KR101118049B1 - 의료용 기구 - Google Patents
의료용 기구 Download PDFInfo
- Publication number
- KR101118049B1 KR101118049B1 KR1020107027331A KR20107027331A KR101118049B1 KR 101118049 B1 KR101118049 B1 KR 101118049B1 KR 1020107027331 A KR1020107027331 A KR 1020107027331A KR 20107027331 A KR20107027331 A KR 20107027331A KR 101118049 B1 KR101118049 B1 KR 101118049B1
- Authority
- KR
- South Korea
- Prior art keywords
- wrist
- cable
- distal
- proximal end
- movable
- Prior art date
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/008—Articulations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
- A61B17/06—Needles ; Sutures; Needle-suture combinations; Holders or packages for needles or suture materials
- A61B17/062—Needle manipulators
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/42—Gynaecological or obstetrical instruments or methods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00142—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with means for preventing contamination, e.g. by using a sanitary sheath
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0058—Flexible endoscopes using shape-memory elements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/012—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor
- A61B1/018—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor for receiving instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
- A61B17/128—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for applying or removing clamps or clips
- A61B17/1285—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for applying or removing clamps or clips for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00305—Constructional details of the flexible means
- A61B2017/00309—Cut-outs or slits
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
- A61B2034/306—Wrists with multiple vertebrae
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Physics & Mathematics (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Robotics (AREA)
- Rehabilitation Therapy (AREA)
- Ophthalmology & Optometry (AREA)
- Reproductive Health (AREA)
- Plasma & Fusion (AREA)
- Otolaryngology (AREA)
- Vascular Medicine (AREA)
- Gynecology & Obstetrics (AREA)
- Pregnancy & Childbirth (AREA)
- Surgical Instruments (AREA)
- Manipulator (AREA)
Abstract
Description
도 2는 본 발명의 한 구체예에 의한 손목의 단면도이다.
도 3은 도 2의 Ⅲ-Ⅲ를 지나는 손목의 단면도이다.
도 4는 발명의 다른 구체예에 의한 손목의 사시도이다.
도 4A 및 도 4B는 각각, 케이블의 배열를 상세히 보여주는, 도 4의 것과 유사한 손목의 실시예의 말단부분의 평면도 및 정면도이다.
도 5는 발명의 다른 구체예에 의한 손목의 사시도이다.
도 6은 발명의 다른 구체예에 의한 손목의 평면도이다.
도 7은 발명의 다른 구체예에 의한 손목의 단면도이다.
도 8은 발명의 다른 구체예에 의한 손목의 평면도이다.
도 9는 도구 샤프트 및 짐벌판을 가진 도 8의 손목의 정면도이다.
도 10은 발명의 다른 구체예에 의한 손목의 평면도이다.
도 11은 도 10의 손목의 정면도이다.
도 12는 발명의 다른 구체예에 의한 손목의 정면도이다.
도 13은 발명의 다른 구체예에 의한 손목의 평면도이다.
도 14는 발명의 다른 구체예에 의한 손목의 일부의 단면도이다.
도 15는 도 14의 손목이 굽은 때의 부분 단면도이다.
도 16은 발명의 다른 구체예에 의한 손목의 사시도이다.
도 17은 도 16의 손목의 평면도이다.
도 18은 발명의 다른 구체예에 의한 손목의 일부의 단면도이다.
도 19는 발명의 다른 구체예에 의한 손목의 사시도이다.
도 20은 발명의 다른 구체예에 의한 손목의 평면도이다.
도 21은 발명의 다른 구체예에 의한 손목의 사시도이다.
도 22는 발명의 다른 구체예에 의한 손목의 일부의 단면도이다.
도 23 및 도 24는 도 22의 손목에서 디스크의 평면도이다.
도 25는 도 22의 손목의 외부 부품의 사시도이다.
도 26은 도 25의 외부 부품의 단면도이다.
도 27은 발명의 다른 구체예에 의한 손목의 사시도이다.
도 28은 발명의 한 구체예에 의한 손목 커버의 단면도이다.
도 29는 발명의 다른 구체예에 의한 손목 커버의 단면도이다.
도 30은 발명의 다른 구체예에 의한 손목 커버의 일부의 사시도이다.
14, 92:샤프트
10, 40, 80, 120, 130, 160, 180, 190, 200, 210, 220, 270: 손목
Claims (19)
- 말단부분과 기단부분을 가지는 샤프트; 및
말단부분과 기단부분을 가지며, 손목의 기단부분이 상기 샤프트의 말단부분에 결합된 손목으로서,
이때, 상기 손목은, 손목의 기단 부분으로부터 손목의 말단부분까지 연장된 가요성 튜브형 지지부재와, 상기 지지부재의 둘레를 감싸며, 상기 지지부재보다 더 작은 강성을 가지며, 손목의 기단부분으로부터 손목의 말단부분까지 연장되어 있는 적어도 세 개의 루멘을 포함하는, 외부층을 포함하는 것인 손목을 포함하는 의료용 기구로서,
상기 외부층은 연속적인 가요성 관을 더 포함하며,
상기 의료용 기구는, 각 케이블이 손목의 말단 부분으로부터 적어도 세 개의 루멘 중에서 대응하는 하나를 통과하여 손목의 기단부분까지를 지나가는, 적어도 세 개의 가동 케이블을 더 포함하는 것을 특징으로 하는 의료용 기구. - 제 1항에 있어서, 지지부재는 스프링인 것을 특징으로 하는 의료용 기구.
- 제 1항에 있어서, 적어도 세 개의 가동 케이블 각각은 손목의 기단부분으로부터 상기 샤프트를 통과하여 샤프트의 기단부분까지를 더 지나가며,
상기 샤프트의 기단부분에 결합되며, 적어도 세 개의 가동 케이블 중에 대응하는 하나에 결합된 적어도 세 개의 회전 가동기를 포함하는 가동 메커니즘을 더 포함하는 것을 특징으로 하는 의료용 기구. - 제 3항에 있어서, 상기 손목의 조종은 상기 회전 가동기의 가동을 스티어링함으로써 제어되는 것을 특징으로 하는 의료용 기구.
- 제 3항에 있어서, 손목은 말단 작동부 루멘을 더 포함하며,
손목의 말단부분에 결합된 말단 작동부; 및 상기 말단 작동부로부터 손목의 말단 작동부 루멘을 통과하고 샤프트를 통과하여 샤프트의 기단부분까지를 지나가는, 상기 말단 작동부에 결합된 적어도 하나의 말단 작동부 제어 요소를 더 포함하는 것을 특징으로 하는 의료용 기구. - 제 5항에 있어서, 상기 말단 작동부 제어 요소는 가동 케이블을 포함하며, 말단 작동부 제동 메커니즘은 가동 케이블에 결합된 회전 가동기를 포함하는 것을 특징으로 하는 의료용 기구.
- 제 6항에 있어서, 상기 말단 작동부는 그리퍼를 포함하며, 말단 작동부 제어 요소는 그리퍼 케이블을 포함하며, 말단 작동부 제어 메커니즘은 그리퍼 케이블에 결합된 회전 가동기를 포함하는 것을 특징으로 하는 의료용 기구.
- 제 5항에 있어서, 상기 말단 작동부는 전극을 포함하며, 말단 작동부 제어 요소는 전기 전도체를 포함하는 것을 특징으로 하는 의료용 기구.
- 제 1항에 있어서, 가동 케이블은 손목의 기단부분에 대하여 손목의 말단부분을 요잉 축과 피칭 축을 따라서 굴곡하도록 형성되며, 상기 요잉 축은 피칭 축과 교차하는 것을 특징으로 하는 의료용 기구.
- 제 1항에 있어서, 손목의 말단 부분은 종단 요소에 결합되며, 적어도 세 개의 가동 케이블의 각각은 상기 종단 요소 안에 있는 대응하는 구멍을 통과하여 끼워져 있는 것을 특징으로 하는 의료용 기구.
- 제 10항에 있어서, 종단 요소는 경직 디스크를 포함하는 것을 특징으로 하는 의료용 기구.
- 제 10항에 있어서, 종단 요소는 고리를 포함하는 것을 특징으로 하는 의료용 기구.
- 제 1항에 있어서, 손목은 적어도 하나의 갭을 포함하는 것을 특징으로 하는 의료용 기구.
- 제 13항에 있어서, 적어도 하나의 갭은, 적어도 두 개의 직교 방향으로 번갈아 나오는 다수의 컷아웃을 포함하는 것을 특징으로 하는 의료용 기구.
- 제 14항에 있어서, 컷아웃은 가요성 지지부재에 있는 것을 특징으로 하는 의료용 기구.
- 제 14항에 있어서, 컷아웃은 외부층에 있는 것을 특징으로 하는 의료용 기구.
- 제 1항에 있어서, 적어도 세 개의 루멘은 적어도 여섯 개의 루멘을 포함하고, 적어도 세 개의 가동 케이블은 적어도 여섯 개의 가동 케이블을 포함하는 것을 특징으로 하는 의료용 기구.
- 제 1항에 있어서, 적어도 세 개의 루맨은 외부층의 내부 표면에 형성된 적어도 하나의 슬롯을 포함하는 것을 특징으로 하는 의료용 기구.
- 제 1항에 있어서, 적어도 세 개의 루멘 각각은 외부층의 내부 표면에 형성된 슬롯을 포함하고, 각 슬롯은 지지부재와 함께 적어도 하나의 케이블이 통과하는 통로를 한정하는 것을 특징으로 하는 의료용 기구.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US43163602P | 2002-12-06 | 2002-12-06 | |
US60/431,636 | 2002-12-06 | ||
PCT/US2003/038462 WO2004052171A2 (en) | 2002-12-06 | 2003-12-02 | Flexible wrist for surgical tool |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020057010257A Division KR101057002B1 (ko) | 2002-12-06 | 2003-12-02 | 최소 침습 수술 기구 |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20100132561A KR20100132561A (ko) | 2010-12-17 |
KR101118049B1 true KR101118049B1 (ko) | 2012-02-24 |
Family
ID=32507770
Family Applications (4)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020057010257A KR101057002B1 (ko) | 2002-12-06 | 2003-12-02 | 최소 침습 수술 기구 |
KR1020107027330A KR101087996B1 (ko) | 2002-12-06 | 2003-12-02 | 최소 침습 수술 기구 |
KR1020107027331A KR101118049B1 (ko) | 2002-12-06 | 2003-12-02 | 의료용 기구 |
KR1020107027333A KR101026692B1 (ko) | 2002-12-06 | 2003-12-02 | 긴 샤프트를 포함하는 장치 |
Family Applications Before (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020057010257A KR101057002B1 (ko) | 2002-12-06 | 2003-12-02 | 최소 침습 수술 기구 |
KR1020107027330A KR101087996B1 (ko) | 2002-12-06 | 2003-12-02 | 최소 침습 수술 기구 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020107027333A KR101026692B1 (ko) | 2002-12-06 | 2003-12-02 | 긴 샤프트를 포함하는 장치 |
Country Status (8)
Country | Link |
---|---|
US (9) | US7320700B2 (ko) |
EP (7) | EP2901959B1 (ko) |
JP (12) | JP4486503B2 (ko) |
KR (4) | KR101057002B1 (ko) |
CN (2) | CN101181167B (ko) |
AT (1) | ATE551964T1 (ko) |
AU (1) | AU2003293353A1 (ko) |
WO (1) | WO2004052171A2 (ko) |
Families Citing this family (323)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7713190B2 (en) * | 1998-02-24 | 2010-05-11 | Hansen Medical, Inc. | Flexible instrument |
US6626899B2 (en) | 1999-06-25 | 2003-09-30 | Nidus Medical, Llc | Apparatus and methods for treating tissue |
US8768516B2 (en) | 2009-06-30 | 2014-07-01 | Intuitive Surgical Operations, Inc. | Control of medical robotic system manipulator about kinematic singularities |
DK1309277T3 (da) * | 2000-07-20 | 2008-10-06 | Kinetic Surgical Llc | Håndaktiveret leddelt kirurgisk værktöj |
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 |
US6817974B2 (en) | 2001-06-29 | 2004-11-16 | Intuitive Surgical, Inc. | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
US7320700B2 (en) | 2002-12-06 | 2008-01-22 | Intuitive Surgical, Inc | Flexible wrist for surgical tool |
US20060178556A1 (en) | 2001-06-29 | 2006-08-10 | Intuitive Surgical, Inc. | Articulate and swapable endoscope for a surgical robot |
US7331967B2 (en) * | 2002-09-09 | 2008-02-19 | Hansen Medical, Inc. | Surgical instrument coupling mechanism |
JP4384439B2 (ja) | 2002-11-21 | 2009-12-16 | 富士機械製造株式会社 | 対基板作業機、対基板作業システムおよび対基板作業機用作業ヘッド使用準備処理プログラム |
US7410483B2 (en) | 2003-05-23 | 2008-08-12 | Novare Surgical Systems, Inc. | Hand-actuated device for remote manipulation of a grasping tool |
US7090637B2 (en) * | 2003-05-23 | 2006-08-15 | Novare Surgical Systems, Inc. | Articulating mechanism for remote manipulation of a surgical or diagnostic tool |
US8562640B2 (en) * | 2007-04-16 | 2013-10-22 | Intuitive Surgical Operations, Inc. | Tool with multi-state ratcheted end effector |
US8100824B2 (en) | 2003-05-23 | 2012-01-24 | Intuitive Surgical Operations, Inc. | Tool with articulation lock |
US8182417B2 (en) * | 2004-11-24 | 2012-05-22 | Intuitive Surgical Operations, Inc. | Articulating mechanism components and system for easy assembly and disassembly |
US8007511B2 (en) | 2003-06-06 | 2011-08-30 | Hansen Medical, Inc. | Surgical instrument design |
US9002518B2 (en) * | 2003-06-30 | 2015-04-07 | Intuitive Surgical Operations, Inc. | Maximum torque driving of robotic surgical tools in robotic surgical systems |
US7976539B2 (en) * | 2004-03-05 | 2011-07-12 | Hansen Medical, Inc. | System and method for denaturing and fixing collagenous tissue |
EP1720480A1 (en) | 2004-03-05 | 2006-11-15 | Hansen Medical, Inc. | Robotic catheter system |
US7678117B2 (en) * | 2004-06-07 | 2010-03-16 | Novare Surgical Systems, Inc. | Articulating mechanism with flex-hinged links |
US7828808B2 (en) | 2004-06-07 | 2010-11-09 | Novare Surgical Systems, Inc. | Link systems and articulation mechanisms for remote manipulation of surgical or diagnostic tools |
US8353897B2 (en) * | 2004-06-16 | 2013-01-15 | Carefusion 2200, Inc. | Surgical tool kit |
US7241290B2 (en) | 2004-06-16 | 2007-07-10 | Kinetic Surgical, Llc | Surgical tool kit |
US8075476B2 (en) * | 2004-07-27 | 2011-12-13 | Intuitive Surgical Operations, Inc. | Cannula system and method of use |
US7857183B2 (en) * | 2004-07-28 | 2010-12-28 | Ethicon Endo-Surgery, Inc. | Surgical instrument incorporating an electrically actuated articulation mechanism |
US8057508B2 (en) * | 2004-07-28 | 2011-11-15 | Ethicon Endo-Surgery, Inc. | Surgical instrument incorporating an electrically actuated articulation locking mechanism |
US8905977B2 (en) * | 2004-07-28 | 2014-12-09 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument having an electroactive polymer actuated medical substance dispenser |
US7914551B2 (en) | 2004-07-28 | 2011-03-29 | Ethicon Endo-Surgery, Inc. | Electroactive polymer-based articulation mechanism for multi-fire surgical fastening instrument |
US7862579B2 (en) | 2004-07-28 | 2011-01-04 | Ethicon Endo-Surgery, Inc. | Electroactive polymer-based articulation mechanism for grasper |
