JP6909258B2 - ロボット医療システムを外部撮像と統合するシステム及び方法 - Google Patents
ロボット医療システムを外部撮像と統合するシステム及び方法 Download PDFInfo
- Publication number
- JP6909258B2 JP6909258B2 JP2019092036A JP2019092036A JP6909258B2 JP 6909258 B2 JP6909258 B2 JP 6909258B2 JP 2019092036 A JP2019092036 A JP 2019092036A JP 2019092036 A JP2019092036 A JP 2019092036A JP 6909258 B2 JP6909258 B2 JP 6909258B2
- Authority
- JP
- Japan
- Prior art keywords
- image data
- instrument
- patient
- intraoperative
- anatomical structure
- 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
- 238000003384 imaging method Methods 0.000 title description 62
- 238000000034 method Methods 0.000 title description 41
- 210000003484 anatomy Anatomy 0.000 claims description 98
- 238000011282 treatment Methods 0.000 description 28
- 230000036544 posture Effects 0.000 description 21
- 239000000835 fiber Substances 0.000 description 15
- 239000013307 optical fiber Substances 0.000 description 13
- 239000000523 sample Substances 0.000 description 13
- 238000002591 computed tomography Methods 0.000 description 11
- 230000004044 response Effects 0.000 description 10
- 238000012800 visualization Methods 0.000 description 10
- 239000012636 effector Substances 0.000 description 9
- 238000000605 extraction Methods 0.000 description 9
- 238000005452 bending Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 8
- 238000012544 monitoring process Methods 0.000 description 8
- 238000013459 approach Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 7
- 238000001356 surgical procedure Methods 0.000 description 7
- 238000002604 ultrasonography Methods 0.000 description 7
- 210000004072 lung Anatomy 0.000 description 6
- 239000000463 material Substances 0.000 description 6
- 230000005855 radiation Effects 0.000 description 6
- 238000003860 storage Methods 0.000 description 6
- 239000000126 substance Substances 0.000 description 6
- 238000001574 biopsy Methods 0.000 description 5
- 239000003814 drug Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 238000011065 in-situ storage Methods 0.000 description 5
- 239000000203 mixture Substances 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 5
- 238000002432 robotic surgery Methods 0.000 description 5
- 239000002131 composite material Substances 0.000 description 4
- 238000012790 confirmation Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 229940124597 therapeutic agent Drugs 0.000 description 4
- 230000001225 therapeutic effect Effects 0.000 description 4
- 238000011277 treatment modality Methods 0.000 description 4
- 101710112752 Cytotoxin Proteins 0.000 description 3
- 231100000599 cytotoxic agent Toxicity 0.000 description 3
- 239000002619 cytotoxin Substances 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 239000007943 implant Substances 0.000 description 3
- 238000002595 magnetic resonance imaging Methods 0.000 description 3
- 238000002600 positron emission tomography Methods 0.000 description 3
- 230000011218 segmentation Effects 0.000 description 3
- 239000004065 semiconductor Substances 0.000 description 3
- 229920002614 Polyether block amide Polymers 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005253 cladding Methods 0.000 description 2
- 210000001072 colon Anatomy 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 239000002872 contrast media Substances 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 239000000032 diagnostic agent Substances 0.000 description 2
- 229940039227 diagnostic agent Drugs 0.000 description 2
- 238000002405 diagnostic procedure Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000003708 edge detection Methods 0.000 description 2
- 230000005672 electromagnetic field Effects 0.000 description 2
- 238000004520 electroporation Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000002594 fluoroscopy Methods 0.000 description 2
- 210000002216 heart Anatomy 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 210000000936 intestine Anatomy 0.000 description 2
- 210000003734 kidney Anatomy 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 2
- 239000004810 polytetrafluoroethylene Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000002285 radioactive effect Effects 0.000 description 2
- 230000002829 reductive effect Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000004513 sizing Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000001228 spectrum Methods 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 238000001931 thermography Methods 0.000 description 2
- 238000003325 tomography Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 206010028980 Neoplasm Diseases 0.000 description 1
- 206010029216 Nervousness Diseases 0.000 description 1
- 239000004721 Polyphenylene oxide Substances 0.000 description 1
- 238000001069 Raman spectroscopy Methods 0.000 description 1
- 208000002847 Surgical Wound Diseases 0.000 description 1
- 238000002679 ablation Methods 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 150000001408 amides Chemical class 0.000 description 1
- 230000003444 anaesthetic effect Effects 0.000 description 1
- 229940035676 analgesics Drugs 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 239000000730 antalgic agent Substances 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000003124 biologic agent Substances 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 238000004090 dissolution Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000012377 drug delivery Methods 0.000 description 1
- 238000001962 electrophoresis Methods 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000002783 friction material Substances 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 238000010562 histological examination Methods 0.000 description 1
- 238000002675 image-guided surgery Methods 0.000 description 1
- 238000003331 infrared imaging Methods 0.000 description 1
- 238000002329 infrared spectrum Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 238000002647 laser therapy Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012978 minimally invasive surgical procedure Methods 0.000 description 1
- 239000002105 nanoparticle Substances 0.000 description 1
- 239000002071 nanotube Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000001151 other effect Effects 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000002428 photodynamic therapy Methods 0.000 description 1
- 229920000570 polyether Polymers 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 239000002861 polymer material Substances 0.000 description 1
- -1 polytetrafluoroethylene Polymers 0.000 description 1
- 239000000700 radioactive tracer Substances 0.000 description 1
- 238000001959 radiotherapy Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000029058 respiratory gaseous exchange Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000013268 sustained release Methods 0.000 description 1
- 239000012730 sustained-release form Substances 0.000 description 1
- 230000009885 systemic effect Effects 0.000 description 1
- 230000008685 targeting Effects 0.000 description 1
- 230000000451 tissue damage Effects 0.000 description 1
- 231100000827 tissue damage Toxicity 0.000 description 1
- 238000002211 ultraviolet spectrum Methods 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
- A61B34/30—Surgical robots
- A61B34/32—Surgical robots operating autonomously
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3478—Endoscopic needles, e.g. for infusion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1077—Beam delivery systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
- A61B2034/306—Wrists with multiple vertebrae
