |
| JP6037964B2 (ja) | 2013-07-26 | 2016-12-07 | オリンパス株式会社 | マニピュレータシステム |
| US10426661B2 (en) | 2013-08-13 | 2019-10-01 | Auris Health, Inc. | Method and apparatus for laser assisted cataract surgery |
| KR102354675B1 (ko) | 2013-08-15 | 2022-01-24 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 의료 절차 확인을 위한 시스템 및 방법 |
| US9993614B2 (en) | 2013-08-27 | 2018-06-12 | Catheter Precision, Inc. | Components for multiple axis control of a catheter in a catheter positioning system |
| US9980785B2 (en) | 2013-10-24 | 2018-05-29 | Auris Health, Inc. | Instrument device manipulator with surgical tool de-articulation |
| KR102332023B1 (ko) | 2013-10-24 | 2021-12-01 | 아우리스 헬스, 인크. | 로봇-보조식 내강 내부 수술용 시스템 및 이와 관련된 방법 |
| US9962226B2 (en) | 2013-11-28 | 2018-05-08 | Alcon Pharmaceuticals Ltd. | Ophthalmic surgical systems, methods, and devices |
| CN103735313B (zh) | 2013-12-11 | 2016-08-17 | 中国科学院深圳先进技术研究院 | 一种手术机器人及其状态监测方法 |
| US9539020B2 (en) | 2013-12-27 | 2017-01-10 | Ethicon Endo-Surgery, Llc | Coupling features for ultrasonic surgical instrument |
| JP5788029B2 (ja) * | 2014-01-10 | 2015-09-30 | 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 | 医療用マニピュレータ |
| CA2935557C (en) | 2014-02-07 | 2023-04-04 | Covidien Lp | Input device assemblies for robotic surgical systems |
| JP6664331B2 (ja) * | 2014-02-21 | 2020-03-13 | 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 | 機械的な関節並びに関連するシステム及び方法 |
| US10046140B2 (en) | 2014-04-21 | 2018-08-14 | Hansen Medical, Inc. | Devices, systems, and methods for controlling active drive systems |
| US10569052B2 (en) | 2014-05-15 | 2020-02-25 | Auris Health, Inc. | Anti-buckling mechanisms for catheters |
| US20160270865A1 (en) | 2014-07-01 | 2016-09-22 | Auris Surgical Robotics, Inc. | Reusable catheter with disposable balloon attachment and tapered tip |
| US9744335B2 (en) | 2014-07-01 | 2017-08-29 | Auris Surgical Robotics, Inc. | Apparatuses and methods for monitoring tendons of steerable catheters |
| US9561083B2 (en) | 2014-07-01 | 2017-02-07 | Auris Surgical Robotics, Inc. | Articulating flexible endoscopic tool with roll capabilities |
| US20170007337A1 (en) | 2014-07-01 | 2017-01-12 | Auris Surgical Robotics, Inc. | Driver-mounted torque sensing mechanism |
| US9788910B2 (en) | 2014-07-01 | 2017-10-17 | Auris Surgical Robotics, Inc. | Instrument-mounted tension sensing mechanism for robotically-driven medical instruments |
| US10159533B2 (en) | 2014-07-01 | 2018-12-25 | Auris Health, Inc. | Surgical system with configurable rail-mounted mechanical arms |
| US10792464B2 (en) | 2014-07-01 | 2020-10-06 | Auris Health, Inc. | Tool and method for using surgical endoscope with spiral lumens |
| CN107427327A (zh) | 2014-09-30 | 2017-12-01 | 奥瑞斯外科手术机器人公司 | 具有虚拟轨迹和柔性内窥镜的可配置机器人外科手术系统 |
| US10314463B2 (en) | 2014-10-24 | 2019-06-11 | Auris Health, Inc. | Automated endoscope calibration |
| DE102014222293A1 (de) | 2014-10-31 | 2016-05-19 | Siemens Aktiengesellschaft | Verfahren zur automatischen Überwachung des Eindringverhaltens eines von einem Roboterarm gehaltenen Trokars und Überwachungssystem |
| US9949719B2 (en) | 2014-12-16 | 2018-04-24 | General Electric Company | Breast imaging method and system |
| JP6626836B2 (ja) | 2014-12-19 | 2019-12-25 | オリンパス株式会社 | 挿抜支援装置 |
| JP6342794B2 (ja) | 2014-12-25 | 2018-06-13 | 新光電気工業株式会社 | 配線基板及び配線基板の製造方法 |
