JP6938507B2 - 手術支援ロボットシステム用の器械装置マニピュレータ - Google Patents

手術支援ロボットシステム用の器械装置マニピュレータ Download PDF

Info

Publication number
JP6938507B2
JP6938507B2 JP2018532524A JP2018532524A JP6938507B2 JP 6938507 B2 JP6938507 B2 JP 6938507B2 JP 2018532524 A JP2018532524 A JP 2018532524A JP 2018532524 A JP2018532524 A JP 2018532524A JP 6938507 B2 JP6938507 B2 JP 6938507B2
Authority
JP
Japan
Prior art keywords
surgical instrument
surgical
instrument
instrument holder
holder
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
JP2018532524A
Other languages
English (en)
Japanese (ja)
Other versions
JP2018533450A (ja
JP2018533450A5 (enExample
Inventor
シュー，トラヴィス
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
ダニエル ボガスキー，ジョセフ
ダニエル ボガスキー，ジョセフ
エス． ミンツ，デイビッド
エス． ミンツ，デイビッド
ユ，アラン
キンツ，グレゴリー
ダン，ヨウイチロウ
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 JP2018533450A publication Critical patent/JP2018533450A/ja
Publication of JP2018533450A5 publication Critical patent/JP2018533450A5/ja
Application granted granted Critical
Publication of JP6938507B2 publication Critical patent/JP6938507B2/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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
    • A61B1/3132—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for laparoscopy
    • 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
    • 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
    • A61B46/00—Surgical drapes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B46/00—Surgical drapes
    • A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00221—Electrical control of surgical instruments with wireless transmission of data, e.g. by infrared radiation or radiowaves
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Manipulator (AREA)
JP2018532524A 2015-09-09 2016-09-09 手術支援ロボットシステム用の器械装置マニピュレータ Active JP6938507B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562216239P 2015-09-09 2015-09-09
US62/216,239 2015-09-09
PCT/US2016/051154 WO2017044884A1 (en) 2015-09-09 2016-09-09 Instrument device manipulator for a surgical robotics system

Publications (3)

Publication Number Publication Date
JP2018533450A JP2018533450A (ja) 2018-11-15
JP2018533450A5 JP2018533450A5 (enExample) 2019-10-17
JP6938507B2 true JP6938507B2 (ja) 2021-09-22

Family

ID=58240314

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018532524A Active JP6938507B2 (ja) 2015-09-09 2016-09-09 手術支援ロボットシステム用の器械装置マニピュレータ

Country Status (7)

Country Link
US (4) US10631949B2 (enExample)
EP (2) EP4137034A1 (enExample)
JP (1) JP6938507B2 (enExample)
KR (4) KR102714284B1 (enExample)
CN (3) CN108348133B (enExample)
AU (2) AU2016321332B2 (enExample)
WO (1) WO2017044884A1 (enExample)

Families Citing this family (278)

