KR101730455B1 - 수술 장치용 수동 프리로드 및 캡스턴 드라이브 - Google Patents

수술 장치용 수동 프리로드 및 캡스턴 드라이브 Download PDF

Info

Publication number
KR101730455B1
KR101730455B1 KR1020167023836A KR20167023836A KR101730455B1 KR 101730455 B1 KR101730455 B1 KR 101730455B1 KR 1020167023836 A KR1020167023836 A KR 1020167023836A KR 20167023836 A KR20167023836 A KR 20167023836A KR 101730455 B1 KR101730455 B1 KR 101730455B1
Authority
KR
South Korea
Prior art keywords
capstan
tendon
shaft
attached
surgical
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
KR1020167023836A
Other languages
English (en)
Korean (ko)
Other versions
KR20160105937A (ko
Inventor
쥬세페 프리스코
Original Assignee
인튜어티브 서지컬 오퍼레이션즈 인코포레이티드
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 filed Critical 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드
Publication of KR20160105937A publication Critical patent/KR20160105937A/ko
Application granted granted Critical
Publication of KR101730455B1 publication Critical patent/KR101730455B1/ko
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/285—Surgical forceps combined with cutting implements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/295—Forceps for use in minimally invasive surgery combined with cutting implements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • 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
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J1/00—Manipulators positioned in space by hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J1/00—Manipulators positioned in space by hand
    • B25J1/08—Manipulators positioned in space by hand movably mounted in a wall
    • B25J1/10—Sleeve and pivot mountings therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • 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
    • A61B2034/715—Cable tensioning mechanisms for removing slack

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Public Health (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Ophthalmology & Optometry (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
KR1020167023836A 2008-09-30 2009-09-02 수술 장치용 수동 프리로드 및 캡스턴 드라이브 Expired - Fee Related KR101730455B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US12/286,644 US9259274B2 (en) 2008-09-30 2008-09-30 Passive preload and capstan drive for surgical instruments
US12/286,644 2008-09-30
PCT/US2009/055727 WO2010039387A1 (en) 2008-09-30 2009-09-02 Passive preload and capstan drive for surgical instruments

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
KR1020117008998A Division KR101654031B1 (ko) 2008-09-30 2009-09-02 수술 장치용 수동 프리로드 및 캡스턴 드라이브

Related Child Applications (1)

Application Number Title Priority Date Filing Date
KR1020177010718A Division KR101765094B1 (ko) 2008-09-30 2009-09-02 수술 장치용 수동 프리로드 및 캡스턴 드라이브

Publications (2)

Publication Number Publication Date
KR20160105937A KR20160105937A (ko) 2016-09-07
KR101730455B1 true KR101730455B1 (ko) 2017-04-26

Family

ID=41479144

Family Applications (4)

Application Number Title Priority Date Filing Date
KR1020167023836A Expired - Fee Related KR101730455B1 (ko) 2008-09-30 2009-09-02 수술 장치용 수동 프리로드 및 캡스턴 드라이브
KR1020117008998A Active KR101654031B1 (ko) 2008-09-30 2009-09-02 수술 장치용 수동 프리로드 및 캡스턴 드라이브
KR1020177021326A Active KR101801297B1 (ko) 2008-09-30 2009-09-02 수술 장치용 수동 프리로드 및 캡스턴 드라이브
KR1020177010718A Active KR101765094B1 (ko) 2008-09-30 2009-09-02 수술 장치용 수동 프리로드 및 캡스턴 드라이브

Family Applications After (3)

Application Number Title Priority Date Filing Date
KR1020117008998A Active KR101654031B1 (ko) 2008-09-30 2009-09-02 수술 장치용 수동 프리로드 및 캡스턴 드라이브
KR1020177021326A Active KR101801297B1 (ko) 2008-09-30 2009-09-02 수술 장치용 수동 프리로드 및 캡스턴 드라이브
KR1020177010718A Active KR101765094B1 (ko) 2008-09-30 2009-09-02 수술 장치용 수동 프리로드 및 캡스턴 드라이브

Country Status (6)

Country Link
US (6) US9259274B2 (enExample)
EP (2) EP3418006A1 (enExample)
JP (4) JP5542288B2 (enExample)
KR (4) KR101730455B1 (enExample)
CN (2) CN104970884B (enExample)
WO (1) WO2010039387A1 (enExample)