| WO2016137612A1 (en) | 2015-02-26 | 2016-09-01 | Covidien Lp | Robotically controlling remote center of motion with software and guide tube |
| US10856726B2 (en) | 2015-03-25 | 2020-12-08 | Sony Corporation | Medical support arm apparatus |
| US20160287279A1 (en) | 2015-04-01 | 2016-10-06 | Auris Surgical Robotics, Inc. | Microsurgical tool for robotic applications |
| WO2016164824A1 (en) | 2015-04-09 | 2016-10-13 | Auris Surgical Robotics, Inc. | Surgical system with configurable rail-mounted mechanical arms |
| US9622827B2 (en) | 2015-05-15 | 2017-04-18 | Auris Surgical Robotics, Inc. | Surgical robotics system |
| WO2016194249A1 (ja) | 2015-06-01 | 2016-12-08 | オリンパス株式会社 | 医療用マニピュレータ |
| CN105147393B (zh) * | 2015-08-19 | 2017-06-20 | 哈尔滨工业大学 | 一种微创机器人持镜机械臂 |
| CN108135663B (zh) | 2015-08-27 | 2022-03-04 | 福康精准医疗系统公司 | 步进器和稳定器之间的可移动接口 |
| WO2017044884A1 (en) | 2015-09-09 | 2017-03-16 | Auris Surgical Robotics, Inc. | Instrument device manipulator for a surgical robotics system |
| CN108778113B (zh) | 2015-09-18 | 2022-04-15 | 奥瑞斯健康公司 | 管状网络的导航 |
| WO2017059412A1 (en) | 2015-10-02 | 2017-04-06 | Vanderbilt University | Concentric tube robot |
| US9955986B2 (en) | 2015-10-30 | 2018-05-01 | Auris Surgical Robotics, Inc. | Basket apparatus |
| 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 |
| CN108348296B (zh) | 2015-11-12 | 2021-06-11 | 柯惠Lp公司 | 机器人外科手术系统和监测施加的力的方法 |
| CN105559850B (zh) | 2015-12-17 | 2017-08-25 | 天津工业大学 | 一种用于机器人辅助外科具有力传感功能的手术钻器械 |
| US10932861B2 (en) | 2016-01-14 | 2021-03-02 | Auris Health, Inc. | Electromagnetic tracking surgical system and method of controlling the same |
| US10932691B2 (en) | 2016-01-26 | 2021-03-02 | Auris Health, Inc. | Surgical tools having electromagnetic tracking components |
| AU2017225996B2 (en) | 2016-03-04 | 2021-05-20 | Covidien Lp | Electromechanical surgical systems and robotic surgical instruments thereof |
| US11324554B2 (en) | 2016-04-08 | 2022-05-10 | Auris Health, Inc. | Floating electromagnetic field generator system and method of controlling the same |
| US10454347B2 (en) | 2016-04-29 | 2019-10-22 | Auris Health, Inc. | Compact height torque sensing articulation axis assembly |
| US10888428B2 (en) | 2016-05-12 | 2021-01-12 | University Of Notre Dame Du Lac | Additive manufacturing device for biomaterials |
| KR102438357B1 (ko) | 2016-07-01 | 2022-09-01 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 컴퓨터 보조 의료 시스템 및 방법 |
| US11037464B2 (en) | 2016-07-21 | 2021-06-15 | Auris Health, Inc. | System with emulator movement tracking for controlling medical devices |
| US10398517B2 (en) | 2016-08-16 | 2019-09-03 | Ethicon Llc | Surgical tool positioning based on sensed parameters |
| US11241559B2 (en) | 2016-08-29 | 2022-02-08 | Auris Health, Inc. | Active drive for guidewire manipulation |
| KR102555546B1 (ko) | 2016-08-31 | 2023-07-19 | 아우리스 헬스, 인코포레이티드 | 길이 보존 수술용 기구 |
| US9931025B1 (en) | 2016-09-30 | 2018-04-03 | Auris Surgical Robotics, Inc. | Automated calibration of endoscopes with pull wires |
| CN109715104B (zh) | 2016-10-04 | 2022-10-18 | 直观外科手术操作公司 | 计算机辅助远程操作手术系统和方法 |
| US10286556B2 (en) | 2016-10-16 | 2019-05-14 | The Boeing Company | Method and apparatus for compliant robotic end-effector |
| US10244926B2 (en) | 2016-12-28 | 2019-04-02 | Auris Health, Inc. | Detecting endolumenal buckling of flexible instruments |