* 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
US7972298B2 (en) 2004-03-05 2011-07-05 Hansen Medical, Inc. Robotic catheter system
JP2009500086A (ja) 2005-07-01 2009-01-08 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
US12290277B2 (en) 2007-01-02 2025-05-06 Aquabeam, Llc Tissue resection with pressure sensing
US9232959B2 (en) 2007-01-02 2016-01-12 Aquabeam, Llc Multi fluid tissue resection methods and devices
EP3622910B1 (en) 2008-03-06 2024-07-10 AquaBeam LLC Tissue ablation and cautery with optical energy carried in fluid stream
WO2013130895A1 (en) 2012-02-29 2013-09-06 Aquabeam, Llc Automated image-guided tissue resection and treatment
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
US20120191083A1 (en) 2011-01-20 2012-07-26 Hansen Medical, Inc. System and method for endoluminal and translumenal therapy
US20130030363A1 (en) 2011-07-29 2013-01-31 Hansen Medical, Inc. Systems and methods utilizing shape sensing fibers
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
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
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
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
US9326822B2 (en) 2013-03-14 2016-05-03 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US20140277334A1 (en) 2013-03-14 2014-09-18 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US10376672B2 (en) 2013-03-15 2019-08-13 Auris Health, Inc. Catheter insertion system and method of fabrication
US9014851B2 (en) 2013-03-15 2015-04-21 Hansen Medical, Inc. Systems and methods for tracking robotically controlled medical instruments
US9283046B2 (en) 2013-03-15 2016-03-15 Hansen Medical, Inc. User interface for active drive apparatus with finite range of motion
US9452018B2 (en) 2013-03-15 2016-09-27 Hansen Medical, Inc. Rotational support for an elongate member
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
US20140276936A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Active drive mechanism for simultaneous rotation and translation
US9271663B2 (en) 2013-03-15 2016-03-01 Hansen Medical, Inc. Flexible instrument localization from both remote and elongation sensors
US9629595B2 (en) 2013-03-15 2017-04-25 Hansen Medical, Inc. Systems and methods for localizing, tracking and/or controlling medical instruments
US20140276647A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Vascular remote catheter manipulator
US11020016B2 (en) 2013-05-30 2021-06-01 Auris Health, Inc. System and method for displaying anatomy and devices on a movable display
WO2014201165A1 (en) 2013-06-11 2014-12-18 Auris Surgical Robotics, Inc. System for robotic assisted cataract surgery
US10426661B2 (en) 2013-08-13 2019-10-01 Auris Health, Inc. Method and apparatus for laser assisted cataract surgery
WO2015023853A1 (en) * 2013-08-15 2015-02-19 Intuitive Surgical Operations, Inc. Robotic instrument driven element
CN109247987B (zh) 2013-08-15 2021-07-23 直观外科手术操作公司 预加载外科手术器械接口
CN108784838B (zh) 2013-08-15 2021-06-08 直观外科手术操作公司 器械无菌适配器驱动接口
US10271911B2 (en) 2013-08-15 2019-04-30 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive features
US9763741B2 (en) 2013-10-24 2017-09-19 Auris Surgical Robotics, Inc. System for robotic-assisted endolumenal surgery and related methods
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
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
US10792464B2 (en) 2014-07-01 2020-10-06 Auris Health, Inc. Tool and method for using surgical endoscope with spiral lumens
US10159533B2 (en) 2014-07-01 2018-12-25 Auris Health, Inc. Surgical system with configurable rail-mounted mechanical arms
CN111658180B (zh) 2014-08-15 2024-05-31 直观外科手术操作公司 具有可变进入引导器配置的外科手术系统
KR102292155B1 (ko) 2014-09-30 2021-08-25 아우리스 헬스, 인크. 가상 레일 및 가요성 내시경을 구비하는 구성 변경 가능한 로봇 수술 시스템
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
EP3232973B1 (en) 2014-12-19 2020-04-01 DistalMotion SA Sterile interface for articulated surgical instruments
US10646294B2 (en) 2014-12-19 2020-05-12 Distalmotion Sa Reusable surgical instrument for minimally invasive procedures
WO2016134266A1 (en) 2015-02-20 2016-08-25 Stryker Corporation Sterile barrier assembly, mounting system, and method for coupling surgical components
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
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
ES2996084T3 (en) 2015-08-28 2025-02-12 Distalmotion Sa Surgical instrument with increased actuation force
KR102714284B1 (ko) 2015-09-09 2024-10-11 아우리스 헬스, 인크. 수술 로봇 시스템을 위한 기구 장치 조작기
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
ITUB20155057A1 (it) 2015-10-16 2017-04-16 Medical Microinstruments S R L Assieme robotico di chirurgia
US10231793B2 (en) 2015-10-30 2019-03-19 Auris Health, Inc. Object removal through a percutaneous suction tube
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
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
US10869729B2 (en) * 2016-03-04 2020-12-22 Covidien Lp Robotic surgical assemblies
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
WO2018013187A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Instrument release
US11037464B2 (en) 2016-07-21 2021-06-15 Auris Health, Inc. System with emulator movement tracking for controlling medical devices
JP7145845B2 (ja) 2016-08-24 2022-10-03 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 コンピュータ支援遠隔操作手術システム及び方法
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
KR20230096148A (ko) 2016-08-31 2023-06-29 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
US10543048B2 (en) 2016-12-28 2020-01-28 Auris Health, Inc. Flexible instrument insertion using an adaptive insertion force threshold
US10136959B2 (en) 2016-12-28 2018-11-27 Auris Health, Inc. Endolumenal object sizing
US10244926B2 (en) 2016-12-28 2019-04-02 Auris Health, Inc. Detecting endolumenal buckling of flexible instruments
JP7159192B2 (ja) 2017-03-28 2022-10-24 オーリス ヘルス インコーポレイテッド シャフト作動ハンドル
AU2018243364B2 (en) 2017-03-31 2023-10-05 Auris Health, Inc. Robotic systems for navigation of luminal networks that compensate for physiological noise
AU2018250049B2 (en) 2017-04-07 2023-06-29 Auris Health, Inc. Patient introducer alignment
US10285574B2 (en) 2017-04-07 2019-05-14 Auris Health, Inc. Superelastic medical instrument
IT201700042116A1 (it) 2017-04-14 2018-10-14 Medical Microinstruments Spa Assieme robotico per chirurgia
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same
KR102695556B1 (ko) 2017-05-12 2024-08-20 아우리스 헬스, 인코포레이티드 생검 장치 및 시스템
KR102576296B1 (ko) 2017-05-17 2023-09-08 아우리스 헬스, 인코포레이티드 교환 가능한 작업 채널
US10022192B1 (en) 2017-06-23 2018-07-17 Auris Health, Inc. Automatically-initialized robotic systems for navigation of luminal networks
WO2019005872A1 (en) 2017-06-28 2019-01-03 Auris Health, Inc. INSTRUMENT INSERTION COMPENSATION
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
CN118121324A (zh) 2017-06-28 2024-06-04 奥瑞斯健康公司 检测电磁失真的系统
EP3644885B1 (en) 2017-06-28 2023-10-11 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
US10145747B1 (en) 2017-10-10 2018-12-04 Auris Health, Inc. Detection of undesirable forces on a surgical robotic arm
US10016900B1 (en) 2017-10-10 2018-07-10 Auris Health, Inc. Surgical robotic arm admittance control
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
WO2019113249A1 (en) 2017-12-06 2019-06-13 Auris Health, Inc. Systems and methods to correct for uncommanded instrument roll
AU2018378810B2 (en) 2017-12-08 2024-02-22 Auris Health, Inc. System and method for medical instrument navigation and targeting
EP3684438B1 (en) 2017-12-08 2024-09-11 Auris Health, Inc. Systems employing directed fluidics
JP7080986B2 (ja) 2017-12-11 2022-06-06 オーリス ヘルス インコーポレイテッド 器具ベースの挿入アーキテクチャのためのシステム及び方法
JP7322026B2 (ja) 2017-12-14 2023-08-07 オーリス ヘルス インコーポレイテッド 器具の位置推定のシステムおよび方法
EP3684283B1 (en) 2017-12-18 2026-01-14 Auris Health, Inc. System for instrument tracking and navigation within luminal networks
USD901694S1 (en) 2018-01-17 2020-11-10 Auris Health, Inc. Instrument handle
USD873878S1 (en) 2018-01-17 2020-01-28 Auris Health, Inc. Robotic arm
USD901018S1 (en) 2018-01-17 2020-11-03 Auris Health, Inc. Controller