Families Citing this family (754)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070084897A1 (en) 2003-05-20 2007-04-19 Shelton Frederick E Iv Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism
US9060770B2 (en) 2003-05-20 2015-06-23 Ethicon Endo-Surgery, Inc. Robotically-driven surgical instrument with E-beam driver
US11890012B2 (en) 2004-07-28 2024-02-06 Cilag Gmbh International Staple cartridge comprising cartridge body and attached support
US8215531B2 (en) 2004-07-28 2012-07-10 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a medical substance dispenser
US9072535B2 (en) 2011-05-27 2015-07-07 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with rotatable staple deployment arrangements
US11998198B2 (en) 2004-07-28 2024-06-04 Cilag Gmbh International Surgical stapling instrument incorporating a two-piece E-beam firing mechanism
US20070194079A1 (en) 2005-08-31 2007-08-23 Hueil Joseph C Surgical stapling device with staple drivers of different height
US11484312B2 (en) 2005-08-31 2022-11-01 Cilag Gmbh International Staple cartridge comprising a staple driver arrangement
US7934630B2 (en) 2005-08-31 2011-05-03 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US11246590B2 (en) 2005-08-31 2022-02-15 Cilag Gmbh International Staple cartridge including staple drivers having different unfired heights
US8365976B2 (en) 2006-09-29 2013-02-05 Ethicon Endo-Surgery, Inc. Surgical staples having dissolvable, bioabsorbable or biofragmentable portions and stapling instruments for deploying the same
US7669746B2 (en) 2005-08-31 2010-03-02 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US10159482B2 (en) 2005-08-31 2018-12-25 Ethicon Llc Fastener cartridge assembly comprising a fixed anvil and different staple heights
US9237891B2 (en) 2005-08-31 2016-01-19 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical stapling devices that produce formed staples having different lengths
US20070106317A1 (en) 2005-11-09 2007-05-10 Shelton Frederick E Iv Hydraulically and electrically actuated articulation joints for surgical instruments
US20110024477A1 (en) 2009-02-06 2011-02-03 Hall Steven G Driven Surgical Stapler Improvements
US20110295295A1 (en) 2006-01-31 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical instrument having recording capabilities
US7753904B2 (en) 2006-01-31 2010-07-13 Ethicon Endo-Surgery, Inc. Endoscopic surgical instrument with a handle that can articulate with respect to the shaft
US11793518B2 (en) 2006-01-31 2023-10-24 Cilag Gmbh International Powered surgical instruments with firing system lockout arrangements
US20120292367A1 (en) 2006-01-31 2012-11-22 Ethicon Endo-Surgery, Inc. Robotically-controlled end effector
US11224427B2 (en) 2006-01-31 2022-01-18 Cilag Gmbh International Surgical stapling system including a console and retraction assembly
US8186555B2 (en) 2006-01-31 2012-05-29 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with mechanical closure system
US8708213B2 (en) 2006-01-31 2014-04-29 Ethicon Endo-Surgery, Inc. Surgical instrument having a feedback system
US8820603B2 (en) 2006-01-31 2014-09-02 Ethicon Endo-Surgery, Inc. Accessing data stored in a memory of a surgical instrument
US11278279B2 (en) 2006-01-31 2022-03-22 Cilag Gmbh International Surgical instrument assembly
US7845537B2 (en) 2006-01-31 2010-12-07 Ethicon Endo-Surgery, Inc. Surgical instrument having recording capabilities
US8992422B2 (en) 2006-03-23 2015-03-31 Ethicon Endo-Surgery, Inc. Robotically-controlled endoscopic accessory channel
US20070225562A1 (en) 2006-03-23 2007-09-27 Ethicon Endo-Surgery, Inc. Articulating endoscopic accessory channel
US8322455B2 (en) 2006-06-27 2012-12-04 Ethicon Endo-Surgery, Inc. Manually driven surgical cutting and fastening instrument
US10568652B2 (en) 2006-09-29 2020-02-25 Ethicon Llc Surgical staples having attached drivers of different heights and stapling instruments for deploying the same
US11980366B2 (en) 2006-10-03 2024-05-14 Cilag Gmbh International Surgical instrument
US8840603B2 (en) 2007-01-10 2014-09-23 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between control unit and sensor transponders
US8652120B2 (en) 2007-01-10 2014-02-18 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between control unit and sensor transponders
US8684253B2 (en) 2007-01-10 2014-04-01 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor
US11291441B2 (en) 2007-01-10 2022-04-05 Cilag Gmbh International Surgical instrument with wireless communication between control unit and remote sensor
US8827133B2 (en) 2007-01-11 2014-09-09 Ethicon Endo-Surgery, Inc. Surgical stapling device having supports for a flexible drive mechanism
US11039836B2 (en) 2007-01-11 2021-06-22 Cilag Gmbh International Staple cartridge for use with a surgical stapling instrument
US7673782B2 (en) 2007-03-15 2010-03-09 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a releasable buttress material
US8893946B2 (en) 2007-03-28 2014-11-25 Ethicon Endo-Surgery, Inc. Laparoscopic tissue thickness and clamp load measuring devices
US11564682B2 (en) 2007-06-04 2023-01-31 Cilag Gmbh International Surgical stapler device
US8931682B2 (en) 2007-06-04 2015-01-13 Ethicon Endo-Surgery, Inc. Robotically-controlled shaft based rotary drive systems for surgical instruments
US7753245B2 (en) 2007-06-22 2010-07-13 Ethicon Endo-Surgery, Inc. Surgical stapling instruments
US11849941B2 (en) 2007-06-29 2023-12-26 Cilag Gmbh International Staple cartridge having staple cavities extending at a transverse angle relative to a longitudinal cartridge axis
US11986183B2 (en) 2008-02-14 2024-05-21 Cilag Gmbh International Surgical cutting and fastening instrument comprising a plurality of sensors to measure an electrical parameter
US9179912B2 (en) 2008-02-14 2015-11-10 Ethicon Endo-Surgery, Inc. Robotically-controlled motorized surgical cutting and fastening instrument
US8758391B2 (en) 2008-02-14 2014-06-24 Ethicon Endo-Surgery, Inc. Interchangeable tools for surgical instruments
US7866527B2 (en) 2008-02-14 2011-01-11 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with interlockable firing system
US7819298B2 (en) 2008-02-14 2010-10-26 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with control features operable with one hand
BRPI0901282A2 (pt) 2008-02-14 2009-11-17 Ethicon Endo Surgery Inc instrumento cirúrgico de corte e fixação dotado de eletrodos de rf
US8573465B2 (en) 2008-02-14 2013-11-05 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical end effector system with rotary actuated closure systems
US8636736B2 (en) 2008-02-14 2014-01-28 Ethicon Endo-Surgery, Inc. Motorized surgical cutting and fastening instrument
US11272927B2 (en) 2008-02-15 2022-03-15 Cilag Gmbh International Layer arrangements for surgical staple cartridges
US20130153641A1 (en) 2008-02-15 2013-06-20 Ethicon Endo-Surgery, Inc. Releasable layer of material and surgical end effector having the same
US11648005B2 (en) 2008-09-23 2023-05-16 Cilag Gmbh International Robotically-controlled motorized surgical instrument with an end effector
US9005230B2 (en) 2008-09-23 2015-04-14 Ethicon Endo-Surgery, Inc. Motorized surgical instrument
US9386983B2 (en) 2008-09-23 2016-07-12 Ethicon Endo-Surgery, Llc Robotically-controlled motorized surgical instrument
US8210411B2 (en) 2008-09-23 2012-07-03 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting instrument
US9259274B2 (en) 2008-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
US9339342B2 (en) * 2008-09-30 2016-05-17 Intuitive Surgical Operations, Inc. Instrument interface
US8608045B2 (en) 2008-10-10 2013-12-17 Ethicon Endo-Sugery, Inc. Powered surgical cutting and stapling apparatus with manually retractable firing system
US8517239B2 (en) 2009-02-05 2013-08-27 Ethicon Endo-Surgery, Inc. Surgical stapling instrument comprising a magnetic element driver
US8444036B2 (en) 2009-02-06 2013-05-21 Ethicon Endo-Surgery, Inc. Motor driven surgical fastener device with mechanisms for adjusting a tissue gap within the end effector
BRPI1008667A2 (pt) 2009-02-06 2016-03-08 Ethicom Endo Surgery Inc aperfeiçoamento do grampeador cirúrgico acionado
EP2414035B1 (en) 2009-04-03 2014-07-30 Stryker Corporation Delivery assembly for percutaneously delivering and deploying an electrode array at a target location, the assembly capable of steering the electrode array to the target location
US8523844B2 (en) * 2009-10-30 2013-09-03 Covidien Lp Surgical instrument with tendon preload-and-locking device
US8220688B2 (en) 2009-12-24 2012-07-17 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting instrument with electric actuator directional control assembly
US8851354B2 (en) 2009-12-24 2014-10-07 Ethicon Endo-Surgery, Inc. Surgical cutting instrument that analyzes tissue thickness
US8644988B2 (en) * 2010-05-14 2014-02-04 Intuitive Surgical Operations, Inc. Drive force control in medical instrument providing position measurements
US8783543B2 (en) 2010-07-30 2014-07-22 Ethicon Endo-Surgery, Inc. Tissue acquisition arrangements and methods for surgical stapling devices
IT1401438B1 (it) * 2010-08-04 2013-07-26 Surgica Robotica S P A Utensile chirurgico robotizzato.
US9480476B2 (en) 2010-09-30 2016-11-01 Ethicon Endo-Surgery, Llc Tissue thickness compensator comprising resilient members
US9386988B2 (en) 2010-09-30 2016-07-12 Ethicon End-Surgery, LLC Retainer assembly including a tissue thickness compensator
US11812965B2 (en) 2010-09-30 2023-11-14 Cilag Gmbh International Layer of material for a surgical end effector
US11298125B2 (en) 2010-09-30 2022-04-12 Cilag Gmbh International Tissue stapler having a thickness compensator
US9220501B2 (en) 2010-09-30 2015-12-29 Ethicon Endo-Surgery, Inc. Tissue thickness compensators
AU2011308701B2 (en) 2010-09-30 2013-11-14 Ethicon Endo-Surgery, Inc. Fastener system comprising a retention matrix and an alignment matrix
US10405854B2 (en) 2010-09-30 2019-09-10 Ethicon Llc Surgical stapling cartridge with layer retention features
US9301753B2 (en) 2010-09-30 2016-04-05 Ethicon Endo-Surgery, Llc Expandable tissue thickness compensator
US9364233B2 (en) 2010-09-30 2016-06-14 Ethicon Endo-Surgery, Llc Tissue thickness compensators for circular surgical staplers
US9629814B2 (en) 2010-09-30 2017-04-25 Ethicon Endo-Surgery, Llc Tissue thickness compensator configured to redistribute compressive forces
US10945731B2 (en) 2010-09-30 2021-03-16 Ethicon Llc Tissue thickness compensator comprising controlled release and expansion
US9232941B2 (en) 2010-09-30 2016-01-12 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising a reservoir
US12213666B2 (en) 2010-09-30 2025-02-04 Cilag Gmbh International Tissue thickness compensator comprising layers
US9839420B2 (en) 2010-09-30 2017-12-12 Ethicon Llc Tissue thickness compensator comprising at least one medicament
US11925354B2 (en) 2010-09-30 2024-03-12 Cilag Gmbh International Staple cartridge comprising staples positioned within a compressible portion thereof
US9055941B2 (en) 2011-09-23 2015-06-16 Ethicon Endo-Surgery, Inc. Staple cartridge including collapsible deck
US8746535B2 (en) 2010-09-30 2014-06-10 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising detachable portions
US8695866B2 (en) 2010-10-01 2014-04-15 Ethicon Endo-Surgery, Inc. Surgical instrument having a power control circuit
WO2012049623A1 (en) 2010-10-11 2012-04-19 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
US12402960B2 (en) 2010-10-11 2025-09-02 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
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
US9198729B2 (en) 2010-11-15 2015-12-01 Intuitive Surgical Operations, Inc. Actuation cable having multiple friction characteristics
US8578810B2 (en) 2011-02-14 2013-11-12 Intuitive Surgical Operations, Inc. Jointed link structures exhibiting preferential bending, and related methods
BR112013027794B1 (pt) 2011-04-29 2020-12-15 Ethicon Endo-Surgery, Inc Conjunto de cartucho de grampos
US9259277B2 (en) * 2011-05-13 2016-02-16 Intuitive Surgical Operations, Inc. Instrument actuation interface
US11207064B2 (en) 2011-05-27 2021-12-28 Cilag Gmbh International Automated end effector component reloading system for use with a robotic system
JP6027770B2 (ja) 2011-06-30 2016-11-16 オリンパス株式会社 処置具、マニピュレータ、及び手術支援システム
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
US20130066332A1 (en) 2011-09-09 2013-03-14 Garnette Sutherland Surgical Tool for Use in MR Imaging
US9050084B2 (en) 2011-09-23 2015-06-09 Ethicon Endo-Surgery, Inc. Staple cartridge including collapsible deck arrangement
US10238837B2 (en) 2011-10-14 2019-03-26 Intuitive Surgical Operations, Inc. Catheters with control modes for interchangeable probes
US9387048B2 (en) 2011-10-14 2016-07-12 Intuitive Surgical Operations, Inc. Catheter sensor systems
US20130303944A1 (en) 2012-05-14 2013-11-14 Intuitive Surgical Operations, Inc. Off-axis electromagnetic sensor
US9452276B2 (en) 2011-10-14 2016-09-27 Intuitive Surgical Operations, Inc. Catheter with removable vision probe
MX2014004783A (es) 2011-10-26 2014-05-14 Koninkl Philips Nv Soporte de herramienta inteligente para una fibra optica de deteccion de forma.
JP5855423B2 (ja) * 2011-11-01 2016-02-09 オリンパス株式会社 手術支援装置
WO2013077571A1 (ko) * 2011-11-23 2013-05-30 주식회사 리브스메드 수술용 인스트루먼트
JP5826862B2 (ja) * 2012-01-16 2015-12-02 オリンパス株式会社 挿入装置
US9044230B2 (en) 2012-02-13 2015-06-02 Ethicon Endo-Surgery, Inc. Surgical cutting and fastening instrument with apparatus for determining cartridge and firing motion status
JP6105041B2 (ja) 2012-03-28 2017-03-29 エシコン・エンド−サージェリィ・インコーポレイテッドＥｔｈｉｃｏｎ Ｅｎｄｏ−Ｓｕｒｇｅｒｙ，Ｉｎｃ． 低圧環境を画定するカプセルを含む組織厚コンペンセーター
RU2014143258A (ru) 2012-03-28 2016-05-20 Этикон Эндо-Серджери, Инк. Компенсатор толщины ткани, содержащий множество слоев
MX353040B (es) 2012-03-28 2017-12-18 Ethicon Endo Surgery Inc Unidad retenedora que incluye un compensador de grosor de tejido.
GB2500882B (en) * 2012-04-02 2017-10-04 Gyrus Medical Ltd Electrosurgical instrument
US9668807B2 (en) 2012-05-01 2017-06-06 Covidien Lp Simplified spring load mechanism for delivering shaft force of a surgical instrument
US9820765B2 (en) 2012-05-01 2017-11-21 Covidien Lp Surgical instrument with stamped double-flange jaws
KR102184969B1 (ko) 2012-06-01 2020-12-01 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술 시스템용 기구 캐리지 어셈블리
US9101358B2 (en) 2012-06-15 2015-08-11 Ethicon Endo-Surgery, Inc. Articulatable surgical instrument comprising a firing drive
US12383267B2 (en) 2012-06-28 2025-08-12 Cilag Gmbh International Robotically powered surgical device with manually-actuatable reversing system
BR112014032776B1 (pt) 2012-06-28 2021-09-08 Ethicon Endo-Surgery, Inc Sistema de instrumento cirúrgico e kit cirúrgico para uso com um sistema de instrumento cirúrgico
US9649111B2 (en) 2012-06-28 2017-05-16 Ethicon Endo-Surgery, Llc Replaceable clip cartridge for a clip applier
CN104487005B (zh) 2012-06-28 2017-09-08 伊西康内外科公司 空夹仓闭锁件
US20140005718A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Multi-functional powered surgical device with external dissection features
US20140001231A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Firing system lockout arrangements for surgical instruments
US11278284B2 (en) 2012-06-28 2022-03-22 Cilag Gmbh International Rotary drive arrangements for surgical instruments
US20140005678A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Rotary drive arrangements for surgical instruments
US9289256B2 (en) 2012-06-28 2016-03-22 Ethicon Endo-Surgery, Llc Surgical end effectors having angled tissue-contacting surfaces
EP2881073B1 (de) * 2012-07-03 2019-07-24 KUKA Deutschland GmbH Chirurgische Instrumentenanordnung und Antriebsstranganordnung für ein, insbesondere robotergeführtes, chirurgisches Instrument und chirurgisches Instrument
CN107280671B (zh) 2012-08-14 2020-04-17 直观外科手术操作公司 配置微创器械中的部件的系统和方法
US9700310B2 (en) 2013-08-23 2017-07-11 Ethicon Llc Firing member retraction devices for powered surgical instruments
US9265566B2 (en) 2012-10-16 2016-02-23 Covidien Lp Surgical instrument
EP2914197B1 (en) * 2012-11-02 2020-12-09 Intuitive Surgical Operations, Inc. Self-antagonistic drive for medical instruments
MX364729B (es) 2013-03-01 2019-05-06 Ethicon Endo Surgery Inc Instrumento quirúrgico con una parada suave.
MX368026B (es) 2013-03-01 2019-09-12 Ethicon Endo Surgery Inc Instrumento quirúrgico articulable con vías conductoras para la comunicación de la señal.
US20140249557A1 (en) 2013-03-01 2014-09-04 Ethicon Endo-Surgery, Inc. Thumbwheel switch arrangements for surgical instruments
US9839481B2 (en) * 2013-03-07 2017-12-12 Intuitive Surgical Operations, Inc. Hybrid manual and robotic interventional instruments and methods of use
KR20140110620A (ko) * 2013-03-08 2014-09-17 삼성전자주식회사 수술 로봇 시스템 및 그 작동 방법
US9629629B2 (en) 2013-03-14 2017-04-25 Ethicon Endo-Surgey, LLC Control systems for surgical instruments
US20140277334A1 (en) 2013-03-14 2014-09-18 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US9888919B2 (en) 2013-03-14 2018-02-13 Ethicon Llc Method and system for operating a surgical instrument
KR20160008169A (ko) * 2013-03-14 2016-01-21 에스알아이 인터내셔널 컴팩트 로봇 리스트
EP3626179B1 (en) 2013-03-15 2022-05-04 SRI International Electromechanical surgical system
US9572577B2 (en) 2013-03-27 2017-02-21 Ethicon Endo-Surgery, Llc Fastener cartridge comprising a tissue thickness compensator including openings therein
US9649110B2 (en) 2013-04-16 2017-05-16 Ethicon Llc Surgical instrument comprising a closing drive and a firing drive operated from the same rotatable output
BR112015026109B1 (pt) 2013-04-16 2022-02-22 Ethicon Endo-Surgery, Inc Instrumento cirúrgico