| US10543048B2 (en) | 2016-12-28 | 2020-01-28 | Auris Health, Inc. | Flexible instrument insertion using an adaptive insertion force threshold |
| US10136959B2 (en) | 2016-12-28 | 2018-11-27 | Auris Health, Inc. | Endolumenal object sizing |
| US10820951B2 (en) | 2017-03-14 | 2020-11-03 | Verb Surgical Inc. | Techniques for damping vibration in a robotic surgical system |
| CN110325138B (zh) | 2017-03-22 | 2023-06-06 | 直观外科手术操作公司 | 用于智能种子配准的系统和方法 |
| KR102545869B1 (ko) | 2017-03-28 | 2023-06-23 | 아우리스 헬스, 인코포레이티드 | 샤프트 작동 핸들 |
| AU2018243364B2 (en) | 2017-03-31 | 2023-10-05 | Auris Health, Inc. | Robotic systems for navigation of luminal networks that compensate for physiological noise |
| US10285574B2 (en) | 2017-04-07 | 2019-05-14 | Auris Health, Inc. | Superelastic medical instrument |
| JP7314052B2 (ja) | 2017-04-07 | 2023-07-25 | オーリス ヘルス インコーポレイテッド | 患者イントロデューサのアライメント |
| CN110831498B (zh) | 2017-05-12 | 2022-08-12 | 奥瑞斯健康公司 | 活检装置和系统 |
| CN110769736B (zh) | 2017-05-17 | 2023-01-13 | 奥瑞斯健康公司 | 可更换工作通道 |
| US10022192B1 (en) | 2017-06-23 | 2018-07-17 | Auris Health, Inc. | Automatically-initialized robotic systems for navigation of luminal networks |
| CN110809452B (zh) | 2017-06-28 | 2023-05-23 | 奥瑞斯健康公司 | 电磁场发生器对准 |
| US11026758B2 (en) | 2017-06-28 | 2021-06-08 | Auris Health, Inc. | Medical robotics systems implementing axis constraints during actuation of one or more motorized joints |
| KR102578978B1 (ko) | 2017-06-28 | 2023-09-19 | 아우리스 헬스, 인코포레이티드 | 전자파 왜곡 검출 |
| KR102341451B1 (ko) | 2017-06-28 | 2021-12-23 | 아우리스 헬스, 인코포레이티드 | 기기의 삽입 보상을 위한 로봇 시스템, 방법 및 비일시적 컴퓨터 가독 저장 매체 |
| US10426559B2 (en) | 2017-06-30 | 2019-10-01 | Auris Health, Inc. | Systems and methods for medical instrument compression compensation |
| US10464209B2 (en) | 2017-10-05 | 2019-11-05 | Auris Health, Inc. | Robotic system with indication of boundary for robotic arm |
| US10016900B1 (en) | 2017-10-10 | 2018-07-10 | Auris Health, Inc. | Surgical robotic arm admittance control |
| US10145747B1 (en) | 2017-10-10 | 2018-12-04 | Auris Health, Inc. | Detection of undesirable forces on a surgical robotic arm |
| US10555778B2 (en) | 2017-10-13 | 2020-02-11 | Auris Health, Inc. | Image-based branch detection and mapping for navigation |
| US11058493B2 (en) | 2017-10-13 | 2021-07-13 | Auris Health, Inc. | Robotic system configured for navigation path tracing |
| WO2019113249A1 (en) | 2017-12-06 | 2019-06-13 | Auris Health, Inc. | Systems and methods to correct for uncommanded instrument roll |
| JP7314136B2 (ja) | 2017-12-08 | 2023-07-25 | オーリス ヘルス インコーポレイテッド | 医療器具のナビゲーションおよびターゲット用のシステムおよび方法 |
| KR102473254B1 (ko) | 2017-12-08 | 2022-12-06 | 아우리스 헬스, 인코포레이티드 | 지향된 유체 공학 |
| EP3723655A4 (en) | 2017-12-11 | 2021-09-08 | Auris Health, Inc. | SYSTEMS AND METHODS FOR INSTRUMENT-BASED INSERTION ARCHITECTURES |
| JP7322026B2 (ja) | 2017-12-14 | 2023-08-07 | オーリス ヘルス インコーポレイテッド | 器具の位置推定のシステムおよび方法 |
| US11160615B2 (en) | 2017-12-18 | 2021-11-02 | Auris Health, Inc. | Methods and systems for instrument tracking and navigation within luminal networks |
| CN111885980B (zh) | 2018-01-17 | 2023-03-28 | 奥瑞斯健康公司 | 具有可调式臂支撑件的外科平台 |
| CN116370084A (zh) | 2018-02-13 | 2023-07-04 | 奥瑞斯健康公司 | 用于驱动医疗器械的系统和方法 |
| MX2020009075A (es) | 2018-03-01 | 2021-03-25 | Auris Health Inc | Métodos y sistemas de mapeo y navegación. |