CN111867511A (zh) 2018-01-17 2020-10-30 奥瑞斯健康公司 具有改进的机器人臂的外科机器人系统
USD932628S1 (en) 2018-01-17 2021-10-05 Auris Health, Inc. Instrument cart
USD924410S1 (en) 2018-01-17 2021-07-06 Auris Health, Inc. Instrument tower
MX2020007623A (es) 2018-01-17 2020-09-14 Auris Health Inc Plataforma quirurgica con soportes de brazo regulable.
JP7301884B2 (ja) 2018-02-13 2023-07-03 オーリス ヘルス インコーポレイテッド 医療用器具を駆動するためのシステム及び方法
CN110891469B (zh) 2018-03-28 2023-01-13 奥瑞斯健康公司 用于定位传感器的配准的系统和方法
WO2019190657A1 (en) 2018-03-28 2019-10-03 Auris Health, Inc. Medical instruments with variable bending stiffness profiles
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
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
US11179213B2 (en) 2018-05-18 2021-11-23 Auris Health, Inc. Controllers for robotically-enabled teleoperated systems
EP3801190A4 (en) 2018-05-30 2022-03-02 Auris Health, Inc. SYSTEMS AND METHODS FOR SENSOR-BASED BRANCH LOCATION PREDICTION
EP3801348B1 (en) 2018-05-31 2024-05-01 Auris Health, Inc. Image-based airway analysis and mapping
WO2019231891A1 (en) 2018-05-31 2019-12-05 Auris Health, Inc. Path-based navigation of tubular networks
JP7214757B2 (ja) 2018-05-31 2023-01-30 オーリス ヘルス インコーポレイテッド 生理学的ノイズを検出する管腔網のナビゲーションのためのロボットシステム及び方法
US11844581B2 (en) * 2018-06-01 2023-12-19 Steerable Instruments nv Tool with torque-actuated end effector
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
CN110623734B (zh) * 2018-06-22 2021-07-09 深圳市精锋医疗科技有限公司 高精度手术机器人
KR102712920B1 (ko) 2018-06-27 2024-10-07 아우리스 헬스, 인코포레이티드 의료 기구를 위한 정렬 및 부착 시스템
WO2020005370A1 (en) 2018-06-27 2020-01-02 Auris Health, Inc. Systems and techniques for providing multiple perspectives during medical procedures
CN112367928A (zh) 2018-06-28 2021-02-12 奥瑞斯健康公司 结合滑轮共享的医疗系统
EP3817896A4 (en) * 2018-07-03 2022-04-20 Covidien LP ROBOT SURGICAL SYSTEMS
KR102612146B1 (ko) 2018-08-07 2023-12-13 아우리스 헬스, 인코포레이티드 카테터 제어와의 변형-기반 형상 감지의 조합
EP3806772A4 (en) 2018-08-15 2022-03-30 Auris Health, Inc. Medical instruments for tissue cauterization
CN112566567B (zh) 2018-08-17 2024-10-29 奥瑞斯健康公司 双极医疗器械
US10881280B2 (en) 2018-08-24 2021-01-05 Auris Health, Inc. Manually and robotically controllable medical instruments
JP6777694B2 (ja) * 2018-08-28 2020-10-28 株式会社メディカロイド 内視鏡アダプタ
JP7289965B2 (ja) * 2018-08-28 2023-06-12 株式会社メディカロイド 滅菌ドレープおよび手術器具の取付方法
JP6745306B2 (ja) * 2018-08-28 2020-08-26 株式会社メディカロイド アダプタおよび接続方法
JP7289964B2 (ja) * 2018-08-28 2023-06-12 株式会社メディカロイド 滅菌ドレープおよび手術器具の取付方法
JP6902003B2 (ja) * 2018-08-28 2021-07-14 株式会社メディカロイド 滅菌ドレープおよび手術器具の取付方法
MX2021003099A (es) 2018-09-17 2021-05-13 Auris Health Inc Sistemas y metodos para procedimientos medicos concomitantes.
EP3813634B1 (en) 2018-09-26 2025-10-22 Auris Health, Inc. Articulating medical instruments
WO2020068303A1 (en) 2018-09-26 2020-04-02 Auris Health, Inc. Systems and instruments for suction and irrigation
CN119924988A (zh) 2018-09-28 2025-05-06 奥瑞斯健康公司 用于伴随内窥镜和经皮医学规程的机器人系统和方法
US10765487B2 (en) 2018-09-28 2020-09-08 Auris Health, Inc. Systems and methods for docking medical instruments
WO2020069080A1 (en) 2018-09-28 2020-04-02 Auris Health, Inc. Devices, systems, and methods for manually and robotically driving medical instruments
US11576738B2 (en) 2018-10-08 2023-02-14 Auris Health, Inc. Systems and instruments for tissue sealing
CN109171612B (zh) * 2018-10-29 2021-09-10 复旦大学附属中山医院 一种复眼式超微创腹腔镜手术装置
CN111166488B (zh) * 2018-11-13 2024-09-24 重庆金山医疗机器人有限公司 外科手术辅助机器人器械系统
KR102904894B1 (ko) 2018-12-04 2025-12-29 마코 서지컬 코포레이션 수술용 컴포넌트의 커플링에 사용하기 위한 멸균 배리어 조립체를 갖는 마운팅 시스템
WO2020131304A1 (en) * 2018-12-17 2020-06-25 Covidien Lp Robotic surgical systems having robotic arm assemblies
US11950863B2 (en) 2018-12-20 2024-04-09 Auris Health, Inc Shielding for wristed instruments
EP3866718A4 (en) 2018-12-20 2022-07-20 Auris Health, Inc. Systems and methods for robotic arm alignment and docking
US11737658B2 (en) 2018-12-26 2023-08-29 Kawasaki Jukogyo Kabushiki Kaisha Manipulator arm and patient-side system for surgical system
WO2020140072A1 (en) 2018-12-28 2020-07-02 Auris Health, Inc. Percutaneous sheath for robotic medical systems and methods
CN122296796A (zh) 2018-12-28 2026-06-30 奥瑞斯健康公司 具有可关节运动区段的医疗器械
US11523730B2 (en) * 2019-01-01 2022-12-13 Asensus Surgical Us, Inc. Optical data transmission in a wireless power transmitter for a surgical robotic system
WO2020154100A1 (en) 2019-01-25 2020-07-30 Auris Health, Inc. Vessel sealer with heating and cooling capabilities
US11925333B2 (en) 2019-02-01 2024-03-12 Covidien Lp System for fluoroscopic tracking of a catheter to update the relative position of a target and the catheter in a 3D model of a luminal network
CN113423359A (zh) 2019-02-08 2021-09-21 奥瑞斯健康公司 机器人控制的凝块操纵和移除
IT201900002461A1 (it) * 2019-02-20 2020-08-20 Univ Degli Studi Di Verona Interfaccia di collegamento per accoppiare un dispositivo chirurgico con un braccio mobile di un robot
US11202683B2 (en) 2019-02-22 2021-12-21 Auris Health, Inc. Surgical platform with motorized arms for adjustable arm supports
JP7483741B2 (ja) 2019-03-08 2024-05-15 オーリス ヘルス インコーポレイテッド 医療システム用の傾斜機構及び用途
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
CN113613580B (zh) 2019-03-22 2025-02-18 奥瑞斯健康公司 用于使医疗器械上的输入部对准的系统和方法
US11534248B2 (en) 2019-03-25 2022-12-27 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
JP2022527834A (ja) 2019-04-08 2022-06-06 オーリス ヘルス インコーポレイテッド 付随する処置のためのシステム、方法、及びワークフロー
US11628020B2 (en) 2019-06-19 2023-04-18 Virtuoso Surgical, Inc. Insertable robot for minimally invasive surgery
EP3989862B1 (en) 2019-06-25 2026-06-10 Auris Health, Inc. Medical instruments including wrists with hybrid redirect surfaces
EP3989841A4 (en) 2019-06-26 2023-09-20 Auris Health, Inc. SYSTEMS AND METHODS FOR ALIGNING AND DOCKING ROBOTIC ARMS
US11369386B2 (en) 2019-06-27 2022-06-28 Auris Health, Inc. Systems and methods for a medical clip applier
US11376082B2 (en) * 2019-06-27 2022-07-05 Cilag Gmbh International Robotic surgical system with local sensing of functional parameters based on measurements of multiple physical inputs
EP3989863A4 (en) 2019-06-28 2023-10-11 Auris Health, Inc. MEDICAL INSTRUMENTS INCLUDING WRISTS WITH HYBRID REORIENTATION SURFACES
WO2020264418A1 (en) 2019-06-28 2020-12-30 Auris Health, Inc. Console overlay and methods of using same
US12611266B2 (en) 2019-06-28 2026-04-28 Auris Health, Inc. Patient introducer for a robotic system
EP4007678B1 (en) 2019-08-02 2026-03-04 Auris Health, Inc. Systems and methods for adjusting remote center distances in medical procedures
US11246672B2 (en) 2019-08-15 2022-02-15 Auris Health, Inc. Axial motion drive devices, systems, and methods for a robotic medical system
US11696810B2 (en) * 2019-08-15 2023-07-11 Verb Surgical Inc. Engagement, homing, and control of robotics surgical 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
USD975275S1 (en) 2019-08-15 2023-01-10 Auris Health, Inc. Handle for a medical instrument
USD978348S1 (en) 2019-08-15 2023-02-14 Auris Health, Inc. Drive device for a medical instrument
KR20220058918A (ko) 2019-08-30 2022-05-10 아우리스 헬스, 인코포레이티드 기구 이미지 신뢰성 시스템 및 방법
US11207141B2 (en) 2019-08-30 2021-12-28 Auris Health, Inc. Systems and methods for weight-based registration of location sensors
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
WO2021059099A1 (en) 2019-09-26 2021-04-01 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
US11737835B2 (en) 2019-10-29 2023-08-29 Auris Health, Inc. Braid-reinforced insulation sheath
EP4061238A1 (en) 2019-11-21 2022-09-28 Auris Health, Inc. Systems and methods for draping a surgical system
CN114727850A (zh) 2019-11-21 2022-07-08 奥瑞斯健康公司 用于覆盖外科系统的系统和方法
CN110876606B (zh) * 2019-12-05 2022-04-12 重庆金山医疗技术研究院有限公司 一种可弯曲且转动灵活的挠性管及内窥镜
WO2021137106A1 (en) * 2019-12-30 2021-07-08 Auris Health, Inc. Specimen collector for robotic medical system
WO2021137104A1 (en) 2019-12-31 2021-07-08 Auris Health, Inc. Dynamic pulley system
EP4084724A4 (en) 2019-12-31 2023-12-27 Auris Health, Inc. ADVANCED BASKET TRAINING MODE
KR20260020213A (ko) 2019-12-31 2026-02-10 아우리스 헬스, 인코포레이티드 경피 접근을 위한 정렬 인터페이스
WO2021137072A1 (en) 2019-12-31 2021-07-08 Auris Health, Inc. Anatomical feature identification and targeting