AU2014259679B2 (en) * 2013-05-02 2018-03-22 Metrobotics Corporation A robotic system including a cable interface assembly
US9592095B2 (en) 2013-05-16 2017-03-14 Intuitive Surgical Operations, Inc. Systems and methods for robotic medical system integration with external imaging
US9574644B2 (en) 2013-05-30 2017-02-21 Ethicon Endo-Surgery, Llc Power module for use with a surgical instrument
KR102356881B1 (ko) 2013-08-15 2022-02-03 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 카테터 위치설정 및 삽입을 위한 그래픽 사용자 인터페이스
US9937007B2 (en) * 2013-08-15 2018-04-10 Intuitive Surgical Operations, Inc. Angled instrument shaft roll actuator
CN105611891B (zh) * 2013-08-15 2018-09-21 直观外科手术操作公司 可变器械预加载机构控制器
KR102523090B1 (ko) 2013-08-15 2023-04-19 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 예압형 수술 기구 인터페이스
US10550918B2 (en) 2013-08-15 2020-02-04 Intuitive Surgical Operations, Inc. Lever actuated gimbal plate
US10076348B2 (en) 2013-08-15 2018-09-18 Intuitive Surgical Operations, Inc. Rotary input for lever actuation
EP3033035B1 (en) 2013-08-15 2020-11-25 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive features
KR102313240B1 (ko) 2013-08-15 2021-10-18 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 로봇 기구 피동 요소
KR102313228B1 (ko) 2013-08-15 2021-10-18 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 기구 살균 어댑터에 대한 액추에이터 인터페이스
CN108784838B (zh) 2013-08-15 2021-06-08 直观外科手术操作公司 器械无菌适配器驱动接口
JP6416260B2 (ja) 2013-08-23 2018-10-31 エシコン エルエルシー 動力付き外科用器具のための発射部材後退装置
USD788302S1 (en) 2013-10-01 2017-05-30 Covidien Lp Knife for endoscopic electrosurgical forceps
US9364289B2 (en) * 2013-10-09 2016-06-14 Wisconsin Alumni Research Foundation Interleaved manipulator
CN105939647B (zh) 2013-10-24 2020-01-21 奥瑞斯健康公司 机器人辅助腔内外科手术系统及相关方法
JP6049585B2 (ja) * 2013-10-31 2016-12-21 オリンパス株式会社 術具
JP5980764B2 (ja) * 2013-11-29 2016-08-31 オリンパス株式会社 術具
DE102013225117A1 (de) * 2013-12-06 2015-06-11 Richard Wolf Gmbh Antriebsanordnung für ein endoskopisches Schaftinstrument
JP6230430B2 (ja) * 2014-01-23 2017-11-15 オリンパス株式会社 術具及び医療用マニピュレータシステム
US10363104B2 (en) 2014-01-31 2019-07-30 Covidien Lp Interfaces for surgical systems
JP6220085B2 (ja) 2014-02-03 2017-10-25 ディスタルモーション エスエーＤｉｓｔａｌｍｏｔｉｏｎ Ｓａ 交換可能な遠位装置を備える機械的遠隔操作デバイス
US9962161B2 (en) 2014-02-12 2018-05-08 Ethicon Llc Deliverable surgical instrument
CN105979901B (zh) * 2014-02-12 2019-03-26 柯惠Lp公司 手术末端执行器及其滑轮组件
JP6353665B2 (ja) * 2014-02-21 2018-07-04 オリンパス株式会社 マニピュレータの初期化方法、マニピュレータ、およびマニピュレータシステム
JP6165080B2 (ja) * 2014-02-21 2017-07-19 オリンパス株式会社 マニピュレータシステムの初期化方法
JP6462004B2 (ja) 2014-02-24 2019-01-30 エシコン エルエルシー 発射部材ロックアウトを備える締結システム
US20140166724A1 (en) 2014-02-24 2014-06-19 Ethicon Endo-Surgery, Inc. Staple cartridge including a barbed staple
JP6138071B2 (ja) * 2014-02-26 2017-05-31 オリンパス株式会社 弛み補正機構、マニピュレータ及びマニピュレータシステム
JP6188603B2 (ja) 2014-02-27 2017-08-30 オリンパス株式会社 医療用システム
JP6270537B2 (ja) 2014-02-27 2018-01-31 オリンパス株式会社 医療用システム
JP6278747B2 (ja) 2014-02-28 2018-02-14 オリンパス株式会社 マニピュレータのキャリブレーション方法、マニピュレータ、およびマニピュレータシステム
CN109363774B (zh) * 2014-03-17 2021-04-09 直观外科手术操作公司 避免活动范围极限的自动推出
US12232723B2 (en) 2014-03-26 2025-02-25 Cilag Gmbh International Systems and methods for controlling a segmented circuit
US9743929B2 (en) 2014-03-26 2017-08-29 Ethicon Llc Modular powered surgical instrument with detachable shaft assemblies
US9690362B2 (en) 2014-03-26 2017-06-27 Ethicon Llc Surgical instrument control circuit having a safety processor
US9913642B2 (en) 2014-03-26 2018-03-13 Ethicon Llc Surgical instrument comprising a sensor system
BR112016021943B1 (pt) 2014-03-26 2022-06-14 Ethicon Endo-Surgery, Llc Instrumento cirúrgico para uso por um operador em um procedimento cirúrgico
US10004497B2 (en) 2014-03-26 2018-06-26 Ethicon Llc Interface systems for use with surgical instruments
JP6636452B2 (ja) 2014-04-16 2020-01-29 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ 異なる構成を有する延在部を含む締結具カートリッジ
BR112016023825B1 (pt) 2014-04-16 2022-08-02 Ethicon Endo-Surgery, Llc Cartucho de grampos para uso com um grampeador cirúrgico e cartucho de grampos para uso com um instrumento cirúrgico
US10561422B2 (en) 2014-04-16 2020-02-18 Ethicon Llc Fastener cartridge comprising deployable tissue engaging members
US20150297225A1 (en) 2014-04-16 2015-10-22 Ethicon Endo-Surgery, Inc. Fastener cartridges including extensions having different configurations
US10426476B2 (en) 2014-09-26 2019-10-01 Ethicon Llc Circular fastener cartridges for applying radially expandable fastener lines
BR112016023807B1 (pt) 2014-04-16 2022-07-12 Ethicon Endo-Surgery, Llc Conjunto de cartucho de prendedores para uso com um instrumento cirúrgico
EP3137010B1 (en) * 2014-04-29 2019-09-25 Covidien LP Surgical instruments, instrument drive units, and surgical assemblies thereof
EP4295801A3 (en) 2014-05-05 2024-03-20 Vicarious Surgical Inc. Virtual reality surgical device
US10045781B2 (en) 2014-06-13 2018-08-14 Ethicon Llc Closure lockout systems for surgical instruments
CN104000659B (zh) * 2014-06-13 2016-01-27 苏州康多机器人有限公司 一种用于微创外科手术机器人的器械夹持手快换机构
JP6265853B2 (ja) 2014-07-10 2018-01-24 オリンパス株式会社 医療用機器
KR20220065894A (ko) 2014-07-28 2022-05-20 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술중 세그먼트화를 위한 시스템 및 방법
JP6265859B2 (ja) 2014-07-28 2018-01-24 オリンパス株式会社 処置具駆動装置
EP3174490B1 (en) 2014-07-28 2020-04-15 Intuitive Surgical Operations, Inc. Systems and methods for planning multiple interventional procedures
CN107072521B (zh) 2014-08-14 2020-10-27 直观外科手术操作公司 用于清洁内窥镜器械的系统和方法
CN111658180B (zh) 2014-08-15 2024-05-31 直观外科手术操作公司 具有可变进入引导器配置的外科手术系统
WO2016028858A1 (en) 2014-08-22 2016-02-25 Intuitive Surgical Operations, Inc. Systems and methods for adaptive input mapping
US11033296B2 (en) 2014-08-23 2021-06-15 Intuitive Surgical Operations, Inc. Systems and methods for dynamic trajectory control
KR102542848B1 (ko) 2014-08-23 2023-06-14 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 영상 안내 절차에서의 병리학적 데이터의 표시를 위한 시스템 및 방법
WO2016032902A1 (en) 2014-08-25 2016-03-03 Intuitive Surgical Operations, Inc. Systems and methods for medical instrument force sensing
US11311294B2 (en) 2014-09-05 2022-04-26 Cilag Gmbh International Powered medical device including measurement of closure state of jaws
US10111679B2 (en) 2014-09-05 2018-10-30 Ethicon Llc Circuitry and sensors for powered medical device
BR112017004361B1 (pt) 2014-09-05 2023-04-11 Ethicon Llc Sistema eletrônico para um instrumento cirúrgico
US10542868B2 (en) 2014-09-10 2020-01-28 Intuitive Surgical Operations, Inc. Devices, systems, and methods using mating catheter tips and tools
US10373719B2 (en) 2014-09-10 2019-08-06 Intuitive Surgical Operations, Inc. Systems and methods for pre-operative modeling
US10105142B2 (en) 2014-09-18 2018-10-23 Ethicon Llc Surgical stapler with plurality of cutting elements
CN104188709B (zh) * 2014-09-18 2016-07-06 上海工程技术大学 一种用于外科手术机器人的多角度从手镊子
MX380639B (es) 2014-09-26 2025-03-12 Ethicon Llc Refuerzos de grapas quirúrgicas y materiales auxiliares.
US11523821B2 (en) 2014-09-26 2022-12-13 Cilag Gmbh International Method for creating a flexible staple line
US10076325B2 (en) 2014-10-13 2018-09-18 Ethicon Llc Surgical stapling apparatus comprising a tissue stop
US9924944B2 (en) 2014-10-16 2018-03-27 Ethicon Llc Staple cartridge comprising an adjunct material
US10517594B2 (en) 2014-10-29 2019-12-31 Ethicon Llc Cartridge assemblies for surgical staplers
US11141153B2 (en) 2014-10-29 2021-10-12 Cilag Gmbh International Staple cartridges comprising driver arrangements
US9844376B2 (en) 2014-11-06 2017-12-19 Ethicon Llc Staple cartridge comprising a releasable adjunct material
CN107111684A (zh) 2014-11-13 2017-08-29 直观外科手术操作公司 用于过滤局部化数据的系统和方法
US10736636B2 (en) 2014-12-10 2020-08-11 Ethicon Llc Articulatable surgical instrument system
US9844375B2 (en) 2014-12-18 2017-12-19 Ethicon Llc Drive arrangements for articulatable surgical instruments
US9987000B2 (en) 2014-12-18 2018-06-05 Ethicon Llc Surgical instrument assembly comprising a flexible articulation system
US10188385B2 (en) 2014-12-18 2019-01-29 Ethicon Llc Surgical instrument system comprising lockable systems
US9844374B2 (en) 2014-12-18 2017-12-19 Ethicon Llc Surgical instrument systems comprising an articulatable end effector and means for adjusting the firing stroke of a firing member
US9968355B2 (en) 2014-12-18 2018-05-15 Ethicon Llc Surgical instruments with articulatable end effectors and improved firing beam support arrangements
US10085748B2 (en) 2014-12-18 2018-10-02 Ethicon Llc Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors
US10117649B2 (en) 2014-12-18 2018-11-06 Ethicon Llc Surgical instrument assembly comprising a lockable articulation system
BR112017012996B1 (pt) 2014-12-18 2022-11-08 Ethicon Llc Instrumento cirúrgico com uma bigorna que é seletivamente móvel sobre um eixo geométrico imóvel distinto em relação a um cartucho de grampos
DK3653145T3 (da) 2014-12-19 2024-04-15 Distalmotion Sa Genanvendeligt kirurgisk instrument til minimalinvasive procedurer
WO2016097861A1 (en) 2014-12-19 2016-06-23 Distalmotion Sa Sterile interface for articulated surgical instruments
US10864052B2 (en) 2014-12-19 2020-12-15 Distalmotion Sa Surgical instrument with articulated end-effector
EP3232977B1 (en) 2014-12-19 2020-01-29 DistalMotion SA Docking system for mechanical telemanipulator
US11033716B2 (en) * 2015-01-12 2021-06-15 Intuitive Surgical Operations, Inc. Devices, systems, and methods for anchoring actuation wires to a steerable instrument
CN104589330B (zh) * 2015-01-24 2016-04-20 江西省机械科学研究所 带驱动电动缸高速两平动机械手
CN104589315B (zh) * 2015-01-24 2016-02-24 江西省机械科学研究所 带传动重载两平动机械手
CN104589321B (zh) * 2015-01-24 2016-04-20 江西省机械科学研究所 带传动式可摆动平行连杆同步伸缩机构
CN107000220B9 (zh) 2015-02-19 2020-04-17 奥林巴斯株式会社 机械手和机械手系统
JP6860490B2 (ja) 2015-02-20 2021-04-14 ストライカー・コーポレイション 滅菌バリアアセンブリ、取付システム、及び外科用構成部品を連結する方法
US10180463B2 (en) 2015-02-27 2019-01-15 Ethicon Llc Surgical apparatus configured to assess whether a performance parameter of the surgical apparatus is within an acceptable performance band
US10159483B2 (en) 2015-02-27 2018-12-25 Ethicon Llc Surgical apparatus configured to track an end-of-life parameter
US11154301B2 (en) 2015-02-27 2021-10-26 Cilag Gmbh International Modular stapling assembly
US9993258B2 (en) 2015-02-27 2018-06-12 Ethicon Llc Adaptable surgical instrument handle
US10245033B2 (en) 2015-03-06 2019-04-02 Ethicon Llc Surgical instrument comprising a lockable battery housing
US9895148B2 (en) 2015-03-06 2018-02-20 Ethicon Endo-Surgery, Llc Monitoring speed control and precision incrementing of motor for powered surgical instruments
US10052044B2 (en) 2015-03-06 2018-08-21 Ethicon Llc Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures
US10045776B2 (en) 2015-03-06 2018-08-14 Ethicon Llc Control techniques and sub-processor contained within modular shaft with select control processing from handle
US9901342B2 (en) 2015-03-06 2018-02-27 Ethicon Endo-Surgery, Llc Signal and power communication system positioned on a rotatable shaft
US9993248B2 (en) 2015-03-06 2018-06-12 Ethicon Endo-Surgery, Llc Smart sensors with local signal processing
US10617412B2 (en) 2015-03-06 2020-04-14 Ethicon Llc System for detecting the mis-insertion of a staple cartridge into a surgical stapler
US10441279B2 (en) 2015-03-06 2019-10-15 Ethicon Llc Multiple level thresholds to modify operation of powered surgical instruments
US9808246B2 (en) 2015-03-06 2017-11-07 Ethicon Endo-Surgery, Llc Method of operating a powered surgical instrument
JP2020121162A (ja) 2015-03-06 2020-08-13 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ 測定の安定性要素、クリープ要素、及び粘弾性要素を決定するためのセンサデータの時間依存性評価
US9924961B2 (en) 2015-03-06 2018-03-27 Ethicon Endo-Surgery, Llc Interactive feedback system for powered surgical instruments
US10687806B2 (en) 2015-03-06 2020-06-23 Ethicon Llc Adaptive tissue compression techniques to adjust closure rates for multiple tissue types
US10390825B2 (en) 2015-03-31 2019-08-27 Ethicon Llc Surgical instrument with progressive rotary drive systems
EP3280312A4 (en) 2015-04-06 2019-02-20 Intuitive Surgical Operations Inc. SYSTEMS AND METHOD FOR REGISTERING COMPENSATION IN IMAGED SURGERY
US10874465B2 (en) * 2015-05-15 2020-12-29 Intuitive Surgical Operations, Inc. System and method for minimally invasive cutting instrument operation
CN107660134B (zh) 2015-05-22 2021-06-29 直观外科手术操作公司 图像引导手术记录的系统和方法
US10405863B2 (en) 2015-06-18 2019-09-10 Ethicon Llc Movable firing beam support arrangements for articulatable surgical instruments
CN107787207B (zh) 2015-06-19 2021-05-25 柯惠Lp公司 利用双向耦接控制机器人手术器械
US10517602B2 (en) * 2015-06-26 2019-12-31 Ethicon Llc Surgical stapler with reversible polarity
US10881475B2 (en) 2015-07-09 2021-01-05 Kawasaki Jukogyo Kabushiki Kaisha Surgical robot
EP3326765A4 (en) 2015-07-17 2019-02-20 Olympus Corporation MANIPULATOR
CN107249831B (zh) 2015-07-17 2020-06-30 奥林巴斯株式会社 机械手
WO2017030913A2 (en) 2015-08-14 2017-02-23 Intuitive Surgical Operations, Inc. Systems and methods of registration for image-guided surgery
WO2017030915A1 (en) 2015-08-14 2017-02-23 Intuitive Surgical Operations, Inc. Systems and methods of registration for image-guided surgery
US10835249B2 (en) 2015-08-17 2020-11-17 Ethicon Llc Implantable layers for a surgical instrument
US10357251B2 (en) 2015-08-26 2019-07-23 Ethicon Llc Surgical staples comprising hardness variations for improved fastening of tissue
EP4545034A3 (en) * 2015-08-28 2025-07-09 Distalmotion SA Surgical instrument with increased actuation force
AU2016321332B2 (en) 2015-09-09 2020-10-08 Auris Health, Inc. Instrument device manipulator for a surgical robotics system
CN108024693B (zh) 2015-09-10 2021-07-09 直观外科手术操作公司 在图像引导医疗程序中利用跟踪的系统和方法
US10327769B2 (en) 2015-09-23 2019-06-25 Ethicon Llc Surgical stapler having motor control based on a drive system component
US10363036B2 (en) 2015-09-23 2019-07-30 Ethicon Llc Surgical stapler having force-based motor control
US10085751B2 (en) 2015-09-23 2018-10-02 Ethicon Llc Surgical stapler having temperature-based motor control
US10105139B2 (en) 2015-09-23 2018-10-23 Ethicon Llc Surgical stapler having downstream current-based motor control
US10238386B2 (en) 2015-09-23 2019-03-26 Ethicon Llc Surgical stapler having motor control based on an electrical parameter related to a motor current
US10076326B2 (en) 2015-09-23 2018-09-18 Ethicon Llc Surgical stapler having current mirror-based motor control
US10299878B2 (en) 2015-09-25 2019-05-28 Ethicon Llc Implantable adjunct systems for determining adjunct skew
US10736633B2 (en) 2015-09-30 2020-08-11 Ethicon Llc Compressible adjunct with looping members
US11890015B2 (en) 2015-09-30 2024-02-06 Cilag Gmbh International Compressible adjunct with crossing spacer fibers
US10980539B2 (en) 2015-09-30 2021-04-20 Ethicon Llc Implantable adjunct comprising bonded layers
US11690623B2 (en) 2015-09-30 2023-07-04 Cilag Gmbh International Method for applying an implantable layer to a fastener cartridge
ITUB20154977A1 (it) * 2015-10-16 2017-04-16 Medical Microinstruments S R L Strumento medicale e metodo di fabbricazione di detto strumento medicale
US10639108B2 (en) 2015-10-30 2020-05-05 Auris Health, Inc. Process for percutaneous operations
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
GB201521806D0 (en) 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Independent tensioning and aligning mechanisms for a surgical instrument
GB201521803D0 (en) * 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Surgical instrument articulation
GB201521808D0 (en) * 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Interfacing a surgical robot and instrument
US10292704B2 (en) 2015-12-30 2019-05-21 Ethicon Llc Mechanisms for compensating for battery pack failure in powered surgical instruments
US10368865B2 (en) 2015-12-30 2019-08-06 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US10265068B2 (en) 2015-12-30 2019-04-23 Ethicon Llc Surgical instruments with separable motors and motor control circuits
CA3123794A1 (en) 2016-02-05 2017-08-10 Board Of Regents Of The University Of Texas System Steerable intra-luminal medical device
CN112370008A (zh) 2016-02-05 2021-02-19 得克萨斯系统大学董事会 手术设备
US11213293B2 (en) 2016-02-09 2022-01-04 Cilag Gmbh International Articulatable surgical instruments with single articulation link arrangements
BR112018016098B1 (pt) 2016-02-09 2023-02-23 Ethicon Llc Instrumento cirúrgico
US10413291B2 (en) 2016-02-09 2019-09-17 Ethicon Llc Surgical instrument articulation mechanism with slotted secondary constraint
US11399895B2 (en) 2016-02-12 2022-08-02 Intuitive Surgical Operations, Inc. Systems and methods of pose estimation and calibration of perspective imaging system in image guided surgery
US10258331B2 (en) 2016-02-12 2019-04-16 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US11224426B2 (en) 2016-02-12 2022-01-18 Cilag Gmbh International Mechanisms for compensating for drivetrain failure in powered surgical instruments
US10448948B2 (en) 2016-02-12 2019-10-22 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US10896506B2 (en) 2016-02-12 2021-01-19 Intuitive Surgical Operations, Inc Systems and methods for using registered fluoroscopic images in image-guided surgery
WO2017151887A1 (en) 2016-03-04 2017-09-08 Covidien Lp Coupler assembly for coupling surgical instruments to robotic systems
US10285705B2 (en) 2016-04-01 2019-05-14 Ethicon Llc Surgical stapling system comprising a grooved forming pocket
US10617413B2 (en) 2016-04-01 2020-04-14 Ethicon Llc Closure system arrangements for surgical cutting and stapling devices with separate and distinct firing shafts
