JPH04231034A - 手術用ロボット装置、骨中への空洞形成装置及び手術計画装置 - Google Patents

手術用ロボット装置、骨中への空洞形成装置及び手術計画装置

Info

Publication number
JPH04231034A
JPH04231034A JP3109807A JP10980791A JPH04231034A JP H04231034 A JPH04231034 A JP H04231034A JP 3109807 A JP3109807 A JP 3109807A JP 10980791 A JP10980791 A JP 10980791A JP H04231034 A JPH04231034 A JP H04231034A
Authority
JP
Japan
Prior art keywords
surgical tool
quantitative model
tissue
bone
surgical
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.)
Granted
Application number
JP3109807A
Other languages
English (en)
Other versions
JPH0763472B2 (ja
Inventor
Edward Glassman
エドワード、グラスマン
William A Hanson
ウイリアム、アーサー、ハンソン
Peter Kazanzides
ピーター、カザンジデス
Brent D Mittelstadt
ブレント、ディー、ミッテルシュタット
Bela L Musits
ベラ、ルイス、ムシッツ
Howard A Paul
ハワード、エー、ポール
Russell H Taylor
ラッセル、ハイスミス、テイラー
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
International Business Machines Corp
Original Assignee
International Business Machines Corp
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 International Business Machines Corp filed Critical International Business Machines Corp
Publication of JPH04231034A publication Critical patent/JPH04231034A/ja
Publication of JPH0763472B2 publication Critical patent/JPH0763472B2/ja
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4097—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using design data to control NC machines, e.g. CAD/CAM
    • G05B19/4099—Surface or curve machining, making 3D objects, e.g. desktop manufacturing
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/17—Guides or aligning means for drills, mills, pins or wires
    • A61B17/1739—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body
    • A61B17/1742—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the hip
    • A61B17/175—Guides or aligning means for drills, mills, pins or wires specially adapted for particular parts of the body for the hip for preparing the femur for hip prosthesis insertion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/102—Modelling of surgical devices, implants or prosthesis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2072—Reference field transducer attached to an instrument or patient
    • 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
    • A61B34/25—User interfaces for surgical systems
    • A61B2034/256—User interfaces for surgical systems having a database of accessory information, e.g. including context sensitive help or scientific articles
    • 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
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
    • A61F2002/4632—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor using computer-controlled surgery, e.g. robotic surgery
    • A61F2002/4633—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor using computer-controlled surgery, e.g. robotic surgery for selection of endoprosthetic joints or for pre-operative planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35217—Cagd computer aided geometric design, sbgd scanning based geometric design
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39008—Fixed camera detects reference pattern held by end effector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40418—Presurgical planning, on screen indicate regions to be operated on
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40609—Camera to monitor end effector as well as object to be handled
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45123—Electrogoniometer, neuronavigator, medical robot used by surgeon to operate
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45166—Tomography
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45168—Bone prosthesis
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49137—Store working envelop, limit, allowed zone
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
    • G16H50/20—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for computer-aided diagnosis, e.g. based on medical expert systems
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
    • G16H50/50—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S128/00—Surgery
    • Y10S128/92—Computer assisted medical diagnostics
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S623/00—Prosthesis, i.e. artificial body members, parts thereof, or aids and accessories therefor
    • Y10S623/902—Method of implanting
    • Y10S623/908—Bone
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S706/00—Data processing: artificial intelligence
    • Y10S706/902—Application using ai with detail of the ai system
    • Y10S706/924—Medical

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Manufacturing & Machinery (AREA)
  • Transplantation (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Mechanical Engineering (AREA)
  • Cardiology (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Vascular Medicine (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。

Description

【発明の詳細な説明】
【０００１】本発明は、一般にロボット・システムに関
し、特に、多重自由度ロボット及び冗長運動の監視を含
む手術システムを備えた対話型コンピュータ・トマグラ
フィ（ＣＴ）を基調とする手術前計画部品を統合するロ
ボット・システムに関する。セメントを使用しない補綴
腰部移植を受け入れるための精密に決定された形状の大
腿骨空洞を作るシステムについてその応用方法を図解的
に説明する。
【０００２】〔発明の背景〕コンピュータによるトモグ
ラフィ（ＣＴ）画像作成及びコンピュータによるモデル
作成方法が、手術前計画、シミュレーション、及び、後
続する手術の精度を遥かに超越した個別移植設計に精度
を提供することは実証されている。例えば、毎年行われ
る全体で約３００，０００件の腰部置換手術の約半分は
、セメントを使用しない移植である。移植の安定性、移
植から骨への均一なストレス移動及び適当な生体力学の
回復は、効力に批判的な影響を及ぼし、ひいては、骨に
対して移植を適切に配置することに大きく影響される。 移植を適切に配置するために重要な要因は、移植の形状
に適合するように精度の高い大腿骨空洞を作ることであ
る。
【０００３】最近報告された研究によると、移植と骨の
間の間隙が骨の内向成長に大きく影響することが確認さ
れている。大腿骨空洞を作るための標準的な手動ブロー
チング技法に関する或る研究によると、移植と骨の間の
間隙は一般に１ミリメートルから４ミリメートルの範囲
であり、作られた穴の全体の大きさは、穴あけに使用し
たブローチよりも３６％も大きく判明した。その結果、
移植を穴に挿入した場合、移植のわずか１８−２０パー
セントが実際に骨に接触しているに過ぎない。更に、生
体力学の回復に影響する骨における移植空洞をどの位置
に作るかと言うことは、ブローチをどこに当てるかと言
う事と同様に外科医の側の配置決定に関する問題である
。
【０００４】一般に、精密な手術は、例えば脳生検の場
合のように、手順によって制限される。尤も、脳生検の
場合には、定位フレームが利用できる。しかしながら、
この種の装置の不便さ、及び、適用性が制限のために、
ＣＴその他の画像データによって計画された幾何学的に
精密な作業を実施する外科医の能力を補充する目的で、
ロボットの使用が研究されるようになった。
【０００５】ロボットのような動く装置が患者の周辺で
使われる場合には、安全について充分検討しなければな
らない。用途によっては、手順のうちのロボットが関係
ない局面では、ロボットは動く必要がない。この種の用
途では、ロボットは、受動的な用具ガイド、または、ホ
ルダを患者に対して所要の位置と方向に動かす。次に、
ブレーキがかけられ、モーター電源が遮断され、外科医
は、手術機器のために必要な動機力を供給する。別の場
合には、画像を基調とする手術計画に対して計器が配置
された場所で外科医にフィードバックするために、計器
付き受動的装置に依存することとなる。
【０００６】ＩＢＭ研究レポート（ＲＣ　　１４５０４
（＃６４９５６）３／２８／８９）３／２８／８９）に
は、Ｒ．　Ｈ．　Ｔａｙｌｏｒと共同研究者によって、
セメント無し腰部移植を受け入れるための正しい形状の
穴を大腿骨にあけるロボット・システムが報告されてい
る。このシステムは、ＣＴを基調とする骨座標データと
ロボット・カッタ座標の間の変換を計算する。この変換
の一部は、手術前に大腿骨に固定されてＣＴ画像化され
た３個の配列ピンのそれぞれの上面を位置決めするため
の触覚探索と案内動作を組み合わせて実施される。この
ロボット・システムは、工具の経路が計画された仕事量
からはみ出さないことを確認するために、ロボット運動
の冗長チェックを行なう視覚サブシステムを備える。手
術の進行を外科医が監視できるように、オンライン・デ
ィスプレイを備える。この場合、ロボット・ベースに対
するピンのその後のあらゆる運動を検出するために、近
接センサを配置しても差し使えない。
【０００７】〔発明の概要〕本発明は、手術用ツールを
そなえた多重運動自由度マニピュータ・アームをもつ手
術用ロボット・システムを開示する。アームは、三次元
座標系内で手術用ツールを制御可能に位置決めするため
の制御装置に結合される。このシステムは、更に、三次
元座標系において、量的モデルに対して手術用ツールの
位置を決定するための装置を含む。この決定装置は、例
えば、マニピュレータ腕の少なくとも一部を含む空間領
域を画像化するために配置された光学追跡システムのよ
うな、手術用ツールの場所を検出する装置を含む。追跡
システムの出力は、手術用ツールが所定の空間量の外に
位置するかどうかを決定するために、量モデルを処理す
る処理装置に結合される。このシステムは、更に、例え
ば骨のような固定された組織と基準点の間のあらゆる滑
りを三次元的に検出するための歪計、及び、手術用ツー
ルに結合された力センサを備えた冗長安全チェックを含
む。ツールが量モデルの外で作動することを防止するた
めにツールの運動を停止する目的で多重冗長安全装置が
用いられる。量モデルの座標及び構造は、手術前計画会
期中に決定される。この場合、外科医は、移植を設置し
ようとする骨の画像に対して、適当な形状の移植を対話
的に選択して、位置決めする。
【０００８】〔実施例〕図１は、手術用ロボット・シス
テム１０の実施例を示す構成図である。システム１０は
、マニピュレータ腕１４とベース１６で構成されるロボ
ット１２を備える。腕１４は、少なくとも５本の運動軸
をもち、自由度４の運動を可能にする複数個のジョイン
ト（Ｊ）電動機Ｊ１，Ｊ２，Ｊ３、及び、Ｊ４と、本実
施例の場合には、第５の自由度をもたせるピッチ電動機
（ＰＭ）１８を備える。本発明の本実施例において、ロ
ボット１２は、付加的ピッチ軸を備えた自由度４のＩＢ
Ｍ７５７５、または、７５７６　　ＳＣＡＲＡマニピュ
レータである（ＩＢＭは、インターナショナル・ビジネ
ス・マシーンズ社の登録された登録商標である）。この
場合、ＰＭ１８は、失速検出を主目的とするエンコーダ
付きステッパー電動機であり、ユーザーが供給する加速
度、速度及び距離に関するコマンドを受け入れるタイプ
の市販されているインデクサにより制御される。各々の
マニピュレータ腕接続部は、関連制御マイクロプロセッ
サを備える。
【０００９】ロボット１２は、更に自由度６の手首に設
置された力センサ２０を備える。この場合の力センサと
しては、最大の力限界が３０ポンドで解像力が１／４０
ポンドの荷重力／トルク手首センサＦ／Ｔ−３０／１０
０型が適当である。力センサ２０は、直列または並列イ
ンタフェースを介してロボット制御装置２４に接続され
る。
【００１０】ロボット１２は、更に、円筒形高速（６５
０００ｒｐｍ　）空気式手術用切断用具２２をもつエン
ド・エフェクタを備える。手術に際しては、ロボットの
エンド・エフェクタ以外は全て無菌スリーブで覆われ、
エンド・エフェクタは別途殺菌される。ロボット１２は
、手術領域に容易にアクセスできるように、手術台に対
して配置される。
【００１１】ロボット制御装置２４は、ＡＭＬ／２言語
を使用し、サーボ制御、低レベル監視、センサ用インタ
フェース、及び、高レベル応用機能を実施する。現在使
用される制御装置２４は、工業用ＩＢＭパーソナル・コ
ンピュータＡＴデータ処理装置であり、プロセッサ・バ
スにプラグを差し込んで接続される適当なプリント回路
カードによって、低レベル・サーボ制御、及び、力セン
サ・インタフェースが行われる（パーソナル・コンピュ
ータＡＴは、インターナショナル・ビジネス・マシーン
ズ社の登録された登録商標である）。制御装置２４は、
ＡＭＬ／２言語インタプレタ及び運動制御システム（Ｍ
ＣＳ）ソフトウェアを含む。このソフトウェアの商業用
バージョンは、「ＡＭＬ−２言語リファレンス・マニュ
アル」マニュアル＃Ｇ７Ｘ１３６９および「ＡＭＬ−２
製造管理システム・ユーザー・ガイド」マニュアル＃Ｇ
６７Ｘ１３７０に記述されており、双方共にＩＢＭ　　
Ｍａｎｕｆａｃｔｕｒｉｎｇ　　Ｓｙｓｔｅｍｓ　　Ｐ
ｒｏｄｕｃｔｓ　（Ｂｏｃａ　　Ｒａｔｏｎ、フロリダ
）から入手可能である。
【００１２】本実施例において、ＡＭＬ／２ソフトウェ
アは、ＰＭ１８のオペレーション、及び、力センサ２０
に適合するように修正されている。手術に際して、冗長
安全チェック、をサポートするために、採用される整列
ピンを位置決めするための触覚探索、及び、外科医によ
る従順運動の案内を支援するために、力監視処理装置（
ＦＭＰ）５３と共に力センサ２０が用いられる。ＦＭＰ
５３は、手首設置された力センサ２０にインターフェイ
スされ、カッタ２２チップで分析された力およびトルク
を計算する。図４のグラフに示すように、約１．５Ｋｇ
ｆ（Ｌ１）よりも大きいカッタ２２チップ力が検出され
た場合には、ロボット制御装置２４は、運動を凍結させ
るように合図される。約３Ｋｇｆ（Ｌ２）より大きい力
がかかった場合には、腕電源が除去され、腕１４「シャ
ットダウン」状態となる。力センサ２０は、カッタ２２
の失速、柔らかい組織の不適当な切除、及び、例えば小
柱と皮質性の骨の間で起きるような骨硬度の変化に遭遇
したような状態の検出に効果的である。更に、後で述べ
る入力端末として外科医が使用するための手提げペンダ
ント２６が制御装置２４に結合される。
【００１３】本実施例における運動監視サブシステムは
、空間的に分離された３個のイメージ・センサ３０ａ，
３０ｂ及び３０ｃをもつカメラ２８を備えた光学追跡シ
ステムで構成される。例えばＬＥＤＳ３４のような複数
個の赤外線（ＩＲ）ビーコンの位置及び方向を三次元で
視覚的に追跡するカメラ処理装置３２がカメラ２８に結
合される。この場合、赤外線ビーコンは、ロボットのエ
ンド・エフェクタに結合されたリファレンス・プレート
３６に設置される。光学追跡システムは、手術の切除段
階において、カッタ２２チップが指定された移植量から
所定量以上それないことを確認するために用いられる多
数の冗長運動検出システムのうちの１つに過ぎない。こ
こに示す本発明の好ましい実施例において使用される光
学追跡システムは、Ｎｏｒｔｈｅｒｎ　　Ｄｉｇｉｔａ
ｌ　社製Ｏｐｔｏｔｒａｋとして知られているタイプで
ある。３個のイメージセンサ３０ａ−３０ｃは堅固な枠
に設置された線走査装置であり、ＩＲ発光ダイオード３
４の位置を、三次元空間における０．１ｍｍ／ｍの精度
で追跡する。
【００１４】本実施例におけるリファレンス・プレート
３６は、位置ビーコンとして機能する８個の発光ダイオ
ード３４を備える。ビーコン所在場所からのカメラを基
調とする座標システムを計算するために、カメラ処理装
置３２ソフトウェアが用いられる。ロボットからカメラ
へ、及び、カッタからリファレンス・プレートへの変換
は、線形化された適切なモデルを使用し、様々な既知の
位置におけるロボット腕１４を用いて入手したデータか
らの最小二乗法によって計算される。
【００１５】光学追跡システムの出力３２ａは、安全監
視処理装置３８に結合される。この安全監視処理装置は
、その１つの機能として、選定された移植と関連して予
定された空間的な量の範囲からカッタ２２が出ていない
ことを確認するタスクをもつ。処理装置３８は、カメラ
２８に関するリファレンス・プレート３６の座標変換（
Ｔｃｐ）を、カメラ処理装置３２から受け取る。代替実
施例においては、処理装置３８は、カメラ処理装置３２
からＬＥＤＳ３４の座標を受け取り、リファレンス・プ
レート３６自体の座標を計算する。
【００１６】手術前の校正段階において、ロボット制御
装置３４は、ロボットを多くの位置及び方向に運動させ
る。各運動の後で、ロボット制御装置２４は、ロボット
のカッタ２２の位置および方向を通信バス２４ａを経て
、処理装置３８に送信する。処理装置３８は、カメラ２
８に対するリファレンス・プレート３６座標と共にこの
情報を用いて、カメラ座標系とロボット座標系の間の座
標変換（Ｔｒｃ）を計算し、カッタ２２とリファレンス
・プレート３６の間の座標変換（Ｔｐｋ）を計算する。 その結果として、処理装置３８は、次に示す関係式から
、ロボットに対するロボットのカッタ２２の座標変換（
Ｔｒｋ）を決定することが可能になる：Ｔｒｋ＝Ｔｒｃ
＊Ｔｃｐ＊Ｔｐｋ 好ましい本実施例において、用具の先端を同じ場所に保
持したまま、カメラ２８に対してプレート３６を多くの
方向に配置することにより、Ｔｐｋに関する校正が達成
される。この場合、カッタの先端を校正ピンまたは校正
ポスト５４に対する既知の一定位置に位置決めするため
に、ロボット対用具の校正を信頼するか、または、好ま
しくは、力センサ２０を用いた触覚探索手順により、校
正を達成しても差し使えない。代替実施例では、カッタ
先端位置を直接測定するため、または、フィードバック
としてロボット制御装置２４に、基準目印または座標系
に対する既知の位置にカッタの先端を位置決めさせるた
め、他の感知手段を用いる。本発明の他の実施例におい
ては、マニピュレータ腕１２の位置を、例えば磁気感知
装置または超音波レンジング・システムにより、三次元
的に追跡することもある。すなわち、本発明の実施は、
光学ビーコンの検出に依存する腕運動検出器の使用に制
限されない。手術に際して、処理装置３８は、通信バス
２４ａを経て、ロボット制御装置２４から入力を受信す
る。本実施例では、チェックすべき量（「チェック量」
）の立体構成幾何（ＣＳＧ）樹木表現、及び、ロボット
１２に対するこの量の座標を指定する。
【００１７】処理装置３８は、カメラ処理装置３２から
、リファレンス・プレート座標（Ｔｃｐ）を繰り返し受
信するか、その代りに、ＬＥＤＳ３４の座標を受信して
（Ｔｃｐ）を計算する。処理装置３８は、Ｔｒｋを計算
し、カッタ２２が指定されたチェック量内であるかどう
かを決定する。また、処理装置３８は、本発明の態様に
基づき、骨滑り検出器を監視する。この骨滑り検出器は
、手術によって変えられる例えば骨４２のような組織に
物理的に結合される歪計４０で構成される。歪計４０は
、骨固定器４４に対する骨４２の位置的ずれを、三次元
的に測定するように配置される。この場合、骨固定器４
４は、ロボット・ベース１６に堅く連結される。歪計４
０は、アナログ・ディジタル変換器を含む適切な回路構
成要素を経て、処理装置３８にインターフェイスされる
。この方法によると、０．１ｍｍオーダーの動きが容易
に検出できることが実証済みである。
【００１８】更に、例えば、骨に直接工作するネジ・タ
イプの接続を採用する装置のような適当固定器を用いる
と、かなり大きい力（５Ｋｇｆ）がかかっても僅かに数
ミクロンの動きを生ずるに過ぎないことが実測済みであ
る。この程度の小さい骨の動きは、この出願の趣旨から
は取るに足らない。このように、手術中は実際には骨は
動かないと予測されるが、万一骨の滑りが起きた場合に
は、歪計４０によって即座に指示される。骨の滑りが検
出された場合には、少なくとも２つの選択肢が利用可能
である。
【００１９】第１の選択肢は、以下に示す手順に従い、
ロボット・エフェクタを用いて３個のピン４６を位置決
めすることによって空間における骨の位置を決定し直す
ことによりシステムの再校正を行うことである。第２の
選択肢は、滑りセンサが正確に校正されている場合に採
用される。第２の選択肢は、その次のロボット運動に適
用される補償係数を得るために、骨の滑りの量を数学的
に決定する。簡潔であるために、第１の選択肢が好まれ
る。
【００２０】更に、本発明に基づき、図３ａ、及び、３
ｂに示すように、安全監視処理装置３８は、三次元移植
モデルに対応する空間エンベロープ外の予定の許容範囲
からカッタ２２先端が外れていないことを確認するため
に、量的な処理技術を採用する。
【００２１】本発明の本実施例は、移植およびカッタの
選択の結果として得られる形状に対応する前述のＣＳＧ
樹木「チェック量」を採用する。この場合のＣＳＧ樹木
は、カッタ２２の最も遠い公称可動軌跡の外側の、例え
ば１ミリメートル程度の所定距離に位置決めされた二次
表面を境界とする基本体でこうせいされる。図３ａにお
いて、選定された移植形状に対応する空間量は、移植形
状を多数の基本形に区分することによって決定される。 この場合の基本形は：（ａ）カッタ接近量、（ｂ）移植
近位置、及び、（ｃ）移植遠位置に対応する。内側の鎖
線は、カッタ２２のセンタ（Ｘ）から測定した最大カッ
タ２２可動軌跡に相当する。従って、カッタ２２の外側
の縁は、移植量の外側立体エンベロープと一致する。実
際には、カッタのセンタ（Ｘ）は、移植形状の長さ方向
軸から、例えば１ミリメータ程度の、所定のカッタ可動
軌跡許容範囲だけ、均一に偏っている。
【００２２】ＣＳＧ技術に基づき、移植基本形は樹木構
造（図３ｂ）に組織されている。ＣＳＧツリーの内部の
筋はプール演算および剛体運動を表わし、木の葉は立体
基本体を表す。この場合の立体基本体は移植近位置、移
植遠位置及び接近量を表す。ロボット制御装置２４は、
少なくとも２つの方法で、安全監視処理装置３８に、チ
ェック量を指定することができる。第１の方法は、手術
の各主要段階に関するチェック量を指定する。例えば、
接近量に関するチェック量を指定し、次に、移植の近位
置を指定し、続いて、遠位置に関するチェック量を指定
する。第２の方法は、各主要部分を所要の構成切断運動
に分解し、各切断運動（ＣＵＴ１−ＣＵＴｎ）に関する
チェック量を指定することによってＣＳＧツリーの葉の
数を増加させる。これら２つの方法は組み合わせて使用
できる。更に、各チェック量は、使用直前に指定するか
、或いは、ロボットから骨への変換が算定され、続いて
選択及び使用のために記憶された後の任意の時点で指定
しても差し支えない。
【００２３】手術中は、発光ダイオード・ビーコンの位
置を観察し、前記の変換を経て、既知の技術を用いてＣ
ＳＧ樹木構造を検索および処理することによって、移植
量に関するカッタ２２のセンタの位置が決定される。カ
ッタ２２が移植量の外にはみ出したと判定されると、安
全監視処理装置３８がロボット制御装置２４にコマンド
を送り、運動を凍結させる。このコマンドは、例えば光
学的に隔離されたディジタル・ポートのように、最小の
待ち時間経路２４ｃ経由で送られることが好ましい。運
動を凍結した後で、ロボット制御装置２４は、直列通信
リンク２４ａを経て、「境界外」条件に関する詳細な情
報について、安全管理処理装置３８に尋問する。この技
術によると、所定のＣＳＧスレショルドを一定の方向に
約０．２ミリメートルの精度以内で横切る運動は高信頼
度をもって検出され、カッタの方向直し精度は約０．４
ミリメートルであることが実測済みである。本実施例を
用いると、約３−４Ｈｚのカッタ運動チェック・レート
が得られる。
【００２４】典型的な骨切断速度で作動していた場合、
運動の凍結前におけるカッタの可動全軌跡は、全システ
ムの待ち時間を考慮にいれて、約２ミリメートルである
。手術システムのインタフェースは、更に、表示処理装
置５０に結合された高解像度モニタ４８を備えるオンラ
イン表示システムを含む。
【００２５】表示処理装置５０は、ロボット制御装置２
４、安全監視処理装置３８、及び、ＣＴ前手術システム
５２から情報を受け取る。この情報は、ＣＴで得られた
骨の画像と選定した移植形状の対応する断面図を重ね合
わせることにより切断手順の進行状態を視覚的に描写す
るために、表示処理装置５０によってくみあわされる。 ＣＴ画像は、重ね合わされた選定移植の適当な断面図を
もつ大腿骨の横方向及び長さ方向の両ほうの画像を含ん
でも差し支えない。表示のために選定された特定の骨断
面の画像は、通常は、大腿骨内におけるカッタ２２の現
在の深さを示す。　　ペンダント２６は、気体殺菌した
手提げデータ端末であり、手術中に、外科医はシステム
１０と対話できる。ペンダント２６からメニューを呼び
出し、ディスプレイ４８に表示することにより、外科医
はシステム１０状態を尋問し、例えば切断用具の手動案
内または撤回などの局部的な動作を選択し、現在の運動
を続けるか、手術手順の現段階を中止するか又は繰り返
すか、或いは、前の段階から手術手順をやり直すことが
できる。
【００２６】極めて一般的な場合として、簡単な「休止
」機能をあげることができる。この機能は、カッタ２２
がそれ以上前方に動くことを禁止し、外科医は、手術が
順調であるかどうかを確かめ、例えば灌注ボトルの補充
などの支援機能を実施できる。また、ペンダント２６は
、非常電源オン／オフ機能を支援し、応用段階全体を管
理し、必要に応じて、適切なプリ・プログラムされたエ
ラー回復手順を選択するためにも使用出来る。
【００２７】システムの各主要部品、即ち、ロボット制
御装置２４、ＦＭＰ５３、及び、安全監視処理装置３８
は、全てのロボット運動を凍結（抑止）し、或いは、例
外状態を認知すると、マニピュレータ及びカッタの電源
を切ることができる。いずれかの例外状態が起きると、
外科医は、手提げペンダント２６から、明確に再度運動
可能にしなければならない。手術中における主要な安全
監視必要条件は、（１）ロボット１２が「暴走」しては
ならない；（２）患者に過度の力を加えてはならない；
（３）カッタ２２は、切断中の量に対する予定された位
置的エンベロープ内にとどまっていなければならない；
（４）外科医は、いかなる時点においても、ロボット１
２を停止可能でなければならない。ロボット運動を停止
させると、外科医は、ペンダント２６によって、ロボッ
トの状態を質問し、エフェクタを手動で案内し、手術を
継続するための適当な回復手順を選定し、或は、ロボッ
ト１２の使用を完全に終了して、手動で手術を継続する
ことができなければならない。　　システム１０の冗長
安全監視の一部として、ロボット制御装置２４自体が、
多くの安全性及び一貫性のチェックを慣例的に実施する
。 これらのチェックには、例えば、ジョイント・サーボの
位置および速度デッドバンドの決定、外部信号の監視な
どの機能、及び、安全タイムアウト・モニタ（ＳＴＭ）
２４ｂの保守などが含まれる。この安全タイムアウト・
モニタは、制御装置２４が所定の時間的間隔でシステム
の完全性を確実に確認しない場合には、腕１４の電源を
遮断する。好ましい本実施例における間隔は１６ｍｓで
ある。ロボット電源供給可能リレー（図示せず）のほか
に、制御装置２４ソフトウェアは、運動を「凍結させる
」ため、中断された運動を再開するため、及び制御機能
を予定された回復手順へ移すために、マニピュレータの
電源を遮断する機能をもつ。外部信号の一貫性チェック
、力のスレショルド超過、、押しボタンの閉止等を含む
多数の状況の下では、ロボット制御装置応用プログラム
が中断され、運動が凍結されるか、または、場合によっ
ては、腕１４の電源が遮断される。
【００２８】システム１０の冗長安全チェックに基づき
、カメラ処理装置３２を含む腕位置感知システムと安全
監視処理装置３８の組み合わせによって、カッタ２２先
端が、骨に対して所定の量内にとどまっていることを独
立して確認できる。そのためには、（ａ）歪計４０によ
り、ロボット・ベース１４に堅固に固定された固定器４
４に対して骨が動かないことを確認し、更に、（ｂ）腕
１４のエンド・エフェクタが、空間の所定の量から決し
て外れないことを確認する。
【００２９】手術前ＣＴシステム５２により、外科医は
、補綴移植のための所要の形状１（図２ａ）を選定する
ことが可能であり、更に、ＣＴ作像の大腿骨の画像に移
植形状を対話的に重ねることにより、大腿骨２（図２ｂ
）のどの場所に空洞を作ればよいかを決定することが可
能である。更に、手術前システム５２は、移植の形状に
少なくとも部分的に対応する量的モデルを提供する。 この量的モデルはコンピュータによって維持され、大腿
骨の溝に、移植を受け入れる空洞を精密に工作するため
に処理される。図２ｂに、大腿骨２、骨盤４、及び、寛
骨臼カップ５に対する移植１を示す。本発明の好ましい
本実施例において、手術前システム５２は、増補ディス
プレイに結合されたＩＢＭ　　ＰＳ／２−８０ワークス
テーションに設置される（ＰＳ／２は、インターナショ
ナル・ビジネス・マシーンズ社の登録された登録商標で
ある）。
【００３０】図５及び６を参照されたい。手術前計画に
際しての情報フローを図５に示し、手術前システム５２
の、ロボット制御装置２４及びオンライン表示処理装置
５０への結合について、図１より更に詳しい構成図を図
６に示す。補綴移植手術に先立って、大きい方の転子及
び大腿骨関節丘に複数個の位置決めピン４６を挿入する
。ＣＴスキャンは、ＣＴデータ（ブロックＡ）を生成す
るための脚で作られる。手術前システム３２は、三次元
のＣＴ画像を作るために、ＣＴデータを処理する。次に
、手術前システム５２は、ＣＴ画像（ブロックＢ）を処
理して、ＣＴ座標に対する配列ピン４６の上面中心を位
置決めし、それによって、一組の骨基準座標を決定する
。外科医は、骨のＣＴ画像を介して、適切な直角交差断
面スライスを対話的に選択する。適切な移植形状（ブロ
ックＣ）を移植形状ライブラリ（ブロックＤ）から選出
した後で、外科医は、骨密度その他の要因の関数として
、ＣＴ画像に対して移植モデルを対話的に位置決めし、
手術前システム５２は断面図を生成し、移植と大腿骨（
ブロックＥ、及び、Ｆ）の三次元モデルを展開する。更
に、手術前システム５２は、補綴移植の任意の対話型個
別設計（ブロックＧ）を支援する。そのために、外科医
は、大腿骨の顕著な構造的特性を入力する。結果として
得られる個別移植形状は、移植設計ライブラリ（ブロッ
クＤ）内に記憶される。
【００３１】外科医が大腿骨２のＣＴ画像の中の所要位
置に移植形状を配置した後で、移植識別及び外科医が指
定した移植場所と共に、各ピン４６の座標が、手術デー
タ・ファイル（ブロックＨ）の中に記憶される。モデラ
ー（ブロックＥ）によって生成された三次元の移植及び
骨モデル・データは、ブロックＢからの三次元画像デー
タと共に、表示処理装置５０に供給される。手術データ
・ファイル情報はロボット制御装置２４に供給され、ロ
ボット制御装置２４は様々な「部分的サブルーチン」を
経て、手術中に大腿骨の中の外科医が指定した場所に移
植形状空洞を形成するために必要な一連のエフェクタ運
動を決定可能になる。別の代替実施例においては、所要
のエフェクタ運動は、手術データ・ファイルの中に含ま
れるピン４６位置情報に関して前以て計算される。前以
て計算されたカッタ運動は、記憶され、手術の前に、安
全監視処理装置３８にとって利用可能になる場合もある
。いずれの場合にも、ロボット制御装置２４は、カッタ
２２が選択された補綴形と関連した空間量内で作動して
いることを確かめるため、及び、外科医に表示して外科
医がカッタ２２の進行を監視可能にするために、安全監
視処理装置３８に、手術データ・ファイル情報を提供す
る。
【００３２】前記の手術前計画手順の後で、手術は次の
ように進行する。患者は手術室に入れられ、手術は、大
腿骨に空洞をつくる必要が起きる段階までは、従来の方
法で進行される。即ち、腰を切開し、位置をずらせ、大
腿骨の球部が切り離され、寛骨臼カップ５が取り付けら
れる。３本の配列ピン４６が露出し、大腿骨をロボット
・ベース１６に堅固に固定するために、骨は、固定器４
４内に配置される。ひずみゲージ４０を使用する場合に
は、骨に物理的に結合する。次に、案内と触覚探索を組
み合わせることにより、各配置ピン４６の上面中心をロ
ボット座標系において、位置決めする。このデータは、
ＣＴを基調とする骨座標とロボット・カッタ２２座標の
間の変換を計算するために使われる。このピン位置決め
手順を達成するためには、カッタ２２コレットに校正球
針を設置する。外科医は、ロボット１２を手動で案内し
、球針の先端を、ピン４６のうちの１つのほぼ上面中心
に置く。この案内動作はペンダント２６又は力加減のい
ずれで行なっても差し支えない。力加減により案内する
場合には、外科医は、力センサ２０から遠く離れたロボ
ットの任意の部分を掴む。ロボット制御装置２４は、力
センサ２０によって検出された力に応答してロボットを
動かす。
【００３３】好ましい本実施例においては、力及びトル
クは、カッタ２２と配列された座標系分解され、運動の
速度は力に比例する。別の代替実施例では、別の力加減
則を用いることもある。この場合には、外科医は手動で
ロボットを案内し、探針の先端を、ピン４６軸に沿った
後方２．３ミリメートルの所に位置決めする。この情報
から、ロボット制御装置２４は、ピン４６の予測中心及
び法線を計算する。次に、ロボット制御装置２４は、力
センサ２０による触覚探索によりピン４６の上面３つの
点を位置決めし、正確なピン法線を計算する。最後に、
触覚探索によってピン４６の縁の３つの点が決定され、
正確なピン中心が位置決めされる。他の２つのピン中心
及び法線も同様の方法で決定される。ただし、既に決定
したピン中心及び法線情報を、ＣＴ画像からの測定され
たピン位置及び法線情報と組み合わせることにより、概
略のピン法線を数えるために必要な手動案内量を少くす
ることができる。外科医は、手術を進める前に、ロボッ
ト用具先端の位置決め精度を確認する。このピン４６に
関係した位置的情報は、ＣＴから得られた骨座標とロボ
ット・カッタ２２座標の間の変換を計算するために用い
られる。次に、カッタ２２ビットをコレットに取り付け
、ビットが正しく取付けられていることを確かめるため
に、更に校正チェックが行われる。次に、ロボット１２
は、移植を受け入れるための正しい形状を削る。外科医
は、直接的な視覚的観察及びオンライン・ディスプレイ
４８の観察により手術の進行具合を監視する。オンライ
ン・ディスプレイでは、ＣＴから得られた画像と移植モ
デルの選択された断面が重ね合わされる。形状が作られ
た後で、ロボットは、スタンバイ位置まで撤回され、マ
ニピュレータの電源が切られる。大腿骨移植１が配置さ
れ、大腿骨固定器４４及び配列ピン４６が除去される。 次に、手術は、従来の方法により、完了するまで継続さ
れる。前記の機能性は、更に付加的相互接続されたプロ
セッサの間で細分化することも出来るし、或いは、より
少ないプロセッサに集中することも出来るはずである。 更に、本発明は腰部の移植の場合について記述したが、
本発明の教示内容は、骨組織への精密な形状加工を必要
とすると否とに拘らず、他の手術手順にも同様に適用で
きる。更に、他の代替実施例では、ロボットの最高速度
及び加速度を減少し、チェックの冗長度を更に増大する
ために、更に付加的な手段を採用している。最高速度及
び加速度の減少は、マニピュレータ腕１４を機械的に改
造するか、或いは、電動機電圧または電流を電気的に制
限することによって達成されるかもしれない。チェック
の冗長度を更に増大するには、別のコンピュータによっ
て監視された冗長な位置及び速度のエンコーダを組み込
めばよい。この場合の別のコンピュータはロボット制御
装置２４から電気的に分離されていることが好ましい。
【００３４】許容範囲超過、または、制御不能状態が検
出された場合には、別のコンピュータが、例えば、マニ
ピュレータ「凍結」信号を出すか、或いは、マニピュレ
ータ電源を切ることによって、適切な措置をとることが
できる。
【００３５】以上のように、本発明について具体的に説
明し、本発明の好ましい実施例に関して記述した結果と
して、当該技術に習熟した者にとっては、本発明の範囲
及び趣旨を逸脱することなしに形状及び詳細を変更でき
ることが理解出来るはずである。
【図面の簡単な説明】
【図１】手術用ロボット・システムの好ましい実施例を
示すブロック図。
【図２】（ａ）は人体腰部の補綴移植を示し、（ｂ）は
大腿骨内に移植された（ａ）の移植、及び、大腿骨上の
３本の整列ピンの配置を示す図。
【図３】（ａ）は図２（ａ）の移植に関してカッタ仕事
量を決定する方法を示し、（ｂ）は図３（ａ）のカッタ
仕事量をＣＳＧツリー表現した図。
【図４】測定された力のグラフであり、カッタ先端で分
析した図である。このグラフは、更に、時間の関数とし
て、第１および第２の力のスレショルドを示す。
【図５】手術前計画に際しての情報フロー。
【図６】手術前システム、及び、ロボット制御装置及び
オンライン・ディスプレイへの手術前システムの結合を
更に詳細に示すブロック図。
【符号の説明】
１０　　手術用ロボット・システム １２　　ロボット １４　　マニピュレータ腕 １８　　ピッチ電動機 ２０　　力センサ ２２　　カッタ ２４　　ロボット制御装置 ２８　　カメラ ３０　　イメージセンサ ３２　　カメラ処理装置 ３８　　安全監視装置

