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 PDF

Info

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
Application number
JP2019511879A
Other languages
English (en)
Japanese (ja)
Other versions
JP2019528139A5 (https=
JP2019528139A (ja
Inventor
シュー，トラヴィス
ジェイ． メナード，エドワード
ジェイ． メナード，エドワード
アール． ウッドリー，ブルース
アール． ウッドリー，ブルース
レーガン ウィリアムズ，マシュー
レーガン ウィリアムズ，マシュー
ジェームズ ウィッテ，スペンサー
ジェームズ ウィッテ，スペンサー
Original Assignee
オーリス ヘルス インコーポレイテッド
オーリス ヘルス 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 オーリス ヘルス インコーポレイテッド, オーリス ヘルス インコーポレイテッド filed Critical オーリス ヘルス インコーポレイテッド
Publication of JP2019528139A publication Critical patent/JP2019528139A/ja
Publication of JP2019528139A5 publication Critical patent/JP2019528139A5/ja
Application granted granted Critical
Publication of JP6853346B2 publication Critical patent/JP6853346B2/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
    • A61B34/70—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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1641—Program 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)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (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)
JP2019511879A 2016-08-31 2016-08-31 長さを維持する外科用器具 Active JP6853346B2 (ja)

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 (https=) 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 (https=)
EP (1) EP3506836B1 (https=)
JP (1) JP6853346B2 (https=)
KR (2) KR102555546B1 (https=)
CN (1) CN109069138B (https=)
AU (1) AU2016422171B2 (https=)
WO (1) WO2018044306A1 (https=)

Families Citing this family (249)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8414505B1 (en) 2001-02-15 2013-04-09 Hansen Medical, Inc. Catheter driver system
JP4755638B2 (ja) 2004-03-05 2011-08-24 ハンセン メディカル，インク． ロボットガイドカテーテルシステム
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
JP5506702B2 (ja) 2008-03-06 2014-05-28 アクアビーム エルエルシー 流体流れ内を伝達される光学エネルギーによる組織切除および焼灼
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
US12402960B2 (en) 2010-10-11 2025-09-02 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
WO2012049623A1 (en) 2010-10-11 2012-04-19 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
WO2012100211A2 (en) 2011-01-20 2012-07-26 Hansen Medical, Inc. System and method for endoluminal and transluminal 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
US20130030363A1 (en) 2011-07-29 2013-01-31 Hansen Medical, Inc. Systems and methods utilizing shape sensing fibers
US10238837B2 (en) 2011-10-14 2019-03-26 Intuitive Surgical Operations, Inc. Catheters with control modes for interchangeable probes
US20130303944A1 (en) 2012-05-14 2013-11-14 Intuitive Surgical Operations, Inc. Off-axis electromagnetic sensor
US9387048B2 (en) 2011-10-14 2016-07-12 Intuitive Surgical Operations, Inc. Catheter sensor systems
US9452276B2 (en) 2011-10-14 2016-09-27 Intuitive Surgical Operations, Inc. Catheter with removable vision probe
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
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
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
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
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
US20140277334A1 (en) 2013-03-14 2014-09-18 Hansen Medical, Inc. Active drives for robotic catheter manipulators
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
US9629595B2 (en) 2013-03-15 2017-04-25 Hansen Medical, Inc. Systems and methods for localizing, tracking and/or controlling medical instruments
US9271663B2 (en) 2013-03-15 2016-03-01 Hansen Medical, Inc. Flexible instrument localization from both remote and elongation sensors
US9283046B2 (en) 2013-03-15 2016-03-15 Hansen Medical, Inc. User interface for active drive apparatus with finite range of motion
US20140276936A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Active drive mechanism for simultaneous rotation and translation
US10376672B2 (en) 2013-03-15 2019-08-13 Auris Health, Inc. Catheter insertion system and method of fabrication
US10849702B2 (en) 2013-03-15 2020-12-01 Auris Health, Inc. User input devices for controlling manipulation of guidewires and catheters
US9408669B2 (en) 2013-03-15 2016-08-09 Hansen Medical, Inc. Active drive mechanism with finite range of motion
US9014851B2 (en) 2013-03-15 2015-04-21 Hansen Medical, Inc. Systems and methods for tracking robotically controlled 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
US10744035B2 (en) 2013-06-11 2020-08-18 Auris Health, Inc. Methods for robotic assisted cataract surgery
US10426661B2 (en) 2013-08-13 2019-10-01 Auris Health, Inc. Method and apparatus for laser assisted cataract surgery
US10550918B2 (en) 2013-08-15 2020-02-04 Intuitive Surgical Operations, Inc. Lever actuated gimbal plate