US10405859B2 (en) 2016-04-15 2019-09-10 Ethicon Llc Surgical instrument with adjustable stop/start control during a firing motion
US10357247B2 (en) 2016-04-15 2019-07-23 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US10335145B2 (en) 2016-04-15 2019-07-02 Ethicon Llc Modular surgical instrument with configurable operating mode
US11607239B2 (en) 2016-04-15 2023-03-21 Cilag Gmbh International Systems and methods for controlling a surgical stapling and cutting instrument
US10828028B2 (en) 2016-04-15 2020-11-10 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US10456137B2 (en) 2016-04-15 2019-10-29 Ethicon Llc Staple formation detection mechanisms
US11179150B2 (en) 2016-04-15 2021-11-23 Cilag Gmbh International Systems and methods for controlling a surgical stapling and cutting instrument
US10492783B2 (en) 2016-04-15 2019-12-03 Ethicon, Llc Surgical instrument with improved stop/start control during a firing motion
US10426467B2 (en) 2016-04-15 2019-10-01 Ethicon Llc Surgical instrument with detection sensors
US10433840B2 (en) 2016-04-18 2019-10-08 Ethicon Llc Surgical instrument comprising a replaceable cartridge jaw
US11317917B2 (en) 2016-04-18 2022-05-03 Cilag Gmbh International Surgical stapling system comprising a lockable firing assembly
US20170296173A1 (en) 2016-04-18 2017-10-19 Ethicon Endo-Surgery, Llc Method for operating a surgical instrument
EP3244330B1 (en) * 2016-05-09 2020-04-29 Covidien LP Adapter assembly with pulley system and worm gear drive for interconnecting electromechanical surgical devices and surgical end effectors
US10799239B2 (en) 2016-05-09 2020-10-13 Covidien Lp Adapter assembly with pulley system and worm gear drive for interconnecting electromechanical surgical devices and surgical end effectors
CA3022139A1 (en) 2016-05-26 2017-11-30 Covidien Lp Instrument drive units
AU2017269350A1 (en) 2016-05-26 2018-10-25 Covidien Lp Robotic surgical assemblies and instrument drive units thereof
EP4183315A1 (en) * 2016-06-01 2023-05-24 EndoMaster Pte. Ltd. Endoscopy system components
US11272992B2 (en) 2016-06-03 2022-03-15 Covidien Lp Robotic surgical assemblies and instrument drive units thereof
EP4238490B1 (en) 2016-06-30 2025-09-17 Intuitive Surgical Operations, Inc. Graphical user interface for displaying guidance information during an image-guided procedure
KR20190015581A (ko) 2016-06-30 2019-02-13 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 의료용 로봇 시스템의 결함 반응 메커니즘을 위한 시스템 및 방법
EP4374768B1 (en) 2016-06-30 2026-03-25 Intuitive Surgical Operations, Inc. Graphical user interface for displaying guidance information in a plurality of modes during an image-guided procedure
CN114886484A (zh) 2016-06-30 2022-08-12 直观外科手术操作公司 可转向细长装置的系统和方法
CN109310287B (zh) 2016-07-01 2023-01-03 直观外科手术操作公司 一种计算机辅助医疗系统及其控制方法
CN109475721B (zh) 2016-07-08 2021-06-08 直观外科手术操作公司 用于输送细长设备的引导装置和使用方法
WO2018013298A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Geared grip actuation for medical instruments
CN113995532B (zh) 2016-07-14 2024-11-01 直观外科手术操作公司 器械冲洗系统
US11890070B2 (en) 2016-07-14 2024-02-06 Intuitive Surgical Operations, Inc. Instrument release
WO2018013316A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Geared roll drive for medical instrument
CN109688960B (zh) 2016-07-14 2022-04-01 直观外科手术操作公司 多线缆医疗器械
US10500000B2 (en) 2016-08-16 2019-12-10 Ethicon Llc Surgical tool with manual control of end effector jaws
CN109561934B (zh) 2016-08-23 2022-03-08 直观外科手术操作公司 用于医疗程序期间监测患者运动的系统和方法
US10729886B2 (en) 2016-08-24 2020-08-04 Intuitive Surgical Operations, Inc. Axial support structure for a flexible elongate device
WO2018039459A1 (en) 2016-08-24 2018-03-01 Abbott Ryan Charles Computer-assisted tele-operated surgery systems and methods
EP3506836B1 (en) 2016-08-31 2024-10-02 Auris Health, Inc. Length conservative surgical instrument
US10881385B2 (en) 2016-09-13 2021-01-05 Intuitive Surgical Operations, Inc. Radial telescoping guide apparatus for delivery of a flexible instrument and methods of use
EP4623797A3 (en) 2016-09-21 2025-12-03 Intuitive Surgical Operations, Inc. System for instrument buckling detection
US10682192B2 (en) 2016-09-30 2020-06-16 Intuitive Surgical Operations, Inc. Variable-length guide apparatus for delivery of a flexible instrument and methods of use
WO2018064566A1 (en) 2016-09-30 2018-04-05 Intuitive Surgical Operations, Inc. Systems and methods for entry point localization
GB2554915B (en) * 2016-10-14 2022-03-02 Cmr Surgical Ltd Driving arrangement for articulating a surgical instrument
US11160625B2 (en) 2016-10-14 2021-11-02 Intuitive Surgical Operations, Inc. Systems to apply preload tension for surgical instruments and related methods
US10617483B2 (en) 2016-10-14 2020-04-14 Intuitive Surgical Operations, Inc. Surgical instrument steering inputs
EP3534818B1 (en) 2016-11-02 2023-09-20 Intuitive Surgical Operations, Inc. Systems for continuous registration for image-guided surgery
WO2018094191A1 (en) 2016-11-21 2018-05-24 Intuitive Surgical Operations, Inc. Cable length conserving medical instrument
WO2018100607A1 (ja) * 2016-11-29 2018-06-07 オリンパス株式会社 屈曲機構および医療用マニピュレータ
WO2018106950A1 (en) 2016-12-08 2018-06-14 Intuitive Surgical Operations, Inc. Systems and methods for navigation in image-guided medical procedures
JP7097883B2 (ja) 2016-12-09 2022-07-08 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 身体組織の熱流束分布感知のためのシステム及び方法
US10639035B2 (en) 2016-12-21 2020-05-05 Ethicon Llc Surgical stapling instruments and replaceable tool assemblies thereof
US10856868B2 (en) 2016-12-21 2020-12-08 Ethicon Llc Firing member pin configurations
JP6983893B2 (ja) 2016-12-21 2021-12-17 エシコン エルエルシーEthicon LLC 外科用エンドエフェクタ及び交換式ツールアセンブリのためのロックアウト構成
CN110114003A (zh) 2016-12-21 2019-08-09 爱惜康有限责任公司 外科缝合系统
JP7010956B2 (ja) 2016-12-21 2022-01-26 エシコン エルエルシー 組織をステープル留めする方法
MX2019007311A (es) 2016-12-21 2019-11-18 Ethicon Llc Sistemas de engrapado quirurgico.
US10426471B2 (en) 2016-12-21 2019-10-01 Ethicon Llc Surgical instrument with multiple failure response modes
US10682138B2 (en) 2016-12-21 2020-06-16 Ethicon Llc Bilaterally asymmetric staple forming pocket pairs
US10758229B2 (en) 2016-12-21 2020-09-01 Ethicon Llc Surgical instrument comprising improved jaw control
CN110114014B (zh) 2016-12-21 2022-08-09 爱惜康有限责任公司 包括端部执行器闭锁件和击发组件闭锁件的外科器械系统
US10918385B2 (en) 2016-12-21 2021-02-16 Ethicon Llc Surgical system comprising a firing member rotatable into an articulation state to articulate an end effector of the surgical system
US11419606B2 (en) 2016-12-21 2022-08-23 Cilag Gmbh International Shaft assembly comprising a clutch configured to adapt the output of a rotary firing member to two different systems
US10603036B2 (en) 2016-12-21 2020-03-31 Ethicon Llc Articulatable surgical instrument with independent pivotable linkage distal of an articulation lock
US10568625B2 (en) 2016-12-21 2020-02-25 Ethicon Llc Staple cartridges and arrangements of staples and staple cavities therein
US20180168625A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Surgical stapling instruments with smart staple cartridges
US10675026B2 (en) 2016-12-21 2020-06-09 Ethicon Llc Methods of stapling tissue
US10568624B2 (en) 2016-12-21 2020-02-25 Ethicon Llc Surgical instruments with jaws that are pivotable about a fixed axis and include separate and distinct closure and firing systems
US10588630B2 (en) 2016-12-21 2020-03-17 Ethicon Llc Surgical tool assemblies with closure stroke reduction features
JP7010957B2 (ja) 2016-12-21 2022-01-26 エシコン エルエルシー ロックアウトを備えるシャフトアセンブリ
US11134942B2 (en) 2016-12-21 2021-10-05 Cilag Gmbh International Surgical stapling instruments and staple-forming anvils
US20180168615A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Method of deforming staples from two different types of staple cartridges with the same surgical stapling instrument
US20180168608A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Surgical instrument system comprising an end effector lockout and a firing assembly lockout
JP6761482B2 (ja) 2016-12-28 2020-09-23 オリンパス株式会社 医療システム、医療用オーバーチューブ、及び医療デバイスアダプタ
CN110087576B (zh) 2017-01-09 2023-03-17 直观外科手术操作公司 用于在图像引导的程序中将细长装置配准到三维图像的系统和方法
WO2018144698A1 (en) 2017-02-01 2018-08-09 Intuitive Surgical Operations, Inc. Systems and methods of registration for image-guided procedures
CN110234262B (zh) 2017-02-06 2022-10-18 直观外科手术操作公司 用于耦合医疗系统的部件的系统和方法
US11154373B2 (en) 2017-02-08 2021-10-26 Intuitive Surgical Operations, Inc. Control of computer-assisted tele-operated systems
US10799308B2 (en) 2017-02-09 2020-10-13 Vicarious Surgical Inc. Virtual reality surgical tools system
US10357321B2 (en) 2017-02-24 2019-07-23 Intuitive Surgical Operations, Inc. Splayed cable guide for a medical instrument
EP3595517B1 (en) 2017-03-13 2024-11-20 Intuitive Surgical Operations, Inc. Systems and methods for medical procedures using optical coherence tomography sensing
KR101889065B1 (ko) * 2017-03-20 2018-08-16 울산과학기술원 이중 텐던-쉬스 메커니즘을 이용한 힘 전달 시스템
US11076926B2 (en) 2017-03-21 2021-08-03 Intuitive Surgical Operations, Inc. Manual release for medical device drive system
EP3600112A4 (en) 2017-03-22 2020-10-28 Intuitive Surgical Operations Inc. SYSTEMS AND METHODS FOR INTELLIGENT SEEDING RECORDING
WO2018174226A1 (ja) 2017-03-24 2018-09-27 株式会社メディカロイド 張力調整機構、インターフェースおよび駆動機構
WO2018179140A1 (ja) * 2017-03-29 2018-10-04 オリンパス株式会社 医療用処置具
US11937880B2 (en) 2017-04-18 2024-03-26 Intuitive Surgical Operations, Inc. Graphical user interface for monitoring an image-guided procedure
EP4539056A3 (en) 2017-04-18 2025-06-25 Intuitive Surgical Operations, Inc. Graphical user interface for planning a procedure
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same
US10980537B2 (en) 2017-06-20 2021-04-20 Ethicon Llc Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified number of shaft rotations
US11090046B2 (en) 2017-06-20 2021-08-17 Cilag Gmbh International Systems and methods for controlling displacement member motion of a surgical stapling and cutting instrument
USD879808S1 (en) 2017-06-20 2020-03-31 Ethicon Llc Display panel with graphical user interface
US10368864B2 (en) 2017-06-20 2019-08-06 Ethicon Llc Systems and methods for controlling displaying motor velocity for a surgical instrument
US10646220B2 (en) 2017-06-20 2020-05-12 Ethicon Llc Systems and methods for controlling displacement member velocity for a surgical instrument
US10624633B2 (en) 2017-06-20 2020-04-21 Ethicon Llc Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument
US11517325B2 (en) 2017-06-20 2022-12-06 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured displacement distance traveled over a specified time interval
USD879809S1 (en) 2017-06-20 2020-03-31 Ethicon Llc Display panel with changeable graphical user interface
US10779820B2 (en) 2017-06-20 2020-09-22 Ethicon Llc Systems and methods for controlling motor speed according to user input for a surgical instrument
US12490980B2 (en) 2017-06-20 2025-12-09 Cilag Gmbh International Surgical instrument having controllable articulation velocity
US11071554B2 (en) 2017-06-20 2021-07-27 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on magnitude of velocity error measurements
US10888321B2 (en) 2017-06-20 2021-01-12 Ethicon Llc Systems and methods for controlling velocity of a displacement member of a surgical stapling and cutting instrument
US10813639B2 (en) 2017-06-20 2020-10-27 Ethicon Llc Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on system conditions
US10307170B2 (en) 2017-06-20 2019-06-04 Ethicon Llc Method for closed loop control of motor velocity of a surgical stapling and cutting instrument
US11382638B2 (en) 2017-06-20 2022-07-12 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified displacement distance
US11653914B2 (en) 2017-06-20 2023-05-23 Cilag Gmbh International Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument according to articulation angle of end effector
USD890784S1 (en) 2017-06-20 2020-07-21 Ethicon Llc Display panel with changeable graphical user interface
US10327767B2 (en) 2017-06-20 2019-06-25 Ethicon Llc Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation
US10390841B2 (en) 2017-06-20 2019-08-27 Ethicon Llc Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation
US10881399B2 (en) 2017-06-20 2021-01-05 Ethicon Llc Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument
US10881396B2 (en) 2017-06-20 2021-01-05 Ethicon Llc Surgical instrument with variable duration trigger arrangement
US11324503B2 (en) 2017-06-27 2022-05-10 Cilag Gmbh International Surgical firing member arrangements
US10856869B2 (en) 2017-06-27 2020-12-08 Ethicon Llc Surgical anvil arrangements
US11090049B2 (en) 2017-06-27 2021-08-17 Cilag Gmbh International Staple forming pocket arrangements
US10993716B2 (en) 2017-06-27 2021-05-04 Ethicon Llc Surgical anvil arrangements
US10772629B2 (en) 2017-06-27 2020-09-15 Ethicon Llc Surgical anvil arrangements
US11266405B2 (en) 2017-06-27 2022-03-08 Cilag Gmbh International Surgical anvil manufacturing methods
US20190000459A1 (en) 2017-06-28 2019-01-03 Ethicon Llc Surgical instruments with jaws constrained to pivot about an axis upon contact with a closure member that is parked in close proximity to the pivot axis
US10716614B2 (en) 2017-06-28 2020-07-21 Ethicon Llc Surgical shaft assemblies with slip ring assemblies with increased contact pressure
US10765427B2 (en) 2017-06-28 2020-09-08 Ethicon Llc Method for articulating a surgical instrument
US11259805B2 (en) 2017-06-28 2022-03-01 Cilag Gmbh International Surgical instrument comprising firing member supports
US11246592B2 (en) 2017-06-28 2022-02-15 Cilag Gmbh International Surgical instrument comprising an articulation system lockable to a frame
US11026758B2 (en) 2017-06-28 2021-06-08 Auris Health, Inc. Medical robotics systems implementing axis constraints during actuation of one or more motorized joints
US10211586B2 (en) 2017-06-28 2019-02-19 Ethicon Llc Surgical shaft assemblies with watertight housings
USD851762S1 (en) 2017-06-28 2019-06-18 Ethicon Llc Anvil
USD906355S1 (en) 2017-06-28 2020-12-29 Ethicon Llc Display screen or portion thereof with a graphical user interface for a surgical instrument
US10903685B2 (en) 2017-06-28 2021-01-26 Ethicon Llc Surgical shaft assemblies with slip ring assemblies forming capacitive channels
EP3420947B1 (en) 2017-06-28 2022-05-25 Cilag GmbH International Surgical instrument comprising selectively actuatable rotatable couplers
US11564686B2 (en) 2017-06-28 2023-01-31 Cilag Gmbh International Surgical shaft assemblies with flexible interfaces
BR112019027065B1 (pt) 2017-06-28 2023-12-26 Ethicon Llc Instrumento cirúrgico e sistema cirúrgico
US11484310B2 (en) 2017-06-28 2022-11-01 Cilag Gmbh International Surgical instrument comprising a shaft including a closure tube profile
USD869655S1 (en) 2017-06-28 2019-12-10 Ethicon Llc Surgical fastener cartridge
USD854151S1 (en) 2017-06-28 2019-07-16 Ethicon Llc Surgical instrument shaft
US10398434B2 (en) 2017-06-29 2019-09-03 Ethicon Llc Closed loop velocity control of closure member for robotic surgical instrument
US11007022B2 (en) 2017-06-29 2021-05-18 Ethicon Llc Closed loop velocity control techniques based on sensed tissue parameters for robotic surgical instrument
US10932772B2 (en) 2017-06-29 2021-03-02 Ethicon Llc Methods for closed loop velocity control for robotic surgical instrument
US10898183B2 (en) 2017-06-29 2021-01-26 Ethicon Llc Robotic surgical instrument with closed loop feedback techniques for advancement of closure member during firing
US10258418B2 (en) 2017-06-29 2019-04-16 Ethicon Llc System for controlling articulation forces
EP4596017A3 (en) 2017-07-21 2025-10-22 Intuitive Surgical Operations, Inc. Flexible elongate device systems and methods
JP7241061B2 (ja) 2017-07-31 2023-03-16 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 装置の安全な操作のためのシステム及び方法
US10512515B2 (en) 2017-07-31 2019-12-24 Intuitive Surgical Operations, Inc. Systems and methods for steerable elongate device
US11304695B2 (en) 2017-08-03 2022-04-19 Cilag Gmbh International Surgical system shaft interconnection
US11471155B2 (en) 2017-08-03 2022-10-18 Cilag Gmbh International Surgical system bailout
US11944300B2 (en) 2017-08-03 2024-04-02 Cilag Gmbh International Method for operating a surgical system bailout
US11974742B2 (en) 2017-08-03 2024-05-07 Cilag Gmbh International Surgical system comprising an articulation bailout
JP7079438B2 (ja) * 2017-08-29 2022-06-02 富士フイルム株式会社 育苗資材、育苗用具、育苗ユニット及び苗の生産方法
US11583342B2 (en) 2017-09-14 2023-02-21 Vicarious Surgical Inc. Virtual reality surgical camera system
US11773948B2 (en) * 2017-09-19 2023-10-03 Cornell University Passive transmissions, and methods of making and using same
USD907647S1 (en) 2017-09-29 2021-01-12 Ethicon Llc Display screen or portion thereof with animated graphical user interface
US10765429B2 (en) 2017-09-29 2020-09-08 Ethicon Llc Systems and methods for providing alerts according to the operational state of a surgical instrument
US10743872B2 (en) 2017-09-29 2020-08-18 Ethicon Llc System and methods for controlling a display of a surgical instrument
US10796471B2 (en) 2017-09-29 2020-10-06 Ethicon Llc Systems and methods of displaying a knife position for a surgical instrument
USD907648S1 (en) 2017-09-29 2021-01-12 Ethicon Llc Display screen or portion thereof with animated graphical user interface
USD917500S1 (en) 2017-09-29 2021-04-27 Ethicon Llc Display screen or portion thereof with graphical user interface
US11399829B2 (en) 2017-09-29 2022-08-02 Cilag Gmbh International Systems and methods of initiating a power shutdown mode for a surgical instrument