Claims (34)

    【特許請求の範囲】
  1. 【請求項１】手術用ロボット・システムにおいて、手術
    用工具をそなえ、三次元座標系内で手術用工具を制御可
    能に位置決めするための手段と連結された多重運動自由
    度のマニピュータ腕手段と、三次元座標系において、量
    的モデルに対する手術用工具の位置を決めるための手段
    とを有し、前記位置を決めるための手段は座標系の位置
    を検出するための手段を含み、この検出手段は量的モデ
    ルに対して手術用工具の位置を決めるために量的モデル
    処理する手段に結合された出力をもつことを特徴とする
    システム。
  2. 【請求項２】請求項１に記載のシステムにおいて、量的
    モデルが手術患者の中に位置決めされ、前記システムが
    更に、三次元座標系に対する患者の運動を検出するため
    の手段を含むことを特徴とするシステム。
  3. 【請求項３】請求項２に記載のシステムにおいて、前記
    検出手段が、三次元座標系において手術患者と基準点の
    間に結合されたひずみゲージ手段を有することを特徴と
    するシステム。
  4. 【請求項４】請求項３に記載のシステムにおいて、前記
    基準点が、空間量を含む患者の一部を不動化するための
    手段の上に位置決めされることを特徴とするシステム。
  5. 【請求項５】請求項１に記載のシステムにおいて、更に
    、手術用工具にかかる力の大きさを測定するための手段
    を含むことを特徴とするシステム。
  6. 【請求項６】請求項５に記載のシステムにおいて、前記
    測定手段が、手術用工具にかかる力及びトルクを手術用
    工具の先端において分析するための手段を含むことを特
    徴とするシステム。
  7. 【請求項７】請求項１に記載のシステムにおいて、更に
    、三次元座標系の中の量的モデルを位置決めするために
    座標変換を決定する手段を含むことを特徴とするシステ
    ム。
  8. 【請求項８】請求項１に記載のシステムにおいて、前記
    量的モデルが補綴移植に対応し、前記量的モデルが補綴
    移植に対する手術用工具の近接量に追加的に対応するこ
    とを特徴とするシステム。
  9. 【請求項９】請求項１に記載のシステムにおいて、前記
    手術用工具が円筒形の回転可能なカッタであることを特
    徴とするシステム。
  10. 【請求項１０】請求項１に記載のシステムにおいて、前
    記量的モデルが構造的な立体幾何学（ＣＳＧ）ツリー・
    データ構造として表わされることを特徴とするシステム
    。
  11. 【請求項１１】請求項１に記載のシステムにおいて、前
    記検出手段が、マニピュレータ腕手段の少なくとも一部
    を含む空間領域を映像化するために配置された映像化手
    段を有することを特徴とするシステム。
  12. 【請求項１２】請求項１１に記載のシステムにおいて、
    前記量的モデルが構造的な立体幾何学（ＣＳＧ）ツリー
    ・データ構造として表わされ、画像化手段の出力が、手
    術用工具が量的モデルの内に配置されているかどうかを
    決定するためにＣＳＧツリー・データ構造を処理するた
    めの手段に結合されることを特徴とするシステム。
  13. 【請求項１３】請求項５に記載のシステムにおいて、更
    に、三次元座標系の中の少なくとも１つの基準点の位置
    を力加減技術によって決定するための、力測定手段に結
    合した手段を含むことを特徴とするシステム。
  14. 【請求項１４】請求項１に記載のシステムにおいて、更
    に、量的モデルに対する手術用工具の位置を表示するた
    めの手段を含み、この位置を表示するための手段が、計
    算されたトマグラフィ（ＣＴ）情報と、量的モデルの対
    応する断面画像と重ねるための手段を含むことを特徴と
    するシステム。
  15. 【請求項１５】請求項５に記載のシステムにおいて、更
    に、測定した力が第１のスレショルドを越えた場合には
    手術用工具のそれ以上の動きを停止し、測定した力が第
    ２の高い方のスレショルドを越えた場合にはマニピュレ
    ータ腕手段の電源を切るための、力測定手段と結合した
    手段を含むことを特徴とするシステム。
  16. 【請求項１６】補綴移植を受け入れる取るために骨の中
    に空洞を作るための装置において、回転手術用工具を備
    え、三次元ロボット座標系の中で手術用工具を制御可能
    に位置決めするための手段と連結された多重運動自由度
    をもつマニピュレータ腕手段と、三次元ロボット座標系
    の中で骨を不動化するための手段と、三次元ロボット座
    標系の中で骨の中に形成しようとする空洞を表わす量的
    モデルに対して手術用工具の位置を決定するための手段
    であって、手術用工具が量的モデルの外側に位置してい
    るかどうかを決定するためにマニピュレータ腕手段の少
    なくとも一部を含む空間領域を画像化するために配置さ
    れた画像化手段を含む決定手段と、骨と不動化手段の間
    に結合され、骨と不動化手段の間の運動の量を表示する
    出力をもち、前記運動を三次元で測定する手段と、を有
    することを特徴とする装置。
  17. 【請求項１７】請求項１６に記載の装置において、前記
    量的モデルが構造的な立体幾何学（ＣＳＧ）ツリー・デ
    ータ構造で表わされ、前記決定手段が、手術用工具が量
    的モデルの外側に位置するかどうかを決定し、手術用工
    具が量的モデルの外にある場合には、手術用工具のそれ
    以上の動きを停止するために、ＣＳＧツリー・データ構
    造を処理するための手段を含むことを特徴とする装置。
  18. 【請求項１８】請求項１６に記載の装置において、更に
    、手術用工具にくわえられた力の大きさを測定するため
    の手段、及び、力が所定の大きさを越えた場合には、手
    術用工具のそれ以上の動きを停止する手段を含むことを
    特徴とする装置。
  19. 【請求項１９】請求項１６に記載の装置において、前記
    運動表示手段がひずみゲージ手段を含み、更に、前記装
    置は、測定した運動が所定量を超過したことをひずみゲ
    ージ手段が検出した場合には、手術用工具のそれ以上の
    動きを停止するためにひずみゲージ手段の出力に結合さ
    れた手段を含むことを特徴とする装置。
  20. 【請求項２０】請求項１６に記載の装置において、骨座
    標系の点を定義するために骨に固定した複数の標準ピン
    を備え、外科医は、標準ピンの少なくとも最初の１つま
    で手術用工具を手動で案内し、前記装置は、更に、骨座
    標系と三次元ロボット座標系の間で変換を決定するため
    の手段を含み、この変換決定手段の入力は画像化手段の
    出力に結合されることを特徴とする装置。
  21. 【請求項２１】請求項２０に記載の装置において、前記
    変換決定手段は、更に、三次元のロボット座標系と画像
    化手段と関連した三次元座標系との間の変換を決定する
    ことを特徴とする装置。
  22. 【請求項２２】患者から所定の量の組織を外科的に除去
    する方法であって、前記組織は予定された三次元の形状
    の領域から除去される方法において、三次元の形を量的
    モデル、或いは、量的モデルの部分として表現する過程
    と、除去しようとする組織に対して量的モデルの場所を
    決定する過程と、組織を除去するための手術用工具を取
    り付けた多重運動自由度をもつマニピュレータ腕手段を
    操作する過程とを有し、前記操作過程は、マニピュレー
    タ腕手段の位置を検出する過程と、予定された変換関数
    に従ってマニピュレータ腕手段の位置に対する手術用工
    具の位置を決定する過程と、手術用工具の決定位置が量
    的モデルの外側であるかどうかを決定するために、量的
    モデルを処理する過程と、手術用工具が量的モデルの外
    に配置されている場合には、手術用工具のそれ以上の動
    きを停止する過程とを有することを特徴とする方法。
  23. 【請求項２３】請求項２２に記載の方法において、患者
    が動いたかどうかを決定し、動きが検出された場合には
    手術用工具の動きを停止するために、ひずみゲージ手段
    の出力を監視する付加的操作過程が含まれることを特徴
    とする方法。
  24. 【請求項２４】請求項２２に記載の方法において、手術
    用工具に結合した力測定手段の出力を監視し、測定した
    力が第１の予定されたスレショルドを越えた場合には、
    手術用工具の動きを停止する過程が付加されることを特
    徴とする方法。
  25. 【請求項２５】請求項２４に記載の方法において、測定
    した力が高い方の第２の予定されたスレショルドを越え
    た場合には、マニピュレータ腕手段の電源を遮断する過
    程が、前記監視手順に追加されることを特徴とする方法
    。
  26. 【請求項２６】請求項２２に記載の方法において、マニ
    ピュレータ腕手段の作動状態を定期的に監視し、作動状
    態が最適状態に達しない場合には、それ以上の動きを停
    止する過程が追加されることを特徴とする方法。
  27. 【請求項２７】請求項２２に記載の方法において、組織
    が骨組織を含み、量的モデルの形は補綴移植の形を表わ
    し、前記量的モデルとして三次元の形を表わす過程には
    、補綴移植ライブラリの中から補綴移植の形を選択する
    過程が含まれ、除去しようとする組織に対する量的モデ
    ルの位置を決める過程には、骨組織の画像に対して、選
    定した補綴移植の形の位置を対話的に決定する過程が含
    まれることを特徴とする方法。
  28. 【請求項２８】請求項２７に記載の方法において、前記
    処理過程中に使用するためにデータを記憶する過程が追
    加され、記憶されたデータは、選択された補綴移植のサ
    イズと形状及び決定された位置を表すことを特徴とする
    方法。
  29. 【請求項２９】請求項２７に記載の方法において、前記
    処理過程は骨組織の断面画像を連続して表示する過程を
    含み、それぞれの骨組織には選択された補綴移植の該当
    断の画像が重ねられ、骨組織断面画像の特定の１つを、
    量的モデルに対する手術用工具の位置の関数として表示
    するために選出することを特徴とする方法。
  30. 【請求項３０】請求項２２に記載の方法において、組織
    が骨組織を含み、量的モデルの形は補綴移植の形を表し
    、前記量的モデルとして三次元の形を表わす過程は、補
    綴移植の形を少なくとも骨組織の形の関数として定義す
    る過程を含み、除去しようとする組織に対する量的モデ
    ルの場所を決定する過程は、骨組織の画像に対する定義
    された補綴移植の位置を対話的に決定する過程を含むこ
    とを特徴とする方法。
  31. 【請求項３１】手術計画システムにおいて、構造体を移
    植しようとする組織の領域の断面画像を供給するための
    手段、構造体の三次元表現を指定するための手段、及び
    ユーザー本位に選定できる場所に所在する組織の選定断
    面画像に構造体を表す断面画像を重ねるために、システ
    ムのオペレータからの入力に感応する手段を有し、前記
    重ね合わせ手段は、重ね合わせた画像をユーザーに表示
    するための手段を含むことを特徴とするシステム。
  32. 【請求項３２】請求項３１に記載のシステムにおいて、
    前記指定手段が、構造体の量的モデルを生成するための
    手段、及び、組織に基づく座標系内で量的モデルを位置
    決めするための座標を提供するための手段を含むことを
    特徴とするシステム。
  33. 【請求項３３】請求項３２に記載のシステムにおいて、
    前記指定手段が更に、組織に基づく座標系を得るために
    、組織の領域の画像内で基準点を識別するための手段を
    含むことを特徴とするシステム。
  34. 【請求項３４】請求項３２に記載のシステムにおいて、
    更に、手術用ロボット・システムに対して少なくとも量
    的モデル、及び、組織に基づく座標を表すデータを提供
    するための手段を含み、手術用ロボット・システムは、
    手術用工具を備え、三次元手術座標系内で手術用工具を
    制御可能に位置決めするための手段を結合した多重運動
    自由度をもつマニピュレータ腕手段と、量的モデルに対
    して、三次元手術座標系における手術用工具の位置を決
    定するための手段であって、量的モデルを位置決めする
    組織に基づく座標系を変換するための手段を含む決定手
    段とを有することを特徴とするシステム。
JP3109807A 1990-05-11 1991-04-15 手術用ロボット装置、骨中への空洞形成装置及び手術計画装置 Expired - Lifetime JPH0763472B2 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US07/523,611 US5086401A (en) 1990-05-11 1990-05-11 Image-directed robotic system for precise robotic surgery including redundant consistency checking
US523611 1990-05-11

Publications (2)

Publication Number Publication Date
JPH04231034A true JPH04231034A (ja) 1992-08-19
JPH0763472B2 JPH0763472B2 (ja) 1995-07-12

Family

ID=24085700

Family Applications (1)

Application Number Title Priority Date Filing Date
JP3109807A Expired - Lifetime JPH0763472B2 (ja) 1990-05-11 1991-04-15 手術用ロボット装置、骨中への空洞形成装置及び手術計画装置

Country Status (3)

Country Link
US (3) US5086401A (ja)
EP (1) EP0456103A3 (ja)
JP (1) JPH0763472B2 (ja)

Cited By (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08508656A (ja) * 1993-02-16 1996-09-17 クリーギス、ウルリッヒ 外科的な処置の準備及び支援の方法及び装置
JP2000175935A (ja) * 1998-12-16 2000-06-27 Yoshiya Hoki 医療システム
JP2001506889A (ja) * 1996-12-21 2001-05-29 ディープイ・インターナショナル・リミテッド 整形外科手術時の外科器具の位置決めおよび案内装置
US6434416B1 (en) 1998-11-10 2002-08-13 Olympus Optical Co., Ltd. Surgical microscope
JP2003275223A (ja) * 2003-04-21 2003-09-30 Olympus Optical Co Ltd 手術装置
JP2004521684A (ja) * 2001-02-07 2004-07-22 アエスクラップ アクチェンゲゼルシャフト ウント コンパニー コマンディトゲゼルシャフト 材料片の凹部の輪郭を定める方法と装置
JP2005312991A (ja) * 2005-07-08 2005-11-10 Olympus Corp 医療用マニピュレータシステム
JP2006500993A (ja) * 2002-09-26 2006-01-12 デピュイ・プロダクツ・インコーポレイテッド 整形外科処置中に外科バーを制御するための方法及び装置
JP2008188109A (ja) * 2007-02-01 2008-08-21 Olympus Medical Systems Corp 内視鏡手術装置
JP2009542362A (ja) * 2006-06-29 2009-12-03 インテュイティブ サージカル インコーポレイテッド コンピュータディスプレイ画面の境界領域に表示されるツール位置および識別指標
JP2013523403A (ja) * 2010-04-13 2013-06-17 インターナショナル・ビジネス・マシーンズ・コーポレーション レーザ・アブレーションにより組織を変化させるもしくは平滑化するまたはその両方を行うシステムおよび方法
CN104298244A (zh) * 2013-07-17 2015-01-21 刘永 一种工业机器人三维实时高精度定位装置及方法
JP2015502767A (ja) * 2011-09-30 2015-01-29 ユニベルシテ ピエール エ マリーキュリー（パリ シズエム） 患者の天然導管又は人工導管内に挿入された医療機器をガイドするガイド装置
JP2015521084A (ja) * 2012-06-01 2015-07-27 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 ゼロ空間を使用したマニピュレータアームと患者との衝突回避
US9101397B2 (en) 1999-04-07 2015-08-11 Intuitive Surgical Operations, Inc. Real-time generation of three-dimensional ultrasound image using a two-dimensional ultrasound transducer in a robotic system
US9138129B2 (en) 2007-06-13 2015-09-22 Intuitive Surgical Operations, Inc. Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide
JP2015534480A (ja) * 2012-09-26 2015-12-03 ストライカー・コーポレイション 光学式センサ及び非光学式センサを備えたナビゲーションシステム
US9333042B2 (en) 2007-06-13 2016-05-10 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US9345387B2 (en) 2006-06-13 2016-05-24 Intuitive Surgical Operations, Inc. Preventing instrument/tissue collisions
US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
US9492927B2 (en) 2009-08-15 2016-11-15 Intuitive Surgical Operations, Inc. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
US9516996B2 (en) 2008-06-27 2016-12-13 Intuitive Surgical Operations, Inc. Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the position and orienting of its tip
US9622826B2 (en) 2010-02-12 2017-04-18 Intuitive Surgical Operations, Inc. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
JP2017513562A (ja) * 2014-03-26 2017-06-01 エシコン・エンド−サージェリィ・エルエルシーＥｔｈｉｃｏｎ Ｅｎｄｏ−Ｓｕｒｇｅｒｙ， ＬＬＣ 安全プロセッサを有する手術用器具制御回路
JP2017127660A (ja) * 2011-02-15 2017-07-27 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 ステープル又は血管シール器具におけるナイフ位置のインジケータ
US9717563B2 (en) 2008-06-27 2017-08-01 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxilary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
US9788909B2 (en) 2006-06-29 2017-10-17 Intuitive Surgical Operations, Inc Synthetic representation of a surgical instrument
US9789608B2 (en) 2006-06-29 2017-10-17 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
US9956044B2 (en) 2009-08-15 2018-05-01 Intuitive Surgical Operations, Inc. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide
US10008017B2 (en) 2006-06-29 2018-06-26 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US10258425B2 (en) 2008-06-27 2019-04-16 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide
JP2019115668A (ja) * 2013-09-30 2019-07-18 ストライカー・コーポレイション 外科手技の際に患者の解剖学的構造を操作するためのロボットシステムを制御するシステム及び方法
US10507066B2 (en) 2013-02-15 2019-12-17 Intuitive Surgical Operations, Inc. Providing information of tools by filtering image areas adjacent to or on displayed images of the tools
JP2022545366A (ja) * 2020-07-06 2022-10-27 シーエムアール・サージカル・リミテッド 機械システムにおけるジョイント制御
JP2023502410A (ja) * 2019-11-22 2023-01-24 蘇州微創暢行機器人有限公司 骨切りガイドのキャリブレーション方法、キャリブレーションシステムおよび検出用ターゲット