US7410086B2 (en) | 2004-07-28 | 2008-08-12 | Ethicon Endo-Surgery, Inc. | Electroactive polymer-based actuation mechanism for circular stapler |
US9700334B2 (en) | 2004-11-23 | 2017-07-11 | Intuitive Surgical Operations, Inc. | Articulating mechanisms and link systems with torque transmission in remote manipulation of instruments and tools |
US7785252B2 (en) | 2004-11-23 | 2010-08-31 | Novare Surgical Systems, Inc. | Articulating sheath for flexible instruments |
US20060116697A1 (en) * | 2004-11-30 | 2006-06-01 | Esophyx, Inc. | Flexible transoral endoscopic gastroesophageal flap valve restoration device and method |
US20060201130A1 (en) * | 2005-01-31 | 2006-09-14 | Danitz David J | Articulating mechanisms with joint assembly and manual handle for remote manipulation of instruments and tools |
US7784663B2 (en) * | 2005-03-17 | 2010-08-31 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument having load sensing control circuitry |
US9789608B2 (en) | 2006-06-29 | 2017-10-17 | Intuitive Surgical Operations, Inc. | Synthetic representation of a surgical robot |
EP1906858B1 (en) | 2005-07-01 | 2016-11-16 | Hansen Medical, Inc. | Robotic catheter system |
BRPI0613896A2 (pt) * | 2005-07-26 | 2016-11-16 | Ams Res Corp | conjunto de implante pélvico, e, kit |
US20070066985A1 (en) * | 2005-09-16 | 2007-03-22 | Boston Scientific Scimed, Inc. | Tissue cutting devices having hemostasis capability and related methods |
DK2926847T3 (da) * | 2005-11-02 | 2022-07-04 | Medicaltree Patents Ltd | Implanterbar infusionsapparat med fremførbar og tilbagetrækkelig nål |
US9931108B2 (en) * | 2005-11-18 | 2018-04-03 | Steven Miller | System and method for influencing an anatomical structure |
US7930065B2 (en) | 2005-12-30 | 2011-04-19 | Intuitive Surgical Operations, Inc. | Robotic surgery system including position sensors using fiber bragg gratings |
US9962066B2 (en) | 2005-12-30 | 2018-05-08 | Intuitive Surgical Operations, Inc. | Methods and apparatus to shape flexible entry guides for minimally invasive surgery |
GB0600170D0 (en) * | 2006-01-06 | 2006-02-15 | Oliver Crispin Robotics Ltd | Improvements in and relating to robotic arms |
US8105350B2 (en) | 2006-05-23 | 2012-01-31 | Cambridge Endoscopic Devices, Inc. | Surgical instrument |
US8409244B2 (en) * | 2007-04-16 | 2013-04-02 | Intuitive Surgical Operations, Inc. | Tool with end effector force limiter |
US20080064921A1 (en) | 2006-06-13 | 2008-03-13 | Intuitive Surgical, Inc. | Guide tube control of minimally invasive surgical instruments |
US7862554B2 (en) | 2007-04-16 | 2011-01-04 | Intuitive Surgical Operations, Inc. | Articulating tool with improved tension member system |
US9561045B2 (en) * | 2006-06-13 | 2017-02-07 | Intuitive Surgical Operations, Inc. | Tool with rotation lock |
US10008017B2 (en) | 2006-06-29 | 2018-06-26 | Intuitive Surgical Operations, Inc. | Rendering tool information as graphic overlays on displayed images of tools |
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 |
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 |
CN101677824B (zh) * | 2006-06-30 | 2017-11-28 | 史蒂夫·利夫内 | 具有可拆卸工具组件的外科器械 |
US8029531B2 (en) * | 2006-07-11 | 2011-10-04 | Cambridge Endoscopic Devices, Inc. | Surgical instrument |
WO2008015178A1 (fr) * | 2006-07-31 | 2008-02-07 | Commissariat A L'energie Atomique | Membre articule c0mportant des fibres, et structure articulee et robot ou interface haptique c0mp0rtant un tel membre articule |
US7708758B2 (en) * | 2006-08-16 | 2010-05-04 | Cambridge Endoscopic Devices, Inc. | Surgical instrument |
US20100241136A1 (en) * | 2006-12-05 | 2010-09-23 | Mark Doyle | Instrument positioning/holding devices |
WO2008076330A1 (en) * | 2006-12-15 | 2008-06-26 | Soteira, Inc. | Drills and methods for vertebrostenting |
US20080249536A1 (en) * | 2007-02-15 | 2008-10-09 | Hansen Medical, Inc. | Interface assembly for controlling orientation of robotically controlled medical instrument |
JP4975494B2 (ja) | 2007-03-23 | 2012-07-11 | 富士通株式会社 | 撮像装置 |
WO2008131303A2 (en) | 2007-04-20 | 2008-10-30 | Hansen Medical, Inc. | Optical fiber shape sensing systems |
US20090138025A1 (en) * | 2007-05-04 | 2009-05-28 | Hansen Medical, Inc. | Apparatus systems and methods for forming a working platform of a robotic instrument system by manipulation of components having controllably rigidity |
US8620473B2 (en) | 2007-06-13 | 2013-12-31 | Intuitive Surgical Operations, Inc. | Medical robotic system with coupled control modes |
US9301807B2 (en) | 2007-06-13 | 2016-04-05 | Intuitive Surgical Operations, Inc. | Surgical system counterbalance |
US9469034B2 (en) | 2007-06-13 | 2016-10-18 | Intuitive Surgical Operations, Inc. | Method and system for switching modes of a robotic system |
US9869339B2 (en) | 2008-04-11 | 2018-01-16 | Flexdex, Inc. | End-effector jaw closure transmission systems for remote access tools |
US8668702B2 (en) | 2008-04-11 | 2014-03-11 | The Regents Of The University Of Michigan | Minimal access tool |
US10405936B2 (en) | 2008-04-11 | 2019-09-10 | The Regents Of The University Of Michigan | Parallel kinematic mechanisms with decoupled rotational motions |
WO2009127236A1 (en) * | 2008-04-18 | 2009-10-22 | Fortimedix B.V. | An instrument for endoscopic applications or the like |
WO2009158708A1 (en) * | 2008-06-27 | 2009-12-30 | Allegiance Corporation | Flexible wrist-type element and methods of manufacture and use thereof |
US9204923B2 (en) | 2008-07-16 | 2015-12-08 | Intuitive Surgical Operations, Inc. | Medical instrument electronically energized using drive cables |
US8968355B2 (en) * | 2008-08-04 | 2015-03-03 | Covidien Lp | Articulating surgical device |
US8465475B2 (en) | 2008-08-18 | 2013-06-18 | Intuitive Surgical Operations, Inc. | Instrument with multiple articulation locks |
US8161838B2 (en) * | 2008-12-22 | 2012-04-24 | Intuitive Surgical Operations, Inc. | Method and apparatus for reducing at least one friction force opposing an axial force exerted through an actuator element |
US8245594B2 (en) * | 2008-12-23 | 2012-08-21 | Intuitive Surgical Operations, Inc. | Roll joint and method for a surgical apparatus |
US8858547B2 (en) | 2009-03-05 | 2014-10-14 | Intuitive Surgical Operations, Inc. | Cut and seal instrument |
US8423182B2 (en) | 2009-03-09 | 2013-04-16 | Intuitive Surgical Operations, Inc. | Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems |
US9254123B2 (en) | 2009-04-29 | 2016-02-09 | Hansen Medical, Inc. | Flexible and steerable elongate instruments with shape control and support elements |
US10080482B2 (en) | 2009-06-30 | 2018-09-25 | Intuitive Surgical Operations, Inc. | Compliant surgical device |
US20110022078A1 (en) | 2009-07-23 | 2011-01-27 | Cameron Dale Hinman | Articulating mechanism |
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 |
ES2388867B1 (es) * | 2009-10-27 | 2013-09-18 | Universitat Politècnica De Catalunya | Pinzas para cirugia laparoscópica mínimamente invasiva. |
KR101767060B1 (ko) | 2009-11-13 | 2017-08-10 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 컴팩트 손목을 구비한 수술 도구 |
KR101923049B1 (ko) | 2009-11-13 | 2018-11-28 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 여분의 닫힘 메커니즘을 구비한 단부 작동기 |
US20110118708A1 (en) | 2009-11-13 | 2011-05-19 | Intuitive Surgical Operations, Inc. | Double universal joint |
KR101760705B1 (ko) * | 2009-11-13 | 2017-07-24 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 독립적으로 회전하는 부재 내의 병렬 구동 샤프트들을 위한 모터 연접부 |
WO2011070846A1 (ja) | 2009-12-10 | 2011-06-16 | オリンパスメディカルシステムズ株式会社 | 医療用マニピュレータ |
US8887595B2 (en) | 2009-12-22 | 2014-11-18 | Intuitive Surgical Operations, Inc. | Instrument wrist with cycloidal surfaces |
US9089351B2 (en) | 2010-02-12 | 2015-07-28 | Intuitive Surgical Operations, Inc. | Sheath for surgical instrument |
US10376331B2 (en) * | 2010-02-12 | 2019-08-13 | Intuitive Surgical Operations, Inc. | Sheaths for jointed instruments |
US20110213360A1 (en) * | 2010-02-26 | 2011-09-01 | Tyco Healthcare Group Lp | Tensioning Mechanism for Articulation Drive Cables |
US8439912B2 (en) | 2010-02-26 | 2013-05-14 | Covidien Lp | De-tensioning mechanism for articulation drive cables |
DE102010014435B4 (de) * | 2010-04-09 | 2015-11-19 | Olympus Winter & Ibe Gmbh | Elektrochirurgisches laparoskopisches Instrument mit elektrischer Leitung |
US9033998B1 (en) | 2010-05-13 | 2015-05-19 | Titan Medical Inc. | Independent roll wrist mechanism |
US8603077B2 (en) | 2010-05-14 | 2013-12-10 | Intuitive Surgical Operations, Inc. | Force transmission for robotic surgical instrument |
US11278345B2 (en) | 2010-05-25 | 2022-03-22 | Covidien Lp | Accurate jaw closure force in a catheter based instrument |
KR102038654B1 (ko) | 2010-07-09 | 2019-10-30 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 전기수술 기구 및 커버를 포함하는 수술 장치 |
US20130190774A1 (en) | 2010-08-11 | 2013-07-25 | Ecole Polytechnique Ferderale De Lausanne (Epfl) | Mechanical positioning system for surgical instruments |
CN103068333B (zh) * | 2010-08-27 | 2015-09-16 | 伊顿株式会社 | 外科手术器械 |
US9737687B2 (en) | 2010-09-22 | 2017-08-22 | The Johns Hopkins University | Cable-driven morphable manipulator |
WO2012049623A1 (en) | 2010-10-11 | 2012-04-19 | Ecole Polytechnique Federale De Lausanne (Epfl) | Mechanical manipulator for surgical instruments |
US9060765B2 (en) | 2010-11-08 | 2015-06-23 | Bovie Medical Corporation | Electrosurgical apparatus with retractable blade |
US9101379B2 (en) | 2010-11-12 | 2015-08-11 | Intuitive Surgical Operations, Inc. | Tension control in actuation of multi-joint medical instruments |
US9055960B2 (en) | 2010-11-15 | 2015-06-16 | Intuitive Surgical Operations, Inc. | Flexible surgical devices |
KR101075294B1 (ko) | 2011-01-12 | 2011-10-19 | 정창욱 | 최소 침습 수술 기구 |
US20120191079A1 (en) | 2011-01-20 | 2012-07-26 | Hansen Medical, Inc. | System and method for endoluminal and translumenal therapy |
US8578810B2 (en) | 2011-02-14 | 2013-11-12 | Intuitive Surgical Operations, Inc. | Jointed link structures exhibiting preferential bending, and related methods |
CN103327922B (zh) * | 2011-02-18 | 2017-03-22 | 直观外科手术操作公司 | 融合和切割用外科器械及相关方法 |
KR101259701B1 (ko) | 2011-03-24 | 2013-05-06 | 정창욱 | 굽은 샤프트를 갖는 최소 침습 수술 기구 |
CA2835804A1 (en) * | 2011-05-12 | 2012-11-15 | Imperial Innovations Limited | A device |
US9161771B2 (en) | 2011-05-13 | 2015-10-20 | Intuitive Surgical Operations Inc. | Medical instrument with snake wrist structure |
KR101336381B1 (ko) * | 2011-06-07 | 2013-12-04 | 정창욱 | 최소 침습 수술 기구 |
JP5715304B2 (ja) | 2011-07-27 | 2015-05-07 | エコール ポリテクニーク フェデラル デ ローザンヌ (イーピーエフエル) | 遠隔操作のための機械的遠隔操作装置 |
US20130030363A1 (en) | 2011-07-29 | 2013-01-31 | Hansen Medical, Inc. | Systems and methods utilizing shape sensing fibers |
US20130046317A1 (en) * | 2011-08-15 | 2013-02-21 | Intuitive Surgical Operations, Inc. | Medical instrument with flexible wrist mechanism |
US8945174B2 (en) | 2011-08-15 | 2015-02-03 | Intuitive Surgical Operations, Inc. | Medical instrument with flexible jaw mechanism |
