WO2018125917A8 - Apparatus for flexible instrument insertion - Google Patents
Apparatus for flexible instrument insertion Download PDFInfo
- Publication number
- WO2018125917A8 WO2018125917A8 PCT/US2017/068535 US2017068535W WO2018125917A8 WO 2018125917 A8 WO2018125917 A8 WO 2018125917A8 US 2017068535 W US2017068535 W US 2017068535W WO 2018125917 A8 WO2018125917 A8 WO 2018125917A8
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- force
- threshold
- sensor
- robotic system
- elongate body
- Prior art date
Links
- 230000037431 insertion Effects 0.000 title abstract 2
- 238000003780 insertion Methods 0.000 title abstract 2
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, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- 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
- A61B34/70—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
- A61B90/06—Measuring instruments not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00115—Electrical control of surgical instruments with audible or visual output
- A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00115—Electrical control of surgical instruments with audible or visual output
- A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
- A61B2017/00123—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation and automatic shutdown
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00743—Type of operation; Specification of treatment sites
- A61B2017/00809—Lung operations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B2017/22072—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for with an instrument channel, e.g. for replacing one instrument by the other
- A61B2017/22074—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for with an instrument channel, e.g. for replacing one instrument by the other the instrument being only slidable in a channel, e.g. advancing optical fibre through a channel
- A61B2017/22075—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for with an instrument channel, e.g. for replacing one instrument by the other the instrument being only slidable in a channel, e.g. advancing optical fibre through a channel with motorized advancing or retracting means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/067—Measuring instruments not otherwise provided for for measuring angles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M2025/0166—Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40223—If insertion force to high, alarm, stop for operator assistance
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45118—Endoscopic, laparoscopic manipulator
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Robotics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Mechanical Engineering (AREA)
- Biophysics (AREA)
- Pulmonology (AREA)
- Anesthesiology (AREA)
- Hematology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Endoscopes (AREA)
- Manipulator (AREA)
- Auxiliary Devices For And Details Of Packaging Control (AREA)
Abstract
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020237017365A KR102619317B1 (en) | 2016-12-28 | 2017-12-27 | Apparatus for flexible instrument insertion |
CN201780021723.1A CN108882966B (en) | 2016-12-28 | 2017-12-27 | Device for insertion of flexible instruments |
EP17835908.9A EP3562423A1 (en) | 2016-12-28 | 2017-12-27 | Apparatus for flexible instrument insertion |
JP2019534667A JP7258755B2 (en) | 2016-12-28 | 2017-12-27 | Apparatus for flexible instrument insertion |
AU2017388217A AU2017388217B2 (en) | 2016-12-28 | 2017-12-27 | Apparatus for flexible instrument insertion |
KR1020187028120A KR102536940B1 (en) | 2016-12-28 | 2017-12-27 | Device for Flexible Instrument Insertion |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/392,917 US10244926B2 (en) | 2016-12-28 | 2016-12-28 | Detecting endolumenal buckling of flexible instruments |