US10076348B2 (en) 2013-08-15 2018-09-18 Intuitive Surgical Operations, Inc. Rotary input for lever actuation
EP3689284B1 (en) 2013-10-24 2025-02-26 Auris Health, Inc. System for robotic-assisted endolumenal surgery
JP6220085B2 (ja) 2014-02-03 2017-10-25 ディスタルモーション エスエーＤｉｓｔａｌｍｏｔｉｏｎ Ｓａ 交換可能な遠位装置を備える機械的遠隔操作デバイス
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
US9744335B2 (en) 2014-07-01 2017-08-29 Auris Surgical Robotics, Inc. Apparatuses and methods for monitoring tendons of steerable catheters
US10792464B2 (en) 2014-07-01 2020-10-06 Auris Health, Inc. Tool and method for using surgical endoscope with spiral lumens
US9561083B2 (en) 2014-07-01 2017-02-07 Auris Surgical Robotics, Inc. Articulating flexible endoscopic tool with roll capabilities
US10159533B2 (en) 2014-07-01 2018-12-25 Auris Health, Inc. Surgical system with configurable rail-mounted mechanical arms
EP3185808B1 (en) 2014-08-27 2022-02-23 DistalMotion SA Surgical system for microsurgical techniques
EP3200718B1 (en) 2014-09-30 2026-02-18 Auris Health, Inc. Configurable robotic surgical system with virtual rail and flexible endoscope
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
EP3232974B1 (en) 2014-12-19 2018-10-24 DistalMotion SA Articulated handle for mechanical telemanipulator
US11039820B2 (en) 2014-12-19 2021-06-22 Distalmotion Sa Sterile interface for articulated surgical instruments
WO2016097868A1 (en) 2014-12-19 2016-06-23 Distalmotion Sa Reusable surgical instrument for minimally invasive procedures
US10864049B2 (en) 2014-12-19 2020-12-15 Distalmotion Sa Docking system for mechanical telemanipulator
EP3232951B1 (en) 2014-12-19 2023-10-25 DistalMotion SA Surgical instrument with articulated end-effector
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
EP3280343B1 (en) 2015-04-09 2024-08-21 DistalMotion SA Mechanical teleoperated device for remote manipulation
US9622827B2 (en) 2015-05-15 2017-04-18 Auris Surgical Robotics, Inc. Surgical robotics system
EP3340897B1 (en) 2015-08-28 2024-10-09 DistalMotion SA Surgical instrument with increased actuation force
CN113274140B (zh) 2015-09-09 2022-09-02 奥瑞斯健康公司 手术覆盖件
CN108778113B (zh) 2015-09-18 2022-04-15 奥瑞斯健康公司 管状网络的导航
US10639108B2 (en) 2015-10-30 2020-05-05 Auris Health, Inc. Process for percutaneous operations
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
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
WO2018013313A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Multi-cable medical instrument
WO2018013298A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Geared grip actuation for medical instruments
US11890070B2 (en) 2016-07-14 2024-02-06 Intuitive Surgical Operations, Inc. Instrument release
CN119302760A (zh) 2016-07-14 2025-01-14 直观外科手术操作公司 器械冲洗系统
US20190231451A1 (en) 2016-07-14 2019-08-01 Intuitive Surgical Operations, Inc. Geared roll drive for medical instrument
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
CN115349951A (zh) 2016-11-21 2022-11-18 直观外科手术操作公司 线缆长度持恒的医疗器械
US10136959B2 (en) 2016-12-28 2018-11-27 Auris Health, Inc. Endolumenal object sizing
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
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
CN108934160B (zh) 2017-03-28 2021-08-31 奥瑞斯健康公司 轴致动手柄
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
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same
JP7677608B2 (ja) 2017-05-12 2025-05-15 オーリス ヘルス インコーポレイテッド 生検装置およびシステム
US10716461B2 (en) 2017-05-17 2020-07-21 Auris Health, Inc. Exchangeable working channel
US10022192B1 (en) 2017-06-23 2018-07-17 Auris Health, Inc. Automatically-initialized robotic systems for navigation of luminal networks
US11832889B2 (en) 2017-06-28 2023-12-05 Auris Health, Inc. Electromagnetic field generator alignment
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
CN110913788B (zh) 2017-06-28 2024-03-12 奥瑞斯健康公司 电磁失真检测
JP7130682B2 (ja) 2017-06-28 2022-09-05 オーリス ヘルス インコーポレイテッド 器具挿入補償
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
US11058493B2 (en) 2017-10-13 2021-07-13 Auris Health, Inc. Robotic system configured for navigation path tracing
US10555778B2 (en) 2017-10-13 2020-02-11 Auris Health, Inc. Image-based branch detection and mapping for navigation
EP3706657B1 (en) * 2017-11-10 2025-03-26 Intuitive Surgical Operations, Inc. Tension control in actuation of jointed instruments
EP3709908B1 (en) * 2017-11-13 2025-06-25 Vicarious Surgical Inc. Virtual reality wrist assembly
CN110831536B (zh) 2017-12-06 2021-09-07 奥瑞斯健康公司 用于针对非命令器械滚转进行校正的系统和方法
JP7208237B2 (ja) 2017-12-08 2023-01-18 オーリス ヘルス インコーポレイテッド 医療手技を行うシステム及び医療機器
CN110831534B (zh) 2017-12-08 2023-04-28 奥瑞斯健康公司 用于医疗仪器导航和瞄准的系统和方法
MX2020006069A (es) 2017-12-11 2020-11-06 Auris Health Inc Sistemas y metodos para arquitecturas de insercion basadas en instrumentos.
