KR102479287B1 - 반응 운동 동안 제어점을 감시하기 위한 시스템 및 방법 - Google Patents

반응 운동 동안 제어점을 감시하기 위한 시스템 및 방법 Download PDF

Info

Publication number
KR102479287B1
KR102479287B1 KR1020177004450A KR20177004450A KR102479287B1 KR 102479287 B1 KR102479287 B1 KR 102479287B1 KR 1020177004450 A KR1020177004450 A KR 1020177004450A KR 20177004450 A KR20177004450 A KR 20177004450A KR 102479287 B1 KR102479287 B1 KR 102479287B1
Authority
KR
South Korea
Prior art keywords
delete delete
expected
control points
spatial configuration
actual
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
KR1020177004450A
Other languages
English (en)
Korean (ko)
Other versions
KR20170074843A (ko
Inventor
폴 쥐. 그리피쓰
브랜던 디. 이코위츠
고란 린치
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
Priority to KR1020227043830A priority Critical patent/KR102628659B1/ko
Publication of KR20170074843A publication Critical patent/KR20170074843A/ko
Application granted granted Critical
Publication of KR102479287B1 publication Critical patent/KR102479287B1/ko
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/32—Surgical robots operating autonomously
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • A61G13/02—Adjustable operating tables; Controls therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00636—Sensing and controlling the application of energy
    • A61B2018/00898—Alarms or notifications created in response to an abnormal condition
    • 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
    • A61B2034/2059—Mechanical position encoders

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Manipulator (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)
KR1020177004450A 2014-10-27 2015-10-27 반응 운동 동안 제어점을 감시하기 위한 시스템 및 방법 Active KR102479287B1 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020227043830A KR102628659B1 (ko) 2014-10-27 2015-10-27 반응 운동 동안 제어점을 감시하기 위한 시스템 및 방법

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201462069245P 2014-10-27 2014-10-27
US62/069,245 2014-10-27
US201562134252P 2015-03-17 2015-03-17
US62/134,252 2015-03-17
PCT/US2015/057670 WO2016069660A1 (en) 2014-10-27 2015-10-27 System and method for monitoring control points during reactive motion

Related Child Applications (1)

Application Number Title Priority Date Filing Date
KR1020227043830A Division KR102628659B1 (ko) 2014-10-27 2015-10-27 반응 운동 동안 제어점을 감시하기 위한 시스템 및 방법

Publications (2)

Publication Number Publication Date
KR20170074843A KR20170074843A (ko) 2017-06-30
KR102479287B1 true KR102479287B1 (ko) 2022-12-20

Family

ID=55858278

Family Applications (3)

Application Number Title Priority Date Filing Date
KR1020177004450A Active KR102479287B1 (ko) 2014-10-27 2015-10-27 반응 운동 동안 제어점을 감시하기 위한 시스템 및 방법
KR1020227043830A Active KR102628659B1 (ko) 2014-10-27 2015-10-27 반응 운동 동안 제어점을 감시하기 위한 시스템 및 방법
KR1020247002032A Active KR102799097B1 (ko) 2014-10-27 2015-10-27 반응 운동 동안 제어점을 감시하기 위한 시스템 및 방법

Family Applications After (2)

Application Number Title Priority Date Filing Date
KR1020227043830A Active KR102628659B1 (ko) 2014-10-27 2015-10-27 반응 운동 동안 제어점을 감시하기 위한 시스템 및 방법
KR1020247002032A Active KR102799097B1 (ko) 2014-10-27 2015-10-27 반응 운동 동안 제어점을 감시하기 위한 시스템 및 방법

Country Status (6)

Country Link
US (6) US10682190B2 (enExample)
EP (2) EP3212105B1 (enExample)
JP (3) JP6689256B2 (enExample)
KR (3) KR102479287B1 (enExample)
CN (2) CN107072728B (enExample)
WO (1) WO2016069660A1 (enExample)