US10729501B2 (en) 2017-09-29 2020-08-04 Ethicon Llc Systems and methods for language selection of a surgical instrument
US10881476B2 (en) * 2017-10-26 2021-01-05 Ethicon Llc Drive cable capstans for robotic surgical tools
US10786320B2 (en) 2017-10-26 2020-09-29 Ethicon Llc Cable driven motion systems for robotic surgical tools
US10828117B2 (en) * 2017-10-26 2020-11-10 Ethicon Llc Constant force spring assemblies for robotic surgical tools
US10624709B2 (en) * 2017-10-26 2020-04-21 Ethicon Llc Robotic surgical tool with manual release lever
US11134944B2 (en) 2017-10-30 2021-10-05 Cilag Gmbh International Surgical stapler knife motion controls
US11090075B2 (en) 2017-10-30 2021-08-17 Cilag Gmbh International Articulation features for surgical end effector
US10779903B2 (en) 2017-10-31 2020-09-22 Ethicon Llc Positive shaft rotation lock activated by jaw closure
US10842490B2 (en) 2017-10-31 2020-11-24 Ethicon Llc Cartridge body design with force reduction based on firing completion
WO2019099396A2 (en) 2017-11-14 2019-05-23 Intuitive Surgical Operations, Inc. Systems and methods for cleaning endoscopic instruments
CN107756388B (zh) * 2017-12-01 2023-09-19 南开大学 一种基于绳牵引串联弹性驱动的物理性人机交互平台
WO2019118368A1 (en) 2017-12-11 2019-06-20 Auris Health, Inc. Systems and methods for instrument based insertion architectures
JP7005768B2 (ja) 2017-12-14 2022-01-24 インテュイティブ サージカル オペレーションズ， インコーポレイテッド テンションバンドを有する医療ツール
US10779825B2 (en) 2017-12-15 2020-09-22 Ethicon Llc Adapters with end effector position sensing and control arrangements for use in connection with electromechanical surgical instruments
US10828033B2 (en) 2017-12-15 2020-11-10 Ethicon Llc Handheld electromechanical surgical instruments with improved motor control arrangements for positioning components of an adapter coupled thereto
US11197670B2 (en) 2017-12-15 2021-12-14 Cilag Gmbh International Surgical end effectors with pivotal jaws configured to touch at their respective distal ends when fully closed
US11071543B2 (en) 2017-12-15 2021-07-27 Cilag Gmbh International Surgical end effectors with clamping assemblies configured to increase jaw aperture ranges
US10743875B2 (en) 2017-12-15 2020-08-18 Ethicon Llc Surgical end effectors with jaw stiffener arrangements configured to permit monitoring of firing member
US10966718B2 (en) 2017-12-15 2021-04-06 Ethicon Llc Dynamic clamping assemblies with improved wear characteristics for use in connection with electromechanical surgical instruments
US11033267B2 (en) 2017-12-15 2021-06-15 Ethicon Llc Systems and methods of controlling a clamping member firing rate of a surgical instrument
US10779826B2 (en) 2017-12-15 2020-09-22 Ethicon Llc Methods of operating surgical end effectors
US11006955B2 (en) 2017-12-15 2021-05-18 Ethicon Llc End effectors with positive jaw opening features for use with adapters for electromechanical surgical instruments
US10869666B2 (en) 2017-12-15 2020-12-22 Ethicon Llc Adapters with control systems for controlling multiple motors of an electromechanical surgical instrument
US10743874B2 (en) 2017-12-15 2020-08-18 Ethicon Llc Sealed adapters for use with electromechanical surgical instruments
US10687813B2 (en) 2017-12-15 2020-06-23 Ethicon Llc Adapters with firing stroke sensing arrangements for use in connection with electromechanical surgical instruments
US10835330B2 (en) 2017-12-19 2020-11-17 Ethicon Llc Method for determining the position of a rotatable jaw of a surgical instrument attachment assembly
USD910847S1 (en) 2017-12-19 2021-02-16 Ethicon Llc Surgical instrument assembly
US11045270B2 (en) 2017-12-19 2021-06-29 Cilag Gmbh International Robotic attachment comprising exterior drive actuator
US11020112B2 (en) 2017-12-19 2021-06-01 Ethicon Llc Surgical tools configured for interchangeable use with different controller interfaces
US10716565B2 (en) 2017-12-19 2020-07-21 Ethicon Llc Surgical instruments with dual articulation drivers
US10729509B2 (en) 2017-12-19 2020-08-04 Ethicon Llc Surgical instrument comprising closure and firing locking mechanism
US11364027B2 (en) 2017-12-21 2022-06-21 Cilag Gmbh International Surgical instrument comprising speed control
US11129680B2 (en) 2017-12-21 2021-09-28 Cilag Gmbh International Surgical instrument comprising a projector
US12336705B2 (en) 2017-12-21 2025-06-24 Cilag Gmbh International Continuous use self-propelled stapling instrument
US11076853B2 (en) 2017-12-21 2021-08-03 Cilag Gmbh International Systems and methods of displaying a knife position during transection for a surgical instrument
US11311290B2 (en) 2017-12-21 2022-04-26 Cilag Gmbh International Surgical instrument comprising an end effector dampener
WO2019136345A1 (en) * 2018-01-05 2019-07-11 Medrobotics Corporation Robotically controlled surgical tool
US20190216554A1 (en) * 2018-01-12 2019-07-18 SS Innovations China Co. Ltd. Sterile adapter assembly for a robotic surgical system
WO2019155383A1 (en) 2018-02-07 2019-08-15 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US12376927B2 (en) 2018-02-07 2025-08-05 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US11497567B2 (en) 2018-02-08 2022-11-15 Intuitive Surgical Operations, Inc. Jointed control platform
US11118661B2 (en) 2018-02-12 2021-09-14 Intuitive Surgical Operations, Inc. Instrument transmission converting roll to linear actuation
US12082900B2 (en) 2018-03-07 2024-09-10 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
EP3761897A4 (en) 2018-03-07 2021-11-24 Intuitive Surgical Operations, Inc. LOW-FRICTION MEDICAL TOOLS WITH SMALL PROFILE AND ASSEMBLY-FRIENDLY COMPONENTS
US11992286B2 (en) 2018-03-07 2024-05-28 Intuitive Surgical Operations, Inc. Low-friction medical tools having roller-assisted tension members
CN108338838B (zh) * 2018-03-12 2020-04-14 深圳市精锋医疗科技有限公司 操作臂驱动机构的张紧方法
WO2019191413A1 (en) * 2018-03-29 2019-10-03 Intuitive Surgical Operations, Inc. Teleoperated surgical instruments
US12048817B2 (en) 2018-05-15 2024-07-30 Intuitive Surgical Operations, Inc. Backend mechanism of a catheter control system
US11000948B2 (en) * 2018-05-29 2021-05-11 General Electric Company Robotic arm assembly
ES2963424T3 (es) 2018-06-11 2024-03-27 Devroye Instr Belgium Aparato para la extracción de unidades foliculares
WO2019241242A1 (en) 2018-06-13 2019-12-19 Intuitive Surgical Operations, Inc. Systems and methods for powering an antenna
WO2019246240A1 (en) 2018-06-19 2019-12-26 Intuitive Surgical Operations, Inc. Systems and methods for holding a flexible elongate device in a pose
EP3813632B1 (en) 2018-06-27 2026-04-22 Auris Health, Inc. Alignment and attachment systems for medical instruments
CN112367928A (zh) * 2018-06-28 2021-02-12 奥瑞斯健康公司 结合滑轮共享的医疗系统
EP3821444A1 (en) 2018-07-10 2021-05-19 Intuitive Surgical Operations, Inc. Systems and methods for tool detection and associated control modes
US12324560B2 (en) 2018-07-10 2025-06-10 Intuitive Surgical Operations, Inc. Systems and methods for detecting an orientation of medical instruments
CN112601485B (zh) 2018-07-10 2024-10-29 直观外科手术操作公司 用于取向检测和工具安装的系统和方法
KR20210031924A (ko) 2018-07-10 2021-03-23 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 의료 도구의 존재를 감지하기 위한 시스템 및 방법
CN108858258A (zh) * 2018-07-17 2018-11-23 东北大学 一种气动肌肉驱动灵长类仿生机器人手爪
US11678788B2 (en) 2018-07-25 2023-06-20 Intuitive Surgical Operations, Inc. Systems and methods for use of a variable stiffness flexible elongate device
US11080902B2 (en) 2018-08-03 2021-08-03 Intuitive Surgical Operations, Inc. Systems and methods for generating anatomical tree structures
US11324501B2 (en) 2018-08-20 2022-05-10 Cilag Gmbh International Surgical stapling devices with improved closure members
US11207065B2 (en) 2018-08-20 2021-12-28 Cilag Gmbh International Method for fabricating surgical stapler anvils
US10779821B2 (en) 2018-08-20 2020-09-22 Ethicon Llc Surgical stapler anvils with tissue stop features configured to avoid tissue pinch
US10912559B2 (en) 2018-08-20 2021-02-09 Ethicon Llc Reinforced deformable anvil tip for surgical stapler anvil
USD914878S1 (en) 2018-08-20 2021-03-30 Ethicon Llc Surgical instrument anvil
US11045192B2 (en) 2018-08-20 2021-06-29 Cilag Gmbh International Fabricating techniques for surgical stapler anvils
US11291440B2 (en) 2018-08-20 2022-04-05 Cilag Gmbh International Method for operating a powered articulatable surgical instrument
US10842492B2 (en) 2018-08-20 2020-11-24 Ethicon Llc Powered articulatable surgical instruments with clutching and locking arrangements for linking an articulation drive system to a firing drive system
US10856870B2 (en) 2018-08-20 2020-12-08 Ethicon Llc Switching arrangements for motor powered articulatable surgical instruments
US20200054321A1 (en) 2018-08-20 2020-02-20 Ethicon Llc Surgical instruments with progressive jaw closure arrangements
US11083458B2 (en) 2018-08-20 2021-08-10 Cilag Gmbh International Powered surgical instruments with clutching arrangements to convert linear drive motions to rotary drive motions
US11039834B2 (en) 2018-08-20 2021-06-22 Cilag Gmbh International Surgical stapler anvils with staple directing protrusions and tissue stability features
US11253256B2 (en) 2018-08-20 2022-02-22 Cilag Gmbh International Articulatable motor powered surgical instruments with dedicated articulation motor arrangements
US11896316B2 (en) 2018-08-23 2024-02-13 Intuitive Surgical Operations, Inc. Systems and methods for generating anatomic tree structures using backward pathway growth
CN113164184B (zh) 2018-08-24 2024-06-14 奥瑞斯健康公司 能够手动地和机器人地控制的医疗器械
JP7198016B2 (ja) * 2018-08-28 2022-12-28 株式会社メディカロイド 手術器具
CN119924988A (zh) 2018-09-28 2025-05-06 奥瑞斯健康公司 用于伴随内窥镜和经皮医学规程的机器人系统和方法
EP4643806A3 (en) 2018-09-28 2026-01-14 Auris Health, Inc. Systems and methods for docking medical instruments
US10820947B2 (en) 2018-09-28 2020-11-03 Auris Health, Inc. Devices, systems, and methods for manually and robotically driving medical instruments
DE112019005020T5 (de) 2018-10-04 2021-06-17 Intuitive Surgical Operations, Inc. Systeme und Verfahren zur Steuerung von lenkbaren Vorrichtungen
EP3860497A1 (en) 2018-10-04 2021-08-11 Intuitive Surgical Operations, Inc. Systems and methods for device verification and sensor calibration
WO2020072272A1 (en) 2018-10-04 2020-04-09 Intuitive Surgical Operations, Inc. Systems and methods of device control with operator and motion sensing
CN112804931B (zh) 2018-10-04 2024-11-22 直观外科手术操作公司 用于可转向装置的运动控制的系统和方法
US11737823B2 (en) 2018-10-31 2023-08-29 Intuitive Surgical Operations, Inc. Antenna systems and methods of use
US11280863B2 (en) 2018-11-02 2022-03-22 Intuitive Surgical Operations, Inc. Coiled antenna with fluid cooling
US11637378B2 (en) 2018-11-02 2023-04-25 Intuitive Surgical Operations, Inc. Coiled dipole antenna
US11730537B2 (en) 2018-11-13 2023-08-22 Intuitive Surgical Operations, Inc. Cooled chokes for ablation systems and methods of use
WO2020102776A1 (en) 2018-11-15 2020-05-22 Intuitive Surgical Operations, Inc. Surgical instrument with sensor aligned cable guide
WO2020102780A1 (en) 2018-11-15 2020-05-22 Intuitive Surgical Operations, Inc. Cable drive limited slip capstan and shaft
CN111249007B (zh) * 2018-11-30 2021-09-07 上海微创医疗机器人（集团）股份有限公司 医疗机器人及其用于夹持医疗器械的机械臂
US11806096B2 (en) 2018-12-04 2023-11-07 Mako Surgical Corp. Mounting system with sterile barrier assembly for use in coupling surgical components
CN112839605A (zh) * 2018-12-06 2021-05-25 柯惠Lp公司 被配置为当与驱动单元断开时将外科手术工具保持在预定姿态的适配器
WO2020140072A1 (en) 2018-12-28 2020-07-02 Auris Health, Inc. Percutaneous sheath for robotic medical systems and methods
JP6954937B2 (ja) 2019-01-25 2021-10-27 株式会社メディカロイド 手術器具
EP4663093A3 (en) 2019-02-26 2026-01-21 Intuitive Surgical Operations, Inc. Systems for registration of patient anatomy
KR102897285B1 (ko) * 2020-02-14 2025-12-08 고려대학교 산학협력단 로봇 관절 구동용 카트리지 타입 동력 전달 시스템
JP7260883B2 (ja) * 2019-02-27 2023-04-19 コリア ユニバーシティ リサーチ アンド ビジネス ファウンデーション ロボット関節駆動用動力伝達システム
CN113766868A (zh) 2019-03-15 2021-12-07 直观外科手术操作公司 用于在医疗程序期间确定弯折和患者移动的系统
US11172929B2 (en) 2019-03-25 2021-11-16 Cilag Gmbh International Articulation drive arrangements for surgical systems
US11696761B2 (en) 2019-03-25 2023-07-11 Cilag Gmbh International Firing drive arrangements for surgical systems
US11147553B2 (en) 2019-03-25 2021-10-19 Cilag Gmbh International Firing drive arrangements for surgical systems
US11147551B2 (en) 2019-03-25 2021-10-19 Cilag Gmbh International Firing drive arrangements for surgical systems
US11020198B2 (en) * 2019-04-08 2021-06-01 Cilag Gmbh International Slack cable eliminating capstan
US11432816B2 (en) 2019-04-30 2022-09-06 Cilag Gmbh International Articulation pin for a surgical instrument
US11648009B2 (en) 2019-04-30 2023-05-16 Cilag Gmbh International Rotatable jaw tip for a surgical instrument
US11253254B2 (en) 2019-04-30 2022-02-22 Cilag Gmbh International Shaft rotation actuator on a surgical instrument
US11471157B2 (en) 2019-04-30 2022-10-18 Cilag Gmbh International Articulation control mapping for a surgical instrument
US11903581B2 (en) 2019-04-30 2024-02-20 Cilag Gmbh International Methods for stapling tissue using a surgical instrument
US11426251B2 (en) 2019-04-30 2022-08-30 Cilag Gmbh International Articulation directional lights on a surgical instrument
US11452528B2 (en) 2019-04-30 2022-09-27 Cilag Gmbh International Articulation actuators for a surgical instrument
US12239394B2 (en) 2019-06-13 2025-03-04 Intuitive Surgical Operations, Inc. Medical tool with length conservation mechanism for actuating tension bands
US11246678B2 (en) 2019-06-28 2022-02-15 Cilag Gmbh International Surgical stapling system having a frangible RFID tag
US11478241B2 (en) 2019-06-28 2022-10-25 Cilag Gmbh International Staple cartridge including projections
US11350938B2 (en) 2019-06-28 2022-06-07 Cilag Gmbh International Surgical instrument comprising an aligned rfid sensor
US11219455B2 (en) 2019-06-28 2022-01-11 Cilag Gmbh International Surgical instrument including a lockout key
US11553971B2 (en) 2019-06-28 2023-01-17 Cilag Gmbh International Surgical RFID assemblies for display and communication
US11291451B2 (en) 2019-06-28 2022-04-05 Cilag Gmbh International Surgical instrument with battery compatibility verification functionality
US11660163B2 (en) 2019-06-28 2023-05-30 Cilag Gmbh International Surgical system with RFID tags for updating motor assembly parameters
US11259803B2 (en) 2019-06-28 2022-03-01 Cilag Gmbh International Surgical stapling system having an information encryption protocol
US11638587B2 (en) 2019-06-28 2023-05-02 Cilag Gmbh International RFID identification systems for surgical instruments
US11771419B2 (en) 2019-06-28 2023-10-03 Cilag Gmbh International Packaging for a replaceable component of a surgical stapling system
US11298127B2 (en) 2019-06-28 2022-04-12 Cilag GmbH Interational Surgical stapling system having a lockout mechanism for an incompatible cartridge
US11684434B2 (en) 2019-06-28 2023-06-27 Cilag Gmbh International Surgical RFID assemblies for instrument operational setting control
US11627959B2 (en) 2019-06-28 2023-04-18 Cilag Gmbh International Surgical instruments including manual and powered system lockouts
US11464601B2 (en) 2019-06-28 2022-10-11 Cilag Gmbh International Surgical instrument comprising an RFID system for tracking a movable component
US11399837B2 (en) 2019-06-28 2022-08-02 Cilag Gmbh International Mechanisms for motor control adjustments of a motorized surgical instrument
US12004740B2 (en) 2019-06-28 2024-06-11 Cilag Gmbh International Surgical stapling system having an information decryption protocol
US11523822B2 (en) 2019-06-28 2022-12-13 Cilag Gmbh International Battery pack including a circuit interrupter
US11497492B2 (en) 2019-06-28 2022-11-15 Cilag Gmbh International Surgical instrument including an articulation lock
US11298132B2 (en) 2019-06-28 2022-04-12 Cilag GmbH Inlernational Staple cartridge including a honeycomb extension
US11051807B2 (en) 2019-06-28 2021-07-06 Cilag Gmbh International Packaging assembly including a particulate trap
US11426167B2 (en) 2019-06-28 2022-08-30 Cilag Gmbh International Mechanisms for proper anvil attachment surgical stapling head assembly
US11224497B2 (en) 2019-06-28 2022-01-18 Cilag Gmbh International Surgical systems with multiple RFID tags
US11376098B2 (en) 2019-06-28 2022-07-05 Cilag Gmbh International Surgical instrument system comprising an RFID system
EP3989794A4 (en) 2019-06-28 2023-07-12 Auris Health, Inc. PATIENT INTRODUCER FOR A ROBOTIC SYSTEM
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
CN114554930A (zh) 2019-08-15 2022-05-27 奥瑞斯健康公司 具有多个弯曲节段的医疗装置
US12174012B2 (en) 2019-09-13 2024-12-24 Bobst Lyon Device for measuring a width of a slot in a product
JP2021041037A (ja) 2019-09-13 2021-03-18 ソニー株式会社 術具、手術支援システム、並びに手術用操作ユニット
WO2021064536A1 (en) 2019-09-30 2021-04-08 Auris Health, Inc. Medical instrument with capstan
US11504122B2 (en) 2019-12-19 2022-11-22 Cilag Gmbh International Surgical instrument comprising a nested firing member
US11291447B2 (en) 2019-12-19 2022-04-05 Cilag Gmbh International Stapling instrument comprising independent jaw closing and staple firing systems
US11911032B2 (en) 2019-12-19 2024-02-27 Cilag Gmbh International Staple cartridge comprising a seating cam
US12035913B2 (en) 2019-12-19 2024-07-16 Cilag Gmbh International Staple cartridge comprising a deployable knife
US11529139B2 (en) 2019-12-19 2022-12-20 Cilag Gmbh International Motor driven surgical instrument
US11701111B2 (en) 2019-12-19 2023-07-18 Cilag Gmbh International Method for operating a surgical stapling instrument
US11931033B2 (en) 2019-12-19 2024-03-19 Cilag Gmbh International Staple cartridge comprising a latch lockout