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Animal Behavior & Ethology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Heart & Thoracic Surgery (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
- Endoscopes (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Manipulator (AREA)
Description
この出願は、2013年5月16日に出願された米国仮出願第61/824,298号の利益を主張し、その全文をここに参照として援用する。この特許文献は、それらの全てが2011年10月14日に出願された、以下の同一所有者による同時係属中の特許出願、即ち、「Catheter with Removable Vision Probe」という名称の米国特許出願第13/274,208号、「Catheters with Control Modes for Interchangeable Probes」という名称の米国特許出願第13/274,198号、「Vision Probe and Catheter Systems」という名称の米国特許出願第13/274,229号、及び「Catheter Sensor Systems」という名称の米国特許出願第13/274,237号にも関係し、それらを参照として援用する。
Claims (4)
- 医療システムであって、
患者解剖学的構造の少なくとも部分についての術中外部画像データを受信するメモリと、
該術中外部画像データに基づいて前記患者解剖学的構造の既存モデルを調節することにより前記患者解剖学的構造の更新モデルを術中に生成することによって術中モデリング調節を適用するように構成されるプロセッサとを含み、
当該医療システムは、ロボット器具を含み、当該医療システムは、前記患者解剖学的構造内に少なくとも部分的に位置付けられる前記ロボット器具についての術中姿勢データを受信するメモリを更に含み、
前記プロセッサは、前記術中姿勢データに基づいて前記既存モデルを調節するように更に構成される、
医療システム。 - 医療システムであって、
患者解剖学的構造の少なくとも部分についての術中外部画像データを受信するメモリと、
該術中外部画像データに基づいて前記患者解剖学的構造の既存モデルを調節することにより前記患者解剖学的構造の更新モデルを術中に生成することによって術中モデリング調節を適用するように構成されるプロセッサとを含み、
当該医療システムは、ロボット器具を含み、
前記プロセッサは、
前記術中外部画像データ内の参照要素画像データを特定するように更に構成され、該参照要素画像データは、前記患者解剖学的構造と関連付けられる1つ又はそれよりも多くの参照要素に対応し、
前記参照要素画像データに基づいて当該医療システムのディスプレイシステム上で前記ロボット器具を前記患者解剖学的構造の前記既存モデルに位置合わせするように更に構成され、前記ロボット器具は、前記1つ又はそれよりも多くの参照要素と既知の関係を有する、
医療システム。 - 医療システムであって、
患者解剖学的構造の少なくとも部分についての術中外部画像データを受信するメモリと、
該術中外部画像データに基づいて前記患者解剖学的構造の既存モデルを調節することにより前記患者解剖学的構造の更新モデルを術中に生成することによって術中モデリング調節を適用するように構成されるプロセッサとを含み、
当該医療システムは、ロボット器具を含み、
前記プロセッサは、
前記術中外部画像データ内に参照要素画像データを特定するように更に構成され、該参照要素画像データは、前記患者解剖学的構造と関連付けられる1つ又はそれよりも多くの参照要素に対応し、
前記術中外部画像データに基づいて前記既存モデルから前記患者解剖学的構造の更新モデルを生成するように更に構成され、
前記参照要素画像データに基づいて当該医療システムのディスプレイシステム上で前記ロボット器具を前記更新モデルに位置合わせするように更に構成され、前記ロボット器具は、前記1つ又はそれよりも多くの参照要素と既知の関係を有する、
医療システム。 - 前記既存モデルは、前記患者解剖学的構造内の1つ又はそれよりも多くの特徴についてのモデルデータを含み、
前記プロセッサは、
前記術中外部画像データから前記1つ又はそれよりも多くの特徴についての特徴画像データを抽出し、且つ
該特徴画像データに基づいて前記モデルデータを調節するように更に構成される、
請求項1乃至3のうちのいずれか1項に記載の医療システム。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201361824298P | 2013-05-16 | 2013-05-16 | |
US61/824,298 | 2013-05-16 | ||
US14/278,812 | 2014-05-15 | ||
US14/278,812 US9592095B2 (en) | 2013-05-16 | 2014-05-15 | Systems and methods for robotic medical system integration with external imaging |
JP2016514131A JP6529962B2 (ja) | 2013-05-16 | 2014-05-16 | ロボット医療システムを外部撮像と統合するシステム及び方法 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016514131A Division JP6529962B2 (ja) | 2013-05-16 | 2014-05-16 | ロボット医療システムを外部撮像と統合するシステム及び方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019136550A JP2019136550A (ja) | 2019-08-22 |
JP6909258B2 true JP6909258B2 (ja) | 2021-07-28 |
Family
ID=51896313
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016514131A Active JP6529962B2 (ja) | 2013-05-16 | 2014-05-16 | ロボット医療システムを外部撮像と統合するシステム及び方法 |
JP2019092036A Active JP6909258B2 (ja) | 2013-05-16 | 2019-05-15 | ロボット医療システムを外部撮像と統合するシステム及び方法 |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016514131A Active JP6529962B2 (ja) | 2013-05-16 | 2014-05-16 | ロボット医療システムを外部撮像と統合するシステム及び方法 |
Country Status (6)
Country | Link |
---|---|
US (5) | US9592095B2 (ja) |
EP (2) | EP3735933A1 (ja) |
JP (2) | JP6529962B2 (ja) |
KR (2) | KR102334904B1 (ja) |
CN (2) | CN108095777B (ja) |
WO (1) | WO2014186715A1 (ja) |
Families Citing this family (300)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
US8961533B2 (en) | 2010-09-17 | 2015-02-24 | Hansen Medical, Inc. | Anti-buckling mechanisms and methods |
US10456209B2 (en) | 2010-10-13 | 2019-10-29 | Gholam A. Peyman | Remote laser treatment system with dynamic imaging |
US11309081B2 (en) | 2010-10-13 | 2022-04-19 | Gholam A. Peyman | Telemedicine system with dynamic imaging |
US9931171B1 (en) * | 2010-10-13 | 2018-04-03 | Gholam A. Peyman | Laser treatment of an eye structure or a body surface from a remote location |
US11871901B2 (en) | 2012-05-20 | 2024-01-16 | Cilag Gmbh International | Method for situational awareness for surgical network or surgical network connected device capable of adjusting function based on a sensed situation or usage |
US11589771B2 (en) | 2012-06-21 | 2023-02-28 | Globus Medical Inc. | Method for recording probe movement and determining an extent of matter removed |
US11857266B2 (en) | 2012-06-21 | 2024-01-02 | Globus Medical, Inc. | System for a surveillance marker in robotic-assisted surgery |
US11896446B2 (en) | 2012-06-21 | 2024-02-13 | Globus Medical, Inc | Surgical robotic automation with tracking markers |
US11317971B2 (en) | 2012-06-21 | 2022-05-03 | Globus Medical, Inc. | Systems and methods related to robotic guidance in surgery |
US10646280B2 (en) | 2012-06-21 | 2020-05-12 | Globus Medical, Inc. | System and method for surgical tool insertion using multiaxis force and moment feedback |
US11786324B2 (en) | 2012-06-21 | 2023-10-17 | Globus Medical, Inc. | Surgical robotic automation with tracking markers |
US11793570B2 (en) | 2012-06-21 | 2023-10-24 | Globus Medical Inc. | Surgical robotic automation with tracking markers |
US11974822B2 (en) | 2012-06-21 | 2024-05-07 | Globus Medical Inc. | Method for a surveillance marker in robotic-assisted surgery |
US11298196B2 (en) | 2012-06-21 | 2022-04-12 | Globus Medical Inc. | Surgical robotic automation with tracking markers and controlled tool advancement |
US11963755B2 (en) | 2012-06-21 | 2024-04-23 | Globus Medical Inc. | Apparatus for recording probe movement |
US11864839B2 (en) | 2012-06-21 | 2024-01-09 | Globus Medical Inc. | Methods of adjusting a virtual implant and related surgical navigation systems |
US11399900B2 (en) | 2012-06-21 | 2022-08-02 | Globus Medical, Inc. | Robotic systems providing co-registration using natural fiducials and related methods |
US10874466B2 (en) | 2012-06-21 | 2020-12-29 | Globus Medical, Inc. | System and method for surgical tool insertion using multiaxis force and moment feedback |
US20170258535A1 (en) * | 2012-06-21 | 2017-09-14 | Globus Medical, Inc. | Surgical robotic automation with tracking markers |
US11857149B2 (en) | 2012-06-21 | 2024-01-02 | Globus Medical, Inc. | Surgical robotic systems with target trajectory deviation monitoring and related methods |
US11253327B2 (en) | 2012-06-21 | 2022-02-22 | Globus Medical, Inc. | Systems and methods for automatically changing an end-effector on a surgical robot |
US12004905B2 (en) | 2012-06-21 | 2024-06-11 | Globus Medical, Inc. | Medical imaging systems using robotic actuators and related methods |
US11864745B2 (en) | 2012-06-21 | 2024-01-09 | Globus Medical, Inc. | Surgical robotic system with retractor |
US10758315B2 (en) | 2012-06-21 | 2020-09-01 | Globus Medical Inc. | Method and system for improving 2D-3D registration convergence |
US11045267B2 (en) | 2012-06-21 | 2021-06-29 | Globus Medical, Inc. | Surgical robotic automation with tracking markers |
US10799298B2 (en) | 2012-06-21 | 2020-10-13 | Globus Medical Inc. | Robotic fluoroscopic navigation |
US10624710B2 (en) | 2012-06-21 | 2020-04-21 | Globus Medical, Inc. | System and method for measuring depth of instrumentation |
US10842461B2 (en) | 2012-06-21 | 2020-11-24 | Globus Medical, Inc. | Systems and methods of checking registrations for surgical systems |
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 |
US9057600B2 (en) | 2013-03-13 | 2015-06-16 | Hansen Medical, Inc. | Reducing incremental measurement sensor error |
US9014851B2 (en) | 2013-03-15 | 2015-04-21 | Hansen Medical, Inc. | Systems and methods for tracking robotically controlled medical instruments |