Families Citing this family (1221)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5251127A (en) * 1988-02-01 1993-10-05 Faro Medical Technologies Inc. Computer-aided surgery apparatus
US4979949A (en) * 1988-04-26 1990-12-25 The Board Of Regents Of The University Of Washington Robot-aided system for surgery
FR2652928B1 (fr) 1989-10-05 1994-07-29 Diadix Sa Systeme interactif d'intervention locale a l'interieur d'une zone d'une structure non homogene.
DE69133603D1 (de) 1990-10-19 2008-10-02 Univ St Louis System zur Lokalisierung einer chirurgischen Sonde relativ zum Kopf
US6347240B1 (en) 1990-10-19 2002-02-12 St. Louis University System and method for use in displaying images of a body part
US5228429A (en) * 1991-01-14 1993-07-20 Tadashi Hatano Position measuring device for endoscope
US6006126A (en) * 1991-01-28 1999-12-21 Cosman; Eric R. System and method for stereotactic registration of image scan data
US6405072B1 (en) 1991-01-28 2002-06-11 Sherwood Services Ag Apparatus and method for determining a location of an anatomical target with reference to a medical apparatus
US5662111A (en) 1991-01-28 1997-09-02 Cosman; Eric R. Process of stereotactic optical navigation
US6675040B1 (en) 1991-01-28 2004-01-06 Sherwood Services Ag Optical object tracking system
US6167295A (en) * 1991-01-28 2000-12-26 Radionics, Inc. Optical and computer graphic stereotactic localizer
JP3065702B2 (ja) * 1991-04-23 2000-07-17 オリンパス光学工業株式会社 内視鏡システム
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
JP2514490B2 (ja) * 1991-07-05 1996-07-10 株式会社ダイヘン 産業用ロボットの連動手動操作による教示制御方法
US5597146A (en) * 1991-08-05 1997-01-28 Putman; J. Michael Rail-mounted stabilizer for surgical instrument
US5441042A (en) * 1991-08-05 1995-08-15 Putman; John M. Endoscope instrument holder
CA2078295C (en) * 1991-08-05 1995-11-21 John Michael Putman Endoscope stabilizer
DE4134481C2 (de) * 1991-10-18 1998-04-09 Zeiss Carl Fa Operationsmikroskop zur rechnergestützten, stereotaktischen Mikrochirurgie
EP0776739B1 (en) 1992-01-21 2003-04-23 Sri International Surgical System
US6788999B2 (en) 1992-01-21 2004-09-07 Sri International, Inc. Surgical system
US5631973A (en) * 1994-05-05 1997-05-20 Sri International Method for telemanipulation with telepresence
US6963792B1 (en) 1992-01-21 2005-11-08 Sri International Surgical method
US5603318A (en) 1992-04-21 1997-02-18 University Of Utah Research Foundation Apparatus and method for photogrammetric surgical localization
US5824083A (en) * 1992-04-24 1998-10-20 Draenert; Klaus Cement-free femoral prosthesis component and method of producing it
FR2691093B1 (fr) * 1992-05-12 1996-06-14 Univ Joseph Fourier Robot de guidage de gestes et procede de commande.
US5190547A (en) * 1992-05-15 1993-03-02 Midas Rex Pneumatic Tools, Inc. Replicator for resecting bone to match a pattern
US5515478A (en) * 1992-08-10 1996-05-07 Computer Motion, Inc. Automated endoscope system for optimal positioning
US7074179B2 (en) 1992-08-10 2006-07-11 Intuitive Surgical Inc Method and apparatus for performing minimally invasive cardiac procedures
US5754741A (en) * 1992-08-10 1998-05-19 Computer Motion, Inc. Automated endoscope for optimal positioning
US5657429A (en) * 1992-08-10 1997-08-12 Computer Motion, Inc. Automated endoscope system optimal positioning
US5762458A (en) * 1996-02-20 1998-06-09 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US5524180A (en) * 1992-08-10 1996-06-04 Computer Motion, Inc. Automated endoscope system for optimal positioning
US6757557B1 (en) 1992-08-14 2004-06-29 British Telecommunications Position location system
ES2115776T3 (es) 1992-08-14 1998-07-01 British Telecomm Sistema de localizacion de posicion.
US5517990A (en) * 1992-11-30 1996-05-21 The Cleveland Clinic Foundation Stereotaxy wand and tool guide
US5506785A (en) * 1993-02-11 1996-04-09 Dover Systems Corporation Method and apparatus for generating hollow and non-hollow solid representations of volumetric data
AU6666894A (en) * 1993-04-22 1994-11-08 Pixsys, Inc. System for locating relative positions of objects
DE9422172U1 (de) 1993-04-26 1998-08-06 St. Louis University, St. Louis, Mo. Angabe der Position einer chirurgischen Sonde
US5513100A (en) * 1993-06-10 1996-04-30 The University Of British Columbia Velocity controller with force feedback stiffness control
US5731804A (en) 1995-01-18 1998-03-24 Immersion Human Interface Corp. Method and apparatus for providing high bandwidth, low noise mechanical I/O for computer systems
US5503320A (en) * 1993-08-19 1996-04-02 United States Surgical Corporation Surgical apparatus with indicator
DE69432023T2 (de) * 1993-09-10 2003-10-23 The University Of Queensland, Santa Lucia Stereolithographischer anatomischer modellierungsprozess
IL107523A (en) * 1993-11-07 2000-01-31 Ultraguide Ltd Articulated needle guide for ultrasound imaging and method of using same
DE4341367C1 (de) * 1993-12-04 1995-06-14 Harald Dr Med Dr Med Eufinger Verfahren zur Herstellung von Endoprothesen
SE9400987L (sv) * 1994-03-24 1995-09-25 Elekta Instr Ab Anordning för detektering av instrument
DE4412073A1 (de) * 1994-04-08 1995-10-12 Moeller J D Optik Operationsmikroskop-Einheit
US5841149A (en) * 1994-04-11 1998-11-24 Leica Mikroskopie Systeme Ag Method of determining the distance of a feature on an object from a microscope, and a device for carrying out the method
US5546942A (en) * 1994-06-10 1996-08-20 Zhang; Zhongman Orthopedic robot and method for reduction of long-bone fractures
US5807376A (en) * 1994-06-24 1998-09-15 United States Surgical Corporation Apparatus and method for performing surgical tasks during laparoscopic procedures
US5540692A (en) * 1994-07-13 1996-07-30 Midas Rex Pneumatic Tools, Inc. Replicator for resecting bone to match a pattern
US5623582A (en) 1994-07-14 1997-04-22 Immersion Human Interface Corporation Computer interface or control input device for laparoscopic surgical instrument and other elongated mechanical objects
US6120433A (en) * 1994-09-01 2000-09-19 Olympus Optical Co., Ltd. Surgical manipulator system
US5829444A (en) * 1994-09-15 1998-11-03 Visualization Technology, Inc. Position tracking and imaging system for use in medical applications
EP0951874A3 (en) 1994-09-15 2000-06-14 Visualization Technology, Inc. Position tracking and imaging system for use in medical applications using a reference unit secured to a patients head
US6463361B1 (en) 1994-09-22 2002-10-08 Computer Motion, Inc. Speech interface for an automated endoscopic system
US7053752B2 (en) * 1996-08-06 2006-05-30 Intuitive Surgical General purpose distributed operating room control system
US6646541B1 (en) * 1996-06-24 2003-11-11 Computer Motion, Inc. General purpose distributed operating room control system
CA2201877C (en) 1994-10-07 2004-06-08 Richard D. Bucholz Surgical navigation systems including reference and localization frames
US6978166B2 (en) * 1994-10-07 2005-12-20 Saint Louis University System for use in displaying images of a body part
US5782762A (en) * 1994-10-27 1998-07-21 Wake Forest University Method and system for producing interactive, three-dimensional renderings of selected body organs having hollow lumens to enable simulated movement through the lumen
US6694163B1 (en) 1994-10-27 2004-02-17 Wake Forest University Health Sciences Method and system for producing interactive, three-dimensional renderings of selected body organs having hollow lumens to enable simulated movement through the lumen
US5920319A (en) 1994-10-27 1999-07-06 Wake Forest University Automatic analysis in virtual endoscopy
FR2729481B1 (fr) * 1995-01-12 1997-04-11 Landanger Landos Procede de generation d'instructions numeriques pour la commande de la realisation d'un implant femoral et implant femoral obtenu par ce procede
US5704253A (en) * 1995-03-09 1998-01-06 Georgia Tech Research Corporation Trajectory guidance apparatus and method
SE508161C2 (sv) * 1995-03-30 1998-09-07 Asea Brown Boveri Förfarande och anordning för kalibrering av rörelseaxlar hos en industrirobot
US5814038A (en) * 1995-06-07 1998-09-29 Sri International Surgical manipulator for a telerobotic system
US5649956A (en) * 1995-06-07 1997-07-22 Sri International System and method for releasably holding a surgical instrument
US5592939A (en) 1995-06-14 1997-01-14 Martinelli; Michael A. Method and system for navigating a catheter probe
JPH0970780A (ja) * 1995-09-06 1997-03-18 Fanuc Ltd ロボットのツール形状補正方式
US5784542A (en) * 1995-09-07 1998-07-21 California Institute Of Technology Decoupled six degree-of-freedom teleoperated robot system
US5806518A (en) 1995-09-11 1998-09-15 Integrated Surgical Systems Method and system for positioning surgical robot
US6714841B1 (en) 1995-09-15 2004-03-30 Computer Motion, Inc. Head cursor control interface for an automated endoscope system for optimal positioning
US5825982A (en) * 1995-09-15 1998-10-20 Wright; James Head cursor control interface for an automated endoscope system for optimal positioning
CH691569A5 (de) * 1995-10-12 2001-08-31 Zeiss Carl Medizinisches Therapie- und/oder Diagnosegerät mit sterilisierbarem Positionserfassungsaufsetzteil.
US5772594A (en) * 1995-10-17 1998-06-30 Barrick; Earl F. Fluoroscopic image guided orthopaedic surgery system with intraoperative registration
US5794621A (en) * 1995-11-03 1998-08-18 Massachusetts Institute Of Technology System and method for medical imaging utilizing a robotic device, and robotic device for use in medical imaging
US5682886A (en) * 1995-12-26 1997-11-04 Musculographics Inc Computer-assisted surgical system
US6699177B1 (en) 1996-02-20 2004-03-02 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US5855583A (en) * 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US6436107B1 (en) 1996-02-20 2002-08-20 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US5769092A (en) * 1996-02-22 1998-06-23 Integrated Surgical Systems, Inc. Computer-aided system for revision total hip replacement surgery
GB9604992D0 (en) * 1996-03-08 1996-05-08 Univ Hull Surgical positioning apparatus and methods
US6167145A (en) 1996-03-29 2000-12-26 Surgical Navigation Technologies, Inc. Bone navigation system
US5954648A (en) * 1996-04-29 1999-09-21 U.S. Philips Corporation Image guided surgery system
IT1285933B1 (it) * 1996-06-07 1998-06-26 Emiliana Parchi Attrazioni Rav Dispositivo per il controllo di robot antropomorfi
US6496099B2 (en) * 1996-06-24 2002-12-17 Computer Motion, Inc. General purpose distributed operating room control system
US6911916B1 (en) * 1996-06-24 2005-06-28 The Cleveland Clinic Foundation Method and apparatus for accessing medical data over a network
US6226418B1 (en) 1997-11-07 2001-05-01 Washington University Rapid convolution based large deformation image matching via landmark and volume imagery
US6408107B1 (en) 1996-07-10 2002-06-18 Michael I. Miller Rapid convolution based large deformation image matching via landmark and volume imagery
US5800179A (en) 1996-07-23 1998-09-01 Medical Simulation Corporation System for training persons to perform minimally invasive surgical procedures
JP3841439B2 (ja) * 1996-07-24 2006-11-01 ファナック株式会社 ロボットのジョグ送り方法
US6684098B2 (en) * 1996-08-16 2004-01-27 Brigham And Women's Hospital, Inc. Versatile stereotactic device and methods of use
US6296613B1 (en) 1997-08-22 2001-10-02 Synthes (U.S.A.) 3D ultrasound recording device
US6106301A (en) * 1996-09-04 2000-08-22 Ht Medical Systems, Inc. Interventional radiology interface apparatus and method
US7815436B2 (en) 1996-09-04 2010-10-19 Immersion Corporation Surgical simulation interface device and method
US6929481B1 (en) 1996-09-04 2005-08-16 Immersion Medical, Inc. Interface device and method for interfacing instruments to medical procedure simulation systems
US5865744A (en) * 1996-09-16 1999-02-02 Lemelson; Jerome H. Method and system for delivering therapeutic agents
US7194117B2 (en) * 1999-06-29 2007-03-20 The Research Foundation Of State University Of New York System and method for performing a three-dimensional virtual examination of objects, such as internal organs
US6331116B1 (en) * 1996-09-16 2001-12-18 The Research Foundation Of State University Of New York System and method for performing a three-dimensional virtual segmentation and examination
JPH1094945A (ja) * 1996-09-19 1998-04-14 Fanuc Ltd 数値制御装置における加工リミット領域指定方法および手動加工方法
US5824085A (en) * 1996-09-30 1998-10-20 Integrated Surgical Systems, Inc. System and method for cavity generation for surgical planning and initial placement of a bone prosthesis
US5776136A (en) 1996-09-30 1998-07-07 Integrated Surgical Systems, Inc. Method and system for finish cutting bone cavities
US6142937A (en) * 1996-10-11 2000-11-07 Carl-Zeiss-Stiftung Medical therapeutic and/or diagnostic appliance with a sterilizable position sensing attachment
US5871017A (en) * 1996-10-15 1999-02-16 Mayer; Paul W. Relative motion cancelling platform for surgery
US5810716A (en) * 1996-11-15 1998-09-22 The United States Of America As Represented By The Secretary Of The Navy Articulated manipulator for minimally invasive surgery (AMMIS)
US6132441A (en) 1996-11-22 2000-10-17 Computer Motion, Inc. Rigidly-linked articulating wrist with decoupled motion transmission
US7302288B1 (en) * 1996-11-25 2007-11-27 Z-Kat, Inc. Tool position indicator
US5824007A (en) * 1996-12-03 1998-10-20 Simon Fraser University Adjustable surgical stand
US6132368A (en) * 1996-12-12 2000-10-17 Intuitive Surgical, Inc. Multi-component telepresence system and method
US6331181B1 (en) 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US7666191B2 (en) 1996-12-12 2010-02-23 Intuitive Surgical, Inc. Robotic surgical system with sterile surgical adaptor
US8182469B2 (en) 1997-11-21 2012-05-22 Intuitive Surgical Operations, Inc. Surgical accessory clamp and method
US7727244B2 (en) 1997-11-21 2010-06-01 Intuitive Surgical Operation, Inc. Sterile surgical drape
US8206406B2 (en) 1996-12-12 2012-06-26 Intuitive Surgical Operations, Inc. Disposable sterile surgical adaptor
US8529582B2 (en) 1996-12-12 2013-09-10 Intuitive Surgical Operations, Inc. Instrument interface of a robotic surgical system
US6216056B1 (en) * 1996-12-16 2001-04-10 Kabushiki Kaisha Sanyo Seiki Seisakusho Method of controlling force assisting device and control apparatus using the same
US8480754B2 (en) 2001-05-25 2013-07-09 Conformis, Inc. Patient-adapted and improved articular implants, designs and related guide tools
US7534263B2 (en) 2001-05-25 2009-05-19 Conformis, Inc. Surgical tools facilitating increased accuracy, speed and simplicity in performing joint arthroplasty
US8083745B2 (en) 2001-05-25 2011-12-27 Conformis, Inc. Surgical tools for arthroplasty
US8556983B2 (en) 2001-05-25 2013-10-15 Conformis, Inc. Patient-adapted and improved orthopedic implants, designs and related tools
US8545569B2 (en) 2001-05-25 2013-10-01 Conformis, Inc. Patient selectable knee arthroplasty devices
US7468075B2 (en) 2001-05-25 2008-12-23 Conformis, Inc. Methods and compositions for articular repair
US6122538A (en) * 1997-01-16 2000-09-19 Acuson Corporation Motion--Monitoring method and system for medical devices
WO1998032388A2 (en) * 1997-01-24 1998-07-30 Koninklijke Philips Electronics N.V. Image display system
AU6164298A (en) 1997-02-13 1998-09-08 Integrated Surgical Systems, Inc. Method and system for registering the position of a surgical system with a preoperative bone image
US5880976A (en) * 1997-02-21 1999-03-09 Carnegie Mellon University Apparatus and method for facilitating the implantation of artificial components in joints
US6205411B1 (en) 1997-02-21 2001-03-20 Carnegie Mellon University Computer-assisted surgery planner and intra-operative guidance system
US8682045B2 (en) * 1997-02-25 2014-03-25 Wake Forest University Health Sciences Virtual endoscopy with improved image segmentation and lesion detection
US6006127A (en) * 1997-02-28 1999-12-21 U.S. Philips Corporation Image-guided surgery system
JP3269005B2 (ja) * 1997-05-12 2002-03-25 川崎重工業株式会社 ロボット制御装置
US6016385A (en) * 1997-08-11 2000-01-18 Fanu America Corp Real time remotely controlled robot
US6434507B1 (en) 1997-09-05 2002-08-13 Surgical Navigation Technologies, Inc. Medical instrument and method for use with computer-assisted image guided surgery
EP2362286B1 (en) 1997-09-19 2015-09-02 Massachusetts Institute Of Technology Robotic apparatus
US20040236352A1 (en) * 1997-09-22 2004-11-25 Yulun Wang Method and apparatus for performing minimally invasive cardiac procedures
US6226548B1 (en) * 1997-09-24 2001-05-01 Surgical Navigation Technologies, Inc. Percutaneous registration apparatus and method for use in computer-assisted surgical navigation
US5951475A (en) * 1997-09-25 1999-09-14 International Business Machines Corporation Methods and apparatus for registering CT-scan data to multiple fluoroscopic images
DE19837152B4 (de) * 1997-09-26 2009-08-13 Carl Zeiss Surgical Gmbh Medizinisches Therapie- und/oder Diagnosegerät mit einer Positionserfassungseinrichtung
DE19747427C2 (de) * 1997-10-28 1999-12-09 Zeiss Carl Fa Vorrichtung zur Knochensegmentnavigation
US5935171A (en) * 1997-11-17 1999-08-10 John E. Schneider Apparatus for, and method of, detecting dislocations and material wear in hip replacements
US6021343A (en) 1997-11-20 2000-02-01 Surgical Navigation Technologies Image guided awl/tap/screwdriver
US6149592A (en) * 1997-11-26 2000-11-21 Picker International, Inc. Integrated fluoroscopic projection image data, volumetric image data, and surgical device position data
EP1239354B1 (de) * 1997-12-06 2005-03-30 Elan Schaltelemente GmbH & Co. KG Verfahren zur Überwachung einer Bremseinrichtung, insbesondere eines Handhabungsgerätes, sowie Überwachungs- und Steuergerät
US6011987A (en) * 1997-12-08 2000-01-04 The Cleveland Clinic Foundation Fiducial positioning cup
US6348058B1 (en) * 1997-12-12 2002-02-19 Surgical Navigation Technologies, Inc. Image guided spinal surgery guide, system, and method for use thereof
FI103761B (fi) 1997-12-12 1999-09-30 Planmeca Oy Lääketieteellinen kuvantamislaite
US6228089B1 (en) * 1997-12-19 2001-05-08 Depuy International Limited Device for positioning and guiding a surgical instrument during orthopaedic interventions
JP4662622B2 (ja) * 1998-01-28 2011-03-30 イマージョン メディカル，インコーポレイティド 医療処置シミュレーションシステムに器械をインタフェース接続するためのインタフェース装置及び方法
WO1999039315A2 (en) 1998-01-28 1999-08-05 Ht Medical Systems, Inc. Interface device and method for interfacing instruments to vascular access simulation systems
US6197017B1 (en) 1998-02-24 2001-03-06 Brock Rogers Surgical, Inc. Articulated apparatus for telemanipulator system
US20080177285A1 (en) * 1998-02-24 2008-07-24 Hansen Medical, Inc. Surgical instrument
US7169141B2 (en) * 1998-02-24 2007-01-30 Hansen Medical, Inc. Surgical instrument
US6692485B1 (en) 1998-02-24 2004-02-17 Endovia Medical, Inc. Articulated apparatus for telemanipulator system
US7090683B2 (en) 1998-02-24 2006-08-15 Hansen Medical, Inc. Flexible instrument
US7901399B2 (en) * 1998-02-24 2011-03-08 Hansen Medical, Inc. Interchangeable surgical instrument
US7713190B2 (en) * 1998-02-24 2010-05-11 Hansen Medical, Inc. Flexible instrument
US6860878B2 (en) * 1998-02-24 2005-03-01 Endovia Medical Inc. Interchangeable instrument
US7758569B2 (en) * 1998-02-24 2010-07-20 Hansen Medical, Inc. Interchangeable surgical instrument
US7775972B2 (en) * 1998-02-24 2010-08-17 Hansen Medical, Inc. Flexible instrument
US7789875B2 (en) * 1998-02-24 2010-09-07 Hansen Medical, Inc. Surgical instruments
US7214230B2 (en) * 1998-02-24 2007-05-08 Hansen Medical, Inc. Flexible instrument
US8303576B2 (en) * 1998-02-24 2012-11-06 Hansen Medical, Inc. Interchangeable surgical instrument
US8414598B2 (en) 1998-02-24 2013-04-09 Hansen Medical, Inc. Flexible instrument
US7297142B2 (en) * 1998-02-24 2007-11-20 Hansen Medical, Inc. Interchangeable surgical instrument
DE19820506C1 (de) * 1998-05-08 2000-01-05 Eska Implants Gmbh & Co Vorrichtung zur Präparation eines menschlichen Röhrenknochens für die Implantation eines Knochenimplantates sowie Verfahren zum Betreiben dieser Vorrichtung
EP1437100A1 (en) 1998-05-28 2004-07-14 Orthosoft Inc. Interactive user interface for a computer system to assist in surgery
FR2779339B1 (fr) * 1998-06-09 2000-10-13 Integrated Surgical Systems Sa Procede et appareil de mise en correspondance pour la chirurgie robotisee, et dispositif de mise en correspondance en comportant application
JP4132009B2 (ja) 1998-06-22 2008-08-13 アーオー テクノロジー アクチエンゲゼルシャフト フィデューシャルネジを用いたフィデューシャルマッチング
US6118845A (en) 1998-06-29 2000-09-12 Surgical Navigation Technologies, Inc. System and methods for the reduction and elimination of image artifacts in the calibration of X-ray imagers
US6212968B1 (en) * 1998-07-29 2001-04-10 Janome Sewing Machine Co., Ltd, SCARA robot
US6477400B1 (en) 1998-08-20 2002-11-05 Sofamor Danek Holdings, Inc. Fluoroscopic image guided orthopaedic surgery system with intraoperative registration
US9289153B2 (en) * 1998-09-14 2016-03-22 The Board Of Trustees Of The Leland Stanford Junior University Joint and cartilage diagnosis, assessment and modeling
US6033415A (en) * 1998-09-14 2000-03-07 Integrated Surgical Systems System and method for performing image directed robotic orthopaedic procedures without a fiducial reference system
DE19846687C2 (de) * 1998-10-09 2001-07-26 Auer Dorothee Chirurgische Hilfsvorrichtung zur Verwendung beim Ausführen von medizinischen Eingriffen und Verfahren zum Erzeugen eines Bildes im Rahmen von medizinischen Eingriffen
US6195618B1 (en) 1998-10-15 2001-02-27 Microscribe, Llc Component position verification using a probe apparatus
US6633686B1 (en) 1998-11-05 2003-10-14 Washington University Method and apparatus for image registration using large deformation diffeomorphisms on a sphere
US6665554B1 (en) 1998-11-18 2003-12-16 Steve T. Charles Medical manipulator for use with an imaging device
US6852107B2 (en) 2002-01-16 2005-02-08 Computer Motion, Inc. Minimally invasive surgical training using robotics and tele-collaboration
US8527094B2 (en) 1998-11-20 2013-09-03 Intuitive Surgical Operations, Inc. Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures
US6951535B2 (en) 2002-01-16 2005-10-04 Intuitive Surgical, Inc. Tele-medicine system that transmits an entire state of a subsystem
US6659939B2 (en) * 1998-11-20 2003-12-09 Intuitive Surgical, Inc. Cooperative minimally invasive telesurgical system
US6468265B1 (en) 1998-11-20 2002-10-22 Intuitive Surgical, Inc. Performing cardiac surgery without cardioplegia
US8600551B2 (en) * 1998-11-20 2013-12-03 Intuitive Surgical Operations, Inc. Medical robotic system with operatively couplable simulator unit for surgeon training
US6398726B1 (en) 1998-11-20 2002-06-04 Intuitive Surgical, Inc. Stabilizer for robotic beating-heart surgery
US6723106B1 (en) 1998-11-23 2004-04-20 Microdexterity Systems, Inc. Surgical manipulator
AU759501B2 (en) 1998-11-25 2003-04-17 Wake Forest University Virtual endoscopy with improved image segmentation and lesion detection
US6671317B1 (en) * 1998-11-30 2003-12-30 Sony Corporation Information processing unit, information processing method, and recording medium therewith
US6799065B1 (en) 1998-12-08 2004-09-28 Intuitive Surgical, Inc. Image shifting apparatus and method for a telerobotic system
US6493608B1 (en) * 1999-04-07 2002-12-10 Intuitive Surgical, Inc. Aspects of a control system of a minimally invasive surgical apparatus
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
US6430434B1 (en) 1998-12-14 2002-08-06 Integrated Surgical Systems, Inc. Method for determining the location and orientation of a bone for computer-assisted orthopedic procedures using intraoperatively attached markers
US6322567B1 (en) * 1998-12-14 2001-11-27 Integrated Surgical Systems, Inc. Bone motion tracking system
DE19908230A1 (de) * 1999-02-25 2000-08-31 Heidelberger Druckmasch Ag Vorrichtung zur Überwachung von sicherheitsrelevanten Vorgängen an Maschinen
DE69931074T2 (de) 1999-03-17 2006-11-16 Synthes Ag Chur Gerät zur darstellung und planung von kreuzbandersatzoperationen
US6470207B1 (en) * 1999-03-23 2002-10-22 Surgical Navigation Technologies, Inc. Navigational guidance via computer-assisted fluoroscopic imaging
DE19915062C1 (de) 1999-04-01 2001-02-08 Erbe Elektromedizin Chirurgisches Instrument
DE19915060A1 (de) * 1999-04-01 2000-11-02 Erbe Elektromedizin Chirurgisches Instrument
US10820949B2 (en) 1999-04-07 2020-11-03 Intuitive Surgical Operations, Inc. Medical robotic system with dynamically adjustable slave manipulator characteristics
US6424885B1 (en) * 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
US6491699B1 (en) * 1999-04-20 2002-12-10 Surgical Navigation Technologies, Inc. Instrument guidance method and system for image guided surgery
WO2000063719A1 (en) 1999-04-20 2000-10-26 Synthes Ag Chur Device for the percutaneous obtainment of 3d-coordinates on the surface of a human or animal organ
JP4693246B2 (ja) * 1999-05-03 2011-06-01 アーオー テクノロジー アクチエンゲゼルシャフト 重力ベクトル方向算定補助手段を有する位置検出装置
WO2000067650A1 (en) * 1999-05-07 2000-11-16 University Of Virginia Patent Foundation Method and system for fusing a spinal region
DE60029234T2 (de) 1999-05-10 2007-05-31 Hansen Medical, Inc., Mountain View Chirurgisches Instrument
US6903721B2 (en) * 1999-05-11 2005-06-07 Immersion Corporation Method and apparatus for compensating for position slip in interface devices
US6626899B2 (en) 1999-06-25 2003-09-30 Nidus Medical, Llc Apparatus and methods for treating tissue
US7477768B2 (en) * 1999-06-29 2009-01-13 The Research Foundation Of State University Of New York System and method for performing a three-dimensional virtual examination of objects, such as internal organs
US6415171B1 (en) * 1999-07-16 2002-07-02 International Business Machines Corporation System and method for fusing three-dimensional shape data on distorted images without correcting for distortion
US9208558B2 (en) * 1999-08-11 2015-12-08 Osteoplastics Llc Methods and systems for producing an implant
DE19944457C1 (de) * 1999-09-16 2001-05-17 Urs Universal Robot Systems Gm Präzisionsroboter mit paralleler Kinematik
US9517106B2 (en) 1999-09-17 2016-12-13 Intuitive Surgical Operations, Inc. Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space
US7217240B2 (en) * 1999-10-01 2007-05-15 Intuitive Surgical, Inc. Heart stabilizer
US6474341B1 (en) * 1999-10-28 2002-11-05 Surgical Navigation Technologies, Inc. Surgical communication and power system
US8644907B2 (en) * 1999-10-28 2014-02-04 Medtronic Navigaton, Inc. Method and apparatus for surgical navigation
US6747539B1 (en) 1999-10-28 2004-06-08 Michael A. Martinelli Patient-shielding and coil system
US6499488B1 (en) 1999-10-28 2002-12-31 Winchester Development Associates Surgical sensor
US6381485B1 (en) * 1999-10-28 2002-04-30 Surgical Navigation Technologies, Inc. Registration of human anatomy integrated for electromagnetic localization
US6235038B1 (en) 1999-10-28 2001-05-22 Medtronic Surgical Navigation Technologies System for translation of electromagnetic and optical localization systems
US11331150B2 (en) 1999-10-28 2022-05-17 Medtronic Navigation, Inc. Method and apparatus for surgical navigation
US8239001B2 (en) * 2003-10-17 2012-08-07 Medtronic Navigation, Inc. Method and apparatus for surgical navigation
US6493573B1 (en) 1999-10-28 2002-12-10 Winchester Development Associates Method and system for navigating a catheter probe in the presence of field-influencing objects
US6379302B1 (en) 1999-10-28 2002-04-30 Surgical Navigation Technologies Inc. Navigation information overlay onto ultrasound imagery
WO2001031466A1 (en) 1999-10-28 2001-05-03 Winchester Development Associates Coil structures and methods for generating magnetic fields
US7366562B2 (en) 2003-10-17 2008-04-29 Medtronic Navigation, Inc. Method and apparatus for surgical navigation
US7250028B2 (en) 1999-11-09 2007-07-31 Intuitive Surgical Inc Endoscopic beating-heart stabilizer and vessel occlusion fastener
DE19954005A1 (de) * 1999-11-10 2001-06-07 Volkmar Jansson System zur Steuerung von Operationsrobotern
US6702805B1 (en) 1999-11-12 2004-03-09 Microdexterity Systems, Inc. Manipulator
FI111047B (fi) 1999-12-01 2003-05-30 Instrumentarium Corp Nivelvarsijärjestely erilaisten lääketieteellisten kuvauslaitteiden liittämiseksi nivelletysti tukirakenteisiin
US7635390B1 (en) * 2000-01-14 2009-12-22 Marctec, Llc Joint replacement component having a modular articulating surface
DE10004264C2 (de) * 2000-02-01 2002-06-13 Storz Karl Gmbh & Co Kg Vorrichtung zur intrakorporalen, minimal-invasiven Behandlung eines Patienten
US20010025183A1 (en) * 2000-02-25 2001-09-27 Ramin Shahidi Methods and apparatuses for maintaining a trajectory in sterotaxi for tracking a target inside a body
WO2001064124A1 (en) * 2000-03-01 2001-09-07 Surgical Navigation Technologies, Inc. Multiple cannula image guided tool for image guided procedures
US6535756B1 (en) 2000-04-07 2003-03-18 Surgical Navigation Technologies, Inc. Trajectory storage apparatus and method for surgical navigation system
AU2001240412A1 (en) * 2000-04-10 2001-10-23 Karl Storz Gmbh & Co. Kg Medical device for positioning objects
US20050043810A1 (en) * 2000-04-26 2005-02-24 Dana Mears Method and apparatus for performing a minimally invasive total hip arthroplasty
US6676706B1 (en) 2000-04-26 2004-01-13 Zimmer Technology, Inc. Method and apparatus for performing a minimally invasive total hip arthroplasty
US6991656B2 (en) * 2000-04-26 2006-01-31 Dana Mears Method and apparatus for performing a minimally invasive total hip arthroplasty
WO2001093745A2 (en) * 2000-06-06 2001-12-13 The Research Foundation Of State University Of New York Computer aided visualization, fusion and treatment planning
US7085400B1 (en) * 2000-06-14 2006-08-01 Surgical Navigation Technologies, Inc. System and method for image based sensor calibration
US6645196B1 (en) * 2000-06-16 2003-11-11 Intuitive Surgical, Inc. Guided tool change
JP2002000745A (ja) 2000-06-16 2002-01-08 Nidek Co Ltd レーザ治療装置
US7809421B1 (en) * 2000-07-20 2010-10-05 Biosense, Inc. Medical system calibration with static metal compensation
DE10035487B4 (de) * 2000-07-21 2005-01-27 Urs Universal Robot Systems Gmbh & Co. Kg Chirurgisches Instrument zum Bearbeiten einer knöchernen Struktur
US6837892B2 (en) * 2000-07-24 2005-01-04 Mazor Surgical Technologies Ltd. Miniature bone-mounted surgical robot
US6726699B1 (en) 2000-08-15 2004-04-27 Computer Motion, Inc. Instrument guide
EP1428486B1 (en) * 2000-09-18 2006-01-18 Fuji Photo Film Co., Ltd Artificial bone template display system
DE10047698A1 (de) 2000-09-25 2002-04-11 Zeiss Carl Medizinisches Therapie- und/oder Diagnosegerät mit einer Positionserfassungseinrichtung
EP1402478A4 (en) 2000-10-02 2006-11-02 Univ New York State Res Found IMPROVED VIRTUAL NAVIGATION AND INVESTIGATION
US7892243B2 (en) * 2001-01-16 2011-02-22 Microdexterity Systems, Inc. Surgical manipulator
EP1351619A4 (en) * 2001-01-16 2011-01-05 Microdexterity Systems Inc SURGICAL MANIPULATOR
US6607487B2 (en) * 2001-01-23 2003-08-19 The Regents Of The University Of California Ultrasound image guided acetabular implant orientation during total hip replacement
US7630750B2 (en) * 2001-02-05 2009-12-08 The Research Foundation For The State University Of New York Computer aided treatment planning
CA2334495A1 (en) 2001-02-06 2002-08-06 Surgical Navigation Specialists, Inc. Computer-aided positioning method and system
US8414505B1 (en) 2001-02-15 2013-04-09 Hansen Medical, Inc. Catheter driver system
US7766894B2 (en) * 2001-02-15 2010-08-03 Hansen Medical, Inc. Coaxial catheter system
US7699835B2 (en) 2001-02-15 2010-04-20 Hansen Medical, Inc. Robotically controlled surgical instruments
US20090182226A1 (en) * 2001-02-15 2009-07-16 Barry Weitzner Catheter tracking system
US20030135204A1 (en) 2001-02-15 2003-07-17 Endo Via Medical, Inc. Robotically controlled medical instrument with a flexible section
DE10108547B4 (de) * 2001-02-22 2006-04-20 Siemens Ag Operationssystem zur Steuerung chirurgischer Instrumente auf Basis von intra-operativen Röngtenbildern
US7547307B2 (en) * 2001-02-27 2009-06-16 Smith & Nephew, Inc. Computer assisted knee arthroplasty instrumentation, systems, and processes
WO2002076302A2 (de) * 2001-03-26 2002-10-03 Lb Medical Gmbh Verfahren und gerätesystem zum materialabtrag oder zur materialbearbeitung
US20020165524A1 (en) 2001-05-01 2002-11-07 Dan Sanchez Pivot point arm for a robotic system used to perform a surgical procedure
US7202851B2 (en) * 2001-05-04 2007-04-10 Immersion Medical Inc. Haptic interface for palpation simulation
EP1383572B2 (en) * 2001-05-04 2023-06-21 Board Of Regents, The University Of Texas System Method of planning delivery of transcranial magnetic stimulation
IL143255A (en) 2001-05-20 2015-09-24 Simbionix Ltd Endoscopic ultrasonography simulation
US7162292B2 (en) * 2001-05-21 2007-01-09 Olympus Corporation Beam scanning probe system for surgery
ATE504264T1 (de) * 2001-05-25 2011-04-15 Conformis Inc Verfahren und zusammensetzungen zur reparatur der oberfläche von gelenken
US8439926B2 (en) 2001-05-25 2013-05-14 Conformis, Inc. Patient selectable joint arthroplasty devices and surgical tools
US8951260B2 (en) * 2001-05-25 2015-02-10 Conformis, Inc. Surgical cutting guide
US6636757B1 (en) * 2001-06-04 2003-10-21 Surgical Navigation Technologies, Inc. Method and apparatus for electromagnetic navigation of a surgical probe near a metal object
US20060178556A1 (en) 2001-06-29 2006-08-10 Intuitive Surgical, Inc. Articulate and swapable endoscope for a surgical robot
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
KR20030002219A (ko) * 2001-06-30 2003-01-08 한국과학기술원 고관절수술로봇을 위한 대퇴골 고정식 로봇설치대
US7056123B2 (en) * 2001-07-16 2006-06-06 Immersion Corporation Interface apparatus with cable-driven force feedback and grounded actuators
US7708741B1 (en) 2001-08-28 2010-05-04 Marctec, Llc Method of preparing bones for knee replacement surgery
FR2829016B1 (fr) 2001-09-03 2007-01-19 Bertin Virgile Claude Nahum Dispositif chirurgical de guidage d'instruments de fraisage, percage, alesage ou coupe de tissus osseux
US6728599B2 (en) * 2001-09-07 2004-04-27 Computer Motion, Inc. Modularity system for computer assisted surgery
US7324104B1 (en) 2001-09-14 2008-01-29 The Research Foundation Of State University Of New York Method of centerline generation in virtual objects
US7596256B1 (en) 2001-09-14 2009-09-29 The Research Foundation For The State University Of New York Computer assisted detection of lesions in volumetric medical images
DE10146042A1 (de) * 2001-09-18 2003-05-08 Urs Universal Robot Systems Gm Chirurgisches Instrument zum Bearbeiten einer knöchernen Struktur
JP2003144454A (ja) * 2001-11-16 2003-05-20 Yoshio Koga 関節手術支援情報算出方法、関節手術支援情報算出プログラム、及び関節手術支援情報算出システム
US6478825B1 (en) 2001-11-28 2002-11-12 Osteotech, Inc. Implant, method of making same and use of the implant for the treatment of bone defects
US6839612B2 (en) 2001-12-07 2005-01-04 Institute Surgical, Inc. Microwrist system for surgical procedures
US6793653B2 (en) 2001-12-08 2004-09-21 Computer Motion, Inc. Multifunctional handle for a medical robotic system
US7519493B2 (en) * 2002-02-14 2009-04-14 Faro Technologies, Inc. Portable coordinate measurement machine with integrated line laser scanner
US7881896B2 (en) 2002-02-14 2011-02-01 Faro Technologies, Inc. Portable coordinate measurement machine with integrated line laser scanner
US6957496B2 (en) * 2002-02-14 2005-10-25 Faro Technologies, Inc. Method for improving measurement accuracy of a portable coordinate measurement machine
US6952882B2 (en) * 2002-02-14 2005-10-11 Faro Technologies, Inc. Portable coordinate measurement machine
USD479544S1 (en) 2002-02-14 2003-09-09 Faro Technolgoies, Inc. Portable coordinate measurement machine
JP2005517909A (ja) * 2002-02-14 2005-06-16 ファロ テクノロジーズ インコーポレーテッド 多関節アームを有する可搬式座標測定器
US7246030B2 (en) * 2002-02-14 2007-07-17 Faro Technologies, Inc. Portable coordinate measurement machine with integrated line laser scanner
US7073271B2 (en) * 2002-02-14 2006-07-11 Faro Technologies Inc. Portable coordinate measurement machine
US6973734B2 (en) * 2002-02-14 2005-12-13 Faro Technologies, Inc. Method for providing sensory feedback to the operator of a portable measurement machine
USRE42082E1 (en) 2002-02-14 2011-02-01 Faro Technologies, Inc. Method and apparatus for improving measurement accuracy of a portable coordinate measurement machine
JP4217023B2 (ja) * 2002-02-25 2009-01-28 一郎 佐久間 血管内皮計測装置
US6947786B2 (en) * 2002-02-28 2005-09-20 Surgical Navigation Technologies, Inc. Method and apparatus for perspective inversion
US11202676B2 (en) 2002-03-06 2021-12-21 Mako Surgical Corp. Neural monitor-based dynamic haptics
US7831292B2 (en) * 2002-03-06 2010-11-09 Mako Surgical Corp. Guidance system and method for surgical procedures with improved feedback
US8095200B2 (en) 2002-03-06 2012-01-10 Mako Surgical Corp. System and method for using a haptic device as an input device
US8010180B2 (en) * 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
US8996169B2 (en) 2011-12-29 2015-03-31 Mako Surgical Corp. Neural monitor-based dynamic haptics
US9155544B2 (en) 2002-03-20 2015-10-13 P Tech, Llc Robotic systems and methods
US6990368B2 (en) * 2002-04-04 2006-01-24 Surgical Navigation Technologies, Inc. Method and apparatus for virtual digital subtraction angiography
US7998062B2 (en) 2004-03-29 2011-08-16 Superdimension, Ltd. Endoscope structures and techniques for navigating to a target in branched structure
AU2003247338A1 (en) * 2002-04-25 2003-11-10 The John Hopkins University Robot for computed tomography interventions
WO2003092518A1 (en) * 2002-05-02 2003-11-13 Gmp Surgical Solutions, Inc. Apparatus for positioning a medical instrument relative to a patient
US6757582B2 (en) * 2002-05-03 2004-06-29 Carnegie Mellon University Methods and systems to control a shaping tool
US8801720B2 (en) 2002-05-15 2014-08-12 Otismed Corporation Total joint arthroplasty system
US8838205B2 (en) * 2002-06-17 2014-09-16 Mazor Robotics Ltd. Robotic method for use with orthopedic inserts
US8002772B2 (en) * 2002-08-09 2011-08-23 Kinamed, Inc. Non-imaging tracking tools and method for hip replacement surgery
EP2070487B1 (en) 2002-08-13 2014-03-05 NeuroArm Surgical, Ltd. Microsurgical robot system
US20040176751A1 (en) * 2002-08-14 2004-09-09 Endovia Medical, Inc. Robotic medical instrument system
US6892090B2 (en) * 2002-08-19 2005-05-10 Surgical Navigation Technologies, Inc. Method and apparatus for virtual endoscopy
DE10239673A1 (de) * 2002-08-26 2004-03-11 Markus Schwarz Vorrichtung zur Bearbeitung von Teilen
US7259906B1 (en) 2002-09-03 2007-08-21 Cheetah Omni, Llc System and method for voice control of medical devices
US7331967B2 (en) * 2002-09-09 2008-02-19 Hansen Medical, Inc. Surgical instrument coupling mechanism
US7166114B2 (en) * 2002-09-18 2007-01-23 Stryker Leibinger Gmbh & Co Kg Method and system for calibrating a surgical tool and adapter thereof
US20040068263A1 (en) * 2002-10-04 2004-04-08 Benoit Chouinard CAS bone reference with articulated support
EP1555963A4 (en) * 2002-10-23 2008-12-31 Mako Surgical Corp MODULAR FEMORAL ELEMENT FOR REPLACING THE WHOLE KNEE JOINT BY MINIMALLY INVASIVE IMPLANTATION
ES2237245B1 (es) * 2002-11-07 2006-06-01 Universidad De Alcala Robot asistente para la realizacion de funciones de instrumentista quirurgico en el entorno de un quirofano.
US7599730B2 (en) 2002-11-19 2009-10-06 Medtronic Navigation, Inc. Navigation system for cardiac therapies
US7697972B2 (en) 2002-11-19 2010-04-13 Medtronic Navigation, Inc. Navigation system for cardiac therapies
EP1426023A1 (de) * 2002-11-22 2004-06-09 Sulzer Markets and Technology AG Verfahren, System und Computerprogrammprodukt zur Bestimmung von Implantationsparametern
SE0203567D0 (sv) 2002-12-03 2002-12-03 Mentice Ab An interventional simulator control system
US7386365B2 (en) 2004-05-04 2008-06-10 Intuitive Surgical, Inc. Tool grip calibration for robotic surgery
EP2901959B1 (en) * 2002-12-06 2019-02-06 Intuitive Surgical Operations, Inc. Flexible wrist for surgical tool
US8355773B2 (en) * 2003-01-21 2013-01-15 Aesculap Ag Recording localization device tool positional parameters
US7542791B2 (en) * 2003-01-30 2009-06-02 Medtronic Navigation, Inc. Method and apparatus for preplanning a surgical procedure
US7660623B2 (en) 2003-01-30 2010-02-09 Medtronic Navigation, Inc. Six degree of freedom alignment display for medical procedures
WO2004069036A2 (en) * 2003-02-04 2004-08-19 Z-Kat, Inc. Computer-assisted knee replacement apparatus and method
US7492930B2 (en) * 2003-02-04 2009-02-17 Aesculap Ag Method and apparatus for capturing information associated with a surgical procedure performed using a localization device
WO2004069040A2 (en) * 2003-02-04 2004-08-19 Z-Kat, Inc. Method and apparatus for computer assistance with intramedullary nail procedure
US20050267354A1 (en) * 2003-02-04 2005-12-01 Joel Marquart System and method for providing computer assistance with spinal fixation procedures
EP1468792A3 (de) * 2003-04-16 2005-04-20 VMT Bildverarbeitungssysteme GmbH Verfahren zum Kalibrieren eines Roboters
US7570791B2 (en) * 2003-04-25 2009-08-04 Medtronic Navigation, Inc. Method and apparatus for performing 2D to 3D registration
FR2854318B1 (fr) * 2003-05-02 2010-10-22 Perception Raisonnement Action Determination de la position d'un element anatomique
US9060770B2 (en) 2003-05-20 2015-06-23 Ethicon Endo-Surgery, Inc. Robotically-driven surgical instrument with E-beam driver
US20070084897A1 (en) 2003-05-20 2007-04-19 Shelton Frederick E Iv Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism
US7831295B2 (en) * 2003-06-05 2010-11-09 Aesculap Ag & Co. Kg Localization device cross check
US8007511B2 (en) * 2003-06-06 2011-08-30 Hansen Medical, Inc. Surgical instrument design
US20050020909A1 (en) * 2003-07-10 2005-01-27 Moctezuma De La Barrera Jose Luis Display device for surgery and method for using the same
US7850456B2 (en) 2003-07-15 2010-12-14 Simbionix Ltd. Surgical simulation device, system and method
GB0319257D0 (en) * 2003-08-15 2003-09-17 Finsbury Dev Ltd Surgical instruments and computer programs for use therewith
US7313430B2 (en) * 2003-08-28 2007-12-25 Medtronic Navigation, Inc. Method and apparatus for performing stereotactic surgery
JP2007519425A (ja) 2003-09-15 2007-07-19 スーパー ディメンション リミテッド 気管支鏡用アクセサリー・システム
EP2316328B1 (en) 2003-09-15 2012-05-09 Super Dimension Ltd. Wrap-around holding device for use with bronchoscopes
US6944518B2 (en) * 2003-09-18 2005-09-13 Depuy Products, Inc. Customized prosthesis and method of designing and manufacturing a customized prosthesis by utilizing computed tomography data
EP1677679A1 (en) * 2003-10-03 2006-07-12 Xoran Technologies, Inc. Ct imaging system for robotic intervention
JP3708097B2 (ja) * 2003-10-08 2005-10-19 ファナック株式会社 ロボットの手動送り装置
US7835778B2 (en) 2003-10-16 2010-11-16 Medtronic Navigation, Inc. Method and apparatus for surgical navigation of a multiple piece construct for implantation
US7840253B2 (en) * 2003-10-17 2010-11-23 Medtronic Navigation, Inc. Method and apparatus for surgical navigation
MD2395G2 (ro) * 2003-10-23 2004-09-30 Андрей ХОМА Dispozitiv pentru poziţionarea şi fixarea piciorului
US20050101970A1 (en) * 2003-11-06 2005-05-12 Rosenberg William S. Functional image-guided placement of bone screws, path optimization and orthopedic surgery
DE10353110B4 (de) * 2003-11-12 2006-02-16 Delta Engineering Gmbh Aktorplattform zur Führung von medizinischen Instrumenten bei minimal invasiven Interventionen
US7873400B2 (en) * 2003-12-10 2011-01-18 Stryker Leibinger Gmbh & Co. Kg. Adapter for surgical navigation trackers
US7771436B2 (en) * 2003-12-10 2010-08-10 Stryker Leibinger Gmbh & Co. Kg. Surgical navigation tracker, system and method
US8175683B2 (en) * 2003-12-30 2012-05-08 Depuy Products, Inc. System and method of designing and manufacturing customized instrumentation for accurate implantation of prosthesis by utilizing computed tomography data
US8337407B2 (en) * 2003-12-30 2012-12-25 Liposonix, Inc. Articulating arm for medical procedures
JP4021413B2 (ja) * 2004-01-16 2007-12-12 ファナック株式会社 計測装置
US20050267353A1 (en) * 2004-02-04 2005-12-01 Joel Marquart Computer-assisted knee replacement apparatus and method
US8758355B2 (en) * 2004-02-06 2014-06-24 Synvasive Technology, Inc. Dynamic knee balancer with pressure sensing
US8764725B2 (en) * 2004-02-09 2014-07-01 Covidien Lp Directional anchoring mechanism, method and applications thereof
CN1925808A (zh) * 2004-03-02 2007-03-07 皇家飞利浦电子股份有限公司 用于确认医学环境中几何匹配的方法、系统和计算机程序
JP4755638B2 (ja) 2004-03-05 2011-08-24 ハンセン メディカル，インク． ロボットガイドカテーテルシステム
US7976539B2 (en) * 2004-03-05 2011-07-12 Hansen Medical, Inc. System and method for denaturing and fixing collagenous tissue
US20060100610A1 (en) * 2004-03-05 2006-05-11 Wallace Daniel T Methods using a robotic catheter system
US20050203539A1 (en) * 2004-03-08 2005-09-15 Grimm James E. Navigated stemmed orthopaedic implant inserter
US20070073306A1 (en) * 2004-03-08 2007-03-29 Ryan Lakin Cutting block for surgical navigation
US7641660B2 (en) * 2004-03-08 2010-01-05 Biomet Manufacturing Corporation Method, apparatus, and system for image guided bone cutting
US9011329B2 (en) 2004-04-19 2015-04-21 Searete Llc Lumenally-active device
US20050234440A1 (en) * 2004-04-19 2005-10-20 Searete Llc, A Limited Liability Corporation Of The State Of Delaware System with a sensor for perfusion management
US20070244520A1 (en) * 2004-04-19 2007-10-18 Searete Llc Lumen-traveling biological interface device and method of use
US20070010868A1 (en) * 2004-04-19 2007-01-11 Searete Llc, A Limited Liability Corporation Of The State Of Delaware Lumenally-active device
US8361013B2 (en) 2004-04-19 2013-01-29 The Invention Science Fund I, Llc Telescoping perfusion management system
US8024036B2 (en) 2007-03-19 2011-09-20 The Invention Science Fund I, Llc Lumen-traveling biological interface device and method of use
US8337482B2 (en) * 2004-04-19 2012-12-25 The Invention Science Fund I, Llc System for perfusion management
US8092549B2 (en) 2004-09-24 2012-01-10 The Invention Science Fund I, Llc Ciliated stent-like-system
US8512219B2 (en) * 2004-04-19 2013-08-20 The Invention Science Fund I, Llc Bioelectromagnetic interface system
US8353896B2 (en) 2004-04-19 2013-01-15 The Invention Science Fund I, Llc Controllable release nasal system
US7567834B2 (en) * 2004-05-03 2009-07-28 Medtronic Navigation, Inc. Method and apparatus for implantation between two vertebral bodies
JP3946711B2 (ja) * 2004-06-02 2007-07-18 ファナック株式会社 ロボットシステム
FR2871363B1 (fr) * 2004-06-15 2006-09-01 Medtech Sa Dispositif robotise de guidage pour outil chirurgical
US11998198B2 (en) 2004-07-28 2024-06-04 Cilag Gmbh International Surgical stapling instrument incorporating a two-piece E-beam firing mechanism
US9072535B2 (en) 2011-05-27 2015-07-07 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with rotatable staple deployment arrangements
US11890012B2 (en) 2004-07-28 2024-02-06 Cilag Gmbh International Staple cartridge comprising cartridge body and attached support
US8215531B2 (en) 2004-07-28 2012-07-10 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a medical substance dispenser
DE102004042489B4 (de) * 2004-08-31 2012-03-29 Siemens Ag Medizinische Untersuchungs- oder Behandlungseinrichtung mit dazugehörigem Verfahren
SE529122C2 (sv) * 2004-09-24 2007-05-02 Jokab Safety Ab Skyddsanordning för områdesbegränsning och övervakning
US7359449B2 (en) * 2004-10-05 2008-04-15 Kamilo Feher Data communication for wired and wireless communication
US7636595B2 (en) * 2004-10-28 2009-12-22 Medtronic Navigation, Inc. Method and apparatus for calibrating non-linear instruments
DE102005001133A1 (de) * 2005-01-10 2006-07-20 Siemens Ag System bzw. Verfahren zur Positionierung von, einem zu behandelnden Patienten in dessen Umgebung zuordbaren, Geräten
US7623250B2 (en) * 2005-02-04 2009-11-24 Stryker Leibinger Gmbh & Co. Kg. Enhanced shape characterization device and method
US8075498B2 (en) * 2005-03-04 2011-12-13 Endosense Sa Medical apparatus system having optical fiber load sensing capability
US7694292B2 (en) * 2005-03-07 2010-04-06 Siemens Aktiengesellschaft System and method for reduction of wait time for software updates
US8845561B2 (en) 2005-03-08 2014-09-30 Aslam Khan Non-invasive method of spinal intervention and use of devices effective for spinal intervention
US7521847B2 (en) * 2005-03-21 2009-04-21 Artificial Muscle, Inc. High-performance electroactive polymer transducers
US20060241638A1 (en) * 2005-04-08 2006-10-26 Zimmer Technology, Inc. Anatomical landmark guide
US9943372B2 (en) 2005-04-18 2018-04-17 M.S.T. Medical Surgery Technologies Ltd. Device having a wearable interface for improving laparoscopic surgery and methods for use thereof
US8108072B2 (en) * 2007-09-30 2012-01-31 Intuitive Surgical Operations, Inc. Methods and systems for robotic instrument tool tracking with adaptive fusion of kinematics information and image information
US8073528B2 (en) * 2007-09-30 2011-12-06 Intuitive Surgical Operations, Inc. Tool tracking systems, methods and computer products for image guided surgery
US10555775B2 (en) * 2005-05-16 2020-02-11 Intuitive Surgical Operations, Inc. Methods and system for performing 3-D tool tracking by fusion of sensor and/or camera derived data during minimally invasive robotic surgery
US8147503B2 (en) * 2007-09-30 2012-04-03 Intuitive Surgical Operations Inc. Methods of locating and tracking robotic instruments in robotic surgical systems
US8398541B2 (en) * 2006-06-06 2013-03-19 Intuitive Surgical Operations, Inc. Interactive user interfaces for robotic minimally invasive surgical systems
WO2007030173A1 (en) 2005-06-06 2007-03-15 Intuitive Surgical, Inc. Laparoscopic ultrasound robotic surgical system