WO2019118767A1 (en) 2017-12-14 2019-06-20 Auris Health, Inc. System and method for estimating instrument location
US11160615B2 (en) 2017-12-18 2021-11-02 Auris Health, Inc. Methods and systems for instrument tracking and navigation within luminal networks
USD924410S1 (en) 2018-01-17 2021-07-06 Auris Health, Inc. Instrument tower
USD901018S1 (en) 2018-01-17 2020-11-03 Auris Health, Inc. Controller
KR102264368B1 (ko) 2018-01-17 2021-06-17 아우리스 헬스, 인코포레이티드 조절가능 아암 지지부를 갖는 수술 플랫폼
USD873878S1 (en) 2018-01-17 2020-01-28 Auris Health, Inc. Robotic arm
USD901694S1 (en) 2018-01-17 2020-11-10 Auris Health, Inc. Instrument handle
USD932628S1 (en) 2018-01-17 2021-10-05 Auris Health, Inc. Instrument cart
JP7463277B2 (ja) 2018-01-17 2024-04-08 オーリス ヘルス インコーポレイテッド 改善されたロボットアームを有する外科用ロボットシステム
US12376927B2 (en) 2018-02-07 2025-08-05 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
CA3089681A1 (en) 2018-02-07 2019-08-15 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
MX2020008464A (es) 2018-02-13 2020-12-07 Auris Health Inc Sistema y metodo para accionar instrumento medico.
WO2019173267A1 (en) 2018-03-07 2019-09-12 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
WO2019173266A1 (en) 2018-03-07 2019-09-12 Intuitive Surgical Operations, Inc. Low-friction medical tools having roller-assisted tension members
EP3761898B1 (en) 2018-03-07 2025-11-05 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
JP7225259B2 (ja) 2018-03-28 2023-02-20 オーリス ヘルス インコーポレイテッド 器具の推定位置を示すためのシステム及び方法
EP4344723A3 (en) 2018-03-28 2024-06-12 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
CN112218595B (zh) 2018-05-18 2026-04-03 奥瑞斯健康公司 用于机器人使能的远程操作的系统的控制器
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
CN114601559B (zh) 2018-05-30 2024-05-14 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介质
EP4454591A3 (en) 2018-05-31 2025-01-15 Auris Health, Inc. Path-based navigation of tubular networks
CN110831538B (zh) 2018-05-31 2023-01-24 奥瑞斯健康公司 基于图像的气道分析和映射
US11503986B2 (en) 2018-05-31 2022-11-22 Auris Health, Inc. Robotic systems and methods for navigation of luminal network that detect physiological noise
CN112218596B (zh) 2018-06-07 2025-05-16 奥瑞斯健康公司 具有高力器械的机器人医疗系统
US10820954B2 (en) 2018-06-27 2020-11-03 Auris Health, Inc. Alignment and attachment systems for medical instruments
WO2020005370A1 (en) 2018-06-27 2020-01-02 Auris Health, Inc. Systems and techniques for providing multiple perspectives during medical procedures
KR102817263B1 (ko) 2018-06-28 2025-06-10 아우리스 헬스, 인코포레이티드 풀리 공유를 통합한 의료 시스템
KR102612146B1 (ko) 2018-08-07 2023-12-13 아우리스 헬스, 인코포레이티드 카테터 제어와의 변형-기반 형상 감지의 조합
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
CN112566567B (zh) 2018-08-17 2024-10-29 奥瑞斯健康公司 双极医疗器械
AU2019326548B2 (en) 2018-08-24 2023-11-23 Auris Health, Inc. Manually and robotically controllable medical instruments
JP6894036B2 (ja) * 2018-08-28 2021-06-23 株式会社メディカロイド 手術器具
JP6783274B2 (ja) * 2018-08-28 2020-11-11 株式会社メディカロイド 手術器具
US11197728B2 (en) 2018-09-17 2021-12-14 Auris Health, Inc. Systems and methods for concomitant medical procedures
US11179212B2 (en) 2018-09-26 2021-11-23 Auris Health, Inc. Articulating medical instruments
WO2020068303A1 (en) 2018-09-26 2020-04-02 Auris Health, Inc. Systems and instruments for suction and irrigation
KR102852843B1 (ko) 2018-09-28 2025-09-03 아우리스 헬스, 인코포레이티드 의료 기구를 도킹시키기 위한 시스템 및 방법
JP7536752B2 (ja) 2018-09-28 2024-08-20 オーリス ヘルス インコーポレイテッド 内視鏡支援経皮的医療処置のためのシステム及び方法
US10820947B2 (en) 2018-09-28 2020-11-03 Auris Health, Inc. Devices, systems, and methods for manually and robotically driving medical instruments
WO2020076447A1 (en) 2018-10-08 2020-04-16 Auris Health, Inc. Systems and instruments for tissue sealing
CN113015498B (zh) 2018-11-15 2025-03-18 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
WO2020102780A1 (en) 2018-11-15 2020-05-22 Intuitive Surgical Operations, Inc. Cable drive limited slip capstan and shaft
US20220071726A1 (en) * 2018-12-06 2022-03-10 Covidien Lp Method of controlling cable driven end effectors
EP3866718A4 (en) 2018-12-20 2022-07-20 Auris Health, Inc. Systems and methods for robotic arm alignment and docking
WO2020131529A1 (en) 2018-12-20 2020-06-25 Auris Health, Inc. Shielding for wristed instruments
CN113226202B (zh) 2018-12-28 2024-12-03 奥瑞斯健康公司 用于机器人医疗系统的经皮护套和方法
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
CN113347938A (zh) 2019-01-25 2021-09-03 奥瑞斯健康公司 具有加热和冷却能力的血管密封器
EP3890644A4 (en) 2019-02-08 2022-11-16 Auris Health, Inc. MANIPULATION AND CLOT REMOVAL WITH ROBOTIC CONTROL
US11202683B2 (en) 2019-02-22 2021-12-21 Auris Health, Inc. Surgical platform with motorized arms for adjustable arm supports