US9629595B2 (en) | 2013-03-15 | 2017-04-25 | Hansen Medical, Inc. | Systems and methods for localizing, tracking and/or controlling medical instruments |
US10376672B2 (en) | 2013-03-15 | 2019-08-13 | Auris Health, Inc. | Catheter insertion system and method of fabrication |
US9271663B2 (en) | 2013-03-15 | 2016-03-01 | Hansen Medical, Inc. | Flexible instrument localization from both remote and elongation sensors |
US9592095B2 (en) | 2013-05-16 | 2017-03-14 | Intuitive Surgical Operations, Inc. | Systems and methods for robotic medical system integration with external imaging |
US11020016B2 (en) | 2013-05-30 | 2021-06-01 | Auris Health, Inc. | System and method for displaying anatomy and devices on a movable display |
JP6265630B2 (ja) * | 2013-06-13 | 2018-01-24 | オリンパス株式会社 | 内視鏡装置及び内視鏡装置の作動方法 |
US9179051B1 (en) * | 2013-06-13 | 2015-11-03 | Clara Stoudt | Voice-activated hands-free camera holder systems |
WO2015061756A1 (en) * | 2013-10-24 | 2015-04-30 | Auris Surgical Robotics, Inc. | System for robotic-assisted endolumenal surgery and related methods |
JP6725423B2 (ja) * | 2014-02-11 | 2020-07-15 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 解剖学的標的を視覚化するシステム |
EP2923669B1 (en) | 2014-03-24 | 2017-06-28 | Hansen Medical, Inc. | Systems and devices for catheter driving instinctiveness |
US20150305650A1 (en) * | 2014-04-23 | 2015-10-29 | Mark Hunter | Apparatuses and methods for endobronchial navigation to and confirmation of the location of a target tissue and percutaneous interception of the target tissue |
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 |
US9744335B2 (en) | 2014-07-01 | 2017-08-29 | Auris Surgical Robotics, Inc. | Apparatuses and methods for monitoring tendons of steerable catheters |
CA2953267C (en) * | 2014-07-02 | 2022-11-15 | Covidien Lp | Real-time automatic registration feedback |
CN106714656B (zh) * | 2014-07-28 | 2019-05-28 | 直观外科手术操作公司 | 用于术中分割的系统和方法 |
JP6894839B2 (ja) * | 2014-10-17 | 2021-06-30 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 介入治療内で器具を挿入する間の実時間の臓器区分化及び器具ナビゲーションのためのシステム、並びにその作動方法 |
US10314463B2 (en) | 2014-10-24 | 2019-06-11 | Auris Health, Inc. | Automated endoscope calibration |
US11504192B2 (en) | 2014-10-30 | 2022-11-22 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
WO2016081606A1 (en) | 2014-11-19 | 2016-05-26 | Advanced Cardiac Therapeutics, Inc. | Systems and methods for high-resolution mapping of tissue |
WO2016081611A1 (en) | 2014-11-19 | 2016-05-26 | Advanced Cardiac Therapeutics, Inc. | High-resolution mapping of tissue with pacing |
CN107148249B (zh) | 2014-11-19 | 2022-02-22 | Epix 疗法公司 | 使用高分辨率电极组件的消融装置、系统和方法 |
CN107205785B (zh) | 2015-01-22 | 2021-07-27 | 皇家飞利浦有限公司 | 利用光学形状感测的腔内移植物可视化 |
CN107205810B (zh) * | 2015-01-22 | 2021-10-29 | 皇家飞利浦有限公司 | 通过导丝的光学形状感测的装置可视化 |
JP2018505728A (ja) * | 2015-01-22 | 2018-03-01 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 光学形状検出フィードバックを伴う血管内配置装置のロボット制御 |
CN104750068B (zh) * | 2015-02-13 | 2018-08-21 | 湖北锐世数字医学影像科技有限公司 | 一种多节点传感器网络的数据传输及控制装置 |
WO2016151770A1 (ja) * | 2015-03-24 | 2016-09-29 | オリンパス株式会社 | 軟性マニピュレータ制御装置および医療用マニピュレータシステム |
US9636164B2 (en) | 2015-03-25 | 2017-05-02 | Advanced Cardiac Therapeutics, Inc. | Contact sensing systems and methods |
US11819636B2 (en) | 2015-03-30 | 2023-11-21 | Auris Health, Inc. | Endoscope pull wire electrical circuit |
KR20160129311A (ko) * | 2015-04-30 | 2016-11-09 | 현대중공업 주식회사 | 바늘삽입형 중재시술 로봇시스템 |
JP6797834B2 (ja) * | 2015-05-22 | 2020-12-09 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | 画像誘導手術のための位置合わせのシステム及び方法 |
JP2018517508A (ja) * | 2015-06-12 | 2018-07-05 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 汎用光ファイバーリアルシェイプインサート |
US10420626B2 (en) * | 2015-06-30 | 2019-09-24 | Canon U.S.A., Inc. | Fiducial markers, systems, and methods of registration |
US10674982B2 (en) | 2015-08-06 | 2020-06-09 | Covidien Lp | System and method for local three dimensional volume reconstruction using a standard fluoroscope |
US10716525B2 (en) | 2015-08-06 | 2020-07-21 | Covidien Lp | System and method for navigating to target and performing procedure on target utilizing fluoroscopic-based local three dimensional volume reconstruction |
US10702226B2 (en) | 2015-08-06 | 2020-07-07 | Covidien Lp | System and method for local three dimensional volume reconstruction using a standard fluoroscope |
WO2017049163A1 (en) | 2015-09-18 | 2017-03-23 | Auris Surgical Robotics, Inc. | Navigation of tubular networks |
CN105167845A (zh) * | 2015-09-21 | 2015-12-23 | 鑫麦源创时代医疗科技(苏州)有限公司 | 具有机械手臂的微波消融系统 |
WO2017055957A1 (en) * | 2015-09-28 | 2017-04-06 | Koninklijke Philips N.V. | Single-port surgical procedure using image guided articulated robot |
GB2557559B (en) * | 2015-10-06 | 2021-09-15 | Synaptive Medical Inc | Method, system and apparatus for image-guided insertion of implant devices |
CN108352132A (zh) * | 2015-10-16 | 2018-07-31 | 维塔医疗股份公司 | 超声模拟方法 |
US10143526B2 (en) | 2015-11-30 | 2018-12-04 | Auris Health, Inc. | Robot-assisted driving systems and methods |
US11172895B2 (en) * | 2015-12-07 | 2021-11-16 | Covidien Lp | Visualization, navigation, and planning with electromagnetic navigation bronchoscopy and cone beam computed tomography integrated |
US10646289B2 (en) * | 2015-12-29 | 2020-05-12 | Koninklijke Philips N.V. | System, controller and method using virtual reality device for robotic surgery |
JP6653387B2 (ja) * | 2016-01-19 | 2020-02-26 | タイタン メディカル インコーポレイテッドTitan Medical Inc. | ロボット手術システムのためのグラフィカルユーザインタフェース |
US11883217B2 (en) | 2016-02-03 | 2024-01-30 | Globus Medical, Inc. | Portable medical imaging system and method |
CN108024838B (zh) | 2016-02-12 | 2021-10-01 | 直观外科手术操作公司 | 用于在图像引导手术中使用配准荧光透视图像的系统和方法 |
WO2017160808A1 (en) | 2016-03-15 | 2017-09-21 | Advanced Cardiac Therapeutics, Inc. | Improved devices, systems and methods for irrigated ablation |
JP2019508174A (ja) * | 2016-03-15 | 2019-03-28 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 光ファイバー実形状感知式栄養チューブ |
CN108882967A (zh) * | 2016-03-31 | 2018-11-23 | 皇家飞利浦有限公司 | 用于导管放置的图像引导的机器人 |
JP7232050B2 (ja) * | 2016-03-31 | 2023-03-02 | コーニンクレッカ フィリップス エヌ ヴェ | 腫瘍吸引のための画像誘導ロボットシステム |
WO2017173518A1 (en) * | 2016-04-05 | 2017-10-12 | Synaptive Medical (Barbados) Inc. | Multi-metric surgery simulator and methods |
EP3463163A4 (en) | 2016-06-03 | 2020-02-12 | Covidien LP | ROBOTIC SURGICAL SYSTEM WITH AN EMBEDDED IMAGER |
CN206063225U (zh) * | 2016-06-04 | 2017-04-05 | 深圳市前海康启源科技有限公司 | 用于辅助手术的医疗机器人 |
WO2018006046A1 (en) * | 2016-06-30 | 2018-01-04 | Intuitive Surgical Operations, Inc. | Systems and methods for fault reaction mechanisms for medical robotic systems |
CN106214253A (zh) * | 2016-08-15 | 2016-12-14 | 苏州安术医疗科技有限公司 | 病灶部位诊断治疗一体机 |
US20180049808A1 (en) * | 2016-08-17 | 2018-02-22 | Covidien Lp | Method of using soft point features to predict breathing cycles and improve end registration |
US10463439B2 (en) | 2016-08-26 | 2019-11-05 | Auris Health, Inc. | Steerable catheter with shaft load distributions |
US9931025B1 (en) | 2016-09-30 | 2018-04-03 | Auris Surgical Robotics, Inc. | Automated calibration of endoscopes with pull wires |
KR101837301B1 (ko) * | 2016-10-28 | 2018-03-12 | 경북대학교 산학협력단 | 수술 항법 시스템 |
CN114795081A (zh) * | 2016-11-11 | 2022-07-29 | 波士顿科学医学有限公司 | 引导系统和相关联的方法 |
CN106539624B (zh) * | 2016-11-23 | 2019-12-03 | 常州朗合医疗器械有限公司 | 医疗路径导航方法、规划方法及系统 |
DE102016223490A1 (de) | 2016-11-25 | 2018-01-11 | Siemens Healthcare Gmbh | System mit einer Gantry und einer Strahlenschutzkabine und Verfahren zur Bedienung einer medizinischen Bildgebungsvorrichtung |
US10537394B2 (en) * | 2016-12-19 | 2020-01-21 | Ethicon Llc | Hot device indication of video display |