KR101322030B1 (ko) * | 2011-09-05 | 2013-10-28 | 주식회사 모바수 | 구형 부품을 포함하는 관절부를 갖는 최소 침습 수술 기구 |
US9452276B2 (en) | 2011-10-14 | 2016-09-27 | Intuitive Surgical Operations, Inc. | Catheter with removable vision probe |
US9387048B2 (en) | 2011-10-14 | 2016-07-12 | Intuitive Surgical Operations, Inc. | Catheter sensor systems |
US10238837B2 (en) | 2011-10-14 | 2019-03-26 | Intuitive Surgical Operations, Inc. | Catheters with control modes for interchangeable probes |
US20130303944A1 (en) | 2012-05-14 | 2013-11-14 | Intuitive Surgical Operations, Inc. | Off-axis electromagnetic sensor |
CN102525581B (zh) * | 2011-10-25 | 2013-09-11 | 王小军 | 腹腔镜一次性荷包钳 |
US9211159B2 (en) | 2011-12-02 | 2015-12-15 | Ethicon Endo-Surgery, Inc. | Surgical devices with intracorporeal elbow joint |
US9131987B2 (en) | 2011-12-02 | 2015-09-15 | Ethicon Endo-Surgery, Inc. | Elbow assembly for surgical devices |
US9179927B2 (en) | 2011-12-02 | 2015-11-10 | Ethicon Endo-Surgery, Inc. | Surgical methods using a surgical device having a fixed angular orientation |
US8617203B2 (en) | 2011-12-02 | 2013-12-31 | Ethicon Endo-Surgery, Inc. | Jaw assembly for surgical devices |
US20130158525A1 (en) * | 2011-12-09 | 2013-06-20 | Adn International, Llc | Flexible channel surgical instruments |
US8876806B2 (en) | 2012-01-09 | 2014-11-04 | Covidien Lp | Surgical instrument with articulating assembly |
US9956042B2 (en) | 2012-01-13 | 2018-05-01 | Vanderbilt University | Systems and methods for robot-assisted transurethral exploration and intervention |
US8419720B1 (en) | 2012-02-07 | 2013-04-16 | National Advanced Endoscopy Devices, Incorporated | Flexible laparoscopic device |
US8556883B2 (en) * | 2012-02-27 | 2013-10-15 | Rafic Saleh | Medical surgical navigation sensor mounting system |
WO2013146310A1 (ja) * | 2012-03-28 | 2013-10-03 | テルモ株式会社 | 穿刺器具組立体 |
US9211134B2 (en) | 2012-04-09 | 2015-12-15 | Carefusion 2200, Inc. | Wrist assembly for articulating laparoscopic surgical instruments |
WO2013158974A1 (en) | 2012-04-20 | 2013-10-24 | Vanderbilt University | Dexterous wrists for surgical intervention |
US9549720B2 (en) | 2012-04-20 | 2017-01-24 | Vanderbilt University | Robotic device for establishing access channel |
US9539726B2 (en) * | 2012-04-20 | 2017-01-10 | Vanderbilt University | Systems and methods for safe compliant insertion and hybrid force/motion telemanipulation of continuum robots |
KR101405087B1 (ko) * | 2012-04-27 | 2014-06-10 | 한양대학교 에리카산학협력단 | 수술도구용 관절 |
US11135026B2 (en) | 2012-05-11 | 2021-10-05 | Peter L. Bono | Robotic surgical system |
US9301811B2 (en) | 2012-09-17 | 2016-04-05 | Intuitive Surgical Operations, Inc. | Methods and systems for assigning input devices to teleoperated surgical instrument functions |
US10864048B2 (en) | 2012-11-02 | 2020-12-15 | Intuitive Surgical Operations, Inc. | Flux disambiguation for teleoperated surgical systems |
US10631939B2 (en) | 2012-11-02 | 2020-04-28 | Intuitive Surgical Operations, Inc. | Systems and methods for mapping flux supply paths |
US20140148673A1 (en) | 2012-11-28 | 2014-05-29 | Hansen Medical, Inc. | Method of anchoring pullwire directly articulatable region in catheter |
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 |
US20140277334A1 (en) | 2013-03-14 | 2014-09-18 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
US20140296869A1 (en) * | 2013-03-14 | 2014-10-02 | Intuitive Surgical Operations, Inc. | Surgical instrument shaft |
US9326822B2 (en) | 2013-03-14 | 2016-05-03 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
US20140276936A1 (en) | 2013-03-15 | 2014-09-18 | Hansen Medical, Inc. | Active drive mechanism for simultaneous rotation and translation |
US9408669B2 (en) | 2013-03-15 | 2016-08-09 | Hansen Medical, Inc. | Active drive mechanism with finite range of motion |
JP6274630B2 (ja) | 2013-06-19 | 2018-02-07 | タイタン メディカル インコーポレイテッドTitan Medical Inc. | 多関節器具位置決め装置およびそれを採用するシステム |
JP6173089B2 (ja) | 2013-07-24 | 2017-08-02 | オリンパス株式会社 | 医療用マスタースレーブシステムの制御方法 |
CN103340662B (zh) * | 2013-08-02 | 2016-02-17 | 苏州天臣国际医疗科技有限公司 | 切割吻合器 |
USD749726S1 (en) * | 2013-08-15 | 2016-02-16 | Intuitive Surgical Operations, Inc. | Surgical instrument shaft with hole pattern |
US10806526B2 (en) | 2013-10-18 | 2020-10-20 | Intuitive Surgical Operations, Inc. | Wrist mechanism for surgical instrument |
US9295522B2 (en) | 2013-11-08 | 2016-03-29 | Covidien Lp | Medical device adapter with wrist mechanism |
EP3834752B1 (en) | 2013-12-11 | 2024-03-13 | Covidien LP | Wrist and jaw assemblies for robotic surgical systems |
WO2015113933A1 (en) | 2014-02-03 | 2015-08-06 | Distalmotion Sa | Mechanical teleoperated device comprising an interchangeable distal instrument |
CN111938820A (zh) * | 2014-02-21 | 2020-11-17 | 直观外科手术操作公司 | 机械接头以及相关的系统和方法 |
EP4356864A3 (en) * | 2014-02-21 | 2024-06-19 | Intuitive Surgical Operations, Inc. | Articulatable members having constrained motion, and related devices and methods |
US10280951B2 (en) | 2014-03-02 | 2019-05-07 | Drexel University | Articulating devices |
US10166061B2 (en) | 2014-03-17 | 2019-01-01 | Intuitive Surgical Operations, Inc. | Teleoperated surgical system equipment with user interface |
US10285763B2 (en) | 2014-04-02 | 2019-05-14 | Intuitive Surgical Operations, Inc. | Actuation element guide with twisting channels |
EP3125813A4 (en) * | 2014-04-02 | 2017-12-06 | Intuitive Surgical Operations, Inc. | Actuation element guide with twisting channels |
US10046140B2 (en) | 2014-04-21 | 2018-08-14 | Hansen Medical, Inc. | Devices, systems, and methods for controlling active drive systems |
WO2015171614A1 (en) | 2014-05-05 | 2015-11-12 | Vicarious Surgical Inc. | Virtual reality surgical device |
US10259129B2 (en) * | 2014-05-06 | 2019-04-16 | The Johns Hopkins University | Adjustable stiffness morphable manipulator |
CN110063791B (zh) | 2014-08-13 | 2022-04-15 | 柯惠Lp公司 | 机器人控制的具有机械优势的夹持 |
EP3185808B1 (en) | 2014-08-27 | 2022-02-23 | DistalMotion SA | Surgical system for microsurgical techniques |
CA2957620C (en) | 2014-09-04 | 2023-07-04 | Memic Innovative Surgery Ltd. | Device and system including mechanical arms |
US11357483B2 (en) | 2014-09-26 | 2022-06-14 | Intuitive Surgical Operations, Inc. | Surgical instrument with flexible shaft and actuation element guide |
WO2016097871A1 (en) | 2014-12-19 | 2016-06-23 | Distalmotion Sa | Docking system for mechanical telemanipulator |
EP3232973B1 (en) | 2014-12-19 | 2020-04-01 | DistalMotion SA | Sterile interface for articulated surgical instruments |
DK3232951T3 (da) | 2014-12-19 | 2024-01-15 | Distalmotion Sa | Kirurgisk instrument med leddelt ende-effektor |
EP4342412A3 (en) | 2014-12-19 | 2024-06-05 | DistalMotion SA | Reusable surgical instrument for minimally invasive procedures |
US10548680B2 (en) | 2014-12-19 | 2020-02-04 | Distalmotion Sa | Articulated handle for mechanical telemanipulator |
EP3250141B1 (en) | 2015-01-28 | 2023-10-11 | Apyx Medical Corporation | Cold plasma electrosurgical apparatus with bent tip applicator |
WO2016133633A1 (en) | 2015-02-19 | 2016-08-25 | Covidien Lp | Repositioning method of input device for robotic surgical system |
US10716639B2 (en) | 2015-03-10 | 2020-07-21 | Covidien Lp | Measuring health of a connector member of a robotic surgical system |
JP2018515299A (ja) | 2015-04-03 | 2018-06-14 | ザ リージェンツ オブ ザ ユニヴァシティ オブ ミシガン | ケーブル駆動伝動の為の張力管理装置 |
EP3280343A1 (en) | 2015-04-09 | 2018-02-14 | DistalMotion SA | Mechanical teleoperated device for remote manipulation |
WO2016162751A1 (en) | 2015-04-09 | 2016-10-13 | Distalmotion Sa | Articulated hand-held instrument |
EP3302335A4 (en) | 2015-06-03 | 2019-02-20 | Covidien LP | OFFSET INSTRUMENT DRIVE UNIT |
WO2016201325A1 (en) | 2015-06-12 | 2016-12-15 | Intuitive Surgical Operations, Inc. | User interfaces and displays for flux supply units |
CN107743384B (zh) | 2015-06-16 | 2020-12-22 | 柯惠Lp公司 | 机器人外科手术系统扭矩传感感测 |
JP6719487B2 (ja) | 2015-06-23 | 2020-07-08 | コヴィディエン リミテッド パートナーシップ | ロボット外科手術アセンブリ |
US10786272B2 (en) | 2015-08-28 | 2020-09-29 | Distalmotion Sa | Surgical instrument with increased actuation force |
US10806454B2 (en) | 2015-09-25 | 2020-10-20 | Covidien Lp | Robotic surgical assemblies and instrument drive connectors thereof |
CN108712886B (zh) | 2015-10-02 | 2021-06-04 | 弗莱克斯德克斯公司 | 提供无限制滚转的手柄机构 |
US11896255B2 (en) | 2015-10-05 | 2024-02-13 | Flexdex, Inc. | End-effector jaw closure transmission systems for remote access tools |
CN108472025A (zh) | 2015-10-05 | 2018-08-31 | 弗莱克斯德克斯公司 | 具有平滑铰接的多簇接头的医疗装置 |
US9668720B2 (en) | 2015-10-19 | 2017-06-06 | DNP Biomed, LLC | Systems, devices, components and methods for displacing and repositioning the esophagus away from the heart during atrial ablation surgical procedures |
US10265058B2 (en) | 2015-10-19 | 2019-04-23 | DNP Biomed, LLC | Systems, devices, components and methods for displacing and repositioning the esophagus away from the heart during atrial ablation surgical procedures |
CN108135670B (zh) | 2015-10-23 | 2021-02-26 | 柯惠Lp公司 | 用于检测灌注中逐步变化的手术系统 |
CN108348297B (zh) | 2015-11-19 | 2021-08-31 | 柯惠Lp公司 | 用于机器人手术系统的光学力传感器 |
EP4218628A3 (en) | 2016-02-05 | 2023-10-18 | Board Of Regents Of the University Of Texas System | Surgical apparatus |
BR112018009258B1 (pt) | 2016-02-05 | 2023-02-07 | Board Of Regents Of The University Of Texas System | Dispositivo médico |
CA2960354A1 (en) | 2016-03-09 | 2017-09-09 | Memic Innovative Surgery Ltd. | Modular device comprising mechanical arms |
JP6995055B2 (ja) | 2016-03-10 | 2022-01-14 | ヒューマン エクステンションズ リミテッド | 医用機器の制御ユニット |
WO2017173524A1 (en) | 2016-04-07 | 2017-10-12 | Titan Medical Inc. | Camera positioning method and apparatus for capturing images during a medical procedure |
JP6662690B2 (ja) * | 2016-04-11 | 2020-03-11 | ミズホ株式会社 | 内視鏡手術器具 |
EP3442432B1 (en) | 2016-04-14 | 2024-06-19 | Asensus Surgical US, Inc. | Electromechanical surgical system inlcuding linearly driven instrument roll |
WO2017189272A1 (en) | 2016-04-29 | 2017-11-02 | Intuitive Surgical Operations, Inc. | Compliant mechanisms having inverted tool members |
EP3463112B1 (en) | 2016-05-23 | 2021-04-07 | MAKO Surgical Corp. | Medical device for cutting bone |
CA3022164A1 (en) | 2016-05-26 | 2017-11-30 | Covidien Lp | Robotic surgical assemblies |
CN113328581B (zh) | 2016-05-26 | 2024-06-11 | 柯惠Lp公司 | 器械驱动单元 |
CN109275333B (zh) | 2016-06-03 | 2022-05-17 | 柯惠Lp公司 | 用于控制机器人递送操纵器的系统、方法和计算机可读程序产品 |
CN107735040B (zh) | 2016-06-03 | 2021-06-18 | 柯惠Lp公司 | 用于机器人手术系统的控制臂 |
CN109152612A (zh) | 2016-06-03 | 2019-01-04 | 柯惠Lp公司 | 具有嵌入式成像仪的机器人手术系统 |
WO2017210074A1 (en) | 2016-06-03 | 2017-12-07 | Covidien Lp | Passive axis system for robotic surgical systems |
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 |
JP2019524355A (ja) * | 2016-08-31 | 2019-09-05 | スミス アンド ネフュー インコーポレイテッド | 関節式半月板修復器具 |
US10072743B1 (en) | 2016-09-02 | 2018-09-11 | Michael Brian Wittig | Rotary-to-linear transmission system |