WO2021137109A1 (en) 2019-12-31 2021-07-08 Auris Health, Inc. Alignment techniques for percutaneous access
IT202000002545A1 (it) * 2020-02-10 2021-08-10 Medical Microinstruments Spa Assieme di barriera sterile e sistema di chirurgia robotica
CN115175633B (zh) 2020-02-10 2025-10-28 医疗显微器具股份公司 无菌屏障组件和机器人手术系统
EP4125689A4 (en) 2020-03-30 2024-04-17 Auris Health, Inc. WORKSPACE OPTIMIZATION FOR ROBOTIC SURGERY
US11737663B2 (en) 2020-03-30 2023-08-29 Auris Health, Inc. Target anatomical feature localization
US11806098B2 (en) 2020-04-08 2023-11-07 DePuy Synthes Products, Inc. Surgical robotic systems including a sterile connector and related methods
WO2021234853A1 (ja) * 2020-05-20 2021-11-25 リバーフィールド株式会社 ホルダ
US11701492B2 (en) 2020-06-04 2023-07-18 Covidien Lp Active distal tip drive
WO2021258113A1 (en) 2020-06-19 2021-12-23 Remedy Robotics, Inc. Systems and methods for guidance of intraluminal devices within the vasculature
CN115802975A (zh) 2020-06-29 2023-03-14 奥瑞斯健康公司 用于检测连杆与外部对象之间的接触的系统和方法
CN115734765A (zh) 2020-06-30 2023-03-03 奥瑞斯健康公司 具有碰撞接近度指示器的机器人医疗系统
US11357586B2 (en) 2020-06-30 2022-06-14 Auris Health, Inc. Systems and methods for saturated robotic movement
CN115500071B (zh) 2020-07-28 2026-01-23 直观外科手术操作公司 用于为计算机辅助设备的部件选择分配的系统和方法
EP3949889B1 (en) * 2020-08-05 2025-12-03 MAKO Surgical Corp. Robotic surgical system including a coupler for connecting a tool to a manipulator and methods of using the coupler
EP4196041B1 (en) * 2020-08-12 2025-09-24 Orvue Surgical A/S A surgical camera
WO2022034488A1 (en) 2020-08-13 2022-02-17 Forsight Robotics Ltd. Capsulorhexis apparatus and method
US12383352B2 (en) 2020-08-13 2025-08-12 Covidien Lp Endoluminal robotic (ELR) systems and methods
US12256923B2 (en) 2020-08-13 2025-03-25 Covidien Lp Endoluminal robotic systems and methods for suturing
CN112168360B (zh) * 2020-10-09 2025-02-18 生一科技(北京)有限公司 导管输送机构
CN112490051B (zh) * 2020-11-19 2025-07-22 深圳市致尚科技股份有限公司 多方向输入装置和游戏机
CN112402018A (zh) * 2020-11-30 2021-02-26 重庆金山医疗机器人有限公司 一种手术机器人及其器械座动力传动装置
CN114680953B (zh) * 2020-12-30 2025-02-18 炳硕生医(新加坡)私人有限公司 用于操纵手术工具的医疗装置
IT202100003476A1 (it) 2021-02-16 2022-08-16 Medical Microinstruments Inc Metodo per rilevare, sulla base di misura o rilevazione di velocità, anomalie operative di un dispositivo master non vincolato di un sistema robotico di tipo master-slave per teleoperazione medica o chirurgica
IT202100003488A1 (it) 2021-02-16 2022-08-16 Medical Microinstruments Inc “metodo per una verifica di integrità di un dispositivo master di un sistema robotico di tipo master-slave per teleoperazione medica o chirurgica”
IT202100003422A1 (it) 2021-02-16 2022-08-16 Medical Microinstruments Inc Metodo per rilevare anomalie operative di un dispositivo master non vincolato di un sistema robotico di tipo master-slave per teleoperazione medica o chirurgica
EP4294312A4 (en) * 2021-02-17 2025-01-08 Auris Health, Inc. Medical instrument drive assembly and docking system
CN118986526A (zh) 2021-02-17 2024-11-22 奥瑞斯健康公司 器械轴张紧系统和方法
EP4088682B1 (en) * 2021-05-11 2025-08-27 Globus Medical, Inc. System for surgical tool insertion using multiaxis force and moment feedback
EP4203829A1 (en) 2021-06-01 2023-07-05 Forsight Robotics Ltd. Kinematic structures and sterile drapes for robotic microsurgical procedures
IT202100015902A1 (it) * 2021-06-17 2022-12-17 Medical Microinstruments Inc Metodo di preparazione alla teleoperazione in un sistema robotico teleoperato per chirurgia
IT202100016199A1 (it) 2021-06-21 2022-12-21 Medical Microinstruments Inc Strumento chirurgico di taglio per chirurgia robotica e metodo
IT202100016154A1 (it) 2021-06-21 2022-12-21 Medical Microinstruments Inc Strumento chirurgico per chirurgia robotica
US20230000319A1 (en) * 2021-06-30 2023-01-05 Optosurgical, LLC Method and apparatus for biometric tissue imaging
US12121307B2 (en) 2021-07-01 2024-10-22 Remedy Robotics, Inc. Vision-based position and orientation determination for endovascular tools
WO2023278789A1 (en) 2021-07-01 2023-01-05 Remedy Robotics, Inc. Vision-based position and orientation determination for endovascular tools
US11707332B2 (en) 2021-07-01 2023-07-25 Remedy Robotics, Inc. Image space control for endovascular tools
CN113367798B (zh) * 2021-07-14 2025-08-22 深圳康诺思腾科技有限公司 无菌适配器与手术器械的传动连接结构及手术机器人的器械驱动传动机构
CN113349937B (zh) * 2021-07-14 2025-08-01 深圳康诺思腾科技有限公司 一种手术机器人的器械驱动传动机构及装配机构
CN113349936A (zh) * 2021-07-14 2021-09-07 深圳康诺思腾科技有限公司 一种无菌适配器与手术器械后端的导向定位结构
CN113349935A (zh) * 2021-07-14 2021-09-07 深圳康诺思腾科技有限公司 器械驱动器与无菌适配器的传动连接结构和手术机器人
EP4401666A1 (en) 2021-09-13 2024-07-24 DistalMotion SA Instruments for surgical robotic system and interfaces for the same
IT202100026186A1 (it) 2021-10-13 2023-04-13 Medical Microinstruments Inc Metodo di fabbricazione di una o più superfici di presa miniaturizzate per uno strumento chirurgico o microchirurgico, e strumento chirurgico miniaturizzato comprendente una o più superfici di presa
WO2023063793A1 (ko) * 2021-10-15 2023-04-20 주식회사 페라자 혈관 중재 시술 장치 및 혈관 중재 시술 장치용 드럼 어셈블리
WO2023062470A1 (en) 2021-10-17 2023-04-20 Forsight Robotics Ltd. One-sided robotic surgical procedure
CN113854950B (zh) * 2021-10-29 2024-09-24 佗道医疗科技有限公司 一种复用腹腔镜
KR102635808B1 (ko) * 2021-11-29 2024-02-13 재단법인대구경북과학기술원 의료 장비의 모듈 탈착 구조
TWI837973B (zh) 2021-11-30 2024-04-01 美商安督奎斯特機器人公司 患者控制台的定位總成之控制方法、患者控制台以及具有患者控制台的機器人手術系統
JP2024543764A (ja) 2021-11-30 2024-11-26 エンドクエスト ロボティクス インコーポレイテッド 患者コンソールの５つの自由度での位置決めシステム
TWI836752B (zh) 2021-11-30 2024-03-21 美商安督奎斯特機器人公司 用於機器人控制醫療裝置的力傳輸系統
EP4440480A4 (en) 2021-11-30 2026-01-21 Endoquest Robotics Inc CONTROL DEVICE ARRANGEMENTS FOR ROBOTIC SURGICAL SYSTEMS
EP4440481A4 (en) 2021-11-30 2026-01-21 Endoquest Robotics Inc BARRIER FIELD ADAPTERS FOR ROBOTIC SURGICAL SYSTEMS
KR20260041932A (ko) 2021-11-30 2026-03-27 엔도퀘스트 로보틱스 인코포레이티드 일회용 엔드 이펙터
EP4440484A4 (en) 2021-11-30 2026-01-14 Endoquest Robotics Inc MASTER CONTROL SYSTEMS FOR ROBOTIC SURGICAL SYSTEMS
TWI835436B (zh) 2021-11-30 2024-03-11 美商安督奎斯特機器人公司 用於機器人手術系統的可轉向套管組件、其控制組件及其方法
CN114176667B (zh) * 2021-12-31 2023-08-11 佗道医疗科技有限公司 一种器械组件卡接检测机构、卡接检测方法及其器械组件
US12303220B2 (en) 2022-01-26 2025-05-20 Covidien Lp Autonomous endobronchial access with an EM guided catheter
DE102022102806A1 (de) * 2022-02-07 2023-08-10 avateramedical GmBH Sterileinheit und Manipulator für die robotische Chirurgie
DE102022102805A1 (de) 2022-02-07 2023-08-10 avateramedical GmBH Manipulator für die robotische Chirurgie und Sterileinheit
IT202200006332A1 (it) * 2022-03-31 2023-10-01 Medical Microinstruments Inc Metodo per controllare, tramite diminuzione di velocità o potenza impartita, un dispositivo slave comandato da un dispositivo master in un sistema robotico per teleoperazione medica o chirurgica, e relativo sistema robotico
US20230355325A1 (en) * 2022-05-03 2023-11-09 Mazor Robotics Ltd. Replaceable arm guide and end effector for surgical systems
US20260207293A1 (en) * 2022-12-28 2026-07-23 Vicarious Surgical Inc. Drape plate assembly
WO2024173953A1 (en) * 2023-02-19 2024-08-22 Asensus Surgical Us, Inc. Slip ring assemblies for coupling electrosurgical energy to robotically manipulated surgical instruments
EP4483832A1 (en) * 2023-06-29 2025-01-01 Zentact Robotics Surgical system for ear, nose, throat surgeries
EP4620406A3 (en) * 2023-07-04 2026-01-14 Lem Surgical Ag Robotic surgical tool holders and methods for their use
US20250090260A1 (en) * 2023-09-19 2025-03-20 Roen Surgical, Inc. Surgical instruments holding apparatus
IT202300022860A1 (it) 2023-10-31 2025-05-01 Medical Microinstruments Inc Interfaccia di trasmissione di un sistema robotico per teleoperazione microchirurgica e relativi manipolatore robotico e strumento microchirurgico
DE102024103154A1 (de) * 2024-02-05 2025-08-07 Karl Storz Se & Co. Kg Schnittstelle zur Verbindung einer Antriebseinheit mit einem medizinischen Instrument
EP4616821A1 (en) * 2024-03-13 2025-09-17 MinMaxMedical Sterile interface for a robotic arm
US20250288372A1 (en) * 2024-03-13 2025-09-18 Globus Medical, Inc. Surgical robotic system
KR20250140399A (ko) * 2024-03-18 2025-09-25 주식회사 리브스메드 수술용 인스트루먼트
CN120837204B (zh) * 2024-04-28 2026-05-29 北京歌锐科技有限公司 一种手术设备