US11234698B2 (en) 2019-12-19 2022-02-01 Cilag Gmbh International Stapling system comprising a clamp lockout and a firing lockout
US11607219B2 (en) 2019-12-19 2023-03-21 Cilag Gmbh International Staple cartridge comprising a detachable tissue cutting knife
US11446029B2 (en) 2019-12-19 2022-09-20 Cilag Gmbh International Staple cartridge comprising projections extending from a curved deck surface
US11559304B2 (en) 2019-12-19 2023-01-24 Cilag Gmbh International Surgical instrument comprising a rapid closure mechanism
US11464512B2 (en) 2019-12-19 2022-10-11 Cilag Gmbh International Staple cartridge comprising a curved deck surface
US11576672B2 (en) 2019-12-19 2023-02-14 Cilag Gmbh International Surgical instrument comprising a closure system including a closure member and an opening member driven by a drive screw
US11529137B2 (en) 2019-12-19 2022-12-20 Cilag Gmbh International Staple cartridge comprising driver retention members
US11844520B2 (en) 2019-12-19 2023-12-19 Cilag Gmbh International Staple cartridge comprising driver retention members
US11304696B2 (en) 2019-12-19 2022-04-19 Cilag Gmbh International Surgical instrument comprising a powered articulation system
EP4084717A4 (en) 2019-12-31 2024-02-14 Auris Health, Inc. Dynamic pulley system
EP4084722A4 (en) 2019-12-31 2024-01-10 Auris Health, Inc. ALIGNMENT INTERFACES FOR PERCUTANEOUS ACCESS
EP4084724A4 (en) 2019-12-31 2023-12-27 Auris Health, Inc. ADVANCED BASKET TRAINING MODE
CN119055360A (zh) 2019-12-31 2024-12-03 奥瑞斯健康公司 解剖特征识别和瞄准
US11660147B2 (en) 2019-12-31 2023-05-30 Auris Health, Inc. Alignment techniques for percutaneous access
WO2021140623A1 (ja) * 2020-01-09 2021-07-15 リバーフィールド株式会社 スライダおよび術具
IT202000002536A1 (it) 2020-02-10 2021-08-10 Medical Microinstruments Spa Adattatore sterile per un sistema di chirurgia robotica, assieme, sistema e metodo
WO2021163468A1 (en) * 2020-02-13 2021-08-19 Intuitive Surgical Operations, Inc. Devices and methods for coupling a cable to a medical device
CN111388090B (zh) * 2020-03-24 2023-04-28 上海微创医疗机器人（集团）股份有限公司 一种手术器械、手术器械系统及手术机器人
US11737663B2 (en) 2020-03-30 2023-08-29 Auris Health, Inc. Target anatomical feature localization
WO2021207264A2 (en) 2020-04-10 2021-10-14 Intuitive Surgical Operations, Inc. Flexible instruments with patterned antenna assemblies having variable recoverable flexibility
WO2021225863A1 (en) 2020-05-04 2021-11-11 Intuitive Surgical Operations, Inc. Medical instrument having single input for driving multiple cables
USD975278S1 (en) 2020-06-02 2023-01-10 Cilag Gmbh International Staple cartridge
USD974560S1 (en) 2020-06-02 2023-01-03 Cilag Gmbh International Staple cartridge
USD976401S1 (en) 2020-06-02 2023-01-24 Cilag Gmbh International Staple cartridge
USD967421S1 (en) 2020-06-02 2022-10-18 Cilag Gmbh International Staple cartridge
USD975851S1 (en) 2020-06-02 2023-01-17 Cilag Gmbh International Staple cartridge
USD975850S1 (en) 2020-06-02 2023-01-17 Cilag Gmbh International Staple cartridge
USD966512S1 (en) 2020-06-02 2022-10-11 Cilag Gmbh International Staple cartridge
CN113827309B (zh) * 2020-06-08 2023-12-22 微创神通医疗科技（上海）有限公司 一种医疗器械牵引装置、操作手柄和支架系统
JP7434614B2 (ja) * 2020-06-30 2024-02-20 普鋭醫療（香港）有限公司 着脱可能なヘッドとハンドルを備えた可撓性内視鏡
JP7498611B2 (ja) 2020-07-16 2024-06-12 日本発條株式会社 関節機能部
US12220126B2 (en) 2020-07-28 2025-02-11 Cilag Gmbh International Surgical instruments with double pivot articulation joint arrangements
CN111993394B (zh) * 2020-09-08 2022-03-18 中南大学 一种被动柔顺装置
US11779330B2 (en) 2020-10-29 2023-10-10 Cilag Gmbh International Surgical instrument comprising a jaw alignment system
US11517390B2 (en) 2020-10-29 2022-12-06 Cilag Gmbh International Surgical instrument comprising a limited travel switch
US11452526B2 (en) 2020-10-29 2022-09-27 Cilag Gmbh International Surgical instrument comprising a staged voltage regulation start-up system
US11844518B2 (en) 2020-10-29 2023-12-19 Cilag Gmbh International Method for operating a surgical instrument
US11617577B2 (en) 2020-10-29 2023-04-04 Cilag Gmbh International Surgical instrument comprising a sensor configured to sense whether an articulation drive of the surgical instrument is actuatable
USD980425S1 (en) 2020-10-29 2023-03-07 Cilag Gmbh International Surgical instrument assembly
US11896217B2 (en) 2020-10-29 2024-02-13 Cilag Gmbh International Surgical instrument comprising an articulation lock
US11931025B2 (en) 2020-10-29 2024-03-19 Cilag Gmbh International Surgical instrument comprising a releasable closure drive lock
USD1013170S1 (en) 2020-10-29 2024-01-30 Cilag Gmbh International Surgical instrument assembly
US11534259B2 (en) 2020-10-29 2022-12-27 Cilag Gmbh International Surgical instrument comprising an articulation indicator
US11717289B2 (en) 2020-10-29 2023-08-08 Cilag Gmbh International Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable
US12053175B2 (en) 2020-10-29 2024-08-06 Cilag Gmbh International Surgical instrument comprising a stowed closure actuator stop
USD1039143S1 (en) 2020-11-19 2024-08-13 Auris Health, Inc. Surgical instrument handle
CN112518731B (zh) * 2020-11-30 2022-11-25 成都普崔克机电有限公司 一种软体驱动器和软体装置
WO2022115877A1 (en) 2020-11-30 2022-06-02 Intuitive Surgical Operations, Inc. Systems for retracting and adjusting elongate flexible devices and associated methods
US11653915B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Surgical instruments with sled location detection and adjustment features
US11678882B2 (en) 2020-12-02 2023-06-20 Cilag Gmbh International Surgical instruments with interactive features to remedy incidental sled movements
US11653920B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Powered surgical instruments with communication interfaces through sterile barrier
US11627960B2 (en) 2020-12-02 2023-04-18 Cilag Gmbh International Powered surgical instruments with smart reload with separately attachable exteriorly mounted wiring connections
US11849943B2 (en) 2020-12-02 2023-12-26 Cilag Gmbh International Surgical instrument with cartridge release mechanisms
US12471982B2 (en) 2020-12-02 2025-11-18 Cilag Gmbh International Method for tissue treatment by surgical instrument
US11744581B2 (en) 2020-12-02 2023-09-05 Cilag Gmbh International Powered surgical instruments with multi-phase tissue treatment
US11944296B2 (en) 2020-12-02 2024-04-02 Cilag Gmbh International Powered surgical instruments with external connectors
US11890010B2 (en) 2020-12-02 2024-02-06 Cllag GmbH International Dual-sided reinforced reload for surgical instruments
US11737751B2 (en) 2020-12-02 2023-08-29 Cilag Gmbh International Devices and methods of managing energy dissipated within sterile barriers of surgical instrument housings
US12042171B2 (en) * 2020-12-21 2024-07-23 Mazor Robotics Ltd. Systems and methods for surgical port positioning
GB2603787B (en) * 2021-02-12 2023-10-04 Prec Robotics Limited A tensioning rig and method
US12108951B2 (en) 2021-02-26 2024-10-08 Cilag Gmbh International Staple cartridge comprising a sensing array and a temperature control system
US11749877B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Stapling instrument comprising a signal antenna
US11980362B2 (en) 2021-02-26 2024-05-14 Cilag Gmbh International Surgical instrument system comprising a power transfer coil
US11950779B2 (en) 2021-02-26 2024-04-09 Cilag Gmbh International Method of powering and communicating with a staple cartridge
US12324580B2 (en) 2021-02-26 2025-06-10 Cilag Gmbh International Method of powering and communicating with a staple cartridge
US11723657B2 (en) 2021-02-26 2023-08-15 Cilag Gmbh International Adjustable communication based on available bandwidth and power capacity
US11925349B2 (en) 2021-02-26 2024-03-12 Cilag Gmbh International Adjustment to transfer parameters to improve available power
US11701113B2 (en) 2021-02-26 2023-07-18 Cilag Gmbh International Stapling instrument comprising a separate power antenna and a data transfer antenna
US11812964B2 (en) 2021-02-26 2023-11-14 Cilag Gmbh International Staple cartridge comprising a power management circuit
US11744583B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Distal communication array to tune frequency of RF systems
US11950777B2 (en) 2021-02-26 2024-04-09 Cilag Gmbh International Staple cartridge comprising an information access control system
US11730473B2 (en) 2021-02-26 2023-08-22 Cilag Gmbh International Monitoring of manufacturing life-cycle
US11751869B2 (en) 2021-02-26 2023-09-12 Cilag Gmbh International Monitoring of multiple sensors over time to detect moving characteristics of tissue
US11793514B2 (en) 2021-02-26 2023-10-24 Cilag Gmbh International Staple cartridge comprising sensor array which may be embedded in cartridge body
US11696757B2 (en) 2021-02-26 2023-07-11 Cilag Gmbh International Monitoring of internal systems to detect and track cartridge motion status
US11806011B2 (en) 2021-03-22 2023-11-07 Cilag Gmbh International Stapling instrument comprising tissue compression systems
US11826012B2 (en) 2021-03-22 2023-11-28 Cilag Gmbh International Stapling instrument comprising a pulsed motor-driven firing rack
US11759202B2 (en) 2021-03-22 2023-09-19 Cilag Gmbh International Staple cartridge comprising an implantable layer
US11826042B2 (en) 2021-03-22 2023-11-28 Cilag Gmbh International Surgical instrument comprising a firing drive including a selectable leverage mechanism
US11723658B2 (en) 2021-03-22 2023-08-15 Cilag Gmbh International Staple cartridge comprising a firing lockout
US11717291B2 (en) 2021-03-22 2023-08-08 Cilag Gmbh International Staple cartridge comprising staples configured to apply different tissue compression
US11737749B2 (en) 2021-03-22 2023-08-29 Cilag Gmbh International Surgical stapling instrument comprising a retraction system
US11944336B2 (en) 2021-03-24 2024-04-02 Cilag Gmbh International Joint arrangements for multi-planar alignment and support of operational drive shafts in articulatable surgical instruments
US11903582B2 (en) 2021-03-24 2024-02-20 Cilag Gmbh International Leveraging surfaces for cartridge installation
US11857183B2 (en) 2021-03-24 2024-01-02 Cilag Gmbh International Stapling assembly components having metal substrates and plastic bodies
US11896218B2 (en) 2021-03-24 2024-02-13 Cilag Gmbh International Method of using a powered stapling device
US11786239B2 (en) 2021-03-24 2023-10-17 Cilag Gmbh International Surgical instrument articulation joint arrangements comprising multiple moving linkage features
US11849945B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Rotary-driven surgical stapling assembly comprising eccentrically driven firing member
US11786243B2 (en) 2021-03-24 2023-10-17 Cilag Gmbh International Firing members having flexible portions for adapting to a load during a surgical firing stroke
US11793516B2 (en) 2021-03-24 2023-10-24 Cilag Gmbh International Surgical staple cartridge comprising longitudinal support beam
US11744603B2 (en) 2021-03-24 2023-09-05 Cilag Gmbh International Multi-axis pivot joints for surgical instruments and methods for manufacturing same
US11832816B2 (en) 2021-03-24 2023-12-05 Cilag Gmbh International Surgical stapling assembly comprising nonplanar staples and planar staples
US12102323B2 (en) 2021-03-24 2024-10-01 Cilag Gmbh International Rotary-driven surgical stapling assembly comprising a floatable component
US11896219B2 (en) 2021-03-24 2024-02-13 Cilag Gmbh International Mating features between drivers and underside of a cartridge deck
US11849944B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Drivers for fastener cartridge assemblies having rotary drive screws
DE112022002005T8 (de) 2021-04-07 2024-02-22 Intuitive Surgical Operations, Inc. Systeme, Verfahren und Medium enthaltend Instruktion zum Verbinden von Modellstrukturen, die anatomische Wege darstellen
CN117396915A (zh) 2021-04-08 2024-01-12 直观外科手术操作公司 用于图像重新采样的系统和相关联的方法
US20240238049A1 (en) 2021-05-11 2024-07-18 Intuitive Surgical Operations, Inc. Medical instrument guidance systems and associated methods
KR102378015B1 (ko) * 2021-05-28 2022-03-24 주식회사 엔도로보틱스 텐던-쉬스 구동 장치 및 로봇팔 구동 장치
US20220378425A1 (en) 2021-05-28 2022-12-01 Cilag Gmbh International Stapling instrument comprising a control system that controls a firing stroke length
KR20230172155A (ko) 2022-06-15 2023-12-22 주식회사 로엔서지컬 구름 관절 장치의 강성 증강 방법
EP4401666A1 (en) 2021-09-13 2024-07-24 DistalMotion SA Instruments for surgical robotic system and interfaces for the same
US12307581B2 (en) 2021-09-28 2025-05-20 Intuitive Surgical Operations, Inc. Elongate device references for image-guided procedures
EP4408327A1 (en) 2021-09-28 2024-08-07 Intuitive Surgical Operations, Inc. Navigation assistance for an instrument
CN118302127A (zh) 2021-10-08 2024-07-05 直观外科手术操作公司 包括用于经皮肾镜取石术程序的引导系统的医疗器械引导系统以及相关联的装置和方法
CN113749784B (zh) * 2021-10-11 2023-06-20 中南大学 手术机器人的力反馈传动系统
US11980363B2 (en) 2021-10-18 2024-05-14 Cilag Gmbh International Row-to-row staple array variations
US11957337B2 (en) 2021-10-18 2024-04-16 Cilag Gmbh International Surgical stapling assembly with offset ramped drive surfaces
US12239317B2 (en) 2021-10-18 2025-03-04 Cilag Gmbh International Anvil comprising an arrangement of forming pockets proximal to tissue stop
US11877745B2 (en) 2021-10-18 2024-01-23 Cilag Gmbh International Surgical stapling assembly having longitudinally-repeating staple leg clusters
US11937816B2 (en) 2021-10-28 2024-03-26 Cilag Gmbh International Electrical lead arrangements for surgical instruments
US12432790B2 (en) 2021-10-28 2025-09-30 Cilag Gmbh International Method and device for transmitting UART communications over a security short range wireless communication
US12089841B2 (en) 2021-10-28 2024-09-17 Cilag CmbH International Staple cartridge identification systems
US20250303554A1 (en) * 2021-11-15 2025-10-02 Roen Surgical, Inc. Wire tension compensatory adjustment device
KR102665912B1 (ko) * 2021-11-15 2024-05-17 주식회사 로엔서지컬 수술 도구의 위치 제어용 구체 관절 장치
KR102877427B1 (ko) * 2021-11-15 2025-11-05 주식회사 로엔서지컬 와이어 장력 보상 조절 장치
TWI835436B (zh) 2021-11-30 2024-03-11 美商安督奎斯特機器人公司 用於機器人手術系統的可轉向套管組件、其控制組件及其方法
KR20240153547A (ko) 2021-11-30 2024-10-23 엔도퀘스트 로보틱스 인코포레이티드 로봇 수술 시스템용 배리어 드레이프 어댑터
TWI836752B (zh) 2021-11-30 2024-03-21 美商安督奎斯特機器人公司 用於機器人控制醫療裝置的力傳輸系統
TWI838986B (zh) 2021-11-30 2024-04-11 美商安督奎斯特機器人公司 患者控制台、具有該患者控制台的機器人手術系統及其執行方法
WO2023101948A1 (en) 2021-11-30 2023-06-08 Endoquest, Inc. Master control systems for robotic surgical systems
TWI850880B (zh) 2021-11-30 2024-08-01 美商安督奎斯特機器人公司 可拋式終端操縱裝置、醫療裝置及其操作方法
WO2023101970A1 (en) 2021-11-30 2023-06-08 Endoquest Robotics, Inc. Controller arrangements for robotic surgical systems
WO2023177785A1 (en) 2022-03-17 2023-09-21 Mako Surgical Corp. Techniques for securing together components of one or more surgical carts
CN116889430A (zh) * 2022-04-05 2023-10-17 直观外科手术操作公司 具有反枢转机构的器械
KR102854395B1 (ko) * 2022-06-07 2025-09-03 주식회사 엔도로보틱스 텐던 쉬스 센서 구조체 및 이를 포함하는 텐턴 쉬스 센서 장치, 이를 이용한 텐던 쉬스 구동 장치, 그 제어 방법 및 로봇팔 구동 시스템
JP7364282B1 (ja) 2022-09-29 2023-10-18 コネクテッドロボティクス株式会社 把持システム、及び制御装置
EP4633509A2 (en) 2022-12-14 2025-10-22 Intuitive Surgical Operations, Inc. Systems and methods for planning and/or navigating to treatment zones in a medical procedure
CN120659587A (zh) 2022-12-29 2025-09-16 直观外科手术操作公司 用于生成用于医疗过程的3d导航界面的系统和方法
CN121002532A (zh) 2023-02-01 2025-11-21 直观外科手术操作公司 从术中图像中提取伸长装置
US11844585B1 (en) 2023-02-10 2023-12-19 Distalmotion Sa Surgical robotics systems and devices having a sterile restart, and methods thereof
CN120731055A (zh) 2023-02-23 2025-09-30 直观外科手术操作公司 基于工具的柔性伸长装置控制
WO2024186659A1 (en) 2023-03-06 2024-09-12 Intuitive Surgical Operations, Inc. Generation of high resolution medical images using a machine learning model
CN121013676A (zh) 2023-03-27 2025-11-25 直观外科手术操作公司 用于柔性伸长装置的可插入工具识别
EP4704668A1 (en) 2023-05-03 2026-03-11 Intuitive Surgical Operations, Inc. Pullwire slack detection and adjustment for flexible elongate devices
WO2025019569A1 (en) 2023-07-18 2025-01-23 Intuitive Surgical Operations, Inc. Intra-operative imaging to robotic-assisted navigation
CN121646792A (zh) 2023-07-31 2026-03-10 直观外科手术操作公司 用于对图像数据进行分割的系统和方法
CN121620341A (zh) 2023-08-03 2026-03-06 直观外科手术操作公司 基于工具插入距离的柔性伸长装置接合控制
WO2025042718A1 (en) 2023-08-18 2025-02-27 Intuitive Surgical Operations, Inc. Atlas-based planning and navigation for medical procedures
CN121772891A (zh) 2023-08-31 2026-03-31 直观外科手术操作公司 用于抑制系统部件的反向驱动的有条件制动器接合
WO2025054377A1 (en) 2023-09-08 2025-03-13 Intuitive Surgical Operations, Inc. In-painting and target update for intraoperative imaging
WO2025054381A1 (en) 2023-09-08 2025-03-13 Intuitive Surgical Operations, Inc. Style transfer for intraoperative imaging
WO2025064464A1 (en) 2023-09-21 2025-03-27 Intuitive Surgical Operations, Inc. Medical tool with signal window and methods of use
CN122028864A (zh) 2023-10-02 2026-05-12 直观外科手术操作公司 系统重启之后恢复系统的状态
WO2025122446A1 (en) 2023-12-04 2025-06-12 Intuitive Surgical Operations, Inc. Fluidics assemblies and related medical systems
CN117426809B (zh) * 2023-12-21 2024-03-15 苏州康多机器人有限公司 用于手术器械的绳索的张紧方法及张紧工装
CN117506963B (zh) * 2024-01-08 2024-03-19 中国核动力研究设计院 一种适用于屏蔽型二次离子质谱仪的剑式机械手
WO2025160225A1 (en) 2024-01-23 2025-07-31 Intuitive Surgical Operations, Inc. Tool insertion position sensing
WO2025171214A2 (en) 2024-02-09 2025-08-14 Intuitive Surgical Operations, Inc. Directional filter and/or translational constraints for coordinate registration
WO2026024697A1 (en) 2024-07-22 2026-01-29 Intuitive Surgical Operations, Inc. Detection, handling, and resolution of unintended bending for flexible elongate device
CN119927965B (zh) * 2025-03-21 2025-10-10 合肥工业大学 基于滑轮组机构的耦合关节模组以及连续体机器人