EP3512435B1 (en) | 2016-09-14 | 2023-11-01 | Intuitive Surgical Operations, Inc. | Joint assemblies with cross-axis flexural pivots |
EP4356949A2 (en) | 2016-10-03 | 2024-04-24 | Fortimedix Assets II B.V. | Bendable tube with improved elastic hinge |
WO2018102718A1 (en) | 2016-12-02 | 2018-06-07 | Vanderbilt University | Steerable endoscope with continuum manipulator |
JP7112100B2 (ja) | 2017-01-30 | 2022-08-03 | アピックス メディカル コーポレーション | 可撓性を有するシャフトを備えた電気手術装置 |
WO2018148394A1 (en) | 2017-02-09 | 2018-08-16 | Vicarious Surgical Inc. | Virtual reality surgical tools system |
CA3048039A1 (en) | 2017-02-15 | 2018-08-23 | Covidien Lp | System and apparatus for crush prevention for medical robot applications |
US10973592B2 (en) | 2017-03-09 | 2021-04-13 | Memie Innovative Surgery Ltd. | Control console for surgical device with mechanical arms |
US11779410B2 (en) | 2017-03-09 | 2023-10-10 | Momentis Surgical Ltd | Control console including an input arm for control of a surgical mechanical arm |
US11058503B2 (en) | 2017-05-11 | 2021-07-13 | Distalmotion Sa | Translational instrument interface for surgical robot and surgical robot systems comprising the same |
EP3629979A4 (en) | 2017-05-24 | 2021-02-17 | Covidien LP | PRESENCE DETECTION FOR ELECTROSURGICAL TOOLS IN A ROBOTIC SYSTEM |
JP2020520694A (ja) | 2017-05-25 | 2020-07-16 | コヴィディエン リミテッド パートナーシップ | ロボット手術システムおよびロボット手術システムのコンポーネントを覆うためのドレープ |
US11839441B2 (en) | 2017-05-25 | 2023-12-12 | Covidien Lp | Robotic surgical system with automated guidance |
EP3629981A4 (en) | 2017-05-25 | 2021-04-07 | Covidien LP | SYSTEMS AND METHODS FOR DETECTION OF OBJECTS WITHIN A FIELD OF VIEW OF AN IMAGE CAPTURING DEVICE |
US11877788B2 (en) | 2017-05-30 | 2024-01-23 | Apyx Medical Corporation | Electrosurgical apparatus with robotic tip |
WO2019006087A2 (en) * | 2017-06-29 | 2019-01-03 | Board Of Regents Of The University Of Texas System | SURGICAL APPARATUS |
CN107263528A (zh) * | 2017-07-21 | 2017-10-20 | 清华大学 | 柔性臂的柔性关节结构 |
US10543605B2 (en) * | 2017-08-15 | 2020-01-28 | Avigilon Corporation | Camera on movable arm |
GB201713277D0 (en) * | 2017-08-18 | 2017-10-04 | Rolls Royce Plc | Hyper-redundant manipulators |
WO2019049506A1 (ja) * | 2017-09-05 | 2019-03-14 | オリンパス株式会社 | 内視鏡の挿入部 |
CN110177516B (zh) | 2017-09-05 | 2023-10-24 | 柯惠Lp公司 | 用于机器人手术系统的碰撞处理算法 |
CN111132629B (zh) | 2017-09-06 | 2024-04-16 | 柯惠Lp公司 | 手术机器人的边界缩放 |
US10967504B2 (en) | 2017-09-13 | 2021-04-06 | Vanderbilt University | Continuum robots with multi-scale motion through equilibrium modulation |
CA3075692A1 (en) | 2017-09-14 | 2019-03-21 | Vicarious Surgical Inc. | Virtual reality surgical camera system |
WO2019073859A1 (ja) * | 2017-10-12 | 2019-04-18 | 日本発條株式会社 | 医療用マニピュレーターの可撓チューブ及び屈曲構造体 |
US11576740B2 (en) | 2017-10-12 | 2023-02-14 | Nhk Spring Co., Ltd. | Bending structure and flexible tube for medical manipulator |
WO2019083983A2 (en) | 2017-10-23 | 2019-05-02 | Bono Peter L | OSCILLATING SURGICAL INSTRUMENT / ROTARY FLAP MOVEMENT |
CN107800937A (zh) * | 2017-11-09 | 2018-03-13 | 信利光电股份有限公司 | 一种多摄像头模组及终端设备 |
CN110662506B (zh) | 2017-11-10 | 2023-06-20 | 直观外科手术操作公司 | 联合器械的致动中的张力控制 |
CA3082493A1 (en) | 2017-11-13 | 2019-05-16 | Vicarious Surgical Inc. | Virtual reality wrist assembly |
FR3073440B1 (fr) * | 2017-11-16 | 2019-10-25 | Warein | Tube gonflable a geometrie variable et volume constant, bras robotise et robot |
CN111343939B (zh) | 2017-12-14 | 2023-08-15 | 直观外科手术操作公司 | 具有张力带的医疗工具 |
AU2018394076B2 (en) | 2017-12-29 | 2020-11-05 | Endoquest Robotics, Inc. | End effector and end effector drive apparatus |
US11432890B2 (en) | 2018-01-04 | 2022-09-06 | Covidien Lp | Systems and assemblies for mounting a surgical accessory to robotic surgical systems, and providing access therethrough |
US11730552B2 (en) | 2018-01-04 | 2023-08-22 | Covidien Lp | Robotic surgical instrument including high articulation wrist assembly with torque transmission and mechanical manipulation |
EP3737318A1 (en) | 2018-01-12 | 2020-11-18 | Bono, Peter L. | Robotic surgical control system |
US10413374B2 (en) | 2018-02-07 | 2019-09-17 | Distalmotion Sa | Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy |
GB201803497D0 (en) * | 2018-03-05 | 2018-04-18 | Univ Cape Town | Endoscopic device |
US11189379B2 (en) | 2018-03-06 | 2021-11-30 | Digital Surgery Limited | Methods and systems for using multiple data structures to process surgical data |
EP3761895A4 (en) | 2018-03-07 | 2021-11-24 | Intuitive Surgical Operations, Inc. | LOW-FRICTION MEDICAL TOOLS WITH ROLLER ASSISTED CLAMPING ELEMENTS |
US11439376B2 (en) | 2018-03-07 | 2022-09-13 | Intuitive Surgical Operations, Inc. | Low-friction, small profile medical tools having easy-to-assemble components |
WO2019173056A1 (en) | 2018-03-08 | 2019-09-12 | Covidien Lp | Surgical robotic systems |
CN111989065A (zh) | 2018-04-20 | 2020-11-24 | 柯惠Lp公司 | 具有立体显示器的机器人手术系统中的观察者移动的补偿 |
EP3781367A4 (en) | 2018-04-20 | 2022-04-20 | Covidien LP | SYSTEMS AND METHODS FOR POSITIONING A SURGICAL ROBOT CARRIAGE |
WO2020009830A1 (en) | 2018-07-03 | 2020-01-09 | Covidien Lp | Systems, methods, and computer-readable media for detecting image degradation during surgical procedures |
GB2575675A (en) * | 2018-07-19 | 2020-01-22 | Imperial College Sci Tech & Medicine | A device |
CN109015612B (zh) * | 2018-08-13 | 2021-07-23 | 深圳市金伍源实业有限公司 | 一种螺纹摆转式链状机器人 |
EP3840669B1 (en) | 2018-08-24 | 2024-04-17 | Covidien LP | Powered circular stapling device |
EP3852667A4 (en) | 2018-09-17 | 2022-06-15 | Covidien LP | SURGICAL ROBOTIC SYSTEMS |
US11864849B2 (en) * | 2018-09-26 | 2024-01-09 | Auris Health, Inc. | Systems and instruments for suction and irrigation |
WO2020076447A1 (en) | 2018-10-08 | 2020-04-16 | Auris Health, Inc. | Systems and instruments for tissue sealing |
US11109746B2 (en) | 2018-10-10 | 2021-09-07 | Titan Medical Inc. | Instrument insertion system, method, and apparatus for performing medical procedures |
NL2021823B1 (en) * | 2018-10-16 | 2020-05-13 | Fortimedix Assets Ii B V | Steerable instrument comprising a tube element |
WO2020097224A1 (en) | 2018-11-06 | 2020-05-14 | Bono Peter L | Robotic surgical system and method |
WO2020102774A1 (en) * | 2018-11-15 | 2020-05-22 | Intuitive Surgical Operations, Inc. | Surgical instrument with sensor aligned cable guide |
CN109498147B (zh) * | 2018-12-12 | 2021-08-06 | 上海魅丽纬叶医疗科技有限公司 | 具有形状稳定化设计的网管状支架结构的射频消融导管及其制造工艺 |
US11586106B2 (en) | 2018-12-28 | 2023-02-21 | Titan Medical Inc. | Imaging apparatus having configurable stereoscopic perspective |
US11234783B2 (en) | 2018-12-28 | 2022-02-01 | Titan Medical Inc. | Articulated tool positioner for robotic surgery system |
EP3870023A4 (en) * | 2018-12-28 | 2022-07-27 | Auris Health, Inc. | MEDICAL INSTRUMENT WITH AN ARTICULABLE SEGMENT |
US11717355B2 (en) | 2019-01-29 | 2023-08-08 | Covidien Lp | Drive mechanisms for surgical instruments such as for use in robotic surgical systems |
US11576733B2 (en) | 2019-02-06 | 2023-02-14 | Covidien Lp | Robotic surgical assemblies including electrosurgical instruments having articulatable wrist assemblies |
US11484372B2 (en) | 2019-02-15 | 2022-11-01 | Covidien Lp | Articulation mechanisms for surgical instruments such as for use in robotic surgical systems |
JP7055766B2 (ja) * | 2019-04-11 | 2022-04-18 | 日本発條株式会社 | 可撓部材 |
AU2020274103A1 (en) | 2019-05-15 | 2021-10-14 | Boston Scientific Scimed, Inc. | Medical device having asymmetric bending |
US20200360078A1 (en) * | 2019-05-16 | 2020-11-19 | Intuitive Surgical Operations, Inc. | Insert guide members for surgical instruments, and related devices, systems, and methods |
US11123146B2 (en) | 2019-05-30 | 2021-09-21 | Titan Medical Inc. | Surgical instrument apparatus, actuator, and drive |
AU2019448247A1 (en) | 2019-05-31 | 2021-12-16 | Covidien Lp | Circular stapling device |
DE102019121088A1 (de) * | 2019-08-05 | 2021-02-11 | Karl Storz Se & Co. Kg | Medizinisches instrument |
JP2022547100A (ja) * | 2019-09-07 | 2022-11-10 | メミック イノベイティブ サージェリー リミテッド | 外科手術用装置の機械アームにおけるケーブルおよびワイヤのルーティング |
KR102336979B1 (ko) * | 2019-09-24 | 2021-12-09 | 한국과학기술연구원 | 탄성 부재를 구비한 관절 구조체 및 이를 구비하는 튜브 삽입형 장치 |
CN114828932A (zh) * | 2019-10-23 | 2022-07-29 | 佳能美国公司 | 具有分段可弯曲区段的医学设备 |
US11730481B2 (en) | 2020-01-06 | 2023-08-22 | Covidien Lp | Assemblies for retaining a trocar assembly |
US11911038B2 (en) | 2020-01-13 | 2024-02-27 | Covidien Lp | Cut optimization for excessive tissue conditions |
US11523828B2 (en) | 2020-01-28 | 2022-12-13 | Covidien Lp | Sealed reload assembly for stapling device |
US11622767B2 (en) | 2020-02-19 | 2023-04-11 | Covidien Lp | Sealed trocar assembly for stapling device |
US11779343B2 (en) | 2020-02-26 | 2023-10-10 | Covidien Lp | Staple reload assembly with releasable knife |
CN111544197B (zh) * | 2020-04-20 | 2021-05-28 | 西安交通大学 | 一种眼科手术机器人柔性力敏操作机构 |
US11653925B2 (en) | 2020-05-21 | 2023-05-23 | Covidien Lp | Tissue relaxation monitoring for optimized tissue stapling |
US11547405B2 (en) | 2020-05-22 | 2023-01-10 | Covidien Lp | Surgical stapling device |
IL297954A (en) | 2020-06-02 | 2023-01-01 | Flexdex Inc | Tool and assembly for surgery |
CN115916080A (zh) * | 2020-06-16 | 2023-04-04 | 格雷美国责任公司 | 握力衰减器 |
USD963851S1 (en) | 2020-07-10 | 2022-09-13 | Covidien Lp | Port apparatus |
US11553921B2 (en) | 2020-07-15 | 2023-01-17 | Covidien Lp | Surgical stapling device with flexible shaft |
US11638582B2 (en) * | 2020-07-28 | 2023-05-02 | Cilag Gmbh International | Surgical instruments with torsion spine drive arrangements |
US11627966B2 (en) | 2020-08-26 | 2023-04-18 | Covidien Lp | Surgical stapling device |
US11801054B2 (en) | 2020-09-22 | 2023-10-31 | Covidien Lp | Surgical stapler with oval tool assembly |
CN112171700B (zh) * | 2020-09-25 | 2022-03-08 | 江苏科技大学 | 一种用于柔性材料曲面贴合的自适应机械手 |
US11712509B2 (en) | 2020-10-02 | 2023-08-01 | Covidien Lp | Seal assembly for circular stapling instrument |
US11627967B2 (en) | 2020-11-23 | 2023-04-18 | Covidien Lp | Trans-anastomotic insertion device |
DE102020130953A1 (de) | 2020-11-23 | 2022-05-25 | Ambu A/S | Endoskop mit Biegeabschnitt mit Scheibe zum Befestigen eines Steuerdrahtes |
EP4252693A4 (en) * | 2020-12-08 | 2024-02-21 | RIVERFIELD Inc. | CLAMP DEVICE AND BASIC COMPONENT |
US11877750B2 (en) | 2021-01-21 | 2024-01-23 | Covidien Lp | Surgical stapler with powered and manual functions |
US11986187B2 (en) | 2021-01-29 | 2024-05-21 | Covidien Lp | Circular stapling device with integrated visualization device |
US11786241B2 (en) | 2021-02-16 | 2023-10-17 | Covidien Lp | Surgical stapling device including a hydraulic staple formation mechanism |
US11885601B1 (en) | 2021-03-09 | 2024-01-30 | United States Of America As Represented By The Secretary Of The Air Force | Variable angle load transfer device |
CN113197667B (zh) | 2021-04-22 | 2022-07-12 | 浙江大学 | 一种模块化关节分时切换驱动的灵巧操作臂 |
US11553920B2 (en) | 2021-05-03 | 2023-01-17 | Covidien Lp | Trocar retainer assembly for surgical stapler |