US11259870B2 (en) 2005-06-06 2022-03-01 Intuitive Surgical Operations, Inc. Interactive user interfaces for minimally invasive telesurgical systems
US7904182B2 (en) * 2005-06-08 2011-03-08 Brooks Automation, Inc. Scalable motion control system
US7840256B2 (en) * 2005-06-27 2010-11-23 Biomet Manufacturing Corporation Image guided tracking array and method
FR2888021A1 (fr) * 2005-06-29 2007-01-05 Zimmer France Soc Par Actions Procede assiste par ordinateur pour selectionner une strategie optimale de remplacement d'une prothese femorale, et programme d'ordinateur associe.
WO2007005976A1 (en) 2005-07-01 2007-01-11 Hansen Medical, Inc. Robotic catheter system
WO2007010330A1 (fr) * 2005-07-15 2007-01-25 Gulhivair Holding Sa Dispositif et procede de numerisation interne de l'os pour la chirurgie orthopedique et traumatologique assistee par ordinateur
EP1912590A1 (en) * 2005-07-26 2008-04-23 AMS Research Corporation Methods and systems for treatment of prolapse
WO2007014470A2 (en) * 2005-08-01 2007-02-08 Resonant Medical Inc. System and method for detecting drifts in calibrated tracking systems
US11484312B2 (en) 2005-08-31 2022-11-01 Cilag Gmbh International Staple cartridge comprising a staple driver arrangement
US7934630B2 (en) 2005-08-31 2011-05-03 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US11246590B2 (en) 2005-08-31 2022-02-15 Cilag Gmbh International Staple cartridge including staple drivers having different unfired heights
US10159482B2 (en) 2005-08-31 2018-12-25 Ethicon Llc Fastener cartridge assembly comprising a fixed anvil and different staple heights
US7669746B2 (en) 2005-08-31 2010-03-02 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US9237891B2 (en) 2005-08-31 2016-01-19 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical stapling devices that produce formed staples having different lengths
US20070073136A1 (en) * 2005-09-15 2007-03-29 Robert Metzger Bone milling with image guided surgery
US20070066917A1 (en) * 2005-09-20 2007-03-22 Hodorek Robert A Method for simulating prosthetic implant selection and placement
US7835784B2 (en) 2005-09-21 2010-11-16 Medtronic Navigation, Inc. Method and apparatus for positioning a reference frame
DE102005045362B4 (de) 2005-09-22 2012-03-22 Siemens Ag Vorrichtung zur Positionsbestimmung eines medizinischen Instruments, dazugehörige bildgebende Untersuchungseinrichtung nebst dazugehörigem Verfahren
EP1934848A2 (en) * 2005-09-29 2008-06-25 The General Hospital Corporation Medical training system for casualty simulation
US20070118055A1 (en) * 2005-11-04 2007-05-24 Smith & Nephew, Inc. Systems and methods for facilitating surgical procedures involving custom medical implants
US20070106317A1 (en) 2005-11-09 2007-05-10 Shelton Frederick E Iv Hydraulically and electrically actuated articulation joints for surgical instruments
US7498811B2 (en) * 2005-11-16 2009-03-03 Macfarlane Duncan L Apparatus and method for patient movement tracking
US7911207B2 (en) 2005-11-16 2011-03-22 Board Of Regents, The University Of Texas System Method for determining location and movement of a moving object
US7977942B2 (en) * 2005-11-16 2011-07-12 Board Of Regents, The University Of Texas System Apparatus and method for tracking movement of a target
US7519253B2 (en) 2005-11-18 2009-04-14 Omni Sciences, Inc. Broadband or mid-infrared fiber light sources
WO2007064981A2 (en) * 2005-11-30 2007-06-07 The Research Foundation Of State University Of New York Reducing false positives of polyp in cad
WO2007064980A2 (en) * 2005-11-30 2007-06-07 The Research Foundation Of State University Of New York Electronic colon cleansing method for virtual colonoscopy
US7549204B1 (en) * 2005-11-30 2009-06-23 Western Digital Technologies, Inc. Methods for picking and placing workpieces into small form factor hard disk drives
US7453227B2 (en) * 2005-12-20 2008-11-18 Intuitive Surgical, Inc. Medical robotic system with sliding mode control
US9241767B2 (en) * 2005-12-20 2016-01-26 Intuitive Surgical Operations, Inc. Method for handling an operator command exceeding a medical device state limitation in a medical robotic system
US9266239B2 (en) * 2005-12-27 2016-02-23 Intuitive Surgical Operations, Inc. Constraint based control in a minimally invasive surgical apparatus
US20070156066A1 (en) * 2006-01-03 2007-07-05 Zimmer Technology, Inc. Device for determining the shape of an anatomic surface
US9168102B2 (en) 2006-01-18 2015-10-27 Medtronic Navigation, Inc. Method and apparatus for providing a container to a sterile environment
US7845537B2 (en) 2006-01-31 2010-12-07 Ethicon Endo-Surgery, Inc. Surgical instrument having recording capabilities
US20110024477A1 (en) 2009-02-06 2011-02-03 Hall Steven G Driven Surgical Stapler Improvements
US8708213B2 (en) 2006-01-31 2014-04-29 Ethicon Endo-Surgery, Inc. Surgical instrument having a feedback system
US7753904B2 (en) 2006-01-31 2010-07-13 Ethicon Endo-Surgery, Inc. Endoscopic surgical instrument with a handle that can articulate with respect to the shaft
US8186555B2 (en) 2006-01-31 2012-05-29 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with mechanical closure system
US20110290856A1 (en) 2006-01-31 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical instrument with force-feedback capabilities
US11278279B2 (en) 2006-01-31 2022-03-22 Cilag Gmbh International Surgical instrument assembly
US11793518B2 (en) 2006-01-31 2023-10-24 Cilag Gmbh International Powered surgical instruments with firing system lockout arrangements
US8820603B2 (en) 2006-01-31 2014-09-02 Ethicon Endo-Surgery, Inc. Accessing data stored in a memory of a surgical instrument
US20120292367A1 (en) 2006-01-31 2012-11-22 Ethicon Endo-Surgery, Inc. Robotically-controlled end effector
US11224427B2 (en) 2006-01-31 2022-01-18 Cilag Gmbh International Surgical stapling system including a console and retraction assembly
US8623026B2 (en) 2006-02-06 2014-01-07 Conformis, Inc. Patient selectable joint arthroplasty devices and surgical tools incorporating anatomical relief
CN102599960B (zh) * 2006-02-06 2015-08-12 康复米斯公司 患者可选择的关节成形术装置和手术器具
CA2642615A1 (en) 2006-02-15 2007-08-30 Otismed Corp Arthroplasty jigs and related methods
US9808262B2 (en) 2006-02-15 2017-11-07 Howmedica Osteonics Corporation Arthroplasty devices and related methods
DE102006007858A1 (de) * 2006-02-17 2007-08-30 Knapp, Jürgen Michael Operations-Assistenz-System
US8603180B2 (en) 2006-02-27 2013-12-10 Biomet Manufacturing, Llc Patient-specific acetabular alignment guides
US8473305B2 (en) * 2007-04-17 2013-06-25 Biomet Manufacturing Corp. Method and apparatus for manufacturing an implant
US8282646B2 (en) * 2006-02-27 2012-10-09 Biomet Manufacturing Corp. Patient specific knee alignment guide and associated method
US8092465B2 (en) 2006-06-09 2012-01-10 Biomet Manufacturing Corp. Patient specific knee alignment guide and associated method
US8864769B2 (en) * 2006-02-27 2014-10-21 Biomet Manufacturing, Llc Alignment guides with patient-specific anchoring elements
US8241293B2 (en) 2006-02-27 2012-08-14 Biomet Manufacturing Corp. Patient specific high tibia osteotomy
US8858561B2 (en) 2006-06-09 2014-10-14 Blomet Manufacturing, LLC Patient-specific alignment guide
US8070752B2 (en) * 2006-02-27 2011-12-06 Biomet Manufacturing Corp. Patient specific alignment guide and inter-operative adjustment
US8568487B2 (en) * 2006-02-27 2013-10-29 Biomet Manufacturing, Llc Patient-specific hip joint devices
US8133234B2 (en) * 2006-02-27 2012-03-13 Biomet Manufacturing Corp. Patient specific acetabular guide and method
US8591516B2 (en) 2006-02-27 2013-11-26 Biomet Manufacturing, Llc Patient-specific orthopedic instruments
US8298237B2 (en) * 2006-06-09 2012-10-30 Biomet Manufacturing Corp. Patient-specific alignment guide for multiple incisions
US8608749B2 (en) 2006-02-27 2013-12-17 Biomet Manufacturing, Llc Patient-specific acetabular guides and associated instruments
US8407067B2 (en) 2007-04-17 2013-03-26 Biomet Manufacturing Corp. Method and apparatus for manufacturing an implant
US9907659B2 (en) 2007-04-17 2018-03-06 Biomet Manufacturing, Llc Method and apparatus for manufacturing an implant
US8535387B2 (en) 2006-02-27 2013-09-17 Biomet Manufacturing, Llc Patient-specific tools and implants
US9339278B2 (en) 2006-02-27 2016-05-17 Biomet Manufacturing, Llc Patient-specific acetabular guides and associated instruments
US9289253B2 (en) 2006-02-27 2016-03-22 Biomet Manufacturing, Llc Patient-specific shoulder guide
US9345548B2 (en) * 2006-02-27 2016-05-24 Biomet Manufacturing, Llc Patient-specific pre-operative planning
US20150335438A1 (en) 2006-02-27 2015-11-26 Biomet Manufacturing, Llc. Patient-specific augments
US20110172672A1 (en) * 2006-02-27 2011-07-14 Biomet Manufacturing Corp. Instrument with transparent portion for use with patient-specific alignment guide
US9918740B2 (en) 2006-02-27 2018-03-20 Biomet Manufacturing, Llc Backup surgical instrument system and method
US8377066B2 (en) 2006-02-27 2013-02-19 Biomet Manufacturing Corp. Patient-specific elbow guides and associated methods
US9113971B2 (en) 2006-02-27 2015-08-25 Biomet Manufacturing, Llc Femoral acetabular impingement guide
US20110190899A1 (en) * 2006-02-27 2011-08-04 Biomet Manufacturing Corp. Patient-specific augments
US8608748B2 (en) * 2006-02-27 2013-12-17 Biomet Manufacturing, Llc Patient specific guides
US7967868B2 (en) * 2007-04-17 2011-06-28 Biomet Manufacturing Corp. Patient-modified implant and associated method
US10278711B2 (en) * 2006-02-27 2019-05-07 Biomet Manufacturing, Llc Patient-specific femoral guide
US9173661B2 (en) 2006-02-27 2015-11-03 Biomet Manufacturing, Llc Patient specific alignment guide with cutting surface and laser indicator
EP2001411B1 (en) * 2006-03-17 2013-05-01 Zimmer, Inc. Methods of predetermining the contour of a resected bone surface and assessing the fit of a prosthesis on the bone
US8992422B2 (en) 2006-03-23 2015-03-31 Ethicon Endo-Surgery, Inc. Robotically-controlled endoscopic accessory channel
US20070225562A1 (en) 2006-03-23 2007-09-27 Ethicon Endo-Surgery, Inc. Articulating endoscopic accessory channel
WO2007113713A2 (en) * 2006-03-31 2007-10-11 Koninklijke Philips Electronics, N.V. Image guided surgery system
US20120035439A1 (en) 2006-04-12 2012-02-09 Bran Ferren Map-based navigation of a body tube tree by a lumen traveling device
US8145295B2 (en) 2006-04-12 2012-03-27 The Invention Science Fund I, Llc Methods and systems for untethered autofluorescent imaging, target ablation, and movement of untethered device in a lumen
JP2007286976A (ja) * 2006-04-18 2007-11-01 Fanuc Ltd ロボットシミュレーション装置
US8112292B2 (en) * 2006-04-21 2012-02-07 Medtronic Navigation, Inc. Method and apparatus for optimizing a therapy
US20070260420A1 (en) * 2006-05-03 2007-11-08 Data I/O Corporation Automated calibration system
EP1854425A1 (de) * 2006-05-11 2007-11-14 BrainLAB AG Medizintechnische Positionsbestimmung mit redundanten Positionserfassungseinrichtungen und Prioritätsgewichtung für die Positionserfassungseinrichtungen
EP1857070A1 (de) * 2006-05-18 2007-11-21 BrainLAB AG Kontaktfreie medizintechnische Registrierung mit Distanzmessung
US9724165B2 (en) 2006-05-19 2017-08-08 Mako Surgical Corp. System and method for verifying calibration of a surgical device
CA2651780C (en) * 2006-05-19 2015-03-10 Mako Surgical Corp. A method and apparatus for controlling a haptic device
US9795399B2 (en) 2006-06-09 2017-10-24 Biomet Manufacturing, Llc Patient-specific knee alignment guide and associated method
US8491603B2 (en) * 2006-06-14 2013-07-23 MacDonald Dettwiller and Associates Inc. Surgical manipulator
US8163003B2 (en) * 2006-06-16 2012-04-24 The Invention Science Fund I, Llc Active blood vessel sleeve methods and systems
US8560047B2 (en) * 2006-06-16 2013-10-15 Board Of Regents Of The University Of Nebraska Method and apparatus for computer aided surgery
US8322455B2 (en) 2006-06-27 2012-12-04 Ethicon Endo-Surgery, Inc. Manually driven surgical cutting and fastening instrument
WO2008063249A2 (en) * 2006-07-11 2008-05-29 Duke University Real-time 3-d ultrasound guidance of surgical robotics
EP1886640B1 (de) * 2006-08-08 2009-11-18 BrainLAB AG Planungsverfahren und System zur Freiform-Implantatsanpassung
JP5148092B2 (ja) * 2006-09-11 2013-02-20 オリンパスメディカルシステムズ株式会社 エネルギ手術装置
US9451928B2 (en) * 2006-09-13 2016-09-27 Elekta Ltd. Incorporating internal anatomy in clinical radiotherapy setups
US10568652B2 (en) 2006-09-29 2020-02-25 Ethicon Llc Surgical staples having attached drivers of different heights and stapling instruments for deploying the same
US8220690B2 (en) 2006-09-29 2012-07-17 Ethicon Endo-Surgery, Inc. Connected surgical staples and stapling instruments for deploying the same
US8660635B2 (en) * 2006-09-29 2014-02-25 Medtronic, Inc. Method and apparatus for optimizing a computer assisted surgical procedure
US11980366B2 (en) 2006-10-03 2024-05-14 Cilag Gmbh International Surgical instrument
EP1915963A1 (en) 2006-10-25 2008-04-30 The European Atomic Energy Community (EURATOM), represented by the European Commission Force estimation for a minimally invasive robotic surgery system
US8460302B2 (en) * 2006-12-18 2013-06-11 Otismed Corporation Arthroplasty devices and related methods
US20080163118A1 (en) * 2006-12-29 2008-07-03 Jason Wolf Representation of file relationships
GB2452103B (en) 2007-01-05 2011-08-31 Arthrocare Corp Electrosurgical system with suction control apparatus and system
US8684253B2 (en) 2007-01-10 2014-04-01 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor
US8652120B2 (en) 2007-01-10 2014-02-18 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between control unit and sensor transponders
US8840603B2 (en) 2007-01-10 2014-09-23 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between control unit and sensor transponders
US11291441B2 (en) 2007-01-10 2022-04-05 Cilag Gmbh International Surgical instrument with wireless communication between control unit and remote sensor
US11039836B2 (en) 2007-01-11 2021-06-22 Cilag Gmbh International Staple cartridge for use with a surgical stapling instrument
US20080169332A1 (en) 2007-01-11 2008-07-17 Shelton Frederick E Surgical stapling device with a curved cutting member
US8543338B2 (en) 2007-01-16 2013-09-24 Simbionix Ltd. System and method for performing computerized simulations for image-guided procedures using a patient specific model
CN101627411B (zh) 2007-01-16 2014-03-19 西姆博尼克斯有限公司 用于执行模拟的图像导引医疗过程的设备和方法
US7950306B2 (en) 2007-02-23 2011-05-31 Microdexterity Systems, Inc. Manipulator
US8590762B2 (en) 2007-03-15 2013-11-26 Ethicon Endo-Surgery, Inc. Staple cartridge cavity configurations
US8893946B2 (en) 2007-03-28 2014-11-25 Ethicon Endo-Surgery, Inc. Laparoscopic tissue thickness and clamp load measuring devices
US20100153081A1 (en) 2008-12-11 2010-06-17 Mako Surgical Corp. Implant planning for multiple implant components using constraints
CN101711127B (zh) 2007-04-19 2013-12-11 玛口外科股份有限公司 使用捕获的关节运动信息的植入规划
US8931682B2 (en) 2007-06-04 2015-01-13 Ethicon Endo-Surgery, Inc. Robotically-controlled shaft based rotary drive systems for surgical instruments
US11857181B2 (en) 2007-06-04 2024-01-02 Cilag Gmbh International Robotically-controlled shaft based rotary drive systems for surgical instruments
DE102007026114A1 (de) * 2007-06-05 2008-12-11 Siemens Ag Positioniervorrichtung und Verfahren zum Positionieren einer Last sowie medizinische Diagnostik- und/oder Therapieanlage
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
US8444631B2 (en) 2007-06-14 2013-05-21 Macdonald Dettwiler & Associates Inc Surgical manipulator
US7753245B2 (en) 2007-06-22 2010-07-13 Ethicon Endo-Surgery, Inc. Surgical stapling instruments
US11849941B2 (en) 2007-06-29 2023-12-26 Cilag Gmbh International Staple cartridge having staple cavities extending at a transverse angle relative to a longitudinal cartridge axis
US8655429B2 (en) * 2007-06-29 2014-02-18 Accuray Incorporated Robotic arm for a radiation treatment system
FR2918476B1 (fr) 2007-07-02 2012-08-03 Experts Enlargement Quality Exeq Controle de conformite de donnees.
WO2009012577A1 (en) * 2007-07-20 2009-01-29 Resonant Medical Inc. Methods and systems for compensating for changes in anatomy of radiotherapy patients
US10531858B2 (en) * 2007-07-20 2020-01-14 Elekta, LTD Methods and systems for guiding the acquisition of ultrasound images
US8135198B2 (en) * 2007-08-08 2012-03-13 Resonant Medical, Inc. Systems and methods for constructing images
US9179983B2 (en) * 2007-08-14 2015-11-10 Zimmer, Inc. Method of determining a contour of an anatomical structure and selecting an orthopaedic implant to replicate the anatomical structure
US8905920B2 (en) 2007-09-27 2014-12-09 Covidien Lp Bronchoscope adapter and method
US8265949B2 (en) 2007-09-27 2012-09-11 Depuy Products, Inc. Customized patient surgical plan
US8357111B2 (en) 2007-09-30 2013-01-22 Depuy Products, Inc. Method and system for designing patient-specific orthopaedic surgical instruments
EP2957236B1 (en) * 2007-09-30 2020-10-21 DePuy Products, Inc. Orthopaedic bone saw with integral guide
US9522046B2 (en) * 2010-08-23 2016-12-20 Gip Robotic surgery system
DE102007050232B4 (de) * 2007-10-20 2024-05-02 Deutsches Zentrum für Luft- und Raumfahrt e.V. Handhabungsroboter und Verfahren zur Steuerung eines Handhabungsroboters
US8460303B2 (en) * 2007-10-25 2013-06-11 Otismed Corporation Arthroplasty systems and devices, and related methods
USD642263S1 (en) 2007-10-25 2011-07-26 Otismed Corporation Arthroplasty jig blank
US11992271B2 (en) 2007-11-01 2024-05-28 Stephen B. Murphy Surgical system using a registration device
US8986309B1 (en) 2007-11-01 2015-03-24 Stephen B. Murphy Acetabular template component and method of using same during hip arthrosplasty
US8267938B2 (en) 2007-11-01 2012-09-18 Murphy Stephen B Method and apparatus for determining acetabular component positioning
WO2009059330A2 (en) * 2007-11-01 2009-05-07 University Of Utah Research Foundation Integrated surgical cutting system
US10335236B1 (en) * 2007-11-01 2019-07-02 Stephen B. Murphy Surgical system using a registration device
US10582934B2 (en) * 2007-11-27 2020-03-10 Howmedica Osteonics Corporation Generating MRI images usable for the creation of 3D bone models employed to make customized arthroplasty jigs
CN101896123A (zh) * 2007-12-13 2010-11-24 皇家飞利浦电子股份有限公司 具有使用响应于所采集图像数据的反馈的微调及定位控制的机器人超声系统
US20090157059A1 (en) * 2007-12-14 2009-06-18 Searete Llc, A Limited Liability Corporation Of The State Of Delaware Surgical instrument navigation system
US8311306B2 (en) 2008-04-30 2012-11-13 Otismed Corporation System and method for image segmentation in generating computer models of a joint to undergo arthroplasty
US8715291B2 (en) * 2007-12-18 2014-05-06 Otismed Corporation Arthroplasty system and related methods
US8160345B2 (en) 2008-04-30 2012-04-17 Otismed Corporation System and method for image segmentation in generating computer models of a joint to undergo arthroplasty
US8617171B2 (en) * 2007-12-18 2013-12-31 Otismed Corporation Preoperatively planning an arthroplasty procedure and generating a corresponding patient specific arthroplasty resection guide
US8480679B2 (en) 2008-04-29 2013-07-09 Otismed Corporation Generation of a computerized bone model representative of a pre-degenerated state and useable in the design and manufacture of arthroplasty devices
US8221430B2 (en) 2007-12-18 2012-07-17 Otismed Corporation System and method for manufacturing arthroplasty jigs
US8737700B2 (en) 2007-12-18 2014-05-27 Otismed Corporation Preoperatively planning an arthroplasty procedure and generating a corresponding patient specific arthroplasty resection guide
US8777875B2 (en) * 2008-07-23 2014-07-15 Otismed Corporation System and method for manufacturing arthroplasty jigs having improved mating accuracy
US8545509B2 (en) 2007-12-18 2013-10-01 Otismed Corporation Arthroplasty system and related methods
TW200930850A (en) * 2008-01-03 2009-07-16 Green Energy Technology Inc Cooling structure for body of crystal growth furnace
US8571637B2 (en) * 2008-01-21 2013-10-29 Biomet Manufacturing, Llc Patella tracking method and apparatus for use in surgical navigation
US7866527B2 (en) 2008-02-14 2011-01-11 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with interlockable firing system
US8636736B2 (en) 2008-02-14 2014-01-28 Ethicon Endo-Surgery, Inc. Motorized surgical cutting and fastening instrument
US9358063B2 (en) 2008-02-14 2016-06-07 Arthrocare Corporation Ablation performance indicator for electrosurgical devices
US8758391B2 (en) 2008-02-14 2014-06-24 Ethicon Endo-Surgery, Inc. Interchangeable tools for surgical instruments
US8573465B2 (en) 2008-02-14 2013-11-05 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical end effector system with rotary actuated closure systems
US11986183B2 (en) 2008-02-14 2024-05-21 Cilag Gmbh International Surgical cutting and fastening instrument comprising a plurality of sensors to measure an electrical parameter
US9179912B2 (en) 2008-02-14 2015-11-10 Ethicon Endo-Surgery, Inc. Robotically-controlled motorized surgical cutting and fastening instrument
US7819298B2 (en) 2008-02-14 2010-10-26 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with control features operable with one hand
JP5410110B2 (ja) 2008-02-14 2014-02-05 エシコン・エンド−サージェリィ・インコーポレイテッド Ｒｆ電極を有する外科用切断・固定器具
US11272927B2 (en) 2008-02-15 2022-03-15 Cilag Gmbh International Layer arrangements for surgical staple cartridges
US10390823B2 (en) 2008-02-15 2019-08-27 Ethicon Llc End effector comprising an adjunct
US20090209888A1 (en) * 2008-02-18 2009-08-20 Seyed Hessam Khatami Spine Wheel
US9408618B2 (en) 2008-02-29 2016-08-09 Howmedica Osteonics Corporation Total hip replacement surgical guide tool
US20090228019A1 (en) * 2008-03-10 2009-09-10 Yosef Gross Robotic surgical system
WO2009122273A2 (en) * 2008-04-03 2009-10-08 Superdimension, Ltd. Magnetic interference detection system and method
JP2011519713A (ja) 2008-05-12 2011-07-14 コンフォーミス・インコーポレイテッド 面関節および他の関節の治療のためのデバイスならびに方法
US8390291B2 (en) * 2008-05-19 2013-03-05 The Board Of Regents, The University Of Texas System Apparatus and method for tracking movement of a target
US8189738B2 (en) * 2008-06-02 2012-05-29 Elekta Ltd. Methods and systems for guiding clinical radiotherapy setups
WO2009147671A1 (en) 2008-06-03 2009-12-10 Superdimension Ltd. Feature-based registration method
US8218847B2 (en) 2008-06-06 2012-07-10 Superdimension, Ltd. Hybrid registration method
US8932207B2 (en) 2008-07-10 2015-01-13 Covidien Lp Integrated multi-functional endoscopic tool
US8617175B2 (en) * 2008-12-16 2013-12-31 Otismed Corporation Unicompartmental customized arthroplasty cutting jigs and methods of making the same
US8210411B2 (en) 2008-09-23 2012-07-03 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting instrument
US9005230B2 (en) 2008-09-23 2015-04-14 Ethicon Endo-Surgery, Inc. Motorized surgical instrument
US9386983B2 (en) 2008-09-23 2016-07-12 Ethicon Endo-Surgery, Llc Robotically-controlled motorized surgical instrument
US11648005B2 (en) 2008-09-23 2023-05-16 Cilag Gmbh International Robotically-controlled motorized surgical instrument with an end effector
US8165658B2 (en) 2008-09-26 2012-04-24 Medtronic, Inc. Method and apparatus for positioning a guide relative to a base
US8608045B2 (en) 2008-10-10 2013-12-17 Ethicon Endo-Sugery, Inc. Powered surgical cutting and stapling apparatus with manually retractable firing system
DE102008060052A1 (de) * 2008-12-02 2010-06-17 Kuka Roboter Gmbh Verfahren und Vorrichtung zur Kompensation einer kinematischen Abweichung
US8175681B2 (en) 2008-12-16 2012-05-08 Medtronic Navigation Inc. Combination of electromagnetic and electropotential localization
US8594841B2 (en) * 2008-12-31 2013-11-26 Intuitive Surgical Operations, Inc. Visual force feedback in a minimally invasive surgical procedure
US8374723B2 (en) 2008-12-31 2013-02-12 Intuitive Surgical Operations, Inc. Obtaining force information in a minimally invasive surgical procedure
US8803055B2 (en) * 2009-01-09 2014-08-12 Automated Precision Inc. Volumetric error compensation system with laser tracker and active target
US8517239B2 (en) 2009-02-05 2013-08-27 Ethicon Endo-Surgery, Inc. Surgical stapling instrument comprising a magnetic element driver
CN102341048A (zh) 2009-02-06 2012-02-01 伊西康内外科公司 动力手术缝合器的改进
US8444036B2 (en) 2009-02-06 2013-05-21 Ethicon Endo-Surgery, Inc. Motor driven surgical fastener device with mechanisms for adjusting a tissue gap within the end effector
US8170641B2 (en) * 2009-02-20 2012-05-01 Biomet Manufacturing Corp. Method of imaging an extremity of a patient
EP2400927A2 (en) 2009-02-24 2012-01-04 Mako Surgical Corp. Prosthetic device, method of planning bone removal for implantation of prosthetic device, and robotic system
EP2405865B1 (en) 2009-02-24 2019-04-17 ConforMIS, Inc. Automated systems for manufacturing patient-specific orthopedic implants and instrumentation
US8611984B2 (en) 2009-04-08 2013-12-17 Covidien Lp Locatable catheter
WO2010121147A1 (en) 2009-04-16 2010-10-21 Conformis, Inc. Patient-specific joint arthroplasty devices for ligament repair
US9254123B2 (en) 2009-04-29 2016-02-09 Hansen Medical, Inc. Flexible and steerable elongate instruments with shape control and support elements
US20100275718A1 (en) * 2009-04-29 2010-11-04 Microdexterity Systems, Inc. Manipulator
JP2012524643A (ja) * 2009-05-08 2012-10-18 ザ ジレット カンパニー パーソナルケアシステム、製品、及び方法
US7898353B2 (en) 2009-05-15 2011-03-01 Freescale Semiconductor, Inc. Clock conditioning circuit
US8918212B2 (en) * 2009-06-24 2014-12-23 Intuitive Surgical Operations, Inc. Arm with a combined shape and force sensor
US10542962B2 (en) * 2009-07-10 2020-01-28 Elekta, LTD Adaptive radiotherapy treatment using ultrasound
DE102009028503B4 (de) 2009-08-13 2013-11-14 Biomet Manufacturing Corp. Resektionsschablone zur Resektion von Knochen, Verfahren zur Herstellung einer solchen Resektionsschablone und Operationsset zur Durchführung von Kniegelenk-Operationen
US8494614B2 (en) * 2009-08-31 2013-07-23 Regents Of The University Of Minnesota Combination localization system
US8494613B2 (en) * 2009-08-31 2013-07-23 Medtronic, Inc. Combination localization system
US8372067B2 (en) 2009-12-09 2013-02-12 Arthrocare Corporation Electrosurgery irrigation primer systems and methods
US8851354B2 (en) 2009-12-24 2014-10-07 Ethicon Endo-Surgery, Inc. Surgical cutting instrument that analyzes tissue thickness
US8220688B2 (en) 2009-12-24 2012-07-17 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting instrument with electric actuator directional control assembly
EP2521505B1 (en) 2010-01-07 2017-09-06 Omni MedSci, Inc. Fiber lasers and mid-infrared light sources in methods and systems for selective biological tissue processing and spectroscopy
US20110172526A1 (en) 2010-01-12 2011-07-14 Martin Lachaine Feature Tracking Using Ultrasound
US9248316B2 (en) 2010-01-12 2016-02-02 Elekta Ltd. Feature tracking using ultrasound
WO2011088400A2 (en) 2010-01-14 2011-07-21 The Regents Of The University Of California Apparatus, system, and method for robotic microsurgery
US8632547B2 (en) 2010-02-26 2014-01-21 Biomet Sports Medicine, Llc Patient-specific osteotomy devices and methods
US9066727B2 (en) 2010-03-04 2015-06-30 Materialise Nv Patient-specific computed tomography guides
CN102933163A (zh) 2010-04-14 2013-02-13 史密夫和内修有限公司 用于基于患者的计算机辅助手术程序的系统和方法
GB201006971D0 (en) * 2010-04-26 2010-06-09 Renishaw Ireland Ltd Apparatus and method for implanting a medical device
FR2960813B1 (fr) * 2010-06-04 2013-11-22 Bertrand Lombard Dispositif robotise et procede associe
US10582834B2 (en) 2010-06-15 2020-03-10 Covidien Lp Locatable expandable working channel and method
KR101833743B1 (ko) 2010-07-28 2018-03-02 메드로보틱스 코포레이션 서지컬 포지셔닝과 서포트 시스템
US8783543B2 (en) 2010-07-30 2014-07-22 Ethicon Endo-Surgery, Inc. Tissue acquisition arrangements and methods for surgical stapling devices
US8961533B2 (en) 2010-09-17 2015-02-24 Hansen Medical, Inc. Anti-buckling mechanisms and methods
US9271744B2 (en) 2010-09-29 2016-03-01 Biomet Manufacturing, Llc Patient-specific guide for partial acetabular socket replacement
US9295464B2 (en) 2010-09-30 2016-03-29 Ethicon Endo-Surgery, Inc. Surgical stapler anvil comprising a plurality of forming pockets
US10945731B2 (en) 2010-09-30 2021-03-16 Ethicon Llc Tissue thickness compensator comprising controlled release and expansion
US9320523B2 (en) 2012-03-28 2016-04-26 Ethicon Endo-Surgery, Llc Tissue thickness compensator comprising tissue ingrowth features
EP2621356B1 (en) 2010-09-30 2018-03-07 Ethicon LLC Fastener system comprising a retention matrix and an alignment matrix
US9301753B2 (en) 2010-09-30 2016-04-05 Ethicon Endo-Surgery, Llc Expandable tissue thickness compensator
US11849952B2 (en) 2010-09-30 2023-12-26 Cilag Gmbh International Staple cartridge comprising staples positioned within a compressible portion thereof
US9566061B2 (en) 2010-09-30 2017-02-14 Ethicon Endo-Surgery, Llc Fastener cartridge comprising a releasably attached tissue thickness compensator
US9351730B2 (en) 2011-04-29 2016-05-31 Ethicon Endo-Surgery, Llc Tissue thickness compensator comprising channels
US9220501B2 (en) 2010-09-30 2015-12-29 Ethicon Endo-Surgery, Inc. Tissue thickness compensators
US9220500B2 (en) 2010-09-30 2015-12-29 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising structure to produce a resilient load
US9364233B2 (en) 2010-09-30 2016-06-14 Ethicon Endo-Surgery, Llc Tissue thickness compensators for circular surgical staplers
US11812965B2 (en) 2010-09-30 2023-11-14 Cilag Gmbh International Layer of material for a surgical end effector
US11298125B2 (en) 2010-09-30 2022-04-12 Cilag Gmbh International Tissue stapler having a thickness compensator
US9517063B2 (en) 2012-03-28 2016-12-13 Ethicon Endo-Surgery, Llc Movable member for use with a tissue thickness compensator
US9629814B2 (en) 2010-09-30 2017-04-25 Ethicon Endo-Surgery, Llc Tissue thickness compensator configured to redistribute compressive forces
US8695866B2 (en) 2010-10-01 2014-04-15 Ethicon Endo-Surgery, Inc. Surgical instrument having a power control circuit
WO2012054829A2 (en) 2010-10-22 2012-04-26 Medrobotics Corporation Highly articulated robotic probes and methods of production and use of such probes
US9649163B2 (en) 2010-11-11 2017-05-16 Medrobotics Corporation Introduction devices for highly articulated robotic probes and methods of production and use of such probes
US9968376B2 (en) 2010-11-29 2018-05-15 Biomet Manufacturing, Llc Patient-specific orthopedic instruments
US9921712B2 (en) 2010-12-29 2018-03-20 Mako Surgical Corp. System and method for providing substantially stable control of a surgical tool
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
US9131597B2 (en) * 2011-02-02 2015-09-08 Arthrocare Corporation Electrosurgical system and method for treating hard body tissue
US9125669B2 (en) * 2011-02-14 2015-09-08 Mako Surgical Corporation Haptic volumes for reaming during arthroplasty
US9241745B2 (en) 2011-03-07 2016-01-26 Biomet Manufacturing, Llc Patient-specific femoral version guide
US9308050B2 (en) * 2011-04-01 2016-04-12 Ecole Polytechnique Federale De Lausanne (Epfl) Robotic system and method for spinal and other surgeries
WO2012131658A1 (en) * 2011-04-01 2012-10-04 Ecole Polytechnique Federale De Lausanne (Epfl) Small active medical robot and passive holding structure
US8715289B2 (en) 2011-04-15 2014-05-06 Biomet Manufacturing, Llc Patient-specific numerically controlled instrument
US9675400B2 (en) 2011-04-19 2017-06-13 Biomet Manufacturing, Llc Patient-specific fracture fixation instrumentation and method
US8668700B2 (en) 2011-04-29 2014-03-11 Biomet Manufacturing, Llc Patient-specific convertible guides
AU2012250197B2 (en) 2011-04-29 2017-08-10 Ethicon Endo-Surgery, Inc. Staple cartridge comprising staples positioned within a compressible portion thereof
US8956364B2 (en) 2011-04-29 2015-02-17 Biomet Manufacturing, Llc Patient-specific partial knee guides and other instruments
US11207064B2 (en) 2011-05-27 2021-12-28 Cilag Gmbh International Automated end effector component reloading system for use with a robotic system
US8532807B2 (en) 2011-06-06 2013-09-10 Biomet Manufacturing, Llc Pre-operative planning and manufacturing method for orthopedic procedure
US9084618B2 (en) 2011-06-13 2015-07-21 Biomet Manufacturing, Llc Drill guides for confirming alignment of patient-specific alignment guides
JP6121406B2 (ja) 2011-06-16 2017-04-26 スミス アンド ネフュー インコーポレイテッド 基準を用いた外科手術アライメント
EP2723270B1 (en) 2011-06-27 2019-01-23 Board of Regents of the University of Nebraska On-board tool tracking system of computer assisted surgery
US9498231B2 (en) 2011-06-27 2016-11-22 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
US11911117B2 (en) 2011-06-27 2024-02-27 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
US8498744B2 (en) * 2011-06-30 2013-07-30 Mako Surgical Corporation Surgical robotic systems with manual and haptic and/or active control modes
US8764760B2 (en) 2011-07-01 2014-07-01 Biomet Manufacturing, Llc Patient-specific bone-cutting guidance instruments and methods
US20130001121A1 (en) 2011-07-01 2013-01-03 Biomet Manufacturing Corp. Backup kit for a patient-specific arthroplasty kit assembly
US20130030363A1 (en) 2011-07-29 2013-01-31 Hansen Medical, Inc. Systems and methods utilizing shape sensing fibers
US8597365B2 (en) 2011-08-04 2013-12-03 Biomet Manufacturing, Llc Patient-specific pelvic implants for acetabular reconstruction
US9204939B2 (en) * 2011-08-21 2015-12-08 M.S.T. Medical Surgery Technologies Ltd. Device and method for assisting laparoscopic surgery—rule based approach
US9757206B2 (en) 2011-08-21 2017-09-12 M.S.T. Medical Surgery Technologies Ltd Device and method for assisting laparoscopic surgery—rule based approach
US10866783B2 (en) * 2011-08-21 2020-12-15 Transenterix Europe S.A.R.L. Vocally activated surgical control system
US11561762B2 (en) * 2011-08-21 2023-01-24 Asensus Surgical Europe S.A.R.L. Vocally actuated surgical control system
US9295497B2 (en) 2011-08-31 2016-03-29 Biomet Manufacturing, Llc Patient-specific sacroiliac and pedicle guides
US9066734B2 (en) 2011-08-31 2015-06-30 Biomet Manufacturing, Llc Patient-specific sacroiliac guides and associated methods
CA2847182C (en) 2011-09-02 2020-02-11 Stryker Corporation Surgical instrument including a cutting accessory extending from a housing and actuators that establish the position of the cutting accessory relative to the housing
EP3321042A1 (en) 2011-09-13 2018-05-16 Medrobotics Corporation Highly articulated probes with anti-twist link arrangement
US9795282B2 (en) * 2011-09-20 2017-10-24 M.S.T. Medical Surgery Technologies Ltd Device and method for maneuvering endoscope
US9050084B2 (en) 2011-09-23 2015-06-09 Ethicon Endo-Surgery, Inc. Staple cartridge including collapsible deck arrangement
US9386993B2 (en) 2011-09-29 2016-07-12 Biomet Manufacturing, Llc Patient-specific femoroacetabular impingement instruments and methods
US9060794B2 (en) * 2011-10-18 2015-06-23 Mako Surgical Corp. System and method for robotic surgery
EP2775966B1 (en) 2011-10-24 2015-09-16 Synvasive Technology, Inc. Knee balancing systems
KR20130046337A (ko) 2011-10-27 2013-05-07 삼성전자주식회사 멀티뷰 디바이스 및 그 제어방법과, 디스플레이장치 및 그 제어방법과, 디스플레이 시스템
US9451973B2 (en) 2011-10-27 2016-09-27 Biomet Manufacturing, Llc Patient specific glenoid guide
US9301812B2 (en) 2011-10-27 2016-04-05 Biomet Manufacturing, Llc Methods for patient-specific shoulder arthroplasty
US9554910B2 (en) 2011-10-27 2017-01-31 Biomet Manufacturing, Llc Patient-specific glenoid guide and implants
ES2635542T3 (es) 2011-10-27 2017-10-04 Biomet Manufacturing, Llc Guías glenoideas específicas para el paciente
US9713499B2 (en) 2011-12-05 2017-07-25 Mazor Robotics Ltd. Active bed mount for surgical robot
JP6449018B2 (ja) 2011-12-21 2019-01-09 メドロボティクス コーポレイション アーティキュレーティングプローブを駆動する装置
US9237950B2 (en) 2012-02-02 2016-01-19 Biomet Manufacturing, Llc Implant with patient-specific porous structure
US9044230B2 (en) 2012-02-13 2015-06-02 Ethicon Endo-Surgery, Inc. Surgical cutting and fastening instrument with apparatus for determining cartridge and firing motion status
MX353040B (es) 2012-03-28 2017-12-18 Ethicon Endo Surgery Inc Unidad retenedora que incluye un compensador de grosor de tejido.
CN104334098B (zh) 2012-03-28 2017-03-22 伊西康内外科公司 包括限定低压强环境的胶囊剂的组织厚度补偿件
JP6305979B2 (ja) 2012-03-28 2018-04-04 エシコン・エンド−サージェリィ・インコーポレイテッドＥｔｈｉｃｏｎ Ｅｎｄｏ−Ｓｕｒｇｅｒｙ，Ｉｎｃ． 複数の層を含む組織厚さコンペンセーター
CN104334109B (zh) 2012-06-01 2017-06-23 直观外科手术操作公司 用于使用零空间的外科手术操纵器的命令的重新配置的系统和方法
EP2854687B1 (en) 2012-06-01 2022-08-24 Intuitive Surgical Operations, Inc. Systems for avoiding collisions between manipulator arms using a null-space
US9101358B2 (en) 2012-06-15 2015-08-11 Ethicon Endo-Surgery, Inc. Articulatable surgical instrument comprising a firing drive
WO2013192598A1 (en) * 2012-06-21 2013-12-27 Excelsius Surgical, L.L.C. Surgical robot platform
US20140005718A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Multi-functional powered surgical device with external dissection features
US9289256B2 (en) 2012-06-28 2016-03-22 Ethicon Endo-Surgery, Llc Surgical end effectors having angled tissue-contacting surfaces
BR112014032776B1 (pt) 2012-06-28 2021-09-08 Ethicon Endo-Surgery, Inc Sistema de instrumento cirúrgico e kit cirúrgico para uso com um sistema de instrumento cirúrgico
US9649111B2 (en) 2012-06-28 2017-05-16 Ethicon Endo-Surgery, Llc Replaceable clip cartridge for a clip applier
US20140001231A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Firing system lockout arrangements for surgical instruments
BR112014032740A2 (pt) 2012-06-28 2020-02-27 Ethicon Endo Surgery Inc bloqueio de cartucho de clipes vazio
US9364230B2 (en) 2012-06-28 2016-06-14 Ethicon Endo-Surgery, Llc Surgical stapling instruments with rotary joint assemblies
US11197671B2 (en) 2012-06-28 2021-12-14 Cilag Gmbh International Stapling assembly comprising a lockout
DE102012014312A1 (de) * 2012-07-19 2014-05-15 Kuka Roboter Gmbh Robotergeführte Messanordnung
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
US9820818B2 (en) 2012-08-03 2017-11-21 Stryker Corporation System and method for controlling a surgical manipulator based on implant parameters
KR102668586B1 (ko) 2012-08-03 2024-05-28 스트리커 코포레이션 로봇 수술을 위한 시스템 및 방법
US10188402B2 (en) 2012-08-09 2019-01-29 Smith & Nephew, Inc. Intraoperatively adjusting guide alignment
CA2880621A1 (en) 2012-08-09 2014-02-13 Medrobotics Corporation Surgical tool positioning systems
CN104684491B (zh) 2012-08-09 2019-02-22 史密夫和内修有限公司 患者匹配器械
JP6332899B2 (ja) 2012-08-31 2018-05-30 セイコーエプソン株式会社 ロボット
US9402637B2 (en) 2012-10-11 2016-08-02 Howmedica Osteonics Corporation Customized arthroplasty cutting guides and surgical methods using the same
JP6144351B2 (ja) 2012-11-09 2017-06-07 ブルー ベルト テクノロジーズ，インク． インプラント配置装置の誘導及び制御のためのシステム及び方法
US20140148673A1 (en) 2012-11-28 2014-05-29 Hansen Medical, Inc. Method of anchoring pullwire directly articulatable region in catheter
US9204977B2 (en) 2012-12-11 2015-12-08 Biomet Manufacturing, Llc Patient-specific acetabular guide for anterior approach
US9060788B2 (en) 2012-12-11 2015-06-23 Biomet Manufacturing, Llc Patient-specific acetabular guide for anterior approach
US9500635B2 (en) 2012-12-31 2016-11-22 Omni Medsci, Inc. Short-wave infrared super-continuum lasers for early detection of dental caries
US9993159B2 (en) 2012-12-31 2018-06-12 Omni Medsci, Inc. Near-infrared super-continuum lasers for early detection of breast and other cancers
WO2014105521A1 (en) 2012-12-31 2014-07-03 Omni Medsci, Inc. Short-wave infrared super-continuum lasers for early detection of dental caries
WO2014143276A2 (en) 2012-12-31 2014-09-18 Omni Medsci, Inc. Short-wave infrared super-continuum lasers for natural gas leak detection, exploration, and other active remote sensing applications
CA2895969A1 (en) 2012-12-31 2014-07-03 Omni Medsci, Inc. Near-infrared lasers for non-invasive monitoring of glucose, ketones, hba1c, and other blood constituents
US10660526B2 (en) 2012-12-31 2020-05-26 Omni Medsci, Inc. Near-infrared time-of-flight imaging using laser diodes with Bragg reflectors
BR112015021082B1 (pt) 2013-03-01 2022-05-10 Ethicon Endo-Surgery, Inc Instrumento cirúrgico
JP6382235B2 (ja) 2013-03-01 2018-08-29 エシコン・エンド−サージェリィ・インコーポレイテッドＥｔｈｉｃｏｎ Ｅｎｄｏ−Ｓｕｒｇｅｒｙ，Ｉｎｃ． 信号通信用の導電路を備えた関節運動可能な外科用器具
US9668814B2 (en) 2013-03-07 2017-06-06 Hansen Medical, Inc. Infinitely rotatable tool with finite rotating drive shafts
US9532840B2 (en) 2013-03-08 2017-01-03 Hansen Medical, Inc. Slider control of catheters and wires
EP2964155B1 (en) 2013-03-08 2017-11-01 Stryker Corporation Bone pads
US9839438B2 (en) 2013-03-11 2017-12-12 Biomet Manufacturing, Llc Patient-specific glenoid guide with a reusable guide holder
US9579107B2 (en) 2013-03-12 2017-02-28 Biomet Manufacturing, Llc Multi-point fit for patient specific guide
US20140261453A1 (en) * 2013-03-12 2014-09-18 Hansen Medical, Inc. Noncontact encoder for measuring catheter insertion
US9826981B2 (en) 2013-03-13 2017-11-28 Biomet Manufacturing, Llc Tangential fit of patient-specific guides
US9801678B2 (en) 2013-03-13 2017-10-31 Arthrocare Corporation Method and system of controlling conductive fluid flow during an electrosurgical procedure
US9566414B2 (en) 2013-03-13 2017-02-14 Hansen Medical, Inc. Integrated catheter and guide wire controller
US9498233B2 (en) 2013-03-13 2016-11-22 Biomet Manufacturing, Llc. Universal acetabular guide and associated hardware
KR102084534B1 (ko) * 2013-03-13 2020-03-04 씽크 써지컬, 인크. 컴퓨터 지원 로봇 수술을 위한 방법, 장치 및 시스템
CN105025835B (zh) 2013-03-13 2018-03-02 史赛克公司 用于在外科程序的准备中布置手术室中的对象的系统
US9057600B2 (en) 2013-03-13 2015-06-16 Hansen Medical, Inc. Reducing incremental measurement sensor error
KR102405127B1 (ko) * 2013-03-13 2022-06-07 씽크 써지컬, 인크 인대 재건을 위한 수술 전 계획 및 정확한 뼈 터널 배치를 위한 시스템 및 방법
US11086970B2 (en) 2013-03-13 2021-08-10 Blue Belt Technologies, Inc. Systems and methods for using generic anatomy models in surgical planning
US9545288B2 (en) 2013-03-14 2017-01-17 Think Surgical, Inc. Systems and devices for a counter balanced surgical robot
US9498601B2 (en) 2013-03-14 2016-11-22 Hansen Medical, Inc. Catheter tension sensing
US20140277334A1 (en) 2013-03-14 2014-09-18 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US9326822B2 (en) 2013-03-14 2016-05-03 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US9629629B2 (en) 2013-03-14 2017-04-25 Ethicon Endo-Surgey, LLC Control systems for surgical instruments
US10470762B2 (en) 2013-03-14 2019-11-12 Ethicon Llc Multi-function motor for a surgical instrument
KR102364736B1 (ko) 2013-03-14 2022-02-17 씽크 써지컬, 인크. 크리티컬 리전을 가지는 수술 과정을 모니터링하기 위한 시스템 및 방법
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
US9408669B2 (en) 2013-03-15 2016-08-09 Hansen Medical, Inc. Active drive mechanism with finite range of motion
US10452238B2 (en) 2013-03-15 2019-10-22 Blue Belt Technologies, Inc. Systems and methods for determining a position for placing of a joint prosthesis
US10849702B2 (en) 2013-03-15 2020-12-01 Auris Health, Inc. User input devices for controlling manipulation of guidewires and catheters
US9014851B2 (en) 2013-03-15 2015-04-21 Hansen Medical, Inc. Systems and methods for tracking robotically controlled medical instruments
US20140276936A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Active drive mechanism for simultaneous rotation and translation
US20140276394A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Input device for controlling a catheter
US9517145B2 (en) 2013-03-15 2016-12-13 Biomet Manufacturing, Llc Guide alignment system and method
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
US10376672B2 (en) 2013-03-15 2019-08-13 Auris Health, Inc. Catheter insertion system and method of fabrication
KR20160008517A (ko) * 2013-03-15 2016-01-22 씽크 써지컬, 인크. 뼈의 치유를 위한 뼈 공동 생성을 위한 프로세스
US10105149B2 (en) 2013-03-15 2018-10-23 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
US9283046B2 (en) 2013-03-15 2016-03-15 Hansen Medical, Inc. User interface for active drive apparatus with finite range of motion
US9498291B2 (en) 2013-03-15 2016-11-22 Hansen Medical, Inc. Touch-free catheter user interface controller
EP3010433A4 (en) 2013-03-15 2016-10-12 Think Surgical Inc SYSTEMS AND METHOD FOR CHECKING A COMPLETE JOINT-HARD-PLASTIC
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
US20140303631A1 (en) * 2013-04-05 2014-10-09 Thornberry Technologies, LLC Method and apparatus for determining the orientation and/or position of an object during a medical procedure
US10136887B2 (en) 2013-04-16 2018-11-27 Ethicon Llc Drive system decoupling arrangement for a surgical instrument
BR112015026109B1 (pt) 2013-04-16 2022-02-22 Ethicon Endo-Surgery, Inc Instrumento cirúrgico
DE102013207463A1 (de) * 2013-04-24 2014-10-30 Siemens Aktiengesellschaft Steuerung zur Positionierung einer Endoprothese
WO2014179683A2 (en) 2013-05-02 2014-11-06 Gabriel Johnston A robotic system including a cable interface assembly
WO2015011256A1 (en) * 2013-07-25 2015-01-29 Smith & Nephew, Inc. Method for creating a surgical resection plan for treating a pathological deformity of a bone
US20150053737A1 (en) 2013-08-23 2015-02-26 Ethicon Endo-Surgery, Inc. End effector detection systems for surgical instruments
CN106028966B (zh) 2013-08-23 2018-06-22 伊西康内外科有限责任公司 用于动力外科器械的击发构件回缩装置
US9173665B2 (en) * 2013-09-06 2015-11-03 Zimmer, Inc. Patient-specific surgical guide for intra-operative production of patient-specific augment
WO2015048215A1 (en) * 2013-09-27 2015-04-02 The Cleveland Clinic Foundation Surgical assistance using physical model of patient tissue
US9283048B2 (en) 2013-10-04 2016-03-15 KB Medical SA Apparatus and systems for precise guidance of surgical tools
US20150112349A1 (en) 2013-10-21 2015-04-23 Biomet Manufacturing, Llc Ligament Guide Registration
CA2932600C (en) 2013-12-15 2022-05-10 Mazor Robotics Ltd. Semi-rigid bone attachment robotic surgery system
CA2933354A1 (en) 2013-12-30 2015-07-09 Medrobotics Corporation Articulated robotic probes
EP3094272B1 (en) 2014-01-15 2021-04-21 KB Medical SA Notched apparatus for guidance of an insertable instrument along an axis during spinal surgery
US10039605B2 (en) 2014-02-11 2018-08-07 Globus Medical, Inc. Sterile handle for controlling a robotic surgical system from a sterile field
US9962161B2 (en) 2014-02-12 2018-05-08 Ethicon Llc Deliverable surgical instrument
JP6462004B2 (ja) 2014-02-24 2019-01-30 エシコン エルエルシー 発射部材ロックアウトを備える締結システム
US9884456B2 (en) 2014-02-24 2018-02-06 Ethicon Llc Implantable layers and methods for altering one or more properties of implantable layers for use with fastening instruments
US20150245879A1 (en) 2014-02-28 2015-09-03 Constantinos Nikou System and methods for positioning bone cut guide
EP3110344B1 (en) 2014-02-28 2020-02-19 Blue Belt Technologies, Inc. System and methods for positioning bone cut guide
US10420611B2 (en) 2014-03-05 2019-09-24 Blue Belt Technologies, Inc. Computer-aided prosthesis alignment
EP3116389B1 (en) * 2014-03-10 2021-07-14 Smith & Nephew, Inc. Method for identifying anatomical landmarks in image data
WO2015138379A1 (en) 2014-03-10 2015-09-17 Smith & Nephew, Inc. Systems and methods for evaluating accuracy in a patient model
EP3119329B1 (en) 2014-03-17 2022-07-20 Intuitive Surgical Operations, Inc. Guided setup for teleoperated medical device
JP6915989B2 (ja) 2014-03-17 2021-08-11 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 遠隔医療システムにおける事前に確立されたアーム位置を持つ自動化された構造
US9820738B2 (en) 2014-03-26 2017-11-21 Ethicon Llc Surgical instrument comprising interactive systems
BR112016021943B1 (pt) 2014-03-26 2022-06-14 Ethicon Endo-Surgery, Llc Instrumento cirúrgico para uso por um operador em um procedimento cirúrgico
US9913642B2 (en) 2014-03-26 2018-03-13 Ethicon Llc Surgical instrument comprising a sensor system
US9690362B2 (en) 2014-03-26 2017-06-27 Ethicon Llc Surgical instrument control circuit having a safety processor
US20150272580A1 (en) 2014-03-26 2015-10-01 Ethicon Endo-Surgery, Inc. Verification of number of battery exchanges/procedure count
JP6612256B2 (ja) 2014-04-16 2019-11-27 エシコン エルエルシー 不均一な締結具を備える締結具カートリッジ
JP6636452B2 (ja) 2014-04-16 2020-01-29 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ 異なる構成を有する延在部を含む締結具カートリッジ
US9877721B2 (en) 2014-04-16 2018-01-30 Ethicon Llc Fastener cartridge comprising tissue control features
US20150297223A1 (en) 2014-04-16 2015-10-22 Ethicon Endo-Surgery, Inc. Fastener cartridges including extensions having different configurations
US9801628B2 (en) 2014-09-26 2017-10-31 Ethicon Llc Surgical staple and driver arrangements for staple cartridges
BR112016023807B1 (pt) 2014-04-16 2022-07-12 Ethicon Endo-Surgery, Llc Conjunto de cartucho de prendedores para uso com um instrumento cirúrgico
US10046140B2 (en) 2014-04-21 2018-08-14 Hansen Medical, Inc. Devices, systems, and methods for controlling active drive systems
EP3134022B1 (en) 2014-04-24 2018-01-10 KB Medical SA Surgical instrument holder for use with a robotic surgical system
US10282488B2 (en) 2014-04-25 2019-05-07 Biomet Manufacturing, Llc HTO guide with optional guided ACL/PCL tunnels
US9408616B2 (en) 2014-05-12 2016-08-09 Biomet Manufacturing, Llc Humeral cut guide
US9375841B1 (en) * 2014-05-28 2016-06-28 Google Inc. Robotic devices with ambient indications of joint status
US9839436B2 (en) 2014-06-03 2017-12-12 Biomet Manufacturing, Llc Patient-specific glenoid depth control
US9561040B2 (en) 2014-06-03 2017-02-07 Biomet Manufacturing, Llc Patient-specific glenoid depth control
US10952593B2 (en) 2014-06-10 2021-03-23 Covidien Lp Bronchoscope adapter
US10045781B2 (en) 2014-06-13 2018-08-14 Ethicon Llc Closure lockout systems for surgical instruments
CN106999248B (zh) 2014-06-19 2021-04-06 Kb医疗公司 用于执行微创外科手术的系统及方法
JP6619414B2 (ja) 2014-07-07 2019-12-11 スミス アンド ネフュー インコーポレイテッド 位置決めの精度
WO2016037066A1 (en) 2014-09-04 2016-03-10 Blue Belt Technologies, Inc. Bone cement removal using real-time acoustic feedback
US9788836B2 (en) 2014-09-05 2017-10-17 Ethicon Llc Multiple motor control for powered medical device
US11311294B2 (en) 2014-09-05 2022-04-26 Cilag Gmbh International Powered medical device including measurement of closure state of jaws
BR112017004361B1 (pt) 2014-09-05 2023-04-11 Ethicon Llc Sistema eletrônico para um instrumento cirúrgico
DE102014218557B4 (de) * 2014-09-16 2023-04-27 Siemens Healthcare Gmbh Benutzerschnittstelle und Verfahren zur automatisierten Positionierung eines Patiententisches relativ zu einer medizintechnischen Anlage
US10105142B2 (en) 2014-09-18 2018-10-23 Ethicon Llc Surgical stapler with plurality of cutting elements
CN107427300B (zh) 2014-09-26 2020-12-04 伊西康有限责任公司 外科缝合支撑物和辅助材料
US11523821B2 (en) 2014-09-26 2022-12-13 Cilag Gmbh International Method for creating a flexible staple line
US9826994B2 (en) 2014-09-29 2017-11-28 Biomet Manufacturing, Llc Adjustable glenoid pin insertion guide
US9833245B2 (en) 2014-09-29 2017-12-05 Biomet Sports Medicine, Llc Tibial tubercule osteotomy
US10076325B2 (en) 2014-10-13 2018-09-18 Ethicon Llc Surgical stapling apparatus comprising a tissue stop
US9924944B2 (en) 2014-10-16 2018-03-27 Ethicon Llc Staple cartridge comprising an adjunct material
US10517594B2 (en) 2014-10-29 2019-12-31 Ethicon Llc Cartridge assemblies for surgical staplers
US11141153B2 (en) 2014-10-29 2021-10-12 Cilag Gmbh International Staple cartridges comprising driver arrangements
DE102014222293A1 (de) * 2014-10-31 2016-05-19 Siemens Aktiengesellschaft Verfahren zur automatischen Überwachung des Eindringverhaltens eines von einem Roboterarm gehaltenen Trokars und Überwachungssystem
US9844376B2 (en) 2014-11-06 2017-12-19 Ethicon Llc Staple cartridge comprising a releasable adjunct material
DE102014223701B4 (de) * 2014-11-20 2019-03-07 Siemens Healthcare Gmbh Vorgebbare Beweglichkeit für ein robotisches Gerät
DE102014224122B4 (de) * 2014-11-26 2018-10-25 Siemens Healthcare Gmbh Verfahren zum Betreiben eines robotischen Gerätes und robotisches Gerät
EP4394797A2 (en) 2014-12-01 2024-07-03 Blue Belt Technologies, Inc. Image free implant revision surgery
WO2016087539A2 (en) 2014-12-02 2016-06-09 KB Medical SA Robot assisted volume removal during surgery
US10932866B1 (en) 2014-12-08 2021-03-02 Think Surgical, Inc. Implant based planning, digitizing, and registration for total joint arthroplasty
EP3229722B1 (en) 2014-12-08 2023-03-22 Think Surgical, Inc. Implant based planning, digitizing, and registration for total joint arthroplasty
US10736636B2 (en) 2014-12-10 2020-08-11 Ethicon Llc Articulatable surgical instrument system
US10117649B2 (en) 2014-12-18 2018-11-06 Ethicon Llc Surgical instrument assembly comprising a lockable articulation system
US9943309B2 (en) 2014-12-18 2018-04-17 Ethicon Llc Surgical instruments with articulatable end effectors and movable firing beam support arrangements
US9987000B2 (en) 2014-12-18 2018-06-05 Ethicon Llc Surgical instrument assembly comprising a flexible articulation system
BR112017012996B1 (pt) 2014-12-18 2022-11-08 Ethicon Llc Instrumento cirúrgico com uma bigorna que é seletivamente móvel sobre um eixo geométrico imóvel distinto em relação a um cartucho de grampos
US9844375B2 (en) 2014-12-18 2017-12-19 Ethicon Llc Drive arrangements for articulatable surgical instruments
US10085748B2 (en) 2014-12-18 2018-10-02 Ethicon Llc Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors
US10188385B2 (en) 2014-12-18 2019-01-29 Ethicon Llc Surgical instrument system comprising lockable systems
US9844374B2 (en) 2014-12-18 2017-12-19 Ethicon Llc Surgical instrument systems comprising an articulatable end effector and means for adjusting the firing stroke of a firing member
DE102014226899A1 (de) * 2014-12-23 2016-06-23 Siemens Healthcare Gmbh Verfahren zum Betreiben eines medizinisch-robotischen Geräts und ein medizinisch-robotisches Gerät
US9739674B2 (en) * 2015-01-09 2017-08-22 Stryker Corporation Isolated force/torque sensor assembly for force controlled robot
US10045826B2 (en) * 2015-01-20 2018-08-14 Mako Surgical Corporation Systems and methods for repairing bone with multiple tools
GB2534558B (en) * 2015-01-21 2020-12-30 Cmr Surgical Ltd Robot tool retraction
US10247545B2 (en) 2015-02-13 2019-04-02 Think Surgical, Inc. Laser gauge for robotic calibration and monitoring
WO2016131903A1 (en) 2015-02-18 2016-08-25 KB Medical SA Systems and methods for performing minimally invasive spinal surgery with a robotic surgical system using a percutaneous technique
US9993258B2 (en) 2015-02-27 2018-06-12 Ethicon Llc Adaptable surgical instrument handle
US10180463B2 (en) 2015-02-27 2019-01-15 Ethicon Llc Surgical apparatus configured to assess whether a performance parameter of the surgical apparatus is within an acceptable performance band
US10159483B2 (en) 2015-02-27 2018-12-25 Ethicon Llc Surgical apparatus configured to track an end-of-life parameter
US11154301B2 (en) 2015-02-27 2021-10-26 Cilag Gmbh International Modular stapling assembly
US10687806B2 (en) 2015-03-06 2020-06-23 Ethicon Llc Adaptive tissue compression techniques to adjust closure rates for multiple tissue types
JP2020121162A (ja) 2015-03-06 2020-08-13 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ 測定の安定性要素、クリープ要素、及び粘弾性要素を決定するためのセンサデータの時間依存性評価
US9901342B2 (en) 2015-03-06 2018-02-27 Ethicon Endo-Surgery, Llc Signal and power communication system positioned on a rotatable shaft
US10245033B2 (en) 2015-03-06 2019-04-02 Ethicon Llc Surgical instrument comprising a lockable battery housing
US9993248B2 (en) 2015-03-06 2018-06-12 Ethicon Endo-Surgery, Llc Smart sensors with local signal processing
US10617412B2 (en) 2015-03-06 2020-04-14 Ethicon Llc System for detecting the mis-insertion of a staple cartridge into a surgical stapler
US10045776B2 (en) 2015-03-06 2018-08-14 Ethicon Llc Control techniques and sub-processor contained within modular shaft with select control processing from handle
US9895148B2 (en) 2015-03-06 2018-02-20 Ethicon Endo-Surgery, Llc Monitoring speed control and precision incrementing of motor for powered surgical instruments
US9808246B2 (en) 2015-03-06 2017-11-07 Ethicon Endo-Surgery, Llc Method of operating a powered surgical instrument
US9924961B2 (en) 2015-03-06 2018-03-27 Ethicon Endo-Surgery, Llc Interactive feedback system for powered surgical instruments
US10052044B2 (en) 2015-03-06 2018-08-21 Ethicon Llc Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures
US10441279B2 (en) 2015-03-06 2019-10-15 Ethicon Llc Multiple level thresholds to modify operation of powered surgical instruments
US9820868B2 (en) 2015-03-30 2017-11-21 Biomet Manufacturing, Llc Method and apparatus for a pin apparatus
US10433844B2 (en) 2015-03-31 2019-10-08 Ethicon Llc Surgical instrument with selectively disengageable threaded drive systems
DE102015206511B4 (de) * 2015-04-13 2023-10-19 Siemens Healthcare Gmbh Ermittlung einer eindeutigen räumlichen Relation eines medizinischen Geräts zu einem weiteren Objekt
FR3036279B1 (fr) * 2015-05-21 2017-06-23 Medtech Sa Robot d'assistance neurochirurgicale
US10426555B2 (en) 2015-06-03 2019-10-01 Covidien Lp Medical instrument with sensor for use in a system and method for electromagnetic navigation
KR102371053B1 (ko) * 2015-06-04 2022-03-10 큐렉소 주식회사 수술로봇 시스템
GB201509887D0 (en) * 2015-06-08 2015-07-22 Univ Strathclyde Remote operations system
US10052102B2 (en) 2015-06-18 2018-08-21 Ethicon Llc Surgical end effectors with dual cam actuated jaw closing features
US10568647B2 (en) 2015-06-25 2020-02-25 Biomet Manufacturing, Llc Patient-specific humeral guide designs
US10226262B2 (en) 2015-06-25 2019-03-12 Biomet Manufacturing, Llc Patient-specific humeral guide designs
US10117713B2 (en) 2015-07-01 2018-11-06 Mako Surgical Corp. Robotic systems and methods for controlling a tool removing material from a workpiece
KR101656488B1 (ko) * 2015-07-08 2016-09-09 연세대학교 산학협력단 정위적 방사선 치료장치의 충돌방지 시스템
US11058425B2 (en) 2015-08-17 2021-07-13 Ethicon Llc Implantable layers for a surgical instrument
US10166026B2 (en) 2015-08-26 2019-01-01 Ethicon Llc Staple cartridge assembly including features for controlling the rotation of staples when being ejected therefrom
WO2017037127A1 (en) 2015-08-31 2017-03-09 KB Medical SA Robotic surgical systems and methods
US10034716B2 (en) 2015-09-14 2018-07-31 Globus Medical, Inc. Surgical robotic systems and methods thereof
US10350766B2 (en) * 2015-09-21 2019-07-16 GM Global Technology Operations LLC Extended-reach assist device for performing assembly tasks
US10076326B2 (en) 2015-09-23 2018-09-18 Ethicon Llc Surgical stapler having current mirror-based motor control
US10363036B2 (en) 2015-09-23 2019-07-30 Ethicon Llc Surgical stapler having force-based motor control
US10238386B2 (en) 2015-09-23 2019-03-26 Ethicon Llc Surgical stapler having motor control based on an electrical parameter related to a motor current
US10105139B2 (en) 2015-09-23 2018-10-23 Ethicon Llc Surgical stapler having downstream current-based motor control
US10327769B2 (en) 2015-09-23 2019-06-25 Ethicon Llc Surgical stapler having motor control based on a drive system component
US10085751B2 (en) 2015-09-23 2018-10-02 Ethicon Llc Surgical stapler having temperature-based motor control
US10299878B2 (en) 2015-09-25 2019-05-28 Ethicon Llc Implantable adjunct systems for determining adjunct skew
US10736633B2 (en) 2015-09-30 2020-08-11 Ethicon Llc Compressible adjunct with looping members
US11890015B2 (en) 2015-09-30 2024-02-06 Cilag Gmbh International Compressible adjunct with crossing spacer fibers
US10327777B2 (en) 2015-09-30 2019-06-25 Ethicon Llc Implantable layer comprising plastically deformed fibers
US10980539B2 (en) 2015-09-30 2021-04-20 Ethicon Llc Implantable adjunct comprising bonded layers
US10058393B2 (en) 2015-10-21 2018-08-28 P Tech, Llc Systems and methods for navigation and visualization
US9962134B2 (en) 2015-10-28 2018-05-08 Medtronic Navigation, Inc. Apparatus and method for maintaining image quality while minimizing X-ray dosage of a patient
US10905496B2 (en) 2015-11-16 2021-02-02 Think Surgical, Inc. Method for confirming registration of tracked bones
WO2017091380A1 (en) 2015-11-24 2017-06-01 Think Surgical, Inc. Active robotic pin placement in total knee arthroplasty
US12082893B2 (en) 2015-11-24 2024-09-10 Think Surgical, Inc. Robotic pin placement
US10265068B2 (en) 2015-12-30 2019-04-23 Ethicon Llc Surgical instruments with separable motors and motor control circuits
US10368865B2 (en) 2015-12-30 2019-08-06 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US10292704B2 (en) 2015-12-30 2019-05-21 Ethicon Llc Mechanisms for compensating for battery pack failure in powered surgical instruments
US11213293B2 (en) 2016-02-09 2022-01-04 Cilag Gmbh International Articulatable surgical instruments with single articulation link arrangements
BR112018016098B1 (pt) 2016-02-09 2023-02-23 Ethicon Llc Instrumento cirúrgico
US10653413B2 (en) 2016-02-09 2020-05-19 Ethicon Llc Surgical instruments with an end effector that is highly articulatable relative to an elongate shaft assembly
US10258331B2 (en) 2016-02-12 2019-04-16 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US11224426B2 (en) 2016-02-12 2022-01-18 Cilag Gmbh International Mechanisms for compensating for drivetrain failure in powered surgical instruments
US10448948B2 (en) 2016-02-12 2019-10-22 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
CN112370159A (zh) 2016-02-26 2021-02-19 思想外科有限公司 用于指导用户定位机器人的系统
WO2017151751A1 (en) 2016-03-02 2017-09-08 Think Surgical, Inc. Method for recovering a registration of a bone
JP2017176307A (ja) * 2016-03-29 2017-10-05 ソニー株式会社 医療用支持アームの制御装置、医療用支持アーム装置の制御方法及び医療用システム
US10413297B2 (en) 2016-04-01 2019-09-17 Ethicon Llc Surgical stapling system configured to apply annular rows of staples having different heights
US10617413B2 (en) 2016-04-01 2020-04-14 Ethicon Llc Closure system arrangements for surgical cutting and stapling devices with separate and distinct firing shafts
US20190117321A1 (en) * 2016-04-06 2019-04-25 Think Surgical, Inc. Robotic system with end-effector overhang control
US10357247B2 (en) 2016-04-15 2019-07-23 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US11179150B2 (en) 2016-04-15 2021-11-23 Cilag Gmbh International Systems and methods for controlling a surgical stapling and cutting instrument
US10335145B2 (en) 2016-04-15 2019-07-02 Ethicon Llc Modular surgical instrument with configurable operating mode
US10405859B2 (en) 2016-04-15 2019-09-10 Ethicon Llc Surgical instrument with adjustable stop/start control during a firing motion
US10426467B2 (en) 2016-04-15 2019-10-01 Ethicon Llc Surgical instrument with detection sensors
US10492783B2 (en) 2016-04-15 2019-12-03 Ethicon, Llc Surgical instrument with improved stop/start control during a firing motion
US10456137B2 (en) 2016-04-15 2019-10-29 Ethicon Llc Staple formation detection mechanisms
US11607239B2 (en) 2016-04-15 2023-03-21 Cilag Gmbh International Systems and methods for controlling a surgical stapling and cutting instrument
US10828028B2 (en) 2016-04-15 2020-11-10 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US10368867B2 (en) 2016-04-18 2019-08-06 Ethicon Llc Surgical instrument comprising a lockout
US20170296173A1 (en) 2016-04-18 2017-10-19 Ethicon Endo-Surgery, Llc Method for operating a surgical instrument
US11317917B2 (en) 2016-04-18 2022-05-03 Cilag Gmbh International Surgical stapling system comprising a lockable firing assembly
US10478254B2 (en) 2016-05-16 2019-11-19 Covidien Lp System and method to access lung tissue
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
EP3508157B1 (en) * 2016-08-31 2024-03-20 Beijing Surgerii Robotics Company Limited System for detecting a running state failure of a surgical robot
KR102546565B1 (ko) 2016-10-14 2023-06-23 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술 기기용 프리로드 장력을 가하는 시스템 및 관련 방법
US10722311B2 (en) 2016-10-28 2020-07-28 Covidien Lp System and method for identifying a location and/or an orientation of an electromagnetic sensor based on a map
US10517505B2 (en) 2016-10-28 2019-12-31 Covidien Lp Systems, methods, and computer-readable media for optimizing an electromagnetic navigation system
US10446931B2 (en) 2016-10-28 2019-10-15 Covidien Lp Electromagnetic navigation antenna assembly and electromagnetic navigation system including the same
US9717607B1 (en) 2016-10-28 2017-08-01 International Business Machines Corporation Augmented control of robotic prosthesis by a cognitive system
US10638952B2 (en) 2016-10-28 2020-05-05 Covidien Lp Methods, systems, and computer-readable media for calibrating an electromagnetic navigation system
US10792106B2 (en) 2016-10-28 2020-10-06 Covidien Lp System for calibrating an electromagnetic navigation system
US10751126B2 (en) 2016-10-28 2020-08-25 Covidien Lp System and method for generating a map for electromagnetic navigation
US10615500B2 (en) 2016-10-28 2020-04-07 Covidien Lp System and method for designing electromagnetic navigation antenna assemblies
US10418705B2 (en) 2016-10-28 2019-09-17 Covidien Lp Electromagnetic navigation antenna assembly and electromagnetic navigation system including the same
US11633233B2 (en) 2016-12-08 2023-04-25 Orthotaxy S.A.S. Surgical system for cutting an anatomical structure according to at least one target cutting plane
AU2017372744B2 (en) 2016-12-08 2020-03-26 Orthotaxy Surgical system for cutting an anatomical structure according to at least one target plane
WO2018104439A1 (en) 2016-12-08 2018-06-14 Orthotaxy Surgical system for cutting an anatomical structure according to at least one target plane
EP3554414A1 (en) 2016-12-16 2019-10-23 MAKO Surgical Corp. Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site
DE102016225613A1 (de) * 2016-12-20 2018-06-21 Kuka Roboter Gmbh Verfahren zum Kalibrieren eines Manipulators eines diagnostischen und/oder therapeutischen Manipulatorsystems
US10959727B2 (en) 2016-12-21 2021-03-30 Ethicon Llc Articulatable surgical end effector with asymmetric shaft arrangement
US20180168615A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Method of deforming staples from two different types of staple cartridges with the same surgical stapling instrument
JP2020501779A (ja) 2016-12-21 2020-01-23 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ 外科用ステープル留めシステム
CN110099619B (zh) 2016-12-21 2022-07-15 爱惜康有限责任公司 用于外科端部执行器和可替换工具组件的闭锁装置
US10898186B2 (en) 2016-12-21 2021-01-26 Ethicon Llc Staple forming pocket arrangements comprising primary sidewalls and pocket sidewalls
JP7010956B2 (ja) 2016-12-21 2022-01-26 エシコン エルエルシー 組織をステープル留めする方法
US10667811B2 (en) 2016-12-21 2020-06-02 Ethicon Llc Surgical stapling instruments and staple-forming anvils
US10588631B2 (en) 2016-12-21 2020-03-17 Ethicon Llc Surgical instruments with positive jaw opening features
US10973516B2 (en) 2016-12-21 2021-04-13 Ethicon Llc Surgical end effectors and adaptable firing members therefor
US11179155B2 (en) 2016-12-21 2021-11-23 Cilag Gmbh International Anvil arrangements for surgical staplers
US10881401B2 (en) 2016-12-21 2021-01-05 Ethicon Llc Staple firing member comprising a missing cartridge and/or spent cartridge lockout
US10779823B2 (en) 2016-12-21 2020-09-22 Ethicon Llc Firing member pin angle
US20180168608A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Surgical instrument system comprising an end effector lockout and a firing assembly lockout
US11419606B2 (en) 2016-12-21 2022-08-23 Cilag Gmbh International Shaft assembly comprising a clutch configured to adapt the output of a rotary firing member to two different systems
MX2019007295A (es) 2016-12-21 2019-10-15 Ethicon Llc Sistema de instrumento quirúrgico que comprende un bloqueo del efector de extremo y un bloqueo de la unidad de disparo.
US10537325B2 (en) 2016-12-21 2020-01-21 Ethicon Llc Staple forming pocket arrangement to accommodate different types of staples
US10675025B2 (en) 2016-12-21 2020-06-09 Ethicon Llc Shaft assembly comprising separately actuatable and retractable systems
US20180168625A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Surgical stapling instruments with smart staple cartridges
US11134942B2 (en) 2016-12-21 2021-10-05 Cilag Gmbh International Surgical stapling instruments and staple-forming anvils
US10426471B2 (en) 2016-12-21 2019-10-01 Ethicon Llc Surgical instrument with multiple failure response modes
US10772685B2 (en) 2017-01-16 2020-09-15 Think Surgical, Inc. System and method for bone re-registration and marker installation
US10831509B2 (en) 2017-02-23 2020-11-10 Ab Initio Technology Llc Dynamic execution of parameterized applications for the processing of keyed network data streams
US11947978B2 (en) 2017-02-23 2024-04-02 Ab Initio Technology Llc Dynamic execution of parameterized applications for the processing of keyed network data streams
US10722310B2 (en) 2017-03-13 2020-07-28 Zimmer Biomet CMF and Thoracic, LLC Virtual surgery planning system and method
US10779820B2 (en) 2017-06-20 2020-09-22 Ethicon Llc Systems and methods for controlling motor speed according to user input for a surgical instrument
USD879809S1 (en) 2017-06-20 2020-03-31 Ethicon Llc Display panel with changeable graphical user interface
US10307170B2 (en) 2017-06-20 2019-06-04 Ethicon Llc Method for closed loop control of motor velocity of a surgical stapling and cutting instrument
USD890784S1 (en) 2017-06-20 2020-07-21 Ethicon Llc Display panel with changeable graphical user interface
US10368864B2 (en) 2017-06-20 2019-08-06 Ethicon Llc Systems and methods for controlling displaying motor velocity for a surgical instrument
US10327767B2 (en) 2017-06-20 2019-06-25 Ethicon Llc Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation
US11653914B2 (en) 2017-06-20 2023-05-23 Cilag Gmbh International Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument according to articulation angle of end effector
US11382638B2 (en) 2017-06-20 2022-07-12 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified displacement distance
US10813639B2 (en) 2017-06-20 2020-10-27 Ethicon Llc Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on system conditions
US10624633B2 (en) 2017-06-20 2020-04-21 Ethicon Llc Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument
US11517325B2 (en) 2017-06-20 2022-12-06 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured displacement distance traveled over a specified time interval
US10980537B2 (en) 2017-06-20 2021-04-20 Ethicon Llc Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified number of shaft rotations
USD879808S1 (en) 2017-06-20 2020-03-31 Ethicon Llc Display panel with graphical user interface
US11071554B2 (en) 2017-06-20 2021-07-27 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on magnitude of velocity error measurements
US10390841B2 (en) 2017-06-20 2019-08-27 Ethicon Llc Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation
US10646220B2 (en) 2017-06-20 2020-05-12 Ethicon Llc Systems and methods for controlling displacement member velocity for a surgical instrument
US10888321B2 (en) 2017-06-20 2021-01-12 Ethicon Llc Systems and methods for controlling velocity of a displacement member of a surgical stapling and cutting instrument
US10881399B2 (en) 2017-06-20 2021-01-05 Ethicon Llc Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument
US10881396B2 (en) 2017-06-20 2021-01-05 Ethicon Llc Surgical instrument with variable duration trigger arrangement
US11090046B2 (en) 2017-06-20 2021-08-17 Cilag Gmbh International Systems and methods for controlling displacement member motion of a surgical stapling and cutting instrument
US11266405B2 (en) 2017-06-27 2022-03-08 Cilag Gmbh International Surgical anvil manufacturing methods
US10993716B2 (en) 2017-06-27 2021-05-04 Ethicon Llc Surgical anvil arrangements
US10772629B2 (en) 2017-06-27 2020-09-15 Ethicon Llc Surgical anvil arrangements
US10856869B2 (en) 2017-06-27 2020-12-08 Ethicon Llc Surgical anvil arrangements
US10631859B2 (en) 2017-06-27 2020-04-28 Ethicon Llc Articulation systems for surgical instruments
US11324503B2 (en) 2017-06-27 2022-05-10 Cilag Gmbh International Surgical firing member arrangements
USD906355S1 (en) 2017-06-28 2020-12-29 Ethicon Llc Display screen or portion thereof with a graphical user interface for a surgical instrument
US10211586B2 (en) 2017-06-28 2019-02-19 Ethicon Llc Surgical shaft assemblies with watertight housings
US11246592B2 (en) 2017-06-28 2022-02-15 Cilag Gmbh International Surgical instrument comprising an articulation system lockable to a frame
EP4070740A1 (en) 2017-06-28 2022-10-12 Cilag GmbH International Surgical instrument comprising selectively actuatable rotatable couplers
US10765427B2 (en) 2017-06-28 2020-09-08 Ethicon Llc Method for articulating a surgical instrument
US10903685B2 (en) 2017-06-28 2021-01-26 Ethicon Llc Surgical shaft assemblies with slip ring assemblies forming capacitive channels
US11564686B2 (en) 2017-06-28 2023-01-31 Cilag Gmbh International Surgical shaft assemblies with flexible interfaces
USD854151S1 (en) 2017-06-28 2019-07-16 Ethicon Llc Surgical instrument shaft
USD869655S1 (en) 2017-06-28 2019-12-10 Ethicon Llc Surgical fastener cartridge
US10639037B2 (en) 2017-06-28 2020-05-05 Ethicon Llc Surgical instrument with axially movable closure member
USD851762S1 (en) 2017-06-28 2019-06-18 Ethicon Llc Anvil
US11000279B2 (en) 2017-06-28 2021-05-11 Ethicon Llc Surgical instrument comprising an articulation system ratio
US10716614B2 (en) 2017-06-28 2020-07-21 Ethicon Llc Surgical shaft assemblies with slip ring assemblies with increased contact pressure
US11259805B2 (en) 2017-06-28 2022-03-01 Cilag Gmbh International Surgical instrument comprising firing member supports
US10398434B2 (en) 2017-06-29 2019-09-03 Ethicon Llc Closed loop velocity control of closure member for robotic surgical instrument
US11007022B2 (en) 2017-06-29 2021-05-18 Ethicon Llc Closed loop velocity control techniques based on sensed tissue parameters for robotic surgical instrument
US10898183B2 (en) 2017-06-29 2021-01-26 Ethicon Llc Robotic surgical instrument with closed loop feedback techniques for advancement of closure member during firing
US10258418B2 (en) 2017-06-29 2019-04-16 Ethicon Llc System for controlling articulation forces
US10932772B2 (en) 2017-06-29 2021-03-02 Ethicon Llc Methods for closed loop velocity control for robotic surgical instrument
US11944300B2 (en) 2017-08-03 2024-04-02 Cilag Gmbh International Method for operating a surgical system bailout
US11974742B2 (en) 2017-08-03 2024-05-07 Cilag Gmbh International Surgical system comprising an articulation bailout
US11471155B2 (en) 2017-08-03 2022-10-18 Cilag Gmbh International Surgical system bailout
US11304695B2 (en) 2017-08-03 2022-04-19 Cilag Gmbh International Surgical system shaft interconnection
US11426507B2 (en) 2017-08-21 2022-08-30 RELIGN Corporation Arthroscopic devices and methods
US11027432B2 (en) 2017-09-06 2021-06-08 Stryker Corporation Techniques for controlling position of an end effector of a robotic device relative to a virtual constraint
USD907647S1 (en) 2017-09-29 2021-01-12 Ethicon Llc Display screen or portion thereof with animated graphical user interface
US11399829B2 (en) 2017-09-29 2022-08-02 Cilag Gmbh International Systems and methods of initiating a power shutdown mode for a surgical instrument
US10796471B2 (en) 2017-09-29 2020-10-06 Ethicon Llc Systems and methods of displaying a knife position for a surgical instrument
US10743872B2 (en) 2017-09-29 2020-08-18 Ethicon Llc System and methods for controlling a display of a surgical instrument
USD907648S1 (en) 2017-09-29 2021-01-12 Ethicon Llc Display screen or portion thereof with animated graphical user interface
US10765429B2 (en) 2017-09-29 2020-09-08 Ethicon Llc Systems and methods for providing alerts according to the operational state of a surgical instrument
USD917500S1 (en) 2017-09-29 2021-04-27 Ethicon Llc Display screen or portion thereof with graphical user interface
US10729501B2 (en) 2017-09-29 2020-08-04 Ethicon Llc Systems and methods for language selection of a surgical instrument
US11090075B2 (en) 2017-10-30 2021-08-17 Cilag Gmbh International Articulation features for surgical end effector
US11134944B2 (en) 2017-10-30 2021-10-05 Cilag Gmbh International Surgical stapler knife motion controls
US11219489B2 (en) 2017-10-31 2022-01-11 Covidien Lp Devices and systems for providing sensors in parallel with medical tools
US10779903B2 (en) 2017-10-31 2020-09-22 Ethicon Llc Positive shaft rotation lock activated by jaw closure
US10842490B2 (en) 2017-10-31 2020-11-24 Ethicon Llc Cartridge body design with force reduction based on firing completion
US12064184B2 (en) * 2017-11-30 2024-08-20 Think Surgical, Inc. System and method for installing bone hardware outside an end-effectors tool path
US11006955B2 (en) 2017-12-15 2021-05-18 Ethicon Llc End effectors with positive jaw opening features for use with adapters for electromechanical surgical instruments
US10779826B2 (en) 2017-12-15 2020-09-22 Ethicon Llc Methods of operating surgical end effectors
US10828033B2 (en) 2017-12-15 2020-11-10 Ethicon Llc Handheld electromechanical surgical instruments with improved motor control arrangements for positioning components of an adapter coupled thereto
US10687813B2 (en) 2017-12-15 2020-06-23 Ethicon Llc Adapters with firing stroke sensing arrangements for use in connection with electromechanical surgical instruments
US11071543B2 (en) 2017-12-15 2021-07-27 Cilag Gmbh International Surgical end effectors with clamping assemblies configured to increase jaw aperture ranges
US10869666B2 (en) 2017-12-15 2020-12-22 Ethicon Llc Adapters with control systems for controlling multiple motors of an electromechanical surgical instrument
US10743875B2 (en) 2017-12-15 2020-08-18 Ethicon Llc Surgical end effectors with jaw stiffener arrangements configured to permit monitoring of firing member
US10966718B2 (en) 2017-12-15 2021-04-06 Ethicon Llc Dynamic clamping assemblies with improved wear characteristics for use in connection with electromechanical surgical instruments
US10743874B2 (en) 2017-12-15 2020-08-18 Ethicon Llc Sealed adapters for use with electromechanical surgical instruments
US11197670B2 (en) 2017-12-15 2021-12-14 Cilag Gmbh International Surgical end effectors with pivotal jaws configured to touch at their respective distal ends when fully closed
US10779825B2 (en) 2017-12-15 2020-09-22 Ethicon Llc Adapters with end effector position sensing and control arrangements for use in connection with electromechanical surgical instruments
US11033267B2 (en) 2017-12-15 2021-06-15 Ethicon Llc Systems and methods of controlling a clamping member firing rate of a surgical instrument
USD910847S1 (en) 2017-12-19 2021-02-16 Ethicon Llc Surgical instrument assembly
US11020112B2 (en) 2017-12-19 2021-06-01 Ethicon Llc Surgical tools configured for interchangeable use with different controller interfaces
US10716565B2 (en) 2017-12-19 2020-07-21 Ethicon Llc Surgical instruments with dual articulation drivers
US10729509B2 (en) 2017-12-19 2020-08-04 Ethicon Llc Surgical instrument comprising closure and firing locking mechanism
US11045270B2 (en) 2017-12-19 2021-06-29 Cilag Gmbh International Robotic attachment comprising exterior drive actuator
US10835330B2 (en) 2017-12-19 2020-11-17 Ethicon Llc Method for determining the position of a rotatable jaw of a surgical instrument attachment assembly
US11076853B2 (en) 2017-12-21 2021-08-03 Cilag Gmbh International Systems and methods of displaying a knife position during transection for a surgical instrument
US11129680B2 (en) 2017-12-21 2021-09-28 Cilag Gmbh International Surgical instrument comprising a projector
US11311290B2 (en) 2017-12-21 2022-04-26 Cilag Gmbh International Surgical instrument comprising an end effector dampener
US11179151B2 (en) 2017-12-21 2021-11-23 Cilag Gmbh International Surgical instrument comprising a display
USD874655S1 (en) 2018-01-05 2020-02-04 Medrobotics Corporation Positioning arm for articulating robotic surgical system
US11154369B2 (en) 2018-01-24 2021-10-26 Think Surgical, Inc. Environmental mapping for robotic assisted surgery
WO2019163906A1 (ja) * 2018-02-21 2019-08-29 オリンパス株式会社 医療システムおよび医療システムの作動方法
US11191594B2 (en) * 2018-05-25 2021-12-07 Mako Surgical Corp. Versatile tracking arrays for a navigation system and methods of recovering registration using the same
US11090094B2 (en) 2018-06-01 2021-08-17 Ehsan JAZINI System and method for facilitating osteotomy of the pelvic
US11690496B2 (en) 2018-06-06 2023-07-04 Intuitive Surgical Operations, Inc. Systems and methods for high-speed data transmission across an electrical isolation barrier
US11690495B2 (en) 2018-06-06 2023-07-04 Intuitive Surgical Operations, Inc. Systems and methods for high-speed data transmission across an electrical isolation barrier
US11051829B2 (en) 2018-06-26 2021-07-06 DePuy Synthes Products, Inc. Customized patient-specific orthopaedic surgical instrument
US11745354B2 (en) 2018-08-16 2023-09-05 Mitutoyo Corporation Supplementary metrology position coordinates determination system including an alignment sensor for use with a robot
US11002529B2 (en) * 2018-08-16 2021-05-11 Mitutoyo Corporation Robot system with supplementary metrology position determination system
US11039834B2 (en) 2018-08-20 2021-06-22 Cilag Gmbh International Surgical stapler anvils with staple directing protrusions and tissue stability features
US10842492B2 (en) 2018-08-20 2020-11-24 Ethicon Llc Powered articulatable surgical instruments with clutching and locking arrangements for linking an articulation drive system to a firing drive system
US11045192B2 (en) 2018-08-20 2021-06-29 Cilag Gmbh International Fabricating techniques for surgical stapler anvils
US11253256B2 (en) 2018-08-20 2022-02-22 Cilag Gmbh International Articulatable motor powered surgical instruments with dedicated articulation motor arrangements
US11291440B2 (en) 2018-08-20 2022-04-05 Cilag Gmbh International Method for operating a powered articulatable surgical instrument
USD914878S1 (en) 2018-08-20 2021-03-30 Ethicon Llc Surgical instrument anvil
US11324501B2 (en) 2018-08-20 2022-05-10 Cilag Gmbh International Surgical stapling devices with improved closure members
US10779821B2 (en) 2018-08-20 2020-09-22 Ethicon Llc Surgical stapler anvils with tissue stop features configured to avoid tissue pinch
US10856870B2 (en) 2018-08-20 2020-12-08 Ethicon Llc Switching arrangements for motor powered articulatable surgical instruments
US11207065B2 (en) 2018-08-20 2021-12-28 Cilag Gmbh International Method for fabricating surgical stapler anvils
US10912559B2 (en) 2018-08-20 2021-02-09 Ethicon Llc Reinforced deformable anvil tip for surgical stapler anvil
US11083458B2 (en) 2018-08-20 2021-08-10 Cilag Gmbh International Powered surgical instruments with clutching arrangements to convert linear drive motions to rotary drive motions
US12127793B2 (en) 2019-02-05 2024-10-29 Smith & Nephew, Inc. Algorithm-based optimization, tool and selectable simulation data for total hip arthroplasty
AU2020241316B2 (en) * 2019-03-15 2024-10-10 Mako Surgical Corp. Robotic surgical system and methods utilizing a cutting bur for bone penetration and cannulation
US11147553B2 (en) 2019-03-25 2021-10-19 Cilag Gmbh International Firing drive arrangements for surgical systems
US11696761B2 (en) 2019-03-25 2023-07-11 Cilag Gmbh International Firing drive arrangements for surgical systems
US11147551B2 (en) 2019-03-25 2021-10-19 Cilag Gmbh International Firing drive arrangements for surgical systems
US11172929B2 (en) 2019-03-25 2021-11-16 Cilag Gmbh International Articulation drive arrangements for surgical systems
US10576636B1 (en) * 2019-04-12 2020-03-03 Mujin, Inc. Method and control system for and updating camera calibration for robot control
CN109998682B (zh) * 2019-04-28 2020-08-18 北京天智航医疗科技股份有限公司 探针装置、精度检测方法、精度检测系统及定位系统
US11648009B2 (en) 2019-04-30 2023-05-16 Cilag Gmbh International Rotatable jaw tip for a surgical instrument
US11903581B2 (en) 2019-04-30 2024-02-20 Cilag Gmbh International Methods for stapling tissue using a surgical instrument
US11253254B2 (en) 2019-04-30 2022-02-22 Cilag Gmbh International Shaft rotation actuator on a surgical instrument
US11452528B2 (en) 2019-04-30 2022-09-27 Cilag Gmbh International Articulation actuators for a surgical instrument
US11426251B2 (en) 2019-04-30 2022-08-30 Cilag Gmbh International Articulation directional lights on a surgical instrument
US11471157B2 (en) 2019-04-30 2022-10-18 Cilag Gmbh International Articulation control mapping for a surgical instrument
US11432816B2 (en) 2019-04-30 2022-09-06 Cilag Gmbh International Articulation pin for a surgical instrument
US11439411B2 (en) 2019-05-24 2022-09-13 Think Surgical, Inc. System and method to improve surgical cutting in the presence of surgical debris
US20220338886A1 (en) 2019-06-19 2022-10-27 Think Surgical, Inc. System and method to position a tracking system field-of-view
US11986246B2 (en) * 2019-06-25 2024-05-21 Think Surgical, Inc. Method to determine bone placement in a robot workspace
US11426167B2 (en) 2019-06-28 2022-08-30 Cilag Gmbh International Mechanisms for proper anvil attachment surgical stapling head assembly
US11684434B2 (en) 2019-06-28 2023-06-27 Cilag Gmbh International Surgical RFID assemblies for instrument operational setting control
US11638587B2 (en) 2019-06-28 2023-05-02 Cilag Gmbh International RFID identification systems for surgical instruments
US11246678B2 (en) 2019-06-28 2022-02-15 Cilag Gmbh International Surgical stapling system having a frangible RFID tag
US11051807B2 (en) 2019-06-28 2021-07-06 Cilag Gmbh International Packaging assembly including a particulate trap
US11478241B2 (en) 2019-06-28 2022-10-25 Cilag Gmbh International Staple cartridge including projections
US11523822B2 (en) 2019-06-28 2022-12-13 Cilag Gmbh International Battery pack including a circuit interrupter
US11224497B2 (en) 2019-06-28 2022-01-18 Cilag Gmbh International Surgical systems with multiple RFID tags
US12004740B2 (en) 2019-06-28 2024-06-11 Cilag Gmbh International Surgical stapling system having an information decryption protocol
US11627959B2 (en) 2019-06-28 2023-04-18 Cilag Gmbh International Surgical instruments including manual and powered system lockouts
US11464601B2 (en) 2019-06-28 2022-10-11 Cilag Gmbh International Surgical instrument comprising an RFID system for tracking a movable component
US11298132B2 (en) 2019-06-28 2022-04-12 Cilag GmbH Inlernational Staple cartridge including a honeycomb extension
US11553971B2 (en) 2019-06-28 2023-01-17 Cilag Gmbh International Surgical RFID assemblies for display and communication
US11376098B2 (en) 2019-06-28 2022-07-05 Cilag Gmbh International Surgical instrument system comprising an RFID system
US11291451B2 (en) 2019-06-28 2022-04-05 Cilag Gmbh International Surgical instrument with battery compatibility verification functionality
US11259803B2 (en) 2019-06-28 2022-03-01 Cilag Gmbh International Surgical stapling system having an information encryption protocol
US11497492B2 (en) 2019-06-28 2022-11-15 Cilag Gmbh International Surgical instrument including an articulation lock
US11660163B2 (en) 2019-06-28 2023-05-30 Cilag Gmbh International Surgical system with RFID tags for updating motor assembly parameters
US11298127B2 (en) 2019-06-28 2022-04-12 Cilag GmbH Interational Surgical stapling system having a lockout mechanism for an incompatible cartridge
US11771419B2 (en) 2019-06-28 2023-10-03 Cilag Gmbh International Packaging for a replaceable component of a surgical stapling system
US11219455B2 (en) 2019-06-28 2022-01-11 Cilag Gmbh International Surgical instrument including a lockout key
US11241235B2 (en) 2019-06-28 2022-02-08 Cilag Gmbh International Method of using multiple RFID chips with a surgical assembly
US11399837B2 (en) 2019-06-28 2022-08-02 Cilag Gmbh International Mechanisms for motor control adjustments of a motorized surgical instrument
US12089902B2 (en) 2019-07-30 2024-09-17 Coviden Lp Cone beam and 3D fluoroscope lung navigation
EP3815643A1 (en) 2019-10-29 2021-05-05 Think Surgical, Inc. Two degree of freedom system
JP7415447B2 (ja) * 2019-10-31 2024-01-17 セイコーエプソン株式会社 ロボットシステム
US11529139B2 (en) 2019-12-19 2022-12-20 Cilag Gmbh International Motor driven surgical instrument
US11291447B2 (en) 2019-12-19 2022-04-05 Cilag Gmbh International Stapling instrument comprising independent jaw closing and staple firing systems
US11234698B2 (en) 2019-12-19 2022-02-01 Cilag Gmbh International Stapling system comprising a clamp lockout and a firing lockout
US11504122B2 (en) 2019-12-19 2022-11-22 Cilag Gmbh International Surgical instrument comprising a nested firing member
US11844520B2 (en) 2019-12-19 2023-12-19 Cilag Gmbh International Staple cartridge comprising driver retention members
US11576672B2 (en) 2019-12-19 2023-02-14 Cilag Gmbh International Surgical instrument comprising a closure system including a closure member and an opening member driven by a drive screw
US11464512B2 (en) 2019-12-19 2022-10-11 Cilag Gmbh International Staple cartridge comprising a curved deck surface
US11931033B2 (en) 2019-12-19 2024-03-19 Cilag Gmbh International Staple cartridge comprising a latch lockout
US11529137B2 (en) 2019-12-19 2022-12-20 Cilag Gmbh International Staple cartridge comprising driver retention members
US11446029B2 (en) 2019-12-19 2022-09-20 Cilag Gmbh International Staple cartridge comprising projections extending from a curved deck surface
US11911032B2 (en) 2019-12-19 2024-02-27 Cilag Gmbh International Staple cartridge comprising a seating cam
US11607219B2 (en) 2019-12-19 2023-03-21 Cilag Gmbh International Staple cartridge comprising a detachable tissue cutting knife
US11304696B2 (en) 2019-12-19 2022-04-19 Cilag Gmbh International Surgical instrument comprising a powered articulation system
US12035913B2 (en) 2019-12-19 2024-07-16 Cilag Gmbh International Staple cartridge comprising a deployable knife
US11701111B2 (en) 2019-12-19 2023-07-18 Cilag Gmbh International Method for operating a surgical stapling instrument
US11559304B2 (en) 2019-12-19 2023-01-24 Cilag Gmbh International Surgical instrument comprising a rapid closure mechanism
JP2023511272A (ja) 2020-01-13 2023-03-17 ストライカー・コーポレイション ナビゲーション支援手術中にオフセットをモニタするシステム及び方法
CN111340876A (zh) * 2020-02-21 2020-06-26 京东方科技集团股份有限公司 用于膝关节置换的处理方法、装置、存储介质和电子设备
DE102020001954B4 (de) 2020-03-18 2023-06-22 Franka Emika Gmbh Vorrichtung und Verfahren zur Erfassung eines medizinischen Status einer Person
USD967421S1 (en) 2020-06-02 2022-10-18 Cilag Gmbh International Staple cartridge
USD974560S1 (en) 2020-06-02 2023-01-03 Cilag Gmbh International Staple cartridge
USD975278S1 (en) 2020-06-02 2023-01-10 Cilag Gmbh International Staple cartridge
USD976401S1 (en) 2020-06-02 2023-01-24 Cilag Gmbh International Staple cartridge
USD975851S1 (en) 2020-06-02 2023-01-17 Cilag Gmbh International Staple cartridge
USD975850S1 (en) 2020-06-02 2023-01-17 Cilag Gmbh International Staple cartridge
USD966512S1 (en) 2020-06-02 2022-10-11 Cilag Gmbh International Staple cartridge
US11660090B2 (en) 2020-07-28 2023-05-30 Cllag GmbH International Surgical instruments with segmented flexible drive arrangements
US12053175B2 (en) 2020-10-29 2024-08-06 Cilag Gmbh International Surgical instrument comprising a stowed closure actuator stop
US11717289B2 (en) 2020-10-29 2023-08-08 Cilag Gmbh International Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable
US11517390B2 (en) 2020-10-29 2022-12-06 Cilag Gmbh International Surgical instrument comprising a limited travel switch
USD980425S1 (en) 2020-10-29 2023-03-07 Cilag Gmbh International Surgical instrument assembly
US11534259B2 (en) 2020-10-29 2022-12-27 Cilag Gmbh International Surgical instrument comprising an articulation indicator
US11452526B2 (en) 2020-10-29 2022-09-27 Cilag Gmbh International Surgical instrument comprising a staged voltage regulation start-up system
US11896217B2 (en) 2020-10-29 2024-02-13 Cilag Gmbh International Surgical instrument comprising an articulation lock
US11617577B2 (en) 2020-10-29 2023-04-04 Cilag Gmbh International Surgical instrument comprising a sensor configured to sense whether an articulation drive of the surgical instrument is actuatable
US11931025B2 (en) 2020-10-29 2024-03-19 Cilag Gmbh International Surgical instrument comprising a releasable closure drive lock
US11844518B2 (en) 2020-10-29 2023-12-19 Cilag Gmbh International Method for operating a surgical instrument
USD1013170S1 (en) 2020-10-29 2024-01-30 Cilag Gmbh International Surgical instrument assembly
US11779330B2 (en) 2020-10-29 2023-10-10 Cilag Gmbh International Surgical instrument comprising a jaw alignment system
US11849943B2 (en) 2020-12-02 2023-12-26 Cilag Gmbh International Surgical instrument with cartridge release mechanisms
US11944296B2 (en) 2020-12-02 2024-04-02 Cilag Gmbh International Powered surgical instruments with external connectors
US11744581B2 (en) 2020-12-02 2023-09-05 Cilag Gmbh International Powered surgical instruments with multi-phase tissue treatment
US11678882B2 (en) 2020-12-02 2023-06-20 Cilag Gmbh International Surgical instruments with interactive features to remedy incidental sled movements
US11737751B2 (en) 2020-12-02 2023-08-29 Cilag Gmbh International Devices and methods of managing energy dissipated within sterile barriers of surgical instrument housings
US11627960B2 (en) 2020-12-02 2023-04-18 Cilag Gmbh International Powered surgical instruments with smart reload with separately attachable exteriorly mounted wiring connections
US11890010B2 (en) 2020-12-02 2024-02-06 Cllag GmbH International Dual-sided reinforced reload for surgical instruments
US11653915B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Surgical instruments with sled location detection and adjustment features
US11653920B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Powered surgical instruments with communication interfaces through sterile barrier
US11696757B2 (en) 2021-02-26 2023-07-11 Cilag Gmbh International Monitoring of internal systems to detect and track cartridge motion status
US11749877B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Stapling instrument comprising a signal antenna
US11950779B2 (en) 2021-02-26 2024-04-09 Cilag Gmbh International Method of powering and communicating with a staple cartridge
US11701113B2 (en) 2021-02-26 2023-07-18 Cilag Gmbh International Stapling instrument comprising a separate power antenna and a data transfer antenna
US11730473B2 (en) 2021-02-26 2023-08-22 Cilag Gmbh International Monitoring of manufacturing life-cycle
US11950777B2 (en) 2021-02-26 2024-04-09 Cilag Gmbh International Staple cartridge comprising an information access control system
US11812964B2 (en) 2021-02-26 2023-11-14 Cilag Gmbh International Staple cartridge comprising a power management circuit
US11980362B2 (en) 2021-02-26 2024-05-14 Cilag Gmbh International Surgical instrument system comprising a power transfer coil
US11925349B2 (en) 2021-02-26 2024-03-12 Cilag Gmbh International Adjustment to transfer parameters to improve available power
US11744583B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Distal communication array to tune frequency of RF systems
US11751869B2 (en) 2021-02-26 2023-09-12 Cilag Gmbh International Monitoring of multiple sensors over time to detect moving characteristics of tissue
US11723657B2 (en) 2021-02-26 2023-08-15 Cilag Gmbh International Adjustable communication based on available bandwidth and power capacity
US11793514B2 (en) 2021-02-26 2023-10-24 Cilag Gmbh International Staple cartridge comprising sensor array which may be embedded in cartridge body
US12108951B2 (en) 2021-02-26 2024-10-08 Cilag Gmbh International Staple cartridge comprising a sensing array and a temperature control system
US11723658B2 (en) 2021-03-22 2023-08-15 Cilag Gmbh International Staple cartridge comprising a firing lockout
US11717291B2 (en) 2021-03-22 2023-08-08 Cilag Gmbh International Staple cartridge comprising staples configured to apply different tissue compression
US11737749B2 (en) 2021-03-22 2023-08-29 Cilag Gmbh International Surgical stapling instrument comprising a retraction system
US11826012B2 (en) 2021-03-22 2023-11-28 Cilag Gmbh International Stapling instrument comprising a pulsed motor-driven firing rack
US11759202B2 (en) 2021-03-22 2023-09-19 Cilag Gmbh International Staple cartridge comprising an implantable layer
US11826042B2 (en) 2021-03-22 2023-11-28 Cilag Gmbh International Surgical instrument comprising a firing drive including a selectable leverage mechanism
US11806011B2 (en) 2021-03-22 2023-11-07 Cilag Gmbh International Stapling instrument comprising tissue compression systems
US11786239B2 (en) 2021-03-24 2023-10-17 Cilag Gmbh International Surgical instrument articulation joint arrangements comprising multiple moving linkage features
US11849944B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Drivers for fastener cartridge assemblies having rotary drive screws
US12102323B2 (en) 2021-03-24 2024-10-01 Cilag Gmbh International Rotary-driven surgical stapling assembly comprising a floatable component
US11896218B2 (en) 2021-03-24 2024-02-13 Cilag Gmbh International Method of using a powered stapling device
US11786243B2 (en) 2021-03-24 2023-10-17 Cilag Gmbh International Firing members having flexible portions for adapting to a load during a surgical firing stroke
US11896219B2 (en) 2021-03-24 2024-02-13 Cilag Gmbh International Mating features between drivers and underside of a cartridge deck
US11849945B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Rotary-driven surgical stapling assembly comprising eccentrically driven firing member
US11944336B2 (en) 2021-03-24 2024-04-02 Cilag Gmbh International Joint arrangements for multi-planar alignment and support of operational drive shafts in articulatable surgical instruments
US11857183B2 (en) 2021-03-24 2024-01-02 Cilag Gmbh International Stapling assembly components having metal substrates and plastic bodies
US11832816B2 (en) 2021-03-24 2023-12-05 Cilag Gmbh International Surgical stapling assembly comprising nonplanar staples and planar staples
US11793516B2 (en) 2021-03-24 2023-10-24 Cilag Gmbh International Surgical staple cartridge comprising longitudinal support beam
US11744603B2 (en) 2021-03-24 2023-09-05 Cilag Gmbh International Multi-axis pivot joints for surgical instruments and methods for manufacturing same
US11903582B2 (en) 2021-03-24 2024-02-20 Cilag Gmbh International Leveraging surfaces for cartridge installation
US20220378425A1 (en) 2021-05-28 2022-12-01 Cilag Gmbh International Stapling instrument comprising a control system that controls a firing stroke length
US11877745B2 (en) 2021-10-18 2024-01-23 Cilag Gmbh International Surgical stapling assembly having longitudinally-repeating staple leg clusters
US11980363B2 (en) 2021-10-18 2024-05-14 Cilag Gmbh International Row-to-row staple array variations
US11957337B2 (en) 2021-10-18 2024-04-16 Cilag Gmbh International Surgical stapling assembly with offset ramped drive surfaces
US12089841B2 (en) 2021-10-28 2024-09-17 Cilag CmbH International Staple cartridge identification systems
US11937816B2 (en) 2021-10-28 2024-03-26 Cilag Gmbh International Electrical lead arrangements for surgical instruments
WO2024173736A1 (en) 2023-02-17 2024-08-22 Think Surgical, Inc. Determining a position for an implant relative to a bone based on bone remodeling data