Family Cites Families (462)

* 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 (enExample) 1970-02-20 1975-08-21
JPS4921672Y1 (enExample) 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
US4597388A (en) 1983-12-15 1986-07-01 Trutek Research, Inc. Apparatus for removing cataracts
US4688555A (en) 1986-04-25 1987-08-25 Circon Corporation Endoscope with cable compensating mechanism
DE3622352C1 (de) 1986-07-03 1987-12-03 Dornier System Gmbh Funkenstrecke mit Elektrodenspitzen unterschiedlicher Geometrie
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
US5425735A (en) 1989-02-22 1995-06-20 Psi Medical Products, Inc. Shielded tip catheter for lithotripsy
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
US5152768A (en) 1991-02-26 1992-10-06 Bhatta Krishna M Electrohydraulic lithotripsy
US5234428A (en) * 1991-06-11 1993-08-10 Kaufman David I Disposable electrocautery/cutting instrument with integral continuous smoke evacuation
US5279309A (en) 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
US5417210A (en) 1992-05-27 1995-05-23 International Business Machines Corporation System and method for augmentation of endoscopic surgery
US6406486B1 (en) 1991-10-03 2002-06-18 The General Hospital Corporation Apparatus and method for vasodilation
WO1993006780A1 (en) 1991-10-03 1993-04-15 The General Hospital Corporation Apparatus and method for vasodilation
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
US6963792B1 (en) 1992-01-21 2005-11-08 Sri International Surgical 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
US5814038A (en) * 1995-06-07 1998-09-29 Sri International Surgical manipulator for a telerobotic system
DE19625850B4 (de) * 1995-06-27 2008-01-31 Matsushita Electric Works, Ltd., Kadoma Planetengetriebe
JP3318733B2 (ja) 1995-12-22 2002-08-26 株式会社スギノマシン 手術装置
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
US5797900A (en) 1996-05-20 1998-08-25 Intuitive Surgical, Inc. Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US5792135A (en) * 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US5767840A (en) 1996-06-28 1998-06-16 International Business Machines Corporation Six-degrees-of-freedom movement sensor having strain gauge mechanical supports
DE19649082C1 (de) 1996-11-27 1998-01-08 Fraunhofer Ges Forschung Vorrichtung zur Fernsteuerung eines Werkzeugs
US6331181B1 (en) 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
SI0901341T1 (en) 1997-01-03 2005-04-30 Biosense Webster, Inc. Bend-responsive catheter
DE19717108A1 (de) 1997-04-23 1998-11-05 Stm Medtech Starnberg Stülpschlauchsystem
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
EP2362283B1 (en) 1997-09-19 2015-11-25 Massachusetts Institute Of Technology Robotic apparatus
EP1023742A4 (en) 1997-10-15 2006-03-22 Analytica Of Branford Inc CURVED INTAKE DEVICE FOR MASS SPECTROMETERS
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
US5961934A (en) 1998-02-18 1999-10-05 Biospace International Inc. Dynamically controlled crystallization method and apparatus and crystals obtained thereby
US20080177285A1 (en) 1998-02-24 2008-07-24 Hansen Medical, Inc. Surgical instrument
IL123646A (en) 1998-03-11 2010-05-31 Refael Beyar Remote control catheterization
DE19815598B4 (de) 1998-04-07 2007-01-18 Stm Medizintechnik Starnberg Gmbh Flexibles Zugangsrohr mit Stülpschlauchsystem
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
AU3187000A (en) 1999-03-07 2000-09-28 Discure Ltd. Method and apparatus for computerized surgery
US6289579B1 (en) 1999-03-23 2001-09-18 Motorola, Inc. Component alignment and transfer apparatus
US6424885B1 (en) 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US6398792B1 (en) 1999-06-21 2002-06-04 O'connor Lawrence Angioplasty catheter with transducer using balloon for focusing of ultrasonic energy and method for use
DE19929112A1 (de) 1999-06-24 2001-01-11 Ferton Holding Sa Medizinisches Instrument zur Behandlung von biologischem Gewebe sowie Verfahren zum Übertragen von Druckwellen
US7637905B2 (en) 2003-01-15 2009-12-29 Usgi Medical, Inc. Endoluminal tool deployment system
DE19930408A1 (de) 1999-07-02 2001-01-04 Zeiss Carl Fa OCT-gestütztes Chirurgiesystem
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
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
US6638246B1 (en) 2000-11-28 2003-10-28 Scimed Life Systems, Inc. Medical device for delivery of a biologically active material to a lumen
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
US8414505B1 (en) 2001-02-15 2013-04-09 Hansen Medical, Inc. Catheter driver system
EP2298220B1 (en) 2001-02-15 2016-06-08 Hansen Medical, Inc. Flexible instrument
US7766894B2 (en) 2001-02-15 2010-08-03 Hansen Medical, Inc. Coaxial catheter 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
WO2002089872A2 (en) 2001-05-06 2002-11-14 Stereotaxis, Inc. System and methods for advancing a catheter
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
US7607440B2 (en) 2001-06-07 2009-10-27 Intuitive Surgical, Inc. Methods and apparatus for surgical planning
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
US7087061B2 (en) 2002-03-12 2006-08-08 Lithotech Medical Ltd Method for intracorporeal lithotripsy fragmentation and apparatus for its implementation
US6830545B2 (en) 2002-05-13 2004-12-14 Everest Vit Tube gripper integral with controller for endoscope of borescope
IL149706A0 (en) 2002-05-16 2002-11-10 Dolopaz Technologies Ltd Multipurpose fluid jet surgical device
US20040030349A1 (en) 2002-08-08 2004-02-12 Mikhail Boukhny Liquefaction handpiece tip
CA2437286C (en) 2002-08-13 2008-04-29 Garnette Roy Sutherland Microsurgical robot system
US7044936B2 (en) 2002-08-21 2006-05-16 Arrow International Inc. Catheter connector with pivot lever spring latch
TW574767B (en) 2003-01-13 2004-02-01 Uniwill Comp Corp Antenna and shield assembly and wireless transmission module thereof
GB2397234A (en) * 2003-01-20 2004-07-21 Armstrong Healthcare Ltd A tool holder arrangement
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
US7297154B2 (en) 2003-02-24 2007-11-20 Maxwell Sensors Inc. Optical apparatus for detecting and treating vulnerable plaque
US7246273B2 (en) 2003-02-28 2007-07-17 Sony Corporation Method of, apparatus and graphical user interface for automatic diagnostics
JP2004351005A (ja) 2003-05-29 2004-12-16 Japan Science & Technology Agency 屈曲チューブとその製造方法
EP1644782B1 (en) 2003-06-20 2009-03-04 Fanuc Robotics America, Inc. Multiple robot arm tracking and mirror jog
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
US20050049508A1 (en) 2003-08-06 2005-03-03 Michael Forman Treatment of age-related macular degeneration
US7998112B2 (en) 2003-09-30 2011-08-16 Abbott Cardiovascular Systems Inc. Deflectable catheter assembly and method of making same
EP1691884B1 (en) 2003-12-11 2011-03-23 Cook Incorporated 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
US7972298B2 (en) * 2004-03-05 2011-07-05 Hansen Medical, Inc. Robotic catheter system
US8052636B2 (en) 2004-03-05 2011-11-08 Hansen Medical, Inc. Robotic catheter system and methods
US8021326B2 (en) 2004-03-05 2011-09-20 Hansen Medical, Inc. Instrument driver for robotic catheter system
CN100463648C (zh) 2004-03-11 2009-02-25 梅德拉股份有限公司 能量辅助的医学设备和系统
JP3923053B2 (ja) 2004-03-31 2007-05-30 ファナック株式会社 ロボット教示装置
DE102004020465B3 (de) 2004-04-26 2005-09-01 Aumann Gmbh Drahtzugregler für Wickelmaschinen
DE102004021754A1 (de) 2004-04-30 2005-11-24 Reinhardt Thyzel Vorrichtung zum Entfernen von Epithelzellen aus einem Linsenkapselsack eines menschlichen oder tierischen Auges
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
US7967799B2 (en) 2005-03-16 2011-06-28 Alcon, Inc. Liquefaction handpiece tip
CN101184429A (zh) * 2005-04-18 2008-05-21 M.S.T.医学外科技术有限公司 改进腹腔镜手术的装置和方法
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
US8241271B2 (en) 2005-06-30 2012-08-14 Intuitive Surgical Operations, Inc. Robotic surgical instruments with a fluid flow control system for irrigation, aspiration, and blowing
JP2009500086A (ja) * 2005-07-01 2009-01-08 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
US8079950B2 (en) 2005-09-29 2011-12-20 Intuitive Surgical Operations, Inc. Autofocus and/or autoscaling in telesurgery
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
JP2009514610A (ja) 2005-11-08 2009-04-09 トラスティーズ オブ ボストン ユニバーシティ 複数の変形可能な細長い部材を用いたマニピュレータ
JP5276987B2 (ja) 2005-11-15 2013-08-28 ザ・ジョンズ・ホプキンス・ユニバーシティー バイオセンシング及び外科的処置のための能動的カニューレ
US7384351B2 (en) 2005-11-22 2008-06-10 Bridgestone Sports Co., Ltd. Golf ball
US20070149946A1 (en) 2005-12-07 2007-06-28 Viswanathan Raju R Advancer system for coaxial medical devices
US7892186B2 (en) 2005-12-09 2011-02-22 Heraeus Materials S.A. Handle and articulator system and method
US8292827B2 (en) 2005-12-12 2012-10-23 Boston Scientific Scimed, Inc. Micromachined medical devices
WO2007075864A1 (en) 2005-12-20 2007-07-05 Intuitive Surgical, Inc. Instrument interface of a robotic surgical system
US8672922B2 (en) * 2005-12-20 2014-03-18 Intuitive Surgical Operations, Inc. Wireless communication in a robotic surgical system
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
US8518024B2 (en) 2006-04-24 2013-08-27 Transenterix, Inc. System and method for multi-instrument surgical access using a single access port
US8628520B2 (en) 2006-05-02 2014-01-14 Biosense Webster, Inc. Catheter with omni-directional optical lesion evaluation
JP2009537232A (ja) 2006-05-17 2009-10-29 ハンセン メディカル，インク． ロボット機器システム
CN104688349B (zh) 2006-06-13 2017-05-10 直观外科手术操作公司 微创手术系统
KR20090051029A (ko) * 2006-06-14 2009-05-20 맥도널드 디트윌러 앤드 어소시에이츠 인코포레이티드 직각풀리 구동기구를 갖는 수술조종장치
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
US8747350B2 (en) 2006-09-11 2014-06-10 Boston Scientific Scimed, Inc. Steerable catheter with rapid exchange lumen
US7535991B2 (en) 2006-10-16 2009-05-19 Oraya Therapeutics, Inc. Portable orthovoltage radiotherapy
WO2008061364A1 (en) * 2006-11-24 2008-05-29 Imris Inc. Sterile draping for the bore of a medical imaging system
US7699809B2 (en) 2006-12-14 2010-04-20 Urmey William F Catheter positioning system
US20090036900A1 (en) 2007-02-02 2009-02-05 Hansen Medical, Inc. Surgery methods using a robotic instrument 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
JP4550849B2 (ja) 2007-03-22 2010-09-22 株式会社東芝 アーム搭載移動ロボット
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
US20080275367A1 (en) 2007-04-23 2008-11-06 Hansen Medical, Inc Systems and methods for mapping intra-body tissue compliance
US20090012533A1 (en) 2007-04-23 2009-01-08 Hansen Medical, Inc. Robotic instrument control system
US8414246B2 (en) 2007-06-06 2013-04-09 Cycogs, Llc Modular hybrid snake arm
US8903546B2 (en) 2009-08-15 2014-12-02 Intuitive Surgical Operations, Inc. Smooth control of an articulated instrument across areas with different work space conditions
US9301807B2 (en) * 2007-06-13 2016-04-05 Intuitive Surgical Operations, Inc. Surgical system counterbalance
US20090082722A1 (en) 2007-08-21 2009-03-26 Munger Gareth T Remote navigation advancer devices and methods of use