US11490894B1 (en) | 2021-05-12 | 2022-11-08 | Covidien Lp | Surgical device with grease filter |
US11642131B2 (en) | 2021-05-17 | 2023-05-09 | Covidien Lp | Devices and methods for shortening a rectal stump during a lower anterior resection procedure |
US11612400B2 (en) | 2021-05-24 | 2023-03-28 | Covidien Lp | Trocar assembly with bearing assembly for load sharing |
US11948226B2 (en) | 2021-05-28 | 2024-04-02 | Covidien Lp | Systems and methods for clinical workspace simulation |
CN113305827B (zh) * | 2021-06-21 | 2021-11-30 | 西南科技大学 | 适用于水下作业的线驱动柔性机械臂 |
US11737759B2 (en) | 2021-08-05 | 2023-08-29 | Covidien Lp | Surgical stapling device accommodating prolapsed tissue |
US11883028B2 (en) | 2021-09-08 | 2024-01-30 | Covidien Lp | Systems and methods for post-operative anastomotic leak detection |
US11717299B2 (en) | 2021-10-12 | 2023-08-08 | Covidien Lp | Surgical stapling device with probiotics |
CN113729955A (zh) * | 2021-10-18 | 2021-12-03 | 天津大学 | 可驱动柔性装置 |
US11787069B2 (en) * | 2021-11-01 | 2023-10-17 | Oliver Crispin Robotics Limited | Insertion tool with flexible spine |
WO2023101968A1 (en) | 2021-11-30 | 2023-06-08 | Endoquest Robotics, Inc. | Steerable overtube assemblies for robotic surgical systems |
WO2023154352A1 (en) * | 2022-02-09 | 2023-08-17 | Canon U.S.A., Inc. | Medical apparatus with wire anchors and method of use thereof |
CN115778293B (zh) * | 2022-11-30 | 2024-05-07 | 湖南省华芯医疗器械有限公司 | 主动弯曲段、插入部及内窥镜 |
US11844585B1 (en) | 2023-02-10 | 2023-12-19 | Distalmotion Sa | Surgical robotics systems and devices having a sterile restart, and methods thereof |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5916146A (en) | 1995-12-22 | 1999-06-29 | Bieffe Medital S.P.A. | System for support and actuation with vertebrae in particular for surgical and diagnostic instruments |
US6451027B1 (en) | 1998-12-16 | 2002-09-17 | Intuitive Surgical, Inc. | Devices and methods for moving an image capture device in telesurgical systems |
US20060077287A1 (en) * | 2004-02-12 | 2006-04-13 | Dai Nippon Printing Co., Ltd. | Security label and security label supply sheet |
Family Cites Families (336)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US1418184A (en) * | 1920-08-12 | 1922-05-30 | Trunick Charles | Screw driver |
US2815697A (en) | 1950-06-06 | 1957-12-10 | Saunders-Singer Arthur Edward | Microscope manipulators or dissection manipulators |
US2681991A (en) | 1951-04-24 | 1954-06-22 | Houston Fearless Corp | Radar antenna equipment |
US3060972A (en) * | 1957-08-22 | 1962-10-30 | Bausch & Lomb | Flexible tube structures |
US2901258A (en) | 1957-09-30 | 1959-08-25 | Brandafi Gabriel | Drill press spindle |
US3190286A (en) | 1961-10-31 | 1965-06-22 | Bausch & Lomb | Flexible viewing probe for endoscopic use |
US3145333A (en) | 1962-10-29 | 1964-08-18 | Pardini John Anthony | Force limiting device for motor control |
US3266059A (en) | 1963-06-19 | 1966-08-16 | North American Aviation Inc | Prestressed flexible joint for mechanical arms and the like |
US3268059A (en) | 1964-11-17 | 1966-08-23 | Hill William | Conveyor apparatus |
US3288059A (en) | 1965-10-20 | 1966-11-29 | Edward R Atkinson | Color reproduction |
US3557780A (en) | 1967-04-20 | 1971-01-26 | Olympus Optical Co | Mechanism for controlling flexure of endoscope |
US3463329A (en) | 1967-05-18 | 1969-08-26 | Sylvania Electric Prod | Material transfer device with parallel link frame |
US3610231A (en) * | 1967-07-21 | 1971-10-05 | Olympus Optical Co | Endoscope |
CH482439A (de) | 1968-02-20 | 1969-12-15 | Contraves Ag | Beobachtungseinrichtung |
US3628535A (en) | 1969-11-12 | 1971-12-21 | Nibot Corp | Surgical instrument for implanting a prosthetic heart valve or the like |
US3818125A (en) * | 1971-10-26 | 1974-06-18 | J Butterfield | Stereo television microscope |
US3788303A (en) | 1972-01-24 | 1974-01-29 | American Cystoscope Makers Inc | Orthogonally deflectable endoscope |
US3923166A (en) | 1973-10-11 | 1975-12-02 | Nasa | Remote manipulator system |
US3921445A (en) | 1973-10-15 | 1975-11-25 | Stanford Research Inst | Force and torque sensing method and means for manipulators and the like |
JPS552966Y2 (ko) | 1974-02-08 | 1980-01-24 | ||
US3934201A (en) * | 1974-03-22 | 1976-01-20 | Majefski Richard L | Low power consumption stereo transmitter and receiver system |
JPS52155765A (en) | 1976-06-18 | 1977-12-24 | Yachiyo Kougiyou Kenkiyuushiyo | Industrial robot |
US4203430A (en) | 1976-12-16 | 1980-05-20 | Nagashige Takahashi | Device for controlling curvature of an end section in an endoscope |
CH614069A5 (ko) * | 1977-03-31 | 1979-10-31 | Weber Ag Fab Elektro | |
US5133727A (en) | 1990-05-10 | 1992-07-28 | Symbiosis Corporation | Radial jaw biopsy forceps |
US4150326A (en) * | 1977-09-19 | 1979-04-17 | Unimation, Inc. | Trajectory correlation and error detection method and apparatus |
US4149278A (en) * | 1977-09-27 | 1979-04-17 | Nasa | Compact artificial hand |
DE2819976C2 (de) | 1978-05-08 | 1984-03-08 | Fritz 5882 Meinerzhagen Sträter | Gelenkarm mit umhüllter Parallelogrammfunktion |
JPS594266B2 (ja) * | 1978-07-28 | 1984-01-28 | 元田電子工業株式会社 | 先端制御ロボツト |
ATE1489T1 (de) | 1978-09-20 | 1982-09-15 | Association Des Ouvriers En Instruments De Precision | Gelenk fuer einen manipulatorarm. |
FR2462607A2 (fr) | 1978-09-20 | 1981-02-13 | Ass Ouvriers Instr Precision | Articulation pour bras de manipulateur |
GB2040134A (en) | 1978-11-09 | 1980-08-20 | Marconi Co Ltd | Stereoscopic television systems |
US4281447A (en) | 1979-03-01 | 1981-08-04 | Mcdonnell Douglas Corporation | Detachable tool interface system for a robot |
US4329980A (en) * | 1979-03-06 | 1982-05-18 | Olympus Optical Co., Ltd. | Flexible sheath for an endoscope |
US4264266A (en) * | 1979-04-20 | 1981-04-28 | Tl Systems Corporation | Manipulator apparatus |
US4349837A (en) | 1979-07-03 | 1982-09-14 | Spar Aerospace Limited | Satellite servicing |
FR2460762A1 (fr) | 1979-07-12 | 1981-01-30 | Technigaz | Dispositif pour la commande de l'orientation d'un outil ou d'un element analogue par rapport a une piece |
US4367998A (en) * | 1979-09-13 | 1983-01-11 | United Kingdom Atomic Energy Authority | Manipulators |
US4332066A (en) * | 1980-01-07 | 1982-06-01 | General Dynamics Corporation | Compliance mechanism |
US4483326A (en) | 1981-04-21 | 1984-11-20 | Kabushiki Kaisha Medos Kenkyusho | Curvature control mechanism in endoscopes |
US4562463A (en) | 1981-05-15 | 1985-12-31 | Stereographics Corp. | Stereoscopic television system with field storage for sequential display of right and left images |
US4419041A (en) | 1981-06-26 | 1983-12-06 | Rose Stanley E | Spacial mechanism and method |
US4486928A (en) | 1981-07-09 | 1984-12-11 | Magnavox Government And Industrial Electronics Company | Apparatus for tool storage and selection |
FR2512570A1 (fr) * | 1981-09-09 | 1983-03-11 | Commissariat Energie Atomique | Systeme d'asservissement de position a retour d'effort avec retard de transmission et son application a un telemanipulateur |
JPS58126091A (ja) * | 1982-01-16 | 1983-07-27 | 株式会社明電舎 | パワ−マニピユレ−タ |
US4636138A (en) * | 1982-02-05 | 1987-01-13 | American Robot Corporation | Industrial robot |
US4500065A (en) * | 1982-03-01 | 1985-02-19 | Cincinnati Milacron Inc. | Releasable tool mount for manipulator |
DE3211688C2 (de) | 1982-03-30 | 1986-10-09 | Binder, Karl-Franz, 8077 Reichertshofen | Industrie-Roboter für Fertigungs- und/oder Montagezwecke |
US4582067A (en) * | 1983-02-14 | 1986-04-15 | Washington Research Foundation | Method for endoscopic blood flow detection by the use of ultrasonic energy |
DE3309737A1 (de) | 1983-03-18 | 1984-09-20 | Erno Raumfahrttechnik Gmbh, 2800 Bremen | Vorrichtung zum exakten positionieren eines gegenstandes im raum |
JPS609676A (ja) | 1983-06-30 | 1985-01-18 | 株式会社東芝 | マニピユレ−タの構造体 |
US4512709A (en) * | 1983-07-25 | 1985-04-23 | Cincinnati Milacron Inc. | Robot toolchanger system |
US4611888A (en) | 1983-10-17 | 1986-09-16 | Mp Video, Inc. | Coupler for surgical endoscope and video camera |
US4622954A (en) | 1984-05-15 | 1986-11-18 | Fuji Photo Optical Co., Ltd. | Endoscope having a plate-like image sensor for forming images |
JPS60253428A (ja) | 1984-05-30 | 1985-12-14 | 住友電気工業株式会社 | 屈曲機構付フアイバスコ−プ |
US4651201A (en) * | 1984-06-01 | 1987-03-17 | Arnold Schoolman | Stereoscopic endoscope arrangement |
DE3421452C2 (de) | 1984-06-08 | 1986-05-22 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | Vorrichtung zum automatischen Erfassen bzw. Lösen eines Werkzeugträgers bei einem Manipulator |
US4583117A (en) * | 1984-07-17 | 1986-04-15 | Stereographics Corporation | Stereoscopic video camera |
US4580551A (en) * | 1984-11-02 | 1986-04-08 | Warner-Lambert Technologies, Inc. | Flexible plastic tube for endoscopes and the like |
DE3447769A1 (de) * | 1984-12-28 | 1986-07-10 | Medicon eG, Chirurgiemechaniker-Genossenschaft, 7200 Tuttlingen | Griffstueck fuer chirurgische zwecke |
IT1185800B (it) | 1985-06-11 | 1987-11-18 | D B A Spa | Dispositivo per effettuare automaticamente il cambio dell utensile di misura in un macchina o in un robot di misura |
JPS6233801U (ko) * | 1985-08-14 | 1987-02-27 | ||
JPS62122650A (ja) | 1985-11-25 | 1987-06-03 | 富士写真光機株式会社 | 内視鏡 |
FR2593106B1 (fr) | 1986-01-22 | 1990-03-30 | Royer Jacques | Dispositif de deplacement d'un outil ou analogue en porte-a-faux, notamment autour d'un objet. |
JPS62192134A (ja) * | 1986-02-17 | 1987-08-22 | オリンパス光学工業株式会社 | 内視鏡装置用湾曲部装置 |
US4722056A (en) * | 1986-02-18 | 1988-01-26 | Trustees Of Dartmouth College | Reference display systems for superimposing a tomagraphic image onto the focal plane of an operating microscope |
JPH085018B2 (ja) * | 1986-02-26 | 1996-01-24 | 株式会社日立製作所 | 遠隔マニピユレ−シヨン方法及び装置 |
EP0239409A1 (en) | 1986-03-28 | 1987-09-30 | Life Technology Research Foundation | Robot for surgical operation |
US4766775A (en) | 1986-05-02 | 1988-08-30 | Hodge Steven W | Modular robot manipulator |
US5078140A (en) * | 1986-05-08 | 1992-01-07 | Kwoh Yik S | Imaging device - aided robotic stereotaxis system |
US4697577A (en) | 1986-05-22 | 1987-10-06 | Baxter Travenol Laboratories, Inc. | Scanning microtelescope for surgical applications |
JPH0766290B2 (ja) * | 1986-06-26 | 1995-07-19 | 東芝機械株式会社 | 工具経路生成方法 |
US4744363A (en) * | 1986-07-07 | 1988-05-17 | Hasson Harrith M | Intra-abdominal organ stabilizer, retractor and tissue manipulator |
US4806068A (en) * | 1986-09-30 | 1989-02-21 | Dilip Kohli | Rotary linear actuator for use in robotic manipulators |
JPH0829509B2 (ja) | 1986-12-12 | 1996-03-27 | 株式会社日立製作所 | マニピユレ−タの制御装置 |
JPH0336331Y2 (ko) | 1987-01-13 | 1991-08-01 | ||
US5302343A (en) | 1987-02-25 | 1994-04-12 | Adir Jacob | Process for dry sterilization of medical devices and materials |
US4873572A (en) | 1987-02-27 | 1989-10-10 | Olympus Optical Co., Ltd. | Electronic endoscope apparatus |
SE462645B (sv) * | 1987-03-31 | 1990-08-06 | Asea Ab | Anordning vid industrirobotar avseende verktygsbyte |