WO2020185516A1 (en) 2019-03-08 2020-09-17 Auris Health, Inc. Tilt mechanisms for medical systems and applications tilt mechanisms for medical systems and applications tilt mechanisms for medical systems and applications tilt mechanisms for medical systems and applications tilt mechanisms for medical systems and
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
WO2020197671A1 (en) 2019-03-22 2020-10-01 Auris Health, Inc. Systems and methods for aligning inputs on medical instruments
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
KR102935983B1 (ko) 2019-04-08 2026-03-10 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
CN121041038A (zh) 2019-06-13 2025-12-02 直观外科手术操作公司 用于致动张力带的带有长度守恒机构的医疗工具
CN121101759A (zh) 2019-06-25 2025-12-12 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
CN114051403B (zh) 2019-06-28 2026-03-17 奥瑞斯健康公司 用于机器人系统的患者导引器
EP3989863A4 (en) * 2019-06-28 2023-10-11 Auris Health, Inc. Medical instruments including wrists with hybrid redirect surfaces
EP3989793B1 (en) 2019-06-28 2025-11-19 Auris Health, Inc. Surgical console interface
EP4007678B1 (en) 2019-08-02 2026-03-04 Auris Health, Inc. Systems and methods for adjusting remote center distances in medical procedures
USD975275S1 (en) 2019-08-15 2023-01-10 Auris Health, Inc. Handle for a medical instrument
KR20220050151A (ko) 2019-08-15 2022-04-22 아우리스 헬스, 인코포레이티드 다수의 굽힘 섹션을 갖는 의료 장치
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
USD978348S1 (en) 2019-08-15 2023-02-14 Auris Health, Inc. Drive device for a medical instrument
US11207141B2 (en) 2019-08-30 2021-12-28 Auris Health, Inc. Systems and methods for weight-based registration of location sensors
EP4021329B1 (en) 2019-08-30 2025-12-10 Auris Health, Inc. Instrument image reliability systems and methods
WO2021044297A1 (en) 2019-09-03 2021-03-11 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
EP4034350A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision avoidance using object models
EP4034349A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision detection and avoidance
US11737845B2 (en) 2019-09-30 2023-08-29 Auris Inc. Medical instrument with a 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
WO2021099888A1 (en) 2019-11-21 2021-05-27 Auris Health, Inc. Systems and methods for draping a surgical system
WO2021131809A1 (en) * 2019-12-23 2021-07-01 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
EP4084720A4 (en) 2019-12-31 2024-01-17 Auris Health, Inc. ALIGNMENT TECHNIQUES FOR PERCUTANEOUS ACCESS
KR20220123273A (ko) 2019-12-31 2022-09-06 아우리스 헬스, 인코포레이티드 해부학적 특징부 식별 및 표적설정
CN114901188B (zh) 2019-12-31 2026-02-17 奥瑞斯健康公司 动态滑轮系统
CN114929148B (zh) 2019-12-31 2024-05-10 奥瑞斯健康公司 用于经皮进入的对准界面
US12114951B2 (en) 2019-12-31 2024-10-15 Auris Health, Inc. Manual actuator for robotic medical system
US11737663B2 (en) 2020-03-30 2023-08-29 Auris Health, Inc. Target anatomical feature localization
WO2021198801A1 (en) 2020-03-30 2021-10-07 Auris Health, Inc. Workspace optimization for robotic surgery
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
WO2022003485A1 (en) 2020-06-29 2022-01-06 Auris Health, Inc. Systems and methods for detecting contact between a link and an external object
WO2022003493A1 (en) 2020-06-30 2022-01-06 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
US11844580B2 (en) * 2020-08-27 2023-12-19 Verb Surgical Inc. Control of a surgical instrument having backlash, friction, and compliance under external load in a surgical robotic system
WO2022060565A1 (en) * 2020-09-15 2022-03-24 Covidien Lp Surgical robotic system for controlling wristed instruments
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
WO2022068038A1 (zh) 2020-09-30 2022-04-07 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
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
CN112274251B (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
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
US12349997B2 (en) * 2020-09-30 2025-07-08 Shenzhen Edge Medical Co., Ltd. Surgical instrument, slave operating device, and surgical robot
US12017369B2 (en) * 2020-10-05 2024-06-25 Verb Surgical Inc. Null space control for end effector joints of a robotic instrument
US11957422B2 (en) * 2020-10-15 2024-04-16 Covidien Lp Surgical instruments for use in robotic surgical systems and methods relating to the same
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
WO2023017460A1 (en) 2021-08-11 2023-02-16 W Endoluminal Robotics Ltd Two-pronged approach for 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
CN118434376A (zh) 2021-12-29 2024-08-02 利思梅德株式会社 手术用器械
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
CN116784979A (zh) * 2022-03-14 2023-09-22 瑞龙诺赋(上海)医疗科技有限公司 一种手术器械耦合方法、系统、机械臂及手术机器人