| JP7214747B2 (ja) | 2018-03-28 | 2023-01-30 | オーリス ヘルス インコーポレイテッド | 位置センサの位置合わせのためのシステム及び方法 |
| EP3773135B1 (en) | 2018-03-28 | 2024-02-14 | Auris Health, Inc. | Medical instruments with variable bending stiffness profiles |
| WO2019191143A1 (en) | 2018-03-28 | 2019-10-03 | Auris Health, Inc. | Systems and methods for displaying estimated location of instrument |
| KR20200139200A (ko) | 2018-03-29 | 2020-12-11 | 아우리스 헬스, 인코포레이티드 | 회전 오프셋을 갖는 다기능 엔드 이펙터를 가진 로봇식 의료 시스템 |
| CN110831486B (zh) | 2018-05-30 | 2022-04-05 | 奥瑞斯健康公司 | 用于基于定位传感器的分支预测的系统和方法 |
| EP4454591A3 (en) | 2018-05-31 | 2025-01-15 | Auris Health, Inc. | Path-based navigation of tubular networks |
| WO2019232236A1 (en) | 2018-05-31 | 2019-12-05 | Auris Health, Inc. | Image-based airway analysis and mapping |
| MX2020012897A (es) | 2018-05-31 | 2021-05-27 | Auris Health Inc | Sistemas roboticos y metodos para navegacion de la red luminal que detectan ruido fisiologico. |
| US10744981B2 (en) | 2018-06-06 | 2020-08-18 | Sensata Technologies, Inc. | Electromechanical braking connector |
| WO2019236450A1 (en) | 2018-06-07 | 2019-12-12 | Auris Health, Inc. | Robotic medical systems with high force instruments |
| US10667875B2 (en) | 2018-06-27 | 2020-06-02 | Auris Health, Inc. | Systems and techniques for providing multiple perspectives during medical procedures |
| JP7391886B2 (ja) | 2018-06-28 | 2023-12-05 | オーリス ヘルス インコーポレイテッド | 滑車共有を組み込んだ医療システム |
| CN112804946B (zh) | 2018-08-07 | 2025-03-25 | 奥瑞斯健康公司 | 将基于应变的形状感测与导管控制相结合 |
| CN112566584A (zh) | 2018-08-15 | 2021-03-26 | 奥瑞斯健康公司 | 用于组织烧灼的医疗器械 |
| EP3806758A4 (en) | 2018-08-17 | 2022-04-06 | Auris Health, Inc. | BIPOLAR MEDICAL INSTRUMENT |
| EP3820384A4 (en) | 2018-08-24 | 2022-06-08 | Auris Health, Inc. | Manually and robotically controllable medical instruments |
| EP3813715B1 (en) | 2018-09-17 | 2025-11-12 | Auris Health, Inc. | Systems for concomitant medical procedures |
| CN112770689B (zh) | 2018-09-26 | 2024-07-19 | 奥瑞斯健康公司 | 用于抽吸和冲洗的系统和器械 |
| WO2020068853A2 (en) | 2018-09-26 | 2020-04-02 | Auris Health, Inc. | Articulating medical instruments |
| EP3856065A4 (en) | 2018-09-28 | 2022-06-29 | Auris Health, Inc. | Robotic systems and methods for concomitant endoscopic and percutaneous medical procedures |
| WO2020069430A1 (en) | 2018-09-28 | 2020-04-02 | Auris Health, Inc. | Systems and methods for docking medical instruments |
| EP3856001A4 (en) | 2018-09-28 | 2022-06-22 | Auris Health, Inc. | DEVICES, SYSTEMS AND METHODS FOR MANUAL AND ROBOTIC DRIVES OF MEDICAL INSTRUMENTS |
| US11576738B2 (en) | 2018-10-08 | 2023-02-14 | Auris Health, Inc. | Systems and instruments for tissue sealing |
| EP3870075B1 (en) | 2018-12-20 | 2025-06-11 | Auris Health, Inc. | Shielding for wristed instruments |
| KR102873229B1 (ko) | 2018-12-28 | 2025-10-21 | 아우리스 헬스, 인코포레이티드 | 로봇 의료 시스템 및 방법을 위한 경피 시스 |
| EP3890645A4 (en) | 2019-02-22 | 2022-09-07 | Auris Health, Inc. | SURGICAL PLATFORM WITH MOTORIZED ARMS FOR ADJUSTABLE ARMRESTS |
| KR102871585B1 (ko) | 2019-03-08 | 2025-10-20 | 아우리스 헬스, 인코포레이티드 | 의료 시스템 및 응용을 위한 틸트 메커니즘 |
| EP3908224A4 (en) | 2019-03-22 | 2022-10-19 | Auris Health, Inc. | SYSTEMS AND METHODS FOR INLET ALIGNMENTS ON MEDICAL DEVICES |
| WO2020197625A1 (en) | 2019-03-25 | 2020-10-01 | Auris Health, Inc. | Systems and methods for medical stapling |
| US11617627B2 (en) | 2019-03-29 | 2023-04-04 | Auris Health, Inc. | Systems and methods for optical strain sensing in medical instruments |