US4860215A (en) | 1987-04-06 | 1989-08-22 | California Institute Of Technology | Method and apparatus for adaptive force and position control of manipulators |
US4793053A (en) | 1987-04-16 | 1988-12-27 | General Motors Corporation | Quick disconnect device |
JPS63278674A (ja) | 1987-05-11 | 1988-11-16 | Shinko Electric Co Ltd | 回転中心のオフセツト機構 |
US4863133A (en) | 1987-05-26 | 1989-09-05 | Leonard Medical | Arm device for adjustable positioning of a medical instrument or the like |
JPS63294509A (ja) | 1987-05-27 | 1988-12-01 | Olympus Optical Co Ltd | 立体視内視鏡装置 |
US4762455A (en) | 1987-06-01 | 1988-08-09 | Remote Technology Corporation | Remote manipulator |
CA1239379A (en) * | 1987-06-15 | 1988-07-19 | Raza Alikhan | Container for packaging and counting surgical sponges |
JPS63315026A (ja) * | 1987-06-19 | 1988-12-22 | Olympus Optical Co Ltd | 内視鏡用湾曲管 |
US4809747A (en) * | 1987-07-31 | 1989-03-07 | General Motors Corporation | Quick disconnect device |
US4833383A (en) * | 1987-08-13 | 1989-05-23 | Iowa State University Research Foundation, Inc. | Means and method of camera space manipulation |
JPH045126Y2 (ko) * | 1987-09-03 | 1992-02-14 | ||
FR2620961B1 (fr) | 1987-09-30 | 1990-01-19 | Euritech | Bras de manipulation telescopique |
US4808898A (en) * | 1987-09-30 | 1989-02-28 | Keith Pearson | Gripper assembly for robot arm |
DE3741632A1 (de) | 1987-12-05 | 1989-06-22 | Noell Gmbh | Verfahren und vorrichtung zum erkennen und ansteuern eines raumzieles |
US5018266A (en) * | 1987-12-07 | 1991-05-28 | Megamation Incorporated | Novel means for mounting a tool to a robot arm |
DE3742053C1 (de) * | 1987-12-11 | 1989-03-16 | Wolf Gmbh Richard | Halter fuer aerztliche Instrumente |
US4942538A (en) | 1988-01-05 | 1990-07-17 | Spar Aerospace Limited | Telerobotic tracker |
CA1331032C (en) * | 1988-01-25 | 1994-07-26 | Thony, Franz | Apparatus for detachably connecting two parts |
US4855822A (en) | 1988-01-26 | 1989-08-08 | Honeywell, Inc. | Human engineered remote driving system |
US5251127A (en) | 1988-02-01 | 1993-10-05 | Faro Medical Technologies Inc. | Computer-aided surgery apparatus |
EP0326768A3 (en) * | 1988-02-01 | 1991-01-23 | Faro Medical Technologies Inc. | Computer-aided surgery apparatus |
US5046022A (en) | 1988-03-10 | 1991-09-03 | The Regents Of The University Of Michigan | Tele-autonomous system and method employing time/position synchrony/desynchrony |
FR2628670B1 (fr) * | 1988-03-21 | 1990-08-17 | Inst Nat Rech Inf Automat | Dispositif articule, notamment utilisable dans le domaine de la robotique |
US5187796A (en) * | 1988-03-29 | 1993-02-16 | Computer Motion, Inc. | Three-dimensional vector co-processor having I, J, and K register files and I, J, and K execution units |
US4979496A (en) | 1988-04-05 | 1990-12-25 | Fuji Photo Optical Co., Ltd. | Endoscope for bile duct and pancreatic duct |
US5029574A (en) | 1988-04-14 | 1991-07-09 | Okamoto Industries, Inc. | Endoscopic balloon with a protective film thereon |
US4989253A (en) * | 1988-04-15 | 1991-01-29 | The Montefiore Hospital Association Of Western Pennsylvania | Voice activated microscope |
US4903536A (en) | 1988-04-21 | 1990-02-27 | Massachusetts Institute Of Technology | Compact cable transmission with cable differential |
US4979949A (en) | 1988-04-26 | 1990-12-25 | The Board Of Regents Of The University Of Washington | Robot-aided system for surgery |
US5005558A (en) | 1988-05-16 | 1991-04-09 | Kabushiki Kaisha Toshiba | Endoscope |
JPH01316184A (ja) | 1988-06-14 | 1989-12-21 | Mitsubishi Electric Corp | 産業用ロボット |
GB8817672D0 (en) | 1988-07-25 | 1988-09-01 | Sira Ltd | Optical apparatus |
US4928546A (en) * | 1988-08-17 | 1990-05-29 | Walters David A | Robotic devices |
US4943939A (en) | 1988-08-29 | 1990-07-24 | Rocklin Hoover | Surgical instrument accounting apparatus and method |
US4919382A (en) * | 1988-09-14 | 1990-04-24 | The United States Of America As Represented By The Secretary Of The Navy | Multi-post yoke gimbal |
FR2637370B1 (fr) | 1988-10-04 | 1991-04-12 | Gir | Dispositif pour le controle de temperatures contenant au moins un element en alliage a memoire de forme |
US5002418A (en) * | 1988-12-09 | 1991-03-26 | Vsi Corporation | Hold down device with extended capture pawl mechanism |
US4942539A (en) | 1988-12-21 | 1990-07-17 | Gmf Robotics Corporation | Method and system for automatically determining the position and orientation of an object in 3-D space |
US5354314A (en) | 1988-12-23 | 1994-10-11 | Medical Instrumentation And Diagnostics Corporation | Three-dimensional beam localization apparatus and microscope for stereotactic diagnoses or surgery mounted on robotic type arm |
US4911033A (en) | 1989-01-03 | 1990-03-27 | Ross-Hime Designs, Incorporated | Robotic manipulator |
US4922338A (en) * | 1989-03-02 | 1990-05-01 | Arpino Ronald G | Line-of-sight inspection system |
US4919112B1 (en) * | 1989-04-07 | 1993-12-28 | Low-cost semi-disposable endoscope | |
JPH034831A (ja) * | 1989-06-01 | 1991-01-10 | Toshiba Corp | 内視鏡装置 |
US5020933A (en) * | 1989-09-01 | 1991-06-04 | Andronic Devices, Ltd. | Locking mechanism for medical devices |
US5271384A (en) | 1989-09-01 | 1993-12-21 | Mcewen James A | Powered surgical retractor |
US5257998A (en) | 1989-09-20 | 1993-11-02 | Mitaka Kohki Co., Ltd. | Medical three-dimensional locating apparatus |
US5273039A (en) | 1989-10-16 | 1993-12-28 | Olympus Optical Co., Ltd. | Surgical microscope apparatus having a function to display coordinates of observation point |
EP0427358B1 (en) | 1989-11-08 | 1996-03-27 | George S. Allen | Mechanical arm for and interactive image-guided surgical system |
US5260319A (en) | 1989-12-26 | 1993-11-09 | Hoechst-Roussel Pharmaceuticals Incorporated | Thienobenzoxepins and naphthothiophenes |
US5086401A (en) * | 1990-05-11 | 1992-02-04 | International Business Machines Corporation | Image-directed robotic system for precise robotic surgery including redundant consistency checking |
JP2987452B2 (ja) * | 1990-05-17 | 1999-12-06 | オリンパス光学工業株式会社 | 内視鏡 |
US5018256A (en) | 1990-06-29 | 1991-05-28 | Texas Instruments Incorporated | Architecture and process for integrating DMD with control circuit substrates |
US5060532A (en) | 1990-08-23 | 1991-10-29 | Barker Sidney L | Universal joint boom |
JP2642776B2 (ja) | 1990-09-10 | 1997-08-20 | 三田工業株式会社 | 情報記録媒体及び情報記録方法 |
FR2668359B1 (fr) * | 1990-10-24 | 1998-02-20 | Gen Electric Cgr | Mammographe muni d'un porte-aiguille perfectionne. |
US5209747A (en) * | 1990-12-13 | 1993-05-11 | Knoepfler Dennis J | Adjustable angle medical forceps |
GB9028185D0 (en) | 1990-12-29 | 1991-02-13 | Well Equip Ltd | A release mechanism |
US5217003A (en) * | 1991-03-18 | 1993-06-08 | Wilk Peter J | Automated surgical system and apparatus |
US5217453A (en) | 1991-03-18 | 1993-06-08 | Wilk Peter J | Automated surgical system and apparatus |
US5174300A (en) | 1991-04-04 | 1992-12-29 | Symbiosis Corporation | Endoscopic surgical instruments having rotatable end effectors |
US5359993A (en) | 1992-12-31 | 1994-11-01 | Symbiosis Corporation | Apparatus for counting the number of times a medical instrument has been used |
JP3058708B2 (ja) | 1991-04-09 | 2000-07-04 | 松下電器産業株式会社 | 部品装着機 |
US5339799A (en) | 1991-04-23 | 1994-08-23 | Olympus Optical Co., Ltd. | Medical system for reproducing a state of contact of the treatment section in the operation unit |
US5251611A (en) * | 1991-05-07 | 1993-10-12 | Zehel Wendell E | Method and apparatus for conducting exploratory procedures |
US5313306A (en) * | 1991-05-13 | 1994-05-17 | Telerobotics International, Inc. | Omniview motionless camera endoscopy system |
US5503616A (en) * | 1991-06-10 | 1996-04-02 | Endomedical Technologies, Inc. | Collapsible access channel system |
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 |
US5182641A (en) * | 1991-06-17 | 1993-01-26 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Composite video and graphics display for camera viewing systems in robotics and teleoperation |
US5294209A (en) * | 1991-07-25 | 1994-03-15 | Yamaha Hatsudoki Kabushiki Kaisha | Tool attaching device |
US5184601A (en) * | 1991-08-05 | 1993-02-09 | Putman John M | Endoscope stabilizer |
US5383888A (en) * | 1992-02-12 | 1995-01-24 | United States Surgical Corporation | Articulating endoscopic surgical apparatus |
CA2078295C (en) | 1991-08-05 | 1995-11-21 | John Michael Putman | Endoscope stabilizer |
JP3233953B2 (ja) | 1991-08-07 | 2001-12-04 | オリンパス光学工業株式会社 | カテーテル装置 |
CA2117088A1 (en) * | 1991-09-05 | 1993-03-18 | David R. Holmes | Flexible tubular device for use in medical applications |
US5239883A (en) | 1991-09-26 | 1993-08-31 | Rosheim Mark E | Modular robot wrist |
JP3149219B2 (ja) * | 1991-10-15 | 2001-03-26 | 旭光学工業株式会社 | 内視鏡の湾曲部の被覆構造 |
US5188610A (en) | 1991-10-18 | 1993-02-23 | Vetrisystems, Inc. | Fluid dispensing apparatus |
DE4136861C2 (de) | 1991-11-11 | 1994-12-15 | Kernforschungsz Karlsruhe | Steuerbares chirurgisches Instrument |
US5271381A (en) | 1991-11-18 | 1993-12-21 | Vision Sciences, Inc. | Vertebrae for a bending section of an endoscope |
DE4138861A1 (de) | 1991-11-26 | 1992-10-01 | Siemens Nixdorf Inf Syst | Verfahren zur gegenseitigen authentifikation eines elektronischen partners mit einem kommunikationssystem |
US5235964A (en) * | 1991-12-05 | 1993-08-17 | Analogic Corporation | Flexible probe apparatus |
US5355743A (en) | 1991-12-19 | 1994-10-18 | The University Of Texas At Austin | Robot and robot actuator module therefor |
US5182841A (en) | 1992-01-07 | 1993-02-02 | Park James M | Hydraulic wheel cylinder tool |
US5281220A (en) * | 1992-01-13 | 1994-01-25 | Blake Joseph W Iii | Endoscopic instrument |
JPH05184525A (ja) * | 1992-01-14 | 1993-07-27 | Olympus Optical Co Ltd | 内視鏡 |
US5631973A (en) | 1994-05-05 | 1997-05-20 | Sri International | Method for telemanipulation with telepresence |
US5423648A (en) | 1992-01-21 | 1995-06-13 | Fanuc Robotics North America, Inc. | Method and system for quickly and efficiently transferring a workpiece from a first station to a second station |
ATE238140T1 (de) | 1992-01-21 | 2003-05-15 | Stanford Res Inst Int | Chirurgisches system |
DE4204397C2 (de) | 1992-02-14 | 2001-08-30 | Sinz Dirk Peter | Transportbehälter |
US5430643A (en) | 1992-03-11 | 1995-07-04 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Configuration control of seven degree of freedom arms |
US5737500A (en) * | 1992-03-11 | 1998-04-07 | California Institute Of Technology | Mobile dexterous siren degree of freedom robot arm with real-time control system |
US5299559A (en) | 1992-03-13 | 1994-04-05 | Acuson Corporation | Endoscope with overload protective device |
US5254130A (en) * | 1992-04-13 | 1993-10-19 | Raychem Corporation | Surgical device |
US5620459A (en) * | 1992-04-15 | 1997-04-15 | Microsurge, Inc. | Surgical instrument |
JPH05305052A (ja) * | 1992-04-30 | 1993-11-19 | Toshiba Corp | 内視鏡 |