US7998020B2 (en) 2007-08-21 2011-08-16 Stereotaxis, Inc. Apparatus for selectively rotating and/or advancing an elongate device
PL2190761T3 (pl) 2007-08-28 2014-03-31 Marel As Chwytające urządzenie, na przykład do robota
US9050120B2 (en) 2007-09-30 2015-06-09 Intuitive Surgical Operations, Inc. Apparatus and method of user interface with alternate tool mode for robotic surgical tools
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
US8752749B2 (en) * 2008-02-14 2014-06-17 Ethicon Endo-Surgery, Inc. Robotically-controlled disposable motor-driven loading unit
US9179912B2 (en) 2008-02-14 2015-11-10 Ethicon Endo-Surgery, Inc. Robotically-controlled motorized surgical cutting and fastening instrument
EP2092916A1 (en) 2008-02-19 2009-08-26 Institut National De La Sante Et De La Recherche Medicale (Inserm) A method of treating an ocular pathology by applying high intensity focused ultrasound and device thereof
WO2009109532A2 (en) 2008-03-07 2009-09-11 Novozymes A/S Use of defensins against tuberculosis
EP3005938B9 (en) 2008-03-19 2019-05-29 Carl Zeiss Meditec AG Surgical microscopy system having an optical coherence tomography facility
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
US10368838B2 (en) 2008-03-31 2019-08-06 Intuitive Surgical Operations, Inc. Surgical tools for laser marking and laser cutting
US7886743B2 (en) * 2008-03-31 2011-02-15 Intuitive Surgical Operations, Inc. Sterile drape interface for robotic surgical instrument
DE102008025233A1 (de) 2008-05-27 2009-12-03 Erbe Elektromedizin Gmbh Wasserstrahlchirurgieinstrument
US7938809B2 (en) 2008-04-14 2011-05-10 Merit Medical Systems, Inc. Quick release hemostasis valve
WO2009131928A1 (en) 2008-04-21 2009-10-29 Electromedical Associates Llc Devices and methods for ablating and removing a tissue mass
US8169468B2 (en) 2008-04-26 2012-05-01 Intuitive Surgical Operations, Inc. Augmented stereoscopic visualization for a surgical robot
WO2009137410A1 (en) 2008-05-06 2009-11-12 Corindus Ltd. Catheter system
US20100036294A1 (en) 2008-05-07 2010-02-11 Robert Mantell Radially-Firing Electrohydraulic Lithotripsy Probe
EP2274498A2 (en) * 2008-05-12 2011-01-19 Longyear TM, Inc. Open-faced rod spinner
KR101479233B1 (ko) 2008-05-13 2015-01-05 삼성전자 주식회사 로봇 및 그 협조작업 제어방법
US8968251B2 (en) * 2008-05-14 2015-03-03 Covidien Lp Access assembly
US20110015650A1 (en) * 2008-06-11 2011-01-20 Seung Wook Choi Instrument of robot arm for surgery
KR100971900B1 (ko) * 2008-06-11 2010-07-22 (주)미래컴퍼니 수술용 로봇 암의 인스트루먼트
EP2300091B1 (en) 2008-06-13 2018-03-21 Shockwave Medical, Inc. Shockwave balloon catheter system
US9179832B2 (en) 2008-06-27 2015-11-10 Intuitive Surgical Operations, Inc. Medical robotic system with image referenced camera control using partitionable orientational and translational modes
US9186221B2 (en) * 2008-07-16 2015-11-17 Intuitive Surgical Operations Inc. Backend mechanism for four-cable wrist
JP2010035768A (ja) 2008-08-04 2010-02-18 Olympus Medical Systems Corp 能動駆動式医療機器
EP2322071A4 (en) 2008-08-08 2012-01-18 Panasonic Corp CONTROL DEVICE AND CONTROL METHOD FOR A CLEANER, CLEANER, CONTROL PROGRAM FOR THE CLEANER AND INTEGRATED ELECTRONIC CIRCUIT
JP2010046384A (ja) 2008-08-25 2010-03-04 Terumo Corp 医療用マニピュレータ及び実験装置
US8390438B2 (en) 2008-09-24 2013-03-05 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic catheter system including haptic feedback
US9259274B2 (en) 2008-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
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
WO2010068005A2 (en) 2008-12-12 2010-06-17 Rebo Surgical robot
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
CN102405022B (zh) 2009-03-14 2015-02-04 瓦索斯蒂奇股份有限公司 血管进入和闭合装置
US10004387B2 (en) 2009-03-26 2018-06-26 Intuitive Surgical Operations, Inc. Method and system for assisting an operator in endoscopic navigation
EP2233103B1 (de) 2009-03-26 2017-11-15 W & H Dentalwerk Bürmoos GmbH Medizinisches, insbesondere dentales, Handstück
KR101030371B1 (ko) * 2009-04-27 2011-04-20 국립암센터 최소 침습 수술을 위한 내시경 조정 장치
DE102009019695B4 (de) * 2009-05-05 2011-06-16 Deutsches Zentrum für Luft- und Raumfahrt e.V. Steriles Abdecksystem zum sterilen Verkleiden eines medizintechnischen Roboterarms sowie Verfahren zum sterilen Verkleiden eines medizintechnischen Roboterarms
GB0908368D0 (en) 2009-05-15 2009-06-24 Univ Leuven Kath Adjustable remote center of motion positioner
ES2388029B1 (es) 2009-05-22 2013-08-13 Universitat Politècnica De Catalunya Sistema robótico para cirugia laparoscópica.
US10537713B2 (en) 2009-05-25 2020-01-21 Stereotaxis, Inc. Remote manipulator device
US8920369B2 (en) 2009-06-24 2014-12-30 Shifamed Holdings, Llc Steerable delivery sheaths
US20110009863A1 (en) 2009-07-10 2011-01-13 Tyco Healthcare Group Lp Shaft Constructions for Medical Devices with an Articulating Tip
US20110015484A1 (en) 2009-07-16 2011-01-20 Alvarez Jeffrey B Endoscopic robotic catheter system
US20110015648A1 (en) 2009-07-16 2011-01-20 Hansen Medical, Inc. Endoscopic robotic catheter system
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
WO2011037394A2 (ko) * 2009-09-23 2011-03-31 주식회사 이턴 멸균 어댑터, 휠의 체결 구조 및 수술용 인스트루먼트의 체결 구조
KR101037069B1 (ko) * 2009-09-23 2011-05-26 주식회사 이턴 멸균 어댑터
CN102612350B (zh) 2009-10-01 2015-11-25 马科外科公司 用于安放假体组件和/或限制手术工具移动的手术系统
US10045882B2 (en) 2009-10-30 2018-08-14 The Johns Hopkins University Surgical instrument and systems with integrated optical sensor
WO2011058493A1 (en) 2009-11-12 2011-05-19 Koninklijke Philips Electronics N.V. A steering system and a catcher system
KR102118008B1 (ko) * 2009-11-13 2020-06-02 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 곡선형 캐뉼라 수술 시스템
CN102665590B (zh) 2009-11-16 2015-09-23 皇家飞利浦电子股份有限公司 用于内窥镜辅助机器人的人-机器人共享控制
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
US8414564B2 (en) 2010-02-18 2013-04-09 Alcon Lensx, Inc. Optical coherence tomographic system for ophthalmic surgery
EP3659661B8 (en) 2010-03-02 2025-02-12 Siemens Healthineers Endovascular Robotics, 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
DE102010029745A1 (de) 2010-06-07 2011-12-08 Kuka Laboratories Gmbh Werkstück-Handhabungssystem und Verfahren zum Manipulieren von Werkstücken mittels kooperierender Manipulatoren
WO2011160686A1 (en) 2010-06-23 2011-12-29 Renzo Marco Giovanni Brun Del Re Biopsy alignment guide
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
CN103037799B (zh) * 2010-08-02 2016-03-09 约翰霍普金斯大学 用于协作手术机器人的工具更换接口和控制算法
US8776800B2 (en) * 2010-09-30 2014-07-15 Carefusion 2200, Inc. Sterile drape having multiple drape interface mechanisms
CN102834043B (zh) 2010-09-14 2015-07-01 奥林巴斯医疗株式会社 内窥镜系统和视野不良判定方法
US8961533B2 (en) 2010-09-17 2015-02-24 Hansen Medical, Inc. Anti-buckling mechanisms and methods
PL2619633T3 (pl) 2010-09-25 2024-04-29 Ipg Photonics (Canada) Inc. Sposób obrazowania koherentnego i kontroli informacji zwrotnej do modyfikowania materiałów
US10092359B2 (en) 2010-10-11 2018-10-09 Ecole Polytechnique Federale De Lausanne Mechanical manipulator for surgical instruments
CN201884596U (zh) 2010-11-02 2011-06-29 李国铭 差速器
KR101854707B1 (ko) 2010-11-15 2018-05-04 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술 기구에서 기구 샤프트 감김과 단부 작동기 작동의 해제
DE102011003118A1 (de) * 2011-01-25 2012-07-26 Krones Aktiengesellschaft Verschließeinrichtung
DE102011011497A1 (de) * 2011-02-17 2012-08-23 Kuka Roboter Gmbh Chirurgisches Instrument
US10786432B2 (en) 2011-04-12 2020-09-29 Sartorius Stedim Biotech Gmbh Use of a device and a method for preparing mixtures of pharmaceutical substances
JP5816457B2 (ja) * 2011-05-12 2015-11-18 オリンパス株式会社 術具装置
EP2731517A2 (en) 2011-07-11 2014-05-21 Medical Vision Research & Development AB Status control for electrically powered surgical tool systems
JP5931497B2 (ja) * 2011-08-04 2016-06-08 オリンパス株式会社 手術支援装置およびその組立方法
CN102973317A (zh) 2011-09-05 2013-03-20 周宁新 微创手术机器人机械臂布置结构
FR2979532B1 (fr) 2011-09-07 2015-02-20 Robocath Module et procede d'entrainement d'organes medicaux souples allonges et systeme robotise associe
US9918681B2 (en) 2011-09-16 2018-03-20 Auris Surgical Robotics, Inc. System and method for virtually tracking a surgical tool on a movable display
WO2013043804A1 (en) 2011-09-20 2013-03-28 Corindus, Inc. Catheter force measurement apparatus and method
WO2013061212A1 (en) * 2011-10-26 2013-05-02 Koninklijke Philips Electronics N.V. Smart tool holder for an optical shape-sensing fiber
US9504604B2 (en) 2011-12-16 2016-11-29 Auris Surgical Robotics, Inc. Lithotripsy eye treatment
EP3488803B1 (en) 2012-02-03 2023-09-27 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
EP2841001B1 (de) * 2012-04-27 2019-01-02 KUKA Deutschland GmbH Instrumentenmodul für ein chirurgisches instrument
DE102012207060A1 (de) * 2012-04-27 2013-10-31 Deutsches Zentrum für Luft- und Raumfahrt e.V. Roboteranordnung zum Einsatz in medizinischen Bereichen
CN104411266B (zh) 2012-04-27 2019-01-01 库卡实验仪器有限公司 机器人手术系统
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
EP2854687B1 (en) 2012-06-01 2022-08-24 Intuitive Surgical Operations, Inc. Systems for avoiding collisions between manipulator arms using a null-space
US9072536B2 (en) 2012-06-28 2015-07-07 Ethicon Endo-Surgery, Inc. Differential locking arrangements for rotary powered surgical instruments
US9226751B2 (en) * 2012-06-28 2016-01-05 Ethicon Endo-Surgery, Inc. Surgical instrument system including replaceable end effectors
US9226796B2 (en) 2012-08-03 2016-01-05 Stryker Corporation Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path
JP6250673B2 (ja) 2012-08-15 2017-12-20 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 手動でのロボットアームの運動によって制御される可動な手術用装着プラットフォーム
JP6255401B2 (ja) 2012-08-15 2017-12-27 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 機械本体の動きを操作するためのファントム自由度
WO2014058838A1 (en) 2012-10-12 2014-04-17 Intuitive Surgical Operations, Inc. Determining position of medical device in branched anatomical structure
US8671817B1 (en) 2012-11-28 2014-03-18 Hansen Medical, Inc. Braiding device for catheter having acuately varying pullwires
US8894610B2 (en) 2012-11-28 2014-11-25 Hansen Medical, Inc. Catheter having unirail pullwire architecture
US20140148673A1 (en) 2012-11-28 2014-05-29 Hansen Medical, Inc. Method of anchoring pullwire directly articulatable region in catheter
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
DE102013100605A1 (de) 2013-01-22 2014-07-24 Rg Mechatronics Gmbh Robotersystem und Verfahren zum Steuern eines Robotersystems für die minimal invasive Chirurgie
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
DE102013002813B4 (de) 2013-02-19 2017-11-09 Rg Mechatronics Gmbh Haltevorrichtung mit wenigstens einer Klemmbacke für ein chirurgisches Robotersystem
BR112015020589B8 (pt) 2013-02-26 2022-03-22 Sinan Kabakci Ahmet Sistema manipulador robótico
US9668814B2 (en) 2013-03-07 2017-06-06 Hansen Medical, Inc. Infinitely rotatable tool with finite rotating drive shafts
US10149720B2 (en) 2013-03-08 2018-12-11 Auris Health, Inc. Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment
US9867635B2 (en) 2013-03-08 2018-01-16 Auris Surgical Robotics, Inc. Method, apparatus and system for a water jet
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
US20140276389A1 (en) 2013-03-13 2014-09-18 Sean Walker Selective grip device for drive mechanism
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
US11213363B2 (en) 2013-03-14 2022-01-04 Auris Health, Inc. Catheter tension sensing
CN105163679B (zh) 2013-03-14 2018-04-06 Sri国际公司 紧凑型机器人手腕
US9326822B2 (en) 2013-03-14 2016-05-03 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US9498601B2 (en) 2013-03-14 2016-11-22 Hansen Medical, Inc. Catheter tension sensing
US9408669B2 (en) 2013-03-15 2016-08-09 Hansen Medical, Inc. Active drive mechanism with finite range of motion
KR102234145B1 (ko) 2013-03-15 2021-03-31 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 중재적 기기의 추적을 위한 형상 센서 시스템 및 사용 방법
US10376672B2 (en) 2013-03-15 2019-08-13 Auris Health, Inc. Catheter insertion system and method of fabrication
US20140276394A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Input device for controlling a catheter
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
US9713498B2 (en) * 2013-03-15 2017-07-25 Stryker Corporation Assembly for positioning a sterile surgical drape relative to optical position sensors
US20140276936A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Active drive mechanism for simultaneous rotation and translation
US9271797B2 (en) * 2013-07-02 2016-03-01 Gyrus Acmi, Inc. Robotic surgery
US11020016B2 (en) 2013-05-30 2021-06-01 Auris Health, Inc. System and method for displaying anatomy and devices on a movable display
WO2014201165A1 (en) 2013-06-11 2014-12-18 Auris Surgical Robotics, Inc. System for robotic assisted cataract surgery
US20140375784A1 (en) 2013-06-21 2014-12-25 Omnivision Technologies, Inc. Image Sensor With Integrated Orientation Indicator
JP6037964B2 (ja) 2013-07-26 2016-12-07 オリンパス株式会社 マニピュレータシステム
US10426661B2 (en) 2013-08-13 2019-10-01 Auris Health, Inc. Method and apparatus for laser assisted cataract surgery
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
DE102013220798A1 (de) 2013-10-15 2015-04-16 Kuka Laboratories Gmbh Verfahren zum Handhaben von Objekten mittels wenigstens zweier Industrieroboter, und zugehöriger Industrieroboter
US9763741B2 (en) 2013-10-24 2017-09-19 Auris Surgical Robotics, Inc. System for robotic-assisted endolumenal surgery and related methods
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
WO2015110542A1 (en) * 2014-01-22 2015-07-30 KB Medical SA Sterile drape and adapter for covering a robotic surgical arm and preventing contamination of a sterile field
CN105979882B (zh) 2014-02-07 2019-03-26 柯惠Lp公司 用于机器人手术系统的输入装置组件
KR102410823B1 (ko) 2014-02-21 2022-06-21 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 기계식 조인트들, 및 관련된 시스템들과 방법들
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
US9549781B2 (en) 2014-05-30 2017-01-24 The Johns Hopkins University Multi-force sensing surgical instrument and method of use for robotic surgical systems
CN104013471B (zh) * 2014-06-23 2016-08-24 苏州康多机器人有限公司 一种主从一体型外科手术机器人系统
US10792464B2 (en) 2014-07-01 2020-10-06 Auris Health, Inc. Tool and method for using surgical endoscope with spiral lumens
US9788910B2 (en) 2014-07-01 2017-10-17 Auris Surgical Robotics, Inc. Instrument-mounted tension sensing mechanism for robotically-driven medical instruments
US9744335B2 (en) 2014-07-01 2017-08-29 Auris Surgical Robotics, Inc. Apparatuses and methods for monitoring tendons of steerable catheters
US20170007337A1 (en) 2014-07-01 2017-01-12 Auris Surgical Robotics, Inc. Driver-mounted torque sensing mechanism
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
KR102292155B1 (ko) 2014-09-30 2021-08-25 아우리스 헬스, 인크. 가상 레일 및 가요성 내시경을 구비하는 구성 변경 가능한 로봇 수술 시스템
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
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
EP3261574B1 (en) 2015-02-26 2024-12-18 Covidien LP Robotically controlling remote center of motion with software and guide tube
WO2016152255A1 (ja) 2015-03-25 2016-09-29 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
GB2538326B (en) * 2015-05-07 2019-06-05 Cmr Surgical Ltd A surgical drape for transferring drive
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
WO2017015599A1 (en) 2015-07-23 2017-01-26 Sri International Robotic arm and robotic surgical system
CN105147393B (zh) 2015-08-19 2017-06-20 哈尔滨工业大学 一种微创机器人持镜机械臂
CN108135663B (zh) 2015-08-27 2022-03-04 福康精准医疗系统公司 步进器和稳定器之间的可移动接口
KR102714284B1 (ko) 2015-09-09 2024-10-11 아우리스 헬스, 인크. 수술 로봇 시스템을 위한 기구 장치 조작기
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
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US10231793B2 (en) 2015-10-30 2019-03-19 Auris Health, Inc. Object removal through a percutaneous suction tube
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
EP3373839B1 (en) 2015-11-12 2024-09-04 Covidien LP Robotic surgical systems for monitoring applied forces
CN105559850B (zh) 2015-12-17 2017-08-25 天津工业大学 一种用于机器人辅助外科具有力传感功能的手术钻器械
US10932861B2 (en) 2016-01-14 2021-03-02 Auris Health, Inc. Electromagnetic tracking surgical system and method of controlling the same
US10932691B2 (en) 2016-01-26 2021-03-02 Auris Health, Inc. Surgical tools having electromagnetic tracking components
AU2017225996B2 (en) 2016-03-04 2021-05-20 Covidien Lp Electromechanical surgical systems and robotic surgical instruments thereof
US11324554B2 (en) 2016-04-08 2022-05-10 Auris Health, Inc. Floating electromagnetic field generator system and method of controlling the same
US10454347B2 (en) 2016-04-29 2019-10-22 Auris Health, Inc. Compact height torque sensing articulation axis assembly
US10888428B2 (en) 2016-05-12 2021-01-12 University Of Notre Dame Du Lac Additive manufacturing device for biomaterials
KR102438357B1 (ko) 2016-07-01 2022-09-01 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 컴퓨터 보조 의료 시스템 및 방법
US11037464B2 (en) 2016-07-21 2021-06-15 Auris Health, Inc. System with emulator movement tracking for controlling medical devices
US10398517B2 (en) 2016-08-16 2019-09-03 Ethicon Llc Surgical tool positioning based on sensed parameters
US11241559B2 (en) 2016-08-29 2022-02-08 Auris Health, Inc. Active drive for guidewire manipulation
KR20230096148A (ko) 2016-08-31 2023-06-29 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
EP3600112A4 (en) 2017-03-22 2020-10-28 Intuitive Surgical Operations Inc. SYSTEMS AND METHODS FOR INTELLIGENT SEEDING RECORDING
JP7159192B2 (ja) 2017-03-28 2022-10-24 オーリス ヘルス インコーポレイテッド シャフト作動ハンドル
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
AU2018250049B2 (en) 2017-04-07 2023-06-29 Auris Health, Inc. Patient introducer alignment
KR102695556B1 (ko) 2017-05-12 2024-08-20 아우리스 헬스, 인코포레이티드 생검 장치 및 시스템
KR102576296B1 (ko) 2017-05-17 2023-09-08 아우리스 헬스, 인코포레이티드 교환 가능한 작업 채널
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
WO2019005872A1 (en) 2017-06-28 2019-01-03 Auris Health, Inc. INSTRUMENT INSERTION COMPENSATION
EP3644885B1 (en) 2017-06-28 2023-10-11 Auris Health, Inc. Electromagnetic field generator alignment
CN118121324A (zh) 2017-06-28 2024-06-04 奥瑞斯健康公司 检测电磁失真的系统
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
CN107595368B (zh) 2017-10-19 2024-04-30 以诺康医疗科技（苏州）有限公司 一种超声波手术刀头、刀杆及超声波手术刀
WO2019113249A1 (en) 2017-12-06 2019-06-13 Auris Health, Inc. Systems and methods to correct for uncommanded instrument roll
AU2018378810B2 (en) 2017-12-08 2024-02-22 Auris Health, Inc. System and method for medical instrument navigation and targeting
EP3684438B1 (en) 2017-12-08 2024-09-11 Auris Health, Inc. Systems employing directed fluidics
JP7080986B2 (ja) 2017-12-11 2022-06-06 オーリス ヘルス インコーポレイテッド 器具ベースの挿入アーキテクチャのためのシステム及び方法
JP7322026B2 (ja) 2017-12-14 2023-08-07 オーリス ヘルス インコーポレイテッド 器具の位置推定のシステムおよび方法
EP3684283B1 (en) 2017-12-18 2026-01-14 Auris Health, Inc. System for instrument tracking and navigation within luminal networks
CN111867511A (zh) 2018-01-17 2020-10-30 奥瑞斯健康公司 具有改进的机器人臂的外科机器人系统
MX2020007623A (es) 2018-01-17 2020-09-14 Auris Health Inc Plataforma quirurgica con soportes de brazo regulable.
JP7301884B2 (ja) 2018-02-13 2023-07-03 オーリス ヘルス インコーポレイテッド 医療用器具を駆動するためのシステム及び方法
KR20200136931A (ko) 2018-03-01 2020-12-08 아우리스 헬스, 인코포레이티드 매핑 및 내비게이션을 위한 방법 및 시스템
WO2019190657A1 (en) 2018-03-28 2019-10-03 Auris Health, Inc. Medical instruments with variable bending stiffness profiles
CN110891469B (zh) 2018-03-28 2023-01-13 奥瑞斯健康公司 用于定位传感器的配准的系统和方法
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
US20190298465A1 (en) 2018-03-29 2019-10-03 Auris Health, Inc. Robotically-enabled medical systems with multifunction end effectors having rotational offsets
EP3801190A4 (en) 2018-05-30 2022-03-02 Auris Health, Inc. SYSTEMS AND METHODS FOR SENSOR-BASED BRANCH LOCATION PREDICTION
JP7214757B2 (ja) 2018-05-31 2023-01-30 オーリス ヘルス インコーポレイテッド 生理学的ノイズを検出する管腔網のナビゲーションのためのロボットシステム及び方法
EP3801348B1 (en) 2018-05-31 2024-05-01 Auris Health, Inc. Image-based airway analysis and mapping
WO2019231891A1 (en) 2018-05-31 2019-12-05 Auris Health, Inc. Path-based navigation of tubular networks
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
CN112367928A (zh) 2018-06-28 2021-02-12 奥瑞斯健康公司 结合滑轮共享的医疗系统
KR102612146B1 (ko) 2018-08-07 2023-12-13 아우리스 헬스, 인코포레이티드 카테터 제어와의 변형-기반 형상 감지의 조합
EP3806772A4 (en) 2018-08-15 2022-03-30 Auris Health, Inc. Medical instruments for tissue cauterization
CN112566567B (zh) 2018-08-17 2024-10-29 奥瑞斯健康公司 双极医疗器械
US10881280B2 (en) 2018-08-24 2021-01-05 Auris Health, Inc. Manually and robotically controllable medical instruments
MX2021003099A (es) 2018-09-17 2021-05-13 Auris Health Inc Sistemas y metodos para procedimientos medicos concomitantes.
EP3813634B1 (en) 2018-09-26 2025-10-22 Auris Health, Inc. Articulating medical instruments
WO2020068303A1 (en) 2018-09-26 2020-04-02 Auris Health, Inc. Systems and instruments for suction and irrigation
CN119924988A (zh) 2018-09-28 2025-05-06 奥瑞斯健康公司 用于伴随内窥镜和经皮医学规程的机器人系统和方法
US10765487B2 (en) 2018-09-28 2020-09-08 Auris Health, Inc. Systems and methods for docking medical instruments
WO2020069080A1 (en) 2018-09-28 2020-04-02 Auris Health, Inc. Devices, systems, and methods for manually and robotically driving medical instruments
US11576738B2 (en) 2018-10-08 2023-02-14 Auris Health, Inc. Systems and instruments for tissue sealing
US11950863B2 (en) 2018-12-20 2024-04-09 Auris Health, Inc Shielding for wristed instruments
WO2020140072A1 (en) 2018-12-28 2020-07-02 Auris Health, Inc. Percutaneous sheath for robotic medical systems and methods
US11202683B2 (en) 2019-02-22 2021-12-21 Auris Health, Inc. Surgical platform with motorized arms for adjustable arm supports
JP7483741B2 (ja) 2019-03-08 2024-05-15 オーリス ヘルス インコーポレイテッド 医療システム用の傾斜機構及び用途
CN113613580B (zh) 2019-03-22 2025-02-18 奥瑞斯健康公司 用于使医疗器械上的输入部对准的系统和方法
US11534248B2 (en) 2019-03-25 2022-12-27 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
JP2022527834A (ja) 2019-04-08 2022-06-06 オーリス ヘルス インコーポレイテッド 付随する処置のためのシステム、方法、及びワークフロー