EP3558151B1 (en) | 2016-12-20 | 2023-07-05 | Koninklijke Philips N.V. | Navigation platform for an intracardiac catheter |
WO2018122946A1 (ja) * | 2016-12-27 | 2018-07-05 | オリンパス株式会社 | 医療用マニピュレータの形状取得方法および制御方法 |
CN106691383A (zh) * | 2016-12-27 | 2017-05-24 | 天津恒宇医疗科技有限公司 | 一种高通过性oct成像导管 |
US11375889B2 (en) * | 2016-12-27 | 2022-07-05 | The Charlotte-Mecklenburg Hospital Authority | Devices, systems, and methods for image guided laparoscopic surgery |
US10244926B2 (en) | 2016-12-28 | 2019-04-02 | Auris Health, Inc. | Detecting endolumenal buckling of flexible instruments |
CN110087576B (zh) * | 2017-01-09 | 2023-03-17 | 直观外科手术操作公司 | 用于在图像引导的程序中将细长装置配准到三维图像的系统和方法 |
CN117717416A (zh) * | 2017-02-01 | 2024-03-19 | 直观外科手术操作公司 | 图像引导手术的配准系统和方法 |
US11793579B2 (en) * | 2017-02-22 | 2023-10-24 | Covidien Lp | Integration of multiple data sources for localization and navigation |
US11096610B2 (en) * | 2017-03-28 | 2021-08-24 | Covidien Lp | Surgical implants including sensing fibers |
US11490782B2 (en) | 2017-03-31 | 2022-11-08 | Auris Health, Inc. | Robotic systems for navigation of luminal networks that compensate for physiological noise |
WO2018195221A1 (en) * | 2017-04-18 | 2018-10-25 | Intuitive Surgical Operations, Inc. | Graphical user interface for planning a procedure |
WO2018200865A1 (en) | 2017-04-27 | 2018-11-01 | Epix Therapeutics, Inc. | Determining nature of contact between catheter tip and tissue |
KR20240035632A (ko) | 2017-05-12 | 2024-03-15 | 아우리스 헬스, 인코포레이티드 | 생검 장치 및 시스템 |
CN110769736B (zh) | 2017-05-17 | 2023-01-13 | 奥瑞斯健康公司 | 可更换工作通道 |
US20200170732A1 (en) * | 2017-06-19 | 2020-06-04 | Koninklijke Philips N.V. | Configurable parallel medical robot having a coaxial end-effector |
US10022192B1 (en) | 2017-06-23 | 2018-07-17 | Auris Health, Inc. | Automatically-initialized robotic systems for navigation of luminal networks |
US10426559B2 (en) | 2017-06-30 | 2019-10-01 | Auris Health, Inc. | Systems and methods for medical instrument compression compensation |
CN107198650A (zh) * | 2017-07-05 | 2017-09-26 | 刘鹏飞 | 一种心内科医生用心衰治疗装置 |
US12011236B2 (en) * | 2017-08-08 | 2024-06-18 | Intuitive Surgical Operations, Inc. | Systems and methods for rendering alerts in a display of a teleoperational system |
US11202652B2 (en) | 2017-08-11 | 2021-12-21 | Canon U.S.A., Inc. | Registration and motion compensation for patient-mounted needle guide |
CN111032140B (zh) * | 2017-08-16 | 2022-08-16 | 直观外科手术操作公司 | 用于在医疗程序期间监测患者运动的系统和方法 |
US10772703B2 (en) * | 2017-08-25 | 2020-09-15 | Titan Medical Inc. | Methods and apparatuses for positioning a camera of a surgical robotic system to capture images inside a body cavity of a patient during a medical procedure |
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 |
US11229436B2 (en) | 2017-10-30 | 2022-01-25 | Cilag Gmbh International | Surgical system comprising a surgical tool and a surgical hub |
US11911045B2 (en) | 2017-10-30 | 2024-02-27 | Cllag GmbH International | Method for operating a powered articulating multi-clip applier |
US11510741B2 (en) | 2017-10-30 | 2022-11-29 | Cilag Gmbh International | Method for producing a surgical instrument comprising a smart electrical system |
US11317919B2 (en) | 2017-10-30 | 2022-05-03 | Cilag Gmbh International | Clip applier comprising a clip crimping system |
US11026687B2 (en) | 2017-10-30 | 2021-06-08 | Cilag Gmbh International | Clip applier comprising clip advancing systems |
US11311342B2 (en) | 2017-10-30 | 2022-04-26 | Cilag Gmbh International | Method for communicating with surgical instrument systems |
US10980560B2 (en) | 2017-10-30 | 2021-04-20 | Ethicon Llc | Surgical instrument systems comprising feedback mechanisms |
US11291510B2 (en) | 2017-10-30 | 2022-04-05 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
US11564756B2 (en) | 2017-10-30 | 2023-01-31 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
US11801098B2 (en) | 2017-10-30 | 2023-10-31 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
US12004825B2 (en) * | 2017-11-13 | 2024-06-11 | Koninklijke Philips N.V. | Multi-stage robot for anatomical structure interventions |
EP3486674A1 (en) * | 2017-11-17 | 2019-05-22 | Koninklijke Philips N.V. | Artificial intelligence-enabled localization of anatomical landmarks |
US10893911B2 (en) | 2017-11-26 | 2021-01-19 | Canon U.S.A., Inc. | Automated image cropping for enhanced automatic device-to-image registration |
US10987179B2 (en) | 2017-12-06 | 2021-04-27 | Auris Health, Inc. | Systems and methods to correct for uncommanded instrument roll |
WO2019118767A1 (en) | 2017-12-14 | 2019-06-20 | Auris Health, Inc. | System and method for estimating instrument location |
EP3684283A4 (en) * | 2017-12-18 | 2021-07-14 | Auris Health, Inc. | METHODS AND SYSTEMS FOR MONITORING AND NAVIGATION OF INSTRUMENTS IN LUMINAL NETWORKS |
US11786251B2 (en) | 2017-12-28 | 2023-10-17 | Cilag Gmbh International | Method for adaptive control schemes for surgical network control and interaction |
US11304720B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Activation of energy devices |
US10892899B2 (en) | 2017-12-28 | 2021-01-12 | Ethicon Llc | Self describing data packets generated at an issuing instrument |
US11266468B2 (en) | 2017-12-28 | 2022-03-08 | Cilag Gmbh International | Cooperative utilization of data derived from secondary sources by intelligent surgical hubs |
US11284936B2 (en) | 2017-12-28 | 2022-03-29 | Cilag Gmbh International | Surgical instrument having a flexible electrode |
US11896322B2 (en) | 2017-12-28 | 2024-02-13 | Cilag Gmbh International | Sensing the patient position and contact utilizing the mono-polar return pad electrode to provide situational awareness to the hub |
US11051876B2 (en) | 2017-12-28 | 2021-07-06 | Cilag Gmbh International | Surgical evacuation flow paths |
US11278281B2 (en) | 2017-12-28 | 2022-03-22 | Cilag Gmbh International | Interactive surgical system |
US11166772B2 (en) | 2017-12-28 | 2021-11-09 | Cilag Gmbh International | Surgical hub coordination of control and communication of operating room devices |
US10849697B2 (en) | 2017-12-28 | 2020-12-01 | Ethicon Llc | Cloud interface for coupled surgical devices |
US11234756B2 (en) | 2017-12-28 | 2022-02-01 | Cilag Gmbh International | Powered surgical tool with predefined adjustable control algorithm for controlling end effector parameter |
US11304745B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Surgical evacuation sensing and display |
US10595887B2 (en) | 2017-12-28 | 2020-03-24 | Ethicon Llc | Systems for adjusting end effector parameters based on perioperative information |
US11446052B2 (en) | 2017-12-28 | 2022-09-20 | Cilag Gmbh International | Variation of radio frequency and ultrasonic power level in cooperation with varying clamp arm pressure to achieve predefined heat flux or power applied to tissue |
US11253315B2 (en) | 2017-12-28 | 2022-02-22 | Cilag Gmbh International | Increasing radio frequency to create pad-less monopolar loop |
US11160605B2 (en) | 2017-12-28 | 2021-11-02 | Cilag Gmbh International | Surgical evacuation sensing and motor control |
US10695081B2 (en) | 2017-12-28 | 2020-06-30 | Ethicon Llc | Controlling a surgical instrument according to sensed closure parameters |
US11659023B2 (en) * | 2017-12-28 | 2023-05-23 | Cilag Gmbh International | Method of hub communication |
US11109866B2 (en) | 2017-12-28 | 2021-09-07 | Cilag Gmbh International | Method for circular stapler control algorithm adjustment based on situational awareness |
US11678881B2 (en) | 2017-12-28 | 2023-06-20 | Cilag Gmbh International | Spatial awareness of surgical hubs in operating rooms |