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
US20250288370A1 (en) * 2024-03-13 2025-09-18 Globus Medical, Inc. Surgical robotic system
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)

* Cited by examiner, † Cited by third party
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 (https=) 1970-02-20 1975-08-21
JPS4921672Y1 (https=) 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
US5855583A (en) 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US6436107B1 (en) 1996-02-20 2002-08-20 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US5842390A (en) 1996-02-28 1998-12-01 Frank's Casing Crew And Rental Tools Inc. Dual string backup tong
US6786896B1 (en) * 1997-09-19 2004-09-07 Massachusetts Institute Of Technology Robotic apparatus
US5792135A (en) 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
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
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
EP1491139B1 (en) 1997-01-03 2007-08-29 Biosense Webster, 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
TW403051U (en) 1997-05-29 2000-08-21 Seiko Epson Corp Recording medium of control program for printing device and recorded printing device
US6231565B1 (en) 1997-06-18 2001-05-15 United States Surgical Corporation Robotic arm DLUs for performing surgical tasks
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
WO2002074178A2 (en) 2001-02-15 2002-09-26 Endovia Medical, Inc. Flexible 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
CA2363254C (en) 1999-03-07 2009-05-05 Discure Ltd. Method and apparatus for computerized surgery
US6289579B1 (en) 1999-03-23 2001-09-18 Motorola, Inc. Component alignment and transfer apparatus
JP2003508133A (ja) 1999-08-27 2003-03-04 ヴォルシュレーガー ヘルムート カテーテル取扱装置
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
DE50113363D1 (de) 2000-10-20 2008-01-24 Deere & Co Bedienungselement
US6487940B2 (en) 2001-01-23 2002-12-03 Associated Toolmakers Incorporated Nut driver
US6676557B2 (en) 2001-01-23 2004-01-13 Black & Decker Inc. First stage clutch
US7766894B2 (en) 2001-02-15 2010-08-03 Hansen Medical, Inc. Coaxial catheter system
US8414505B1 (en) 2001-02-15 2013-04-09 Hansen Medical, Inc. Catheter driver system
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
US7766856B2 (en) 2001-05-06 2010-08-03 Stereotaxis, Inc. System and methods for advancing a catheter
US7635342B2 (en) 2001-05-06 2009-12-22 Stereotaxis, Inc. System and methods for medical device advancement and rotation
DE60229630D1 (de) 2001-05-06 2008-12-11 Stereotaxis Inc System zum vorschieben eines Katheter
US20060199999A1 (en) 2001-06-29 2006-09-07 Intuitive Surgical Inc. Cardiac tissue ablation instrument with flexible wrist
CA2351993C (en) 2001-06-29 2003-02-18 New World Technologie Inc. Torque tool
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
AU2004299000B8 (en) 2003-12-11 2010-07-22 Cook Medical Technologies Llc Hemostatic valve assembly
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
US8052636B2 (en) 2004-03-05 2011-11-08 Hansen Medical, Inc. Robotic catheter system and methods
JP4755638B2 (ja) 2004-03-05 2011-08-24 ハンセン メディカル，インク． ロボットガイドカテーテルシステム
DE102004020465B3 (de) 2004-04-26 2005-09-01 Aumann Gmbh Drahtzugregler für Wickelmaschinen
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
US7974674B2 (en) 2004-05-28 2011-07-05 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic surgical system and method for surface modeling
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
AU2007254100A1 (en) 2006-05-17 2007-11-29 Hansen Medical, Inc. Robotic instrument system
US20080064927A1 (en) 2006-06-13 2008-03-13 Intuitive Surgical, Inc. Minimally invasrive surgery guide tube
JP2009539509A (ja) 2006-06-14 2009-11-19 マクドナルド デットワイラー アンド アソシエイツ インコーポレーテッド 直角プーリ駆動機構付きの手術マニピュレータ
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
US20080249536A1 (en) 2007-02-15 2008-10-09 Hansen Medical, Inc. Interface assembly for controlling orientation of robotically controlled medical instrument
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
EP2142071B1 (en) 2007-04-20 2018-04-04 Cook Medical Technologies LLC Steerable overtube
US8364312B2 (en) 2007-06-06 2013-01-29 Cycogs, Llc Modular rotary multi-sensor sensor ring
US9096033B2 (en) 2007-06-13 2015-08-04 Intuitive Surgical Operations, Inc. Surgical system instrument sterile adapter
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
DK2190761T3 (da) 2007-08-28 2014-02-03 Marel As Gribeindretning, f.eks. til en 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
BRPI0906703A2 (pt) 2008-01-16 2019-09-24 Catheter Robotics Inc sistema de inserção de cateter remotamente controlado
EP2240138B1 (en) 2008-01-29 2021-07-21 Implantica Patent Ltd. Apparatus for treating obesity
US9179912B2 (en) 2008-02-14 2015-11-10 Ethicon Endo-Surgery, Inc. Robotically-controlled motorized surgical cutting and fastening instrument
AU2009221324A1 (en) 2008-03-07 2009-09-11 Novozymes Adenium Biotech 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
EP3406291B8 (en) 2008-05-06 2020-01-15 Corindus, Inc. Catheter system
EP2274498A2 (en) 2008-05-12 2011-01-19 Longyear TM, Inc. Open-faced rod spinner
CN102014759B (zh) 2008-06-11 2012-12-26 韩商未来股份有限公司 用于手术机器人臂的仪器
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
US9339342B2 (en) * 2008-09-30 2016-05-17 Intuitive Surgical Operations, Inc. Instrument interface
US9259274B2 (en) 2008-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
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
US8694129B2 (en) 2009-02-13 2014-04-08 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
EP2405824B1 (en) 2009-03-14 2018-08-08 Vasostitch, Inc. Vessel access and closure device
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
US20110009863A1 (en) 2009-07-10 2011-01-13 Tyco Healthcare Group Lp Shaft Constructions for Medical Devices with an Articulating Tip
US20110015648A1 (en) 2009-07-16 2011-01-20 Hansen Medical, Inc. Endoscopic robotic catheter system
US20110015484A1 (en) 2009-07-16 2011-01-20 Alvarez Jeffrey B Endoscopic robotic catheter system
US8277417B2 (en) 2009-09-23 2012-10-02 James J. Fedinec Central venous catheter kit with line gripping and needle localizing devices
US20110071541A1 (en) 2009-09-23 2011-03-24 Intuitive Surgical, Inc. Curved cannula
KR101671825B1 (ko) 2009-10-01 2016-11-02 마코 서지컬 코포레이션 보철 부품의 위치 선정 및／또는 수술 도구의 이동 제한용 수술 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
JP5065538B2 (ja) 2010-09-14 2012-11-07 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システムの動作方法
US20120191107A1 (en) 2010-09-17 2012-07-26 Tanner Neal A Systems and methods for positioning an elongate member inside a body
WO2012049623A1 (en) * 2010-10-11 2012-04-19 Ecole Polytechnique Federale 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
CN103764216B (zh) 2011-05-03 2016-08-17 施菲姆德控股有限责任公司 可转向输送护套
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
EP2755591B1 (en) 2011-09-16 2020-11-18 Auris Health, Inc. System for displaying an image of a patient anatomy 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
US9636040B2 (en) 2012-02-03 2017-05-02 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
US20140142591A1 (en) 2012-04-24 2014-05-22 Auris Surgical Robotics, Inc. Method, apparatus and a system for robotic assisted surgery
US10383765B2 (en) 2012-04-24 2019-08-20 Auris Health, Inc. Apparatus and method for a global coordinate system for use in robotic 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
WO2014028557A1 (en) 2012-08-15 2014-02-20 Intuitive Surgical Operations, Inc. Phantom degrees of freedom for manipulating the movement of mechanical bodies
EP3789164B1 (en) 2012-08-15 2024-07-31 Intuitive Surgical Operations, Inc. Movable surgical mounting platform controlled by manual motion of robotic arms
KR102196291B1 (ko) 2012-10-12 2020-12-30 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 분지형 해부학적 구조물 내에서의 의료 장치의 위치 결정
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
JP6251756B2 (ja) 2013-02-26 2017-12-20 アーメット・シナン・カバクチュＡｈｍｅｔ Ｓｉｎａｎ ＫＡＢＡＫＣＩ ロボットマニュピレータシステム
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
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
US11213363B2 (en) 2013-03-14 2022-01-04 Auris Health, Inc. Catheter tension sensing
US20140277334A1 (en) 2013-03-14 2014-09-18 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US9326822B2 (en) 2013-03-14 2016-05-03 Hansen Medical, Inc. Active drives for robotic catheter manipulators
KR20160008169A (ko) 2013-03-14 2016-01-21 에스알아이 인터내셔널 컴팩트 로봇 리스트
US20140276394A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Input device for controlling a catheter
US9918659B2 (en) 2013-03-15 2018-03-20 Intuitive Surgical Operations, Inc. Shape sensor systems for tracking interventional instruments and mehods of use
US9408669B2 (en) 2013-03-15 2016-08-09 Hansen Medical, Inc. Active drive mechanism with finite range of motion
US9452018B2 (en) 2013-03-15 2016-09-27 Hansen Medical, Inc. Rotational support for an elongate member
US20140276647A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Vascular remote catheter manipulator
US20140276936A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Active drive mechanism for simultaneous rotation and translation
US11020016B2 (en) 2013-05-30 2021-06-01 Auris Health, Inc. System and method for displaying anatomy and devices on a movable display