FR2691093B1 (fr) * | 1992-05-12 | 1996-06-14 | Univ Joseph Fourier | Robot de guidage de gestes et procede de commande. |
US5321353A (en) | 1992-05-13 | 1994-06-14 | Storage Technolgy Corporation | System and method for precisely positioning a robotic tool |
US5221283A (en) * | 1992-05-15 | 1993-06-22 | General Electric Company | Apparatus and method for stereotactic surgery |
US5284130A (en) * | 1992-06-03 | 1994-02-08 | Ratliff Jack L | Surgical instrument positioning and securing apparatus |
JP3257640B2 (ja) | 1992-06-09 | 2002-02-18 | オリンパス光学工業株式会社 | 立体視内視鏡装置 |
US5372147A (en) | 1992-06-16 | 1994-12-13 | Origin Medsystems, Inc. | Peritoneal distension robotic arm |
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 |
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 |
US5515478A (en) * | 1992-08-10 | 1996-05-07 | Computer Motion, Inc. | Automated endoscope system for optimal positioning |
JP3273084B2 (ja) | 1992-08-20 | 2002-04-08 | オリンパス光学工業株式会社 | 医療器具ホルダ装置 |
US5312212A (en) * | 1992-09-28 | 1994-05-17 | United Technologies Corporation | Axially compliant tool holder |
US5582576A (en) | 1992-10-28 | 1996-12-10 | Oktas General Partnership | Electronic endoscope with zoom lens system |
US5397323A (en) * | 1992-10-30 | 1995-03-14 | International Business Machines Corporation | Remote center-of-motion robot for surgery |
US5400267A (en) * | 1992-12-08 | 1995-03-21 | Hemostatix Corporation | Local in-device memory feature for electrically powered medical equipment |
US5427097A (en) | 1992-12-10 | 1995-06-27 | Accuray, Inc. | Apparatus for and method of carrying out stereotaxic radiosurgery and radiotherapy |
JP3220538B2 (ja) | 1992-12-24 | 2001-10-22 | オリンパス光学工業株式会社 | 立体視内視鏡及び立体視内視鏡装置 |
US5460168A (en) | 1992-12-25 | 1995-10-24 | Olympus Optical Co., Ltd. | Endoscope cover assembly and cover-system endoscope |
CA2102855A1 (en) | 1992-12-29 | 1994-06-30 | Albon E. Gilbert | Jumper cable selection and routing system |
US5313935A (en) * | 1992-12-31 | 1994-05-24 | Symbiosis Corporation | Apparatus for counting the number of times a surgical instrument has been used |
JPH06209998A (ja) * | 1993-01-21 | 1994-08-02 | Olympus Optical Co Ltd | 多自由度可撓管 |
JP2648274B2 (ja) | 1993-01-28 | 1997-08-27 | 三鷹光器株式会社 | 医療用位置検出装置 |
DE4305376C1 (de) | 1993-02-22 | 1994-09-29 | Wolf Gmbh Richard | Schaft für medizinische Instrumente |
DE9302650U1 (de) | 1993-02-24 | 1993-04-15 | Karl Storz GmbH & Co, 7200 Tuttlingen | Medizinische Zange |
US5499320A (en) * | 1993-03-24 | 1996-03-12 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Extended task space control for robotic manipulators |
US5325886A (en) | 1993-04-05 | 1994-07-05 | Klink James E | Inflation and pressure indicator apparatus for tires |
JPH06285010A (ja) | 1993-04-07 | 1994-10-11 | Toshiba Corp | 内視鏡装置 |
US5325866A (en) | 1993-04-20 | 1994-07-05 | Jacek Krzyzanowski | Flexible biopsy forceps |
GB9309142D0 (en) | 1993-05-04 | 1993-06-16 | Gyrus Medical Ltd | Laparoscopic instrument |
WO1994026167A1 (en) | 1993-05-14 | 1994-11-24 | Sri International | Remote center positioner |
US5791231A (en) | 1993-05-17 | 1998-08-11 | Endorobotics Corporation | Surgical robotic system and hydraulic actuator therefor |
DE4317914A1 (de) | 1993-05-28 | 1994-12-01 | Haas Carl Gmbh & Co | Flexibles Endoskoprohr |
US5410944A (en) * | 1993-06-03 | 1995-05-02 | Cushman; William B. | Telescoping robot arm with spherical joints |
WO1995001757A1 (en) | 1993-07-07 | 1995-01-19 | Cornelius Borst | Robotic system for close inspection and remote treatment of moving parts |
CA2103626A1 (en) * | 1993-08-09 | 1995-02-10 | Septimiu Edmund Salcudean | Motion scaling tele-operating system with force feedback suitable for microsurgery |
US5343385A (en) | 1993-08-17 | 1994-08-30 | International Business Machines Corporation | Interference-free insertion of a solid body into a cavity |
US5503320A (en) * | 1993-08-19 | 1996-04-02 | United States Surgical Corporation | Surgical apparatus with indicator |
US5405344A (en) | 1993-09-30 | 1995-04-11 | Ethicon, Inc. | Articulable socket joint assembly for an endoscopic instrument for surgical fastner track therefor |
US5625576A (en) * | 1993-10-01 | 1997-04-29 | Massachusetts Institute Of Technology | Force reflecting haptic interface |
JP3540362B2 (ja) | 1994-06-14 | 2004-07-07 | オリンパス株式会社 | 手術用マニピュレータの制御システム及びその制御方法 |
US5876325A (en) * | 1993-11-02 | 1999-03-02 | Olympus Optical Co., Ltd. | Surgical manipulation system |
US5402793A (en) | 1993-11-19 | 1995-04-04 | Advanced Technology Laboratories, Inc. | Ultrasonic transesophageal probe for the imaging and diagnosis of multiple scan planes |
DE4340707C2 (de) * | 1993-11-30 | 1997-03-27 | Wolf Gmbh Richard | Manipulator |
WO1995016396A1 (en) | 1993-12-15 | 1995-06-22 | Computer Motion, Inc. | Automated endoscope system for optimal positioning |
CA2144211C (en) | 1994-03-16 | 2005-05-24 | David T. Green | Surgical instruments useful for endoscopic spinal procedures |
JP3490135B2 (ja) * | 1994-03-17 | 2004-01-26 | テルモ株式会社 | 外科用器具 |
ES2149315T3 (es) * | 1994-04-15 | 2000-11-01 | Smith & Nephew Inc | Instrumento quirurgico curvo con elemento interior segmentado. |
US5656011A (en) * | 1994-04-28 | 1997-08-12 | Epflex Feinwerktechnik Gmbh | Endoscope tube system |
US5474566A (en) | 1994-05-05 | 1995-12-12 | United States Surgical Corporation | Self-contained powered surgical apparatus |
US5480409A (en) * | 1994-05-10 | 1996-01-02 | Riza; Erol D. | Laparoscopic surgical instrument |
US5885288A (en) * | 1994-05-24 | 1999-03-23 | Endius Incorporated | Surgical instrument |
US5454827A (en) * | 1994-05-24 | 1995-10-03 | Aust; Gilbert M. | Surgical instrument |
JPH0829701A (ja) * | 1994-07-18 | 1996-02-02 | Olympus Optical Co Ltd | 立体視内視鏡システム |
US6120433A (en) | 1994-09-01 | 2000-09-19 | Olympus Optical Co., Ltd. | Surgical manipulator system |
JPH0871072A (ja) | 1994-09-01 | 1996-03-19 | Olympus Optical Co Ltd | 手術用マニピュレータシステム |
US5742330A (en) * | 1994-11-03 | 1998-04-21 | Synthonics Incorporated | Methods and apparatus for the creation and transmission of 3-dimensional images |
DE4442185C2 (de) * | 1994-11-26 | 2003-06-18 | Wolf Gmbh Richard | Führung |
JP3640087B2 (ja) * | 1994-11-29 | 2005-04-20 | 豊田工機株式会社 | 工作機械 |
JPH08160315A (ja) | 1994-12-05 | 1996-06-21 | Asahi Optical Co Ltd | 内視鏡の湾曲部 |
US5868760A (en) * | 1994-12-07 | 1999-02-09 | Mcguckin, Jr.; James F. | Method and apparatus for endolumenally resectioning tissue |
JPH08164141A (ja) * | 1994-12-13 | 1996-06-25 | Olympus Optical Co Ltd | 処置具 |
JP3539645B2 (ja) * | 1995-02-16 | 2004-07-07 | 株式会社日立製作所 | 遠隔手術支援装置 |
JPH08224241A (ja) * | 1995-02-22 | 1996-09-03 | Olympus Optical Co Ltd | 医療用マニピュレータ |
JP3679440B2 (ja) * | 1995-02-22 | 2005-08-03 | オリンパス株式会社 | 医療用マニピュレータ |
US5740699A (en) * | 1995-04-06 | 1998-04-21 | Spar Aerospace Limited | Wrist joint which is longitudinally extendible |
US5864359A (en) * | 1995-05-30 | 1999-01-26 | Smith & Nephew, Inc. | Stereoscopic autofocusing based on comparing the left and right eye images |
US5649956A (en) | 1995-06-07 | 1997-07-22 | Sri International | System and method for releasably holding a surgical instrument |
US5814038A (en) * | 1995-06-07 | 1998-09-29 | Sri International | Surgical manipulator for a telerobotic system |
EP2286729B1 (en) | 1995-06-07 | 2013-12-18 | SRI International | Surgical manipulator for a telerobotic system |
DE19529950C1 (de) | 1995-08-14 | 1996-11-14 | Deutsche Forsch Luft Raumfahrt | Verfahren zum Nachführen eines Stereo-Laparoskops in der minimalinvasiven Chirurgie |
US5784542A (en) | 1995-09-07 | 1998-07-21 | California Institute Of Technology | Decoupled six degree-of-freedom teleoperated robot system |
US5747767A (en) * | 1995-09-13 | 1998-05-05 | The Esab Group, Inc. | Extended water-injection nozzle assembly with improved centering |
US5825982A (en) | 1995-09-15 | 1998-10-20 | Wright; James | Head cursor control interface for an automated endoscope system for optimal positioning |
DE19535179A1 (de) * | 1995-09-22 | 1997-03-27 | Wolf Gmbh Richard | Abwinkelbares Rohr und Verfahren zu seiner Herstellung |
US5810715A (en) * | 1995-09-29 | 1998-09-22 | Olympus Optical Co., Ltd. | Endoscope provided with function of being locked to flexibility of insertion part which is set by flexibility modifying operation member |
US5619195A (en) | 1995-12-29 | 1997-04-08 | Charles D. Hayes | Multi-axial position sensing apparatus |
US5624398A (en) * | 1996-02-08 | 1997-04-29 | Symbiosis Corporation | Endoscopic robotic surgical tools and methods |
US6436107B1 (en) | 1996-02-20 | 2002-08-20 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive surgical procedures |
US5971976A (en) | 1996-02-20 | 1999-10-26 | Computer Motion, Inc. | Motion minimization and compensation system for use in surgical procedures |
US5855583A (en) * | 1996-02-20 | 1999-01-05 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive cardiac procedures |
US5987726A (en) | 1996-03-11 | 1999-11-23 | Fanuc Robotics North America, Inc. | Programmable positioner for the stress-free assembly of components |
JP3818693B2 (ja) * | 1996-04-22 | 2006-09-06 | オリンパス株式会社 | 内視鏡用湾曲管 |
US5699695A (en) | 1996-05-01 | 1997-12-23 | Virginia Tech Intellectual Properties, Inc. | Spatial, parallel-architecture robotic carpal wrist |
US5792135A (en) | 1996-05-20 | 1998-08-11 | Intuitive Surgical, Inc. | Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
WO1999050721A1 (en) | 1997-09-19 | 1999-10-07 | Massachusetts Institute Of Technology | Robotic apparatus |
US5797900A (en) | 1996-05-20 | 1998-08-25 | Intuitive Surgical, Inc. | Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
JPH10109285A (ja) | 1996-10-02 | 1998-04-28 | Toshiba Mach Co Ltd | マニプレータ |
US5960125A (en) | 1996-11-21 | 1999-09-28 | Cognex Corporation | Nonfeedback-based machine vision method for determining a calibration relationship between a camera and a moveable object |
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 |
DE19652792C2 (de) | 1996-12-18 | 1999-05-27 | Storz Karl Gmbh & Co | Medizinisches Handhabungsgerät, insbesondere für endoskopische Anwendungen |
JPH10277985A (ja) | 1997-01-30 | 1998-10-20 | Ntn Corp | 位置決め装置 |
JPH10258024A (ja) | 1997-03-21 | 1998-09-29 | Olympus Optical Co Ltd | 湾曲チューブ |
FR2762763B1 (fr) * | 1997-05-05 | 1999-07-09 | Oreal | Dispositif de conditionnement et d'application d'un produit delitable |
US5899914A (en) * | 1997-06-11 | 1999-05-04 | Endius Incorporated | Surgical instrument |
US5851212A (en) | 1997-06-11 | 1998-12-22 | Endius Incorporated | Surgical instrument |
US5938678A (en) * | 1997-06-11 | 1999-08-17 | Endius Incorporated | Surgical instrument |
JPH1110575A (ja) | 1997-06-26 | 1999-01-19 | Toshiba Mach Co Ltd | パラレルリンク機構 |
AU9036098A (en) | 1997-08-28 | 1999-03-16 | Microdexterity Systems | Parallel mechanism |