Families Citing this family (49)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140005640A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Surgical end effector jaw and electrode configurations
CN110584789B (zh) 2014-10-27 2022-09-20 直观外科手术操作公司 用于器械干扰补偿的系统和方法
CN107072728B (zh) 2014-10-27 2020-07-17 直观外科手术操作公司 用于在反应运动期间监测控制点的系统和方法
WO2016069650A1 (en) 2014-10-27 2016-05-06 Intuitive Surgical Operations, Inc. System and method for integrated surgical table icons
CN107072727B (zh) 2014-10-27 2020-01-24 直观外科手术操作公司 具有主动制动器释放控制装置的医疗装置
KR102623373B1 (ko) 2014-10-27 2024-01-11 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 통합 수술 테이블 운동을 위한 시스템 및 방법
EP3212150B1 (en) 2014-10-27 2021-08-11 Intuitive Surgical Operations, Inc. System for registering to a surgical table
KR102757751B1 (ko) 2014-10-27 2025-01-21 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 통합 수술 테이블을 위한 시스템 및 방법
US10603135B2 (en) * 2014-10-30 2020-03-31 Intuitive Surgical Operations, Inc. System and method for an articulated arm based tool guide
JP6749930B2 (ja) * 2015-03-11 2020-09-02 コヴィディエン リミテッド パートナーシップ 外科用ロボットカート不動化装置
DE102015109371A1 (de) * 2015-06-12 2016-12-15 avateramedical GmBH Vorrichtung und Verfahren zur robotergestützten Chirurgie
US11266377B2 (en) * 2016-05-17 2022-03-08 Canon Medical Systems Corporation Support apparatus and support method
DE102016122939A1 (de) * 2016-11-28 2018-05-30 MAQUET GmbH Medizinische Vorrichtung und Verfahren zur Ansteuerung von Aktuatoren in einer medizinischen Vorrichtung
US20190365489A1 (en) * 2017-02-28 2019-12-05 Sony Corporation Medical support arm system and control device
CN108186120B (zh) * 2017-12-27 2020-12-04 微创（上海）医疗机器人有限公司 手术机器人终端
GB2577716B (en) * 2018-10-03 2023-01-18 Cmr Surgical Ltd Methods and systems for providing assistance to a user of a surgical robot system
NL2022662B1 (en) * 2019-03-01 2020-09-15 Ihb B V Improved suspension system and brake device and rotation limiting device for use in the suspension system
US12016646B2 (en) * 2019-03-12 2024-06-25 Intuitive Surgical Operations, Inc. Layered functionality for a user input mechanism in a computer-assisted surgical system
CN109893242B (zh) * 2019-04-12 2020-08-25 深圳市是源医学科技有限公司 冷热射频深部温热仪
WO2020236778A1 (en) * 2019-05-22 2020-11-26 Covidien Lp Surgical robotic arm storage assemblies and methods of replacing surgical robotic arms using the storage assemblies
US11607278B2 (en) 2019-06-27 2023-03-21 Cilag Gmbh International Cooperative robotic surgical systems
US11399906B2 (en) 2019-06-27 2022-08-02 Cilag Gmbh International Robotic surgical system for controlling close operation of end-effectors
US11612445B2 (en) * 2019-06-27 2023-03-28 Cilag Gmbh International Cooperative operation of robotic arms
US11413102B2 (en) 2019-06-27 2022-08-16 Cilag Gmbh International Multi-access port for surgical robotic systems
US11723729B2 (en) 2019-06-27 2023-08-15 Cilag Gmbh International Robotic surgical assembly coupling safety mechanisms
US11376082B2 (en) 2019-06-27 2022-07-05 Cilag Gmbh International Robotic surgical system with local sensing of functional parameters based on measurements of multiple physical inputs
US11547468B2 (en) 2019-06-27 2023-01-10 Cilag Gmbh International Robotic surgical system with safety and cooperative sensing control
US20210038330A1 (en) * 2019-07-17 2021-02-11 Transenterix Surgical, Inc. Method and apparatus for optimizing range of motion of two robotic arms in a robotic surgical system
WO2021048707A1 (en) 2019-09-10 2021-03-18 Auris Health, Inc. Systems and methods for kinematic optimization with shared robotic degrees-of-freedom
EP4034349A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision detection and avoidance
EP4034350A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision avoidance using object models
US12082887B2 (en) * 2020-01-06 2024-09-10 Intuitive Surgical Operations, Inc. System and method for inter-arm registration
CN115515523A (zh) 2020-03-30 2022-12-23 奥瑞斯健康公司 机器人外科手术的工作空间优化
WO2021220764A1 (ja) 2020-04-27 2021-11-04 株式会社荏原製作所 センサ認証登録システム、データ収集システム及びデータ収集方法
US11839969B2 (en) 2020-06-29 2023-12-12 Auris Health, Inc. Systems and methods for detecting contact between a link and an external object
WO2022003493A1 (en) 2020-06-30 2022-01-06 Auris Health, Inc. Robotic medical system with collision proximity indicators
US11357586B2 (en) 2020-06-30 2022-06-14 Auris Health, Inc. Systems and methods for saturated robotic movement
CN111844005B (zh) * 2020-07-08 2022-06-28 哈尔滨工业大学 一种应用于隧道湿喷的2r-p-2r-p-2r机械臂运动规划方法
WO2022070001A1 (en) * 2020-09-30 2022-04-07 Auris Health, Inc. Guided coordinated bed motion for intra-operative patient positioning in robotic surgery
EP4000575A1 (en) * 2020-11-19 2022-05-25 TRUMPF Medizin Systeme GmbH + Co. KG Surgical table and method for controlling a surgical table
CN115317130B (zh) * 2021-05-10 2025-09-09 上海微创医疗机器人（集团）股份有限公司 手术机器人系统、调整系统和存储介质
CN115429440A (zh) * 2021-06-02 2022-12-06 上海微创医疗机器人（集团）股份有限公司 术中不动点的调整方法、可读存储介质及手术机器人系统
US11931026B2 (en) 2021-06-30 2024-03-19 Cilag Gmbh International Staple cartridge replacement
US11974829B2 (en) 2021-06-30 2024-05-07 Cilag Gmbh International Link-driven articulation device for a surgical device
US12358136B2 (en) 2021-06-30 2025-07-15 Cilag Gmbh International Grasping work determination and indications thereof
US20230210606A1 (en) * 2021-12-30 2023-07-06 Asensus Surgical Us, Inc. Detection of surgical table movement for coordinating motion with robotic manipulators
JP2024036816A (ja) * 2022-09-06 2024-03-18 川崎重工業株式会社 手術支援システムおよび操作装置の制御方法
US12447618B2 (en) * 2022-12-21 2025-10-21 Intuitive Surgical Operations, Inc. Techniques for constraining motion of a drivable assembly
CN121079051A (zh) * 2023-04-26 2025-12-05 美敦力导航股份有限公司 具有机械臂的手术推车

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110015521A1 (en) 2003-03-27 2011-01-20 Boulder Innovation Group, Inc. Means of Tracking Movement of Bodies During Medical Treatment
US20130085510A1 (en) 2011-09-30 2013-04-04 Ethicon Endo-Surgery, Inc. Robot-mounted surgical tables