US10744035B2 (en) 2013-06-11 2020-08-18 Auris Health, Inc. Methods 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
WO2015023671A1 (en) 2013-08-15 2015-02-19 Intuitive Surgical Operations, Inc. Systems and methods for medical procedure confirmation
US9993614B2 (en) 2013-08-27 2018-06-12 Catheter Precision, Inc. Components for multiple axis control of a catheter in a catheter positioning system
EP3689284B1 (en) 2013-10-24 2025-02-26 Auris Health, Inc. System for robotic-assisted endolumenal surgery
US9980785B2 (en) 2013-10-24 2018-05-29 Auris Health, Inc. Instrument device manipulator with surgical tool de-articulation
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
EP3107479B1 (en) * 2014-02-21 2025-08-27 Intuitive Surgical Operations, Inc. Mechanical joints, and related systems
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
US9561083B2 (en) 2014-07-01 2017-02-07 Auris Surgical Robotics, Inc. Articulating flexible endoscopic tool with roll capabilities
US10159533B2 (en) 2014-07-01 2018-12-25 Auris Health, Inc. Surgical system with configurable rail-mounted mechanical arms
US20160270865A1 (en) 2014-07-01 2016-09-22 Auris Surgical Robotics, Inc. Reusable catheter with disposable balloon attachment and tapered tip
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
EP3200718B1 (en) 2014-09-30 2026-02-18 Auris Health, Inc. Configurable robotic surgical system with virtual rail and flexible endoscope
US10314463B2 (en) 2014-10-24 2019-06-11 Auris Health, Inc. Automated endoscope calibration
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
JP6733660B2 (ja) 2015-03-25 2020-08-05 ソニー株式会社 医療用支持アーム装置
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
JP6157792B2 (ja) 2015-06-01 2017-07-05 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
EP3340919B1 (en) 2015-08-27 2020-09-30 Focal Healthcare Inc. Moveable interface and stepper assembly
CN113274140B (zh) 2015-09-09 2022-09-02 奥瑞斯健康公司 手术覆盖件
CN108778113B (zh) 2015-09-18 2022-04-15 奥瑞斯健康公司 管状网络的导航
US10441371B2 (en) 2015-10-02 2019-10-15 Vanderbilt University Concentric tube robot
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
US10639108B2 (en) 2015-10-30 2020-05-05 Auris Health, Inc. Process for percutaneous operations
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
US20200281665A1 (en) 2016-03-04 2020-09-10 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
KR102520799B1 (ko) 2016-07-01 2023-04-12 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
EP3949891B1 (en) 2016-10-04 2025-03-19 Intuitive Surgical Operations, Inc. Computer-assisted teleoperated surgery systems
US10286556B2 (en) 2016-10-16 2019-05-14 The Boeing Company Method and apparatus for compliant robotic end-effector
US10136959B2 (en) 2016-12-28 2018-11-27 Auris Health, Inc. Endolumenal object sizing
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
US10820951B2 (en) 2017-03-14 2020-11-03 Verb Surgical Inc. Techniques for damping vibration in a robotic surgical system
WO2018175737A1 (en) 2017-03-22 2018-09-27 Intuitive Surgical Operations, Inc. Systems and methods for intelligently seeding registration
CN108934160B (zh) 2017-03-28 2021-08-31 奥瑞斯健康公司 轴致动手柄
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
JP7677608B2 (ja) 2017-05-12 2025-05-15 オーリス ヘルス インコーポレイテッド 生検装置およびシステム
US10716461B2 (en) 2017-05-17 2020-07-21 Auris Health, Inc. Exchangeable working channel
US10022192B1 (en) 2017-06-23 2018-07-17 Auris Health, Inc. Automatically-initialized robotic systems for navigation of luminal networks
US11026758B2 (en) 2017-06-28 2021-06-08 Auris Health, Inc. Medical robotics systems implementing axis constraints during actuation of one or more motorized joints
JP7130682B2 (ja) 2017-06-28 2022-09-05 オーリス ヘルス インコーポレイテッド 器具挿入補償
CN110913788B (zh) 2017-06-28 2024-03-12 奥瑞斯健康公司 电磁失真检测
US11832889B2 (en) 2017-06-28 2023-12-05 Auris Health, Inc. Electromagnetic field generator alignment
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
CN110831536B (zh) 2017-12-06 2021-09-07 奥瑞斯健康公司 用于针对非命令器械滚转进行校正的系统和方法
CN110831534B (zh) 2017-12-08 2023-04-28 奥瑞斯健康公司 用于医疗仪器导航和瞄准的系统和方法
JP7208237B2 (ja) 2017-12-08 2023-01-18 オーリス ヘルス インコーポレイテッド 医療手技を行うシステム及び医療機器
MX2020006069A (es) 2017-12-11 2020-11-06 Auris Health Inc Sistemas y metodos para arquitecturas de insercion basadas en instrumentos.
WO2019118767A1 (en) 2017-12-14 2019-06-20 Auris Health, Inc. System and method for estimating instrument location
US11160615B2 (en) 2017-12-18 2021-11-02 Auris Health, Inc. Methods and systems for instrument tracking and navigation within luminal networks
KR102264368B1 (ko) 2018-01-17 2021-06-17 아우리스 헬스, 인코포레이티드 조절가능 아암 지지부를 갖는 수술 플랫폼
MX2020008464A (es) 2018-02-13 2020-12-07 Auris Health Inc Sistema y metodo para accionar instrumento medico.