US6002184A (en) | 1997-09-17 | 1999-12-14 | Coactive Drive Corporation | Actuator with opposing repulsive magnetic forces |
US6714839B2 (en) | 1998-12-08 | 2004-03-30 | Intuitive Surgical, Inc. | Master having redundant degrees of freedom |
JP4121615B2 (ja) | 1997-10-31 | 2008-07-23 | オリンパス株式会社 | 内視鏡 |
US6191809B1 (en) * | 1998-01-15 | 2001-02-20 | Vista Medical Technologies, Inc. | Method and apparatus for aligning stereo images |
US6196081B1 (en) * | 1998-02-03 | 2001-03-06 | Hexel Corporation | Systems and methods employing a rotary track for machining and manufacturing |
US20020087048A1 (en) | 1998-02-24 | 2002-07-04 | Brock David L. | Flexible instrument |
JP4231568B2 (ja) | 1998-03-20 | 2009-03-04 | オリンパス株式会社 | 管状挿入具 |
DE19813781C2 (de) | 1998-03-27 | 2000-06-29 | Storz Karl Gmbh & Co Kg | Chirurgisches Instrument mit einem durchgehenden Hohlkanal für ein zweites Instrument |
JPH11299725A (ja) | 1998-04-21 | 1999-11-02 | Olympus Optical Co Ltd | 内視鏡用フード |
US6053907A (en) * | 1998-08-13 | 2000-04-25 | Endius Incorporated | Surgical instruments with flexible drive shaft |
CN2348771Y (zh) * | 1998-10-21 | 1999-11-17 | 杨春华 | 可曲内视镜 |
US6174280B1 (en) * | 1998-11-19 | 2001-01-16 | Vision Sciences, Inc. | Sheath for protecting and altering the bending characteristics of a flexible endoscope |
US6468265B1 (en) * | 1998-11-20 | 2002-10-22 | Intuitive Surgical, Inc. | Performing cardiac surgery without cardioplegia |
US6398726B1 (en) * | 1998-11-20 | 2002-06-04 | Intuitive Surgical, Inc. | Stabilizer for robotic beating-heart surgery |
US6522906B1 (en) * | 1998-12-08 | 2003-02-18 | Intuitive Surgical, Inc. | Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure |
JP2000193893A (ja) * | 1998-12-28 | 2000-07-14 | Suzuki Motor Corp | 検査用挿入管の屈曲装置 |
US6394998B1 (en) | 1999-01-22 | 2002-05-28 | Intuitive Surgical, Inc. | Surgical tools for use in minimally invasive telesurgical applications |
US6424885B1 (en) | 1999-04-07 | 2002-07-23 | Intuitive Surgical, Inc. | Camera referenced control in a minimally invasive surgical apparatus |
DE60029234T2 (de) * | 1999-05-10 | 2007-05-31 | Hansen Medical, Inc., Mountain View | Chirurgisches Instrument |
US6807295B1 (en) | 1999-06-29 | 2004-10-19 | Fuji Photo Film Co., Ltd. | Stereoscopic imaging apparatus and method |
JP3806273B2 (ja) * | 1999-09-17 | 2006-08-09 | 株式会社ジェイテクト | 四自由度パラレルロボット |
JP4422262B2 (ja) | 1999-12-14 | 2010-02-24 | オリンパス株式会社 | 内視鏡手術システム |
US6471637B1 (en) | 1999-09-24 | 2002-10-29 | Karl Storz Imaging, Inc. | Image orientation for endoscopic video displays |
US6312435B1 (en) | 1999-10-08 | 2001-11-06 | Intuitive Surgical, Inc. | Surgical instrument with extended reach for use in minimally invasive surgery |
US6749560B1 (en) * | 1999-10-26 | 2004-06-15 | Circon Corporation | Endoscope shaft with slotted tube |
US6450948B1 (en) * | 1999-11-02 | 2002-09-17 | Vista Medical Technologies, Inc. | Deflecting tip for surgical cannula |
JP3564022B2 (ja) | 1999-11-22 | 2004-09-08 | オリンパス株式会社 | 外科用手術装置 |
US6592572B1 (en) | 1999-11-22 | 2003-07-15 | Olympus Optical Co., Ltd. | Surgical operation apparatus |
JP3765218B2 (ja) | 2000-02-03 | 2006-04-12 | フジノン株式会社 | 内視鏡の操作ワイヤガイド装置 |
JP2001276091A (ja) * | 2000-03-29 | 2001-10-09 | Toshiba Corp | 医療用マニピュレータ |
JP2001281523A (ja) | 2000-03-31 | 2001-10-10 | Fuji Photo Optical Co Ltd | 制御装置 |
US6800056B2 (en) * | 2000-04-03 | 2004-10-05 | Neoguide Systems, Inc. | Endoscope with guiding apparatus |
US6743239B1 (en) | 2000-05-25 | 2004-06-01 | St. Jude Medical, Inc. | Devices with a bendable tip for medical procedures |
US6418811B1 (en) | 2000-05-26 | 2002-07-16 | Ross-Hime Designs, Inc. | Robotic manipulator |
AU2002224519A1 (en) | 2000-07-21 | 2002-02-05 | Atropos Limited | A surgical instrument |
JP4624572B2 (ja) | 2001-01-30 | 2011-02-02 | オリンパス株式会社 | 内視鏡 |
US6997931B2 (en) | 2001-02-02 | 2006-02-14 | Lsi Solutions, Inc. | System for endoscopic suturing |
JP2002282265A (ja) | 2001-03-26 | 2002-10-02 | Asahi Optical Co Ltd | 内視鏡用鉗子 |
US6685715B2 (en) | 2001-05-02 | 2004-02-03 | Novare Surgical Systems | Clamp having bendable shaft |
ATE547992T1 (de) * | 2001-06-29 | 2012-03-15 | Intuitive Surgical Operations | Gelenkmechanismus fuer plattformverbindung |
US6817974B2 (en) | 2001-06-29 | 2004-11-16 | Intuitive Surgical, Inc. | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
US20060199999A1 (en) | 2001-06-29 | 2006-09-07 | Intuitive Surgical Inc. | Cardiac tissue ablation instrument with flexible wrist |
US20060178556A1 (en) | 2001-06-29 | 2006-08-10 | Intuitive Surgical, Inc. | Articulate and swapable endoscope for a surgical robot |
US7320700B2 (en) | 2002-12-06 | 2008-01-22 | Intuitive Surgical, Inc | Flexible wrist for surgical tool |
US20050182298A1 (en) | 2002-12-06 | 2005-08-18 | Intuitive Surgical Inc. | Cardiac tissue ablation instrument with flexible wrist |
JP3646163B2 (ja) * | 2001-07-31 | 2005-05-11 | 国立大学法人 東京大学 | 能動鉗子 |
US6676684B1 (en) * | 2001-09-04 | 2004-01-13 | Intuitive Surgical, Inc. | Roll-pitch-roll-yaw surgical tool |
US6658962B1 (en) | 2001-10-31 | 2003-12-09 | Ross-Hime Designs, Incorporated | Robotic manipulator |
JP3831273B2 (ja) | 2002-02-05 | 2006-10-11 | オリンパス株式会社 | 電子内視鏡 |
JP3766805B2 (ja) | 2002-03-15 | 2006-04-19 | 株式会社日立製作所 | 手術支援装置 |
JP3686947B2 (ja) | 2002-12-09 | 2005-08-24 | 国立大学法人 東京大学 | 能動鉗子用高剛性鉗子先端部構体およびそれを具える能動鉗子 |
US6923542B2 (en) | 2003-03-11 | 2005-08-02 | Thomas H. S. Harris | Operator supported remote camera positioning and control system with longeron based beam |
US7090637B2 (en) | 2003-05-23 | 2006-08-15 | Novare Surgical Systems, Inc. | Articulating mechanism for remote manipulation of a surgical or diagnostic tool |
US7432949B2 (en) | 2003-08-20 | 2008-10-07 | Christophe Remy | Mobile videoimaging, videocommunication, video production (VCVP) system |
WO2005099560A1 (ja) | 2004-04-12 | 2005-10-27 | Olympus Corporation | 内視鏡装置 |
WO2007146984A2 (en) | 2006-06-13 | 2007-12-21 | Intuitive Surgical, Inc. | Control system configured to compensate for non-ideal actuator-to-joint linkage characteristics in a medical robotic system |
US8527048B2 (en) | 2006-06-29 | 2013-09-03 | Cardiac Pacemakers, Inc. | Local and non-local sensing for cardiac pacing |
US9819508B2 (en) | 2011-05-16 | 2017-11-14 | Osram Sylvania Inc. | Remote configuration of lighting power supply |
JP6887483B2 (ja) | 2017-02-14 | 2021-06-16 | 株式会社ソニー・インタラクティブエンタテインメント | 電子機器 |
JP2019020463A (ja) | 2017-07-12 | 2019-02-07 | 株式会社ジャパンディスプレイ | 表示装置、および表示装置の製造方法 |
CN110891469B (zh) | 2018-03-28 | 2023-01-13 | 奥瑞斯健康公司 | 用于定位传感器的配准的系统和方法 |
-
2003
- 2003-12-02 US US10/726,795 patent/US7320700B2/en not_active Expired - Lifetime
- 2003-12-02 EP EP14193176.6A patent/EP2901959B1/en not_active Expired - Lifetime
- 2003-12-02 WO PCT/US2003/038462 patent/WO2004052171A2/en active Application Filing
- 2003-12-02 EP EP03790301A patent/EP1575439B1/en not_active Revoked
- 2003-12-02 JP JP2004559257A patent/JP4486503B2/ja not_active Expired - Lifetime
- 2003-12-02 CN CN2007101693676A patent/CN101181167B/zh not_active Expired - Lifetime
- 2003-12-02 EP EP18203019.7A patent/EP3498213A3/en active Pending
- 2003-12-02 EP EP11002838.8A patent/EP2359768B1/en not_active Expired - Lifetime
- 2003-12-02 EP EP14193162.6A patent/EP2865351B1/en not_active Expired - Lifetime
- 2003-12-02 KR KR1020057010257A patent/KR101057002B1/ko active IP Right Grant
- 2003-12-02 EP EP14193159.2A patent/EP2901958B1/en not_active Expired - Lifetime
- 2003-12-02 KR KR1020107027330A patent/KR101087996B1/ko active IP Right Grant
- 2003-12-02 CN CNB2003801033445A patent/CN100389730C/zh not_active Expired - Lifetime
- 2003-12-02 AU AU2003293353A patent/AU2003293353A1/en not_active Abandoned
- 2003-12-02 KR KR1020107027331A patent/KR101118049B1/ko active IP Right Grant
- 2003-12-02 AT AT03790301T patent/ATE551964T1/de active
- 2003-12-02 KR KR1020107027333A patent/KR101026692B1/ko active IP Right Grant
- 2003-12-02 EP EP11002837.0A patent/EP2359767B1/en not_active Expired - Lifetime
-
2007
- 2007-04-11 US US11/733,879 patent/US7862580B2/en active Active
-
2010
- 2010-02-08 JP JP2010026006A patent/JP5455171B2/ja not_active Expired - Lifetime
- 2010-11-17 US US12/948,641 patent/US8337521B2/en not_active Expired - Lifetime
-
2011
- 2011-02-03 US US13/020,625 patent/US8790243B2/en active Active
- 2011-02-08 JP JP2011025457A patent/JP5339472B2/ja not_active Expired - Lifetime
- 2011-02-08 JP JP2011025456A patent/JP5437288B2/ja not_active Expired - Lifetime
-
2012
- 2012-07-02 US US13/539,954 patent/US9095317B2/en not_active Expired - Lifetime
- 2012-12-03 US US13/692,024 patent/US8690908B2/en not_active Expired - Lifetime
-
2013
- 2013-01-29 JP JP2013013947A patent/JP6097085B2/ja not_active Expired - Lifetime
-
2015
- 2015-02-24 JP JP2015033632A patent/JP6155292B2/ja not_active Expired - Lifetime
- 2015-02-24 JP JP2015033633A patent/JP2015126892A/ja active Pending
- 2015-07-06 US US14/792,378 patent/US9585641B2/en not_active Expired - Lifetime
-
2016
- 2016-10-13 JP JP2016201464A patent/JP6305489B2/ja not_active Expired - Lifetime
- 2016-10-13 JP JP2016201465A patent/JP2017038947A/ja not_active Withdrawn
-
2017
- 2017-02-16 US US15/435,254 patent/US10524868B2/en not_active Expired - Lifetime
-
2018
- 2018-06-15 JP JP2018114595A patent/JP2018140242A/ja active Pending
- 2018-06-15 JP JP2018114594A patent/JP2018140241A/ja active Pending
-
2019
- 2019-12-04 US US16/703,395 patent/US11633241B2/en active Active
- 2019-12-13 JP JP2019225732A patent/JP2020044376A/ja active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5916146A (en) | 1995-12-22 | 1999-06-29 | Bieffe Medital S.P.A. | System for support and actuation with vertebrae in particular for surgical and diagnostic instruments |
US6451027B1 (en) | 1998-12-16 | 2002-09-17 | Intuitive Surgical, Inc. | Devices and methods for moving an image capture device in telesurgical systems |
US20060077287A1 (en) * | 2004-02-12 | 2006-04-13 | Dai Nippon Printing Co., Ltd. | Security label and security label supply sheet |
Also Published As
Similar Documents
Publication | Publication Date | Title |
---|---|---|
KR101118049B1 (ko) | 의료용 기구 | |
US20150314451A1 (en) | Tool grip calibration for robotic surgery |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A107 | Divisional application of patent | ||
A201 | Request for examination | ||
E902 | Notification of reason for refusal | ||
E701 | Decision to grant or registration of patent right | ||
GRNT | Written decision to grant | ||
FPAY | Annual fee payment |
Payment date: 20150205 Year of fee payment: 4 |
|
FPAY | Annual fee payment |
Payment date: 20160204 Year of fee payment: 5 |
|
FPAY | Annual fee payment |
Payment date: 20170202 Year of fee payment: 6 |
|
FPAY | Annual fee payment |
Payment date: 20180201 Year of fee payment: 7 |
|
FPAY | Annual fee payment |
Payment date: 20190131 Year of fee payment: 8 |
|
FPAY | Annual fee payment |
Payment date: 20200203 Year of fee payment: 9 |