US11076921B2 (en) | 2017-12-28 | 2021-08-03 | Cilag Gmbh International | Adaptive control program updates for surgical hubs |
US10758310B2 (en) | 2017-12-28 | 2020-09-01 | Ethicon Llc | Wireless pairing of a surgical device with another device within a sterile surgical field based on the usage and situational awareness of devices |
US11672605B2 (en) | 2017-12-28 | 2023-06-13 | Cilag Gmbh International | Sterile field interactive control displays |
US11364075B2 (en) | 2017-12-28 | 2022-06-21 | Cilag Gmbh International | Radio frequency energy device for delivering combined electrical signals |
US11419667B2 (en) | 2017-12-28 | 2022-08-23 | Cilag Gmbh International | Ultrasonic energy device which varies pressure applied by clamp arm to provide threshold control pressure at a cut progression location |
US11389164B2 (en) | 2017-12-28 | 2022-07-19 | Cilag Gmbh International | Method of using reinforced flexible circuits with multiple sensors to optimize performance of radio frequency devices |
US10892995B2 (en) | 2017-12-28 | 2021-01-12 | Ethicon Llc | Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs |
US11464535B2 (en) | 2017-12-28 | 2022-10-11 | Cilag Gmbh International | Detection of end effector emersion in liquid |
US11202570B2 (en) | 2017-12-28 | 2021-12-21 | Cilag Gmbh International | Communication hub and storage device for storing parameters and status of a surgical device to be shared with cloud based analytics systems |
US10944728B2 (en) | 2017-12-28 | 2021-03-09 | Ethicon Llc | Interactive surgical systems with encrypted communication capabilities |
US11179208B2 (en) | 2017-12-28 | 2021-11-23 | Cilag Gmbh International | Cloud-based medical analytics for security and authentication trends and reactive measures |
US11666331B2 (en) | 2017-12-28 | 2023-06-06 | Cilag Gmbh International | Systems for detecting proximity of surgical end effector to cancerous tissue |
US11857152B2 (en) | 2017-12-28 | 2024-01-02 | Cilag Gmbh International | Surgical hub spatial awareness to determine devices in operating theater |
US11612444B2 (en) | 2017-12-28 | 2023-03-28 | Cilag Gmbh International | Adjustment of a surgical device function based on situational awareness |
US11589888B2 (en) | 2017-12-28 | 2023-02-28 | Cilag Gmbh International | Method for controlling smart energy devices |
US11529187B2 (en) | 2017-12-28 | 2022-12-20 | Cilag Gmbh International | Surgical evacuation sensor arrangements |
US11069012B2 (en) | 2017-12-28 | 2021-07-20 | Cilag Gmbh International | Interactive surgical systems with condition handling of devices and data capabilities |
US11410259B2 (en) | 2017-12-28 | 2022-08-09 | Cilag Gmbh International | Adaptive control program updates for surgical devices |
US11056244B2 (en) | 2017-12-28 | 2021-07-06 | Cilag Gmbh International | Automated data scaling, alignment, and organizing based on predefined parameters within surgical networks |
US11832899B2 (en) | 2017-12-28 | 2023-12-05 | Cilag Gmbh International | Surgical systems with autonomously adjustable control programs |
US11832840B2 (en) | 2017-12-28 | 2023-12-05 | Cilag Gmbh International | Surgical instrument having a flexible circuit |
US10943454B2 (en) | 2017-12-28 | 2021-03-09 | Ethicon Llc | Detection and escalation of security responses of surgical instruments to increasing severity threats |
US11096693B2 (en) | 2017-12-28 | 2021-08-24 | Cilag Gmbh International | Adjustment of staple height of at least one row of staples based on the sensed tissue thickness or force in closing |
US11317937B2 (en) | 2018-03-08 | 2022-05-03 | Cilag Gmbh International | Determining the state of an ultrasonic end effector |
US11304763B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Image capturing of the areas outside the abdomen to improve placement and control of a surgical device in use |
US11432885B2 (en) | 2017-12-28 | 2022-09-06 | Cilag Gmbh International | Sensing arrangements for robot-assisted surgical platforms |
US20190201087A1 (en) | 2017-12-28 | 2019-07-04 | Ethicon Llc | Smoke evacuation system including a segmented control circuit for interactive surgical platform |
US11376002B2 (en) | 2017-12-28 | 2022-07-05 | Cilag Gmbh International | Surgical instrument cartridge sensor assemblies |
US11818052B2 (en) | 2017-12-28 | 2023-11-14 | Cilag Gmbh International | Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs |
US11423007B2 (en) | 2017-12-28 | 2022-08-23 | Cilag Gmbh International | Adjustment of device control programs based on stratified contextual data in addition to the data |
US11324557B2 (en) | 2017-12-28 | 2022-05-10 | Cilag Gmbh International | Surgical instrument with a sensing array |
US10987178B2 (en) | 2017-12-28 | 2021-04-27 | Ethicon Llc | Surgical hub control arrangements |
US11744604B2 (en) | 2017-12-28 | 2023-09-05 | Cilag Gmbh International | Surgical instrument with a hardware-only control circuit |
US11571234B2 (en) | 2017-12-28 | 2023-02-07 | Cilag Gmbh International | Temperature control of ultrasonic end effector and control system therefor |
US11308075B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Surgical network, instrument, and cloud responses based on validation of received dataset and authentication of its source and integrity |
US10932872B2 (en) | 2017-12-28 | 2021-03-02 | Ethicon Llc | Cloud-based medical analytics for linking of local usage trends with the resource acquisition behaviors of larger data set |
US11969216B2 (en) | 2017-12-28 | 2024-04-30 | Cilag Gmbh International | Surgical network recommendations from real time analysis of procedure variables against a baseline highlighting differences from the optimal solution |
US11213359B2 (en) | 2017-12-28 | 2022-01-04 | Cilag Gmbh International | Controllers for robot-assisted surgical platforms |
US11864728B2 (en) | 2017-12-28 | 2024-01-09 | Cilag Gmbh International | Characterization of tissue irregularities through the use of mono-chromatic light refractivity |
US11998193B2 (en) | 2017-12-28 | 2024-06-04 | Cilag Gmbh International | Method for usage of the shroud as an aspect of sensing or controlling a powered surgical device, and a control algorithm to adjust its default operation |
US11147607B2 (en) | 2017-12-28 | 2021-10-19 | Cilag Gmbh International | Bipolar combination device that automatically adjusts pressure based on energy modality |
US11419630B2 (en) | 2017-12-28 | 2022-08-23 | Cilag Gmbh International | Surgical system distributed processing |
US11602393B2 (en) | 2017-12-28 | 2023-03-14 | Cilag Gmbh International | Surgical evacuation sensing and generator control |
US11257589B2 (en) | 2017-12-28 | 2022-02-22 | Cilag Gmbh International | Real-time analysis of comprehensive cost of all instrumentation used in surgery utilizing data fluidity to track instruments through stocking and in-house processes |
US11273001B2 (en) | 2017-12-28 | 2022-03-15 | Cilag Gmbh International | Surgical hub and modular device response adjustment based on situational awareness |
US10966791B2 (en) | 2017-12-28 | 2021-04-06 | Ethicon Llc | Cloud-based medical analytics for medical facility segmented individualization of instrument function |
US11576677B2 (en) | 2017-12-28 | 2023-02-14 | Cilag Gmbh International | Method of hub communication, processing, display, and cloud analytics |
US11612408B2 (en) | 2017-12-28 | 2023-03-28 | Cilag Gmbh International | Determining tissue composition via an ultrasonic system |
US11311306B2 (en) | 2017-12-28 | 2022-04-26 | Cilag Gmbh International | Surgical systems for detecting end effector tissue distribution irregularities |