US20190269468A1 (en) 2018-03-01 2019-09-05 Auris Health, Inc. Methods and systems for mapping and navigation
JP7225259B2 (ja) 2018-03-28 2023-02-20 オーリス ヘルス インコーポレイテッド 器具の推定位置を示すためのシステム及び方法
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
EP4344723A3 (en) 2018-03-28 2024-06-12 Auris Health, Inc. Medical instruments with variable bending stiffness profiles
WO2019191265A1 (en) 2018-03-29 2019-10-03 Auris Health, Inc. Robotically-enabled medical systems with multifunction end effectors having rotational offsets
CN114601559B (zh) 2018-05-30 2024-05-14 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介质
EP4454591A3 (en) 2018-05-31 2025-01-15 Auris Health, Inc. Path-based navigation of tubular networks
US11503986B2 (en) 2018-05-31 2022-11-22 Auris Health, Inc. Robotic systems and methods for navigation of luminal network that detect physiological noise
CN110831538B (zh) 2018-05-31 2023-01-24 奥瑞斯健康公司 基于图像的气道分析和映射
US10744981B2 (en) 2018-06-06 2020-08-18 Sensata Technologies, Inc. Electromechanical braking connector
CN112218596B (zh) 2018-06-07 2025-05-16 奥瑞斯健康公司 具有高力器械的机器人医疗系统
WO2020005370A1 (en) 2018-06-27 2020-01-02 Auris Health, Inc. Systems and techniques for providing multiple perspectives during medical procedures
KR102817263B1 (ko) 2018-06-28 2025-06-10 아우리스 헬스, 인코포레이티드 풀리 공유를 통합한 의료 시스템
KR102612146B1 (ko) 2018-08-07 2023-12-13 아우리스 헬스, 인코포레이티드 카테터 제어와의 변형-기반 형상 감지의 조합
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
CN112566567B (zh) 2018-08-17 2024-10-29 奥瑞斯健康公司 双极医疗器械
AU2019326548B2 (en) 2018-08-24 2023-11-23 Auris Health, Inc. Manually and robotically controllable medical instruments
US11197728B2 (en) 2018-09-17 2021-12-14 Auris Health, Inc. Systems and methods for concomitant medical procedures
US11179212B2 (en) 2018-09-26 2021-11-23 Auris Health, Inc. Articulating medical instruments
WO2020068303A1 (en) 2018-09-26 2020-04-02 Auris Health, Inc. Systems and instruments for suction and irrigation
JP7536752B2 (ja) 2018-09-28 2024-08-20 オーリス ヘルス インコーポレイテッド 内視鏡支援経皮的医療処置のためのシステム及び方法
KR102852843B1 (ko) 2018-09-28 2025-09-03 아우리스 헬스, 인코포레이티드 의료 기구를 도킹시키기 위한 시스템 및 방법
US10820947B2 (en) 2018-09-28 2020-11-03 Auris Health, Inc. Devices, systems, and methods for manually and robotically driving medical instruments
WO2020076447A1 (en) 2018-10-08 2020-04-16 Auris Health, Inc. Systems and instruments for tissue sealing
WO2020131529A1 (en) 2018-12-20 2020-06-25 Auris Health, Inc. Shielding for wristed instruments
CN113226202B (zh) 2018-12-28 2024-12-03 奥瑞斯健康公司 用于机器人医疗系统的经皮护套和方法
US11202683B2 (en) 2019-02-22 2021-12-21 Auris Health, Inc. Surgical platform with motorized arms for adjustable arm supports
WO2020185516A1 (en) 2019-03-08 2020-09-17 Auris Health, Inc. Tilt mechanisms for medical systems and applications tilt mechanisms for medical systems and applications tilt mechanisms for medical systems and applications tilt mechanisms for medical systems and applications tilt mechanisms for medical systems and
WO2020197671A1 (en) 2019-03-22 2020-10-01 Auris Health, Inc. Systems and methods for aligning inputs on medical instruments
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
KR102935983B1 (ko) 2019-04-08 2026-03-10 아우리스 헬스, 인코포레이티드 동시 절차를 위한 시스템, 방법, 및 작업흐름

Also Published As

Publication number Publication date
AU2016422171B2 (en) 2022-01-20
EP3506836C0 (en) 2024-10-02
US10682189B2 (en) 2020-06-16
EP3506836A4 (en) 2020-04-29
KR20230096148A (ko) 2023-06-29
US9962228B2 (en) 2018-05-08
US11564759B2 (en) 2023-01-31
KR102555546B1 (ko) 2023-07-19
AU2016422171A1 (en) 2019-03-07
JP2019528139A (ja) 2019-10-10
US20180250083A1 (en) 2018-09-06
EP3506836B1 (en) 2024-10-02
KR20190045888A (ko) 2019-05-03
CN109069138B (zh) 2021-07-20
WO2018044306A1 (en) 2018-03-08
EP3506836A1 (en) 2019-07-10
US20180055583A1 (en) 2018-03-01
CN109069138A (zh) 2018-12-21
US20200305992A1 (en) 2020-10-01
US20230210616A1 (en) 2023-07-06

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
WO2022228149A1 (zh) 输入装置、主操作设备及手术机器人
US20130317520A1 (en) Surgical implement and manipulation system including the same
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