Family Cites Families (240)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3046156C2 (de) 1980-12-06 1983-01-13 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Betätigungsvorrichtung für Scheibenbremsen
DE3119577A1 (de) 1981-05-16 1982-12-02 Schmitz & Söhne GmbH & Co KG, 5757 Wickede Operationstisch mit hydraulisch bewegbaren tischelementen
US4456961A (en) 1982-03-05 1984-06-26 Texas Instruments Incorporated Apparatus for teaching and transforming noncoincident coordinate systems
JPS59108691A (ja) 1982-12-13 1984-06-23 株式会社日立製作所 バランサ制御方式
DE3312862A1 (de) 1983-04-09 1984-10-11 Blohm + Voss Ag, 2000 Hamburg Freiprogrammierbare, mehrachsige betaetigungsarmeinheit, insbesondere industrieroboter
EP0220501B1 (de) 1985-10-09 1989-05-31 Siemens Aktiengesellschaft Röntgendiagnostikanlage mit durch eine Steuervorrichtung verstellbaren Anlagenkomponenten
SE464855B (sv) 1986-09-29 1991-06-24 Asea Ab Foerfarande vid en industrirobot foer kalibrering av en sensor
US4991579A (en) 1987-11-10 1991-02-12 Allen George S Method and apparatus for providing related images over time of a portion of the anatomy using fiducial implants
JPH01252389A (ja) 1988-03-31 1989-10-09 Agency Of Ind Science & Technol マニピュレータ及びその制御方法
JPH02178708A (ja) 1988-12-28 1990-07-11 Fanuc Ltd 重力軸のブレーキ制御方式
US5222499A (en) 1989-11-15 1993-06-29 Allen George S Method and apparatus for imaging the anatomy
US5279309A (en) 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
JPH05138583A (ja) 1991-11-19 1993-06-01 Nachi Fujikoshi Corp 産業用ロボツトのアーム落下防止装置
US5524180A (en) 1992-08-10 1996-06-04 Computer Motion, Inc. Automated endoscope system for optimal positioning
US5657429A (en) 1992-08-10 1997-08-12 Computer Motion, Inc. Automated endoscope system optimal positioning
US7074179B2 (en) 1992-08-10 2006-07-11 Intuitive Surgical Inc Method and apparatus for performing minimally invasive cardiac procedures
US5397323A (en) 1992-10-30 1995-03-14 International Business Machines Corporation Remote center-of-motion robot for surgery
JP3070329B2 (ja) 1993-03-31 2000-07-31 松下電器産業株式会社 産業用ロボットシステム
US5876325A (en) 1993-11-02 1999-03-02 Olympus Optical Co., Ltd. Surgical manipulation system
JP3540362B2 (ja) 1994-06-14 2004-07-07 オリンパス株式会社 手術用マニピュレータの制御システム及びその制御方法
JP3300144B2 (ja) 1993-12-28 2002-07-08 株式会社神戸製鋼所 多軸ロボットのウィービング制御方法
DE4412605B4 (de) 1994-04-13 2005-10-20 Zeiss Carl Verfahren zum Betrieb eines stereotaktischen Adapters
US6120433A (en) 1994-09-01 2000-09-19 Olympus Optical Co., Ltd. Surgical manipulator system
US5784542A (en) 1995-09-07 1998-07-21 California Institute Of Technology Decoupled six degree-of-freedom teleoperated robot system
WO1997010081A1 (en) 1995-09-11 1997-03-20 Kabushiki Kaisha Yaskawa Denki Robot controller
JPH09254079A (ja) 1996-03-22 1997-09-30 Yaskawa Electric Corp ロボットの制御装置
JPH09300264A (ja) 1996-05-20 1997-11-25 Nippon Telegr & Teleph Corp <Ntt> ロボット制御装置
JP3442941B2 (ja) 1996-09-30 2003-09-02 株式会社東芝 ロボットの振動抑制制御装置およびその制御方法
AU1385499A (en) 1997-11-07 1999-05-31 Hill-Rom, Inc. Communication and data entry device
US6035228A (en) 1997-11-28 2000-03-07 Picker International, Inc. Frameless stereotactic arm apparatus and method of using same
JPH11226062A (ja) 1998-02-18 1999-08-24 Seishiro Yoshihara 柔軟ロボットアーム
US6146200A (en) 1998-06-04 2000-11-14 Sumitomo Wiring Systems, Ltd. Connector and a cap therefor
DE69940850D1 (de) 1998-08-04 2009-06-18 Intuitive Surgical Inc Gelenkvorrichtung zur Positionierung eines Manipulators für Robotik-Chirurgie
JP4083316B2 (ja) 1998-10-01 2008-04-30 オリンパス株式会社 手術用顕微鏡
US6659939B2 (en) 1998-11-20 2003-12-09 Intuitive Surgical, Inc. Cooperative minimally invasive telesurgical system
US6200024B1 (en) * 1998-11-27 2001-03-13 Picker International, Inc. Virtual C-arm robotic positioning system for use in radiographic imaging equipment
US6424885B1 (en) 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
JP2000300579A (ja) 1999-04-26 2000-10-31 Olympus Optical Co Ltd 多機能マニピュレータ
US6788018B1 (en) 1999-08-03 2004-09-07 Intuitive Surgical, Inc. Ceiling and floor mounted surgical robot set-up arms
US8271130B2 (en) 2009-03-09 2012-09-18 Intuitive Surgical Operations, Inc. Master controller having redundant degrees of freedom and added forces to create internal motion
US7594912B2 (en) 2004-09-30 2009-09-29 Intuitive Surgical, Inc. Offset remote center manipulator for robotic surgery
US9510911B2 (en) 1999-09-17 2016-12-06 Intuitive Surgical Operations, Inc. System and methods for managing multiple null-space objectives and SLI behaviors
US8004229B2 (en) 2005-05-19 2011-08-23 Intuitive Surgical Operations, Inc. Software center and highly configurable robotic systems for surgery and other uses
US9517106B2 (en) 1999-09-17 2016-12-13 Intuitive Surgical Operations, Inc. Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space
US6471167B1 (en) 2000-03-31 2002-10-29 Poly Vac, Inc. Surgical tray support system
EP1152182B1 (de) 2000-04-25 2006-01-11 Möller-Wedel GmbH Stativ mit einem Operationsmikroskop
CA2426453A1 (en) 2000-08-08 2002-02-14 Sdgi Holdings, Inc. (D/B/A Medtronic Sofamor Danek, Inc.) Improved method and apparatus for stereotactic implantation
FR2819173B1 (fr) 2001-01-09 2003-04-11 Alm Table d'operation motorisee a mulitples sections