US11937769B2 (en) | 2017-12-28 | 2024-03-26 | Cilag Gmbh International | Method of hub communication, processing, storage and display |
US11786245B2 (en) | 2017-12-28 | 2023-10-17 | Cilag Gmbh International | Surgical systems with prioritized data transmission capabilities |
US20190201139A1 (en) | 2017-12-28 | 2019-07-04 | Ethicon Llc | Communication arrangements for robot-assisted surgical platforms |
US11633237B2 (en) | 2017-12-28 | 2023-04-25 | Cilag Gmbh International | Usage and technique analysis of surgeon / staff performance against a baseline to optimize device utilization and performance for both current and future procedures |
US11540855B2 (en) | 2017-12-28 | 2023-01-03 | Cilag Gmbh International | Controlling activation of an ultrasonic surgical instrument according to the presence of tissue |
US11896443B2 (en) | 2017-12-28 | 2024-02-13 | Cilag Gmbh International | Control of a surgical system through a surgical barrier |
US11424027B2 (en) | 2017-12-28 | 2022-08-23 | Cilag Gmbh International | Method for operating surgical instrument systems |
US20190201039A1 (en) | 2017-12-28 | 2019-07-04 | Ethicon Llc | Situational awareness of electrosurgical systems |
US11100631B2 (en) | 2017-12-28 | 2021-08-24 | Cilag Gmbh International | Use of laser light and red-green-blue coloration to determine properties of back scattered light |
US11559307B2 (en) | 2017-12-28 | 2023-01-24 | Cilag Gmbh International | Method of robotic hub communication, detection, and control |
US11969142B2 (en) | 2017-12-28 | 2024-04-30 | Cilag Gmbh International | Method of compressing tissue within a stapling device and simultaneously displaying the location of the tissue within the jaws |
US11464559B2 (en) | 2017-12-28 | 2022-10-11 | Cilag Gmbh International | Estimating state of ultrasonic end effector and control system therefor |
US11132462B2 (en) | 2017-12-28 | 2021-09-28 | Cilag Gmbh International | Data stripping method to interrogate patient records and create anonymized record |
US11304699B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Method for adaptive control schemes for surgical network control and interaction |
US11903601B2 (en) | 2017-12-28 | 2024-02-20 | Cilag Gmbh International | Surgical instrument comprising a plurality of drive systems |
US11291495B2 (en) | 2017-12-28 | 2022-04-05 | Cilag Gmbh International | Interruption of energy due to inadvertent capacitive coupling |
US10898622B2 (en) | 2017-12-28 | 2021-01-26 | Ethicon Llc | Surgical evacuation system with a communication circuit for communication between a filter and a smoke evacuation device |
US11559308B2 (en) | 2017-12-28 | 2023-01-24 | Cilag Gmbh International | Method for smart energy device infrastructure |
US11154375B2 (en) * | 2018-02-02 | 2021-10-26 | Brachium, Inc. | Medical robotic work station |
AU2019200594B2 (en) * | 2018-02-08 | 2020-05-28 | Covidien Lp | System and method for local three dimensional volume reconstruction using a standard fluoroscope |
US11701162B2 (en) | 2018-03-08 | 2023-07-18 | Cilag Gmbh International | Smart blade application for reusable and disposable devices |
US11839396B2 (en) | 2018-03-08 | 2023-12-12 | Cilag Gmbh International | Fine dissection mode for tissue classification |
US11259830B2 (en) | 2018-03-08 | 2022-03-01 | Cilag Gmbh International | Methods for controlling temperature in ultrasonic device |
US11219453B2 (en) | 2018-03-28 | 2022-01-11 | Cilag Gmbh International | Surgical stapling devices with cartridge compatible closure and firing lockout arrangements |
US11471156B2 (en) | 2018-03-28 | 2022-10-18 | Cilag Gmbh International | Surgical stapling devices with improved rotary driven closure systems |
CN110831480B (zh) | 2018-03-28 | 2023-08-29 | 奥瑞斯健康公司 | 具有可变弯曲刚度分布曲线的医疗器械 |
US10524866B2 (en) | 2018-03-28 | 2020-01-07 | Auris Health, Inc. | Systems and methods for registration of location sensors |
CN110913791B (zh) | 2018-03-28 | 2021-10-08 | 奥瑞斯健康公司 | 用于显示所估计的器械定位的系统和方法 |
US11166716B2 (en) | 2018-03-28 | 2021-11-09 | Cilag Gmbh International | Stapling instrument comprising a deactivatable lockout |
US11090047B2 (en) | 2018-03-28 | 2021-08-17 | Cilag Gmbh International | Surgical instrument comprising an adaptive control system |
US10973520B2 (en) | 2018-03-28 | 2021-04-13 | Ethicon Llc | Surgical staple cartridge with firing member driven camming assembly that has an onboard tissue cutting feature |
US11589865B2 (en) | 2018-03-28 | 2023-02-28 | Cilag Gmbh International | Methods for controlling a powered surgical stapler that has separate rotary closure and firing systems |
US11096688B2 (en) | 2018-03-28 | 2021-08-24 | Cilag Gmbh International | Rotary driven firing members with different anvil and channel engagement features |
US11207067B2 (en) | 2018-03-28 | 2021-12-28 | Cilag Gmbh International | Surgical stapling device with separate rotary driven closure and firing systems and firing member that engages both jaws while firing |
US11278280B2 (en) | 2018-03-28 | 2022-03-22 | Cilag Gmbh International | Surgical instrument comprising a jaw closure lockout |
US20210100627A1 (en) * | 2018-04-25 | 2021-04-08 | Intuitive Surgical Operations, Inc. | Systems and methods related to elongate devices |
US10872449B2 (en) | 2018-05-02 | 2020-12-22 | Covidien Lp | System and method for constructing virtual radial ultrasound images from CT data and performing a surgical navigation procedure using virtual ultrasound images |
CN108836477B (zh) * | 2018-05-14 | 2021-05-11 | 华科精准(北京)医疗科技有限公司 | 基于磁共振导引的激光热疗装置和系统 |
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 |
KR20210018858A (ko) | 2018-05-31 | 2021-02-18 | 아우리스 헬스, 인코포레이티드 | 관상 네트워크의 경로-기반 내비게이션 |
EP3801280A4 (en) | 2018-05-31 | 2022-03-09 | Auris Health, Inc. | ROBOTIC SYSTEMS AND LUMINAL NETWORK NAVIGATION METHODS THAT DETECT PHYSIOLOGICAL NOISE |
MX2020012904A (es) | 2018-05-31 | 2021-02-26 | Auris Health Inc | Analisis y mapeo de vias respiratorias basados en imagen. |
KR20230169481A (ko) | 2018-08-07 | 2023-12-15 | 아우리스 헬스, 인코포레이티드 | 카테터 제어와의 변형-기반 형상 감지의 조합 |
CN109288587A (zh) * | 2018-08-15 | 2019-02-01 | 深圳市汇健医疗工程有限公司 | 数字化复合手术室vr远程会诊系统 |
US11179212B2 (en) | 2018-09-26 | 2021-11-23 | Auris Health, Inc. | Articulating medical instruments |
US10765487B2 (en) | 2018-09-28 | 2020-09-08 | Auris Health, Inc. | Systems and methods for docking medical instruments |
JP2022504768A (ja) * | 2018-10-09 | 2022-01-13 | ラトガーズ、ザ ステイト ユニバーシティ オブ ニュージャージー | 経皮的カニューレ挿入器具の超音波ガイドによる位置合わせ及び挿入 |
CN109567900B (zh) * | 2018-11-23 | 2020-11-13 | 广东顺德工业设计研究院(广东顺德创新设计研究院) | 手术成像与切割控制装置及其方法 |
US11877806B2 (en) * | 2018-12-06 | 2024-01-23 | Covidien Lp | Deformable registration of computer-generated airway models to airway trees |
EP3870023A4 (en) | 2018-12-28 | 2022-07-27 | Auris Health, Inc. | MEDICAL INSTRUMENT WITH AN ARTICULABLE SEGMENT |
RU188743U1 (ru) * | 2018-12-28 | 2019-04-23 | федеральное государственное автономное образовательное учреждение высшего образования "Санкт-Петербургский политехнический университет Петра Великого" (ФГАОУ ВО "СПбПУ") | Робот для термической абляции новообразований методом HIFU |
EP3677211A1 (en) * | 2019-01-03 | 2020-07-08 | Siemens Healthcare GmbH | Medical assistance device, system, and method for determining a deformation of a subject, computer program, corresponding computer-readable storage medium |
DE102019200803A1 (de) * | 2019-01-23 | 2020-07-23 | Siemens Healthcare Gmbh | Medizintechnischer Roboter, medizinisches System, Verfahren zu deren Betrieb, Computerprogramm und Speichermedium |
US11317915B2 (en) | 2019-02-19 | 2022-05-03 | Cilag Gmbh International | Universal cartridge based key feature that unlocks multiple lockout arrangements in different surgical staplers |