US15/392,868 US10543048B2 (en) | 2016-12-28 | 2016-12-28 | Flexible instrument insertion using an adaptive insertion force threshold |
US15/392,917 | 2016-12-28 | ||
US15/392,868 | 2016-12-28 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2018125917A1 WO2018125917A1 (en) | 2018-07-05 |
WO2018125917A8 true WO2018125917A8 (en) | 2018-10-11 |
Family
ID=61054492
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2017/068535 WO2018125917A1 (en) | 2016-12-28 | 2017-12-27 | Apparatus for flexible instrument insertion |
Country Status (6)
Country | Link |
---|---|
EP (1) | EP3562423A1 (en) |
JP (2) | JP7258755B2 (en) |
KR (2) | KR102619317B1 (en) |
CN (1) | CN108882966B (en) |
AU (1) | AU2017388217B2 (en) |
WO (1) | WO2018125917A1 (en) |
Families Citing this family (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10244926B2 (en) | 2016-12-28 | 2019-04-02 | Auris Health, Inc. | Detecting endolumenal buckling of flexible instruments |
CN110869173B (en) | 2017-12-14 | 2023-11-17 | 奥瑞斯健康公司 | System and method for estimating instrument positioning |
US10872449B2 (en) | 2018-05-02 | 2020-12-22 | Covidien Lp | System and method for constructing virtual radial ultrasound images from CT data and performing a surgical navigation procedure using virtual ultrasound images |
CN112839607A (en) * | 2018-09-11 | 2021-05-25 | 直观外科手术操作公司 | Generation of a graphical representation of a force |
US10383694B1 (en) | 2018-09-12 | 2019-08-20 | Johnson & Johnson Innovation—Jjdc, Inc. | Machine-learning-based visual-haptic feedback system for robotic surgical platforms |
WO2020072415A1 (en) | 2018-10-04 | 2020-04-09 | Intuitive Surgical Operations, Inc. | Systems and methods for control of steerable devices |
US11497566B2 (en) * | 2018-10-26 | 2022-11-15 | Biosense Webster (Israel) Ltd. | Loose mode for robot |
US11161244B2 (en) * | 2019-01-22 | 2021-11-02 | Mitsubishi Electric Research Laboratories, Inc. | System and method for automatic error recovery in robotic assembly |
WO2020154596A1 (en) * | 2019-01-24 | 2020-07-30 | Noah Medical Corporation | Single use devices with integrated vision capabilities |
CN113892146A (en) * | 2019-02-05 | 2022-01-04 | 史密夫和内修有限公司 | Method and apparatus for improving surgical planning using machine learning |
US20210045824A1 (en) * | 2019-08-15 | 2021-02-18 | Auris Health, Inc. | Axial motion drive devices, systems, and methods for a robotic medical system |
CN110940301B (en) * | 2019-11-28 | 2021-06-01 | 杭州电子科技大学 | Real-time main dynamic moment compensation type balancing method of joint type coordinate measuring machine |
US20210177532A1 (en) * | 2019-12-13 | 2021-06-17 | Intuitive Surgical Operations, Inc. | Systems and methods for inserting an elongate flexible instrument into an environment |
CN111086004B (en) * | 2020-01-08 | 2022-09-13 | 山东理工大学 | Human-simulated flexible joint arm electromechanical coupling modeling method |
CN111281544B (en) * | 2020-02-26 | 2023-05-12 | 陕西中医药大学 | Automatic guiding robot system for in-vivo medical instrument and automatic guiding method thereof |
CN111568558B (en) * | 2020-04-13 | 2022-02-22 | 上海市胸科医院 | Electronic device, surgical robot system, and control method thereof |
DE102020205091A1 (en) * | 2020-04-22 | 2021-10-28 | Siemens Healthcare Gmbh | Method for generating a control signal |
US11701492B2 (en) | 2020-06-04 | 2023-07-18 | Covidien Lp | Active distal tip drive |
DE102020211999A1 (en) * | 2020-09-24 | 2022-03-24 | Siemens Healthcare Gmbh | Device for moving a medical object and method for providing a signal |
US20240016370A1 (en) * | 2020-11-06 | 2024-01-18 | Universität Basel | Endodevice |
CN215192193U (en) * | 2020-12-31 | 2021-12-17 | 杭州堃博生物科技有限公司 | In-vivo navigation device, in-vivo navigation system and medical treatment system |
KR102662983B1 (en) * | 2021-05-26 | 2024-05-07 | 서울대학교병원 | System for manufacturing patient-customized double lumen tube for unilateral pulmonary ventilation based on patient imaging information analyzed with machine learning, patient-customized double lumen tube for unilateral pulmonary ventilation manufactured thereby and kit including the same |
CN113786238B (en) * | 2021-11-17 | 2022-02-08 | 极限人工智能有限公司 | Method and system for sensing operation stress of surgical instrument |
WO2023163037A1 (en) * | 2022-02-28 | 2023-08-31 | キヤノン株式会社 | Medical system equipped with catheter device |
CN114886571B (en) * | 2022-05-05 | 2022-12-16 | 北京唯迈医疗设备有限公司 | Control method and system of interventional operation robot |
CN116871709B (en) * | 2023-09-08 | 2023-12-08 | 常州市鹏瑞自动化设备有限公司 | Method for cutting special-shaped round pipe fitting by laser |
Family Cites Families (12)
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SI0901341T1 (en) * | 1997-01-03 | 2005-04-30 | Biosense Webster, Inc. | Bend-responsive catheter |
US6780197B2 (en) * | 2000-01-05 | 2004-08-24 | Integrated Vascular Systems, Inc. | Apparatus and methods for delivering a vascular closure device to a body lumen |
US8226580B2 (en) * | 2010-06-30 | 2012-07-24 | Biosense Webster (Israel), Ltd. | Pressure sensing for a multi-arm catheter |
WO2012035923A1 (en) * | 2010-09-14 | 2012-03-22 | オリンパスメディカルシステムズ株式会社 | Endoscope system and poor visibility determination method |
US8900131B2 (en) * | 2011-05-13 | 2014-12-02 | Intuitive Surgical Operations, Inc. | Medical system providing dynamic registration of a model of an anatomical structure for image-guided surgery |
EP3488803B1 (en) * | 2012-02-03 | 2023-09-27 | Intuitive Surgical Operations, Inc. | Steerable flexible needle with embedded shape sensing |
JP2014134530A (en) | 2012-12-14 | 2014-07-24 | Panasonic Corp | Force measurement device, force measurement method, force measurement program, force measurement integrated electronic circuit and master-slave device |
US9918659B2 (en) * | 2013-03-15 | 2018-03-20 | Intuitive Surgical Operations, Inc. | Shape sensor systems for tracking interventional instruments and mehods of use |
JP6037964B2 (en) * | 2013-07-26 | 2016-12-07 | オリンパス株式会社 | Manipulator system |
US9763741B2 (en) | 2013-10-24 | 2017-09-19 | Auris Surgical Robotics, Inc. | System for robotic-assisted endolumenal surgery and related methods |
US10046140B2 (en) * | 2014-04-21 | 2018-08-14 | Hansen Medical, Inc. | Devices, systems, and methods for controlling active drive systems |
CN115336961A (en) | 2016-09-21 | 2022-11-15 | 直观外科手术操作公司 | System and method for instrument bend detection |
-
2017
- 2017-12-27 AU AU2017388217A patent/AU2017388217B2/en active Active
- 2017-12-27 CN CN201780021723.1A patent/CN108882966B/en active Active
- 2017-12-27 KR KR1020237017365A patent/KR102619317B1/en active IP Right Grant
- 2017-12-27 WO PCT/US2017/068535 patent/WO2018125917A1/en unknown
- 2017-12-27 KR KR1020187028120A patent/KR102536940B1/en active IP Right Grant
- 2017-12-27 EP EP17835908.9A patent/EP3562423A1/en active Pending
- 2017-12-27 JP JP2019534667A patent/JP7258755B2/en active Active
-
2023
- 2023-04-05 JP JP2023061290A patent/JP7427829B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
AU2017388217B2 (en) | 2022-10-27 |
CN108882966A (en) | 2018-11-23 |
JP2023103211A (en) | 2023-07-26 |
JP7258755B2 (en) | 2023-04-17 |
JP7427829B2 (en) | 2024-02-05 |
WO2018125917A1 (en) | 2018-07-05 |
EP3562423A1 (en) | 2019-11-06 |
KR102619317B1 (en) | 2024-01-03 |
AU2017388217A1 (en) | 2019-05-02 |
CN108882966B (en) | 2022-04-12 |
KR20190101860A (en) | 2019-09-02 |
JP2020513904A (en) | 2020-05-21 |
KR20230082051A (en) | 2023-06-08 |
KR102536940B1 (en) | 2023-05-30 |
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