JP3808321B2 (ja) 2001-04-16 2006-08-09 ファナック株式会社 ロボット制御装置
JP4285926B2 (ja) 2001-05-22 2009-06-24 オリンパス株式会社 手術機器保持装置
US20060178556A1 (en) 2001-06-29 2006-08-10 Intuitive Surgical, Inc. Articulate and swapable endoscope for a surgical robot
JP3616759B2 (ja) 2001-10-19 2005-02-02 ファナック株式会社 重力軸の落下を防止するサーボモータ制御装置
US8010180B2 (en) 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
US20070185376A1 (en) 2002-03-11 2007-08-09 Wilson Roger F System and method for positioning a laparoscopic device
WO2003086718A1 (en) 2002-04-12 2003-10-23 Mitsubishi Denki Kabushiki Kaisha Robot
JP2003299674A (ja) 2002-04-12 2003-10-21 Masasuke Shiraishi 手術台装置
WO2004014244A2 (en) 2002-08-13 2004-02-19 Microbotics Corporation Microsurgical robot system
DE10249786A1 (de) 2002-10-24 2004-05-13 Medical Intelligence Medizintechnik Gmbh Referenzierung eines Roboters zu einem Werkstück und Vorrichtung hierfür
JP4270889B2 (ja) 2003-01-15 2009-06-03 オリンパス株式会社 医療用器具保持装置
JP2004216022A (ja) 2003-01-17 2004-08-05 Mizuho Co Ltd 手術台
JP2004223128A (ja) * 2003-01-27 2004-08-12 Hitachi Ltd 医療行為支援装置および方法
JP2004358239A (ja) 2003-05-15 2004-12-24 Olympus Corp 医療器具保持装置
US9002518B2 (en) 2003-06-30 2015-04-07 Intuitive Surgical Operations, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
US8160205B2 (en) 2004-04-06 2012-04-17 Accuray Incorporated Robotic arm for patient positioning assembly
US7860550B2 (en) * 2004-04-06 2010-12-28 Accuray, Inc. Patient positioning assembly
US7979157B2 (en) 2004-07-23 2011-07-12 Mcmaster University Multi-purpose robotic operating system and method
US9072535B2 (en) 2011-05-27 2015-07-07 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with rotatable staple deployment arrangements
US20060025668A1 (en) 2004-08-02 2006-02-02 Peterson Thomas H Operating table with embedded tracking technology
US8413271B2 (en) 2004-10-29 2013-04-09 Stryker Corporation Patient support apparatus
WO2006069288A2 (en) 2004-12-20 2006-06-29 Williams Gilbert J Overhead mount for a medical robot for use with medical scanning equipment
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
US9265679B2 (en) 2005-02-22 2016-02-23 Roger P Jackson Cantilevered patient positioning support structure
US20140033434A1 (en) 2005-02-22 2014-02-06 Roger P. Jackson Cantilevered patient positioning support structure
WO2006091494A1 (en) 2005-02-22 2006-08-31 Mako Surgical Corp. Haptic guidance system and method
JP2006263894A (ja) 2005-03-25 2006-10-05 Seiko Epson Corp 多関節ロボットのモータブレーキ解除装置
US7516924B2 (en) 2005-03-28 2009-04-14 Compview Corporation Articulated boom for positioning video and medical equipment in hospital operating rooms
CN101222889A (zh) * 2005-05-12 2008-07-16 Om外科手术（Uk）有限公司 用于确保正确插入人造髋关节的系统、方法和器械
GB0516276D0 (en) * 2005-08-08 2005-09-14 Crampton Stephen Robust cmm arm with exoskeleton
EP1931298B1 (en) 2005-08-10 2017-05-31 Mizuho Orthopedic Systems, Inc. Medical table having controlled movement
JP4053557B2 (ja) 2005-10-07 2008-02-27 ファナック株式会社 サーボモータ停止制御方法及びサーボモータ制御装置
DE102005054230A1 (de) 2005-11-14 2007-05-24 Maquet Gmbh & Co. Kg Verfahren und Einrichtung zur bidirektionalen IR-Datenübertragung zwischen einem Operationstisch und einem Bediengerät
US7741802B2 (en) 2005-12-20 2010-06-22 Intuitive Surgical Operations, Inc. Medical robotic system with programmably controlled constraints on error dynamics
CN100464720C (zh) 2005-12-22 2009-03-04 天津市华志计算机应用技术有限公司 基于光学跟踪闭环控制的脑外科机器人系统及实现方法
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
EP1815949A1 (en) 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Medical robotic system with manipulator arm of the cylindrical coordinate type
US8219178B2 (en) * 2007-02-16 2012-07-10 Catholic Healthcare West Method and system for performing invasive medical procedures using a surgical robot
CN100478142C (zh) 2006-04-05 2009-04-15 中国科学院自动化研究所 一种移动机器人的位姿传感系统及其方法
FR2899460B1 (fr) 2006-04-10 2008-07-11 Steris Surgical Technologies S Dispositif de guidage pour table motorise comprenant une unite de regroupement de commandes de la table
EP1857229B1 (en) 2006-05-16 2009-07-15 Abb Ab A control system for an industrial robot
NL1031827C2 (nl) 2006-05-17 2007-11-20 Univ Eindhoven Tech Operatierobot.
FR2901122B1 (fr) 2006-05-18 2008-08-22 Steris Surgical Technologies Sas Dispositif de guidage pour table d'operation comprenant des bras de guidage aptes a etre fixes de maniere amovible sur ladite table, et table d'operation comportant de tels bras de guidage
JP4953282B2 (ja) 2006-05-18 2012-06-13 株式会社ニデック 眼科用手術支援装置
CN101448468B (zh) 2006-05-19 2011-10-12 马科外科公司 用于验证外科手术装置的校准的系统和方法
CN2910169Y (zh) 2006-05-24 2007-06-13 上海健医实业有限公司 自动手术台
EP2030169B1 (en) 2006-05-24 2018-12-19 Koninklijke Philips N.V. Coordinate system registration
US9549663B2 (en) 2006-06-13 2017-01-24 Intuitive Surgical Operations, Inc. Teleoperated surgical retractor system
WO2007146984A2 (en) 2006-06-13 2007-12-21 Intuitive Surgical, Inc. Control system configured to compensate for non-ideal actuator-to-joint linkage characteristics in a medical robotic system
US8551076B2 (en) 2006-06-13 2013-10-08 Intuitive Surgical Operations, Inc. Retrograde instrument
US10008017B2 (en) 2006-06-29 2018-06-26 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US9718190B2 (en) 2006-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