US11751872B2 (en) | 2019-02-19 | 2023-09-12 | Cilag Gmbh International | Insertable deactivator element for surgical stapler lockouts |
US11369377B2 (en) | 2019-02-19 | 2022-06-28 | Cilag Gmbh International | Surgical stapling assembly with cartridge based retainer configured to unlock a firing lockout |
US11357503B2 (en) | 2019-02-19 | 2022-06-14 | Cilag Gmbh International | Staple cartridge retainers with frangible retention features and methods of using same |
US11291445B2 (en) | 2019-02-19 | 2022-04-05 | Cilag Gmbh International | Surgical staple cartridges with integral authentication keys |
US20200297444A1 (en) * | 2019-03-21 | 2020-09-24 | The Board Of Trustees Of The Leland Stanford Junior University | Systems and methods for localization based on machine learning |
WO2020191301A1 (en) * | 2019-03-21 | 2020-09-24 | Pulse Biosciences, Inc. | Tattoo removal |
US11617627B2 (en) | 2019-03-29 | 2023-04-04 | Auris Health, Inc. | Systems and methods for optical strain sensing in medical instruments |
US20200375665A1 (en) * | 2019-05-31 | 2020-12-03 | Canon U.S.A., Inc. | Medical continuum robot and methods thereof |
USD952144S1 (en) | 2019-06-25 | 2022-05-17 | Cilag Gmbh International | Surgical staple cartridge retainer with firing system authentication key |
USD950728S1 (en) | 2019-06-25 | 2022-05-03 | Cilag Gmbh International | Surgical staple cartridge |
USD964564S1 (en) | 2019-06-25 | 2022-09-20 | Cilag Gmbh International | Surgical staple cartridge retainer with a closure system authentication key |
CN114080195A (zh) * | 2019-06-25 | 2022-02-22 | 直观外科手术操作公司 | 与用于医疗程序的配准相关的系统和方法 |
WO2021028883A1 (en) | 2019-08-15 | 2021-02-18 | Auris Health, Inc. | Medical device having multiple bending sections |
WO2021038495A1 (en) | 2019-08-30 | 2021-03-04 | Auris Health, Inc. | Instrument image reliability systems and methods |
EP4021331A4 (en) | 2019-08-30 | 2023-08-30 | Auris Health, Inc. | SYSTEMS AND METHODS FOR WEIGHT-BASED REGISTRATION OF POSITION SENSORS |
CN114502077A (zh) * | 2019-10-07 | 2022-05-13 | 波士顿科学国际有限公司 | 包括第一换能器和第二换能器之间的铰接接头的医疗装置,以及实现该装置的设备和存储装置 |
EP3805834B1 (en) * | 2019-10-10 | 2023-12-06 | Leica Instruments (Singapore) Pte. Ltd. | Optical imaging system and corresponding apparatus, method and computer program |
US11701095B2 (en) | 2019-11-21 | 2023-07-18 | Covidien Lp | Robotic surgical systems and methods of use thereof |
US20210153959A1 (en) * | 2019-11-26 | 2021-05-27 | Intuitive Surgical Operations, Inc. | Physical medical element affixation systems, methods, and materials |
CN112420143A (zh) * | 2019-11-27 | 2021-02-26 | 上海联影智能医疗科技有限公司 | 提供个性化健康护理的系统,方法和装置 |
JP2023508521A (ja) | 2019-12-31 | 2023-03-02 | オーリス ヘルス インコーポレイテッド | 解剖学的特徴の識別及び標的化 |
KR102467282B1 (ko) * | 2019-12-31 | 2022-11-17 | 주식회사 코어라인소프트 | 의료 영상을 이용하는 중재시술 시스템 및 방법 |
EP4084720A4 (en) | 2019-12-31 | 2024-01-17 | Auris Health, Inc. | ALIGNMENT TECHNIQUES FOR PERCUTANE ACCESS |
CN114901188A (zh) | 2019-12-31 | 2022-08-12 | 奥瑞斯健康公司 | 动态滑轮系统 |
KR20220123087A (ko) | 2019-12-31 | 2022-09-05 | 아우리스 헬스, 인코포레이티드 | 경피 접근을 위한 정렬 인터페이스 |
WO2021140616A1 (ja) * | 2020-01-09 | 2021-07-15 | オリンパス株式会社 | 処置システム、制御装置、及び制御方法 |
CN111281544B (zh) * | 2020-02-26 | 2023-05-12 | 陕西中医药大学 | 体内医疗器械自动引导机器人系统及其自动引导方法 |
JP2023511223A (ja) * | 2020-04-09 | 2023-03-16 | ボストン サイエンティフィック メディカル デバイス リミテッド | カテーテル及びカテーテルを備える穿孔システム |
US11701492B2 (en) | 2020-06-04 | 2023-07-18 | Covidien Lp | Active distal tip drive |
US20210393338A1 (en) * | 2020-06-22 | 2021-12-23 | Auris Health, Inc. | Medical instrument driving |
CN111887992A (zh) * | 2020-07-15 | 2020-11-06 | 中国科学院苏州生物医学工程技术研究所 | 基于光学相干层析成像的智能手术机器人系统 |
EP4271306A1 (en) * | 2020-12-30 | 2023-11-08 | Intuitive Surgical Operations, Inc. | Systems for updating a graphical user interface based upon intraoperative imaging |
US11102381B1 (en) | 2021-01-05 | 2021-08-24 | Board Of Regents, The University Of Texas System Clearcam Inc. | Methods, systems and controllers for facilitating cleaning of an imaging element of an imaging device |
CN112914731A (zh) * | 2021-03-08 | 2021-06-08 | 上海交通大学 | 基于增强现实的介入机器人无接触遥操系统及标定方法 |
CN117202868A (zh) * | 2021-04-28 | 2023-12-08 | 利思梅德株式会社 | 多关节型手术装置 |
CN113456225B (zh) * | 2021-07-22 | 2022-03-29 | 皖南医学院第一附属医院(皖南医学院弋矶山医院) | 一种气道管理导航方法及系统 |
US20220175457A1 (en) * | 2022-02-06 | 2022-06-09 | Real Image Technology Co., Ltd | Endoscopic image registration system for robotic surgery |
GB2616295A (en) * | 2022-03-03 | 2023-09-06 | Intelligent Ultrasound Ltd | Apparatus and method for monitoring a medical procedure |
CN115444513B (zh) * | 2022-04-24 | 2024-06-25 | 北京智愈医疗科技有限公司 | 一种自动水刀实现方法和设备 |
Family Cites Families (53)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5631973A (en) * | 1994-05-05 | 1997-05-20 | Sri International | Method for telemanipulation with telepresence |
US6380732B1 (en) | 1997-02-13 | 2002-04-30 | Super Dimension Ltd. | Six-degree of freedom tracking system having a passive transponder on the object being tracked |
GB9713018D0 (en) | 1997-06-20 | 1997-08-27 | Secr Defence | Optical fibre bend sensor |
US20010025183A1 (en) * | 2000-02-25 | 2001-09-27 | Ramin Shahidi | Methods and apparatuses for maintaining a trajectory in sterotaxi for tracking a target inside a body |
DE10108547B4 (de) * | 2001-02-22 | 2006-04-20 | Siemens Ag | Operationssystem zur Steuerung chirurgischer Instrumente auf Basis von intra-operativen Röngtenbildern |
WO2003041057A2 (en) | 2001-11-08 | 2003-05-15 | The Johns Hopkins University | System and method for robot targeting under flouroscopy based on image servoing |
EP1653877A1 (en) * | 2003-08-07 | 2006-05-10 | Xoran Technologies, Inc. | Intra-operative ct scanner |
WO2005039391A2 (en) | 2003-10-21 | 2005-05-06 | The Board Of Trustees Of The Leland Stanford Junior University | Systems and methods for intraoperative targetting |
WO2005081842A2 (en) * | 2004-02-20 | 2005-09-09 | University Of Florida Research Foundation, Inc. | System for delivering conformal radiation therapy while simultaneously imaging soft tissue |
CN1270672C (zh) * | 2004-06-01 | 2006-08-23 | 复旦大学 | 一种神经外科手术导航系统中脑组织变形校正的方法 |
US20060013523A1 (en) | 2004-07-16 | 2006-01-19 | Luna Innovations Incorporated | Fiber optic position and shape sensing device and method relating thereto |
JP3983759B2 (ja) | 2004-11-26 | 2007-09-26 | 株式会社日立メディコ | 核磁気共鳴撮像装置 |
US9867669B2 (en) * | 2008-12-31 | 2018-01-16 | Intuitive Surgical Operations, Inc. | Configuration marker design and detection for instrument tracking |
US10555775B2 (en) * | 2005-05-16 | 2020-02-11 | Intuitive Surgical Operations, Inc. | Methods and system for performing 3-D tool tracking by fusion of sensor and/or camera derived data during minimally invasive robotic surgery |
US9289267B2 (en) * | 2005-06-14 | 2016-03-22 | Siemens Medical Solutions Usa, Inc. | Method and apparatus for minimally invasive surgery using endoscopes |
WO2007025081A2 (en) | 2005-08-24 | 2007-03-01 | Traxtal Inc. | System, method and devices for navigated flexible endoscopy |
US7824395B2 (en) * | 2005-08-29 | 2010-11-02 | Reliant Technologies, Inc. | Method and apparatus for monitoring and controlling thermally induced tissue treatment |
US20070167700A1 (en) * | 2005-12-21 | 2007-07-19 | Norbert Rahn | Method for accurate in vivo delivery of a therapeutic agent to a target area of an organ |
US7930065B2 (en) | 2005-12-30 | 2011-04-19 | Intuitive Surgical Operations, Inc. | Robotic surgery system including position sensors using fiber bragg gratings |
CN100493471C (zh) * | 2006-01-26 | 2009-06-03 | 清华大学深圳研究生院 | 计算机辅助经皮肾穿刺取石术中的穿刺导航系统 |