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57177738A (en) * 1981-02-12 1982-11-01 Niyuuyooku Univ Orientation type operation apparatus
JPS63137615U (ja) * 1987-02-28 1988-09-09
JPS63240851A (ja) * 1987-03-30 1988-10-06 株式会社東芝 手術用３次元ビューアーシステム
JPH01236046A (ja) * 1988-03-17 1989-09-20 Kenichirou Sugita 頭部手術支援装置及び手術部位指示装置

Family Cites Families (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4150326A (en) * 1977-09-19 1979-04-17 Unimation, Inc. Trajectory correlation and error detection method and apparatus
US4485453A (en) * 1982-03-29 1984-11-27 International Business Machines Corporation Device and method for determining the location and orientation of a drillhole
DE3213434C1 (de) * 1982-04-10 1983-10-27 Günther Dr.med. 7400 Tübingen Aldinger Verfahren zur Herstellung individuell gestalteter Endoprothesen oder Implantate
DE3371487D1 (en) * 1982-12-28 1987-06-19 Diffracto Ltd Apparatus and method for robot calibration
JPS59157715A (ja) * 1983-02-25 1984-09-07 Hitachi Ltd ロボツトの直接教示方法
US4506393A (en) * 1983-03-29 1985-03-26 Murphy Stephen B Method of prosthesis design
US4618978A (en) * 1983-10-21 1986-10-21 Cosman Eric R Means for localizing target coordinates in a body relative to a guidance system reference frame in any arbitrary plane as viewed by a tomographic image through the body
JPS60231208A (ja) * 1984-05-01 1985-11-16 Nippon Telegr & Teleph Corp <Ntt> 自動機械の制御方法
US4691694A (en) * 1984-11-29 1987-09-08 Biodex Corporation Muscle exercise and rehabilitation apparatus
DE3447365A1 (de) * 1984-12-24 1986-07-03 Bernd Dr. 6000 Frankfurt Lammel Verfahren und vorrichtung zur vermeidung von bildverwischungen bei medizinischen bildgebenden verfahren hervorgerufen durch bewegungen des patienten waehrend der bildaufnahme
US5078140A (en) * 1986-05-08 1992-01-07 Kwoh Yik S Imaging device - aided robotic stereotaxis system
US4791934A (en) * 1986-08-07 1988-12-20 Picker International, Inc. Computer tomography assisted stereotactic surgery system and method
GB2194656B (en) * 1986-09-03 1991-10-09 Ibm Method and system for solid modelling
US4750487A (en) * 1986-11-24 1988-06-14 Zanetti Paul H Stereotactic frame
US4873707A (en) * 1987-09-11 1989-10-10 Brigham & Women's Hospital X-ray tomography phantoms, method and system
US4991579A (en) * 1987-11-10 1991-02-12 Allen George S Method and apparatus for providing related images over time of a portion of the anatomy using fiducial implants
US5079699A (en) * 1987-11-27 1992-01-07 Picker International, Inc. Quick three-dimensional display
US5170347A (en) * 1987-11-27 1992-12-08 Picker International, Inc. System to reformat images for three-dimensional display using unique spatial encoding and non-planar bisectioning
EP0326768A3 (en) * 1988-02-01 1991-01-23 Faro Medical Technologies Inc. Computer-aided surgery apparatus
US5007936A (en) * 1988-02-18 1991-04-16 Cemax, Inc. Surgical method for hip joint replacement
US4979949A (en) * 1988-04-26 1990-12-25 The Board Of Regents Of The University Of Washington Robot-aided system for surgery
US4984157A (en) * 1988-09-21 1991-01-08 General Electric Company System and method for displaying oblique planar cross sections of a solid body using tri-linear interpolation to determine pixel position dataes
US5098426A (en) * 1989-02-06 1992-03-24 Phoenix Laser Systems, Inc. Method and apparatus for precision laser surgery
US5274565A (en) * 1990-10-03 1993-12-28 Board Of Regents, The University Of Texas System Process for making custom joint replacements
US5279309A (en) * 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57177738A (en) * 1981-02-12 1982-11-01 Niyuuyooku Univ Orientation type operation apparatus
JPS63137615U (ja) * 1987-02-28 1988-09-09
JPS63240851A (ja) * 1987-03-30 1988-10-06 株式会社東芝 手術用３次元ビューアーシステム
JPH01236046A (ja) * 1988-03-17 1989-09-20 Kenichirou Sugita 頭部手術支援装置及び手術部位指示装置