US20090192523A1 (en) 2006-06-29 2009-07-30 Intuitive Surgical, Inc. Synthetic representation of a surgical instrument
ES2298051B2 (es) 2006-07-28 2009-03-16 Universidad De Malaga Sistema robotico de asistencia a la cirugia minimamente invasiva capaz de posicionar un instrumento quirurgico en respueta a las ordenes de un cirujano sin fijacion a la mesa de operaciones ni calibracion previa del punto de insercion.
US20080125649A1 (en) * 2006-09-18 2008-05-29 Andreas Meyer Automatic object tracking in a region of interest
EP1915963A1 (en) 2006-10-25 2008-04-30 The European Atomic Energy Community (EURATOM), represented by the European Commission Force estimation for a minimally invasive robotic surgery system
US7954682B2 (en) 2007-01-10 2011-06-07 Ethicon Endo-Surgery, Inc. Surgical instrument with elements to communicate between control unit and end effector
EP2114634A4 (en) 2007-02-23 2010-11-17 Intest Corp TESTING HEAD MANIPULATOR
EP1974870A1 (en) 2007-03-30 2008-10-01 Abb Research Ltd. An industrial robot having a plurality of independently controlled electromagnetic brakes
JP4505618B2 (ja) 2007-04-11 2010-07-21 株式会社日立製作所 マニピュレータ装置
US20130338679A1 (en) 2007-05-04 2013-12-19 Technische Universiteit Eindhoven Surgical Robot
CN101049248A (zh) * 2007-05-18 2007-10-10 西安工业大学 光磁电复合导航手术定位装置和方法
JP2008307618A (ja) 2007-06-12 2008-12-25 Denso Wave Inc ロボットの制御装置
US9138129B2 (en) 2007-06-13 2015-09-22 Intuitive Surgical Operations, Inc. Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide
US8620473B2 (en) 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
US9084623B2 (en) 2009-08-15 2015-07-21 Intuitive Surgical Operations, Inc. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide
AU2008261534B2 (en) 2007-06-15 2014-01-09 Orthosoft Ulc Computer-assisted surgery system and method
FR2920376B1 (fr) 2007-08-31 2009-12-18 Renault Sas Systeme de commande du desserrage d'un dispositif de frein de parking automatique, embarque a bord d'un vehicule automobile
CN201082167Y (zh) 2007-09-17 2008-07-09 刘衍民 手术台上方全方位旋转摄像装置
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
EP2230054A4 (en) 2007-12-07 2011-11-09 Yaskawa Denki Seisakusho Kk ROBOTIC MOTOR CONTROL METHOD, ROBOTIC SYSTEM AND ROBOTIC REGULATION REGULATOR
US8400094B2 (en) 2007-12-21 2013-03-19 Intuitive Surgical Operations, Inc. Robotic surgical system with patient support
KR100961428B1 (ko) * 2008-02-20 2010-06-09 (주)미래컴퍼니 침대 일체형 수술용 로봇
JP4508246B2 (ja) 2008-02-21 2010-07-21 株式会社デンソーウェーブ ロボットの電磁ブレーキ制御装置およびロボットの電磁ブレーキの異常判定方法
JP4443615B2 (ja) 2008-02-27 2010-03-31 トヨタ自動車株式会社 パワーアシスト装置及びその制御方法
DE102008019345A1 (de) * 2008-04-17 2009-10-22 Kuka Roboter Gmbh Röntgenvorrichtung und medizinischer Arbeitsplatz
ATE533615T1 (de) 2008-04-18 2011-12-15 Pirelli Verfahren und vorrichtung zur montage von reifen
JP4508263B2 (ja) 2008-04-24 2010-07-21 トヨタ自動車株式会社 パワーアシスト装置およびその制御方法
US7720322B2 (en) 2008-06-30 2010-05-18 Intuitive Surgical, Inc. Fiber optic shape sensor
CN100577125C (zh) 2008-08-06 2010-01-06 北京航空航天大学 长骨骨折牵引复位导航装置
WO2010022088A1 (en) 2008-08-18 2010-02-25 Encision, Inc. Enhanced control systems including flexible shielding and support systems for electrosurgical applications
DE102008041866B3 (de) 2008-09-08 2010-04-29 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zum Überprüfen einer Bremse eines Roboters
US8781630B2 (en) 2008-10-14 2014-07-15 University Of Florida Research Foundation, Inc. Imaging platform to provide integrated navigation capabilities for surgical guidance
US9138891B2 (en) 2008-11-25 2015-09-22 Intouch Technologies, Inc. Server connectivity control for tele-presence robot
US8483800B2 (en) 2008-11-29 2013-07-09 General Electric Company Surgical navigation enabled imaging table environment
KR101061987B1 (ko) 2008-12-12 2011-09-05 주식회사 이턴 침대 장착식 수술용 로봇
WO2010068005A2 (en) * 2008-12-12 2010-06-17 Rebo Surgical robot
US8641621B2 (en) * 2009-02-17 2014-02-04 Inneroptic Technology, Inc. Systems, methods, apparatuses, and computer-readable media for image management in image-guided medical procedures
JP2010194101A (ja) 2009-02-25 2010-09-09 Hitachi Medical Corp 手術管理システム
US8423182B2 (en) 2009-03-09 2013-04-16 Intuitive Surgical Operations, Inc. Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems
US8418073B2 (en) 2009-03-09 2013-04-09 Intuitive Surgical Operations, Inc. User interfaces for electrosurgical tools in robotic surgical systems
US9492927B2 (en) 2009-08-15 2016-11-15 Intuitive Surgical Operations, Inc. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
US8918211B2 (en) 2010-02-12 2014-12-23 Intuitive Surgical Operations, Inc. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
US8551115B2 (en) 2009-09-23 2013-10-08 Intuitive Surgical Operations, Inc. Curved cannula instrument
US8521331B2 (en) 2009-11-13 2013-08-27 Intuitive Surgical Operations, Inc. Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument
DE102009047219A1 (de) 2009-11-27 2011-06-01 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben eines Verbrennungsmotors
WO2011109041A1 (en) 2010-03-04 2011-09-09 Mako Surgical Corp. System with brake to limit manual movement of member and control system for same