US8112292B2 (en) * | 2006-04-21 | 2012-02-07 | Medtronic Navigation, Inc. | Method and apparatus for optimizing a therapy |
EP2029035B1 (en) * | 2006-06-05 | 2014-06-25 | Technion Research & Development Foundation LTD. | Controlled steering of a flexible needle |
JP4738270B2 (ja) * | 2006-07-14 | 2011-08-03 | 株式会社日立メディコ | 手術支援装置 |
DK2211749T3 (en) * | 2007-04-16 | 2019-02-04 | Neuroarm Surgical Ltd | METHODS, DEVICES AND SYSTEMS THAT CAN BE USED FOR REGISTRATION |
US8010177B2 (en) | 2007-04-24 | 2011-08-30 | Medtronic, Inc. | Intraoperative image registration |
US20090080737A1 (en) * | 2007-09-25 | 2009-03-26 | General Electric Company | System and Method for Use of Fluoroscope and Computed Tomography Registration for Sinuplasty Navigation |
US8622951B2 (en) * | 2008-06-09 | 2014-01-07 | Abbott Medical Optics Inc. | Controlling a phacoemulsification system based on real-time analysis of image data |
US7720322B2 (en) | 2008-06-30 | 2010-05-18 | Intuitive Surgical, Inc. | Fiber optic shape sensor |
KR100961661B1 (ko) | 2009-02-12 | 2010-06-09 | 주식회사 래보 | 수술용 항법 장치 및 그 방법 |
JP5433299B2 (ja) * | 2009-05-18 | 2014-03-05 | 株式会社東芝 | 医用画像診断装置 |
BRPI1010151B8 (pt) * | 2009-06-29 | 2021-06-22 | Koninl Philips Electronics Nv | método e sistema de visualização de uma trajetória cirúrgica |
IT1395018B1 (it) * | 2009-07-22 | 2012-09-05 | Surgica Robotica S R L | Apparecchiatura per procedure chirurgiche minimamente invasive |
AU2010324494B2 (en) * | 2009-11-27 | 2014-11-06 | Centre For Surgical Invention & Innovation | Automated in-bore MR guided robotic diagnostic and therapeutic system |
WO2011069282A1 (zh) * | 2009-12-07 | 2011-06-16 | 北京大学第三医院 | 脑细胞外间隙给药装置 |
US9285246B2 (en) | 2010-02-12 | 2016-03-15 | Intuitive Surgical Operations, Inc. | Method and system for absolute three-dimensional measurements using a twist-insensitive shape sensor |
US10105485B2 (en) * | 2010-04-16 | 2018-10-23 | MRI Interventions, Inc. | MRI surgical systems including MRI-compatible surgical cannulae for transferring a substance to and/or from a patient |
DE102010043584A1 (de) * | 2010-11-08 | 2012-05-10 | Kuka Laboratories Gmbh | Medizinscher Arbeitsplatz |
EP2468207A1 (en) | 2010-12-21 | 2012-06-27 | Renishaw (Ireland) Limited | Method and apparatus for analysing images |
EP3266381B1 (en) * | 2010-12-22 | 2022-01-05 | ViewRay Technologies, Inc. | System and method for image guidance during medical procedures |
US20120226145A1 (en) | 2011-03-03 | 2012-09-06 | National University Of Singapore | Transcutaneous robot-assisted ablation-device insertion navigation system |
EP2494936A3 (en) * | 2011-03-03 | 2012-09-19 | Imris Inc. | MR compatible optical viewing device for use in the bore of an MR magnet |
US8900131B2 (en) | 2011-05-13 | 2014-12-02 | Intuitive Surgical Operations, Inc. | Medical system providing dynamic registration of a model of an anatomical structure for image-guided surgery |
JP6404713B2 (ja) | 2011-06-17 | 2018-10-17 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 内視鏡手術におけるガイド下注入のためのシステム及び方法 |
CN103842020B (zh) * | 2011-10-05 | 2016-12-28 | 皇家飞利浦有限公司 | 用于超声介导的递送的化验 |
US20130096385A1 (en) | 2011-10-14 | 2013-04-18 | Intuitive Surgical Operations, Inc. | Vision probe and catheter systems |
US9387048B2 (en) | 2011-10-14 | 2016-07-12 | Intuitive Surgical Operations, Inc. | Catheter sensor systems |
US10238837B2 (en) | 2011-10-14 | 2019-03-26 | Intuitive Surgical Operations, Inc. | Catheters with control modes for interchangeable probes |
US9452276B2 (en) | 2011-10-14 | 2016-09-27 | Intuitive Surgical Operations, Inc. | Catheter with removable vision probe |
CN108542499B (zh) | 2012-05-14 | 2020-12-04 | 直观外科手术操作公司 | 用于使用形状感测的变形补偿的系统和方法 |
US10299698B2 (en) | 2012-05-14 | 2019-05-28 | Intuitive Surgical Operations, Inc. | Systems and methods for registration of a medical device using a reduced search space |
WO2013173234A1 (en) | 2012-05-14 | 2013-11-21 | Intuitive Surgical Operations | Systems and methods for registration of a medical device using rapid pose search |
US9166153B2 (en) | 2013-02-08 | 2015-10-20 | Taiwan Semiconductor Manufacturing Company, Ltd. | System and process to remove film from semiconductor devices |
US9592095B2 (en) | 2013-05-16 | 2017-03-14 | Intuitive Surgical Operations, Inc. | Systems and methods for robotic medical system integration with external imaging |
-
2014
- 2014-05-15 US US14/278,812 patent/US9592095B2/en active Active
- 2014-05-16 EP EP20175915.6A patent/EP3735933A1/en active Pending
- 2014-05-16 KR KR1020157035487A patent/KR102334904B1/ko active IP Right Grant
- 2014-05-16 EP EP14798321.7A patent/EP2996622B1/en active Active
- 2014-05-16 CN CN201810034310.3A patent/CN108095777B/zh active Active
- 2014-05-16 KR KR1020217039233A patent/KR102510797B1/ko active IP Right Grant
- 2014-05-16 JP JP2016514131A patent/JP6529962B2/ja active Active
- 2014-05-16 WO PCT/US2014/038411 patent/WO2014186715A1/en active Application Filing
- 2014-05-16 CN CN201480027424.5A patent/CN105208960B/zh active Active
-
2017
- 2017-02-09 US US15/428,273 patent/US10842575B2/en active Active
-
2019
- 2019-05-15 JP JP2019092036A patent/JP6909258B2/ja active Active
-
2020
- 2020-10-20 US US17/075,163 patent/US11666397B2/en active Active
-
2023
- 2023-04-25 US US18/306,908 patent/US20230372039A1/en active Pending
-
2024
- 2024-02-14 US US18/441,902 patent/US20240180645A1/en active Pending
Also Published As
Publication number | Publication date |
---|---|
US20230372039A1 (en) | 2023-11-23 |
KR102334904B1 (ko) | 2021-12-06 |
US20140343416A1 (en) | 2014-11-20 |
CN108095777A (zh) | 2018-06-01 |
KR20210151241A (ko) | 2021-12-13 |
US10842575B2 (en) | 2020-11-24 |
KR20160010539A (ko) | 2016-01-27 |
US9592095B2 (en) | 2017-03-14 |
JP2016523592A (ja) | 2016-08-12 |
KR102510797B1 (ko) | 2023-03-17 |
WO2014186715A1 (en) | 2014-11-20 |
EP2996622A1 (en) | 2016-03-23 |
CN105208960A (zh) | 2015-12-30 |
US20240180645A1 (en) | 2024-06-06 |
US11666397B2 (en) | 2023-06-06 |
EP3735933A1 (en) | 2020-11-11 |
CN108095777B (zh) | 2021-03-12 |
US20170151026A1 (en) | 2017-06-01 |
JP6529962B2 (ja) | 2019-06-12 |
EP2996622B1 (en) | 2020-07-08 |
JP2019136550A (ja) | 2019-08-22 |
US20210030494A1 (en) | 2021-02-04 |
EP2996622A4 (en) | 2017-05-03 |
CN105208960B (zh) | 2018-02-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6909258B2 (ja) | ロボット医療システムを外部撮像と統合するシステム及び方法 | |
JP7133582B2 (ja) | 介入処置計画のためのシステム及び方法 | |
JP6716538B2 (ja) | 多数のインターベンショナル処置を計画するシステム及び方法 | |
JP2021521959A (ja) | 細長いデバイスに関するシステム及び方法 | |
KR20220065894A (ko) | 수술중 세그먼트화를 위한 시스템 및 방법 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20190604 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20200623 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20200825 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20210126 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20210518 |
|
C60 | Trial request (containing other claim documents, opposition documents) |
Free format text: JAPANESE INTERMEDIATE CODE: C60 Effective date: 20210518 |
|
A911 | Transfer to examiner for re-examination before appeal (zenchi) |
Free format text: JAPANESE INTERMEDIATE CODE: A911 Effective date: 20210525 |
|
C21 | Notice of transfer of a case for reconsideration by examiners before appeal proceedings |
Free format text: JAPANESE INTERMEDIATE CODE: C21 Effective date: 20210601 |
|
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: 20210615 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20210702 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6909258 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |