JP7167054B2 - 超弾性医療機器 - Google Patents

超弾性医療機器 Download PDF

Info

Publication number
JP7167054B2
JP7167054B2 JP2019554590A JP2019554590A JP7167054B2 JP 7167054 B2 JP7167054 B2 JP 7167054B2 JP 2019554590 A JP2019554590 A JP 2019554590A JP 2019554590 A JP2019554590 A JP 2019554590A JP 7167054 B2 JP7167054 B2 JP 7167054B2
Authority
JP
Japan
Prior art keywords
needle
distal end
assembly
jacket
proximal end
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
JP2019554590A
Other languages
English (en)
Japanese (ja)
Other versions
JP2020516342A5 (OSRAM
JP2020516342A (ja
Inventor
ランディー，ケーシー，ティール
コナリー，ライアン，ジェフリー
Original Assignee
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 filed Critical オーリス ヘルス インコーポレイテッド
Publication of JP2020516342A publication Critical patent/JP2020516342A/ja
Publication of JP2020516342A5 publication Critical patent/JP2020516342A5/ja
Application granted granted Critical
Publication of JP7167054B2 publication Critical patent/JP7167054B2/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
    • 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
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/04—Endoscopic instruments, e.g. catheter-type instruments
    • 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
    • A61B1/005—Flexible endoscopes
    • A61B1/0058—Flexible endoscopes using shape-memory elements
    • 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
    • A61B1/012—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 characterised by internal passages or accessories therefor
    • A61B1/018—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 characterised by internal passages or accessories therefor for receiving instruments
    • 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
    • A61B1/267—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 the respiratory tract, e.g. laryngoscopes, bronchoscopes
    • A61B1/2676—Bronchoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L31/00—Materials for other surgical articles, e.g. stents, stent-grafts, shunts, surgical drapes, guide wires, materials for adhesion prevention, occluding devices, surgical gloves, tissue fixation devices
    • A61L31/02—Inorganic materials
    • A61L31/022—Metals or alloys
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L31/00—Materials for other surgical articles, e.g. stents, stent-grafts, shunts, surgical drapes, guide wires, materials for adhesion prevention, occluding devices, surgical gloves, tissue fixation devices
    • A61L31/14—Materials characterised by their function or physical properties, e.g. injectable or lubricating compositions, shape-memory materials, surface modified materials
    • 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
    • A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B2010/0216—Sampling brushes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/04—Endoscopic instruments, e.g. catheter-type instruments
    • A61B2010/045—Needles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00831—Material properties
    • A61B2017/00862—Material properties elastic or resilient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00831—Material properties
    • A61B2017/00867—Material properties shape memory effect
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00831—Material properties
    • A61B2017/00902—Material properties transparent or translucent
    • A61B2017/00915—Material properties transparent or translucent for radioactive radiation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • 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
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3966—Radiopaque markers visible in an X-ray image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
    • A61L2400/00—Materials characterised by their function or physical properties
    • A61L2400/16—Materials with shape-memory or superelastic properties

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Biophysics (AREA)
  • Epidemiology (AREA)
  • Vascular Medicine (AREA)
  • Pulmonology (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Inorganic Chemistry (AREA)
  • Otolaryngology (AREA)
  • Physiology (AREA)
  • Endoscopes (AREA)
  • Media Introduction/Drainage Providing Device (AREA)
  • Surgical Instruments (AREA)
JP2019554590A 2017-04-07 2018-04-04 超弾性医療機器 Active JP7167054B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201762483131P 2017-04-07 2017-04-07
US62/483,131 2017-04-07
US15/944,566 2018-04-03
US15/944,566 US10285574B2 (en) 2017-04-07 2018-04-03 Superelastic medical instrument
PCT/US2018/026109 WO2018187488A1 (en) 2017-04-07 2018-04-04 Superelastic medical instrument

Publications (3)

Publication Number Publication Date
JP2020516342A JP2020516342A (ja) 2020-06-11
JP2020516342A5 JP2020516342A5 (OSRAM) 2021-05-13
JP7167054B2 true JP7167054B2 (ja) 2022-11-08

Family

ID=63710477

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2019554590A Active JP7167054B2 (ja) 2017-04-07 2018-04-04 超弾性医療機器

Country Status (7)

Country Link
US (3) US10285574B2 (OSRAM)
EP (1) EP3606439A4 (OSRAM)
JP (1) JP7167054B2 (OSRAM)
KR (1) KR102636777B1 (OSRAM)
CN (1) CN110602994B (OSRAM)
AU (1) AU2018248440A1 (OSRAM)
WO (1) WO2018187488A1 (OSRAM)

Families Citing this family (199)

* 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
EP1720480A1 (en) 2004-03-05 2006-11-15 Hansen Medical, Inc. Robotic catheter system
WO2007005976A1 (en) 2005-07-01 2007-01-11 Hansen Medical, Inc. Robotic catheter system
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
WO2009111736A1 (en) 2008-03-06 2009-09-11 Aquabeam Llc Tissue ablation and cautery with optical energy carried in fluid stream
US9254123B2 (en) 2009-04-29 2016-02-09 Hansen Medical, Inc. Flexible and steerable elongate instruments with shape control and support elements
US8672837B2 (en) 2010-06-24 2014-03-18 Hansen Medical, Inc. Methods and devices for controlling a shapeable medical device
US20120071894A1 (en) 2010-09-17 2012-03-22 Tanner Neal A Robotic medical systems and methods
WO2012100211A2 (en) 2011-01-20 2012-07-26 Hansen Medical, Inc. System and method for endoluminal and transluminal therapy
US9138166B2 (en) 2011-07-29 2015-09-22 Hansen Medical, Inc. Apparatus and methods for fiber integration and registration
US9452276B2 (en) 2011-10-14 2016-09-27 Intuitive Surgical Operations, Inc. Catheter with removable vision probe
US9387048B2 (en) 2011-10-14 2016-07-12 Intuitive Surgical Operations, Inc. Catheter sensor systems
US10238837B2 (en) 2011-10-14 2019-03-26 Intuitive Surgical Operations, Inc. Catheters with control modes for interchangeable probes
US20130303944A1 (en) 2012-05-14 2013-11-14 Intuitive Surgical Operations, Inc. Off-axis electromagnetic sensor
EP2819599B1 (en) 2012-02-29 2018-05-23 Procept Biorobotics Corporation Automated image-guided tissue resection and treatment
US10383765B2 (en) 2012-04-24 2019-08-20 Auris Health, Inc. Apparatus and method for a global coordinate system for use in robotic surgery
US20130317519A1 (en) 2012-05-25 2013-11-28 Hansen Medical, Inc. Low friction instrument driver interface for robotic systems
US20140148673A1 (en) 2012-11-28 2014-05-29 Hansen Medical, Inc. Method of anchoring pullwire directly articulatable region in catheter
US10231867B2 (en) 2013-01-18 2019-03-19 Auris Health, Inc. Method, apparatus and system for a water jet
US9668814B2 (en) 2013-03-07 2017-06-06 Hansen Medical, Inc. Infinitely rotatable tool with finite rotating drive shafts
US10149720B2 (en) 2013-03-08 2018-12-11 Auris Health, Inc. Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment
US9057600B2 (en) 2013-03-13 2015-06-16 Hansen Medical, Inc. Reducing incremental measurement sensor error
US9566414B2 (en) 2013-03-13 2017-02-14 Hansen Medical, Inc. Integrated catheter and guide wire controller
US9326822B2 (en) 2013-03-14 2016-05-03 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US9173713B2 (en) 2013-03-14 2015-11-03 Hansen Medical, Inc. Torque-based catheter articulation
US11213363B2 (en) 2013-03-14 2022-01-04 Auris Health, Inc. Catheter tension sensing
US20140277334A1 (en) 2013-03-14 2014-09-18 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US9271663B2 (en) 2013-03-15 2016-03-01 Hansen Medical, Inc. Flexible instrument localization from both remote and elongation sensors
US10849702B2 (en) 2013-03-15 2020-12-01 Auris Health, Inc. User input devices for controlling manipulation of guidewires and catheters
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
US10376672B2 (en) 2013-03-15 2019-08-13 Auris Health, Inc. Catheter insertion system and method of fabrication
US9283046B2 (en) 2013-03-15 2016-03-15 Hansen Medical, Inc. User interface for active drive apparatus with finite range of motion
US9014851B2 (en) 2013-03-15 2015-04-21 Hansen Medical, Inc. Systems and methods for tracking robotically controlled medical instruments
US9629595B2 (en) 2013-03-15 2017-04-25 Hansen Medical, Inc. Systems and methods for localizing, tracking and/or controlling medical instruments
US20140276936A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Active drive mechanism for simultaneous rotation and translation
US9408669B2 (en) 2013-03-15 2016-08-09 Hansen Medical, Inc. Active drive mechanism with finite range of motion
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
KR102332023B1 (ko) 2013-10-24 2021-12-01 아우리스 헬스, 인크. 로봇-보조식 내강 내부 수술용 시스템 및 이와 관련된 방법
EP3243476B1 (en) 2014-03-24 2019-11-06 Auris Health, Inc. Systems and devices for catheter driving instinctiveness
US10046140B2 (en) 2014-04-21 2018-08-14 Hansen Medical, Inc. Devices, systems, and methods for controlling active drive systems
US10569052B2 (en) 2014-05-15 2020-02-25 Auris Health, Inc. Anti-buckling mechanisms for catheters
US9744335B2 (en) 2014-07-01 2017-08-29 Auris Surgical Robotics, Inc. Apparatuses and methods for monitoring tendons of steerable catheters
US9561083B2 (en) 2014-07-01 2017-02-07 Auris Surgical Robotics, Inc. Articulating flexible endoscopic tool with roll capabilities
US10792464B2 (en) 2014-07-01 2020-10-06 Auris Health, Inc. Tool and method for using surgical endoscope with spiral lumens
CN107427327A (zh) 2014-09-30 2017-12-01 奥瑞斯外科手术机器人公司 具有虚拟轨迹和柔性内窥镜的可配置机器人外科手术系统
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
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
EP3346899B1 (en) 2015-09-09 2022-11-09 Auris Health, Inc. Instrument device manipulator for a surgical robotics system
EP3349649B1 (en) 2015-09-18 2022-03-09 Auris Health, Inc. Navigation of tubular networks
US10575754B2 (en) 2015-09-23 2020-03-03 Covidien Lp Catheter having a sensor and an extended working channel
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
US10231793B2 (en) 2015-10-30 2019-03-19 Auris Health, Inc. Object removal through a percutaneous suction tube
US10143526B2 (en) 2015-11-30 2018-12-04 Auris Health, Inc. Robot-assisted driving systems and methods
US10932861B2 (en) 2016-01-14 2021-03-02 Auris Health, Inc. Electromagnetic tracking surgical system and method of controlling the same
US10932691B2 (en) 2016-01-26 2021-03-02 Auris Health, Inc. Surgical tools having electromagnetic tracking components
US11324554B2 (en) 2016-04-08 2022-05-10 Auris Health, Inc. Floating electromagnetic field generator system and method of controlling the same
US10454347B2 (en) 2016-04-29 2019-10-22 Auris Health, Inc. Compact height torque sensing articulation axis assembly
US11037464B2 (en) 2016-07-21 2021-06-15 Auris Health, Inc. System with emulator movement tracking for controlling medical devices
US10463439B2 (en) 2016-08-26 2019-11-05 Auris Health, Inc. Steerable catheter with shaft load distributions
US11241559B2 (en) 2016-08-29 2022-02-08 Auris Health, Inc. Active drive for guidewire manipulation
EP3506836B1 (en) 2016-08-31 2024-10-02 Auris Health, Inc. Length conservative surgical instrument
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
US10244926B2 (en) 2016-12-28 2019-04-02 Auris Health, Inc. Detecting endolumenal buckling of flexible instruments
US10136959B2 (en) 2016-12-28 2018-11-27 Auris Health, Inc. Endolumenal object sizing
US11529190B2 (en) 2017-01-30 2022-12-20 Covidien Lp Enhanced ablation and visualization techniques for percutaneous surgical procedures
EP3599979A4 (en) 2017-03-28 2021-01-06 Auris Health, Inc. SHAFT DRIVE HANDLE
WO2018183727A1 (en) 2017-03-31 2018-10-04 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
WO2018208994A1 (en) 2017-05-12 2018-11-15 Auris Health, Inc. Biopsy apparatus and system
US10716461B2 (en) 2017-05-17 2020-07-21 Auris Health, Inc. Exchangeable working channel
US10022192B1 (en) 2017-06-23 2018-07-17 Auris Health, Inc. Automatically-initialized robotic systems for navigation of luminal networks
US11832889B2 (en) 2017-06-28 2023-12-05 Auris Health, Inc. Electromagnetic field generator alignment
CN118121324A (zh) 2017-06-28 2024-06-04 奥瑞斯健康公司 检测电磁失真的系统
EP3645100B1 (en) 2017-06-28 2024-09-04 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
US10426559B2 (en) 2017-06-30 2019-10-01 Auris Health, Inc. Systems and methods for medical instrument compression compensation
US10464209B2 (en) 2017-10-05 2019-11-05 Auris Health, Inc. Robotic system with indication of boundary for robotic arm
US10145747B1 (en) 2017-10-10 2018-12-04 Auris Health, Inc. Detection of undesirable forces on a surgical robotic arm
US10016900B1 (en) 2017-10-10 2018-07-10 Auris Health, Inc. Surgical robotic arm admittance control
US10555778B2 (en) 2017-10-13 2020-02-11 Auris Health, Inc. Image-based branch detection and mapping for navigation
US11058493B2 (en) 2017-10-13 2021-07-13 Auris Health, Inc. Robotic system configured for navigation path tracing
EP3684282B1 (en) 2017-12-06 2024-02-21 Auris Health, Inc. Systems to correct for uncommanded instrument roll
EP3684281B1 (en) 2017-12-08 2025-03-12 Auris Health, Inc. System for medical instrument navigation and targeting
EP4467171A3 (en) 2017-12-08 2025-02-26 Auris Health, Inc. Systems employing directed fluidics
MX2020006069A (es) 2017-12-11 2020-11-06 Auris Health Inc Sistemas y metodos para arquitecturas de insercion basadas en instrumentos.
US11510736B2 (en) 2017-12-14 2022-11-29 Auris Health, Inc. System and method for estimating instrument location
AU2018390476B2 (en) 2017-12-18 2024-03-28 Auris Health, Inc. Methods and systems for instrument tracking and navigation within luminal networks
JP7463277B2 (ja) 2018-01-17 2024-04-08 オーリス ヘルス インコーポレイテッド 改善されたロボットアームを有する外科用ロボットシステム
USD873878S1 (en) 2018-01-17 2020-01-28 Auris Health, Inc. Robotic arm
USD924410S1 (en) 2018-01-17 2021-07-06 Auris Health, Inc. Instrument tower
USD932628S1 (en) 2018-01-17 2021-10-05 Auris Health, Inc. Instrument cart
JP6999824B2 (ja) 2018-01-17 2022-01-19 オーリス ヘルス インコーポレイテッド 調節可能なアーム支持体を有する外科用プラットフォーム
USD901694S1 (en) 2018-01-17 2020-11-10 Auris Health, Inc. Instrument handle
USD901018S1 (en) 2018-01-17 2020-11-03 Auris Health, Inc. Controller
KR102893714B1 (ko) 2018-02-13 2025-12-01 아우리스 헬스, 인코포레이티드 의료 기구를 구동시키기 위한 시스템 및 방법
KR102746051B1 (ko) 2018-03-28 2024-12-27 아우리스 헬스, 인코포레이티드 가변 굽힘 강성 프로파일을 갖는 의료 기구
KR102489198B1 (ko) 2018-03-28 2023-01-18 아우리스 헬스, 인코포레이티드 위치 센서의 정합을 위한 시스템 및 방법
US10827913B2 (en) 2018-03-28 2020-11-10 Auris Health, Inc. Systems and methods for displaying estimated location of instrument
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
KR102737180B1 (ko) 2018-05-18 2024-12-04 아우리스 헬스, 인코포레이티드 로봇식 원격작동 시스템을 위한 제어기
JP7250824B2 (ja) 2018-05-30 2023-04-03 オーリス ヘルス インコーポレイテッド 位置センサベースの分岐予測のためのシステム及び方法
CN110831538B (zh) 2018-05-31 2023-01-24 奥瑞斯健康公司 基于图像的气道分析和映射
KR102799357B1 (ko) 2018-05-31 2025-04-25 아우리스 헬스, 인코포레이티드 관상 네트워크의 경로-기반 내비게이션
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
MX2020013241A (es) 2018-06-07 2021-02-22 Auris Health Inc Sistemas medicos roboticos con instrumentos de gran fuerza.
CN118902621A (zh) 2018-06-27 2024-11-08 奥瑞斯健康公司 用于医疗器械的对准系统和附接系统
WO2020005370A1 (en) 2018-06-27 2020-01-02 Auris Health, Inc. Systems and techniques for providing multiple perspectives during medical procedures
WO2020005854A1 (en) 2018-06-28 2020-01-02 Auris Health, Inc. Medical systems incorporating pulley sharing
US11071591B2 (en) 2018-07-26 2021-07-27 Covidien Lp Modeling a collapsed lung using CT data
US10898276B2 (en) 2018-08-07 2021-01-26 Auris Health, Inc. Combining strain-based shape sensing with catheter control
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
KR102791307B1 (ko) 2018-08-24 2025-04-09 아우리스 헬스, 인코포레이티드 수동 및 로봇 제어가능 의료 기구
EP3813715B1 (en) 2018-09-17 2025-11-12 Auris Health, Inc. Systems for concomitant medical procedures
US11179212B2 (en) 2018-09-26 2021-11-23 Auris Health, Inc. Articulating medical instruments
CN112770689B (zh) 2018-09-26 2024-07-19 奥瑞斯健康公司 用于抽吸和冲洗的系统和器械
AU2019347754B2 (en) 2018-09-28 2024-10-03 Auris Health, Inc. Robotic systems and methods for concomitant endoscopic and percutaneous medical procedures
KR20250130720A (ko) 2018-09-28 2025-09-02 아우리스 헬스, 인코포레이티드 의료 기구를 도킹시키기 위한 시스템 및 방법
CN112752534B (zh) 2018-09-28 2024-12-03 奥瑞斯健康公司 用于手动和机器人驱动医疗器械的装置、系统和方法
US11576738B2 (en) 2018-10-08 2023-02-14 Auris Health, Inc. Systems and instruments for tissue sealing
EP3866718A4 (en) 2018-12-20 2022-07-20 Auris Health, Inc. Systems and methods for robotic arm alignment and docking
US11950863B2 (en) 2018-12-20 2024-04-09 Auris Health, Inc Shielding for wristed instruments
AU2019414510A1 (en) 2018-12-28 2021-06-03 Auris Health, Inc. Percutaneous sheath for robotic medical systems and methods
WO2020139973A1 (en) 2018-12-28 2020-07-02 Auris Health, Inc. Medical instrument with articulable segment
WO2020154100A1 (en) 2019-01-25 2020-07-30 Auris Health, Inc. Vessel sealer with heating and cooling capabilities
CN113423359A (zh) 2019-02-08 2021-09-21 奥瑞斯健康公司 机器人控制的凝块操纵和移除
CN113453642B (zh) 2019-02-22 2025-06-03 奥瑞斯健康公司 具有用于可调式臂支撑件的机动臂的外科平台
US10945904B2 (en) 2019-03-08 2021-03-16 Auris Health, Inc. Tilt mechanisms for medical systems and applications
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
US11638618B2 (en) 2019-03-22 2023-05-02 Auris Health, Inc. Systems and methods for aligning inputs on medical instruments
WO2020197625A1 (en) 2019-03-25 2020-10-01 Auris Health, Inc. Systems and methods for medical stapling
US11617627B2 (en) 2019-03-29 2023-04-04 Auris Health, Inc. Systems and methods for optical strain sensing in medical instruments
WO2020210044A1 (en) 2019-04-08 2020-10-15 Auris Health, Inc. Systems, methods, and workflows for concomitant procedures
US11975157B2 (en) 2019-04-12 2024-05-07 Covidien Lp Method of manufacturing an elongated catheter having multiple sensors for three-dimensional location of the catheter
EP3989862A4 (en) 2019-06-25 2023-10-04 Auris Health, Inc. MEDICAL INSTRUMENTS WITH WRISTS WITH HYBRID DIVERSION SURFACES
WO2020263520A1 (en) 2019-06-26 2020-12-30 Auris Health, Inc. Systems and methods for robotic arm alignment and docking
US11369386B2 (en) 2019-06-27 2022-06-28 Auris Health, Inc. Systems and methods for a medical clip applier
WO2020264418A1 (en) 2019-06-28 2020-12-30 Auris Health, Inc. Console overlay and methods of using same
CN114040727A (zh) 2019-06-28 2022-02-11 奥瑞斯健康公司 包括具有混合重定向表面的腕部的医疗器械
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
USD978348S1 (en) 2019-08-15 2023-02-14 Auris Health, Inc. Drive device for a medical instrument
US11246672B2 (en) 2019-08-15 2022-02-15 Auris Health, Inc. Axial motion drive devices, systems, and methods for a robotic medical system
US11717147B2 (en) 2019-08-15 2023-08-08 Auris Health, Inc. Medical device having multiple bending sections
USD975275S1 (en) 2019-08-15 2023-01-10 Auris Health, Inc. Handle for a medical instrument
EP4021329B1 (en) 2019-08-30 2025-12-10 Auris Health, Inc. Instrument image reliability systems and methods
EP4021331A4 (en) 2019-08-30 2023-08-30 Auris Health, Inc. SYSTEMS AND METHODS FOR REGISTERING POSITION SENSORS BASED ON WEIGHT
US11324558B2 (en) 2019-09-03 2022-05-10 Auris Health, Inc. Electromagnetic distortion detection and compensation
US11234780B2 (en) 2019-09-10 2022-02-01 Auris Health, Inc. Systems and methods for kinematic optimization with shared robotic degrees-of-freedom
WO2021059099A1 (en) 2019-09-26 2021-04-01 Auris Health, Inc. Systems and methods for collision detection and avoidance
WO2021059100A1 (en) 2019-09-26 2021-04-01 Auris Health, Inc. Systems and methods for collision avoidance using object models
US11737845B2 (en) 2019-09-30 2023-08-29 Auris Inc. Medical instrument with a capstan
US10945553B1 (en) * 2019-10-04 2021-03-16 Gregory A. Fletcher, Sr. Device and method for measuring and dispensing customizable amounts of material
US11737835B2 (en) 2019-10-29 2023-08-29 Auris Health, Inc. Braid-reinforced insulation sheath
EP4061273A1 (en) 2019-11-21 2022-09-28 Auris Health, Inc. Systems and methods for draping a surgical system
US20230225596A1 (en) * 2019-12-09 2023-07-20 Nitesh Ratnakar Shape memory endoscope insertion tube sheath
KR20220123544A (ko) * 2019-12-30 2022-09-07 아우리스 헬스, 인코포레이티드 로봇 의료 시스템을 위한 시료 수집기
US20210196251A1 (en) * 2019-12-30 2021-07-01 Auris Health, Inc. Medical instrument with shaft actuating handle configured to accept stylet
JP7646675B2 (ja) 2019-12-31 2025-03-17 オーリス ヘルス インコーポレイテッド 経皮的アクセスのための位置合わせ技術
CN114901200A (zh) 2019-12-31 2022-08-12 奥瑞斯健康公司 高级篮式驱动模式
CN119055360A (zh) 2019-12-31 2024-12-03 奥瑞斯健康公司 解剖特征识别和瞄准
US11950872B2 (en) 2019-12-31 2024-04-09 Auris Health, Inc. Dynamic pulley system
CN114929148B (zh) 2019-12-31 2024-05-10 奥瑞斯健康公司 用于经皮进入的对准界面
CN215461207U (zh) 2020-02-28 2022-01-11 巴德阿克塞斯系统股份有限公司 导管及医疗器械监测系统
WO2021173861A1 (en) 2020-02-28 2021-09-02 Bard Access Systems, Inc. Optical connection systems and methods thereof
US12232818B2 (en) 2020-03-03 2025-02-25 Bard Access Systems, Inc. System and method for optic shape sensing and electrical signal conduction
US11737663B2 (en) 2020-03-30 2023-08-29 Auris Health, Inc. Target anatomical feature localization
US12370002B2 (en) 2020-03-30 2025-07-29 Auris Health, Inc. Workspace optimization for robotic surgery
EP4127798A1 (en) 2020-03-30 2023-02-08 Bard Access Systems, Inc. Optical and electrical diagnostic systems and methods thereof
US12064191B2 (en) 2020-06-03 2024-08-20 Covidien Lp Surgical tool navigation using sensor fusion
US11701492B2 (en) 2020-06-04 2023-07-18 Covidien Lp Active distal tip drive
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
WO2022003493A1 (en) 2020-06-30 2022-01-06 Auris Health, Inc. Robotic medical system with collision proximity indicators
US11357586B2 (en) 2020-06-30 2022-06-14 Auris Health, Inc. Systems and methods for saturated robotic movement
US11020099B1 (en) * 2020-07-01 2021-06-01 Verix Health, Inc. Lung access device
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
US12161309B2 (en) 2020-09-24 2024-12-10 Covidien Lp Articulating mechanism for the laparoscopic ablation device for blunt dissection
CN114344514A (zh) 2020-10-13 2022-04-15 巴德阿克塞斯系统股份有限公司 用于光纤连接器的消毒罩及其方法
EP4247469A1 (en) 2020-11-18 2023-09-27 Bard Access Systems, Inc. Optical-fiber stylet holders and methods thereof
US12220219B2 (en) 2020-11-24 2025-02-11 Bard Access Systems, Inc. Steerable fiber optic shape sensing enabled elongated medical instrument
CN113079287B (zh) * 2021-02-09 2022-08-30 中国人民解放军海军军医大学第一附属医院 介入医疗器械系统
GB2603789A (en) * 2021-02-12 2022-08-17 Creo Medical Ltd Raman spectroscopy probe, Raman spectroscopy apparatus including the Raman spectroscopy probe and elongate assembly
CN113440231B (zh) * 2021-09-01 2021-12-21 中国医学科学院北京协和医院 一种可以转动取样的超声穿刺器械
US12446988B2 (en) 2021-09-16 2025-10-21 Bard Access Systems, Inc. Swappable high mating cycle fiber connection interface
US12303220B2 (en) 2022-01-26 2025-05-20 Covidien Lp Autonomous endobronchial access with an EM guided catheter
US12318149B2 (en) 2022-03-08 2025-06-03 Bard Access Systems, Inc. Medical shape sensing devices and systems
US12426956B2 (en) 2022-03-16 2025-09-30 Bard Access Systems, Inc. Medical system and method for monitoring medical device insertion and illumination patterns
US12089815B2 (en) * 2022-03-17 2024-09-17 Bard Access Systems, Inc. Fiber optic medical systems and devices with atraumatic tip

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008523909A (ja) 2004-12-15 2008-07-10 ウィルソン−クック・メディカル・インコーポレーテッド 可撓性外科用針デバイス
JP2012504469A (ja) 2008-10-01 2012-02-23 ビーコン エンドスコピック コーポレーション 針生検装置
JP2015228987A (ja) 2014-06-04 2015-12-21 オリンパス株式会社 接合構造及び生検針
JP2017504377A (ja) 2013-12-13 2017-02-09 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 入れ子式生検針

Family Cites Families (349)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3763860A (en) 1971-08-26 1973-10-09 H Clarke Laparoscopy instruments and method for suturing and ligation
US4040413A (en) 1974-07-18 1977-08-09 Fuji Photo Optical Co. Ltd. Endoscope
JPS5394515A (en) 1977-01-31 1978-08-18 Kubota Ltd Method of producing glass fiber reinforced cement plate
US4470407A (en) 1982-03-11 1984-09-11 Laserscope, Inc. Endoscopic device
US4532935A (en) 1982-11-01 1985-08-06 Wang Ko P Bronchoscopic needle assembly
US4747405A (en) 1984-03-01 1988-05-31 Vaser, Inc. Angioplasty catheter
US4685458A (en) 1984-03-01 1987-08-11 Vaser, Inc. Angioplasty catheter and method for use thereof
DE3715418A1 (de) 1986-05-08 1987-11-12 Olympus Optical Co Lithotom
US5029574A (en) 1988-04-14 1991-07-09 Okamoto Industries, Inc. Endoscopic balloon with a protective film thereon
DE68917895T2 (de) 1988-06-06 1995-02-02 Sumitomo Electric Industries Katheter.
US5344395A (en) 1989-11-13 1994-09-06 Scimed Life Systems, Inc. Apparatus for intravascular cavitation or delivery of low frequency mechanical energy
US4983165A (en) 1990-01-23 1991-01-08 Loiterman David A Guidance system for vascular catheter or the like
DE9001262U1 (de) 1990-02-05 1990-08-09 Martin, Werner, 7207 Rietheim-Weilheim Chirurgischer Nadelhalter für eine Endo-Naht, Endo-Ligatur od.dgl.
US5345927A (en) 1990-03-02 1994-09-13 Bonutti Peter M Arthroscopic retractors
CA2048120A1 (en) 1990-08-06 1992-02-07 William J. Drasler Thrombectomy method and device
US5496267A (en) 1990-11-08 1996-03-05 Possis Medical, Inc. Asymmetric water jet atherectomy
US5085659A (en) 1990-11-21 1992-02-04 Everest Medical Corporation Biopsy device with bipolar coagulation capability
JPH05208014A (ja) 1991-04-10 1993-08-20 Olympus Optical Co Ltd 処置具
AU2185192A (en) 1991-05-29 1993-01-08 Origin Medsystems, Inc. Retraction apparatus and methods for endoscopic surgery
US5417210A (en) 1992-05-27 1995-05-23 International Business Machines Corporation System and method for augmentation of endoscopic surgery
US5279309A (en) 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
US5269797A (en) 1991-09-12 1993-12-14 Meditron Devices, Inc. Cervical discectomy instruments
US5449356A (en) 1991-10-18 1995-09-12 Birtcher Medical Systems, Inc. Multifunctional probe for minimally invasive surgery
US5217001A (en) 1991-12-09 1993-06-08 Nakao Naomi L Endoscope sheath and related method
US5217465A (en) 1992-02-28 1993-06-08 Alcon Surgical, Inc. Flexible and steerable aspiration tip for microsurgery
US5318589A (en) 1992-04-15 1994-06-07 Microsurge, Inc. Surgical instrument for endoscopic surgery
US5325848A (en) 1992-09-10 1994-07-05 Ethicon, Inc. Endoscopic tissue manipulator with expandable frame
US5545170A (en) 1992-10-09 1996-08-13 Innovasive Devices, Inc. Surgical instrument
US5342381A (en) 1993-02-11 1994-08-30 Everest Medical Corporation Combination bipolar scissors and forceps instrument
ATE284650T1 (de) 1993-06-10 2005-01-15 Mir A Imran Urethrales gerät zur ablation mittels hochfrequenz
US5792165A (en) 1993-07-21 1998-08-11 Charles H. Klieman Endoscopic instrument with detachable end effector
US5431649A (en) 1993-08-27 1995-07-11 Medtronic, Inc. Method and apparatus for R-F ablation
US5645083A (en) 1994-02-10 1997-07-08 Essig; Mitchell N. Peritoneal surgical method
US5411016A (en) 1994-02-22 1995-05-02 Scimed Life Systems, Inc. Intravascular balloon catheter for use in combination with an angioscope
US5441485A (en) 1994-02-24 1995-08-15 Peters; Michael J. Bladder catheter
US5501667A (en) 1994-03-15 1996-03-26 Cordis Corporation Perfusion balloon and method of use and manufacture
EP0699418A1 (en) 1994-08-05 1996-03-06 United States Surgical Corporation Self-contained powered surgical apparatus
US5573535A (en) 1994-09-23 1996-11-12 United States Surgical Corporation Bipolar surgical instrument for coagulation and cutting
US5613973A (en) 1995-03-10 1997-03-25 Wilson Greatbatch Ltd. Laraposcopic surgical grasper having an attachable strap
US5562648A (en) 1995-03-31 1996-10-08 E. I. Du Pont De Nemours And Company Adult incontinent absorbent undergarment
US5697949A (en) 1995-05-18 1997-12-16 Symbiosis Corporation Small diameter endoscopic instruments
US5562678A (en) 1995-06-02 1996-10-08 Cook Pacemaker Corporation Needle's eye snare
US5710870A (en) 1995-09-07 1998-01-20 California Institute Of Technology Decoupled six degree-of-freedom robot manipulator
US5989230A (en) 1996-01-11 1999-11-23 Essex Technology, Inc. Rotate to advance catheterization system
US5624398A (en) 1996-02-08 1997-04-29 Symbiosis Corporation Endoscopic robotic surgical tools and methods
EP0848598B1 (en) 1996-05-10 2005-02-23 Emmanuil Giannadakis System of laparoscopic-endoscopic surgery
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
US5658311A (en) 1996-07-05 1997-08-19 Schneider (Usa) Inc. High pressure expander bundle for large diameter stent deployment
US5788667A (en) 1996-07-19 1998-08-04 Stoller; Glenn Fluid jet vitrectomy device and method for use
US6331181B1 (en) 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US5810770A (en) 1996-12-13 1998-09-22 Stryker Corporation Fluid management pump system for surgical procedures
US5893869A (en) 1997-02-19 1999-04-13 University Of Iowa Research Foundation Retrievable inferior vena cava filter system and method for use thereof
WO1998048710A1 (en) 1997-04-29 1998-11-05 Lippitt Raymond F Annularly expanding and retracting gripping and releasing mechanism
US6156030A (en) 1997-06-04 2000-12-05 Y-Beam Technologies, Inc. Method and apparatus for high precision variable rate material removal and modification
US6174318B1 (en) 1998-04-23 2001-01-16 Scimed Life Systems, Inc. Basket with one or more moveable legs
US6071281A (en) 1998-05-05 2000-06-06 Ep Technologies, Inc. Surgical method and apparatus for positioning a diagnostic or therapeutic element within the body and remote power control unit for use with same
US6093157A (en) * 1997-10-22 2000-07-25 Scimed Life Systems, Inc. Radiopaque guide wire
US6120476A (en) 1997-12-01 2000-09-19 Cordis Webster, Inc. Irrigated tip catheter
RU2130762C1 (ru) 1997-12-10 1999-05-27 Федоров Святослав Николаевич Устройство для офтальмохирургических операций
US6120498A (en) 1998-03-05 2000-09-19 Jani; Mahendra G. Aspirating handpieces for laser surgical operations
FR2779934B1 (fr) 1998-06-17 2001-01-05 Saphir Medical Sa Piece a main a commande pneumatique pour applications chirurgicales et medicales
US6398726B1 (en) 1998-11-20 2002-06-04 Intuitive Surgical, Inc. Stabilizer for robotic beating-heart surgery
US6522906B1 (en) 1998-12-08 2003-02-18 Intuitive Surgical, Inc. Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure
DE19859434C2 (de) 1998-12-22 2001-03-08 Bruker Optik Gmbh IR-spektroskopisches Endoskop mit aufblasbarem Ballon
US6405078B1 (en) 1999-01-15 2002-06-11 Biosense Webster, Inc. Porous irrigated tip electrode catheter
US6394998B1 (en) 1999-01-22 2002-05-28 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
WO2000053099A1 (en) * 1999-03-09 2000-09-14 Advance Sentry Corporation Biopsy apparatus and method of obtaining biopsy sample
US6183435B1 (en) 1999-03-22 2001-02-06 Cordis Webster, Inc. Multi-directional steerable catheters and control handles
US6911026B1 (en) 1999-07-12 2005-06-28 Stereotaxis, Inc. Magnetically guided atherectomy
US6375635B1 (en) 1999-05-18 2002-04-23 Hydrocision, Inc. Fluid jet surgical instruments
US6491691B1 (en) 1999-10-08 2002-12-10 Intuitive Surgical, Inc. Minimally invasive surgical hook apparatus and method for using same
US6206903B1 (en) 1999-10-08 2001-03-27 Intuitive Surgical, Inc. Surgical tool with mechanical advantage
US6440061B1 (en) 2000-03-24 2002-08-27 Donald E. Wenner Laparoscopic instrument system for real-time biliary exploration and stone removal
ATE514392T1 (de) 2000-07-24 2011-07-15 Jeffrey Grayzel Versteifter ballonkatheter zur ausdehnung und anbringung von stents
US6746443B1 (en) 2000-07-27 2004-06-08 Intuitive Surgical Inc. Roll-pitch-roll surgical tool
US20030158545A1 (en) 2000-09-28 2003-08-21 Arthrocare Corporation Methods and apparatus for treating back pain
US6840938B1 (en) 2000-12-29 2005-01-11 Intuitive Surgical, Inc. Bipolar cauterizing instrument
IL156831A0 (en) 2001-01-18 2004-02-08 Univ California Minimally invasive glaucoma surgical instrument and method
US7699835B2 (en) 2001-02-15 2010-04-20 Hansen Medical, Inc. Robotically controlled surgical instruments
JP4588906B2 (ja) 2001-03-13 2010-12-01 オリンパス株式会社 内視鏡用採取具
US20030004455A1 (en) 2001-06-28 2003-01-02 Kadziauskas Kenneth E. Bi-manual phaco needle
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
US7208005B2 (en) 2001-08-06 2007-04-24 The Penn State Research Foundation Multifunctional tool and method for minimally invasive surgery
US20030208189A1 (en) 2001-10-19 2003-11-06 Payman Gholam A. Integrated system for correction of vision of the human eye
US6676668B2 (en) 2001-12-12 2004-01-13 C.R. Baed Articulating stone basket
US6652537B2 (en) 2001-12-12 2003-11-25 C. R. Bard, Inc. Articulating stone basket
EP1524940B1 (de) 2002-03-19 2011-08-24 Bard Dublin ITC Limited Biopsievorrichtung sowie ein in die biopsievorrichtung einsetzbares biopsienadelmodul
US20040158261A1 (en) 2002-05-15 2004-08-12 Vu Dinh Q. Endoscopic device for spill-proof laparoscopic ovarian cystectomy
US8956280B2 (en) 2002-05-30 2015-02-17 Intuitive Surgical Operations, Inc. Apparatus and methods for placing leads using direct visualization
US7155316B2 (en) 2002-08-13 2006-12-26 Microbotics Corporation Microsurgical robot system
US20040176751A1 (en) 2002-08-14 2004-09-09 Endovia Medical, Inc. Robotic medical instrument system
US20040186349A1 (en) 2002-12-24 2004-09-23 Usgi Medical Corp. Apparatus and methods for achieving endoluminal access
US6984232B2 (en) 2003-01-17 2006-01-10 St. Jude Medical, Daig Division, Inc. Ablation catheter assembly having a virtual electrode comprising portholes
US20040153093A1 (en) 2003-01-31 2004-08-05 Advanced Medical Optics, Inc. Bi-manual phacoemulsification apparatus and method
US7559934B2 (en) 2003-04-07 2009-07-14 Scimed Life Systems, Inc. Beaded basket retrieval device
US7122003B2 (en) 2003-04-16 2006-10-17 Granit Medical Innovations, Llc Endoscopic retractor instrument and associated method
US9002518B2 (en) 2003-06-30 2015-04-07 Intuitive Surgical Operations, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
US8403828B2 (en) 2003-07-21 2013-03-26 Vanderbilt University Ophthalmic orbital surgery apparatus and method and image-guide navigation system
US20050159645A1 (en) 2003-11-12 2005-07-21 Bertolero Arthur A. Balloon catheter sheath
ITPI20030107A1 (it) 2003-11-14 2005-05-15 Massimo Bergamasco Dispositivo per l'esecuzione di operazioni
CN106235993B (zh) 2004-02-09 2018-06-19 智能医疗系统有限公司 内窥镜组件
EP1734856A2 (en) 2004-03-11 2006-12-27 Medrad, Inc. Energy assisted medical devices, systems and methods
US9345456B2 (en) * 2004-03-24 2016-05-24 Devicor Medical Products, Inc. Biopsy device
JP4638683B2 (ja) 2004-03-25 2011-02-23 テルモ株式会社 血管内異物除去吸引用カテーテル
US20050261705A1 (en) 2004-05-21 2005-11-24 Gist Christopher W Device to remove kidney stones
DE102004040959B4 (de) 2004-08-24 2008-12-24 Erbe Elektromedizin Gmbh Chirurgisches Instrument
US20060135963A1 (en) 2004-09-09 2006-06-22 Kick George F Expandable gastrointestinal sheath
US7824415B2 (en) 2004-09-15 2010-11-02 Boston Scientific Scimed, Inc. Atraumatic medical device
US10646292B2 (en) 2004-09-30 2020-05-12 Intuitive Surgical Operations, Inc. Electro-mechanical strap stack in robotic arms
WO2006060658A2 (en) 2004-12-01 2006-06-08 Ethicon Endo-Surgery, Inc. Apparatus and method for stone capture and removal
US20060156875A1 (en) 2005-01-19 2006-07-20 Depuy Mitek, Inc. Fluid cutting device and method of use
US8375808B2 (en) 2005-12-30 2013-02-19 Intuitive Surgical Operations, Inc. Force sensing for surgical instruments
US7465288B2 (en) 2005-06-28 2008-12-16 St. Jude Medical, Atrial Fibrillation Division, Inc. Actuation handle for a catheter
US20070027443A1 (en) 2005-06-29 2007-02-01 Ondine International, Ltd. Hand piece for the delivery of light and system employing the hand piece
WO2007005976A1 (en) 2005-07-01 2007-01-11 Hansen Medical, Inc. Robotic catheter system
US8790396B2 (en) 2005-07-27 2014-07-29 Medtronic 3F Therapeutics, Inc. Methods and systems for cardiac valve delivery
JP2009507617A (ja) 2005-09-14 2009-02-26 ネオガイド システムズ， インコーポレイテッド 経腔的及び他の操作を行うための方法及び装置
CA2626867C (en) 2005-11-03 2015-08-11 Vance Products Incorporated, D/B/A Cook Urological Incorporated Articulating basket with simultaneous basket extension or basket retraction
WO2007052354A1 (ja) 2005-11-04 2007-05-10 Olympus Medical Systems Corp. 内視鏡システム、内視鏡、支持部材、内視鏡システムの使用方法
US20070135603A1 (en) 2005-12-09 2007-06-14 Fujifilm Corporation Film, film forming composition and electronic device having the film
US8820603B2 (en) 2006-01-31 2014-09-02 Ethicon Endo-Surgery, Inc. Accessing data stored in a memory of a surgical instrument
JP5236502B2 (ja) 2006-02-22 2013-07-17 ハンセン メディカル，インク． 作業器具の遠位の力を測定するシステムおよび装置
US20070208375A1 (en) 2006-02-23 2007-09-06 Kouji Nishizawa Surgical device
WO2007103995A2 (en) 2006-03-07 2007-09-13 Vance Products Incorporated, D/B/A Cook Urological Incorporated Foot operated irrigation control apparatus for medical procedures
US8211114B2 (en) 2006-04-24 2012-07-03 Ethicon Endo-Surgery, Inc. Medical instrument having a medical snare
US7927327B2 (en) 2006-04-25 2011-04-19 Ethicon Endo-Surgery, Inc. Medical instrument having an articulatable end effector
US8038598B2 (en) 2006-05-15 2011-10-18 Baystate Health, Inc. Balloon endoscope device
US8092470B2 (en) 2006-06-08 2012-01-10 Olympus Medical Systems Corp. Calculus crushing apparatus and medical procedure using endoscope
CA2860487C (en) 2006-06-14 2019-03-26 Macdonald, Dettwiler And Associates Inc. Serially jointed manipulator arm
EP2040634B1 (en) 2006-07-13 2014-06-11 Bovie Medical Corporation Surgical sealing and cutting apparatus
US8652086B2 (en) 2006-09-08 2014-02-18 Abbott Medical Optics Inc. Systems and methods for power and flow rate control
US20100010504A1 (en) 2006-09-19 2010-01-14 The Trustees Of Columbia University In The City Of New York Systems, devices, and methods for surgery on a hollow anatomically suspended organ
US7535991B2 (en) 2006-10-16 2009-05-19 Oraya Therapeutics, Inc. Portable orthovoltage radiotherapy
US20090131885A1 (en) 2006-11-08 2009-05-21 Takayuki Akahoshi Curved Irrigation/Aspiration Needle
US7935130B2 (en) 2006-11-16 2011-05-03 Intuitive Surgical Operations, Inc. Two-piece end-effectors for robotic surgical tools
US8480595B2 (en) 2006-12-13 2013-07-09 Devicor Medical Products, Inc. Biopsy device with motorized needle cocking
US20080195081A1 (en) 2007-02-02 2008-08-14 Hansen Medical, Inc. Spinal surgery methods using a robotic instrument system
US9254374B2 (en) * 2007-02-15 2016-02-09 St. Jude Medical, Atrial Fibrillation Division, Inc. Catheter and method of manufacture
EP3308756B1 (en) 2007-03-13 2020-02-19 Optimedica Corporation Apparatus for creating incisions to improve intraocular lens placement
US7987046B1 (en) 2007-04-04 2011-07-26 Garmin Switzerland Gmbh Navigation device with improved user interface and mounting features
US20090030446A1 (en) * 2007-07-25 2009-01-29 Measamer John P Tissue Manipulator
JP5296351B2 (ja) 2007-08-28 2013-09-25 オリンパスメディカルシステムズ株式会社 内視鏡挿入装置
US20090082634A1 (en) 2007-09-25 2009-03-26 Biten Kishore Kathrani Surgical method
US8224484B2 (en) 2007-09-30 2012-07-17 Intuitive Surgical Operations, Inc. Methods of user interface with alternate tool mode for robotic surgical tools
US8328819B2 (en) 2007-10-22 2012-12-11 Boston Scientific Scimed, Inc. Steerable stone basket
US20140058365A1 (en) 2007-12-17 2014-02-27 Josef F. Bille System and Method for Using Compensating Incisions in Intrastromal Refractive Surgery
US20090299352A1 (en) 2007-12-21 2009-12-03 Boston Scientific Scimed, Inc. Steerable laser-energy delivery device
CN101951990A (zh) 2007-12-23 2011-01-19 Oraya治疗公司 检测、控制和预测辐射传输的方法和装置
WO2009097539A2 (en) 2008-01-30 2009-08-06 The Trustees Of Columbia University In The City Of New York Systems, devices, and methods for robot-assisted micro-surgical stenting
WO2009111736A1 (en) 2008-03-06 2009-09-11 Aquabeam Llc Tissue ablation and cautery with optical energy carried in fluid stream
US20090254083A1 (en) 2008-03-10 2009-10-08 Hansen Medical, Inc. Robotic ablation catheter
US8048024B2 (en) 2008-03-17 2011-11-01 Boston Scientific Scimed, Inc. Steering mechanism
US10368838B2 (en) 2008-03-31 2019-08-06 Intuitive Surgical Operations, Inc. Surgical tools for laser marking and laser cutting
WO2009131928A1 (en) 2008-04-21 2009-10-29 Electromedical Associates Llc Devices and methods for ablating and removing a tissue mass
US8864681B2 (en) 2008-04-23 2014-10-21 Devicor Medical Products, Inc. Biopsy devices
US9539381B2 (en) 2008-05-12 2017-01-10 Humparkull, Llc Hemostatic devices and methods for use thereof
US8641604B2 (en) 2008-05-13 2014-02-04 Boston Scientific Scimed, Inc. Steering system with locking mechanism
US10406026B2 (en) 2008-05-16 2019-09-10 The Johns Hopkins University System and method for macro-micro distal dexterity enhancement in micro-surgery of the eye
KR101016102B1 (ko) 2008-05-30 2011-02-17 정창욱 최소 침습 수술 도구
US20100004642A1 (en) 2008-07-02 2010-01-07 Lumpkin Christopher F Selectively bendable laser fiber for surgical laser probe
US8540748B2 (en) 2008-07-07 2013-09-24 Intuitive Surgical Operations, Inc. Surgical instrument wrist
US8821480B2 (en) 2008-07-16 2014-09-02 Intuitive Surgical Operations, Inc. Four-cable wrist with solid surface cable channels
US9204923B2 (en) 2008-07-16 2015-12-08 Intuitive Surgical Operations, Inc. Medical instrument electronically energized using drive cables
US20100082017A1 (en) 2008-09-26 2010-04-01 Advanced Medical Optics, Inc. Laser modification of intraocular lens
WO2010065645A2 (en) 2008-12-02 2010-06-10 Ceramoptec Industries, Inc. Laser induced vapor/plasma mediated medical procedures and device
US20100179632A1 (en) 2009-01-12 2010-07-15 Medtronic Vascular, Inc. Robotic Fenestration Device Having Impedance Measurement
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.
US20100204605A1 (en) * 2009-02-12 2010-08-12 Keimar, Inc. Physiological parameter sensors
US8418073B2 (en) 2009-03-09 2013-04-09 Intuitive Surgical Operations, Inc. User interfaces for electrosurgical tools in robotic surgical systems
US8120301B2 (en) 2009-03-09 2012-02-21 Intuitive Surgical Operations, Inc. Ergonomic surgeon control console in robotic surgical systems
US8945163B2 (en) 2009-04-01 2015-02-03 Ethicon Endo-Surgery, Inc. Methods and devices for cutting and fastening tissue
US8517955B2 (en) 2009-05-08 2013-08-27 Broncus Medical Inc. Tissue sampling devices, systems and methods
BRPI1007726A2 (pt) 2009-05-18 2017-01-31 Koninl Philips Electronics Nv método para registro baseado em imagem entre as imagens, sistema para registro baseado em imagem entre imagens, método para calibração de posição de câmera para endoscopia guiada e sistema para calibração de câmera para endoscopia guida
CN102802551B (zh) 2009-05-29 2016-01-20 南洋理工大学 用于可曲式内窥镜术的机器人系统
US8487153B2 (en) 2009-07-01 2013-07-16 Phillips 66 Company Selective olefin dimerization with supported metal complexes activated by alkylaluminum compounds or ionic liquids
US20110015483A1 (en) 2009-07-16 2011-01-20 Federico Barbagli Endoscopic robotic catheter system
US8608687B2 (en) * 2009-07-31 2013-12-17 Medivity, LLC Multi-lumen endoscopic accessory and system
US8888789B2 (en) 2009-09-23 2014-11-18 Intuitive Surgical Operations, Inc. Curved cannula surgical system control
US20110071541A1 (en) 2009-09-23 2011-03-24 Intuitive Surgical, Inc. Curved cannula
US8721631B2 (en) 2009-09-24 2014-05-13 Biolite Pharma Marketing Ltd Twister fiber optic systems and their use in medical applications
EP2488093A4 (en) 2009-10-15 2013-04-03 Inventio Llc DISPOSABLE AND REUSABLE COMPLEX MOLDED FLOW DOCUMENT
ES2388867B1 (es) 2009-10-27 2013-09-18 Universitat Politècnica De Catalunya Pinzas para cirugia laparoscópica mínimamente invasiva.
US20110152880A1 (en) 2009-12-23 2011-06-23 Hansen Medical, Inc. Flexible and steerable elongate instruments with torsion control
WO2011100753A2 (en) 2010-02-15 2011-08-18 The Johns Hopkins University Interventional photoacoustic imaging system
US8292889B2 (en) 2010-02-26 2012-10-23 Tyco Healthcare Group Lp Drive mechanism for articulation of a surgical instrument
GB201006079D0 (en) 2010-04-13 2010-05-26 Central Manchester University Surgical device and methods
US20110257641A1 (en) 2010-04-14 2011-10-20 Roger Hastings Phototherapy for renal denervation
US8394120B2 (en) 2010-05-04 2013-03-12 Jacek Krzyzanowski End effector assembly with increased clamping force for a surgical instrument
JP6007451B2 (ja) 2010-06-13 2016-10-12 モータス ジーアイ メディカル テクノロジーズ リミテッド 体腔を洗浄するためのシステム及び方法
US20110313343A1 (en) 2010-06-18 2011-12-22 Alcon Research, Ltd. Phacoemulsification Fluidics System Having a Single Pump Head
WO2011160686A1 (en) 2010-06-23 2011-12-29 Renzo Marco Giovanni Brun Del Re Biopsy alignment guide
WO2017066518A1 (en) 2010-06-29 2017-04-20 Mighty Oak Medical, Inc. Patient-matched apparatus and methods for performing surgical procedures
US9592119B2 (en) 2010-07-13 2017-03-14 C.R. Bard, Inc. Inflatable medical devices
WO2012037694A2 (en) 2010-09-25 2012-03-29 Queen's University At Kingston Methods and systems for coherent imaging and feedback control for modification of materials
DE102011086032A1 (de) 2010-11-16 2012-05-16 Deutsches Zentrum für Luft- und Raumfahrt e.V. Flüssigkeitsstrahlskalpell
US20130066136A1 (en) 2010-11-24 2013-03-14 Mount Sinai School Of Medicine Magnetic based device for retrieving a misplaced article
US9119655B2 (en) 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
WO2012100211A2 (en) 2011-01-20 2012-07-26 Hansen Medical, Inc. System and method for endoluminal and transluminal therapy
DE102011011497A1 (de) 2011-02-17 2012-08-23 Kuka Roboter Gmbh Chirurgisches Instrument
US10716706B2 (en) 2011-04-07 2020-07-21 Bausch & Lomb Incorporated System and method for performing lens fragmentation
US9849031B2 (en) 2011-05-12 2017-12-26 Carl Zeiss Meditec Ag Laser instrument for eye therapy
US9301876B2 (en) 2011-05-16 2016-04-05 Wavelight Gmbh System and process for surgical treatment of an eye as well as process for calibrating a system of such a type
WO2013003088A1 (en) * 2011-06-28 2013-01-03 Cook Medical Technologies, LLC Biopsy needle with flexible length
WO2013003087A1 (en) * 2011-06-28 2013-01-03 Cook Medical Technologies Llc Flexible biopsy needle
US20130035537A1 (en) 2011-08-05 2013-02-07 Wallace Daniel T Robotic systems and methods for treating tissue
US8821377B2 (en) 2011-09-07 2014-09-02 Justin Collins Laparoscopic surgery
US9597152B2 (en) 2011-09-10 2017-03-21 Cook Medical Technologies Llc Control handles for medical devices
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
WO2013052531A1 (en) 2011-10-03 2013-04-11 Biolase, Inc. Surgical laser cutting device
US9060794B2 (en) 2011-10-18 2015-06-23 Mako Surgical Corp. System and method for robotic surgery
JP6170931B2 (ja) 2011-10-31 2017-07-26 ボストン サイエンティフィック サイムド，インコーポレイテッドＢｏｓｔｏｎ Ｓｃｉｅｎｔｉｆｉｃ Ｓｃｉｍｅｄ，Ｉｎｃ． 偏向可能な遠位ツールを有する内視鏡器具
EP2773277B1 (en) 2011-11-04 2016-03-02 Titan Medical Inc. Apparatus for controlling an end-effector assembly
US10213260B2 (en) 2011-12-01 2019-02-26 Joe Denton Brown End fire fiber arrangements with improved erosion resistance
US9131987B2 (en) 2011-12-02 2015-09-15 Ethicon Endo-Surgery, Inc. Elbow assembly for surgical devices
US9179927B2 (en) 2011-12-02 2015-11-10 Ethicon Endo-Surgery, Inc. Surgical methods using a surgical device having a fixed angular orientation
WO2013090558A1 (en) 2011-12-15 2013-06-20 Imricor Medical Systems, Inc. Mri compatible handle and steerable sheath
US9504604B2 (en) 2011-12-16 2016-11-29 Auris Surgical Robotics, Inc. Lithotripsy eye treatment
CN106726125B (zh) 2012-01-18 2019-07-05 视乐有限公司 根据光密度对激光能量进行调节的外科手术设备
US9972082B2 (en) * 2012-02-22 2018-05-15 Veran Medical Technologies, Inc. Steerable surgical catheter having biopsy devices and related systems and methods for four dimensional soft tissue navigation
US9345549B2 (en) 2012-02-25 2016-05-24 Thrufocus Optics, Inc. Devices and methods for improving vision using laser photomiosis
GB2500784B (en) * 2012-02-28 2015-07-22 Spiration Inc Lung Biopsy Needle
EP2819599B1 (en) 2012-02-29 2018-05-23 Procept Biorobotics Corporation Automated image-guided tissue resection and treatment
US20130303876A1 (en) 2012-03-28 2013-11-14 Mark Gelfand Carotid body modulation planning and assessment
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
US9820768B2 (en) 2012-06-29 2017-11-21 Ethicon Llc Ultrasonic surgical instruments with control mechanisms
DE102012212510B4 (de) 2012-07-17 2014-02-13 Richard Wolf Gmbh Endoskopisches Instrument
US20140051985A1 (en) 2012-08-17 2014-02-20 Tailin Fan Percutaneous nephrolithotomy target finding system
JP6420764B2 (ja) 2012-08-27 2018-11-07 ファセット テクノロジーズ エルエルシーＦａｃｅｔ Ｔｅｃｈｎｏｌｏｇｉｅｓ， ＬＬＣ 穿刺装置のねじり装填機構
EP2897543A4 (en) * 2012-09-19 2016-09-07 Univ Nanyang Tech FLEXIBLE ROBOTIC MASTER SLAVE ENDOSCOPY SYSTEM
US9375235B2 (en) 2012-12-12 2016-06-28 Boston Scientific Scimed, Inc. Method and system for transhiatal esophagectomy
US9510824B2 (en) 2013-01-08 2016-12-06 Boston Scientific Scimed, Inc. Low profile medical device and related methods of use
US20140194859A1 (en) 2013-01-10 2014-07-10 Pravoslava IANCHULEV System and method of performing femtosecond laser accomodative capsulotomy
US10231867B2 (en) 2013-01-18 2019-03-19 Auris Health, Inc. Method, apparatus and system for a water jet
EP2964069B8 (en) 2013-02-26 2020-07-15 ELMED Electronics and Medical Industry and Trade Inc. (A.S.) A robotic manipulator system
CN104582559B (zh) 2013-03-06 2016-10-12 奥林巴斯株式会社 内窥镜系统和内窥镜系统的工作方法
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
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
US9737300B2 (en) 2013-03-13 2017-08-22 Ethicon Llc Electrosurgical device with disposable shaft having rack and pinion drive
WO2014158880A1 (en) 2013-03-14 2014-10-02 Brigham And Women's Hospital, Inc. System and method for a laparoscopic morcellator
WO2014143388A1 (en) 2013-03-14 2014-09-18 Gyrus Acmi, Inc. (D.B.A Olympus Surgical Technologies America) Surgical positioning circuit
US8974472B2 (en) 2013-04-16 2015-03-10 Calcula Technologies, Inc. Method for removing kidney stones
US10076231B2 (en) 2013-04-22 2018-09-18 Gyrus Acmi, Inc. Surgeon controlled endoscope device and method
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
JP6785656B2 (ja) 2013-08-15 2020-11-18 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 カテーテルの位置付け及び挿入のためのグラフィカル・ユーザインターフェイス
US9119939B2 (en) * 2013-09-12 2015-09-01 Michael J. Botich Rotatable hypodermic needle and method of use
KR102332023B1 (ko) 2013-10-24 2021-12-01 아우리스 헬스, 인크. 로봇-보조식 내강 내부 수술용 시스템 및 이와 관련된 방법
US9713509B2 (en) 2013-10-24 2017-07-25 Auris Surgical Robotics, Inc. Instrument device manipulator with back-mounted tool attachment mechanism
EP3060140A4 (en) 2013-10-26 2017-06-07 The United States Of America, As Represented By The Secretary, Department Of Health And Human Services Atrial appendage ligation
US9937626B2 (en) 2013-12-11 2018-04-10 Covidien Lp Wrist and jaw assemblies for robotic surgical systems
US9808269B2 (en) 2013-12-12 2017-11-07 Boston Scientific Scimed, Inc. Adjustable medical retrieval devices and related methods of use
EP3094262B1 (en) * 2014-01-17 2019-07-03 Merit Medical Systems, Inc. Flush cut biopsy needle assembly
JP6431678B2 (ja) 2014-03-20 2018-11-28 オリンパス株式会社 挿入形状検出装置
CN110833382B (zh) * 2014-04-02 2023-05-30 直观外科手术操作公司 使用可操控管心针和柔性针的设备、系统以及方法
US20150314110A1 (en) 2014-05-05 2015-11-05 Hansen Medical, Inc. Balloon visualization for traversing a vessel
CN106255451B (zh) 2014-05-06 2020-03-17 圣犹达医疗用品心脏病学部门有限公司 电极支撑结构组件
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
US9788910B2 (en) 2014-07-01 2017-10-17 Auris Surgical Robotics, Inc. Instrument-mounted tension sensing mechanism for robotically-driven medical instruments
US20170007337A1 (en) 2014-07-01 2017-01-12 Auris Surgical Robotics, Inc. Driver-mounted torque sensing mechanism
US10792464B2 (en) 2014-07-01 2020-10-06 Auris Health, Inc. Tool and method for using surgical endoscope with spiral lumens
US9744335B2 (en) 2014-07-01 2017-08-29 Auris Surgical Robotics, Inc. Apparatuses and methods for monitoring tendons of steerable catheters
US9561083B2 (en) 2014-07-01 2017-02-07 Auris Surgical Robotics, Inc. Articulating flexible endoscopic tool with roll capabilities
WO2016015011A1 (en) 2014-07-24 2016-01-28 Lim Innovations, Inc. A sequential series of orthopedic devices that include incremental changes in form
US10828051B2 (en) 2014-07-28 2020-11-10 Shaw P. Wan Suction evacuation device
US10085759B2 (en) 2014-08-14 2018-10-02 Boston Scientific Scimed, Inc. Kidney stone suction device
JP6682513B2 (ja) 2014-09-08 2020-04-15 ボストン サイエンティフィック サイムド，インコーポレイテッドＢｏｓｔｏｎ Ｓｃｉｅｎｔｉｆｉｃ Ｓｃｉｍｅｄ，Ｉｎｃ． 回収装置
CN107427327A (zh) 2014-09-30 2017-12-01 奥瑞斯外科手术机器人公司 具有虚拟轨迹和柔性内窥镜的可配置机器人外科手术系统
US10314463B2 (en) 2014-10-24 2019-06-11 Auris Health, Inc. Automated endoscope calibration
EP4218882A3 (en) * 2014-11-05 2023-08-16 Clph, Llc Catheter devices and methods for making them
DE102014226240A1 (de) 2014-12-17 2016-06-23 Kuka Roboter Gmbh System zur roboterunterstützten medizinischen Behandlung
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
DE102015200428B3 (de) 2015-01-14 2016-03-17 Kuka Roboter Gmbh Verfahren zur Ausrichtung eines mehrachsigen Manipulators mit einem Eingabegerät
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
EP3878392B1 (en) * 2015-04-15 2024-06-12 Mobius Imaging LLC Integrated medical imaging and surgical robotic system
WO2016176403A1 (en) * 2015-04-28 2016-11-03 Nosler Michael Stylet and needle combinations used to collect tissue samples during endoscopic procedures
US9622827B2 (en) 2015-05-15 2017-04-18 Auris Surgical Robotics, Inc. Surgical robotics system
US10610254B2 (en) 2015-08-20 2020-04-07 Boston Scientific Scimed, Inc. Medical device and related methods
EP3346899B1 (en) 2015-09-09 2022-11-09 Auris Health, Inc. Instrument device manipulator for a surgical robotics system
EP3349649B1 (en) 2015-09-18 2022-03-09 Auris Health, Inc. Navigation of tubular networks
US10052164B2 (en) 2015-10-02 2018-08-21 Ethicon Llc System and method of converting user input into motion of a surgical instrument via a robotic surgical system
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
US10231793B2 (en) 2015-10-30 2019-03-19 Auris Health, Inc. Object removal through a percutaneous suction tube
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
WO2017095753A1 (en) 2015-12-01 2017-06-08 Invivo Therapeutics Corporation Compositions and methods for preparing an injectable medium for administration into the central nervous system
GB201521804D0 (en) 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Pulley arrangement for articulating a surgical instrument
CN108472090B (zh) 2015-12-29 2021-06-18 皇家飞利浦有限公司 用于控制外科手术机器人的系统、控制单元和方法
US10932861B2 (en) 2016-01-14 2021-03-02 Auris Health, Inc. Electromagnetic tracking surgical system and method of controlling the same
US10932691B2 (en) 2016-01-26 2021-03-02 Auris Health, Inc. Surgical tools having electromagnetic tracking components
US11324554B2 (en) 2016-04-08 2022-05-10 Auris Health, Inc. Floating electromagnetic field generator system and method of controlling the same
EP3471599B1 (en) 2016-06-17 2025-11-19 Align Technology, Inc. Intraoral appliances with sensing
US11037464B2 (en) 2016-07-21 2021-06-15 Auris Health, Inc. System with emulator movement tracking for controlling medical devices
US10687904B2 (en) 2016-08-16 2020-06-23 Ethicon Llc Robotics tool exchange
EP3506836B1 (en) 2016-08-31 2024-10-02 Auris Health, Inc. Length conservative surgical instrument
US9931025B1 (en) 2016-09-30 2018-04-03 Auris Surgical Robotics, Inc. Automated calibration of endoscopes with pull wires
GB2554915B (en) 2016-10-14 2022-03-02 Cmr Surgical Ltd Driving arrangement for articulating a surgical instrument
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
US10987120B2 (en) 2017-01-10 2021-04-27 New Wave Endo-Surgery Inc. Multifunction surgical instrument for use in laparoscopic surgery
EP3599979A4 (en) 2017-03-28 2021-01-06 Auris Health, Inc. SHAFT DRIVE HANDLE
WO2018183727A1 (en) 2017-03-31 2018-10-04 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
WO2018208994A1 (en) 2017-05-12 2018-11-15 Auris Health, Inc. Biopsy apparatus and system
US10716461B2 (en) 2017-05-17 2020-07-21 Auris Health, Inc. Exchangeable working channel
US10022192B1 (en) 2017-06-23 2018-07-17 Auris Health, Inc. Automatically-initialized robotic systems for navigation of luminal networks
US11026758B2 (en) 2017-06-28 2021-06-08 Auris Health, Inc. Medical robotics systems implementing axis constraints during actuation of one or more motorized joints
CN118121324A (zh) 2017-06-28 2024-06-04 奥瑞斯健康公司 检测电磁失真的系统
EP3645100B1 (en) 2017-06-28 2024-09-04 Auris Health, Inc. Instrument insertion compensation
US11832889B2 (en) 2017-06-28 2023-12-05 Auris Health, Inc. Electromagnetic field generator alignment
US10426559B2 (en) 2017-06-30 2019-10-01 Auris Health, Inc. Systems and methods for medical instrument compression compensation
US10973600B2 (en) 2017-09-29 2021-04-13 Ethicon Llc Power axle wrist for robotic surgical tool
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
EP3684282B1 (en) 2017-12-06 2024-02-21 Auris Health, Inc. Systems to correct for uncommanded instrument roll
EP4467171A3 (en) 2017-12-08 2025-02-26 Auris Health, Inc. Systems employing directed fluidics
EP3684281B1 (en) 2017-12-08 2025-03-12 Auris Health, Inc. System for medical instrument navigation and targeting
MX2020006069A (es) 2017-12-11 2020-11-06 Auris Health Inc Sistemas y metodos para arquitecturas de insercion basadas en instrumentos.
US11510736B2 (en) 2017-12-14 2022-11-29 Auris Health, Inc. System and method for estimating instrument location
AU2018390476B2 (en) 2017-12-18 2024-03-28 Auris Health, Inc. Methods and systems for instrument tracking and navigation within luminal networks
JP6999824B2 (ja) 2018-01-17 2022-01-19 オーリス ヘルス インコーポレイテッド 調節可能なアーム支持体を有する外科用プラットフォーム
JP7463277B2 (ja) 2018-01-17 2024-04-08 オーリス ヘルス インコーポレイテッド 改善されたロボットアームを有する外科用ロボットシステム
US10779839B2 (en) 2018-02-08 2020-09-22 Ethicon Llc Surgical clip applier with parallel closure jaws
KR102893714B1 (ko) 2018-02-13 2025-12-01 아우리스 헬스, 인코포레이티드 의료 기구를 구동시키기 위한 시스템 및 방법
MX2020009075A (es) 2018-03-01 2021-03-25 Auris Health Inc Métodos y sistemas de mapeo y navegación.
KR102746051B1 (ko) 2018-03-28 2024-12-27 아우리스 헬스, 인코포레이티드 가변 굽힘 강성 프로파일을 갖는 의료 기구
KR102489198B1 (ko) 2018-03-28 2023-01-18 아우리스 헬스, 인코포레이티드 위치 센서의 정합을 위한 시스템 및 방법
US10827913B2 (en) 2018-03-28 2020-11-10 Auris Health, Inc. Systems and methods for displaying estimated location of instrument
MX2020010220A (es) 2018-03-29 2021-01-15 Auris Health Inc Sistemas médicos activados robóticamente con efectores de extremo multifunción que tienen desviaciones rotacionales.
JP7250824B2 (ja) 2018-05-30 2023-04-03 オーリス ヘルス インコーポレイテッド 位置センサベースの分岐予測のためのシステム及び方法
CN110831538B (zh) 2018-05-31 2023-01-24 奥瑞斯健康公司 基于图像的气道分析和映射
KR102799357B1 (ko) 2018-05-31 2025-04-25 아우리스 헬스, 인코포레이티드 관상 네트워크의 경로-기반 내비게이션
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
US10744981B2 (en) 2018-06-06 2020-08-18 Sensata Technologies, Inc. Electromechanical braking connector
MX2020013241A (es) 2018-06-07 2021-02-22 Auris Health Inc Sistemas medicos roboticos con instrumentos de gran fuerza.
WO2020005370A1 (en) 2018-06-27 2020-01-02 Auris Health, Inc. Systems and techniques for providing multiple perspectives during medical procedures
WO2020005854A1 (en) 2018-06-28 2020-01-02 Auris Health, Inc. Medical systems incorporating pulley sharing
US10898276B2 (en) 2018-08-07 2021-01-26 Auris Health, Inc. Combining strain-based shape sensing with catheter control
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
KR102791307B1 (ko) 2018-08-24 2025-04-09 아우리스 헬스, 인코포레이티드 수동 및 로봇 제어가능 의료 기구

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008523909A (ja) 2004-12-15 2008-07-10 ウィルソン−クック・メディカル・インコーポレーテッド 可撓性外科用針デバイス
JP2012504469A (ja) 2008-10-01 2012-02-23 ビーコン エンドスコピック コーポレーション 針生検装置
JP2017504377A (ja) 2013-12-13 2017-02-09 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 入れ子式生検針
JP2015228987A (ja) 2014-06-04 2015-12-21 オリンパス株式会社 接合構造及び生検針

Also Published As

Publication number Publication date
US20180289243A1 (en) 2018-10-11
KR102636777B1 (ko) 2024-02-16
US20200367726A1 (en) 2020-11-26
KR20190138306A (ko) 2019-12-12
AU2018248440A1 (en) 2019-10-31
US20190328213A1 (en) 2019-10-31
EP3606439A1 (en) 2020-02-12
WO2018187488A1 (en) 2018-10-11
CN110602994A (zh) 2019-12-20
US10743751B2 (en) 2020-08-18
CN110602994B (zh) 2022-11-22
JP2020516342A (ja) 2020-06-11
US10285574B2 (en) 2019-05-14
EP3606439A4 (en) 2020-11-18

Similar Documents

Publication Publication Date Title
JP7167054B2 (ja) 超弾性医療機器
US20210268235A1 (en) Devices, systems, and methods for anchoring actuation wires to a steerable instrument
CN110833382B (zh) 使用可操控管心针和柔性针的设备、系统以及方法
CN107184272B (zh) 复合曲线式导航导管
CN108135583B (zh) 顺从性活检针系统
CN105658270B (zh) 带有嵌入式致动导管的柔性器械
US20210196251A1 (en) Medical instrument with shaft actuating handle configured to accept stylet
US20220054763A1 (en) Variable pitch flexible needle
US11950805B2 (en) Sharp turning steerable needle
CN118251184A (zh) 活检工具
JP7387271B2 (ja) 組織サンプリングのためのオフセットデバイスを備えるカテーテルアセンブリ
US10912542B2 (en) Catheter assembly with offset device for tissue sampling

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20210331

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20210331

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

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20220323

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20220405

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20220705

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: 20220927

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20221026

R150 Certificate of patent or registration of utility model

Ref document number: 7167054

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250