JP5454499B2 (ja) 2010-03-19 2014-03-26 株式会社デンソーウェーブ ロボットシステム
US8746252B2 (en) 2010-05-14 2014-06-10 Intuitive Surgical Operations, Inc. Surgical system sterile drape
US8621954B1 (en) 2010-06-04 2014-01-07 University Of Washington Through Its Center For Commercialization Systems and methods for gravity compensation
US8141558B2 (en) 2010-06-16 2012-03-27 Biosense Webster (Israel), Ltd. Position dependent interference cancellation
JP2012005557A (ja) 2010-06-23 2012-01-12 Terumo Corp 医療用ロボットシステム
DE102010027248A1 (de) 2010-07-15 2012-01-19 Sensodrive Gmbh Haltevorrichtung für ein Instrument
DE102010038800B4 (de) * 2010-08-02 2024-03-07 Kuka Deutschland Gmbh Medizinischer Arbeitsplatz
US8827948B2 (en) 2010-09-17 2014-09-09 Hansen Medical, Inc. Steerable catheters
US9195412B2 (en) 2010-10-07 2015-11-24 International Business Machines Corporation System and method for transforming an in-use raid array including migrating data using reserved extents
KR101598773B1 (ko) 2010-10-21 2016-03-15 (주)미래컴퍼니 수술용 로봇의 움직임 제어/보상 방법 및 장치
US9101379B2 (en) 2010-11-12 2015-08-11 Intuitive Surgical Operations, Inc. Tension control in actuation of multi-joint medical instruments
DE102010051633A1 (de) 2010-11-17 2012-05-24 Ondal Medical Systems Gmbh Tragesystem mit Bedienungshilfe
US9119655B2 (en) * 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
US20150113733A1 (en) 2011-04-07 2015-04-30 Mark Diel Surgery table having coordinated motion
US8584281B2 (en) 2011-04-07 2013-11-19 Mizuho Orthopedic Systems, Inc Surgery table having coordinated motion
WO2012155050A2 (en) 2011-05-12 2012-11-15 The Johns Hopkins University Electromagnetic tracking system and methods of using same
US9259289B2 (en) 2011-05-13 2016-02-16 Intuitive Surgical Operations, Inc. Estimation of a position and orientation of a frame used in controlling movement of a tool
JP5754707B2 (ja) 2011-05-20 2015-07-29 国立大学法人東京工業大学 松葉杖形歩行支援機械
CN102429726A (zh) 2011-08-03 2012-05-02 哈尔滨工业大学 基于图像导航的并联机器人辅助人工颈椎间盘置换手术定位方法
WO2013040498A1 (en) 2011-09-16 2013-03-21 Translucent Medical, Inc. System and method for virtually tracking a surgical tool on a movable display
US8986228B2 (en) 2011-09-19 2015-03-24 Trimanus Medical, Inc. Method and apparatus for monitoring surgical traction
JP6182143B2 (ja) 2011-09-28 2017-08-16 ユニバーサル ロボッツ アクツイエセルスカプ ロボットの較正およびプログラミング
FI125658B (fi) 2011-10-12 2015-12-31 Merivaara Oy Menetelmä leikkauspöydän ohjaamiseksi kannettavalla laitteella
US8912746B2 (en) 2011-10-26 2014-12-16 Intuitive Surgical Operations, Inc. Surgical instrument motor pack latch
US9089466B2 (en) 2011-12-20 2015-07-28 Safer Care, LLC Apparatus and methods for orienting or moving surfaces
US8464720B1 (en) 2012-01-10 2013-06-18 Alessio Pigazzi Method of securing a patient onto an operating table when the patient is in the trendelenburg position and apparatus therefor including a kit
DE102012104253B4 (de) 2012-01-13 2016-07-28 Robert Bosch Automotive Steering Gmbh Verfahren und Vorrichtung zur Kompensation von Strörungen in einem elektrischen Lenksystem
DE102012003479A1 (de) 2012-02-21 2013-08-22 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Ausführen eines Manipulatorprozesses
WO2013163458A2 (en) 2012-04-25 2013-10-31 Innovative System Solutions, Inc Apparatus, system and method for tensioning an emergency brake system
DE102012008812A1 (de) 2012-04-25 2013-10-31 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Röntgenquelle mit Modul und Detektor für optische Strahlung
US10039473B2 (en) * 2012-05-14 2018-08-07 Intuitive Surgical Operations, Inc. Systems and methods for navigation based on ordered sensor records
EP2854688B1 (en) 2012-06-01 2022-08-17 Intuitive Surgical Operations, Inc. Manipulator arm-to-patient collision avoidance using a null-space
US9295524B2 (en) 2012-06-01 2016-03-29 Intuitive Surgical Operations, Inc. Redundant axis and degree of freedom for hardware-constrained remote center robotic manipulator
JP6262216B2 (ja) 2012-06-01 2018-01-17 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 零空間を使用して操作アーム間の衝突を回避するためのシステム及び方法
KR102167359B1 (ko) 2012-06-01 2020-10-19 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 영공간을 이용한 수술 머니퓰레이터의 명령된 재구성을 위한 시스템 및 방법
DE102012209594B3 (de) * 2012-06-06 2013-06-06 Leica Microsystems (Schweiz) Ag Stativ
CN102715924B (zh) 2012-06-15 2014-08-13 中国人民解放军第四军医大学 一种可全方位调整手术切口的拉钩装置
WO2013192598A1 (en) 2012-06-21 2013-12-27 Excelsius Surgical, L.L.C. Surgical robot platform
US9642606B2 (en) * 2012-06-27 2017-05-09 Camplex, Inc. Surgical visualization system
US9936863B2 (en) * 2012-06-27 2018-04-10 Camplex, Inc. Optical assembly providing a surgical microscope view for a surgical visualization system
US9326788B2 (en) 2012-06-29 2016-05-03 Ethicon Endo-Surgery, Llc Lockout mechanism for use with robotic electrosurgical device
CN102727312A (zh) 2012-07-03 2012-10-17 张春霖 基于体外标志物的手术机器人骨骼基准确定方法
US9226796B2 (en) 2012-08-03 2016-01-05 Stryker Corporation Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path
KR20250048812A (ko) 2012-08-03 2025-04-10 스트리커 코포레이션 로봇 수술을 위한 시스템 및 방법
CN113509271B (zh) 2012-08-15 2024-10-11 直观外科手术操作公司 由机器人手臂的手动运动控制的可移动手术安装平台
KR102145801B1 (ko) 2012-08-15 2020-08-28 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술용 장착 플랫폼의 사용자 개시 브레이크-어웨이 클러칭