Cited By (77)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08508656A (ja) * 1993-02-16 1996-09-17 クリーギス、ウルリッヒ 外科的な処置の準備及び支援の方法及び装置
JP2001506889A (ja) * 1996-12-21 2001-05-29 ディープイ・インターナショナル・リミテッド 整形外科手術時の外科器具の位置決めおよび案内装置
US6434416B1 (en) 1998-11-10 2002-08-13 Olympus Optical Co., Ltd. Surgical microscope
US7076286B2 (en) 1998-11-10 2006-07-11 Olympus Optical Co., Ltd. Surgical microscope
JP2000175935A (ja) * 1998-12-16 2000-06-27 Yoshiya Hoki 医療システム
US9101397B2 (en) 1999-04-07 2015-08-11 Intuitive Surgical Operations, Inc. Real-time generation of three-dimensional ultrasound image using a two-dimensional ultrasound transducer in a robotic system
US10271909B2 (en) 1999-04-07 2019-04-30 Intuitive Surgical Operations, Inc. Display of computer generated image of an out-of-view portion of a medical device adjacent a real-time image of an in-view portion of the medical device
US10433919B2 (en) 1999-04-07 2019-10-08 Intuitive Surgical Operations, Inc. Non-force reflecting method for providing tool force information to a user of a telesurgical system
US9232984B2 (en) 1999-04-07 2016-01-12 Intuitive Surgical Operations, Inc. Real-time generation of three-dimensional ultrasound image using a two-dimensional ultrasound transducer in a robotic system
JP2004521684A (ja) * 2001-02-07 2004-07-22 アエスクラップ アクチェンゲゼルシャフト ウント コンパニー コマンディトゲゼルシャフト 材料片の凹部の輪郭を定める方法と装置
JP2006500993A (ja) * 2002-09-26 2006-01-12 デピュイ・プロダクツ・インコーポレイテッド 整形外科処置中に外科バーを制御するための方法及び装置
JP4731908B2 (ja) * 2002-09-26 2011-07-27 デピュイ・プロダクツ・インコーポレイテッド 整形外科処置中に外科バーを制御するための方法及び装置
JP2003275223A (ja) * 2003-04-21 2003-09-30 Olympus Optical Co Ltd 手術装置
JP2005312991A (ja) * 2005-07-08 2005-11-10 Olympus Corp 医療用マニピュレータシステム
US9345387B2 (en) 2006-06-13 2016-05-24 Intuitive Surgical Operations, Inc. Preventing instrument/tissue collisions
US11638999B2 (en) 2006-06-29 2023-05-02 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
US10137575B2 (en) 2006-06-29 2018-11-27 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
US10737394B2 (en) 2006-06-29 2020-08-11 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
JP2009542362A (ja) * 2006-06-29 2009-12-03 インテュイティブ サージカル インコーポレイテッド コンピュータディスプレイ画面の境界領域に表示されるツール位置および識別指標
US9788909B2 (en) 2006-06-29 2017-10-17 Intuitive Surgical Operations, Inc Synthetic representation of a surgical instrument
US10730187B2 (en) 2006-06-29 2020-08-04 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
US9718190B2 (en) 2006-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
JP2013188574A (ja) * 2006-06-29 2013-09-26 Intuitive Surgical Inc コンピュータディスプレイ画面の境界領域に表示されるツール位置および識別指標
US11865729B2 (en) 2006-06-29 2024-01-09 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
JP2012213655A (ja) * 2006-06-29 2012-11-08 Intuitive Surgical Inc コンピュータディスプレイ画面の境界領域に表示されるツール位置および識別指標
US10773388B2 (en) 2006-06-29 2020-09-15 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
US10008017B2 (en) 2006-06-29 2018-06-26 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US9801690B2 (en) 2006-06-29 2017-10-31 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical instrument
US9789608B2 (en) 2006-06-29 2017-10-17 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
JP2008188109A (ja) * 2007-02-01 2008-08-21 Olympus Medical Systems Corp 内視鏡手術装置
US9138129B2 (en) 2007-06-13 2015-09-22 Intuitive Surgical Operations, Inc. Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide
US11399908B2 (en) 2007-06-13 2022-08-02 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US12097002B2 (en) 2007-06-13 2024-09-24 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US11751955B2 (en) 2007-06-13 2023-09-12 Intuitive Surgical Operations, Inc. Method and system for retracting an instrument into an entry guide
US9629520B2 (en) 2007-06-13 2017-04-25 Intuitive Surgical Operations, Inc. Method and system for moving an articulated instrument back towards an entry guide while automatically reconfiguring the articulated instrument for retraction into the entry guide
US11432888B2 (en) 2007-06-13 2022-09-06 Intuitive Surgical Operations, Inc. Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide
US9901408B2 (en) 2007-06-13 2018-02-27 Intuitive Surgical Operations, Inc. Preventing instrument/tissue collisions
US10695136B2 (en) 2007-06-13 2020-06-30 Intuitive Surgical Operations, Inc. Preventing instrument/tissue collisions
US9333042B2 (en) 2007-06-13 2016-05-10 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
US10271912B2 (en) 2007-06-13 2019-04-30 Intuitive Surgical Operations, Inc. Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide
US10188472B2 (en) 2007-06-13 2019-01-29 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US11638622B2 (en) 2008-06-27 2023-05-02 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide
US11382702B2 (en) 2008-06-27 2022-07-12 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
US9717563B2 (en) 2008-06-27 2017-08-01 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxilary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
US10368952B2 (en) 2008-06-27 2019-08-06 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
US10258425B2 (en) 2008-06-27 2019-04-16 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide
US9516996B2 (en) 2008-06-27 2016-12-13 Intuitive Surgical Operations, Inc. Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the position and orienting of its tip
US10984567B2 (en) 2009-03-31 2021-04-20 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US10282881B2 (en) 2009-03-31 2019-05-07 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US11941734B2 (en) 2009-03-31 2024-03-26 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US9492927B2 (en) 2009-08-15 2016-11-15 Intuitive Surgical Operations, Inc. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
US11596490B2 (en) 2009-08-15 2023-03-07 Intuitive Surgical Operations, Inc. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
US9956044B2 (en) 2009-08-15 2018-05-01 Intuitive Surgical Operations, Inc. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide
US10772689B2 (en) 2009-08-15 2020-09-15 Intuitive Surgical Operations, Inc. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide
US10271915B2 (en) 2009-08-15 2019-04-30 Intuitive Surgical Operations, Inc. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
US10959798B2 (en) 2009-08-15 2021-03-30 Intuitive Surgical Operations, Inc. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
US10828774B2 (en) 2010-02-12 2020-11-10 Intuitive Surgical Operations, Inc. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
US9622826B2 (en) 2010-02-12 2017-04-18 Intuitive Surgical Operations, Inc. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
US10537994B2 (en) 2010-02-12 2020-01-21 Intuitive Surgical Operations, Inc. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
JP2013523403A (ja) * 2010-04-13 2013-06-17 インターナショナル・ビジネス・マシーンズ・コーポレーション レーザ・アブレーションにより組織を変化させるもしくは平滑化するまたはその両方を行うシステムおよび方法
JP2017127660A (ja) * 2011-02-15 2017-07-27 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 ステープル又は血管シール器具におけるナイフ位置のインジケータ
JP2015502767A (ja) * 2011-09-30 2015-01-29 ユニベルシテ ピエール エ マリーキュリー（パリ シズエム） 患者の天然導管又は人工導管内に挿入された医療機器をガイドするガイド装置
JP2015521084A (ja) * 2012-06-01 2015-07-27 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 ゼロ空間を使用したマニピュレータアームと患者との衝突回避
US10194997B2 (en) 2012-06-01 2019-02-05 Intuitive Surgical Operations, Inc. Manipulator arm-to-patient collision avoidance using a null-space
JP2015534480A (ja) * 2012-09-26 2015-12-03 ストライカー・コーポレイション 光学式センサ及び非光学式センサを備えたナビゲーションシステム
JP2018198931A (ja) * 2012-09-26 2018-12-20 ストライカー・コーポレイション 光学式センサ及び非光学式センサを備えたナビゲーションシステム
US11389255B2 (en) 2013-02-15 2022-07-19 Intuitive Surgical Operations, Inc. Providing information of tools by filtering image areas adjacent to or on displayed images of the tools
US10507066B2 (en) 2013-02-15 2019-12-17 Intuitive Surgical Operations, Inc. Providing information of tools by filtering image areas adjacent to or on displayed images of the tools
US11806102B2 (en) 2013-02-15 2023-11-07 Intuitive Surgical Operations, Inc. Providing information of tools by filtering image areas adjacent to or on displayed images of the tools
CN104298244A (zh) * 2013-07-17 2015-01-21 刘永 一种工业机器人三维实时高精度定位装置及方法
US11406284B2 (en) 2013-09-30 2022-08-09 Stryker Corporation System and method of controlling a robotic system for manipulating anatomy of a patient during a surgical procedure
JP2021121329A (ja) * 2013-09-30 2021-08-26 ストライカー・コーポレイション 外科手技の際に患者の解剖学的構造を操作するためのロボットシステムを制御するシステム及び方法
JP2019115668A (ja) * 2013-09-30 2019-07-18 ストライカー・コーポレイション 外科手技の際に患者の解剖学的構造を操作するためのロボットシステムを制御するシステム及び方法
JP2017513562A (ja) * 2014-03-26 2017-06-01 エシコン・エンド−サージェリィ・エルエルシーＥｔｈｉｃｏｎ Ｅｎｄｏ−Ｓｕｒｇｅｒｙ， ＬＬＣ 安全プロセッサを有する手術用器具制御回路
JP2023502410A (ja) * 2019-11-22 2023-01-24 蘇州微創暢行機器人有限公司 骨切りガイドのキャリブレーション方法、キャリブレーションシステムおよび検出用ターゲット
JP2022545366A (ja) * 2020-07-06 2022-10-27 シーエムアール・サージカル・リミテッド 機械システムにおけるジョイント制御

Also Published As

Publication number Publication date
US5408409A (en) 1995-04-18
US5086401A (en) 1992-02-04
US5299288A (en) 1994-03-29
EP0456103A2 (en) 1991-11-13
EP0456103A3 (en) 1992-04-29
JPH0763472B2 (ja) 1995-07-12

Similar Documents

Publication Publication Date Title
US5299288A (en) Image-directed robotic system for precise robotic surgery including redundant consistency checking
US11844577B2 (en) System and method for verifying calibration of a surgical system
US20230248371A1 (en) Robotic Systems And Methods For Manipulating A Cutting Guide For A Surgical Instrument
EP3007636B1 (en) System for positioning a surgical device
Taylor et al. An image-directed robotic system for precise orthopaedic surgery
Taylor et al. Taming the bull: safety in a precise surgical robot
Kazanzides et al. An integrated system for cementless hip replacement
EP1113760B1 (en) System for performing image directed robotic orthopedic procedures without a fiducial reference system
EP3479790A2 (en) Robotic system for shoulder arthroplasty using stemless implant components
CN112370163A (zh) 用于下颌骨重建的腓骨移植手术机器人
JP2015502180A5 (ja)
EP3646809B1 (en) Robotic system for ankle arthroplasty
Korb et al. Development and first patient trial of a surgical robot for complex trajectory milling
Taylor et al. Redundant consistency checking in a precise surgical robot
Taylor et al. Robotic total hip replacement surgery in dogs
CN113038899B (zh) 机器人式脊柱外科手术系统和方法
US12114932B2 (en) Method and system for guiding position and orientation of a robotic device holding a surgical tool
US20240374329A1 (en) Robotic system with force monitoring for computer-assisted surgery system
Hurst et al. 202 Medicine Meets Virtual Reality JD Westwood, HM Hoffman, D. Stredney, and SJ Weghorst (Eds.) IOS Press and Ohmsha, 1998 Review of Orthopaedic Manipulator

Legal Events

Date Code Title Description
FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20070712

Year of fee payment: 12

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20080712

Year of fee payment: 13

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20080712

Year of fee payment: 13

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20090712

Year of fee payment: 14

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20100712

Year of fee payment: 15

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20110712

Year of fee payment: 16

EXPY Cancellation because of completion of term
FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20110712

Year of fee payment: 16