Also Published As

Publication number Publication date
CN108348133B (zh) 2020-11-13
WO2017044884A1 (en) 2017-03-16
JP2018533450A (ja) 2018-11-15
US20200405434A1 (en) 2020-12-31
EP3346899B1 (en) 2022-11-09
KR20220123104A (ko) 2022-09-05
US11771521B2 (en) 2023-10-03
KR102429651B1 (ko) 2022-08-05
EP4137034A1 (en) 2023-02-22
EP3346899A1 (en) 2018-07-18
US10786329B2 (en) 2020-09-29
KR102879832B1 (ko) 2025-11-03
KR20180083306A (ko) 2018-07-20
CN113229942A (zh) 2021-08-10
CN113274140B (zh) 2022-09-02
US20240090969A1 (en) 2024-03-21
AU2020294275B2 (en) 2023-03-16
KR102714284B1 (ko) 2024-10-11
US20180271616A1 (en) 2018-09-27
US10631949B2 (en) 2020-04-28
EP3346899A4 (en) 2019-10-30
KR20230129557A (ko) 2023-09-08
KR20240151248A (ko) 2024-10-17
KR102569960B1 (ko) 2023-08-24
US20170367782A1 (en) 2017-12-28
AU2020294275A1 (en) 2021-01-28
CN113274140A (zh) 2021-08-20
CN113229942B (zh) 2024-11-12
AU2016321332A1 (en) 2018-04-12
AU2016321332B2 (en) 2020-10-08
CN108348133A (zh) 2018-07-31

Similar Documents

Publication Publication Date Title
AU2020294275B2 (en) Instrument device manipulator for a surgical robotics system
US20240138938A1 (en) Systems and methods for instrument based insertion architectures
US9993313B2 (en) Instrument device manipulator with roll mechanism

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20190906

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20190906

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20200818

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20200819

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20201118

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20210413

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A821

Effective date: 20210428

RD02 Notification of acceptance of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7422

Effective date: 20210428

RD04 Notification of resignation of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7424

Effective date: 20210511

RD04 Notification of resignation of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7424

Effective date: 20210512

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20210713

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: 20210803

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20210901

R150 Certificate of patent or registration of utility model

Ref document number: 6938507

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250