WO2014028703A1 (en) 2012-08-15 2014-02-20 Intuitive Surgical Operations, Inc. Systems and methods for cancellation of joint motion using the null-space
EP2922048A4 (en) 2012-11-13 2015-10-07 Eidos Medicine Llc HYBRID MEDICAL DRIVE DEVICE FOR LAPAROSCOPY
CN103027818B (zh) 2012-11-29 2015-04-15 天津大学 近距离粒子植入机器人连床式自动控制手术台
US9259282B2 (en) 2012-12-10 2016-02-16 Intuitive Surgical Operations, Inc. Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms
DE202014000027U1 (de) 2013-01-09 2014-01-31 Deutsches Zentrum für Luft- und Raumfahrt e.V. Chirurgieroboter
DE102013002818A1 (de) 2013-02-19 2014-08-21 Rg Mechatronics Gmbh Haltevorrichtung für ein chirurgisches Instrument und eine Schleuse sowie Verfahren zum Betreiben eines Roboters mit einer solchen Haltevorrichtung
JP5716769B2 (ja) 2013-02-21 2015-05-13 株式会社安川電機 ロボットシミュレータ、ロボット教示装置およびロボット教示方法
JP6535653B2 (ja) 2013-03-15 2019-06-26 インテュイティブ サージカル オペレーションズ， インコーポレイテッド ゼロ空間を使用してデカルト座標空間の端へのアクセスを容易にするためのシステム及び方法
WO2014146107A1 (en) 2013-03-15 2014-09-18 Intuitive Surgical Operations, Inc. System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement
AU2014231345B2 (en) 2013-03-15 2019-01-17 Synaptive Medical Inc. Intelligent positioning system and methods therefore
US9702349B2 (en) 2013-03-15 2017-07-11 ClearMotion, Inc. Active vehicle suspension system
WO2014146120A1 (en) 2013-03-15 2014-09-18 Intuitive Surgical Operations, Inc. Systems and methods for using the null space to emphasize anipulator joint motion anisotropically
JP6423853B2 (ja) 2013-03-15 2018-11-14 インテュイティブ サージカル オペレーションズ， インコーポレイテッド ゼロ空間での複数の目標及びｓｌｉ動作を取り扱うシステム及び方法
KR102217573B1 (ko) 2013-03-15 2021-02-19 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 영공간을 이용하여 경로를 추적하기 위한 시스템 및 방법
US9615887B2 (en) 2013-03-18 2017-04-11 Orthosensor Inc. Bone cutting system for the leg and method therefor
KR20140126473A (ko) 2013-04-23 2014-10-31 삼성전자주식회사 마커 및 이를 이용한 수술 도구 포즈 추정 방법
US9283048B2 (en) 2013-10-04 2016-03-15 KB Medical SA Apparatus and systems for precise guidance of surgical tools
CN111166274B (zh) 2013-10-24 2025-01-28 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
JP5746308B2 (ja) 2013-11-26 2015-07-08 ファナック株式会社 ブレーキ落下量を低減する機能を備えたサーボ制御装置
DE102013020697B4 (de) 2013-12-04 2023-07-06 Kuka Roboter Gmbh Verfahren und Steuermittel zum Steuern eines Roboters
KR102270705B1 (ko) 2013-12-06 2021-06-29 삼성전자주식회사 유기 광전 소자 및 이미지 센서
CN103720514B (zh) 2013-12-13 2016-03-23 北京柏惠维康科技有限公司 针对手术空间的医疗外科机器人的参数优化方法
KR20170035831A (ko) * 2014-03-14 2017-03-31 시냅티브 메디컬 (바베이도스) 아이엔씨. 인텔리전트 포지셔닝 시스템과 그것의 방법들
WO2015142798A1 (en) 2014-03-17 2015-09-24 Intuitive Surgical Operations, Inc. Methods and devices for tele-surgical table registration
JP6486380B2 (ja) 2014-03-17 2019-03-20 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 手術用セットアップ構造の劣駆動ジョイントの運動を制御する方法
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
WO2015142947A1 (en) 2014-03-17 2015-09-24 Intuitive Surgical Operations, Inc. System and method for aligning with a reference target
US10034717B2 (en) 2014-03-17 2018-07-31 Intuitive Surgical Operations, Inc. System and method for breakaway clutching in an articulated arm
US10258414B2 (en) 2014-03-17 2019-04-16 Intuitive Surgical Operations, Inc. Methods and devices for table pose tracking using fudicial markers
CN107072728B (zh) 2014-10-27 2020-07-17 直观外科手术操作公司 用于在反应运动期间监测控制点的系统和方法
CN107072727B (zh) 2014-10-27 2020-01-24 直观外科手术操作公司 具有主动制动器释放控制装置的医疗装置
KR102757751B1 (ko) 2014-10-27 2025-01-21 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 통합 수술 테이블을 위한 시스템 및 방법
KR102623373B1 (ko) 2014-10-27 2024-01-11 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 통합 수술 테이블 운동을 위한 시스템 및 방법
CN110584789B (zh) 2014-10-27 2022-09-20 直观外科手术操作公司 用于器械干扰补偿的系统和方法
WO2016069650A1 (en) 2014-10-27 2016-05-06 Intuitive Surgical Operations, Inc. System and method for integrated surgical table icons
EP3212150B1 (en) 2014-10-27 2021-08-11 Intuitive Surgical Operations, Inc. System for registering to a surgical table
WO2016069998A1 (en) 2014-10-30 2016-05-06 Intuitive Surgical Operations, Inc. System and method for articulated arm stabilization
US10603135B2 (en) 2014-10-30 2020-03-31 Intuitive Surgical Operations, Inc. System and method for an articulated arm based tool guide
JP6056838B2 (ja) 2014-11-28 2017-01-11 株式会社安川電機 ブレーキ診断装置及びブレーキ診断方法
US10258419B2 (en) 2015-09-25 2019-04-16 Ethicon Llc Methods for hybrid robotic laparoscopic surgery
US11166770B2 (en) 2016-09-19 2021-11-09 Intuitive Surgical Operations, Inc. Base positioning system for a controllable arm and related methods
KR102551268B1 (ko) 2016-09-19 2023-07-05 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 원격으로 제어가능한 아암을 위한 위치결정 표시장치 시스템 및 관련 방법
US10856948B2 (en) 2017-05-31 2020-12-08 Verb Surgical Inc. Cart for robotic arms and method and apparatus for registering cart to surgical table
US10888386B2 (en) 2018-01-17 2021-01-12 Auris Health, Inc. Surgical robotics systems with improved robotic arms
CN112770689B (zh) 2018-09-26 2024-07-19 奥瑞斯健康公司 用于抽吸和冲洗的系统和器械
WO2020257565A1 (en) * 2019-06-20 2020-12-24 Bono Peter L Robotically positioned x-ray and c-arm
TWI856796B (zh) 2022-04-06 2024-09-21 美商基利科學股份有限公司 橋聯三環胺甲醯基吡啶酮化合物及其用途

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110015521A1 (en) 2003-03-27 2011-01-20 Boulder Innovation Group, Inc. Means of Tracking Movement of Bodies During Medical Treatment
US20130085510A1 (en) 2011-09-30 2013-04-04 Ethicon Endo-Surgery, Inc. Robot-mounted surgical tables

Also Published As

Publication number Publication date
US12409002B2 (en) 2025-09-09
KR102628659B1 (ko) 2024-01-25
KR102799097B1 (ko) 2025-04-23
US20200253674A1 (en) 2020-08-13
US20240358462A1 (en) 2024-10-31
JP6689256B2 (ja) 2020-04-28
US20170333145A1 (en) 2017-11-23
US20250359954A1 (en) 2025-11-27
JP2022159460A (ja) 2022-10-17
KR20230003350A (ko) 2023-01-05
US11413103B2 (en) 2022-08-16
EP3212105A4 (en) 2018-07-11
EP3212105C0 (en) 2025-09-24
CN107072728A (zh) 2017-08-18
JP7127077B2 (ja) 2022-08-29
EP4631460A2 (en) 2025-10-15
EP3212105A1 (en) 2017-09-06
JP7309984B2 (ja) 2023-07-18
US10682190B2 (en) 2020-06-16
JP2020078586A (ja) 2020-05-28
CN111839731B (zh) 2024-09-10
US11737842B2 (en) 2023-08-29
WO2016069660A1 (en) 2016-05-06
JP2017532987A (ja) 2017-11-09
US20220296320A1 (en) 2022-09-22
CN111839731A (zh) 2020-10-30
EP3212105B1 (en) 2025-09-24
KR20170074843A (ko) 2017-06-30
US12064201B2 (en) 2024-08-20
CN107072728B (zh) 2020-07-17
US20230301735A1 (en) 2023-09-28
KR20240013853A (ko) 2024-01-30

Similar Documents

Publication Publication Date Title
US12064201B2 (en) System and method for monitoring control points during reactive motion
US12226179B2 (en) System and method for maintaining a tool position and orientation
KR102781726B1 (ko) 통합 수술 테이블 운동을 위한 시스템 및 방법

Legal Events

Date Code Title Description
PA0105 International application

St.27 status event code: A-0-1-A10-A15-nap-PA0105

PG1501 Laying open of application

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

R18-X000 Changes to party contact information recorded

St.27 status event code: A-3-3-R10-R18-oth-X000

R17-X000 Change to representative recorded

St.27 status event code: A-3-3-R10-R17-oth-X000

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

R17-X000 Change to representative recorded

St.27 status event code: A-3-3-R10-R17-oth-X000

A201 Request for examination
E13-X000 Pre-grant limitation requested

St.27 status event code: A-2-3-E10-E13-lim-X000

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

PA0201 Request for examination

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

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

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

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

PE0701 Decision of registration

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

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

GRNT Written decision to grant
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

P22-X000 Classification modified

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

PR1001 Payment of annual fee

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

Fee payment year number: 4