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020087048A1 (en) 1998-02-24 2002-07-04 Brock David L. Flexible instrument
JP2002200091A (ja) * 2000-12-27 2002-07-16 Mizuho Co Ltd 手術器械操作における駆動ワイヤーの緩み補正機構
WO2007136783A2 (en) * 2002-08-29 2007-11-29 Mitralsolutions, Inc. Implantable devices for controlling the size and shape of an anatomical structure or lumen

Family Cites Families (150)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US793510A (en) 1905-03-27 1905-06-27 Stuart W Cramer Machine for dyeing, &c.
US1002219A (en) 1910-03-08 1911-09-05 James J Burke Automatic boiler-feed and water-level alarm.
US1001624A (en) 1911-02-17 1911-08-29 William H Curtin Valve.
US4117359A (en) 1974-01-30 1978-09-26 Teldix Gmbh Bearing and drive structure for spinning turbine
FR2434685A1 (fr) 1978-09-04 1980-03-28 Commissariat Energie Atomique Manipulateur motorise
US4281447A (en) 1979-03-01 1981-08-04 Mcdonnell Douglas Corporation Detachable tool interface system for a robot
US4259876A (en) 1979-10-02 1981-04-07 Belyanin Petr N Mechanical arm
US4696524A (en) 1986-03-03 1987-09-29 Custom Tool & Mfg. Co. Robot arm coupling apparatus
EP0261525B1 (de) 1986-09-24 1990-04-18 Siemens Aktiengesellschaft Getriebeanordnung, insbesondere für Kraftfahrzeug-Fensterheberantriebe
US5269031A (en) * 1990-11-13 1993-12-14 Alexander James H Drive unit and clutch assembly for an adjustable bed
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
JPH06114000A (ja) * 1992-09-30 1994-04-26 Olympus Optical Co Ltd 医療用マニピュレータ
US5373317B1 (en) 1993-05-28 2000-11-21 Welch Allyn Inc Control and display section for borescope or endoscope
AU7468494A (en) 1993-07-07 1995-02-06 Cornelius Borst Robotic system for close inspection and remote treatment of moving parts
US5807376A (en) 1994-06-24 1998-09-15 United States Surgical Corporation Apparatus and method for performing surgical tasks during laparoscopic procedures
ES2114405B1 (es) 1994-08-11 1999-02-16 Daumal Castellon Melchor Sistema de fijacion rapido.
US5814038A (en) 1995-06-07 1998-09-29 Sri International Surgical manipulator for a telerobotic system
US5784542A (en) 1995-09-07 1998-07-21 California Institute Of Technology Decoupled six degree-of-freedom teleoperated robot system
US5624398A (en) 1996-02-08 1997-04-29 Symbiosis Corporation Endoscopic robotic surgical tools and methods
US5855583A (en) 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US5792135A (en) 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US6496099B2 (en) 1996-06-24 2002-12-17 Computer Motion, Inc. General purpose distributed operating room control system
US5824007A (en) 1996-12-03 1998-10-20 Simon Fraser University Adjustable surgical stand
US7727244B2 (en) 1997-11-21 2010-06-01 Intuitive Surgical Operation, Inc. Sterile surgical drape
US7666191B2 (en) 1996-12-12 2010-02-23 Intuitive Surgical, Inc. Robotic surgical system with sterile surgical adaptor
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
US8206406B2 (en) 1996-12-12 2012-06-26 Intuitive Surgical Operations, Inc. Disposable sterile surgical adaptor
US7699855B2 (en) 1996-12-12 2010-04-20 Intuitive Surgical Operations, Inc. Sterile surgical adaptor
JP3578375B2 (ja) 1997-03-17 2004-10-20 技術研究組合医療福祉機器研究所 ロボットアーム駆動装置およびロボットハンド
US6139245A (en) 1997-07-11 2000-10-31 Brooks Automation Inc. Robot arm relocation system
DE69940850D1 (de) 1998-08-04 2009-06-18 Intuitive Surgical Inc Gelenkvorrichtung zur Positionierung eines Manipulators für Robotik-Chirurgie
US6459926B1 (en) 1998-11-20 2002-10-01 Intuitive Surgical, Inc. Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
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
US6394998B1 (en) 1999-01-22 2002-05-28 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
US10820949B2 (en) * 1999-04-07 2020-11-03 Intuitive Surgical Operations, Inc. Medical robotic system with dynamically adjustable slave manipulator characteristics
FR2792865B1 (fr) 1999-04-27 2001-06-15 Cie Generale De Participations Dispositif de telecommande de mouvement notamment d'organes de prehension
US6984203B2 (en) 2000-04-03 2006-01-10 Neoguide Systems, Inc. Endoscope with adjacently positioned guiding apparatus
US6800056B2 (en) 2000-04-03 2004-10-05 Neoguide Systems, Inc. Endoscope with guiding apparatus
US6974411B2 (en) 2000-04-03 2005-12-13 Neoguide Systems, Inc. Endoscope with single step guiding apparatus
JP3762211B2 (ja) * 2000-10-20 2006-04-05 キヤノン株式会社 画像形成装置
US6829455B2 (en) 2000-10-20 2004-12-07 Canon Kabushiki Kaisha Driving force transmission mechanism, image forming apparatus equipped with such a mechanism, and process unit of such an apparatus
US20020096885A1 (en) 2001-01-22 2002-07-25 Benito Gomez Pinion assembly
US6994708B2 (en) 2001-04-19 2006-02-07 Intuitive Surgical Robotic tool with monopolar electro-surgical scissors
DE10119334C1 (de) 2001-04-20 2002-03-14 Porsche Ag Reibungskupplung
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
JP2003024336A (ja) 2001-07-16 2003-01-28 Hitachi Ltd 術具装置
JP4776823B2 (ja) 2001-07-23 2011-09-21 Ｈｏｙａ株式会社 ギヤバックラッシ除去機構及びモータ駆動装置
US7428855B2 (en) 2002-05-22 2008-09-30 Duval Eugene F Counter balance system and method with one or more mechanical arms
AT413420B (de) * 2002-06-07 2006-02-15 Techmo Entw & Vertriebs Gmbh Verfahren und anordnung zum raschen verbinden und lösen von miteinander verbindbaren elementen
CN2573759Y (zh) * 2002-08-20 2003-09-17 樊明月 皮带轮的离合装置
US7331967B2 (en) * 2002-09-09 2008-02-19 Hansen Medical, Inc. Surgical instrument coupling mechanism
JP3680050B2 (ja) 2002-09-18 2005-08-10 株式会社東芝 医療用マニピュレータ及びその制御方法
CN2626684Y (zh) 2003-05-24 2004-07-21 北京工业大学 形状记忆合金驱动的微型机械手
US9002518B2 (en) 2003-06-30 2015-04-07 Intuitive Surgical Operations, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
US20070018958A1 (en) 2003-10-24 2007-01-25 Tavakoli Seyed M Force reflective robotic control system and minimally invasive surgical device
ITPI20030107A1 (it) 2003-11-14 2005-05-15 Massimo Bergamasco Dispositivo per l'esecuzione di operazioni
WO2005058137A2 (en) 2003-12-12 2005-06-30 University Of Washington Catheterscope 3d guidance and interface system
US8052636B2 (en) 2004-03-05 2011-11-08 Hansen Medical, Inc. Robotic catheter system and methods
US8021326B2 (en) * 2004-03-05 2011-09-20 Hansen Medical, Inc. Instrument driver for robotic catheter system
JP2005288590A (ja) 2004-03-31 2005-10-20 Hiroshi Kinoshita 多関節型マニピュレータ
US7377906B2 (en) * 2004-06-15 2008-05-27 Biosense Webster, Inc. Steering mechanism for bi-directional catheter
US9072535B2 (en) 2011-05-27 2015-07-07 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with rotatable staple deployment arrangements
JP4373879B2 (ja) 2004-08-26 2009-11-25 株式会社日立製作所 手術器具
US7763015B2 (en) 2005-01-24 2010-07-27 Intuitive Surgical Operations, Inc. Modular manipulator support for robotic surgery
US7837674B2 (en) 2005-01-24 2010-11-23 Intuitive Surgical Operations, Inc. Compact counter balance for robotic surgical systems
US8800838B2 (en) 2005-08-31 2014-08-12 Ethicon Endo-Surgery, Inc. Robotically-controlled cable-based surgical end effectors
US8182470B2 (en) 2005-12-20 2012-05-22 Intuitive Surgical Operations, Inc. Telescoping insertion axis of a robotic surgical system
ATE547059T1 (de) * 2005-12-20 2012-03-15 Intuitive Surgical Operations Instrumentenschnittstelle eines roboter- chirurgiesystems
US7930065B2 (en) 2005-12-30 2011-04-19 Intuitive Surgical Operations, Inc. Robotic surgery system including position sensors using fiber bragg gratings
DE602007013535D1 (de) 2006-01-13 2011-05-12 Borgwarner Inc Kupplungsbaugruppe und reibungsplatte
EP1815950A1 (en) 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Robotic surgical system for performing minimally invasive medical procedures
JP5124096B2 (ja) 2006-03-03 2013-01-23 川崎重工業株式会社 清潔空間用ロボットシステム
US7823330B2 (en) 2006-03-09 2010-11-02 Strattec Power Access Llc Apparatus and method for drums in a sliding door mechanism
US20070225562A1 (en) 2006-03-23 2007-09-27 Ethicon Endo-Surgery, Inc. Articulating endoscopic accessory channel
US20070232858A1 (en) * 2006-03-31 2007-10-04 Boston Scientific Scimed, Inc. Steering system tension control devices
US8419717B2 (en) * 2006-06-13 2013-04-16 Intuitive Surgical Operations, Inc. Control system configured to compensate for non-ideal actuator-to-joint linkage characteristics in a medical robotic system
CN104688327B (zh) 2006-06-13 2017-06-09 直观外科手术操作公司 微创手术系统
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
US7736254B2 (en) * 2006-10-12 2010-06-15 Intuitive Surgical Operations, Inc. Compact cable tension tender device
JP2008104854A (ja) 2006-10-25 2008-05-08 Terumo Corp 医療用マニピュレータ
US8157793B2 (en) 2006-10-25 2012-04-17 Terumo Kabushiki Kaisha Manipulator for medical use
US7935130B2 (en) 2006-11-16 2011-05-03 Intuitive Surgical Operations, Inc. Two-piece end-effectors for robotic surgical tools
US8684253B2 (en) 2007-01-10 2014-04-01 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor
WO2008144077A1 (en) 2007-05-18 2008-11-27 Boston Scientific Scimed, Inc. Drive systems and methods of use
US8620473B2 (en) 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US8444631B2 (en) 2007-06-14 2013-05-21 Macdonald Dettwiler & Associates Inc Surgical manipulator
US9050120B2 (en) * 2007-09-30 2015-06-09 Intuitive Surgical Operations, Inc. Apparatus and method of user interface with alternate tool mode for robotic surgical tools
KR100975047B1 (ko) 2008-02-15 2010-08-11 (주)미래컴퍼니 수술용 인스트루먼트의 커플링 구조
US8219179B2 (en) 2008-03-06 2012-07-10 Vida Diagnostics, Inc. Systems and methods for navigation within a branched structure of a body
US7886743B2 (en) 2008-03-31 2011-02-15 Intuitive Surgical Operations, Inc. Sterile drape interface for robotic surgical instrument
US8333755B2 (en) 2008-03-31 2012-12-18 Intuitive Surgical Operations, Inc. Coupler to transfer controller motion from a robotic manipulator to an attached instrument
CN102014759B (zh) 2008-06-11 2012-12-26 韩商未来股份有限公司 用于手术机器人臂的仪器
US20140100558A1 (en) 2012-10-05 2014-04-10 Gregory P. Schmitz Micro-articulated surgical instruments using micro gear actuation
US7720322B2 (en) 2008-06-30 2010-05-18 Intuitive Surgical, Inc. Fiber optic shape sensor
US9186221B2 (en) 2008-07-16 2015-11-17 Intuitive Surgical Operations Inc. Backend mechanism for four-cable wrist
US8771270B2 (en) 2008-07-16 2014-07-08 Intuitive Surgical Operations, Inc. Bipolar cautery instrument
US9204923B2 (en) 2008-07-16 2015-12-08 Intuitive Surgical Operations, Inc. Medical instrument electronically energized using drive cables
US9386983B2 (en) 2008-09-23 2016-07-12 Ethicon Endo-Surgery, Llc Robotically-controlled motorized surgical instrument
US9339342B2 (en) 2008-09-30 2016-05-17 Intuitive Surgical Operations, Inc. Instrument interface
US9259274B2 (en) 2008-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
US8720448B2 (en) 2008-11-07 2014-05-13 Hansen Medical, Inc. Sterile interface apparatus
US8602031B2 (en) 2009-01-12 2013-12-10 Hansen Medical, Inc. Modular interfaces and drive actuation through barrier
JP2010220955A (ja) 2009-03-25 2010-10-07 Fujifilm Corp 医療用マニピュレータ、及びその初期化方法
US8337397B2 (en) 2009-03-26 2012-12-25 Intuitive Surgical Operations, Inc. Method and system for providing visual guidance to an operator for steering a tip of an endoscopic device toward one or more landmarks in a patient
US10080482B2 (en) 2009-06-30 2018-09-25 Intuitive Surgical Operations, Inc. Compliant surgical device
WO2011037394A2 (ko) 2009-09-23 2011-03-31 주식회사 이턴 멸균 어댑터, 휠의 체결 구조 및 수술용 인스트루먼트의 체결 구조
US8545515B2 (en) 2009-09-23 2013-10-01 Intuitive Surgical Operations, Inc. Curved cannula surgical system
NL1037348C2 (en) 2009-10-02 2011-04-05 Univ Eindhoven Tech Surgical robot, instrument manipulator, combination of an operating table and a surgical robot, and master-slave operating system.
KR102115312B1 (ko) 2009-11-13 2020-05-26 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 독립적으로 회전하는 부재 내의 병렬 구동 샤프트들을 위한 모터 연접부
US8449569B2 (en) 2009-12-30 2013-05-28 MiT Capital Partners, LLC Apparatus for manipulation of implantable medical device and associated method
US8644988B2 (en) 2010-05-14 2014-02-04 Intuitive Surgical Operations, Inc. Drive force control in medical instrument providing position measurements
US20110282357A1 (en) 2010-05-14 2011-11-17 Intuitive Surgical Operations, Inc. Surgical system architecture
AT508701B1 (de) 2010-06-23 2011-05-15 Miba Sinter Austria Gmbh Zahnradanordnung
US8512199B2 (en) 2010-07-26 2013-08-20 Rethink Robotics, Inc. Minimizing backlash utilizing series elastic elements
US8978511B2 (en) 2010-11-09 2015-03-17 Shimano Inc. Position control mechanism
US9101379B2 (en) 2010-11-12 2015-08-11 Intuitive Surgical Operations, Inc. Tension control in actuation of multi-joint medical instruments
CN203711286U (zh) 2010-11-15 2014-07-16 密尔沃基电动工具公司 电动分配工具
US9259277B2 (en) 2011-05-13 2016-02-16 Intuitive Surgical Operations, Inc. Instrument actuation interface
JP6309447B2 (ja) 2011-05-31 2018-04-11 インテュイティブ サージカル オペレーションズ， インコーポレイテッド ロボットによる手術用器具のエンドエフェクタの積極的な制御
JP6009840B2 (ja) 2011-08-04 2016-10-19 オリンパス株式会社 医療機器
US20130096385A1 (en) 2011-10-14 2013-04-18 Intuitive Surgical Operations, Inc. Vision probe and catheter systems
US10238837B2 (en) 2011-10-14 2019-03-26 Intuitive Surgical Operations, Inc. Catheters with control modes for interchangeable probes
US9452276B2 (en) 2011-10-14 2016-09-27 Intuitive Surgical Operations, Inc. Catheter with removable vision probe
US9387048B2 (en) 2011-10-14 2016-07-12 Intuitive Surgical Operations, Inc. Catheter sensor systems
FR2984979B1 (fr) 2011-12-22 2017-01-27 Valeo Materiaux De Friction Dispositif de friction pour un embrayage
WO2013119545A1 (en) 2012-02-10 2013-08-15 Ethicon-Endo Surgery, Inc. Robotically controlled surgical instrument
US20140005678A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Rotary drive arrangements for surgical instruments
US20140005718A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Multi-functional powered surgical device with external dissection features
US9028494B2 (en) 2012-06-28 2015-05-12 Ethicon Endo-Surgery, Inc. Interchangeable end effector coupling arrangement
US9198714B2 (en) 2012-06-29 2015-12-01 Ethicon Endo-Surgery, Inc. Haptic feedback devices for surgical robot
US9095367B2 (en) 2012-10-22 2015-08-04 Ethicon Endo-Surgery, Inc. Flexible harmonic waveguides/blades for surgical instruments
KR20160008169A (ko) 2013-03-14 2016-01-21 에스알아이 인터내셔널 컴팩트 로봇 리스트
KR102313228B1 (ko) 2013-08-15 2021-10-18 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 기구 살균 어댑터에 대한 액추에이터 인터페이스
EP3033035B1 (en) 2013-08-15 2020-11-25 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive features
US10076348B2 (en) 2013-08-15 2018-09-18 Intuitive Surgical Operations, Inc. Rotary input for lever actuation
KR102523090B1 (ko) 2013-08-15 2023-04-19 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 예압형 수술 기구 인터페이스
CN108784838B (zh) 2013-08-15 2021-06-08 直观外科手术操作公司 器械无菌适配器驱动接口
CN105611891B (zh) 2013-08-15 2018-09-21 直观外科手术操作公司 可变器械预加载机构控制器
KR102313240B1 (ko) 2013-08-15 2021-10-18 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 로봇 기구 피동 요소
CN105939647B (zh) 2013-10-24 2020-01-21 奥瑞斯健康公司 机器人辅助腔内外科手术系统及相关方法
US9839487B2 (en) 2014-03-17 2017-12-12 Intuitive Surgical Operations, Inc. Backup latch release for surgical instrument
JP6623167B2 (ja) 2014-03-17 2019-12-18 インテュイティブ サージカル オペレーションズ， インコーポレイテッド ディスクの係合を確認するためのシステム及び方法
US9750578B2 (en) 2014-03-17 2017-09-05 Intuitive Surgical Operations, Inc. Surgical instrument actuation input mechanisms, and related devices, systems, and methods
US20170127911A1 (en) 2014-03-19 2017-05-11 Endomaster Pte Ltd Master - slave flexible robotic endoscopy system
DE102014117408A1 (de) 2014-11-27 2016-06-02 avateramedical GmBH Vorrichtung zur robotergestützten Chirurgie
CN107666877B (zh) 2015-04-27 2021-11-05 直观外科手术操作公司 手术器械外壳及相关的系统和方法
GB201521803D0 (en) 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Surgical instrument articulation
WO2018013304A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Controller controlled instrument preload mechanism

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020087048A1 (en) 1998-02-24 2002-07-04 Brock David L. Flexible instrument
JP2002200091A (ja) * 2000-12-27 2002-07-16 Mizuho Co Ltd 手術器械操作における駆動ワイヤーの緩み補正機構
WO2007136783A2 (en) * 2002-08-29 2007-11-29 Mitralsolutions, Inc. Implantable devices for controlling the size and shape of an anatomical structure or lumen

Also Published As

Publication number Publication date
JP2012504016A (ja) 2012-02-16
US11547503B2 (en) 2023-01-10
KR20160105937A (ko) 2016-09-07
KR101765094B1 (ko) 2017-08-04
US12023114B2 (en) 2024-07-02
US20230000574A1 (en) 2023-01-05
US20240341875A1 (en) 2024-10-17
EP3418006A1 (en) 2018-12-26
CN104970884B (zh) 2018-09-28
CN102171006B (zh) 2015-05-20
US20200352660A1 (en) 2020-11-12
JP5951658B2 (ja) 2016-07-13
EP2361170B1 (en) 2018-08-15
CN102171006A (zh) 2011-08-31
CN104970884A (zh) 2015-10-14
KR20170047403A (ko) 2017-05-04
US20180311001A1 (en) 2018-11-01
KR101801297B1 (ko) 2017-11-24
US10772690B2 (en) 2020-09-15
JP2014079653A (ja) 2014-05-08
JP6556677B2 (ja) 2019-08-07
EP2361170A1 (en) 2011-08-31
JP5542288B2 (ja) 2014-07-09
KR20170091766A (ko) 2017-08-09
WO2010039387A1 (en) 2010-04-08
US10022194B2 (en) 2018-07-17
US9259274B2 (en) 2016-02-16
JP2014193417A (ja) 2014-10-09
US20160166342A1 (en) 2016-06-16
KR20110069114A (ko) 2011-06-22
KR101654031B1 (ko) 2016-09-05
JP2017018628A (ja) 2017-01-26
US20100082041A1 (en) 2010-04-01

Similar Documents

Publication Publication Date Title
US20240341875A1 (en) Passive preload and capstan drive for surgical instruments
US12256911B2 (en) Operating self-antagonistic drives of medical instruments
US11523732B2 (en) Surgical device actuated using asymmetric spring system

Legal Events

Date Code Title Description
A107 Divisional application of patent
PA0104 Divisional application for international application

St.27 status event code: A-0-1-A10-A18-div-PA0104

St.27 status event code: A-0-1-A10-A16-div-PA0104

A201 Request for examination
PA0201 Request for examination

St.27 status event code: A-1-2-D10-D11-exm-PA0201

PG1501 Laying open of application

St.27 status event code: A-1-1-Q10-Q12-nap-PG1501

E902 Notification of reason for refusal
PE0902 Notice of grounds for rejection

St.27 status event code: A-1-2-D10-D21-exm-PE0902

E701 Decision to grant or registration of patent right
PE0701 Decision of registration

St.27 status event code: A-1-2-D10-D22-exm-PE0701

A107 Divisional application of patent
GRNT Written decision to grant
PA0104 Divisional application for international application

St.27 status event code: A-0-1-A10-A18-div-PA0104

St.27 status event code: A-0-1-A10-A16-div-PA0104

PR0701 Registration of establishment

St.27 status event code: A-2-4-F10-F11-exm-PR0701

PR1002 Payment of registration fee

St.27 status event code: A-2-2-U10-U12-oth-PR1002

Fee payment year number: 1

PG1601 Publication of registration

St.27 status event code: A-4-4-Q10-Q13-nap-PG1601

R18-X000 Changes to party contact information recorded

St.27 status event code: A-5-5-R10-R18-oth-X000

PR1001 Payment of annual fee

St.27 status event code: A-4-4-U10-U11-oth-PR1001

Fee payment year number: 4

R17-X000 Change to representative recorded

St.27 status event code: A-5-5-R10-R17-oth-X000

PR1001 Payment of annual fee

St.27 status event code: A-4-4-U10-U11-oth-PR1001

Fee payment year number: 5

PR1001 Payment of annual fee

St.27 status event code: A-4-4-U10-U11-oth-PR1001

Fee payment year number: 6

PR1001 Payment of annual fee

St.27 status event code: A-4-4-U10-U11-oth-PR1001

Fee payment year number: 7

PR1001 Payment of annual fee

St.27 status event code: A-4-4-U10-U11-oth-PR1001

Fee payment year number: 8

P22-X000 Classification modified

St.27 status event code: A-4-4-P10-P22-nap-X000

PC1903 Unpaid annual fee

St.27 status event code: A-4-4-U10-U13-oth-PC1903

Not in force date: 20250421

Payment event data comment text: Termination Category : DEFAULT_OF_REGISTRATION_FEE

H13 Ip right lapsed

Free format text: ST27 STATUS EVENT CODE: N-4-6-H10-H13-OTH-PC1903 (AS PROVIDED BY THE NATIONAL OFFICE); TERMINATION CATEGORY : DEFAULT_OF_REGISTRATION_FEE

Effective date: 20250421

PC1903 Unpaid annual fee

St.27 status event code: N-4-6-H10-H13-oth-PC1903

Ip right cessation event data comment text: Termination Category : DEFAULT_OF_REGISTRATION_FEE

Not in force date: 20250421