| KR20210149805A (ko) | 2019-04-08 | 2021-12-09 | 아우리스 헬스, 인코포레이티드 | 동시 절차를 위한 시스템, 방법, 및 작업흐름 |
-
2016
- 2016-08-31 KR KR1020187028118A patent/KR102555546B1/ko active Active
- 2016-08-31 EP EP16915381.4A patent/EP3506836B1/en active Active
- 2016-08-31 CN CN201680084248.8A patent/CN109069138B/zh active Active
- 2016-08-31 WO PCT/US2016/049775 patent/WO2018044306A1/en not_active Ceased
- 2016-08-31 AU AU2016422171A patent/AU2016422171B2/en active Active
- 2016-08-31 KR KR1020237021100A patent/KR20230096148A/ko not_active Withdrawn
- 2016-08-31 JP JP2019511879A patent/JP6853346B2/ja active Active
- 2016-11-16 US US15/353,576 patent/US9962228B2/en active Active
-
2018
- 2018-05-03 US US15/970,750 patent/US10682189B2/en active Active
-
2020
- 2020-06-12 US US16/900,009 patent/US11564759B2/en active Active
-
2023
- 2023-01-18 US US18/098,657 patent/US20230210616A1/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| US20200305992A1 (en) | 2020-10-01 |
| US20230210616A1 (en) | 2023-07-06 |
| CN109069138B (zh) | 2021-07-20 |
| US20180250083A1 (en) | 2018-09-06 |
| EP3506836A1 (en) | 2019-07-10 |
| US9962228B2 (en) | 2018-05-08 |
| US11564759B2 (en) | 2023-01-31 |
| AU2016422171A1 (en) | 2019-03-07 |
| WO2018044306A1 (en) | 2018-03-08 |
| EP3506836C0 (en) | 2024-10-02 |
| EP3506836A4 (en) | 2020-04-29 |
| EP3506836B1 (en) | 2024-10-02 |
| US20180055583A1 (en) | 2018-03-01 |
| CN109069138A (zh) | 2018-12-21 |
| AU2016422171B2 (en) | 2022-01-20 |
| KR20190045888A (ko) | 2019-05-03 |
| KR102555546B1 (ko) | 2023-07-19 |
| US10682189B2 (en) | 2020-06-16 |
| JP2019528139A (ja) | 2019-10-10 |
| KR20230096148A (ko) | 2023-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6853346B2 (ja) | 長さを維持する外科用器具 | |
| US12114951B2 (en) | Manual actuator for robotic medical system | |
| US12343098B2 (en) | Robotic surgical devices with tracking camera technology and related systems and methods | |
| CN111084661B (zh) | 手术辅助装置、以及记录介质 | |
| US9839439B2 (en) | Rotary input lever gimbal | |
| KR20110008189A (ko) | 제어자의 모션을 로봇 매니퓰레이터로부터 부착된 기구로 전달하기 위한 커플러 | |
| US20130317520A1 (en) | Surgical implement and manipulation system including the same | |
| WO2022228149A1 (zh) | 输入装置、主操作设备及手术机器人 | |
| EP4415642A1 (en) | Hardstop detection and handling for surgical tool | |
| JP3628742B2 (ja) | 医療用マニピュレータ | |
| HK40035981B (en) | Robotic surgical devices with tracking camera technology and related systems | |
| HK40035981A (en) | Robotic surgical devices with tracking camera technology and related systems |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20190828 |
|
| A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20190828 |
|
| A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20200918 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20200929 |
|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20201225 |
|
| 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: 20210302 |
|
| A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20210311 |
|
| R150 | Certificate of patent or registration of utility model |
Ref document number: 6853346 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
| RD02 | Notification of acceptance of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: R3D02 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |