CN1216454A - 施行最小侵入性心脏手术的方法和装置 - Google Patents
施行最小侵入性心脏手术的方法和装置 Download PDFInfo
- Publication number
- CN1216454A CN1216454A CN97193955A CN97193955A CN1216454A CN 1216454 A CN1216454 A CN 1216454A CN 97193955 A CN97193955 A CN 97193955A CN 97193955 A CN97193955 A CN 97193955A CN 1216454 A CN1216454 A CN 1216454A
- Authority
- CN
- China
- Prior art keywords
- joint
- input equipment
- effector
- surgeon
- joint arm
- 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.)
- Pending
Links
Images
Classifications
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/11—Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis
-
- 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
- A61B34/30—Surgical robots
- A61B34/37—Master-slave 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
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/72—Micromanipulators
-
- 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
- A61B34/75—Manipulators having means for prevention or compensation of hand tremors
-
- 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
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- 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
- A61B34/77—Manipulators with motion or force scaling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
- A61B17/0469—Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00199—Electrical control of surgical instruments with a console, e.g. a control panel with a display
-
- 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
- A61B2017/00203—Electrical control of surgical instruments with speech control or speech recognition
-
- 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
- A61B2017/00238—Type of minimally invasive operation
- A61B2017/00243—Type of minimally invasive operation cardiac
-
- 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
- A61B2017/00238—Type of minimally invasive operation
- A61B2017/00243—Type of minimally invasive operation cardiac
- A61B2017/00247—Making holes in the wall of the heart, e.g. laser Myocardial revascularization
- A61B2017/00252—Making holes in the wall of the heart, e.g. laser Myocardial revascularization for by-pass connections, i.e. connections from heart chamber to blood vessel or from blood vessel to blood vessel
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00694—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body
- A61B2017/00703—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body correcting for movement of heart, e.g. ECG-triggered
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00973—Surgical instruments, devices or methods, e.g. tourniquets pedal-operated
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/11—Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis
- A61B2017/1107—Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis for blood vessels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/11—Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis
- A61B2017/1135—End-to-side connections, e.g. T- or Y-connections
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
- A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2059—Mechanical position encoders
-
- 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
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
-
- 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
- A61B46/00—Surgical drapes
- A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- 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
- G05B2219/45119—Telesurgery with local assistent, voice communication
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
本发明是一个进行最小侵入性手术的系统(10)。该系统包括与一对机械臂(16,18)连接的一对手术器械。这些器械(22,24)具有能够被操作来抓取和缝合组织的末端操作装置。该机械臂通过一个控制器与一对主操作手柄(50,52)联结。手柄可以由外科医生移动来产生末端操作装置的一个相应移动。手柄的移动是成比例的,所以末端操作装置的相应的移动是不同的,通常小于医生手的移动。比例因子是可调的,这样外科医生可以控制末端操作装置的移动结果。末端操作装置的移动可以通过一个输入键控制,这样只有外科医生压下输入键时末端操作装置才动作。输入键允许医生不移动末端操作装置来调节手柄的位置,所以手柄可以移动到一个舒适的位置。
Description
发明背景与在先申请的关系
本申请是1996年2月20日提交的题为《施行最小侵入性心脏手术的方法和装置》的序列号为08/603,534的美国专利申请的继续申请,该专利申请现待审查,并将在下文中用作参考。
1.发明领域
本发明涉及施行最小侵入性心脏手术的系统和方法。更进一步讲,本发明涉及一个机械手系统和可拆卸安装的手术器械,其中所述系统有助于施行最小侵入性的心脏手术过程。
2.相关技术的描述
冠状动脉阻塞将使心脏丧失维持生命所需的血液和氧。阻塞可以借助于药物或通过血管成型术去除。对严重冠状动脉阻塞则进行冠状动脉分流移植术(CABG)来绕过动脉的阻塞区域。CABG过程典型地通过切断胸骨并拉开胸腔从而获得通向心脏的通道来进行的。在动脉靠近阻塞的区域切开一个切口。接着断开乳房内动脉(IMA)并连接到冠状动脉切口点上。IMA绕过动脉的阻塞区域再次提供给心脏满流的血液。切断胸骨并打开胸腔,通常被称为“开胸手术”,会对病人产生严重的创伤。此外,胸骨断裂延长了病人的恢复期。
有人试图不打开胸腔完成CABG过程。通过从病人皮肤上的小切口插入手术器械和一个内窥镜来进行最小侵入性手术。手动操作这些器械是很困难的,特别是当把一个接枝接到动脉上时。已经发现精确控制该器械需要很高的技巧。此外,人手通常至少有一个微小的抖动,这种抖动进一步增加了完成最小侵入性心脏手术的难度。
为了完成MIS,外科医生使用特殊的器械。这些器械允许外科医生在病人体内机动操作。用于最小侵入性手术中的器械之一为镊子,它是一个具有用来夹取如缝合针待等物体的特殊构造头部的器械。由于为最小侵入性手术设计的镊子和其它器械通常又长又硬,所以不能赋予外科医生在一个最小侵入性手术中有效完成许多操作需要的技巧和精度。例如,传统的MIS镊子不是非常适合在最小侵入性手术,如在内窥镜手术中操作缝合针。所以许多本来可能完成的MIS手术却没能实现。
大体上,在开胸手术中,各种器械的头部可以设置成具有六个自由度。但是,器械由于穿过一个为实行最小侵入性手术而在病人身上切开的小孔插入,就失掉了两个方向的自由度。这种在手术场合的动作自由度的丧失实质上限定了能完成的MIS手术的类型。
由于使用的器械不能提供器械插入病人体内时损失的附加的自由度,所以MIS手术缺乏灵巧性。与这种灵巧性的缺乏相关的一个问题是器械在某一位置时不能缝合。结果是,在手术中需要大量缝合的手术几乎不可能完成,因为手术器械使许多操作不能进行。
与MIS相关的另一个问题是在手术过程中缺乏精度。为了进行如MICABG(最小侵入性冠状动脉分流移植手术),必须在心脏附近的不同位置进行极细微的缝合。因此,手术器械头部的工具的动作需精确。当前,采用手定位器械达不到这种手术所需的精度。
因此,在本领域中需要的是在病人体内有关节连接类型的一个工具和手术器械,这样外科医生可以利用附加自由度来更灵巧、更精确地按照需要放置器械头部的工具。
此外,在该领域中需要的是一种具备简单的器械和工具更换能力的方法和设备,这样各种工具能够方便、迅速地更换,以便能加快手术过程,从而减少病人的手术室花费和减少病人处于麻醉状态的时间。
本发明就是为了解决上述问题。
发明概述
本发明是一个施行最小侵入性心脏手术的系统。该系统包括一对或多个连接在一对机械臂上的手术器械。该系统也可以如下文中公开的那样仅包括一个手术器械和一只机械臂。器械具有末端操纵部分,能够被操纵来切断、抓取、灼烧和缝合组织。机械臂通过一个控制器与一对主操作手柄联结。主操作手柄可以由外科医生操作来产生末端操纵部分的相应动作。主操作手柄的动作幅度是成比例的,所以末端操纵部分的相应动作不同于,通常小于外科医生的手完成的动作幅度,这有助于消除外科医生的手可能产生的抖动。比例因子(scalefactor)是可调节的,所以外科医生能够控制末端操纵部分动作的精确度。末端操纵部分的动作可以通过一个输入键控制,这样只有当外科医生压下或锁定输入键时,末端操纵部分才动作。输入键允许外科医生不移动末端操纵部分来调整主操作手柄的位置,所以主操作手柄可以移动到一个很舒适的位置。该系统还可以具有一个机器人控制的内窥镜,允许外科医生从外面观察手术情况。心脏手术可以通过在病人皮肤上切一个小口,把器械和内窥镜插入病人体内来进行。外科医生操纵主操作手柄移动来完成如冠状动脉分流移植术或心脏瓣膜手术等心脏手术。
本发明还致力于手术器械和控制该器械的方法,允许外科医生用活动关节连接器械的头部,同时保留器械头部的工具的功能。同样,器械的头部可以两个自由度进行活动关节连接,在两种条件下,都可使用安装在头部的工具。
机器人系统通常包括:
一个机械臂;
一个安装在机械臂上的连接器;
一个通过连接器安装的手术器械;
一个控制器;和
其中控制器的动作产生机械臂和手术器械的一个成比例的动作。
本发明可以包括一个带细长杆的手术器械。该细长杆有一个纵向轴,通常作为内窥镜的臂。一个关节部分安装在细长杆上并延伸出来。作为选择,关节部分可以与细长杆制成一个整体。关节部分具有一个基部部分、一个铰接轴和一个末梢部分。基部部分可以包括一对指状物。该指状物可以彼此垂直并径向指向细长杆的纵轴。为了在手术中使用,通常器械和主要元件最好是由不锈钢、塑料或一些其他容易消毒的材料制成。每个指状物具有至少一个在其上形成的孔,该孔为将辅助铰接轴联结到关节部分的基部部分上的销子提供一个通道,并把铰接轴可转动地安装到基部部分上。关节部分在包括关节部分和器械和头部提供关节连接。更进一步讲,这为位于包括一个关节部分的器械头部的工具提供了附加自由度。
下文中将要公开的这种器械,当它与当前的手术系统联合使用时,能提供给外科医生在最小侵入性手术过程中还没有获得的附加的灵巧性、精确度和柔韧性。同样,手术时间可以缩短,对病人的伤害大大减轻。
为了给在下文中公开的关节连接的头部提供更高的精确度,主操纵手柄设置了两个附加的自由度。每个附加的自由度都对应映射每个器械头部的自由度。这通过在主操纵手柄上增加两个连接处和使器械头部根据主操纵手柄的动作来作关节活动的自动装置而实现。
在了解了下面的详细描述和附图之后,本领域的普通技术人员对本发明的目的和优点将更加清楚。
附图简述
图1为本发明的最小侵入性手术系统的透视图;
图2为该系统的主操纵手柄的示意图;
图3为该系统的从属操纵器的示意图;
图4为该系统的控制系统的示意图;
图5为在坐标系中的器械的示意图;
图6为围绕一个转动点动作的器械的示意图;
图7为根据本发明的系统的末端操纵部分的分解图;
图8为根据本发明的系统的主操纵手柄图;
图8a为根据本发明的系统的主操纵手柄的侧视图;
图9-10A-J图示了乳房内动脉移植到冠状动脉上的过程;
图11为根据本发明的系统的后部安装的工具驱动器的侧视图;
图12为图11所示后部安装的工具驱动器上的马达组件的平面图;
图13为根据本发明的关节连接的器械的侧面图;
图14为关节连接的器械的侧面图,其中器械头部是关节连接的;
图15为根据本发明的关节连接器械的关节部分的分解图;
图16为本发明的关节连接的手术器械的关节部分铰接轴的平面图;
图17为根据本发明的关节工具驱动组件的透视图;
图18为与本发明的可关节连接的器械相应的可拆卸的工具端部图;
图19为根据本发明的工具端部的接受器;
图20为安装在本发明的铰接转换器上的铰接器械的断面图;
图21为根据本发明的铰接转换器的断面放大图;
图22为根据本发明的铰接转换器的端视图;
图23为根据本发明系统的铰接工具驱动组件的无菌部分的断面图;
图24为根据本发明系统的铰接工具驱动组件的工具驱动器的断面图;
图25为根据本发明的包括铰接工具驱动组件的系统的主操纵手柄的示意图;
图26为用于根据本发明的机械臂的罩袋的平面图;
图27为具有布置在末端的夹取工具(stapling tool)的手术器械的平面图,其中该手术器械安装在根据本发明的机械臂上;
图28为具有布置在末端的切割片的手术器械的平面图,其中该手术器械安装在根据本发明的机械臂上;
图29为具有布置在末端的凝固(coagulating)/切割的手术器械的平面图,其中该手术器械安装在根据本发明的机械臂上;
图30为具有布置在末端的夹取工具的手术器械的平面图,其中该手术器械是安装在根据本发明的机械臂上。
对本发明的详细描述
参照附图特别是附图标记,图1表示了一个能够用来施行最小侵入性手术的系统10。在一个优选实施例中,系统10可以用来施行最小侵入性的冠状动脉分流移植术,或内窥镜冠状动脉分流移植术(DCABG)和其它接合手术。虽然图示和描述了一个MICABG手术,但应该明白该系统也可以用在其他手术过程中。例如,该系统能够用于缝合血管。
系统10用来为通常躺在手术台14上的病人12进行手术。一个第一关节臂16、一个第二关节臂18和一个第三关节臂20安装在手术台14上。关节臂16-20最好是安装在手术台上,从而使关节臂均以病人为同一参照平面。关节臂安装在一台车上或放置在靠近病人的平面的其他装置上也是合适的。虽然这里图示和描述了三个关节臂,但应当明白该系统可以具有任何数量的关节臂,如一个或多个。
第一和第二关节臂16和18都有一个基础室25和一个从基础室25延伸出来的机械臂组件26。手术器械22和24最好是可拆卸地联结在每个第一和第二关节臂16、18的机械臂组件26的末端。每个器械22、24可以用下文中将要详细描述的各种方式联结到相应的机械臂组件26上。
第三关节臂20还包括一个基础室25和一个机械臂组件26,并最好包括一个安装在机械臂组件26上的内窥镜28。每个关节臂16、18、20的基础室25和机械臂组件26大致上相同。但是,最好是第三关节臂20的结构有所不同,因为第三关节臂的目的是抓取和放置内窥镜28而不是抓取和放置一个手术器械。
器械22和24及内窥镜28通过在病人12皮肤上的切口插入。内窥镜28具有一个摄象机30,它与显示病人12内部器官的图象的显示器32相连接。
每个机械臂组件26具有一个机座马达34,它相对于基础室25以线性方式移动机械臂组件26,如箭头Q所示。每个机械臂组件26还包括一个第一回转马达36和一个第二回转马达38。每个机械臂组件26还包括一对钝态连接40和42。钝态连接40和42最好是彼此垂直布置,从而使安装在相应的机械臂组件26上的器械22、24或内窥镜28具有转动动作。钝态连接可以是在任何特定方向上的弹簧偏压,但是它们不是马达驱动。机械臂组件26还有一个连接器械22、24或内窥镜28的连接机构45。此外,机械臂组件26具有一个马达驱动的蜗轮齿轮44来使器械22、24和内窥镜28围绕它们的纵向轴转动。更进一步讲,马达驱动蜗轮齿轮转动器械或内窥镜。
第一、第二和第三关节臂16、18、20与一个能够控制关节臂的移动的控制器46联结。这些关节臂通过配线、电缆或通过传送/接收系统与控制器46联结,从而控制信号可以从控制器46传到每个关节臂16、18、20上。为了保证每个关节臂16、18、20与控制器46的无误差联络,每个关节臂16、18、20最好是与控制器46电气连接,为了举例的目的,每个关节臂16、18、20通过电缆47与控制器46连接。但是,也可能采用公知的遥控系统遥控每个关节臂16、18、20,而不是采用直接电气连接。由于这样的遥控系统在本领域是公知的,在此不再进一步讨论。
控制器46与一个如脚踏板、手动控制器或声音识别系统的输入装置连接。为了举例的目的,在此公开了一个脚踏板控制器。外科医生可以操作输入装置48来移动内窥镜28的位置并通过按下设置在输入装置48上的相应的按扭来观察病人的不同部位。控制器46接收从输入装置48来的输入信号,根据外科医生的输入指令移动内窥镜28和第三关节臂20上的机械臂组件26。每个机械臂组件26都可以是本发明的受让人加里佛尼亚Goletad的Computer Motion公司以商标AESOP出售的装置。该系统也已在本文参考的美国专利US5,515,478中描述。虽然图示和描述了一个脚踏板49,但应当明白该系统可以具有其他的输入装置如手动控制器或声音识别接口。
外科医生通过一对主操纵手柄50和52控制安装在第一和第二关节臂16和18上的器械22和24。能够被外科医生操纵的每个主操纵手柄50和52与相应的一个关节臂16或18具有一种主-从关系,这样手柄50和52的移动产生安装在第一和第二关节臂16和18上的手术器械22和24的一个相应的移动。
手柄50和52可以安装到一个轻便的柜子54上。一个第二电视显示器56可以放置在柜子54上并通过公知的装置与内窥镜28连接,这样外科医生就能够很容易地观察病人12的内部器官。手柄50和52也与控制器46连接。控制器46接收从手柄50和52来的输入信号,计算手术器械的相应移动值,并提供一个输出信号来移动机械臂组件26和器械22和24。由于外科医生不用实际拿着器械的手柄就可以控制器械22和24的移动和方向,所以外科医生可以坐着或站着使用本发明的系统10。本发明的一个优点是外科医生可以坐着完成内窥镜手术。这有助于减轻外科医生的疲劳并可以提高手术室中的效率和效果,特别是在那些长达几个小时的手术中。为了提供一个坐的位置,在该系统中可以提供一把椅子57。
每个手柄都有由图2中表示的各种连接处Jm1-Jm5提供的多个自由度。连接处Jm1和Jm2允许手柄围绕柜子54上的一个转动点转动。连接处Jm3允许外科医生以线性方式把手柄移进移出柜子54。连接处Jm4允许外科医生围绕手柄的一个纵向轴转动主操作手柄。连接处Jm5允许外科医生开合夹具。
每个连接处Jm1-Jm5具有一个或多个提供相应于手柄位置的反馈信号的位置传感器。该位置传感器可以是电位差器,或任何其他如旋转光学译码器等提供相应的位置变化信号的反馈装置。此外,多个位置传感器可以放置在每个连接处来提供系统中的冗余度,它可以用来使外科医生警觉相应的机械臂组件26的故障或错误位置。
除了位置传感器之外,每个连接处可以包括转速器、加速器和负荷单元力传感器,它们都可以提供相对于速度、加速度和分别施加在各个连接处的力的电信号。此外,每个连接处可以包括用来反映在机械臂组件26处接收到的反馈力的执行机构。这可能在连接处Jm5处特别有帮助,它可以指示位于器械22或24的末端的夹具在病人体内施加的力。同样,在器械22、24的夹具处必须包括一个力反馈元件来构成一个力反馈回路。力反馈元件,如一个与磨石桥组合的压电元件在本领域是公知的。但是,直到现在还没有在这样的一个系统10中使用这种力反馈单元。
图3表示了每个关节臂16和18的各种自由度。连接处Js1,Js2和Js3分别相应于机座马达34和机械臂组件26的回转马达36,38的转动轴线。连接处Js4和Js5分别相应于臂26的钝态连接40和42。连接处Js6可以是一个围绕器械的纵向轴转动手术器械的马达。连接处Js7可以是一对可以开合的指状物。器械22和24围绕位于病人的切口处的转动点P动作。
图4所示为把主操作手柄的移动转换成手术器械的相应移动的一个控制系统的示意图。根据图4所示的控制系统,控制器46计算供给关节臂的输出信号,从而手术器械根据手柄的动作而动作。每个手柄具有一个使器械能够随手柄动作的输入键58。当输入键58按下时,手术器械随手柄动作。当输入键58松开时,手术器械不随手柄动作。以这种方式,外科医生能够调节或“棘轮调整”手柄的位置而不产生器械不希望的相应的动作。该“棘轮调整”特性允许外科医生连续移动手柄到更期望的位置而不引起关节臂的位置变化。此外,由于手柄是被转动点限制的,棘轮调整特性允许外科医生超过手柄的尺寸限度移动器械。虽然这里图示和描述了一个输入键58,但应当明白手术器械可以通过如声音识别等其他方式动作。输入键可以选择被锁定,以便每次外科医生按下该键时,器械相应的移动锁定在动作和不动作之间。
当外科医生移动手柄时,位置传感器提供分别相应于连接处Jm1-Jm5的移动的反馈信号M1-M5。控制器46在计算单元60中计算新的手柄位置与最初的手柄位置之间的差值来产生一个增加的位置值-M1-M5。
增加的位置值-M1-M5分别在单元62中与比例因子S1-S5相乘。比例因子通常设定至少小于1,以便使器械的移动小于手柄的移动。以这种方式,外科医生可以用手柄的相对粗糙动作作出器械的很精细的动作。比例因子S1-S5是不同的,从而外科医生能够改变器械移动的精度。每个比例因子最好是分别变化的,这样外科医生能够在某个方向上更精细地控制器械。例如,通过把一个比例因子设为0,外科医生可以防止器械在一个方向上的移动。如果外科医生不想让手术器械接触位于相对于病人的某个方向上的一个器官或某个组织时,这是很有用的。虽然这里说明的比例因子小于1,但应当明白比例因子可以大于1。例如,可以希望以大于相应于手柄的转动速率转动器械。
控制器46把增加值M1-M5加到初始连接角Mj1-Mj5上,在加法元件64中提供数值Mr1-Mr5。然后控制器46在计算单元66中根据下面的公式计算期望的从属矢量计算值。
Rdx=Mr3·sin(Mr1)·cos(Mr2)+Px
Rdy=Mr3·sin(Mr1)·sin(Mr2)+Py
Rdz=Mr3·cos(Mr1)+Pz
Sdr=Mr4
Sdg=Mr5其中:
Rdx,y,z=器械末端操作装置期望的新位置。
Sdr=围绕器械纵轴转动器械的角度。
Sdg=器械指状物的移动量。
Px,y,z=转动点P的位置。
接着控制器46在计算单元68中根据下面的公式计算机械臂组件26的移动量。
Jsd1=Rdz
Jsd2=tan-1(Rdy/Rdx)+Δfor Jsd3≤0
Jsd2=tan-1(Rdy/Rdx)-Δfor Jsd3>0
Jsd6=Mr4
Jsd7=Mr5其中:
Jsd1=线性马达的移动。
Jsd2=第一回转马达的移动。
Jsd3=第二回转马达的移动。
Jsd6=转动马达的移动。
Jsd7=夹具的移动。
L1=第一回转马达和第二回转马达之间的连接臂的长度。
L2=第二回转马达和钝态连接之间的连接臂的长度。
在单元70中控制器给马达提供输出信号,把机械臂和器械移动到期望的位置。手柄的每个移动重复该过程。
如果外科医生放开或锁定输入键并移动手柄,主操作手柄将具有一个相对于手术器械不同的空间位置。当输入键58最初按下时,控制器46在计算单元72中根据下面的公式计算初始的连接角Mj1-Mj5。
Mj1=tan-1(ty/tx)
Mj2=tan-1(d/tz)
Mj3=D
Mj4=Js6
向前的运动值在单元74中用下面的公式计算。
Rsx=L1·cos(Js2)+L2·cos(Js2+Js3)
Rsy=L1·cos(Js2)+L2·sin(Js2+Js3)
Rsz=J1
连接角Mj提供给加法器64。接着在计算单元76中计算转动点Px,Py和Pz。转动点是通过末端操作装置和器械的交叉点初始确定的起始位置PO和与器械具有同样方向的单位矢量Uo计算的。位置P(x,y,z)取自机械臂的各个传感器。参见图5,器械处于具有角度θ5和θ6的第一坐标系(x,y,z)中。单位矢量Uo以下面的转换矩阵计算:
在每个末端操作装置移动之后,器械的一个角位移ΔΘ通过根据下面的公式Lo和L1的器械的第一和第二单位矢量Uo和U1的交叉乘积取反正弦计算。
其中:
T=单位矢量Uo和U1的交叉乘积矢量。
新器械位置的单位矢量U1再次通过位置传感器和上述的转换矩阵确定。如果角度比阈值大,那么计算一个新的转动点,并把Uo设为U1。如图6所示,第一和第二器械的取向可以通过公式Lo和L1确定:Lo:
xo=Mxo·Zo+Cxo
yo=Myo·Zo+CyoL1:
x1=Mx1·Z1+Cx1
y1=My1·Z1+Cy1其中:
Zo=相对于第一坐标系的z轴沿线Lo的一个Z坐标。
Z1=相对于第一坐标系的z轴沿线L1的一个Z坐标。
Mxo=随Zo而变的直线Lo的斜率。
Myo=随Zo而变的直线Lo的斜率。
Mx1=随Z1而变的直线L1的斜率。
My1=随Z1而变的直线L1的斜率。
Cxo=一个表示直线Lo与第一坐标系的x轴相交的常数。
Cyo=一个表示直线Lo与第一坐标系的y轴相交的常数。
Cx1=一个表示直线L1与第一坐标系的x轴相交的常数。
Cy1=一个表示直线L1与第一坐标系的y轴相交的常数。
斜率采用下列算法计算:
Mxo=Uxo/Uzo
Myo=Uyo/Uzo
Mx1=Ux1/Uz1
My1=Uy1/Uz1
Cx0=Pox-Mx1·Poz
Cy0=Poy-My1·Poz
Cx1=P1x-Mx1·Plz
Cy1=Ply-My1·Plz其中:
Uo(x,y和z)=在第一坐标系中的第一位置的器械的单位矢量。
U1(x,y和z)=在第一坐标系中的第二位置的器械的单位矢量。
Po(x,y和z)=末端操作装置与在第一坐标系中的第一位置的器械的交点的坐标。
P1(x,y和z)=末端操作装置与在第一坐标系中的第二位置的器械的交点的坐标。
为找到一个近似的转动点的位置,确定在第一取向Lo(转动点Ro)和第二取向L1(转动点R1)上的器械的转动点,两个点Ro和R1之间的距离的一半被计算并作为器械的转动点Rave储存。转动点Rave通过交叉乘积矢量T确定。
为找到点Ro和R1,设定下列的公式来确定一条与通过线Lo和L1的矢量T取向相同的直线。
tx=Tx/Ty
ty=Ty/Tz其中:
tx=相对于第一坐标系的z-x平面通过矢量T确定的直线的斜率。
ty=相对于第一坐标系的z-y平面通过矢量T确定的直线的斜率。
Tx=矢量T的x分量值。
Ty=矢量T的y分量值。
Tz=矢量T的z分量值。
取两个点来确定斜率Tx,Ty和Tz(即Tx=x1-xo,Ty=y1-yo和Tz=z1-zo)代替公式Lo和L1,带来如下的点坐标Ro(xo,yo,zo)和R1(x1,y1,z1):
zo=((Mx1-tx)z1+Cx1-Cxo)/(Mxo-tx)
z1=((Cy1-Cyo)(Mxo-tx)-(Cx1-Cxo)(Myo-ty))/((Myo-ty)(Mx1-tx)-(My1-ty)(Mxo-tx))
yo=Myo·zo+Cyo
y1=My1·z1+Cy1
xo=Mxo·zo+Cxo
x1=Mx1·zo+Cx1
转动点Ro和R1之间距离的平均值通过下面的公式计算得到并作为器械的转动点储存。
Rave=((x1+xo)/2,(y1+yo)/2,(z1+zo)/2)
转动点可以根据上述的运算法则和常式继续升级。转动点的任何一个移动都可以与阈值比较,可以发出警告信号,或当转动点移动超出设定的限度时机器人系统脱开。与设定限度的比较在确定病人是否移动或器械是否在病人体外操作(这个位置可能导致伤及病人或占用手术室)时都很有用。
为给医生提供反馈,器械的指状物可以具有感知末端操作装置抓取物体的反作用力的压力传感器。参见图4,控制器46接收压力传感器的信号Fs并在单元78中发出相应的信号Cm给手柄上的执行机构。执行机构提供一个传送到医生手上的手柄的相应的压力。压力反馈使医生能够感知加在器械上的压力。作为一个替代的实施例,手柄可以通过一个直接传送给医生手部指状物夹持力的机械绳索与末端操作装置联结。
图7表示了可以用在本发明中的末端操作装置80的一个优选实施例。该末端操作装置80包括一个与前端装配工具驱动器84联结的如那些上文中提到的22,24那样的手术器械82。末端操作装置80通过连接机构45安装在其中一个机械臂组件26上。连接机构45包括一个可拆卸地安装在夹持器86上的一个接头85。夹持器86包括一个机械臂组件26上的马达驱动的涡轮87来转动接头85,进而围绕器械82的纵向轴转动器械82。夹持器86包括一个插在机械臂组件26上的一个槽中的轴88。轴88可以被机械臂组件26上的马达转动,接着转动涡轮87,由此转动接头85和器械82。一个紧固工具89可以用来紧固和松开围绕器械82的接头。这样的工具象一个夹盘匙一样工作,从而紧固和松开接头86。
手术器械82具有一个与第二指状物91可转动连接的第一指状物90。指状物90,91能够操作来夹持如组织或缝合针等物体。指状物的内表面上可以有网纹以增加摩擦和器械82的抓取能力。第一指状物90与延伸穿过器械82的中心通道94的杆92连接。器械82可以有一个与一个弹簧偏压的球状快速拆开紧固件98配合的外套筒96。快速拆卸件98允许不同于指状夹持器的器械连接到前端装配工具驱动器84上。例如,器械82可以从快速拆卸件98上拆下并换成一个切割工具,一个缝合工具,一个可以用于该系统中的常用工具(如Karlsruhe的美国专利US5,499,990或5,389,103公开的常用装置),一个切削片,或其他用在最小侵入性手术中的手术工具。快速拆卸件98允许手术器械换接而每次器械插到工具驱动器84中时不必对前端装配工具重新消毒。前端装配工具驱动器84的操作将在下文中进一步讨论。
快速拆卸件98具有一个接收前端装配工具驱动器84的销102的槽100。该销102把快速拆卸件98锁定到前端装配工具驱动器100上。销102可以通过压下弹簧偏压杆104松开。快速拆卸件98具有一个安装在工具杆92上的柱塞106,并与一个位于前端装配工具驱动器84上的装配腔的输出柱塞108连接。
装配腔110安装在一个丝杆螺母112上。该丝杆螺母112与从涡轮箱116中延伸出来的一个丝杆114拧接。涡轮箱116被一个与编码器120联结的可反转的马达118驱动。整个末端操纵部分80被马达驱动涡轮87转动。
操作时,前端装配工具驱动器84的马达118接收一个通过电气导线或一个传送/接收系统从控制器来的输入指令并因此被开动。马达118转动以线性方式移动丝杆螺母112和装配腔110的丝杆114。装配腔110的移动驱动连接器柱塞106和转动第一指状物88的工具杆92。装配腔110感知施加给指状物的反作用力并提供给控制器46一个相应的反馈信号。
前端装配工具驱动器84可以盖一个无菌覆盖物124,这样工具驱动器84就不必在每个手术过程之后都进行消毒。另外,机械臂组件26最好是盖一个无菌覆盖物125,这样也不必消毒。覆盖物124,125主要作为封闭前端装配工具驱动器84和机械臂组件26的装置。用来封闭机械臂组件26的覆盖物125在图26中进一步说明。覆盖物125具有一个明显的开口端300,机械臂组件26可以由此被放置在覆盖物125中。覆盖物125还包括一个大致倾斜的封闭端302,它有效地把机械臂组件26与手术室环境分隔开。一个带有贯穿的小孔306的垫圈304使器械通过连接机构45与机械臂组件26连接。垫圈304增强了覆盖物125的强度,保证机械臂组件26移动时覆盖物125不会裂开。从本质上说,器械不能被封闭在覆盖物125中,因为它将被插入病人12体内。覆盖物125还包括许多涂有胶310的带子308。至少一条带子308与其他的带子308相对布置来围绕机械臂组件26进行覆盖物125的封闭。
图8和8a表示了主操作手柄组件130的一个优选实施例。主操作手柄130组件包括一个与臂134连接的主操作手柄132。主操作手柄132可以通过一个插入到该手柄132上的相应的槽138中的销136与臂134连接。手柄132具有一个可以由外科医生按下的控制键140。控制键140通过一个轴144与开关142连接。控制键140与图4中的输入键58相对应,并使末端操作装置移动。
主操作手柄132具有一个与静止的第二夹持器148可转动连接的第一夹持器146。第一夹持器146的转动产生手柄轴150的相应的线性移动。手柄轴150移动通过支座156连接着装配腔154的夹持器轴152。装配腔154感知施加的压力的大小并给控制器46提供一个输入信号。控制器46然后提供一个输出信号来移动末端操作装置的指状物。
装配腔154安装在一个与丝杆160拧接的丝杆螺母158上。丝杆160从一个连接到具有编码器166的马达164上的减压箱162中延伸出来。系统的控制器46在末端操作装置中接收装配腔110的反馈信号并提供给马达一个相应的命令信号来移动丝杆160,从而在夹持器上施加一个压力,这样外科医生接收到与末端操作装置施加的力相关的反馈。以这种方式,外科医生具有操作末端操作装置的“感觉”。
手柄安装在围绕支座170转动的旋转轴承室168上。旋转轴承室168通过齿轮174与一个位置传感器172连接。位置传感器172可以是一个提供给控制器46相应于手柄相对位置的反馈信号的电位计。另外,为此目的可以采用一个光学编码器。作为选择,电位计和光学编码器都可以使用来在系统中提供冗余度。旋转轴承的移动通过控制器和机械臂组件传送给末端操作装置作相应旋转。
臂134可以与一个线形支座176和允许并感知手柄线性移动的相应的位置传感器178连接。手柄的线性移动通过控制器和机械臂组件转换成末端操作装置的相应的线性移动。臂能够围绕支座180转动,并被位于支架184上的位置传感器182感知。支架184能够围绕带有相应的位置传感器188的支座186转动。臂的转动通过控制器和机械臂组件转换为末端操作装置的相应的转动。
人的手通常会有频率界于6-12赫兹的抖动。为了消除因手抖动引起的手术器械的移动,系统可以有一个滤掉抖动频率波段范围内发生的任何手的移动的滤波器。参见图4,滤波器184可以滤去电位计提供的频率范围在6-12之间的模拟信号。作为选择,为此目的,通常的编码器和数字滤波器都可以采用。
如图9和10A-J所示,系统最好是用来完成象冠状动脉分流移植术(CABG)那样的心脏手术。该手术通过一开始就在病人身上切开三个切口并从切口插入手术器械22和24及内窥镜26来完成。当插入病人的胸腔时,手术器械22夹持有缝合针和附带的线。如果动脉是与一个第二血管如隐静脉接合时,手术器械24可以夹持静脉,同时器械的末端操作装置插入病人体内。
乳房内动脉(IMA)可以被切断并通过一个器械移动到冠状动脉的移植位置。在冠状动脉的动脉壁上切开一个相应于IMA的直径尺寸的切口。切口可以通过连接到末端操作装置之一上并通过主操作手柄遥控操作的切取工具来完成。动脉被夹紧以防止血液从切断的乳房和冠状动脉中流出。外科医生操纵手柄将IMA移到靠近冠状动脉开口。虽然这里图示和描述了IMA的移植,但应明白其他的血管如被切断的隐静脉可以移植来分流冠状动脉的阻塞。
参见图10A-J,外科医生移动手柄来操作器械,使针穿过IMA和冠状动脉。然后,如图10B所示,外科医生移动手术器械来夹紧并牵引针穿过冠状动脉和移植的动脉。接着如图10C所示,操作手术器械,在移植动脉的跟部打结缝合。之后可以把针从胸腔中取出。如图10D-F所示,可以将一个新针和线插入胸腔,把移植动脉的尖部缝合到冠状动脉上。如图10H-J所示,插入新针,外科医生操作手柄从跟部到尖部并从头部到跟部进行行走缝合。手术器械按比例的动作允许外科医生精确地围绕胸腔缝合。虽然在此图示和描述了特定的移植情形,但应该明白动脉可以采用其他技术移植。一般地讲本发明的系统可以用来进行任何最小侵入性结合手术。
如上所述,系统可以包括一个接收从控制器46来的相应于主操作手柄50或52的移动的控制信号并驱动位于手术器械末端的工具的前端装配工具驱动器84。作为选择,如图11和11a所示,一个后部装配工具驱动器200可以配合用于本发明的系统10中。后部装配工具驱动器200与后部可装配的手术器械202配合。这种后部装配工具驱动器200与器械202的配合促进了手术中工具的更换,因为工具可以从工具驱动器200上拔下并以非常简单的方式更换成别的工具。
后部装配工具驱动器200通过上文中描述的接头和夹持器安装在一个机械臂组件26上。后部装配工具驱动器包括一个带有近端206和末端208的鞘204。鞘204可以由塑料或用于手术器械结构的其他公知的材料制成。鞘204大致上是一个与接头85吻合的中空管,并通过上文中已详细描述的紧固工具紧固在那里。
可后部装配的手术器械202具有一个工具端210和一个连接端212。手术工具214,如夹持器或其他可以由一个推/拉杆或绳索系统驱动的工具,或不需要这种杆或绳索的工具,如凝结器或谐波手术刀安装在器械202的工具端210。
在器械202的连接端212布置有一个机架216。机架具有一个布置在机架216内部的杠杆218。杠杆218具有一个通过采用一个穿过杆的联结孔222的销确立的转动点220。该销可以安装在机架的内壁224上。一个延伸穿过整个器械202长度的推/拉绳索或杆226安装在杆218上,这样杆218围绕转动点220的转动引起绳索或杆226的一个线性移动。绳索或杆226主要作为操作器械202的工具端210的工具214的一个装置227。绳索或杆226也可以通过一个连接销安装在杆上。杠杆218为C形,其中杠杆218的末端通过两个孔228和230从机架216中凸伸出来。孔228和230最好是分别被一个0形圈232围绕,其目的将在下文中详细说明。
可后部装配的手术器械202的工具端210安装在后部装配驱动器200的中空管中。工具202可以通过工具驱动器推动,直到工具末端从鞘204中延伸出来为止。O形圈232处于在工具驱动器200的机架238中的联结孔234,236中。机架还具有一个在中心形成的孔240,该孔与内部的中空管同轴。以这种方式,手术器械202可以插入穿到工具驱动器200中。每个O形圈232隐蔽地处于工具驱动器200的机架238的联结孔中。
机架238还包括一个图11a所示的马达组242。马达组件242安装在机架238上并牢固地保持在那里。马达组件通常包括一个安装在减压器246上的马达244。马达驱动一个安装在末端的叶片248。叶片248与杠杆218的末端啮合,这样马达的转动引起杠杆218围绕转动点220的移动。这接着引起装置227的横向移动,该装置用来驱动操作器械202的工具端210上的工具214。马达根据控制手柄的移动而动作。另外,力传感器248、250可以安装在叶片246的末端。这样,可以设有一个力反馈系统来感知驱动操作器械202的工具端210上的工具214所需的力的大小。作为选择,马达244可以具有一个安装在其上的以同样方式使用的力反馈装置252。
使用后部装配工具驱动器200的一个优点是鞘204一直保持在病人12体内。这样,当重装或更换工具时,工具和机械臂组件26不必重新对位。无论是否放置工具,鞘204相对于病人12保持其位置。
本发明的系统10可以在器械端部提供一个或两个附加的自由度。为了举例的目的,这里说明两个附加的自由度,但应当明白也可以包括仅有一个自由度。如图13-16所示,为了提供附加的自由度,一个有关节的器械300可以用在本发明中。器械300可以通过上文中描述的一个接头或夹持器与机械臂组件26连接。为了用关节连接有关节的器械300的端部,必须采用一个有关节的工具驱动器500。有关节的工具驱动器500将在下文中详细描述。总控制器必须增加有附加的两个自由度来控制器械300的端部的关节连接。图25表示了一个可供选择的包括两个附加自由度的控制器的示意图。如下文所述,两个附加的自由度对应映射器械300的关节连接部分。两个附加的控制器轴表示为Jm6和Jm7。
通过有关节的器械300和有关节工具驱动器500及控制器的附加自由度的配合使用,困难的操作可以以一个简单的方式实现。
参见图13-16,有关节器械300通常包括一个细长的杆302、一个鞘304和一个工具306。该工具可以是个夹持器、切割片、牵引器、缝合设备或其他用在最小侵入性手术中的公知的工具。图27-30表示了可以安在有关节的手术器械300的末端的各种工具。
器械300包括一个带有近端部分308的关节部分301,一个转动关节310和一个末端部分212,所述每一个部分都将在下文中详细描述。此外,器械300包括相对于细长的杆302活动器械300的关节部分301的装置311。关节部分301的结构在器械端部提供两个附加的自由度。也必须明白虽然这里描述了包括一个近端、一个转动关节和一个末端的关节部分301,但是它也可以提供各种中间部分,它们相互之间通过一个相应的转动关节连接。
界于并安装在每个相应的近端和末端之间的任何插入的中间部分都是转动关节310。转动关节连接310连接近端部分和末端部分的关节部分,从而提供器械端部的关节连接。本质上,近端部分、转动关节和末端部分配合作为一个通用的连接。
细长的杆302最好是中空的,由不锈钢或塑料或其他可以进行无菌处理的公知的材料制成。由于杆302是中空的,它围成一个内部314。细长的杆302还具有一个近端316和一个末端318。不可把细长杆302的末端318与器械300的关节部分301的末端部分312混淆。
关节部分301的近端308可以与细长杆302制成一个整体或通过焊接、黏结或其他本领域公知的方法安装在杆302上。最好是近端308与伸长杆302制成一个整体,以保证器械300具有足够的稳定性和耐久性。关节部分301的近端部分包括两个指状物320、322,每个指状物上分别形成一个孔324、326。
转动关节连接310通过一组穿过连接的指状物上的联结孔的销328安装到近端部分308上。转动关节连接310通常是一个平盘330,它带有一个贯穿的中心孔332和均匀布置在盘330周边上的四个孔334、336、338、340。另外,销328安装在边缘342上并向外延伸。销328插在连接的指状物的孔中以提供器械300的关节活动性。5条连线350、352、354、356、358在中空轴的内部延伸。一条连线350从中心向下延伸穿过转动关节310的中心孔332。5条连线中的两条352、354沿器械的中空轴内部延伸安装在转动关节连接上,这样一条连线的线性拉伸就导致转动关节连接301的转动的动作。这两条连线352、354连接在转动关节连接的两个孔处。此外,它们连接在那些邻近穿过器械300关节部分301的近端部分308的指状物的销子的孔中。另两条连线356、358穿过转动关节的另两个孔连接到关节部分301的末端。这两条连线的动作引起关节部分301的动作,其动作方向垂直于另外两条连线352、354动作时的动作方向。
用关节连接器械作为本发明的一部分,如图17-24所示,提供有一个关节机构400。关节机构400通常包括关节工具驱动器500,一个无菌连接器600,一个传送器700和一个可关节活动的工具300。
传送器安装在器械300的近端316上。如图18-19所示,器械300还可以具有一个可拆卸的工具420。可拆卸的工具420可以是任何工具,如安装在细长的杆或绳索424上的剪切器422。在杆246的末端布置有一个平板部分428,其上带有一个孔430。平板部分428插入到位于穿过器械300的延长轴的第二绳绳索或杆434末端的通道432中。第二绳索434具有一个形成在其末端的通道432,这样平板部分428安装在通道432中。至少一个弹簧偏移扳手436安装在穿过平板428布置的孔430中,这连接了工具420与器械300的支架。同样,工具可以在器械的端部更换,而不用每次需要一个新工具时把器械从系统10中拆除。
工具300连接在传送器700上,必要时与其制成一体。关节机构400通过上文中描述的接头85连接到机械臂组件26上。接头85恰好套在器械300的轴302上。
传送器700具有一个近端702和一个末端704。传送器700的末端704具有一个与器械300的细长的杆302的横断面相同的横断面。此外,传送器700具有一个中空的内部706。中心杆350延伸穿过传送器700的中空内部706并从近端702处露出。两条连线352,354在传送器内部终止在两个肩部708,710处,这两个肩部安装在中心杆350穿过的第一中空管712上。第一中空管712可以由结实耐用的材料如不锈钢、钢、硬塑料等制成。
第一中空管712安装在支架714上,这样它就可以转动。第一中空管712的转动引起连线352、354的线性移动和器械300的可关节活动的关节部分301在一个平面内关节活动。
第二中空管716具有一对在其上延伸的肩部718、719。两条连线356、358分别连接在两个肩部718、719上。中空管716连接在支架组件720中,这样它就可以转动。和前面一样,第二中空管716的转动引起连线356、358的线性移动,它们使器械300的活动关节301在垂直于第一中空管的转动平面的平面中关节活动。可以想到第二中空管714径向围绕着第一中空管712。传送器700还包括一个快速拆卸装置722,它包括一个位于弹簧偏移扳手726的末端的销724,从而提供传送器700与无菌连接器600之间的可拆卸连接。中空管712和716都可以在其末端带有凹口750。凹口作为中空管与无菌连接器600之间连接的装置752,这将在下文中详细描述。
传送器700通过快速拆卸装置722与无菌连接器600连接。由于关节连接工具驱动器500不易消毒,因此包括一个无菌连接器600的好处是不用对关节连接工具驱动器500消毒就可以更换器械。此外,连接器600提供了一个装置,通过它传送器700可以安装到工具驱动器500上,同时工具驱动器封闭在一个如图26所示的壳体125中。传送器700带有一个小室610。小室与连接器600的元件最好是由一些容易消毒的材料如不锈钢、塑料或其他公知的可消毒的材料制成。小室610具有一个大致中空的内部612和开口端614、616。两个中空管618、620可转动地布置在小室610中。为完成每个中空管618、620的转动,支架622、624布置在每个中空管的周围。每个中空管带有形成于其末端的凹口626,以此来实现传送器700与连接器600一端的连接,并在另一端实现连接器600与活动关节工具驱动器500的连接。
传送器上的销724可以安装在凹口628中,从而把传送器700安装到连接器600上。此外,连接器600可以包括一个安装在弹簧偏移关节632上的销630,从而实现连接器与工具驱动器500的连接。连接器600还包括一个可滑动地接收中心绳索或杆350的末端351的中心段634。末端351可以包括一个带有圆周沟槽353的端部。该端部安装在中心段634上的一个凹口636中并通过至少一个弹簧偏移扳手638可拆卸地锁定在那里。一个与带有圆周沟槽353的端部大致相同的端部640布置在邻近凹口636的地方来使中心绳索连接到活动关节工具驱动器500上,这将在下文中详细描述。
中心段634趋向于在最里面的管618中横向滑动。为了实现这样一种横向滑动,可以在最里面的管的内部的中心段布置一个线形的支架。作为选择,中心段634可以由能在最里面的管618中流畅滑动的支架材料构成。
连接器600可拆卸地安装在活动关节工具驱动器500上。活动关节工具驱动器通过一个壳体125封闭。活动关节工具驱动器500包括一个带有基本封闭的第一端部504和一个基本开启的第二端部506的大致中空的小室502。固定安装在小室内的是一个夹持器马达506和一对腕式马达508和510。每个马达都与控制器46电气连接。作为选择,马达可以通过一个公知的传送/接收系统接收从控制器来的信号。这样一个传送/接收系统应用到本发明中是新颖的。夹持器马达506连接在一个拧在装配丝杠512上的装配螺母510上。马达506接收控制信号并随之转动。装配螺母510横向移动装配丝杠512。装配丝杠512连接在一个可以用来测量横向移动绳索350(连接器600通过它连接到控制马达506上)所需的力的负荷单元514上。这可以用在一个与本发明的系统10配合的力反馈系统中。一个形成在末端的带有通道518的杆516安装在负荷单元514上。这样,杆516以一个线性方式移动。连接器600的端部640安装在通道518中,并通过至少一个弹簧偏移扳手或其他类似的安装机构520可拆卸地固定在那里。因此,如果外科医生在主操作手柄上操作夹持器,夹持器马达506转动,由此横向移动杆516,接着是在工具处开启和关闭夹持器的中心绳索350移动。当然,工具的动作取决于安装在那里的工具的类型。例如,如果一个常用的工具布置在手术器械300的端部,那么将发生一个常用的动作。
如果一个主操作手柄50或52围绕轴J6或J7转动,那么两个腕式马达510、508中的一个相应于要求的动作转动。每个马达508、510安装在一个相应的齿轮522、524上。每个齿轮522、524与相关中空管526、528上的开槽部分530、532啮合来围绕其纵向轴径向转动相应的中空管。每个中空管526、528包括凹口端534、536来与连接器600的相应的中空管的凹口端啮合。应该明白每个中空管526、528、618和620都是同轴的。此外,支架可以放置在每个中空管526、528中来提供各个中空管的简单、独立的可转动性。
当中空管526、528转动时,它们转动连接器中的中空管,从而转动传送器中的中空管。这引起手术器械300的端部的关节活动。更具体地讲,这引起手术器械300的活动关节的关节性活动。因此,无论是采用前部装配工具驱动器、后部装配工具驱动器还是关节活动工具驱动器,手术器械都可以很容易地更换。
因此,一个切割片800可以更换为一个夹持器,一个夹持器可以更换为一个切断器810。从本质上讲,这样一个系统简化了包括从一个工具变为另一个工具步骤的最小侵入性手术的操作过程。由于该系统允许在某个器械端部的关节活动,从而活动关节结构可以用来活动如上所述的与活动关节部分连接的切断或切割器械。
另外,器械可以不是关节连接的器械如切断器,但可采用关节连接的机械来控制它的其它功能。图27示出了一个通过法兰盘85和支持物86与机械臂组件连接的切断器器械810。一般用于抓取工具中的连线在此可用来实现切断这种机械操作。内窥镜切断器为一般的公知器械,但在此之前未闻切断器用于与此处公开的机械臂连接。
此外,如图28所示的切割片可以用在本发明的系统中。切割片800通过一个接头85和一个夹持器86安装在机械臂组件26上。切割片不象夹持器或切断机那样要求一个连线,但是切割工具可以通过上文描述的关节机构关节活动。
一个烧灼器或凝结器可以通过接头85和夹持器安装在机械臂组件26上。烧灼器或凝结器是公知的,烧灼器械可以如上文所述安装在活动关节器械的末端。通过以一个预定顺序使用各种工具,各种过程都可以实现。由于许多手术的要求,通常最好是能够更换器械。
虽然在附图中表示并描述了某些示意性的实施例,但应该明白这些实施例主要是为了解释发明而不是为了限制发明,本发明并不限于图示和说明的特定结构和布置,因为本领域的普通技术人员可以进行各种其他变化。
Claims (67)
1.一种用缝合针将病人的第二血管缝合到冠状动脉上的最小侵入性手术方法,其中冠状动脉上有一个切口,该方法包括以下步骤:
a)提供一个第一关节臂和一个第二关节臂,所述第一和第二关节臂与一个控制器和一个输入装置联结,该输入装置接收输入指令并根据输入指令活动第一和第二关节臂;
b)在病人身上至少切开一个切口;
c)把第一和第二关节臂从该切口插入病人体内;
d)发出一个输入指令来操作所述第一关节臂抓住第二血管;
e)发出一个输入指令来操作所述第二关节臂抓住缝合针;
f)发出一个输入指令操作所述第二关节臂来牵引缝合针穿过冠状动脉和第二血管;和
g)重复步骤(g)来把第二血管缝合到冠状动脉上。
2.如权利要求1所述的方法,其中第二血管是乳房内动脉,该方法还包括步骤:在把乳房内动脉移动到靠近冠状动脉切口处之前,在乳房内动脉上切一个开口。
3.如权利要求1所述的方法,还包括步骤:发出一个输入指令操作所述第一关节臂来移动缝合针,把第二血管缝合到冠状动脉上。
4.如权利要求1所述的方法,其中所述发出输入指令的步骤包括外科医生移动第一主操作手柄和第二主操作手柄,这样所述第一和第二关节臂的移动相应于所述第一和第二主操作手柄的移动。
5.如权利要求4所述的方法,其中所述第一和第二关节臂均带有一个与所述第一和第二主操作手柄的移动成比例的增量的末端操作装置。
6.如权利要求4所述的方法,还包括步骤:激活所述第一和第二关节臂,从而使第一和第二关节臂与所述第一和第二主操作手柄的移动相配合,和使所述第一和第二关节臂不动作,这样当所述第一和第二主操作手柄由外科医生移动时,所述第一和第二关节臂保持静止。
7.如权利要求1所述的方法,还包括步骤:提供一个与第三关节臂联结并从一个切口插入到病人体内的内窥镜,其中所述第三关节臂与所述控制器和一个接收输入指令的内窥镜的输入装置联结。
8.如权利要求7所述的方法,还包括步骤:发出一个在病人体内移动所述第三关节臂和内窥镜的输入指令。
9.如权利要求5所述的方法,还包括步骤:施加给外科医生一个相应于由所述末端装置施加力的力。
10.如权利要求9所述的方法,其中施加给外科医生的力是与所述末端装置施加的力的成比例的增量。
11.如权利要求4所述的方法,还包括步骤:滤去相应于外科医生的手抖动的输入指令。
12.一种允许外科医生在病人身上完成手术的系统,包括:
一个带有第一末端操作装置的第一关节臂;
一个第一输入装置,外科医生能够移动第一输入装置一个第一输入装置空间增量来产生第一输入指令;和
一个与所述第一输入装置和所述第一关节臂联结的控制器,所述控制器接收从所述第一输入装置来的所述第一输入指令,并输出一个第一输出指令给所述第一关节臂,从而移动所述第一末端操作装置一个第一末端操作装置空间增量,其中所述控制器与所述第一输入指令成比例,这样第一输入装置空间增量与第一末端操作装置空间增量不同。
13.如权利要求12所述的系统,还包括一个具有第二末端操作装置的第二关节臂,和一个第二输入装置,外科医生能够移动第二输入装置一个第二输入装置空间增量来产生一个第二输入指令,所述控制器接收从所述第二输入装置来的所述第二输入指令,并输出一个第二输出指令给所述第二关节臂,从而移动所述第二末端操作装置一个第二末端操作装置空间增量,其中所述控制器与所述第二输入指令成比例,这样第二输入装置空间增量与第二末端操作装置空间增量不同。
14.如权利要求13所述的系统,还包括一个装有内窥镜的第三关节臂,和一个接收外科医生命令并发出相应于该命令的第三输入指令的第三输入装置,所述控制器接收所述第三输入指令并提供给所述第三关节臂一个第三输出指令以移动内窥镜。
15.如权利要求12所述的系统,其中所述第一输入装置是由外科医生移动的一个主操作手柄,所述输入装置还具有一个与所述控制器联结的输入键,该输入键用来激活所述第一关节臂,使所述第一末端操作装置与所述主操作手柄的移动相配合动作,和使所述第一关节臂不动作,这样当外科医生移动所述主操作手柄时,所述第一末端操作装置保持静止。
16.如权利要求15所述的系统,其中所述主操作手柄围绕一个手柄转动点转动。
17.如权利要求12所述的系统,其中所述第一末端操作装置具有一个力传感器,所述第一输入装置具有一个与所述力传感器联结的执行机构,从而施加给外科医生一个相应于所述力传感器感知到的力的力。
18.如权利要求17所述的系统,其中施加给外科医生的力是与所述力传感器感知的力成比例的增量。
19.如权利要求12所述的系统,其中所述输入装置是一个提供第一输入位置信号的第一位置传感器和一个提供第二输入位置信号的第二位置传感器,其中所述控制器提供一个供给所述第一输入位置信号的第一比例因子和一个供给所述第二输入位置信号的第二比例因子。
20.如权利要求12所述的系统,其中所述第一关节臂包括一个通过无菌连接器与一个机械臂连接的手术器械。
21.如权利要求20所述的系统,其中所述机械臂被一个无菌袋封闭。
22.如权利要求12所述的系统,其中所述第一关节臂围绕一个位于病人的切口处的转动点转动。
23.如权利要求22所述的系统,其中所述机械臂具有一对钝态的连接点。
24.如权利要求12所述的系统,其中所述控制器具有一个滤去相应于外科医生的手抖动的第一输入指令的滤波器。
25.一种能够通过病人身上的第一切口插入并由外科医生控制的医用机器人系统,包括:
一个具有与插入切口的第一末端操作装置联结的钝态连接点的关节臂,其中该切口为所述第一末端操作装置确定了一个第一转动点;
一个产生相应于外科医生命令的第一输入指令的第一输入装置;和
一个与所述第一输入装置和所述第一关节臂联结的控制器,所述控制器从所述第一输入装置接收所述第一输入指令并提供给所述第一关节臂一个第一输出指令来相对于第一转动点移动所述第一末端操作装置。
26.如权利要求25所述的系统,还包括一个带有第二末端操作装置的第二关节臂,和一个相应于外科医生的命令产生第二输入指令的第二输入装置,所述控制器从所述第二输入装置接收所述第二输入指令并提供给所述第二关节臂一个第二输出指令来相对于位于病人的第二切口处的第二转动点移动所述第二末端操作装置。
27.如权利要求26所述的系统,还包括一个装有内窥镜的第三关节臂,和一个接收外科医生命令并发出相应于该命令的第三输入指令的第三输入装置,所述控制器接收所述第三输入指令并提供给所述第三关节臂一个第三输出指令以围绕位于病人的第三切口处的第三转动点移动内窥镜。
28.如权利要求27所述的系统,其中所述第一输入装置为一个由外科医生操作的主操作手柄。
29.如权利要求25所述的系统,其中所述第一输入装置是由外科医生移动的一个主操作手柄,所述输入装置还具有一个与所述控制器联结的输入键,该输入键用来激活所述第一关节臂使所述第一末端操作装置与所述主操作手柄的移动相配合动作,和使所述第一关节臂不动作,这样当外科医生移动所述主操作手柄时,所述第一末端操作装置保持静止。
30.如权利要求28所述的系统,其中所述第一末端操作装置移动一个与所述主操作手柄的移动成比例的增量。
31.如权利要求25所述的系统,其中所述第一末端操作装置具有一个力传感器,所述第一输入装置具有一个与所述力传感器联结的执行机构,从而施加给外科医生一个相应于所述力传感器感知到的力的力。
32.如权利要求31所述的系统,其中施加给外科医生的力是与所述力传感器感知的力成比例的增量。
33.如权利要求25所述的系统,其中所述第一关节臂包括一个通过无菌连接器与一个机械臂连接的手术器械。
34.如权利要求33所述的系统,其中所述机械臂被一个无菌袋封闭。
35.如权利要求25所述的系统,其中所述机械臂具有一对钝态的连接点。
36.如权利要求25所述的系统,其中所述控制器具有一个滤去相应于外科医生的手抖动的第一输入指令的滤波器。
37.一种允许外科医生在病人身上完成手术的系统,包括:
一个带有第一末端操作装置的第一关节臂;
一个第一输入装置,外科医生能够移动第一输入装置一个第一输入装置空间增量来产生第一输入指令;
一个与所述第一输入装置和所述第一关节臂联结的控制器,所述控制器接收从所述第一输入装置来的所述第一输入指令,并输出一个第一输出指令给所述第一关节臂,从而移动所述第一末端操作装置;和
一个激活所述第一关节臂的第二输入装置,从而使所述第一末端操作装置与所述第一输入装置的移动相配合动作,和使所述第一关节臂不动作,这样当外科医生移动所述第一输入装置时,所述第一末端操作装置保持静止。
38.如权利要求37所述的系统,还包括一个具有第二末端操作装置的第二关节臂,和一个第二输入装置,外科医生能够移动第二输入装置一个第二输入装置空间增量来产生一个第二输入指令,所述第二输入装置具有一个能够由外科医生压下的第二输入键,所述控制器接收从所述第二输入装置发出的所述第二输入指令并提供给所述第二关节臂一个第二输出指令,使得在压下第二输出键时移动所述第二末端操作装置。
39.如权利要求38所述的系统,还包括一个装有内窥镜的第三关节臂,和一个接收外科医生命令并发出相应于该命令的第三输入指令的第三输入装置,所述控制器接收所述第三输入指令并提供给所述第三关节臂一个第三输出指令以移动内窥镜。
40.如权利要求37所述的系统,其中所述第一输入装置包括一个围绕主操作手柄转动点转动的主操作手柄。
41.如权利要求40的系统,其中所述第一输入装置是由外科医生移动的一个主操作手柄,所述输入装置还具有一个与所述控制器联结的输入键,该输入键用来激活所述第一关节臂使所述第一末端操作装置与所述主操作手柄的移动相配合动作,和使所述第一关节臂不动作,这样当外科医生移动所述主操作手柄时,所述第一末端操作装置保持静止。
42.如权利要求37的系统,其中所述第一末端操作装置具有一个力传感器,所述第一输入装置具有一个与所述力传感器联结的执行机构,从而施加给外科医生一个相应于所述力传感器感知到的力的力。
43.如权利要求42的系统,其中施加给外科医生的力是与所述力传感器感知的力成比例的增量。
44.如权利要求40的系统,其中所述第一末端操作装置移动一个与所述主操作手柄的移动成比例的增量。
45.如权利要求37的系统,其中所述第一关节臂包括一个通过无菌连接器与一个机械臂连接的手术器械。
46.如权利要求45所述的系统,其中所述机械臂被一个无菌袋封闭。
47.如权利要求37所述的系统,其中所述第一关节臂围绕位于病人身上的切口转动。
48.如权利要求47所述的系统,其中所述机械臂具有一对钝态的连接点。
49.如权利要求37所述的系统,其中所述控制器具有一个滤去相应于外科医生的手抖动的第一输入指令的滤波器。
50.一种医用机器人系统,包括:
一个机械臂;
一个封闭所述机械臂的无菌袋;
一个插接到所述机械臂中的无菌连接器;
一个插接到所述无菌连接器中的手术器械。
51.如权利要求50所述的系统,其中所述手术器械是一个带有一对指状物的末端操作装置。
52.如权利要求51所述的系统,其中所述无菌连接器包括一个把所述末端操作装置指状物联结到所述机械臂的执行机构上的突起。
53.一种医用机器人系统,包括:
一个机械臂;
一个可转动地连接到该机械臂上的连接器;
一个由所述连接器握持的内窥镜手术器械;和
其中控制器的移动产生一个与机械臂和手术器械的移动成比例的移动。
54.如权利要求53所述的系统,其中所述连接器可拆卸地安装在所述机械臂上。
55.如权利要求53所述的系统,其中所述内窥镜手术器械是一个可关节活动的内窥镜手术器械。
56.如权利要求53所述的系统,其中所述可关节活动手术器械包括一个基部、一个转动关节和一个末端。
57.如权利要求56所述的系统,其中控制器的移动引起可关节活动手术器械的末端相对于可关节活动手术器械的基部的相应的移动。
58.如权利要求53所述的系统,其中所述连接器上形成有一个孔。
59.一种操作供在病人身上进行手术的机器人手术系统的方法,该方法包括:
1)提供一个第一关节臂,一个控制器和一个接收输入指令的输入装置,第一关节臂与控制器电气连接,控制器和输入装置电气连接;
2)在病人身上至少切开一个切口;
3)把一个手术器械连接到第一关节臂上;
4)通过至少一个切口把所述手术器械插入病人体内;
5)根据进行的手术发出一个输入指令来移动所述手术器械,其中所述机械臂根据输入指令移动所述手术器械;和
6)从病人身上移去手术器械。
60.如权利要求59所述的方法,其中在从病人身上移去手术器械之后还包括以下步骤:
1)用一个不同的手术器械替换该手术器械;
2)把所述不同的手术器械插入到病人体内;
3)根据进行的手术发出一个输入指令来移动所述不同的手术器械,其中所述机械臂根据输入指令移动所述不同的手术器械;和
4)从病人身上移去不同的手术器械。
61.如权利要求59所述的方法,其中所述手术器械是一个夹持器。
62.如权利要求59所述的方法,其中所述手术器械是一个切断器。
63.如权利要求59所述的方法,其中所述手术器械是一个烧灼器。
64.如权利要求59所述的方法,其中所述手术器械是一个切割片。
65.如权利要求57所述的系统,其中安装在可关节活动手术器械末端上的工具是一个切断器。
66.如权利要求57所述的系统,其中安装在可关节活动手术器械末端上的工具是一个烧灼器。
67.如权利要求59所述的方法,其中把手术器械安装到接头上的步骤是通过让器械端部穿过接头实现的。
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US08/603,543 | 1996-02-20 | ||
US08/603,543 US5762458A (en) | 1996-02-20 | 1996-02-20 | Method and apparatus for performing minimally invasive cardiac procedures |
US08/755,063 | 1996-10-22 | ||
US08/755,063 US5855583A (en) | 1996-02-20 | 1996-11-22 | Method and apparatus for performing minimally invasive cardiac procedures |
Publications (1)
Publication Number | Publication Date |
---|---|
CN1216454A true CN1216454A (zh) | 1999-05-12 |
Family
ID=27084454
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN97193955A Pending CN1216454A (zh) | 1996-02-20 | 1997-02-19 | 施行最小侵入性心脏手术的方法和装置 |
Country Status (13)
Country | Link |
---|---|
US (9) | US5855583A (zh) |
EP (1) | EP0883376B1 (zh) |
JP (1) | JP2000505328A (zh) |
KR (1) | KR19990087101A (zh) |
CN (1) | CN1216454A (zh) |
AT (1) | ATE323446T1 (zh) |
AU (1) | AU2131897A (zh) |
CA (2) | CA2246713C (zh) |
DE (1) | DE69735708T2 (zh) |
ES (1) | ES2264158T3 (zh) |
IL (1) | IL125822A (zh) |
RU (1) | RU2233626C2 (zh) |
WO (1) | WO1997029690A1 (zh) |
Cited By (37)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1878509B (zh) * | 2003-11-12 | 2010-10-06 | 微型-E测量技术有限及两合公司 | 用于在微创介入时导引末端执行器的促动平台 |
CN101862223A (zh) * | 2010-06-24 | 2010-10-20 | 中国科学院深圳先进技术研究院 | 手术机器人 |
CN101340850B (zh) * | 2005-12-30 | 2011-06-15 | 直观外科手术操作公司 | 外科器械的力和扭矩检测 |
CN101443162B (zh) * | 2006-02-03 | 2011-09-07 | 欧洲原子能共同体由欧洲委员会代表 | 用于实施微创医疗手术的机器人手术系统 |
CN102188230A (zh) * | 2011-06-01 | 2011-09-21 | 广州宝胆医疗器械科技有限公司 | 智能电子胆囊镜系统 |
CN102197989A (zh) * | 2011-06-01 | 2011-09-28 | 广州宝胆医疗器械科技有限公司 | 智能电子膀胱镜系统 |
CN102217926A (zh) * | 2011-06-01 | 2011-10-19 | 广州宝胆医疗器械科技有限公司 | 经自然腔道的智能电子内窥镜系统 |
CN102458295A (zh) * | 2009-05-22 | 2012-05-16 | 加泰罗尼亚理工大学 | 用于腹腔镜手术的机器人系统 |
CN102614019A (zh) * | 2010-12-17 | 2012-08-01 | 伊顿株式会社 | 手术机器人系统及其自适应控制方法 |
CN101389285B (zh) * | 2006-02-22 | 2012-10-03 | 航生医疗公司 | 用于测量工作仪器上的远端力的系统和装置 |
CN102764159A (zh) * | 2005-05-19 | 2012-11-07 | 直观外科手术操作公司 | 用于外科手术及其它应用的软件中心和高度可配置的机器人系统 |
CN102791214A (zh) * | 2010-01-08 | 2012-11-21 | 皇家飞利浦电子股份有限公司 | 采用实时速度优化的不经校准的视觉伺服 |
CN102958454A (zh) * | 2010-06-02 | 2013-03-06 | 康尔福盛2200公司 | 手致动的活动连接外科手术工具 |
CN103370023A (zh) * | 2010-11-22 | 2013-10-23 | 天主教大学基金会,即雷德邦德大学 | 马达系统、马达以及包括它的机械臂装置 |
CN103415266A (zh) * | 2011-03-31 | 2013-11-27 | 奥林巴斯株式会社 | 主操纵器 |
CN103476355A (zh) * | 2011-02-18 | 2013-12-25 | 西门子公司 | 具有锁定功能的关节臂 |
CN103860269A (zh) * | 2012-12-18 | 2014-06-18 | 韩商未来股份有限公司 | 手术机器人的主夹持器结构 |
CN102438795B (zh) * | 2009-02-11 | 2015-01-28 | 伊顿株式会社 | 手术机器人系统及其控制方法 |
CN104605941A (zh) * | 2012-07-03 | 2015-05-13 | 库卡实验仪器有限公司 | 手术器械组、特别是机器人引导的手术器械的传动器组和手术器械 |
CN104783846A (zh) * | 2015-01-22 | 2015-07-22 | 天津手智医疗科技有限责任公司 | 一种采用微创手术智能化器械的手术操作方法 |
CN104883947A (zh) * | 2012-12-20 | 2015-09-02 | 阿瓦特尔拉医药有限公司 | 用于微创外科手术的脱耦的多相机系统 |
CN105050775A (zh) * | 2013-03-15 | 2015-11-11 | 直观外科手术操作公司 | 软件可配置的操纵器自由度 |
CN105208962A (zh) * | 2013-03-15 | 2015-12-30 | 史赛克公司 | 手术机器人臂的端部执行器 |
CN105287015A (zh) * | 2015-11-11 | 2016-02-03 | 天津万和医疗器械有限公司 | 一种计数指示装置及采用该计数指示装置的医疗器械 |
CN105392441A (zh) * | 2013-07-12 | 2016-03-09 | 奥林巴斯株式会社 | 手术辅助机器人 |
CN105395254A (zh) * | 2015-12-22 | 2016-03-16 | 哈尔滨工业大学 | 一种分体式微创手术机器人的控制系统 |
CN105411681A (zh) * | 2015-12-22 | 2016-03-23 | 哈尔滨工业大学 | 分体式微创手术机器人的手眼协调控制系统及方法 |
CN105611894A (zh) * | 2013-08-15 | 2016-05-25 | 直观外科手术操作公司 | 器械无菌适配器驱动特征 |
CN106028994A (zh) * | 2014-02-20 | 2016-10-12 | 直观外科手术操作公司 | 由机器人手臂的手动运动控制的手术安装平台的受限移动 |
CN106457569A (zh) * | 2014-04-10 | 2017-02-22 | 宽射咨询公司 | 机器人系统及操作机器人系统的方法 |
CN107666878A (zh) * | 2015-03-26 | 2018-02-06 | 柯惠Lp公司 | 用于机器人手术系统的输入装置组合件 |
CN108066008A (zh) * | 2017-03-23 | 2018-05-25 | 深圳市罗伯医疗机器人研究所 | 辅助手术的医疗仪器控制方法及系统 |
CN108135667A (zh) * | 2015-10-22 | 2018-06-08 | 柯惠Lp公司 | 用于输入装置的可变扫动 |
CN108366835A (zh) * | 2015-12-10 | 2018-08-03 | 柯惠Lp公司 | 具有独立的侧倾、俯仰和偏摆缩放的机器人外科手术系统 |
CN111843978A (zh) * | 2020-05-29 | 2020-10-30 | 成都博恩思医学机器人有限公司 | 一种器械控制方法 |
CN113907693A (zh) * | 2021-12-10 | 2022-01-11 | 极限人工智能有限公司 | 操作映射比例调整方法、装置、电子设备以及存储介质 |
CN113974848A (zh) * | 2017-06-20 | 2022-01-28 | 威博外科公司 | 用于机器人臂的推车及用于臂的仓或盒装载的方法和装置 |
Families Citing this family (1392)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5417210A (en) * | 1992-05-27 | 1995-05-23 | International Business Machines Corporation | System and method for augmentation of endoscopic surgery |
US6788999B2 (en) | 1992-01-21 | 2004-09-07 | Sri International, Inc. | Surgical system |
US6963792B1 (en) * | 1992-01-21 | 2005-11-08 | Sri International | Surgical method |
US5631973A (en) | 1994-05-05 | 1997-05-20 | Sri International | Method for telemanipulation with telepresence |
US6731988B1 (en) * | 1992-01-21 | 2004-05-04 | Sri International | System and method for remote endoscopic surgery |
US7074179B2 (en) * | 1992-08-10 | 2006-07-11 | Intuitive Surgical Inc | Method and apparatus for performing minimally invasive cardiac procedures |
US5762458A (en) * | 1996-02-20 | 1998-06-09 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive cardiac procedures |
JP2665052B2 (ja) * | 1993-05-14 | 1997-10-22 | エスアールアイ インターナショナル | 遠隔中心位置決め装置 |
US6406472B1 (en) | 1993-05-14 | 2002-06-18 | Sri International, Inc. | Remote center positioner |
US6646541B1 (en) | 1996-06-24 | 2003-11-11 | Computer Motion, Inc. | General purpose distributed operating room control system |
US7053752B2 (en) * | 1996-08-06 | 2006-05-30 | Intuitive Surgical | General purpose distributed operating room control system |
US5649956A (en) * | 1995-06-07 | 1997-07-22 | Sri International | System and method for releasably holding a surgical instrument |
US5814038A (en) * | 1995-06-07 | 1998-09-29 | Sri International | Surgical manipulator for a telerobotic system |
US5855583A (en) * | 1996-02-20 | 1999-01-05 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive cardiac procedures |
US6436107B1 (en) | 1996-02-20 | 2002-08-20 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive surgical procedures |
US5792135A (en) * | 1996-05-20 | 1998-08-11 | Intuitive Surgical, Inc. | Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
US5807377A (en) * | 1996-05-20 | 1998-09-15 | Intuitive Surgical, Inc. | Force-reflecting surgical instrument and positioning mechanism 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 |
US6911916B1 (en) * | 1996-06-24 | 2005-06-28 | The Cleveland Clinic Foundation | Method and apparatus for accessing medical data over a network |
US6929481B1 (en) * | 1996-09-04 | 2005-08-16 | Immersion Medical, Inc. | Interface device and method for interfacing instruments to medical procedure simulation systems |
US7815436B2 (en) * | 1996-09-04 | 2010-10-19 | Immersion Corporation | Surgical simulation interface device and method |
US6364888B1 (en) | 1996-09-09 | 2002-04-02 | Intuitive Surgical, Inc. | Alignment of master and slave in a minimally invasive surgical apparatus |
US6132441A (en) | 1996-11-22 | 2000-10-17 | Computer Motion, Inc. | Rigidly-linked articulating wrist with decoupled motion transmission |
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 |
US6132368A (en) * | 1996-12-12 | 2000-10-17 | Intuitive Surgical, Inc. | Multi-component telepresence system and method |
US8529582B2 (en) | 1996-12-12 | 2013-09-10 | Intuitive Surgical Operations, Inc. | Instrument interface of a robotic surgical system |
US6331181B1 (en) * | 1998-12-08 | 2001-12-18 | Intuitive Surgical, Inc. | Surgical robotic tools, data architecture, and use |
US7666191B2 (en) * | 1996-12-12 | 2010-02-23 | Intuitive Surgical, Inc. | Robotic surgical system with sterile surgical adaptor |
US7727244B2 (en) * | 1997-11-21 | 2010-06-01 | Intuitive Surgical Operation, Inc. | Sterile surgical drape |
US8182469B2 (en) * | 1997-11-21 | 2012-05-22 | Intuitive Surgical Operations, Inc. | Surgical accessory clamp and method |
US6231565B1 (en) * | 1997-06-18 | 2001-05-15 | United States Surgical Corporation | Robotic arm DLUs for performing surgical tasks |
US6434507B1 (en) * | 1997-09-05 | 2002-08-13 | Surgical Navigation Technologies, Inc. | Medical instrument and method for use with computer-assisted image guided surgery |
EP2362285B1 (en) * | 1997-09-19 | 2015-03-25 | Massachusetts Institute of Technology | Robotic apparatus |
US6714839B2 (en) | 1998-12-08 | 2004-03-30 | Intuitive Surgical, Inc. | Master having redundant degrees of freedom |
US6171316B1 (en) | 1997-10-10 | 2001-01-09 | Origin Medsystems, Inc. | Endoscopic surgical instrument for rotational manipulation |
US20030065311A1 (en) * | 1997-12-30 | 2003-04-03 | Yulun Wang | Method and apparatus for performing minimally invasive cardiac procedures |
GB2349730B (en) * | 1998-01-28 | 2003-04-09 | Ht Medical Systems Inc | Interface device and method for interfacing instruments to medical procedure simulation system |
US6045551A (en) | 1998-02-06 | 2000-04-04 | Bonutti; Peter M. | Bone suture |
US8303576B2 (en) * | 1998-02-24 | 2012-11-06 | Hansen Medical, Inc. | Interchangeable surgical instrument |
US7789875B2 (en) * | 1998-02-24 | 2010-09-07 | Hansen Medical, Inc. | Surgical instruments |
US8414598B2 (en) | 1998-02-24 | 2013-04-09 | Hansen Medical, Inc. | Flexible instrument |
US6810281B2 (en) | 2000-12-21 | 2004-10-26 | Endovia Medical, Inc. | Medical mapping system |
US7758569B2 (en) | 1998-02-24 | 2010-07-20 | Hansen Medical, Inc. | Interchangeable surgical instrument |
US7090683B2 (en) * | 1998-02-24 | 2006-08-15 | Hansen Medical, Inc. | Flexible instrument |
US7169141B2 (en) * | 1998-02-24 | 2007-01-30 | Hansen Medical, Inc. | Surgical instrument |
US7297142B2 (en) * | 1998-02-24 | 2007-11-20 | Hansen Medical, Inc. | Interchangeable surgical instrument |
US6860878B2 (en) | 1998-02-24 | 2005-03-01 | Endovia Medical Inc. | Interchangeable instrument |
US20080177285A1 (en) * | 1998-02-24 | 2008-07-24 | Hansen Medical, Inc. | Surgical instrument |
US7775972B2 (en) * | 1998-02-24 | 2010-08-17 | Hansen Medical, Inc. | Flexible instrument |
US7713190B2 (en) * | 1998-02-24 | 2010-05-11 | Hansen Medical, Inc. | Flexible instrument |
US20020095175A1 (en) * | 1998-02-24 | 2002-07-18 | Brock David L. | Flexible instrument |
US7901399B2 (en) * | 1998-02-24 | 2011-03-08 | Hansen Medical, Inc. | Interchangeable surgical instrument |
US6692485B1 (en) | 1998-02-24 | 2004-02-17 | Endovia Medical, Inc. | Articulated apparatus for telemanipulator system |
US6843793B2 (en) | 1998-02-24 | 2005-01-18 | Endovia Medical, Inc. | Surgical instrument |
AU5391999A (en) | 1998-08-04 | 2000-02-28 | Intuitive Surgical, Inc. | Manipulator positioning linkage for robotic surgery |
US6206913B1 (en) | 1998-08-12 | 2001-03-27 | Vascular Innovations, Inc. | Method and system for attaching a graft to a blood vessel |
US6461320B1 (en) * | 1998-08-12 | 2002-10-08 | Cardica, Inc. | Method and system for attaching a graft to a blood vessel |
US6951535B2 (en) | 2002-01-16 | 2005-10-04 | Intuitive Surgical, Inc. | Tele-medicine system that transmits an entire state of a subsystem |
US6398726B1 (en) | 1998-11-20 | 2002-06-04 | Intuitive Surgical, Inc. | Stabilizer for robotic beating-heart surgery |
US6468265B1 (en) | 1998-11-20 | 2002-10-22 | Intuitive Surgical, Inc. | Performing cardiac surgery without cardioplegia |
US6659939B2 (en) * | 1998-11-20 | 2003-12-09 | Intuitive Surgical, Inc. | Cooperative minimally invasive telesurgical system |
US8527094B2 (en) | 1998-11-20 | 2013-09-03 | Intuitive Surgical Operations, Inc. | Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures |
US6852107B2 (en) | 2002-01-16 | 2005-02-08 | Computer Motion, Inc. | Minimally invasive surgical training using robotics and tele-collaboration |
US8600551B2 (en) * | 1998-11-20 | 2013-12-03 | Intuitive Surgical Operations, Inc. | Medical robotic system with operatively couplable simulator unit for surgeon training |
US6493608B1 (en) * | 1999-04-07 | 2002-12-10 | Intuitive Surgical, Inc. | Aspects of a control system of a minimally invasive surgical apparatus |
US6620173B2 (en) | 1998-12-08 | 2003-09-16 | Intuitive Surgical, Inc. | Method for introducing an end effector to a surgical site in minimally invasive surgery |
US7125403B2 (en) * | 1998-12-08 | 2006-10-24 | Intuitive Surgical | In vivo accessories for minimally invasive robotic surgery |
ES2150880B1 (es) * | 1999-01-28 | 2001-08-16 | Univ Malaga | Sistema robotico asistente para cirugia laparoscopica. |
WO2000049960A1 (en) * | 1999-02-26 | 2000-08-31 | Cartesian Research, Inc. | Stereotaxic holders, stereotaxic alignment systems comprising same, and methods for using same |
US6569084B1 (en) * | 1999-03-31 | 2003-05-27 | Olympus Optical Co., Ltd. | Endoscope holder and endoscope device |
US6565554B1 (en) | 1999-04-07 | 2003-05-20 | Intuitive Surgical, Inc. | Friction compensation in a minimally invasive surgical apparatus |
US6424885B1 (en) * | 1999-04-07 | 2002-07-23 | Intuitive Surgical, Inc. | Camera referenced control in a minimally invasive surgical apparatus |
US8944070B2 (en) * | 1999-04-07 | 2015-02-03 | Intuitive Surgical Operations, Inc. | Non-force reflecting method for providing tool force information to a user of a telesurgical system |
DE60029234T2 (de) * | 1999-05-10 | 2007-05-31 | Hansen Medical, Inc., Mountain View | Chirurgisches Instrument |
WO2000069364A2 (en) | 1999-05-18 | 2000-11-23 | Vascular Innovations, Inc. | Implantable medical device such as an anastomosis device |
US7048751B2 (en) * | 2001-12-06 | 2006-05-23 | Cardica, Inc. | Implantable medical device such as an anastomosis device |
AU5150600A (en) * | 1999-05-18 | 2000-12-05 | Vascular Innovations, Inc. | Tissue punch |
US6673088B1 (en) * | 1999-05-18 | 2004-01-06 | Cardica, Inc. | Tissue punch |
US6428550B1 (en) | 1999-05-18 | 2002-08-06 | Cardica, Inc. | Sutureless closure and deployment system for connecting blood vessels |
US6719769B2 (en) | 1999-11-15 | 2004-04-13 | Cardica, Inc. | Integrated anastomosis tool with graft vessel attachment device and cutting device |
US6315184B1 (en) * | 1999-06-02 | 2001-11-13 | Powermed, Inc. | Stapling device for use with an electromechanical driver device for use with anastomosing, stapling, and resecting instruments |
US8025199B2 (en) * | 2004-02-23 | 2011-09-27 | Tyco Healthcare Group Lp | Surgical cutting and stapling device |
US7951071B2 (en) * | 1999-06-02 | 2011-05-31 | Tyco Healthcare Group Lp | Moisture-detecting shaft for use with an electro-mechanical surgical device |
US8229549B2 (en) | 2004-07-09 | 2012-07-24 | Tyco Healthcare Group Lp | Surgical imaging device |
US6793652B1 (en) | 1999-06-02 | 2004-09-21 | Power Medical Interventions, Inc. | Electro-mechanical surgical device |
US7695485B2 (en) | 2001-11-30 | 2010-04-13 | Power Medical Interventions, Llc | Surgical device |
US6626899B2 (en) | 1999-06-25 | 2003-09-30 | Nidus Medical, Llc | Apparatus and methods for treating tissue |
US6610071B1 (en) * | 1999-07-26 | 2003-08-26 | Beth Israel Deaconess Medical Center | Suture system |
US6165185A (en) | 1999-07-28 | 2000-12-26 | Vasconnect, Inc. | Method for interconnecting vessels in a patient |
US6788018B1 (en) * | 1999-08-03 | 2004-09-07 | Intuitive Surgical, Inc. | Ceiling and floor mounted surgical robot set-up arms |
US6447516B1 (en) | 1999-08-09 | 2002-09-10 | Peter M. Bonutti | Method of securing tissue |
US6368343B1 (en) | 2000-03-13 | 2002-04-09 | Peter M. Bonutti | Method of using ultrasonic vibration to secure body tissue |
AU7341800A (en) * | 1999-09-01 | 2001-03-26 | Origin Medsystems, Inc. | Method and apparatus for performing anastomosis |
US7594912B2 (en) | 2004-09-30 | 2009-09-29 | Intuitive Surgical, Inc. | Offset remote center manipulator for robotic surgery |
US9468501B2 (en) | 1999-09-17 | 2016-10-18 | Intuitive Surgical Operations, Inc. | Systems and methods for using the null space to emphasize manipulator joint motion anisotropically |
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 |
US9295525B2 (en) | 1999-09-17 | 2016-03-29 | Intuitive Surgical Operations, Inc. | Phantom degrees of freedom for manipulating the movement of surgical systems |
US7217240B2 (en) * | 1999-10-01 | 2007-05-15 | Intuitive Surgical, Inc. | Heart stabilizer |
US6312435B1 (en) * | 1999-10-08 | 2001-11-06 | Intuitive Surgical, Inc. | Surgical instrument with extended reach for use in minimally invasive surgery |
US6245028B1 (en) * | 1999-11-24 | 2001-06-12 | Marconi Medical Systems, Inc. | Needle biopsy system |
US7635390B1 (en) | 2000-01-14 | 2009-12-22 | Marctec, Llc | Joint replacement component having a modular articulating surface |
US6635073B2 (en) | 2000-05-03 | 2003-10-21 | Peter M. Bonutti | Method of securing body tissue |
US6702821B2 (en) | 2000-01-14 | 2004-03-09 | The Bonutti 2003 Trust A | Instrumentation for minimally invasive joint replacement and methods for using same |
US6558314B1 (en) | 2000-02-11 | 2003-05-06 | Iotek, Inc. | Devices and method for manipulation of organ tissue |
US6663622B1 (en) | 2000-02-11 | 2003-12-16 | Iotek, Inc. | Surgical devices and methods for use in tissue ablation procedures |
US6641604B1 (en) | 2000-02-11 | 2003-11-04 | Iotek, Inc. | Devices and method for manipulation of organ tissue |
US8016855B2 (en) * | 2002-01-08 | 2011-09-13 | Tyco Healthcare Group Lp | Surgical device |
US8932330B2 (en) | 2000-03-13 | 2015-01-13 | P Tech, Llc | Method and device for securing body tissue |
ES2181526B1 (es) * | 2000-03-13 | 2004-04-01 | Universidad De Malaga | Sistema robotico asistente para cirugia laparoscopica. |
US7094251B2 (en) | 2002-08-27 | 2006-08-22 | Marctec, Llc. | Apparatus and method for securing a suture |
US9138222B2 (en) | 2000-03-13 | 2015-09-22 | P Tech, Llc | Method and device for securing body tissue |
US8256430B2 (en) | 2001-06-15 | 2012-09-04 | Monteris Medical, Inc. | Hyperthermia treatment and probe therefor |
EP1309277B1 (en) * | 2000-07-20 | 2008-05-28 | Kinetic Surgical, LLC | Hand-actuated articulating surgical tool |
US6746443B1 (en) | 2000-07-27 | 2004-06-08 | Intuitive Surgical Inc. | Roll-pitch-roll surgical tool |
US6902560B1 (en) | 2000-07-27 | 2005-06-07 | Intuitive Surgical, Inc. | Roll-pitch-roll surgical tool |
US6726699B1 (en) | 2000-08-15 | 2004-04-27 | Computer Motion, Inc. | Instrument guide |
DE60020171T2 (de) | 2000-09-07 | 2006-01-26 | Sherwood Services Ag | Gerät zur behandlung von bandscheiben |
US6860877B1 (en) | 2000-09-29 | 2005-03-01 | Computer Motion, Inc. | Heart stabilizer support arm |
US6776785B1 (en) * | 2000-10-12 | 2004-08-17 | Cardica, Inc. | Implantable superelastic anastomosis device |
US6471713B1 (en) | 2000-11-13 | 2002-10-29 | Cardica, Inc. | System for deploying an anastomosis device and method of performing anastomosis |
WO2002043569A2 (en) * | 2000-11-28 | 2002-06-06 | Intuitive Surgical, Inc. | Endoscopic beating-heart stabilizer and vessel occlusion fastener |
JP4655175B2 (ja) * | 2000-12-19 | 2011-03-23 | ソニー株式会社 | マニピュレータシステム、マスタマニピュレータ、スレーブマニピュレータ及びそれらの制御方法、並びに記録媒体 |
IT1320124B1 (it) * | 2000-12-20 | 2003-11-18 | Faro Spa | Dispositivo perfezionato per gli interventi odontoiatrici. |
US6511423B2 (en) * | 2001-01-17 | 2003-01-28 | Thompson Surgical Instruments, Inc. | Cross bar for a surgical retractor system |
US7105005B2 (en) | 2001-01-29 | 2006-09-12 | Scanlan International, Inc. | Arteriotomy scissors for minimally invasive surgical procedures |
US8414505B1 (en) | 2001-02-15 | 2013-04-09 | Hansen Medical, Inc. | Catheter driver system |
US20030135204A1 (en) * | 2001-02-15 | 2003-07-17 | Endo Via Medical, Inc. | Robotically controlled medical instrument with a flexible section |
US7766894B2 (en) * | 2001-02-15 | 2010-08-03 | Hansen Medical, Inc. | Coaxial catheter system |
AU2002251958A1 (en) * | 2001-02-15 | 2002-09-04 | Brock Rogers Surgical, Inc. | Surgical master/slave system |
US7699835B2 (en) | 2001-02-15 | 2010-04-20 | Hansen Medical, Inc. | Robotically controlled surgical instruments |
US20090182226A1 (en) * | 2001-02-15 | 2009-07-16 | Barry Weitzner | Catheter tracking system |
US6890338B1 (en) * | 2001-02-27 | 2005-05-10 | Origin Medsystems, Inc. | Method and apparatus for performing anastomosis using ring having tines with weak sections |
US8398634B2 (en) * | 2002-04-18 | 2013-03-19 | Intuitive Surgical Operations, Inc. | Wristed robotic surgical tool for pluggable end-effectors |
US6994708B2 (en) * | 2001-04-19 | 2006-02-07 | Intuitive Surgical | Robotic tool with monopolar electro-surgical scissors |
US7824401B2 (en) * | 2004-10-08 | 2010-11-02 | Intuitive Surgical Operations, Inc. | Robotic tool with wristed monopolar electrosurgical end effectors |
DE60227162D1 (de) | 2001-04-20 | 2008-07-31 | Power Med Interventions Inc | Abbildungsvorrichtung |
US20020165524A1 (en) | 2001-05-01 | 2002-11-07 | Dan Sanchez | Pivot point arm for a robotic system used to perform a surgical procedure |
US7202851B2 (en) * | 2001-05-04 | 2007-04-10 | Immersion Medical Inc. | Haptic interface for palpation simulation |
US20040054355A1 (en) * | 2001-05-31 | 2004-03-18 | Intuitive Surgical, Inc. | Tool guide and method for introducing an end effector to a surgical site in minimally invasive surgery |
US20060178556A1 (en) * | 2001-06-29 | 2006-08-10 | Intuitive Surgical, Inc. | Articulate and swapable endoscope for a surgical robot |
US6817974B2 (en) * | 2001-06-29 | 2004-11-16 | Intuitive Surgical, Inc. | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
US20060199999A1 (en) * | 2001-06-29 | 2006-09-07 | Intuitive Surgical Inc. | Cardiac tissue ablation instrument with flexible wrist |
US20040243147A1 (en) * | 2001-07-03 | 2004-12-02 | Lipow Kenneth I. | Surgical robot and robotic controller |
US7056123B2 (en) * | 2001-07-16 | 2006-06-06 | Immersion Corporation | Interface apparatus with cable-driven force feedback and grounded actuators |
US7708741B1 (en) | 2001-08-28 | 2010-05-04 | Marctec, Llc | Method of preparing bones for knee replacement surgery |
US6676684B1 (en) | 2001-09-04 | 2004-01-13 | Intuitive Surgical, Inc. | Roll-pitch-roll-yaw surgical tool |
US6728599B2 (en) | 2001-09-07 | 2004-04-27 | Computer Motion, Inc. | Modularity system for computer assisted surgery |
US6587750B2 (en) | 2001-09-25 | 2003-07-01 | Intuitive Surgical, Inc. | Removable infinite roll master grip handle and touch sensor for robotic surgery |
US10285694B2 (en) | 2001-10-20 | 2019-05-14 | Covidien Lp | Surgical stapler with timer and feedback display |
US7464847B2 (en) | 2005-06-03 | 2008-12-16 | Tyco Healthcare Group Lp | Surgical stapler with timer and feedback display |
US6719765B2 (en) | 2001-12-03 | 2004-04-13 | Bonutti 2003 Trust-A | Magnetic suturing system and method |
US6793653B2 (en) | 2001-12-08 | 2004-09-21 | Computer Motion, Inc. | Multifunctional handle for a medical robotic system |
US9113878B2 (en) | 2002-01-08 | 2015-08-25 | Covidien Lp | Pinion clip for right angle linear cutter |
US8012164B1 (en) | 2002-01-22 | 2011-09-06 | Cardica, Inc. | Method and apparatus for creating an opening in the wall of a tubular vessel |
US7335216B2 (en) * | 2002-01-22 | 2008-02-26 | Cardica, Inc. | Tool for creating an opening in tissue |
US7029482B1 (en) * | 2002-01-22 | 2006-04-18 | Cardica, Inc. | Integrated anastomosis system |
US7008231B2 (en) * | 2002-01-23 | 2006-03-07 | Patrick Pesnell | Catching training apparatus |
US7223274B2 (en) * | 2002-01-23 | 2007-05-29 | Cardica, Inc. | Method of performing anastomosis |
EP1467658A1 (en) * | 2002-01-23 | 2004-10-20 | Iotek, Inc. | Devices for holding a body organ |
EP1478263B1 (en) | 2002-01-30 | 2011-03-09 | Tyco Healthcare Group LP | Surgical imaging device |
US8529956B2 (en) * | 2002-03-18 | 2013-09-10 | Carnell Therapeutics Corporation | Methods and apparatus for manufacturing plasma based plastics and bioplastics produced therefrom |
US8293530B2 (en) * | 2006-10-17 | 2012-10-23 | Carnegie Mellon University | Method and apparatus for manufacturing plasma based plastics and bioplastics produced therefrom |
US20030175410A1 (en) * | 2002-03-18 | 2003-09-18 | Campbell Phil G. | Method and apparatus for preparing biomimetic scaffold |
US20100254900A1 (en) * | 2002-03-18 | 2010-10-07 | Campbell Phil G | Biocompatible polymers and Methods of use |
US9155544B2 (en) | 2002-03-20 | 2015-10-13 | P Tech, Llc | Robotic systems and methods |
US7164968B2 (en) * | 2002-04-05 | 2007-01-16 | The Trustees Of Columbia University In The City Of New York | Robotic scrub nurse |
WO2003090630A2 (en) * | 2002-04-25 | 2003-11-06 | Tyco Healthcare Group, Lp | Surgical instruments including micro-electromechanical systems (mems) |
US7347862B2 (en) * | 2002-05-02 | 2008-03-25 | Layer James H | Apparatus for positioning a medical instrument relative to a patient |
US7674270B2 (en) * | 2002-05-02 | 2010-03-09 | Laparocision, Inc | Apparatus for positioning a medical instrument |
US7041113B2 (en) | 2002-05-07 | 2006-05-09 | Terumo Corporation | Minimal invasive endoscopic methods and apparatus for harvesting blood vessels |
ATE347316T1 (de) | 2002-06-14 | 2006-12-15 | Power Med Interventions Inc | Gerät zum klemmen, schneiden und zusammenheften von gewebe |
AU2003257309A1 (en) * | 2002-08-13 | 2004-02-25 | Microbotics Corporation | Microsurgical robot system |
US20040176751A1 (en) * | 2002-08-14 | 2004-09-09 | Endovia Medical, Inc. | Robotic medical instrument system |
US7331967B2 (en) * | 2002-09-09 | 2008-02-19 | Hansen Medical, Inc. | Surgical instrument coupling mechanism |
ES2382762T3 (es) * | 2002-09-30 | 2012-06-13 | Tyco Healthcare Group Lp | Sistema quirúrgico esterilizable autocontenido |
EP1562491B1 (en) * | 2002-11-19 | 2010-09-22 | J. Donald Hill | Systems and apparatus for performing minimally invasive coronary artery bypass graft surgery |
US7386365B2 (en) | 2004-05-04 | 2008-06-10 | Intuitive Surgical, Inc. | Tool grip calibration for robotic surgery |
EP1575439B1 (en) | 2002-12-06 | 2012-04-04 | Intuitive Surgical, Inc. | Flexible wrist for surgical tool |
US7887542B2 (en) | 2003-01-15 | 2011-02-15 | Biomet Manufacturing Corp. | Method and apparatus for less invasive knee resection |
US7789885B2 (en) | 2003-01-15 | 2010-09-07 | Biomet Manufacturing Corp. | Instrumentation for knee resection |
US7837690B2 (en) | 2003-01-15 | 2010-11-23 | Biomet Manufacturing Corp. | Method and apparatus for less invasive knee resection |
US8551100B2 (en) | 2003-01-15 | 2013-10-08 | Biomet Manufacturing, Llc | Instrumentation for knee resection |
US7230402B2 (en) * | 2003-03-05 | 2007-06-12 | Mitsubishi Denki Kabushiki Kaisha | Swing device of industrial robot |
JP2004298458A (ja) * | 2003-03-31 | 2004-10-28 | Olympus Corp | 立体観察システム |
US7497864B2 (en) | 2003-04-30 | 2009-03-03 | Marctec, Llc. | Tissue fastener and methods for using same |
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 |
US8007511B2 (en) * | 2003-06-06 | 2011-08-30 | Hansen Medical, Inc. | Surgical instrument design |
US7121781B2 (en) | 2003-06-11 | 2006-10-17 | Intuitive Surgical | Surgical instrument with a universal wrist |
US7042184B2 (en) * | 2003-07-08 | 2006-05-09 | Board Of Regents Of The University Of Nebraska | Microrobot for surgical applications |
US7960935B2 (en) | 2003-07-08 | 2011-06-14 | The Board Of Regents Of The University Of Nebraska | Robotic devices with agent delivery components and related methods |
US7126303B2 (en) * | 2003-07-08 | 2006-10-24 | Board Of Regents Of The University Of Nebraska | Robot for surgical applications |
US20070055289A1 (en) * | 2003-08-06 | 2007-03-08 | Scouten Charles W | Digital stereotaxic manipulator with controlled angular displacement and fine-drive mechanism |
US20050096502A1 (en) * | 2003-10-29 | 2005-05-05 | Khalili Theodore M. | Robotic surgical device |
US7488324B1 (en) | 2003-12-08 | 2009-02-10 | Biomet Manufacturing Corporation | Femoral guide for implanting a femoral knee prosthesis |
US20080269784A1 (en) * | 2003-12-24 | 2008-10-30 | Ryan Abbott | Anastomosis device, tools and methods of using |
US7585306B2 (en) * | 2003-12-24 | 2009-09-08 | Maquet Cardiovascular Llc | Anastomosis device, tools and methods of using |
US20050149071A1 (en) * | 2003-12-24 | 2005-07-07 | Ryan Abbott | Anastomosis device, tools and method of using |
DE102004009135B3 (de) * | 2004-02-25 | 2005-12-22 | Siemens Ag | Vorrichtung zur von Hand fernsteuerbaren Navigation einer in einen menschlichen Körper einführbaren Sonde |
US7204168B2 (en) * | 2004-02-25 | 2007-04-17 | The University Of Manitoba | Hand controller and wrist device |
US7556633B2 (en) * | 2004-03-01 | 2009-07-07 | Terumo Corporation | Method and apparatus for endoscopic dissection of blood vessels |
US7974681B2 (en) * | 2004-03-05 | 2011-07-05 | Hansen Medical, Inc. | Robotic catheter system |
WO2005087128A1 (en) | 2004-03-05 | 2005-09-22 | Hansen Medical, Inc. | Robotic catheter system |
US8052636B2 (en) * | 2004-03-05 | 2011-11-08 | Hansen Medical, Inc. | Robotic catheter system and methods |
KR100583250B1 (ko) * | 2004-03-05 | 2006-05-24 | 한국전기연구원 | 개선된 영상 검출 모듈을 갖는 형광 내시경 장치 |
US7976539B2 (en) | 2004-03-05 | 2011-07-12 | Hansen Medical, Inc. | System and method for denaturing and fixing collagenous tissue |
US8021326B2 (en) * | 2004-03-05 | 2011-09-20 | Hansen Medical, Inc. | Instrument driver for robotic catheter system |
US20080039873A1 (en) | 2004-03-09 | 2008-02-14 | Marctec, Llc. | Method and device for securing body tissue |
JP2005292320A (ja) * | 2004-03-31 | 2005-10-20 | Olympus Corp | 画像顕微鏡装置 |
US7379790B2 (en) | 2004-05-04 | 2008-05-27 | Intuitive Surgical, Inc. | Tool memory-based software upgrades for robotic surgery |
US8727987B2 (en) | 2004-05-06 | 2014-05-20 | Nanyang Technological University | Mechanical manipulator for HIFU transducers |
US8162963B2 (en) * | 2004-06-17 | 2012-04-24 | Maquet Cardiovascular Llc | Angled anastomosis device, tools and method of using |
KR100662341B1 (ko) * | 2004-07-09 | 2007-01-02 | 엘지전자 주식회사 | 디스플레이 장치 및 그의 색 재현 방법 |
US8005537B2 (en) * | 2004-07-19 | 2011-08-23 | Hansen Medical, Inc. | Robotically controlled intravascular tissue injection system |
US7979157B2 (en) * | 2004-07-23 | 2011-07-12 | Mcmaster University | Multi-purpose robotic operating system and method |
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 |
US8016835B2 (en) | 2004-08-06 | 2011-09-13 | Depuy Spine, Inc. | Rigidly guided implant placement with control assist |
US8182491B2 (en) * | 2004-08-06 | 2012-05-22 | Depuy Spine, Inc. | Rigidly guided implant placement |
JP2006055273A (ja) * | 2004-08-18 | 2006-03-02 | Olympus Corp | 手術支援システム |
US9261172B2 (en) | 2004-09-30 | 2016-02-16 | Intuitive Surgical Operations, Inc. | Multi-ply strap drive trains for surgical robotic arms |
US10646292B2 (en) | 2004-09-30 | 2020-05-12 | Intuitive Surgical Operations, Inc. | Electro-mechanical strap stack in robotic arms |
WO2006052375A2 (en) * | 2004-10-12 | 2006-05-18 | Kenneth Lipow | Augmented surgical interface |
US20060089646A1 (en) | 2004-10-26 | 2006-04-27 | Bonutti Peter M | Devices and methods for stabilizing tissue and implants |
US9463012B2 (en) | 2004-10-26 | 2016-10-11 | P Tech, Llc | Apparatus for guiding and positioning an implant |
US9271766B2 (en) | 2004-10-26 | 2016-03-01 | P Tech, Llc | Devices and methods for stabilizing tissue and implants |
US9173647B2 (en) | 2004-10-26 | 2015-11-03 | P Tech, Llc | Tissue fixation system |
JP4937136B2 (ja) | 2004-12-28 | 2012-05-23 | パトリック・シー・メルダー | 内視鏡画像システム |
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 |
US20060184166A1 (en) * | 2005-02-16 | 2006-08-17 | Moises Valle | Method and apparatus to automatically insert a probe into a cornea |
US9089323B2 (en) | 2005-02-22 | 2015-07-28 | P Tech, Llc | Device and method for securing body tissue |
US8465474B2 (en) | 2009-05-19 | 2013-06-18 | Intuitive Surgical Operations, Inc. | Cleaning of a surgical instrument force sensor |
US8496647B2 (en) | 2007-12-18 | 2013-07-30 | Intuitive Surgical Operations, Inc. | Ribbed force sensor |
JP2006288751A (ja) * | 2005-04-11 | 2006-10-26 | Olympus Corp | 電動湾曲内視鏡装置 |
US7695479B1 (en) | 2005-04-12 | 2010-04-13 | Biomet Manufacturing Corp. | Femoral sizer |
US20110020779A1 (en) * | 2005-04-25 | 2011-01-27 | University Of Washington | Skill evaluation using spherical motion mechanism |
US7789874B2 (en) * | 2005-05-03 | 2010-09-07 | Hansen Medical, Inc. | Support assembly for robotic catheter system |
US9789608B2 (en) | 2006-06-29 | 2017-10-17 | Intuitive Surgical Operations, Inc. | Synthetic representation of a surgical robot |
US8971597B2 (en) * | 2005-05-16 | 2015-03-03 | Intuitive Surgical Operations, Inc. | Efficient vision and kinematic data fusion for robotic surgical instruments and other applications |
US9492240B2 (en) | 2009-06-16 | 2016-11-15 | Intuitive Surgical Operations, Inc. | Virtual measurement tool for minimally invasive surgery |
US11291443B2 (en) | 2005-06-03 | 2022-04-05 | Covidien Lp | Surgical stapler with timer and feedback display |
EP1937157B1 (en) | 2005-06-03 | 2020-08-05 | Covidien LP | Surgical stapler with timer and feedback display |
WO2007005976A1 (en) | 2005-07-01 | 2007-01-11 | Hansen Medical, Inc. | Robotic catheter system |
EP1907041B1 (en) | 2005-07-11 | 2019-02-20 | Catheter Precision, Inc. | Remotely controlled catheter insertion system |
BRPI0613896A2 (pt) * | 2005-07-26 | 2016-11-16 | Ams Res Corp | conjunto de implante pélvico, e, kit |
CN100345666C (zh) * | 2005-07-28 | 2007-10-31 | 梁四成 | 脑外科手术机器人 |
US7934630B2 (en) | 2005-08-31 | 2011-05-03 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
US7669746B2 (en) | 2005-08-31 | 2010-03-02 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
US8800838B2 (en) | 2005-08-31 | 2014-08-12 | Ethicon Endo-Surgery, Inc. | Robotically-controlled cable-based surgical end effectors |
US9237891B2 (en) | 2005-08-31 | 2016-01-19 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical stapling devices that produce formed staples having different lengths |
US11246590B2 (en) | 2005-08-31 | 2022-02-15 | Cilag Gmbh International | Staple cartridge including staple drivers having different unfired heights |
US11484312B2 (en) | 2005-08-31 | 2022-11-01 | Cilag Gmbh International | Staple cartridge comprising a staple driver arrangement |
US10159482B2 (en) | 2005-08-31 | 2018-12-25 | Ethicon Llc | Fastener cartridge assembly comprising a fixed anvil and different staple heights |
US20070194079A1 (en) | 2005-08-31 | 2007-08-23 | Hueil Joseph C | Surgical stapling device with staple drivers of different height |
US8079950B2 (en) | 2005-09-29 | 2011-12-20 | Intuitive Surgical Operations, Inc. | Autofocus and/or autoscaling in telesurgery |
CN101278244B (zh) * | 2005-10-06 | 2012-05-30 | Abb股份有限公司 | 用于工业机器人的控制系统和示教盒 |
HUE059454T2 (hu) * | 2005-11-02 | 2022-11-28 | Medicaltree Patents Ltd | Beültethetõ infúziós eszköz kitolható és visszahúzható tûvel |
US20070106317A1 (en) | 2005-11-09 | 2007-05-10 | Shelton Frederick E Iv | Hydraulically and electrically actuated articulation joints for surgical instruments |
US20100145146A1 (en) * | 2005-12-28 | 2010-06-10 | Envisionier Medical Technologies, Inc. | Endoscopic digital recording system with removable screen and storage device |
US20070167702A1 (en) * | 2005-12-30 | 2007-07-19 | Intuitive Surgical Inc. | Medical robotic system providing three-dimensional telestration |
US9962066B2 (en) | 2005-12-30 | 2018-05-08 | Intuitive Surgical Operations, Inc. | Methods and apparatus to shape flexible entry guides for minimally invasive surgery |
US7907166B2 (en) * | 2005-12-30 | 2011-03-15 | Intuitive Surgical Operations, Inc. | Stereo telestration for robotic surgery |
US8628518B2 (en) | 2005-12-30 | 2014-01-14 | Intuitive Surgical Operations, Inc. | Wireless force sensor on a distal portion of a surgical instrument and method |
US7930065B2 (en) | 2005-12-30 | 2011-04-19 | Intuitive Surgical Operations, Inc. | Robotic surgery system including position sensors using fiber bragg gratings |
US11278279B2 (en) | 2006-01-31 | 2022-03-22 | Cilag Gmbh International | Surgical instrument assembly |
US8763879B2 (en) | 2006-01-31 | 2014-07-01 | Ethicon Endo-Surgery, Inc. | Accessing data stored in a memory of surgical instrument |
US8820603B2 (en) | 2006-01-31 | 2014-09-02 | Ethicon Endo-Surgery, Inc. | Accessing data stored in a memory of a surgical instrument |
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 |
US20120292367A1 (en) | 2006-01-31 | 2012-11-22 | Ethicon Endo-Surgery, Inc. | Robotically-controlled end effector |
US20110024477A1 (en) | 2009-02-06 | 2011-02-03 | Hall Steven G | Driven Surgical Stapler Improvements |
US8161977B2 (en) | 2006-01-31 | 2012-04-24 | Ethicon Endo-Surgery, Inc. | Accessing data stored in a memory of a surgical instrument |
US11793518B2 (en) | 2006-01-31 | 2023-10-24 | Cilag Gmbh International | Powered surgical instruments with firing system lockout arrangements |
US20110290856A1 (en) | 2006-01-31 | 2011-12-01 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical instrument with force-feedback capabilities |
US11224427B2 (en) | 2006-01-31 | 2022-01-18 | Cilag Gmbh International | Surgical stapling system including a console and retraction assembly |
US9861359B2 (en) | 2006-01-31 | 2018-01-09 | Ethicon Llc | Powered surgical instruments with firing system lockout arrangements |
US7845537B2 (en) | 2006-01-31 | 2010-12-07 | Ethicon Endo-Surgery, Inc. | Surgical instrument having recording capabilities |
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 |
US7967820B2 (en) | 2006-02-07 | 2011-06-28 | P Tech, Llc. | Methods and devices for trauma welding |
US8496657B2 (en) | 2006-02-07 | 2013-07-30 | P Tech, Llc. | Methods for utilizing vibratory energy to weld, stake and/or remove implants |
US11253296B2 (en) | 2006-02-07 | 2022-02-22 | P Tech, Llc | Methods and devices for intracorporeal bonding of implants with thermal energy |
US11278331B2 (en) | 2006-02-07 | 2022-03-22 | P Tech Llc | Method and devices for intracorporeal bonding of implants with thermal energy |
US8219178B2 (en) | 2007-02-16 | 2012-07-10 | Catholic Healthcare West | Method and system for performing invasive medical procedures using a surgical robot |
US10357184B2 (en) | 2012-06-21 | 2019-07-23 | Globus Medical, Inc. | Surgical tool systems and method |
US10893912B2 (en) | 2006-02-16 | 2021-01-19 | Globus Medical Inc. | Surgical tool systems and methods |
US10653497B2 (en) | 2006-02-16 | 2020-05-19 | Globus Medical, Inc. | Surgical tool systems and methods |
US9339278B2 (en) | 2006-02-27 | 2016-05-17 | Biomet Manufacturing, Llc | Patient-specific acetabular guides and associated instruments |
US7780672B2 (en) | 2006-02-27 | 2010-08-24 | Biomet Manufacturing Corp. | Femoral adjustment device and associated method |
US9289253B2 (en) | 2006-02-27 | 2016-03-22 | Biomet Manufacturing, Llc | Patient-specific shoulder guide |
US9173661B2 (en) | 2006-02-27 | 2015-11-03 | Biomet Manufacturing, Llc | Patient specific alignment guide with cutting surface and laser indicator |
US8070752B2 (en) | 2006-02-27 | 2011-12-06 | Biomet Manufacturing Corp. | Patient specific alignment guide and inter-operative adjustment |
US9918740B2 (en) | 2006-02-27 | 2018-03-20 | Biomet Manufacturing, Llc | Backup surgical instrument system and method |
US8407067B2 (en) | 2007-04-17 | 2013-03-26 | Biomet Manufacturing Corp. | Method and apparatus for manufacturing an implant |
US9345548B2 (en) | 2006-02-27 | 2016-05-24 | Biomet Manufacturing, Llc | Patient-specific pre-operative planning |
US8591516B2 (en) | 2006-02-27 | 2013-11-26 | Biomet Manufacturing, Llc | Patient-specific orthopedic instruments |
US9907659B2 (en) | 2007-04-17 | 2018-03-06 | Biomet Manufacturing, Llc | Method and apparatus for manufacturing an implant |
US8603180B2 (en) | 2006-02-27 | 2013-12-10 | Biomet Manufacturing, Llc | Patient-specific acetabular alignment guides |
US20150335438A1 (en) | 2006-02-27 | 2015-11-26 | Biomet Manufacturing, Llc. | Patient-specific augments |
US9113971B2 (en) | 2006-02-27 | 2015-08-25 | Biomet Manufacturing, Llc | Femoral acetabular impingement guide |
US10278711B2 (en) | 2006-02-27 | 2019-05-07 | Biomet Manufacturing, Llc | Patient-specific femoral guide |
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 |
US7794387B2 (en) | 2006-04-26 | 2010-09-14 | Medtronic, Inc. | Methods and devices for stabilizing tissue |
US11246638B2 (en) | 2006-05-03 | 2022-02-15 | P Tech, Llc | Methods and devices for utilizing bondable materials |
ATE472980T1 (de) * | 2006-05-17 | 2010-07-15 | Hansen Medical Inc | Roboterinstrumentensystem |
US7695520B2 (en) | 2006-05-31 | 2010-04-13 | Biomet Manufacturing Corp. | Prosthesis and implementation system |
US9795399B2 (en) | 2006-06-09 | 2017-10-24 | Biomet Manufacturing, Llc | Patient-specific knee alignment guide and associated method |
KR101477121B1 (ko) | 2006-06-13 | 2014-12-29 | 인튜어티브 서지컬 인코포레이티드 | 미소절개 수술 시스템 |
JP2009539509A (ja) * | 2006-06-14 | 2009-11-19 | マクドナルド デットワイラー アンド アソシエイツ インコーポレーテッド | 直角プーリ駆動機構付きの手術マニピュレータ |
CA3068216C (en) * | 2006-06-22 | 2023-03-07 | Board Of Regents Of The University Of Nebraska | Magnetically coupleable robotic devices and related methods |
US9579088B2 (en) * | 2007-02-20 | 2017-02-28 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices for surgical visualization and device manipulation |
US8679096B2 (en) | 2007-06-21 | 2014-03-25 | Board Of Regents Of The University Of Nebraska | Multifunctional operational component for robotic devices |
US8322455B2 (en) | 2006-06-27 | 2012-12-04 | Ethicon Endo-Surgery, Inc. | Manually driven surgical cutting and fastening instrument |
US20090192523A1 (en) | 2006-06-29 | 2009-07-30 | Intuitive Surgical, Inc. | Synthetic representation of a surgical instrument |
US9718190B2 (en) | 2006-06-29 | 2017-08-01 | Intuitive Surgical Operations, Inc. | Tool position and identification indicator displayed in a boundary area of a computer display screen |
US10258425B2 (en) | 2008-06-27 | 2019-04-16 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide |
US10008017B2 (en) | 2006-06-29 | 2018-06-26 | Intuitive Surgical Operations, Inc. | Rendering tool information as graphic overlays on displayed images of tools |
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. |
WO2008015666A2 (en) * | 2006-08-01 | 2008-02-07 | Shaul Shohat | System and method for telesurgery |
US8064683B2 (en) * | 2006-09-27 | 2011-11-22 | Wipro Limited | Vision-controlled system and method thereof |
US10130359B2 (en) | 2006-09-29 | 2018-11-20 | Ethicon Llc | Method for forming a staple |
US20080078802A1 (en) | 2006-09-29 | 2008-04-03 | Hess Christopher J | Surgical staples and stapling instruments |
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 |
US8529961B2 (en) | 2006-10-17 | 2013-09-10 | Carmell Therapeutics Corporation | Methods and apparatus for manufacturing plasma based plastics and bioplastics produced therefrom |
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 |
US20080167662A1 (en) * | 2007-01-08 | 2008-07-10 | Kurtz Anthony D | Tactile feel apparatus for use with robotic operations |
US8459520B2 (en) | 2007-01-10 | 2013-06-11 | Ethicon Endo-Surgery, Inc. | Surgical instrument with wireless communication between control unit and remote sensor |
WO2008086493A2 (en) * | 2007-01-10 | 2008-07-17 | Hansen Medical, Inc. | Robotic catheter system |
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 |
US7954682B2 (en) * | 2007-01-10 | 2011-06-07 | Ethicon Endo-Surgery, Inc. | Surgical instrument with elements to communicate between control unit and end effector |
US11291441B2 (en) | 2007-01-10 | 2022-04-05 | Cilag Gmbh International | Surgical instrument with wireless communication between control unit and remote sensor |
US7900805B2 (en) | 2007-01-10 | 2011-03-08 | Ethicon Endo-Surgery, Inc. | Surgical instrument with enhanced battery performance |
US20080169332A1 (en) | 2007-01-11 | 2008-07-17 | Shelton Frederick E | Surgical stapling device with a curved cutting member |
US11039836B2 (en) | 2007-01-11 | 2021-06-22 | Cilag Gmbh International | Staple cartridge for use with a surgical stapling instrument |
US20080218770A1 (en) * | 2007-02-02 | 2008-09-11 | Hansen Medical, Inc. | Robotic surgical instrument and methods using bragg fiber sensors |
US8617185B2 (en) | 2007-02-13 | 2013-12-31 | P Tech, Llc. | Fixation device |
DE102007006891A1 (de) * | 2007-02-13 | 2008-08-14 | University Of Dundee | Haltevorrichtung für medizinische Zwecke |
US7431188B1 (en) | 2007-03-15 | 2008-10-07 | Tyco Healthcare Group Lp | Surgical stapling apparatus with powered articulation |
US20090001121A1 (en) | 2007-03-15 | 2009-01-01 | Hess Christopher J | Surgical staple having an expandable portion |
US8893946B2 (en) | 2007-03-28 | 2014-11-25 | Ethicon Endo-Surgery, Inc. | Laparoscopic tissue thickness and clamp load measuring devices |
US7950560B2 (en) | 2007-04-13 | 2011-05-31 | Tyco Healthcare Group Lp | Powered surgical instrument |
US20080255413A1 (en) | 2007-04-13 | 2008-10-16 | Michael Zemlok | Powered surgical instrument |
US8800837B2 (en) | 2007-04-13 | 2014-08-12 | Covidien Lp | Powered surgical instrument |
US11259802B2 (en) | 2007-04-13 | 2022-03-01 | Covidien Lp | Powered surgical instrument |
WO2009037576A2 (en) * | 2007-04-16 | 2009-03-26 | The Governors Of The University Of Calgary | Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis |
WO2008131303A2 (en) | 2007-04-20 | 2008-10-30 | Hansen Medical, Inc. | Optical fiber shape sensing systems |
US7823760B2 (en) | 2007-05-01 | 2010-11-02 | Tyco Healthcare Group Lp | Powered surgical stapling device platform |
US7931660B2 (en) | 2007-05-10 | 2011-04-26 | Tyco Healthcare Group Lp | Powered tacker instrument |
DE102007022122B4 (de) | 2007-05-11 | 2019-07-11 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Greifvorrichtung für eine Chirurgie-Roboter-Anordnung |
US7832408B2 (en) * | 2007-06-04 | 2010-11-16 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a directional switching mechanism |
US8534528B2 (en) * | 2007-06-04 | 2013-09-17 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a multiple rate directional switching mechanism |
US8931682B2 (en) | 2007-06-04 | 2015-01-13 | Ethicon Endo-Surgery, Inc. | Robotically-controlled shaft based rotary drive systems for surgical instruments |
US7905380B2 (en) | 2007-06-04 | 2011-03-15 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a multiple rate directional switching mechanism |
US11672531B2 (en) | 2007-06-04 | 2023-06-13 | Cilag Gmbh International | Rotary drive systems for surgical instruments |
AU2008266236B2 (en) * | 2007-06-12 | 2012-04-12 | Avn Medical Technologies, Llc | Airway management |
US8419634B2 (en) | 2007-06-12 | 2013-04-16 | University Hospitals Of Cleveland | Apparatus and method for airway management |
US8460184B2 (en) | 2009-12-11 | 2013-06-11 | University Hospitals Of Cleveland | Airway management |
US8903546B2 (en) | 2009-08-15 | 2014-12-02 | Intuitive Surgical Operations, Inc. | Smooth control of an articulated instrument across areas with different work space conditions |
US9096033B2 (en) * | 2007-06-13 | 2015-08-04 | Intuitive Surgical Operations, Inc. | Surgical system instrument sterile adapter |
US8620473B2 (en) | 2007-06-13 | 2013-12-31 | Intuitive Surgical Operations, Inc. | Medical robotic system with coupled control modes |
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 |
US9089256B2 (en) | 2008-06-27 | 2015-07-28 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide |
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 |
US9469034B2 (en) | 2007-06-13 | 2016-10-18 | Intuitive Surgical Operations, Inc. | Method and system for switching modes of a robotic system |
US8444631B2 (en) * | 2007-06-14 | 2013-05-21 | Macdonald Dettwiler & Associates Inc | Surgical manipulator |
US8408439B2 (en) | 2007-06-22 | 2013-04-02 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument with an articulatable end effector |
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 |
EP3078344B1 (en) | 2007-07-12 | 2020-02-26 | Board of Regents of the University of Nebraska | Actuation in robotic devices |
JP2010536435A (ja) * | 2007-08-15 | 2010-12-02 | ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ | 医療用膨張、取り付けおよび送達装置、ならびに関連する方法 |
CA2695619C (en) * | 2007-08-15 | 2015-11-24 | Board Of Regents Of The University Of Nebraska | Modular and cooperative medical devices and related systems and methods |
JP5357161B2 (ja) * | 2007-09-21 | 2013-12-04 | コヴィディエン リミテッド パートナーシップ | 外科用装置 |
AU2008302039B2 (en) * | 2007-09-21 | 2013-07-18 | Covidien Lp | Surgical device |
US8265949B2 (en) | 2007-09-27 | 2012-09-11 | Depuy Products, Inc. | Customized patient surgical plan |
ES2802126T3 (es) | 2007-09-30 | 2021-01-15 | Depuy Products Inc | Instrumento quirúrgico ortopédico personalizado específico de un paciente |
US8357111B2 (en) | 2007-09-30 | 2013-01-22 | Depuy Products, Inc. | Method and system for designing patient-specific orthopaedic surgical instruments |
JP5011060B2 (ja) * | 2007-10-22 | 2012-08-29 | オリンパスメディカルシステムズ株式会社 | 医療装置 |
US7922063B2 (en) | 2007-10-31 | 2011-04-12 | Tyco Healthcare Group, Lp | Powered surgical instrument |
US8042435B2 (en) * | 2007-11-26 | 2011-10-25 | Thompson Ray P | Special articulating tool holder |
US8561473B2 (en) | 2007-12-18 | 2013-10-22 | Intuitive Surgical Operations, Inc. | Force sensor temperature compensation |
US8400094B2 (en) * | 2007-12-21 | 2013-03-19 | Intuitive Surgical Operations, Inc. | Robotic surgical system with patient support |
WO2009089614A1 (en) * | 2008-01-14 | 2009-07-23 | The University Of Western Ontario | Sensorized medical instrument |
WO2009092059A2 (en) | 2008-01-16 | 2009-07-23 | Catheter Robotics, Inc. | Remotely controlled catheter insertion system |
US7905381B2 (en) | 2008-09-19 | 2011-03-15 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument with cutting member arrangement |
US8540133B2 (en) | 2008-09-19 | 2013-09-24 | Ethicon Endo-Surgery, Inc. | Staple cartridge |
US8561870B2 (en) | 2008-02-13 | 2013-10-22 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument |
US8453908B2 (en) * | 2008-02-13 | 2013-06-04 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument with improved firing trigger arrangement |
US7766209B2 (en) * | 2008-02-13 | 2010-08-03 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument with improved firing trigger arrangement |
US9486292B2 (en) * | 2008-02-14 | 2016-11-08 | Immersion Corporation | Systems and methods for real-time winding analysis for knot detection |
US8459525B2 (en) | 2008-02-14 | 2013-06-11 | Ethicon Endo-Sugery, Inc. | Motorized surgical cutting and fastening instrument having a magnetic drive train torque limiting device |
US8584919B2 (en) | 2008-02-14 | 2013-11-19 | Ethicon Endo-Sugery, Inc. | Surgical stapling apparatus with load-sensitive firing mechanism |
US8657174B2 (en) | 2008-02-14 | 2014-02-25 | Ethicon Endo-Surgery, Inc. | Motorized surgical cutting and fastening instrument having handle based power source |
US7793812B2 (en) | 2008-02-14 | 2010-09-14 | Ethicon Endo-Surgery, Inc. | Disposable motor-driven loading unit for use with a surgical cutting and stapling apparatus |
US8636736B2 (en) | 2008-02-14 | 2014-01-28 | Ethicon Endo-Surgery, Inc. | Motorized surgical cutting and fastening instrument |
US8758391B2 (en) | 2008-02-14 | 2014-06-24 | Ethicon Endo-Surgery, Inc. | Interchangeable tools for surgical instruments |
US9179912B2 (en) | 2008-02-14 | 2015-11-10 | Ethicon Endo-Surgery, Inc. | Robotically-controlled motorized surgical cutting and fastening instrument |
US8573465B2 (en) | 2008-02-14 | 2013-11-05 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical end effector system with rotary actuated closure systems |
US7819298B2 (en) | 2008-02-14 | 2010-10-26 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with control features operable with one hand |
US8622274B2 (en) * | 2008-02-14 | 2014-01-07 | Ethicon Endo-Surgery, Inc. | Motorized cutting and fastening instrument having control circuit for optimizing battery usage |
US7866527B2 (en) | 2008-02-14 | 2011-01-11 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with interlockable firing system |
BRPI0901282A2 (pt) | 2008-02-14 | 2009-11-17 | Ethicon Endo Surgery Inc | instrumento cirúrgico de corte e fixação dotado de eletrodos de rf |
US8752749B2 (en) | 2008-02-14 | 2014-06-17 | Ethicon Endo-Surgery, Inc. | Robotically-controlled disposable motor-driven loading unit |
US10390823B2 (en) | 2008-02-15 | 2019-08-27 | Ethicon Llc | End effector comprising an adjunct |
US11272927B2 (en) | 2008-02-15 | 2022-03-15 | Cilag Gmbh International | Layer arrangements for surgical staple cartridges |
US20090209888A1 (en) * | 2008-02-18 | 2009-08-20 | Seyed Hessam Khatami | Spine Wheel |
KR100961428B1 (ko) * | 2008-02-20 | 2010-06-09 | (주)미래컴퍼니 | 침대 일체형 수술용 로봇 |
US9161817B2 (en) | 2008-03-27 | 2015-10-20 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic catheter system |
US20090248042A1 (en) * | 2008-03-27 | 2009-10-01 | Kirschenman Mark B | Model catheter input device |
US8808164B2 (en) * | 2008-03-28 | 2014-08-19 | Intuitive Surgical Operations, Inc. | Controlling a robotic surgical tool with a display monitor |
US8155479B2 (en) | 2008-03-28 | 2012-04-10 | Intuitive Surgical Operations Inc. | Automated panning and digital zooming for robotic surgical systems |
US7886743B2 (en) * | 2008-03-31 | 2011-02-15 | Intuitive Surgical Operations, Inc. | Sterile drape interface for robotic surgical instrument |
US9049989B2 (en) | 2008-04-11 | 2015-06-09 | Physcient, Inc. | Methods and devices to decrease tissue trauma during surgery |
WO2009126953A2 (en) * | 2008-04-11 | 2009-10-15 | Physcient, Inc. | Methods and devices to decrease tissue trauma during surgery |
AU2009246299B2 (en) * | 2008-05-14 | 2015-02-26 | Physcient, Inc. | Methods and devices to decrease tissue trauma during surgery |
CN102014760B (zh) * | 2008-06-09 | 2013-11-06 | 韩商未来股份有限公司 | 手术机器人的主动接口和驱动方法 |
US8864652B2 (en) | 2008-06-27 | 2014-10-21 | Intuitive Surgical Operations, Inc. | Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip |
US8916134B2 (en) * | 2008-07-11 | 2014-12-23 | Industry-Academic Cooperation Foundation, Yonsei University | Metal nanocomposite, preparation method and use thereof |
US9204923B2 (en) | 2008-07-16 | 2015-12-08 | Intuitive Surgical Operations, Inc. | Medical instrument electronically energized using drive cables |
KR100936928B1 (ko) * | 2008-07-25 | 2010-01-20 | (주)미래컴퍼니 | 수술용 로봇 |
US8728092B2 (en) * | 2008-08-14 | 2014-05-20 | Monteris Medical Corporation | Stereotactic drive system |
US8747418B2 (en) * | 2008-08-15 | 2014-06-10 | Monteris Medical Corporation | Trajectory guide |
US8332072B1 (en) | 2008-08-22 | 2012-12-11 | Titan Medical Inc. | Robotic hand controller |
US10532466B2 (en) * | 2008-08-22 | 2020-01-14 | Titan Medical Inc. | Robotic hand controller |
DE102008041709A1 (de) | 2008-08-29 | 2010-03-04 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Medizinischer Arbeitsplatz und Bedienvorrichtung zum manuellen Bewegen eines Roboterarms eines medizinischen Arbeitsplatzes |
WO2010025338A1 (en) | 2008-08-29 | 2010-03-04 | Corindus Ltd. | Catheter control system and graphical user interface |
DE102008041867B4 (de) | 2008-09-08 | 2015-09-10 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Medizinischer Arbeitsplatz und Bedienvorrichtung zum manuellen Bewegen eines Roboterarms |
PL3476312T3 (pl) | 2008-09-19 | 2024-03-11 | Ethicon Llc | Stapler chirurgiczny z urządzeniem do dopasowania wysokości zszywek |
US9005230B2 (en) | 2008-09-23 | 2015-04-14 | Ethicon Endo-Surgery, Inc. | Motorized surgical instrument |
US9050083B2 (en) | 2008-09-23 | 2015-06-09 | 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 |
US11648005B2 (en) | 2008-09-23 | 2023-05-16 | Cilag Gmbh International | Robotically-controlled motorized surgical instrument with an end effector |
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 |
US8608045B2 (en) | 2008-10-10 | 2013-12-17 | Ethicon Endo-Sugery, Inc. | Powered surgical cutting and stapling apparatus with manually retractable firing system |
KR100944412B1 (ko) | 2008-10-13 | 2010-02-25 | (주)미래컴퍼니 | 수술용 슬레이브 로봇 |
KR101075363B1 (ko) * | 2008-10-31 | 2011-10-19 | 정창욱 | 최소 침습 수술 도구를 포함하는 수술용 로봇 시스템 |
JP5079666B2 (ja) * | 2008-11-19 | 2012-11-21 | 日立建機株式会社 | 双腕型作業機 |
US8317746B2 (en) * | 2008-11-20 | 2012-11-27 | Hansen Medical, Inc. | Automated alignment |
FR2939022B1 (fr) * | 2008-11-28 | 2012-02-17 | Assistance Publique Hopitaux Paris | Dispositif de commande du deplacement d'un instrument chirurgical. |
US8830224B2 (en) * | 2008-12-31 | 2014-09-09 | Intuitive Surgical Operations, Inc. | Efficient 3-D telestration for local robotic proctoring |
DE102009007026A1 (de) * | 2009-02-02 | 2010-08-05 | Kuka Roboter Gmbh | Steuerung und Steuerungsverfahren für einen Manipulator |
US8397971B2 (en) | 2009-02-05 | 2013-03-19 | Ethicon Endo-Surgery, Inc. | Sterilizable surgical instrument |
US8517239B2 (en) | 2009-02-05 | 2013-08-27 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument comprising a magnetic element driver |
US8414577B2 (en) * | 2009-02-05 | 2013-04-09 | Ethicon Endo-Surgery, Inc. | Surgical instruments and components for use in sterile environments |
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 |
US8453907B2 (en) | 2009-02-06 | 2013-06-04 | Ethicon Endo-Surgery, Inc. | Motor driven surgical fastener device with cutting member reversing mechanism |
BRPI1008667A2 (pt) | 2009-02-06 | 2016-03-08 | Ethicom Endo Surgery Inc | aperfeiçoamento do grampeador cirúrgico acionado |
KR101050482B1 (ko) * | 2009-02-20 | 2011-07-20 | 조선대학교산학협력단 | 임플란트 시술 보조 시스템 |
US10070849B2 (en) * | 2009-02-20 | 2018-09-11 | Covidien Lp | Marking articulating direction for surgical instrument |
WO2010099222A1 (en) | 2009-02-24 | 2010-09-02 | P Tech, Llc | Methods and devices for utilizing bondable materials |
CN101823040B (zh) * | 2009-03-05 | 2012-08-22 | 深圳富泰宏精密工业有限公司 | 可调式载具 |
CN102123670B (zh) * | 2009-03-24 | 2014-03-19 | 奥林巴斯医疗株式会社 | 内窥镜处置用机器人系统 |
KR101132659B1 (ko) * | 2009-04-02 | 2012-04-02 | 한국과학기술원 | 4 자유도를 가진 복강경 수술장치 |
FR2943906B1 (fr) | 2009-04-03 | 2013-03-22 | Univ Pierre Et Marie Curie Paris 6 | Instrument chirurgical. |
FR2943907B1 (fr) | 2009-04-03 | 2012-08-03 | Univ Pierre Et Marie Curie Paris 6 | Instrument chirurgical. |
US9402610B2 (en) | 2009-04-13 | 2016-08-02 | Physcient, Inc. | Rib-protecting devices for thoracoscopic surgery, and related methods |
US20100268249A1 (en) * | 2009-04-17 | 2010-10-21 | Microdexterity Systems, Inc. | Surgical system with medical manipulator and sterile barrier |
US20100268250A1 (en) * | 2009-04-17 | 2010-10-21 | Microdexterity Systems, Inc. | Surgical system with medical manipulator and sterile barrier |
US9254123B2 (en) | 2009-04-29 | 2016-02-09 | Hansen Medical, Inc. | Flexible and steerable elongate instruments with shape control and support elements |
JP2010260139A (ja) * | 2009-05-08 | 2010-11-18 | Ntn Corp | 遠隔操作型加工ロボット |
US8333780B1 (en) | 2009-06-05 | 2012-12-18 | Okay Industries, Inc. | Surgical tool and method of operation |
US8821514B2 (en) | 2009-06-08 | 2014-09-02 | Covidien Lp | Powered tack applier |
US9155592B2 (en) * | 2009-06-16 | 2015-10-13 | Intuitive Surgical Operations, Inc. | Virtual measurement tool for minimally invasive surgery |
JP5562583B2 (ja) * | 2009-06-24 | 2014-07-30 | カール シュトルツ ゲゼルシャフト ミット ベシュレンクテル ハフツング ウント コンパニー コマンディートゲゼルシャフト | 医療用ロボットシステム |
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 |
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 |
US8733612B2 (en) | 2009-08-17 | 2014-05-27 | Covidien Lp | Safety method for powered surgical instruments |
WO2011028627A2 (en) * | 2009-08-26 | 2011-03-10 | The Research Foundation Of State University Of New York | System and method for endovascular telerobotic access |
WO2011025818A1 (en) * | 2009-08-26 | 2011-03-03 | Carefusion 2200, Inc. | Articulated surgical tool |
US20110071541A1 (en) | 2009-09-23 | 2011-03-24 | Intuitive Surgical, Inc. | Curved cannula |
US8465476B2 (en) | 2009-09-23 | 2013-06-18 | Intuitive Surgical Operations, Inc. | Cannula mounting fixture |
US8888789B2 (en) | 2009-09-23 | 2014-11-18 | Intuitive Surgical Operations, Inc. | Curved cannula surgical system control |
US8623028B2 (en) | 2009-09-23 | 2014-01-07 | Intuitive Surgical Operations, Inc. | Surgical port feature |
US8141762B2 (en) * | 2009-10-09 | 2012-03-27 | Ethicon Endo-Surgery, Inc. | Surgical stapler comprising a staple pocket |
CN101708129B (zh) * | 2009-11-04 | 2012-05-09 | 温州医学院 | 消化道内窥镜介入治疗遥控操作装置 |
US8521331B2 (en) | 2009-11-13 | 2013-08-27 | Intuitive Surgical Operations, Inc. | Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument |
US8996173B2 (en) | 2010-09-21 | 2015-03-31 | Intuitive Surgical Operations, Inc. | Method and apparatus for hand gesture control in a minimally invasive surgical system |
US8543240B2 (en) * | 2009-11-13 | 2013-09-24 | Intuitive Surgical Operations, Inc. | Master finger tracking device and method of use in a minimally invasive surgical system |
US8935003B2 (en) | 2010-09-21 | 2015-01-13 | Intuitive Surgical Operations | Method and system for hand presence detection in a minimally invasive surgical system |
US8899466B2 (en) | 2009-11-19 | 2014-12-02 | Ethicon Endo-Surgery, Inc. | Devices and methods for introducing a surgical circular stapling instrument into a patient |
EP2509519B1 (en) | 2009-12-11 | 2019-08-07 | Covidien LP | Material removal device having improved material capture efficiency |
CA2784883A1 (en) * | 2009-12-17 | 2011-06-23 | Board Of Regents Of The University Of Nebraska | Modular and cooperative medical devices and related systems and methods |
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 |
US9339341B2 (en) | 2010-02-08 | 2016-05-17 | Intuitive Surgical Operations, Inc. | Direct pull surgical gripper |
US20110201882A1 (en) * | 2010-02-18 | 2011-08-18 | Ai Medical Devices, Inc. | Endotracheal tube exchanger and detachable stylet assembly therefor |
KR101066196B1 (ko) * | 2010-03-15 | 2011-09-20 | 주식회사 이턴 | 싱글포트 수술용 로봇 암 커플러 및 이를 구비한 수술용 로봇 |
US9775642B2 (en) | 2010-05-24 | 2017-10-03 | Conmed Corporation | Devices and methods for automated surgery |
US20110295247A1 (en) * | 2010-05-28 | 2011-12-01 | Hansen Medical, Inc. | System and method for automated minimally invasive therapy using radiometry |
WO2011155411A1 (ja) | 2010-06-10 | 2011-12-15 | オリンパスメディカルシステムズ株式会社 | 内視鏡保持装置 |
US8789740B2 (en) | 2010-07-30 | 2014-07-29 | Ethicon Endo-Surgery, Inc. | Linear cutting and stapling device with selectively disengageable cutting member |
US8672207B2 (en) | 2010-07-30 | 2014-03-18 | Ethicon Endo-Surgery, Inc. | Transwall visualization arrangements and methods for surgical circular staplers |
US8783543B2 (en) | 2010-07-30 | 2014-07-22 | Ethicon Endo-Surgery, Inc. | Tissue acquisition arrangements and methods for surgical stapling devices |
US8968267B2 (en) | 2010-08-06 | 2015-03-03 | Board Of Regents Of The University Of Nebraska | Methods and systems for handling or delivering materials for natural orifice surgery |
US9498107B2 (en) | 2010-08-06 | 2016-11-22 | Carefusion 2200, Inc. | Clamping system |
US8776800B2 (en) | 2010-09-30 | 2014-07-15 | Carefusion 2200, Inc. | Sterile drape having multiple drape interface mechanisms |
WO2012026720A2 (ko) * | 2010-08-27 | 2012-03-01 | 주식회사 이턴 | 외과 수술용 인스트루먼트 |
US8360296B2 (en) | 2010-09-09 | 2013-01-29 | Ethicon Endo-Surgery, Inc. | Surgical stapling head assembly with firing lockout for a surgical stapler |
AU2011302155B2 (en) * | 2010-09-14 | 2015-07-02 | The Johns Hopkins University | Robotic system to augment endoscopes |
US9289212B2 (en) | 2010-09-17 | 2016-03-22 | Ethicon Endo-Surgery, Inc. | Surgical instruments and batteries for surgical instruments |
US8632525B2 (en) | 2010-09-17 | 2014-01-21 | Ethicon Endo-Surgery, Inc. | Power control arrangements for surgical instruments and batteries |
US20120071752A1 (en) | 2010-09-17 | 2012-03-22 | Sewell Christopher M | User interface and method for operating a robotic medical system |
US20120078244A1 (en) | 2010-09-24 | 2012-03-29 | Worrell Barry C | Control features for articulating surgical device |
US9332974B2 (en) | 2010-09-30 | 2016-05-10 | Ethicon Endo-Surgery, Llc | Layered tissue thickness compensator |
US9220501B2 (en) | 2010-09-30 | 2015-12-29 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensators |
US8740883B2 (en) | 2010-09-30 | 2014-06-03 | Carefusion 2200, Inc. | Detachable handle mechanism for use in instrument positioning |
US20120080498A1 (en) | 2010-09-30 | 2012-04-05 | Ethicon Endo-Surgery, Inc. | Curved end effector for a stapling instrument |
US8864009B2 (en) | 2010-09-30 | 2014-10-21 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator for a surgical stapler comprising an adjustable anvil |
US11812965B2 (en) | 2010-09-30 | 2023-11-14 | Cilag Gmbh International | Layer of material for a surgical end effector |
US11849952B2 (en) | 2010-09-30 | 2023-12-26 | Cilag Gmbh International | Staple cartridge comprising staples positioned within a compressible portion thereof |
US8640706B2 (en) | 2010-09-30 | 2014-02-04 | Carefusion 2200, Inc. | Interface mechanism between a drape and a handle |
US9414838B2 (en) | 2012-03-28 | 2016-08-16 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator comprised of a plurality of materials |
US8840003B2 (en) | 2010-09-30 | 2014-09-23 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument with compact articulation control arrangement |
US9314246B2 (en) | 2010-09-30 | 2016-04-19 | Ethicon Endo-Surgery, Llc | Tissue stapler having a thickness compensator incorporating an anti-inflammatory agent |
US11298125B2 (en) | 2010-09-30 | 2022-04-12 | Cilag Gmbh International | Tissue stapler having a thickness compensator |
US9629814B2 (en) | 2010-09-30 | 2017-04-25 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator configured to redistribute compressive forces |
US9364233B2 (en) | 2010-09-30 | 2016-06-14 | Ethicon Endo-Surgery, Llc | Tissue thickness compensators for circular surgical staplers |
US9839420B2 (en) | 2010-09-30 | 2017-12-12 | Ethicon Llc | Tissue thickness compensator comprising at least one medicament |
US10123798B2 (en) | 2010-09-30 | 2018-11-13 | Ethicon Llc | Tissue thickness compensator comprising controlled release and expansion |
US9204880B2 (en) | 2012-03-28 | 2015-12-08 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator comprising capsules defining a low pressure environment |
US9232941B2 (en) | 2010-09-30 | 2016-01-12 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator comprising a reservoir |
US10945731B2 (en) | 2010-09-30 | 2021-03-16 | Ethicon Llc | Tissue thickness compensator comprising controlled release and expansion |
US8893949B2 (en) | 2010-09-30 | 2014-11-25 | Ethicon Endo-Surgery, Inc. | Surgical stapler with floating anvil |
US9307989B2 (en) | 2012-03-28 | 2016-04-12 | Ethicon Endo-Surgery, Llc | Tissue stapler having a thickness compensator incorportating a hydrophobic agent |
CN103140178B (zh) | 2010-09-30 | 2015-09-23 | 伊西康内外科公司 | 包括保持矩阵和对齐矩阵的紧固件系统 |
US9861361B2 (en) | 2010-09-30 | 2018-01-09 | Ethicon Llc | Releasable tissue thickness compensator and fastener cartridge having the same |
US9386988B2 (en) | 2010-09-30 | 2016-07-12 | Ethicon End-Surgery, LLC | Retainer assembly including a tissue thickness compensator |
CA2811235C (en) | 2010-10-01 | 2020-03-10 | Applied Medical Resources Corporation | Portable laparoscopic trainer |
US8695866B2 (en) | 2010-10-01 | 2014-04-15 | Ethicon Endo-Surgery, Inc. | Surgical instrument having a power control circuit |
US10092359B2 (en) | 2010-10-11 | 2018-10-09 | Ecole Polytechnique Federale De Lausanne | Mechanical manipulator for surgical instruments |
US9968376B2 (en) | 2010-11-29 | 2018-05-15 | Biomet Manufacturing, Llc | Patient-specific orthopedic instruments |
US9486189B2 (en) | 2010-12-02 | 2016-11-08 | Hitachi Aloka Medical, Ltd. | Assembly for use with surgery system |
US9364171B2 (en) | 2010-12-22 | 2016-06-14 | Veebot Systems, Inc. | Systems and methods for autonomous intravenous needle insertion |
US9241766B2 (en) * | 2010-12-22 | 2016-01-26 | Intuitive Surgical Operations, Inc. | Alternate instrument removal |
US9119655B2 (en) | 2012-08-03 | 2015-09-01 | Stryker Corporation | Surgical manipulator capable of controlling a surgical instrument in multiple modes |
US9921712B2 (en) | 2010-12-29 | 2018-03-20 | Mako Surgical Corp. | System and method for providing substantially stable control of a surgical tool |
US20120191083A1 (en) | 2011-01-20 | 2012-07-26 | Hansen Medical, Inc. | System and method for endoluminal and translumenal therapy |
JP2012171088A (ja) * | 2011-02-24 | 2012-09-10 | Olympus Corp | マスタ操作入力装置及びマスタスレーブマニピュレータ |
US9241745B2 (en) | 2011-03-07 | 2016-01-26 | Biomet Manufacturing, Llc | Patient-specific femoral version guide |
US8632462B2 (en) | 2011-03-14 | 2014-01-21 | Ethicon Endo-Surgery, Inc. | Trans-rectum universal ports |
JP5796982B2 (ja) | 2011-03-31 | 2015-10-21 | オリンパス株式会社 | 手術用システムの制御装置及び制御方法 |
WO2012131660A1 (en) | 2011-04-01 | 2012-10-04 | Ecole Polytechnique Federale De Lausanne (Epfl) | Robotic system for spinal and other surgeries |
JP6026509B2 (ja) | 2011-04-29 | 2016-11-16 | 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. | ステープルカートリッジ自体の圧縮可能部分内に配置されたステープルを含むステープルカートリッジ |
US9072535B2 (en) | 2011-05-27 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments with rotatable staple deployment arrangements |
US11207064B2 (en) | 2011-05-27 | 2021-12-28 | Cilag Gmbh International | Automated end effector component reloading system for use with a robotic system |
EP3977951B1 (en) | 2011-06-10 | 2023-11-08 | Board of Regents of the University of Nebraska | Surgical end effector |
EP2732344B1 (en) | 2011-07-11 | 2019-06-05 | Board of Regents of the University of Nebraska | Robotic surgical system |
CN103717355B (zh) | 2011-07-27 | 2015-11-25 | 洛桑联邦理工学院 | 用于远程操纵的机械遥控操作装置 |
US20130030363A1 (en) | 2011-07-29 | 2013-01-31 | Hansen Medical, Inc. | Systems and methods utilizing shape sensing fibers |
JP5931497B2 (ja) | 2011-08-04 | 2016-06-08 | オリンパス株式会社 | 手術支援装置およびその組立方法 |
JP6021484B2 (ja) | 2011-08-04 | 2016-11-09 | オリンパス株式会社 | 医療用マニピュレータ |
JP5953058B2 (ja) | 2011-08-04 | 2016-07-13 | オリンパス株式会社 | 手術支援装置およびその着脱方法 |
US9161772B2 (en) | 2011-08-04 | 2015-10-20 | Olympus Corporation | Surgical instrument and medical manipulator |
JP6021353B2 (ja) * | 2011-08-04 | 2016-11-09 | オリンパス株式会社 | 手術支援装置 |
JP6005950B2 (ja) | 2011-08-04 | 2016-10-12 | オリンパス株式会社 | 手術支援装置及びその制御方法 |
JP6081061B2 (ja) | 2011-08-04 | 2017-02-15 | オリンパス株式会社 | 手術支援装置 |
CN103648425B (zh) | 2011-08-04 | 2016-10-19 | 奥林巴斯株式会社 | 医疗用机械手和手术支援装置 |
JP6009840B2 (ja) | 2011-08-04 | 2016-10-19 | オリンパス株式会社 | 医療機器 |
JP6000641B2 (ja) | 2011-08-04 | 2016-10-05 | オリンパス株式会社 | マニピュレータシステム |
EP2740434A4 (en) | 2011-08-04 | 2015-03-18 | Olympus Corp | MEDICAL MANIPULATOR AND CONTROL METHOD THEREOF |
JP5841451B2 (ja) | 2011-08-04 | 2016-01-13 | オリンパス株式会社 | 手術器具およびその制御方法 |
JP5936914B2 (ja) | 2011-08-04 | 2016-06-22 | オリンパス株式会社 | 操作入力装置およびこれを備えるマニピュレータシステム |
US11561762B2 (en) * | 2011-08-21 | 2023-01-24 | Asensus Surgical Europe S.A.R.L. | Vocally actuated surgical control system |
US10866783B2 (en) * | 2011-08-21 | 2020-12-15 | Transenterix Europe S.A.R.L. | Vocally activated surgical control system |
US20130053839A1 (en) * | 2011-08-23 | 2013-02-28 | Robert Hotto | Integrated Suture and Cauterization |
JP5615994B1 (ja) | 2011-08-25 | 2014-10-29 | アンドコントロルEndocontrol | 手術器具用の作動ノブ |
CA2847182C (en) | 2011-09-02 | 2020-02-11 | Stryker Corporation | Surgical instrument including a cutting accessory extending from a housing and actuators that establish the position of the cutting accessory relative to the housing |
US9107663B2 (en) | 2011-09-06 | 2015-08-18 | Ethicon Endo-Surgery, Inc. | Stapling instrument comprising resettable staple drivers |
US9050084B2 (en) | 2011-09-23 | 2015-06-09 | Ethicon Endo-Surgery, Inc. | Staple cartridge including collapsible deck arrangement |
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 |
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 |
CA2852269C (en) | 2011-10-21 | 2022-02-22 | Applied Medical Resources Corporation | Simulated tissue structure for surgical training |
JP5800676B2 (ja) | 2011-10-25 | 2015-10-28 | オリンパス株式会社 | 医療用マニピュレータ |
WO2013063675A1 (en) | 2011-11-04 | 2013-05-10 | Titan Medical Inc. | Apparatus and method for controlling an end-effector assembly |
WO2013063674A1 (en) | 2011-11-04 | 2013-05-10 | Titan Medical Inc. | Apparatus and method for controlling an end-effector assembly |
WO2013096632A1 (en) | 2011-12-20 | 2013-06-27 | Applied Medical Resources Corporation | Advanced surgical simulation |
RU2481073C1 (ru) * | 2011-12-20 | 2013-05-10 | Юрий Иванович Русанов | Устройство выдвижных элементов зажима и их позиционное расположение внутри сферического корпуса многофункциональной диагностико-хирургической робототехнической системы с возможностью информационно-компьютерного управления им. ю.и. русанова |
RU2491161C1 (ru) * | 2012-01-10 | 2013-08-27 | Олег Владимирович Галимов | Роботическая система для мини-инвазивной хирургии |
WO2013106569A2 (en) | 2012-01-10 | 2013-07-18 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices for surgical access and insertion |
BR112014019193B1 (pt) | 2012-02-02 | 2021-06-15 | Great Belief International Limited | Sistema cirúrgico motorizado |
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 |
EP2814644B1 (en) | 2012-02-15 | 2020-06-24 | Intuitive Surgical Operations, Inc. | Switching control of an instrument to an input device upon the instrument entering a display area viewable by an operator of the input device |
MX353040B (es) | 2012-03-28 | 2017-12-18 | Ethicon Endo Surgery Inc | Unidad retenedora que incluye un compensador de grosor de tejido. |
BR112014024098B1 (pt) | 2012-03-28 | 2021-05-25 | Ethicon Endo-Surgery, Inc. | cartucho de grampos |
US9198662B2 (en) | 2012-03-28 | 2015-12-01 | Ethicon Endo-Surgery, Inc. | Tissue thickness compensator having improved visibility |
JP6305979B2 (ja) | 2012-03-28 | 2018-04-04 | エシコン・エンド−サージェリィ・インコーポレイテッドEthicon Endo−Surgery,Inc. | 複数の層を含む組織厚さコンペンセーター |
WO2013159933A1 (de) * | 2012-04-27 | 2013-10-31 | Kuka Laboratories Gmbh | Chirurgierobotersystem und chirurgisches instrument |
EP4357083A2 (en) | 2012-05-01 | 2024-04-24 | Board of Regents of the University of Nebraska | Single site robotic device and related systems and methods |
US20130317519A1 (en) | 2012-05-25 | 2013-11-28 | Hansen Medical, Inc. | Low friction instrument driver interface for robotic systems |
KR102309822B1 (ko) | 2012-06-01 | 2021-10-08 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 멀티포트 수술 로봇 시스템 구조 |
KR102255640B1 (ko) | 2012-06-01 | 2021-05-25 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 수술 시스템용 기구 캐리지 어셈블리 |
CN107212922B (zh) | 2012-06-01 | 2020-06-02 | 直观外科手术操作公司 | 硬件受限的远程中心机器人操纵器的冗余轴线和自由度 |
EP2854687B1 (en) * | 2012-06-01 | 2022-08-24 | Intuitive Surgical Operations, Inc. | Systems for avoiding collisions between manipulator arms using a null-space |
KR102396142B1 (ko) | 2012-06-01 | 2022-05-12 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 수술 기구 매니퓰레이터 양태들 |
JP6291484B2 (ja) | 2012-06-01 | 2018-03-14 | 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 | ゼロ空間を使用して手術用マニピュレータの命令された再構成を取るためのシステム及び方法 |
JP6368710B2 (ja) | 2012-06-01 | 2018-08-01 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | ゼロ空間を使用したマニピュレータアームと患者との衝突回避 |
US9101358B2 (en) | 2012-06-15 | 2015-08-11 | Ethicon Endo-Surgery, Inc. | Articulatable surgical instrument comprising a firing drive |
US11864839B2 (en) | 2012-06-21 | 2024-01-09 | Globus Medical Inc. | Methods of adjusting a virtual implant and related surgical navigation systems |
US11864745B2 (en) | 2012-06-21 | 2024-01-09 | Globus Medical, Inc. | Surgical robotic system with retractor |
US11116576B2 (en) | 2012-06-21 | 2021-09-14 | Globus Medical Inc. | Dynamic reference arrays and methods of use |
US11607149B2 (en) | 2012-06-21 | 2023-03-21 | Globus Medical Inc. | Surgical tool systems and method |
US11857149B2 (en) | 2012-06-21 | 2024-01-02 | Globus Medical, Inc. | Surgical robotic systems with target trajectory deviation monitoring and related methods |
US11317971B2 (en) | 2012-06-21 | 2022-05-03 | Globus Medical, Inc. | Systems and methods related to robotic guidance in surgery |
US11793570B2 (en) | 2012-06-21 | 2023-10-24 | Globus Medical Inc. | Surgical robotic automation with tracking markers |
US10758315B2 (en) | 2012-06-21 | 2020-09-01 | Globus Medical Inc. | Method and system for improving 2D-3D registration convergence |
US11298196B2 (en) | 2012-06-21 | 2022-04-12 | Globus Medical Inc. | Surgical robotic automation with tracking markers and controlled tool advancement |
US10231791B2 (en) | 2012-06-21 | 2019-03-19 | Globus Medical, Inc. | Infrared signal based position recognition system for use with a robot-assisted surgery |
US10136954B2 (en) | 2012-06-21 | 2018-11-27 | Globus Medical, Inc. | Surgical tool systems and method |
US11253327B2 (en) | 2012-06-21 | 2022-02-22 | Globus Medical, Inc. | Systems and methods for automatically changing an end-effector on a surgical robot |
US11399900B2 (en) | 2012-06-21 | 2022-08-02 | Globus Medical, Inc. | Robotic systems providing co-registration using natural fiducials and related methods |
US11857266B2 (en) | 2012-06-21 | 2024-01-02 | Globus Medical, Inc. | System for a surveillance marker in robotic-assisted surgery |
US10624710B2 (en) | 2012-06-21 | 2020-04-21 | Globus Medical, Inc. | System and method for measuring depth of instrumentation |
US11045267B2 (en) | 2012-06-21 | 2021-06-29 | Globus Medical, Inc. | Surgical robotic automation with tracking markers |
WO2013192598A1 (en) | 2012-06-21 | 2013-12-27 | Excelsius Surgical, L.L.C. | Surgical robot platform |
US11395706B2 (en) | 2012-06-21 | 2022-07-26 | Globus Medical Inc. | Surgical robot platform |
US10350013B2 (en) | 2012-06-21 | 2019-07-16 | Globus Medical, Inc. | Surgical tool systems and methods |
EP3680071B1 (en) | 2012-06-22 | 2021-09-01 | Board of Regents of the University of Nebraska | Local control robotic surgical devices |
CN104602638B (zh) | 2012-06-27 | 2017-12-19 | 曼特瑞斯医药有限责任公司 | 用于影响对组织进行治疗的系统 |
US9072536B2 (en) | 2012-06-28 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Differential locking arrangements for rotary powered surgical instruments |
US20140001231A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Firing system lockout arrangements for surgical instruments |
US9101385B2 (en) | 2012-06-28 | 2015-08-11 | Ethicon Endo-Surgery, Inc. | Electrode connections for rotary driven surgical tools |
US20140001234A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Coupling arrangements for attaching surgical end effectors to drive systems therefor |
US9028494B2 (en) | 2012-06-28 | 2015-05-12 | Ethicon Endo-Surgery, Inc. | Interchangeable end effector coupling arrangement |
EP2866686A1 (en) | 2012-06-28 | 2015-05-06 | Ethicon Endo-Surgery, Inc. | Empty clip cartridge lockout |
US11202631B2 (en) | 2012-06-28 | 2021-12-21 | Cilag Gmbh International | Stapling assembly comprising a firing lockout |
US9289256B2 (en) | 2012-06-28 | 2016-03-22 | Ethicon Endo-Surgery, Llc | Surgical end effectors having angled tissue-contacting surfaces |
US9125662B2 (en) | 2012-06-28 | 2015-09-08 | Ethicon Endo-Surgery, Inc. | Multi-axis articulating and rotating surgical tools |
US9561038B2 (en) | 2012-06-28 | 2017-02-07 | Ethicon Endo-Surgery, Llc | Interchangeable clip applier |
US8747238B2 (en) | 2012-06-28 | 2014-06-10 | Ethicon Endo-Surgery, Inc. | Rotary drive shaft assemblies for surgical instruments with articulatable end effectors |
US9649111B2 (en) | 2012-06-28 | 2017-05-16 | Ethicon Endo-Surgery, Llc | Replaceable clip cartridge for a clip applier |
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 |
US9119657B2 (en) | 2012-06-28 | 2015-09-01 | Ethicon Endo-Surgery, Inc. | Rotary actuatable closure arrangement for surgical end effector |
US9204879B2 (en) | 2012-06-28 | 2015-12-08 | Ethicon Endo-Surgery, Inc. | Flexible drive member |
US9603666B2 (en) | 2012-08-02 | 2017-03-28 | Koninklijke Philips N.V. | Controller definition of a robotic remote center of motion |
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 |
US10198965B2 (en) | 2012-08-03 | 2019-02-05 | Applied Medical Resources Corporation | Simulated stapling and energy based ligation for surgical training |
KR102397265B1 (ko) | 2012-08-03 | 2022-05-12 | 스트리커 코포레이션 | 로봇 수술을 위한 시스템 및 방법 |
US9820818B2 (en) | 2012-08-03 | 2017-11-21 | Stryker Corporation | System and method for controlling a surgical manipulator based on implant parameters |
KR101997566B1 (ko) * | 2012-08-07 | 2019-07-08 | 삼성전자주식회사 | 수술 로봇 시스템 및 그 제어방법 |
US9770305B2 (en) | 2012-08-08 | 2017-09-26 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methods |
EP2882331A4 (en) | 2012-08-08 | 2016-03-23 | Univ Nebraska | ROBOTIC SURGICAL DEVICES, SYSTEMS AND CORRESPONDING METHODS |
WO2014028557A1 (en) | 2012-08-15 | 2014-02-20 | Intuitive Surgical Operations, Inc. | Phantom degrees of freedom for manipulating the movement of mechanical bodies |
CN108524001B (zh) | 2012-08-15 | 2021-06-29 | 直观外科手术操作公司 | 利用零空间取消关节运动的系统 |
WO2014028563A1 (en) | 2012-08-15 | 2014-02-20 | Intuitive Surgical Operations, Inc. | Phantom degrees of freedom in joint estimation and control |
CN104717936B (zh) | 2012-08-15 | 2018-01-26 | 直观外科手术操作公司 | 使用者启动的手术安装平台的断开式离合 |
EP3789164A1 (en) | 2012-08-15 | 2021-03-10 | Intuitive Surgical Operations, Inc. | Movable surgical mounting platform controlled by manual motion of robotic arms |
JP5652445B2 (ja) * | 2012-08-31 | 2015-01-14 | 株式会社安川電機 | ロボット |
US10492876B2 (en) | 2012-09-17 | 2019-12-03 | Omniguide, Inc. | Devices and methods for laser surgery |
WO2014052373A1 (en) | 2012-09-26 | 2014-04-03 | Applied Medical Resources Corporation | Surgical training model for laparoscopic procedures |
JP6245531B2 (ja) | 2012-09-27 | 2017-12-13 | アプライド メディカル リソーシーズ コーポレイション | 腹腔鏡下手技用の外科用訓練モデル |
KR102104984B1 (ko) | 2012-09-27 | 2020-04-27 | 어플라이드 메디컬 리소시스 코포레이션 | 복강경 수술들을 위한 수술 트레이닝 모델 |
US10679520B2 (en) | 2012-09-27 | 2020-06-09 | Applied Medical Resources Corporation | Surgical training model for laparoscopic procedures |
CA2885326A1 (en) | 2012-09-28 | 2014-04-03 | Applied Medical Resources Corporation | Surgical training model for laparoscopic procedures |
KR102104985B1 (ko) | 2012-09-28 | 2020-04-27 | 어플라이드 메디컬 리소시스 코포레이션 | 경혈관 복강경 수술들을 위한 수술 트레이닝 모델 |
US9801771B2 (en) | 2012-10-17 | 2017-10-31 | Peter E. Schuerch, JR. | Adjustable position limb support for surgical tables |
US11877962B2 (en) | 2012-10-17 | 2024-01-23 | Peter E. Schuerch, JR. | Adjustable position limb support for surgical tables, including locking gas cylinder |
US10842700B2 (en) | 2012-10-17 | 2020-11-24 | Peter E. Schuerch, JR. | Adjustable position limb support for surgical tables, including quick-connect universal boot mount |
CN108523996B (zh) * | 2012-11-14 | 2021-07-16 | 直观外科手术操作公司 | 用于双控制手术器械的系统和方法 |
US20140148673A1 (en) | 2012-11-28 | 2014-05-29 | Hansen Medical, Inc. | Method of anchoring pullwire directly articulatable region in catheter |
JP6053933B2 (ja) | 2012-11-29 | 2016-12-27 | オリンパス株式会社 | 処置具、マニピュレータシステム、および処置具の作動方法 |
US20140176661A1 (en) | 2012-12-21 | 2014-06-26 | G. Anthony Reina | System and method for surgical telementoring and training with virtualized telestration and haptic holograms, including metadata tagging, encapsulation and saving multi-modal streaming medical imagery together with multi-dimensional [4-d] virtual mesh and multi-sensory annotation in standard file formats used for digital imaging and communications in medicine (dicom) |
US10076377B2 (en) | 2013-01-05 | 2018-09-18 | P Tech, Llc | Fixation systems and methods |
US9333142B2 (en) | 2013-01-29 | 2016-05-10 | Peter E Schuerch, Jr. | Adjustable-position limb and/or instrument support arm for medical tables |
US9386984B2 (en) | 2013-02-08 | 2016-07-12 | Ethicon Endo-Surgery, Llc | Staple cartridge comprising a releasable cover |
US10507066B2 (en) | 2013-02-15 | 2019-12-17 | Intuitive Surgical Operations, Inc. | Providing information of tools by filtering image areas adjacent to or on displayed images of the tools |
US9533121B2 (en) | 2013-02-26 | 2017-01-03 | Catheter Precision, Inc. | Components and methods for accommodating guidewire catheters on a catheter controller system |
US10092292B2 (en) | 2013-02-28 | 2018-10-09 | Ethicon Llc | Staple forming features for surgical stapling instrument |
KR102537277B1 (ko) | 2013-03-01 | 2023-05-30 | 어플라이드 메디컬 리소시스 코포레이션 | 진보된 수술 시뮬레이션 구성물들 및 방법들 |
BR112015021098B1 (pt) | 2013-03-01 | 2022-02-15 | Ethicon Endo-Surgery, Inc | Cobertura para uma junta de articulação e instrumento cirúrgico |
US20140249557A1 (en) | 2013-03-01 | 2014-09-04 | Ethicon Endo-Surgery, Inc. | Thumbwheel switch arrangements for surgical instruments |
JP6345707B2 (ja) | 2013-03-01 | 2018-06-20 | 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. | ソフトストップを備えた外科用器具 |
EP2984535A4 (en) | 2013-03-05 | 2016-10-19 | Olympus Corp | OPERATING ENTRY AND MASTER SLAVE SYSTEM |
US9668814B2 (en) | 2013-03-07 | 2017-06-06 | Hansen Medical, Inc. | Infinitely rotatable tool with finite rotating drive shafts |
US9566414B2 (en) | 2013-03-13 | 2017-02-14 | Hansen Medical, Inc. | Integrated catheter and guide wire controller |
KR102101435B1 (ko) | 2013-03-13 | 2020-04-17 | 스트리커 코포레이션 | 수술 절차들을 위한 준비시 수술실에 대상들을 배치하는 시스템 |
US20140263552A1 (en) | 2013-03-13 | 2014-09-18 | Ethicon Endo-Surgery, Inc. | Staple cartridge tissue thickness sensor system |
CA2897873A1 (en) | 2013-03-13 | 2014-10-09 | Stryker Corporation | Systems and methods for establishing virtual constraint boundaries |
US20140277334A1 (en) | 2013-03-14 | 2014-09-18 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
US11213363B2 (en) | 2013-03-14 | 2022-01-04 | Auris Health, Inc. | Catheter tension sensing |
US9173713B2 (en) | 2013-03-14 | 2015-11-03 | Hansen Medical, Inc. | Torque-based catheter articulation |
WO2014151952A1 (en) | 2013-03-14 | 2014-09-25 | Sri International | Compact robotic wrist |
US9743987B2 (en) | 2013-03-14 | 2017-08-29 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers |
US9888966B2 (en) | 2013-03-14 | 2018-02-13 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to force control surgical systems |
US9326822B2 (en) | 2013-03-14 | 2016-05-03 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
US9498601B2 (en) | 2013-03-14 | 2016-11-22 | Hansen Medical, Inc. | Catheter tension sensing |
US9808244B2 (en) | 2013-03-14 | 2017-11-07 | Ethicon Llc | Sensor arrangements for absolute positioning system for surgical instruments |
US9629629B2 (en) | 2013-03-14 | 2017-04-25 | Ethicon Endo-Surgey, LLC | Control systems for surgical instruments |
US10849702B2 (en) | 2013-03-15 | 2020-12-01 | Auris Health, Inc. | User input devices for controlling manipulation of guidewires and catheters |
US9498291B2 (en) * | 2013-03-15 | 2016-11-22 | Hansen Medical, Inc. | Touch-free catheter user interface controller |
JP6396987B2 (ja) * | 2013-03-15 | 2018-09-26 | エスアールアイ インターナショナルSRI International | 超精巧外科システム |
WO2014146095A1 (en) | 2013-03-15 | 2014-09-18 | Intuitive Surgical Operations, Inc. | System and methods for managing multiple null-space objectives and sli behaviors |
WO2014146090A1 (en) | 2013-03-15 | 2014-09-18 | Intuitive Surgical Operations, Inc. | Inter-operative switching of tools in a robotic surgical system |
EP4154836A1 (en) | 2013-03-15 | 2023-03-29 | Intuitive Surgical Operations, Inc. | System for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement |
US9452018B2 (en) | 2013-03-15 | 2016-09-27 | Hansen Medical, Inc. | Rotational support for an elongate member |
US20140276936A1 (en) | 2013-03-15 | 2014-09-18 | Hansen Medical, Inc. | Active drive mechanism for simultaneous rotation and translation |
US10667883B2 (en) | 2013-03-15 | 2020-06-02 | Virtual Incision Corporation | Robotic surgical devices, systems, and related methods |
US9408669B2 (en) | 2013-03-15 | 2016-08-09 | Hansen Medical, Inc. | Active drive mechanism with finite range of motion |
US20140276647A1 (en) | 2013-03-15 | 2014-09-18 | Hansen Medical, Inc. | Vascular remote catheter manipulator |
EP2969405B1 (en) | 2013-03-15 | 2022-08-24 | Intuitive Surgical Operations, Inc. | Systems for facilitating access to edges of cartesian-coordinate space using the null space |
US9283046B2 (en) | 2013-03-15 | 2016-03-15 | Hansen Medical, Inc. | User interface for active drive apparatus with finite range of motion |
US9332984B2 (en) | 2013-03-27 | 2016-05-10 | Ethicon Endo-Surgery, Llc | Fastener cartridge assemblies |
US9795384B2 (en) | 2013-03-27 | 2017-10-24 | Ethicon Llc | Fastener cartridge comprising a tissue thickness compensator and a gap setting element |
US9572577B2 (en) | 2013-03-27 | 2017-02-21 | Ethicon Endo-Surgery, Llc | Fastener cartridge comprising a tissue thickness compensator including openings therein |
WO2014157479A1 (ja) * | 2013-03-29 | 2014-10-02 | 富士フイルム株式会社 | 内視鏡下外科手術装置 |
CN105188506B (zh) * | 2013-03-29 | 2017-04-12 | 富士胶片株式会社 | 内窥镜下外科手术装置 |
WO2014157480A1 (ja) * | 2013-03-29 | 2014-10-02 | 富士フイルム株式会社 | 内視鏡下外科手術装置 |
US20140303605A1 (en) * | 2013-04-04 | 2014-10-09 | Elwha Llc | Active tremor control in surgical instruments responsive to a particular user |
US9867612B2 (en) | 2013-04-16 | 2018-01-16 | Ethicon Llc | Powered surgical stapler |
BR112015026109B1 (pt) | 2013-04-16 | 2022-02-22 | Ethicon Endo-Surgery, Inc | Instrumento cirúrgico |
AU2014265412B2 (en) | 2013-05-15 | 2018-07-19 | Applied Medical Resources Corporation | Hernia model |
US11020016B2 (en) | 2013-05-30 | 2021-06-01 | Auris Health, Inc. | System and method for displaying anatomy and devices on a movable display |
US9574644B2 (en) | 2013-05-30 | 2017-02-21 | Ethicon Endo-Surgery, Llc | Power module for use with a surgical instrument |
EP3011550B1 (en) | 2013-06-18 | 2018-01-03 | Applied Medical Resources Corporation | Gallbladder model |
KR102206198B1 (ko) * | 2013-07-10 | 2021-01-22 | 삼성전자주식회사 | 수술 로봇 시스템 및 그 제어 방법 |
JP6479790B2 (ja) | 2013-07-17 | 2019-03-06 | ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ | ロボット外科的デバイス、システムおよび関連する方法 |
US10198966B2 (en) | 2013-07-24 | 2019-02-05 | Applied Medical Resources Corporation | Advanced first entry model for surgical simulation |
KR102239454B1 (ko) | 2013-07-24 | 2021-04-13 | 어플라이드 메디컬 리소시스 코포레이션 | 제 1 진입 모델 |
WO2015023840A1 (en) | 2013-08-15 | 2015-02-19 | Intuitive Surgical Operations, Inc. | Instrument sterile adapter drive interface |
CN109512519B (zh) | 2013-08-15 | 2022-03-29 | 直观外科手术操作公司 | 通向器械无菌适配器的致动器接口 |
CN105611892B (zh) | 2013-08-15 | 2019-02-19 | 直观外科手术操作公司 | 机器人器械从动元件 |
CN105744909B (zh) | 2013-08-15 | 2019-05-10 | 直观外科手术操作公司 | 具有单次使用的端部和集成的端部覆盖物的可重复使用的手术器械 |
US10076348B2 (en) | 2013-08-15 | 2018-09-18 | Intuitive Surgical Operations, Inc. | Rotary input for lever actuation |
JP6426181B2 (ja) | 2013-08-15 | 2018-11-21 | 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 | 可変器具予荷重機構コントローラ |
US10550918B2 (en) | 2013-08-15 | 2020-02-04 | Intuitive Surgical Operations, Inc. | Lever actuated gimbal plate |
EP3708105B1 (en) | 2013-08-15 | 2022-02-09 | Intuitive Surgical Operations, Inc. | Preloaded surgical instrument interface |
US9775609B2 (en) | 2013-08-23 | 2017-10-03 | Ethicon Llc | Tamper proof circuit for surgical instrument battery pack |
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 |
US9724493B2 (en) | 2013-08-27 | 2017-08-08 | Catheter Precision, Inc. | Components and methods for balancing a catheter controller system with a counterweight |
US9993614B2 (en) | 2013-08-27 | 2018-06-12 | Catheter Precision, Inc. | Components for multiple axis control of a catheter in a catheter positioning system |
KR102306959B1 (ko) * | 2013-09-04 | 2021-10-01 | 삼성전자주식회사 | 수술 로봇 및 수술 로봇 제어 방법 |
US9750577B2 (en) | 2013-09-06 | 2017-09-05 | Catheter Precision, Inc. | Single hand operated remote controller for remote catheter positioning system |
US9999751B2 (en) | 2013-09-06 | 2018-06-19 | Catheter Precision, Inc. | Adjustable nose cone for a catheter positioning system |
US20140171986A1 (en) | 2013-09-13 | 2014-06-19 | Ethicon Endo-Surgery, Inc. | Surgical Clip Having Comliant Portion |
US9700698B2 (en) | 2013-09-27 | 2017-07-11 | Catheter Precision, Inc. | Components and methods for a catheter positioning system with a spreader and track |
US9795764B2 (en) | 2013-09-27 | 2017-10-24 | Catheter Precision, Inc. | Remote catheter positioning system with hoop drive assembly |
US9283048B2 (en) | 2013-10-04 | 2016-03-15 | KB Medical SA | Apparatus and systems for precise guidance of surgical tools |
US9737373B2 (en) * | 2013-10-24 | 2017-08-22 | Auris Surgical Robotics, Inc. | Instrument device manipulator and surgical drape |
WO2015061756A1 (en) | 2013-10-24 | 2015-04-30 | Auris Surgical Robotics, Inc. | System for robotic-assisted endolumenal surgery and related methods |
EP3578119B1 (en) | 2013-12-11 | 2021-03-17 | Covidien LP | Wrist and jaw assemblies for robotic surgical systems |
US20150173756A1 (en) | 2013-12-23 | 2015-06-25 | Ethicon Endo-Surgery, Inc. | Surgical cutting and stapling methods |
US9724092B2 (en) | 2013-12-23 | 2017-08-08 | Ethicon Llc | Modular surgical instruments |
US9687232B2 (en) | 2013-12-23 | 2017-06-27 | Ethicon Llc | Surgical staples |
US9839428B2 (en) | 2013-12-23 | 2017-12-12 | Ethicon Llc | Surgical cutting and stapling instruments with independent jaw control features |
WO2015107099A1 (en) | 2014-01-15 | 2015-07-23 | KB Medical SA | Notched apparatus for guidance of an insertable instrument along an axis during spinal surgery |
EP3102118A4 (en) | 2014-02-06 | 2018-01-10 | Faculty Physicians and Surgeons of Loma Linda University School of Medicine | Methods and devices for performing abdominal surgery |
EP3104803B1 (en) | 2014-02-11 | 2021-09-15 | KB Medical SA | Sterile handle for controlling a robotic surgical system from a sterile field |
US9962161B2 (en) | 2014-02-12 | 2018-05-08 | Ethicon Llc | Deliverable surgical instrument |
CN106232029B (zh) | 2014-02-24 | 2019-04-12 | 伊西康内外科有限责任公司 | 包括击发构件锁定件的紧固系统 |
US9839422B2 (en) | 2014-02-24 | 2017-12-12 | Ethicon Llc | Implantable layers and methods for altering implantable layers for use with surgical fastening instruments |
GB2523224C2 (en) * | 2014-03-07 | 2021-06-02 | Cambridge Medical Robotics Ltd | Surgical arm |
CN106102636B (zh) | 2014-03-17 | 2020-04-07 | 直观外科手术操作公司 | 在模式转变中抑制振动的命令整形 |
EP3119340B1 (en) | 2014-03-17 | 2019-11-13 | Intuitive Surgical Operations, Inc. | Methods and devices for table pose tracking using fiducial markers |
EP3119338B1 (en) | 2014-03-17 | 2020-05-06 | Intuitive Surgical Operations, Inc. | Automatic push-out to avoid range of motion limits |
KR102374441B1 (ko) | 2014-03-17 | 2022-03-15 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 원격조작 수술 시스템 및 역기구학을 이용한 조인트 한계에서의 제어 방법 |
CN106102632B (zh) | 2014-03-17 | 2019-06-14 | 直观外科手术操作公司 | 在程序中重启期间修复器械控制输入方位/定向 |
US10675113B2 (en) | 2014-03-18 | 2020-06-09 | Monteris Medical Corporation | Automated therapy of a three-dimensional tissue region |
US20150265353A1 (en) | 2014-03-18 | 2015-09-24 | Monteris Medical Corporation | Image-guided therapy of a tissue |
US9486170B2 (en) | 2014-03-18 | 2016-11-08 | Monteris Medical Corporation | Image-guided therapy of a tissue |
EP2923669B1 (en) | 2014-03-24 | 2017-06-28 | Hansen Medical, Inc. | Systems and devices for catheter driving instinctiveness |
US9913642B2 (en) | 2014-03-26 | 2018-03-13 | Ethicon Llc | Surgical instrument comprising a sensor system |
US9750499B2 (en) | 2014-03-26 | 2017-09-05 | Ethicon Llc | Surgical stapling instrument system |
US9820738B2 (en) | 2014-03-26 | 2017-11-21 | Ethicon Llc | Surgical instrument comprising interactive systems |
AU2015235994B2 (en) | 2014-03-26 | 2019-11-21 | Applied Medical Resources Corporation | Simulated dissectible tissue |
US9826977B2 (en) | 2014-03-26 | 2017-11-28 | Ethicon Llc | Sterilization verification circuit |
BR112016021943B1 (pt) | 2014-03-26 | 2022-06-14 | Ethicon Endo-Surgery, Llc | Instrumento cirúrgico para uso por um operador em um procedimento cirúrgico |
KR102455799B1 (ko) | 2014-03-31 | 2022-10-18 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 시프트 가능한 트랜스미션을 가진 수술 기구 |
EP3125812B1 (en) | 2014-04-01 | 2019-01-23 | Intuitive Surgical Operations, Inc. | Control input accuracy for teleoperated surgical instrument |
US20150297223A1 (en) | 2014-04-16 | 2015-10-22 | Ethicon Endo-Surgery, Inc. | Fastener cartridges including extensions having different configurations |
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 |
US9801628B2 (en) | 2014-09-26 | 2017-10-31 | Ethicon Llc | Surgical staple and driver arrangements for staple cartridges |
CN106456158B (zh) | 2014-04-16 | 2019-02-05 | 伊西康内外科有限责任公司 | 包括非一致紧固件的紧固件仓 |
US10299792B2 (en) | 2014-04-16 | 2019-05-28 | Ethicon Llc | Fastener cartridge comprising non-uniform fasteners |
BR112016023807B1 (pt) | 2014-04-16 | 2022-07-12 | Ethicon Endo-Surgery, Llc | Conjunto de cartucho de prendedores para uso com um instrumento cirúrgico |
US10046140B2 (en) | 2014-04-21 | 2018-08-14 | Hansen Medical, Inc. | Devices, systems, and methods for controlling active drive systems |
CN106659537B (zh) | 2014-04-24 | 2019-06-11 | Kb医疗公司 | 结合机器人手术系统使用的手术器械固持器 |
WO2015175218A1 (en) * | 2014-05-13 | 2015-11-19 | Covidien Lp | Surgical robotic arm support systems and methods of use |
US10569052B2 (en) | 2014-05-15 | 2020-02-25 | Auris Health, Inc. | Anti-buckling mechanisms for catheters |
US10045781B2 (en) | 2014-06-13 | 2018-08-14 | Ethicon Llc | Closure lockout systems for surgical instruments |
US10792464B2 (en) | 2014-07-01 | 2020-10-06 | Auris Health, Inc. | Tool and method for using surgical endoscope with spiral lumens |
US9561083B2 (en) | 2014-07-01 | 2017-02-07 | Auris Surgical Robotics, Inc. | Articulating flexible endoscopic tool with roll capabilities |
CN107072673A (zh) | 2014-07-14 | 2017-08-18 | Kb医疗公司 | 用于在骨组织中制备孔的防滑手术器械 |
US10251717B2 (en) | 2014-08-01 | 2019-04-09 | Intuitive Surgical Operations, Inc. | Damping a telesurgical system |
US10058395B2 (en) | 2014-08-01 | 2018-08-28 | Intuitive Surgical Operations, Inc. | Active and semi-active damping in a telesurgical system |
CN106659538B (zh) | 2014-08-13 | 2019-05-10 | 柯惠Lp公司 | 机器人控制的具有机械优势的夹持 |
JP6560338B2 (ja) | 2014-08-15 | 2019-08-14 | 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 | 可変入口ガイド構成を有する外科用システム |
EP3182921B1 (en) * | 2014-08-22 | 2024-01-03 | Intuitive Surgical Operations, Inc. | Systems and methods for adaptive input mapping |
US11311294B2 (en) | 2014-09-05 | 2022-04-26 | Cilag Gmbh International | Powered medical device including measurement of closure state of jaws |
US10016199B2 (en) | 2014-09-05 | 2018-07-10 | Ethicon Llc | Polarity of hall magnet to identify cartridge type |
BR112017004361B1 (pt) | 2014-09-05 | 2023-04-11 | Ethicon Llc | Sistema eletrônico para um instrumento cirúrgico |
CA2961213A1 (en) | 2014-09-12 | 2016-03-17 | Board Of Regents Of The University Of Nebraska | Quick-release end effectors and related systems and methods |
US10105142B2 (en) | 2014-09-18 | 2018-10-23 | Ethicon Llc | Surgical stapler with plurality of cutting elements |
US11523821B2 (en) | 2014-09-26 | 2022-12-13 | Cilag Gmbh International | Method for creating a flexible staple line |
BR112017005981B1 (pt) | 2014-09-26 | 2022-09-06 | Ethicon, Llc | Material de escora para uso com um cartucho de grampos cirúrgicos e cartucho de grampos cirúrgicos para uso com um instrumento cirúrgico |
US20170296040A1 (en) * | 2014-09-30 | 2017-10-19 | Riverfield Inc. | Adapter component set |
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 |
CN107072732B (zh) | 2014-10-23 | 2019-07-05 | 柯惠Lp公司 | 用于机器人手术器械的驱动单元和齿条铺单 |
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 |
WO2016069998A1 (en) * | 2014-10-30 | 2016-05-06 | Intuitive Surgical Operations, Inc. | System and method for articulated arm stabilization |
US9844376B2 (en) | 2014-11-06 | 2017-12-19 | Ethicon Llc | Staple cartridge comprising a releasable adjunct material |
EP4286104A3 (en) | 2014-11-11 | 2024-02-14 | Board of Regents of the University of Nebraska | Robotic device with compact joint design and related systems and methods |
JP6754359B2 (ja) | 2014-11-13 | 2020-09-09 | アプライド メディカル リソーシーズ コーポレイション | 模擬組織モデルおよび方法 |
US10736636B2 (en) | 2014-12-10 | 2020-08-11 | Ethicon Llc | Articulatable surgical instrument 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 |
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 |
US9987000B2 (en) | 2014-12-18 | 2018-06-05 | Ethicon Llc | Surgical instrument assembly comprising a flexible articulation system |
US9943309B2 (en) | 2014-12-18 | 2018-04-17 | Ethicon Llc | Surgical instruments with articulatable end effectors and movable firing beam support arrangements |
US9844375B2 (en) | 2014-12-18 | 2017-12-19 | Ethicon Llc | Drive arrangements for articulatable surgical instruments |
US10085748B2 (en) | 2014-12-18 | 2018-10-02 | Ethicon Llc | Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors |
US10117649B2 (en) | 2014-12-18 | 2018-11-06 | Ethicon Llc | Surgical instrument assembly comprising a lockable articulation system |
DK3653145T3 (da) | 2014-12-19 | 2024-04-15 | Distalmotion Sa | Genanvendeligt kirurgisk instrument til minimalinvasive procedurer |
WO2016097871A1 (en) | 2014-12-19 | 2016-06-23 | Distalmotion Sa | Docking system for mechanical telemanipulator |
WO2016097873A2 (en) | 2014-12-19 | 2016-06-23 | Distalmotion Sa | Articulated handle for mechanical telemanipulator |
EP3232951B1 (en) | 2014-12-19 | 2023-10-25 | DistalMotion SA | Surgical instrument with articulated end-effector |
EP3232973B1 (en) | 2014-12-19 | 2020-04-01 | DistalMotion SA | Sterile interface for articulated surgical instruments |
US10013808B2 (en) | 2015-02-03 | 2018-07-03 | Globus Medical, Inc. | Surgeon head-mounted display apparatuses |
WO2016125385A1 (ja) * | 2015-02-06 | 2016-08-11 | オリンパス株式会社 | 医療用マニピュレータシステム |
US10555782B2 (en) | 2015-02-18 | 2020-02-11 | Globus Medical, Inc. | Systems and methods for performing minimally invasive spinal surgery with a robotic surgical system using a percutaneous technique |
CA2975907C (en) * | 2015-02-19 | 2023-10-10 | Covidien Lp | Repositioning method of input device for robotic surgical system |
KR102542516B1 (ko) | 2015-02-19 | 2023-06-13 | 어플라이드 메디컬 리소시스 코포레이션 | 시뮬레이션된 조직 구조체들 및 방법들 |
KR102602379B1 (ko) | 2015-02-20 | 2023-11-16 | 스트리커 코포레이션 | 멸균 차단 조립체, 장착 시스템, 및 수술용 구성 요소들을 결합하기 위한 방법 |
US10226250B2 (en) | 2015-02-27 | 2019-03-12 | Ethicon Llc | Modular stapling assembly |
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 |
US9931118B2 (en) | 2015-02-27 | 2018-04-03 | Ethicon Endo-Surgery, Llc | Reinforced battery for a surgical instrument |
US11154301B2 (en) | 2015-02-27 | 2021-10-26 | Cilag Gmbh International | Modular stapling assembly |
US10687806B2 (en) | 2015-03-06 | 2020-06-23 | Ethicon Llc | Adaptive tissue compression techniques to adjust closure rates for multiple tissue types |
JP2020121162A (ja) | 2015-03-06 | 2020-08-13 | エシコン エルエルシーEthicon LLC | 測定の安定性要素、クリープ要素、及び粘弾性要素を決定するためのセンサデータの時間依存性評価 |
US9901342B2 (en) | 2015-03-06 | 2018-02-27 | Ethicon Endo-Surgery, Llc | Signal and power communication system positioned on a rotatable shaft |
US9993248B2 (en) | 2015-03-06 | 2018-06-12 | Ethicon Endo-Surgery, Llc | Smart sensors with local signal processing |
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 |
US9808246B2 (en) | 2015-03-06 | 2017-11-07 | Ethicon Endo-Surgery, Llc | Method of operating a powered surgical instrument |
US10045776B2 (en) | 2015-03-06 | 2018-08-14 | Ethicon Llc | Control techniques and sub-processor contained within modular shaft with select control processing from handle |
US9895148B2 (en) | 2015-03-06 | 2018-02-20 | Ethicon Endo-Surgery, Llc | Monitoring speed control and precision incrementing of motor for powered surgical instruments |
US10245033B2 (en) | 2015-03-06 | 2019-04-02 | Ethicon Llc | Surgical instrument comprising a lockable battery housing |
US10617412B2 (en) | 2015-03-06 | 2020-04-14 | Ethicon Llc | System for detecting the mis-insertion of a staple cartridge into a surgical stapler |
US9924961B2 (en) | 2015-03-06 | 2018-03-27 | Ethicon Endo-Surgery, Llc | Interactive feedback system for powered surgical instruments |
US10441279B2 (en) | 2015-03-06 | 2019-10-15 | Ethicon Llc | Multiple level thresholds to modify operation of powered surgical instruments |
AU2016229897B2 (en) | 2015-03-10 | 2020-07-16 | Covidien Lp | Measuring health of a connector member of a robotic surgical system |
CN107427333A (zh) * | 2015-03-25 | 2017-12-01 | 索尼奥林巴斯医疗解决方案公司 | 医疗用观察装置、手术用观察装置和医疗用观察系统 |
US10213201B2 (en) | 2015-03-31 | 2019-02-26 | Ethicon Llc | Stapling end effector configured to compensate for an uneven gap between a first jaw and a second jaw |
US10327830B2 (en) | 2015-04-01 | 2019-06-25 | Monteris Medical Corporation | Cryotherapy, thermal therapy, temperature modulation therapy, and probe apparatus therefor |
US10363055B2 (en) | 2015-04-09 | 2019-07-30 | Distalmotion Sa | Articulated hand-held instrument |
EP3280343A1 (en) | 2015-04-09 | 2018-02-14 | DistalMotion SA | Mechanical teleoperated device for remote manipulation |
WO2016164824A1 (en) * | 2015-04-09 | 2016-10-13 | Auris Surgical Robotics, Inc. | Surgical system with configurable rail-mounted mechanical arms |
GB2538497B (en) | 2015-05-14 | 2020-10-28 | Cmr Surgical Ltd | Torque sensing in a surgical robotic wrist |
JP2018514805A (ja) | 2015-05-14 | 2018-06-07 | アプライド メディカル リソーシーズ コーポレイション | 電気手術トレーニングおよびシミュレーション用の合成組織構造 |
WO2016187054A1 (en) * | 2015-05-15 | 2016-11-24 | Auris Surgical Robotics, Inc. | Surgical robotics system |
CN107249491A (zh) | 2015-06-01 | 2017-10-13 | 奥林巴斯株式会社 | 医疗用机械手 |
CN107666866A (zh) | 2015-06-03 | 2018-02-06 | 柯惠Lp公司 | 偏置器械驱动单元 |
EP3308370B1 (en) | 2015-06-09 | 2022-08-03 | Applied Medical Resources Corporation | Hysterectomy model |
CN113397709A (zh) | 2015-06-10 | 2021-09-17 | 直观外科手术操作公司 | 当错开时的主从取向映射 |
CN112294439A (zh) | 2015-06-16 | 2021-02-02 | 柯惠Lp公司 | 机器人外科手术系统扭矩传感感测 |
US10368861B2 (en) | 2015-06-18 | 2019-08-06 | Ethicon Llc | Dual articulation drive system arrangements for articulatable surgical instruments |
CN107820412B (zh) | 2015-06-23 | 2021-01-15 | 柯惠Lp公司 | 机器人手术组合件 |
CN107690319B (zh) | 2015-07-07 | 2021-01-15 | 直观外科手术操作公司 | 多个设备的控制 |
DE102015009048B3 (de) | 2015-07-13 | 2016-08-18 | Kuka Roboter Gmbh | Steuern eines nachgiebig geregelten Roboters |
EP3323122B1 (en) | 2015-07-16 | 2020-09-02 | Applied Medical Resources Corporation | Simulated dissectable tissue |
EP3932359A1 (en) * | 2015-07-17 | 2022-01-05 | DEKA Products Limited Partnership | Robotic surgery system, method, and apparatus |
KR102646090B1 (ko) | 2015-07-22 | 2024-03-12 | 어플라이드 메디컬 리소시스 코포레이션 | 충수절제술 모델 |
WO2017015599A1 (en) | 2015-07-23 | 2017-01-26 | Sri International | Robotic arm and robotic surgical system |
WO2017014303A1 (ja) * | 2015-07-23 | 2017-01-26 | オリンパス株式会社 | 医療システム及びその作動方法 |
US10058394B2 (en) | 2015-07-31 | 2018-08-28 | Globus Medical, Inc. | Robot arm and methods of use |
US10646298B2 (en) | 2015-07-31 | 2020-05-12 | Globus Medical, Inc. | Robot arm and methods of use |
JP6961146B2 (ja) | 2015-08-03 | 2021-11-05 | バーチャル インシジョン コーポレイションVirtual Incision Corporation | ロボット外科的デバイス、システムおよび関連する方法 |
US10080615B2 (en) | 2015-08-12 | 2018-09-25 | Globus Medical, Inc. | Devices and methods for temporary mounting of parts to bone |
US11058425B2 (en) | 2015-08-17 | 2021-07-13 | Ethicon Llc | Implantable layers for a surgical instrument |
MX2022009705A (es) | 2015-08-26 | 2022-11-07 | Ethicon Llc | Metodo para formar una grapa contra un yunque de un instrumento de engrapado quirurgico. |
US10166026B2 (en) | 2015-08-26 | 2019-01-01 | Ethicon Llc | Staple cartridge assembly including features for controlling the rotation of staples when being ejected therefrom |
JP6828018B2 (ja) | 2015-08-26 | 2021-02-10 | エシコン エルエルシーEthicon LLC | ステープルの特性変更を可能にし、カートリッジへの充填を容易にする外科用ステープルストリップ |
WO2017037532A1 (en) | 2015-08-28 | 2017-03-09 | Distalmotion Sa | Surgical instrument with increased actuation force |
EP3344179B1 (en) | 2015-08-31 | 2021-06-30 | KB Medical SA | Robotic surgical systems |
US10357252B2 (en) | 2015-09-02 | 2019-07-23 | Ethicon Llc | Surgical staple configurations with camming surfaces located between portions supporting surgical staples |
MX2022006192A (es) | 2015-09-02 | 2022-06-16 | Ethicon Llc | Configuraciones de grapas quirurgicas con superficies de leva situadas entre porciones que soportan grapas quirurgicas. |
CN113274140B (zh) * | 2015-09-09 | 2022-09-02 | 奥瑞斯健康公司 | 手术覆盖件 |
US10034716B2 (en) | 2015-09-14 | 2018-07-31 | Globus Medical, Inc. | Surgical robotic systems and methods thereof |
US10076326B2 (en) | 2015-09-23 | 2018-09-18 | Ethicon Llc | Surgical stapler having current mirror-based motor control |
US10327769B2 (en) | 2015-09-23 | 2019-06-25 | Ethicon Llc | Surgical stapler having motor control based on a drive system component |
US10105139B2 (en) | 2015-09-23 | 2018-10-23 | Ethicon Llc | Surgical stapler having downstream current-based motor control |
US10085751B2 (en) | 2015-09-23 | 2018-10-02 | Ethicon Llc | Surgical stapler having temperature-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 |
US10363036B2 (en) | 2015-09-23 | 2019-07-30 | Ethicon Llc | Surgical stapler having force-based motor control |
WO2017053363A1 (en) | 2015-09-25 | 2017-03-30 | Covidien Lp | Robotic surgical assemblies and instrument drive connectors thereof |
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 |
US10478188B2 (en) | 2015-09-30 | 2019-11-19 | Ethicon Llc | Implantable layer comprising a constricted configuration |
US10980539B2 (en) | 2015-09-30 | 2021-04-20 | Ethicon Llc | Implantable adjunct comprising bonded layers |
CA3025540A1 (en) | 2015-10-02 | 2017-04-06 | Applied Medical Resources Corporation | Hysterectomy model |
US9771092B2 (en) | 2015-10-13 | 2017-09-26 | Globus Medical, Inc. | Stabilizer wheel assembly and methods of use |
US10058393B2 (en) | 2015-10-21 | 2018-08-28 | P Tech, Llc | Systems and methods for navigation and visualization |
CN108135670B (zh) | 2015-10-23 | 2021-02-26 | 柯惠Lp公司 | 用于检测灌注中逐步变化的手术系统 |
US10231793B2 (en) | 2015-10-30 | 2019-03-19 | Auris Health, Inc. | Object removal through a percutaneous suction tube |
US9955986B2 (en) | 2015-10-30 | 2018-05-01 | Auris Surgical Robotics, Inc. | Basket apparatus |
US9949749B2 (en) | 2015-10-30 | 2018-04-24 | Auris Surgical Robotics, Inc. | Object capture with a basket |
US11259920B2 (en) * | 2015-11-03 | 2022-03-01 | Edwards Lifesciences Corporation | Adapter for prosthesis delivery device and methods of use |
EP3376988B1 (en) | 2015-11-19 | 2023-08-23 | Covidien LP | Optical force sensor for robotic surgical system |
US10706743B2 (en) | 2015-11-20 | 2020-07-07 | Applied Medical Resources Corporation | Simulated dissectible tissue |
WO2017098504A1 (en) * | 2015-12-07 | 2017-06-15 | M.S.T. Medical Surgery Technologies Ltd. | Autonomic detection of malfunctioning in surgical tools |
GB2545637A (en) * | 2015-12-10 | 2017-06-28 | Cambridge Medical Robotics Ltd | Robot mounting arrangement |
JP6673684B2 (ja) * | 2015-12-11 | 2020-03-25 | 株式会社メディカロイド | 遠隔操作装置及び遠隔手術システム |
US10265068B2 (en) | 2015-12-30 | 2019-04-23 | Ethicon Llc | Surgical instruments with separable motors and motor control circuits |
US10368865B2 (en) | 2015-12-30 | 2019-08-06 | Ethicon Llc | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
US10292704B2 (en) | 2015-12-30 | 2019-05-21 | Ethicon Llc | Mechanisms for compensating for battery pack failure in powered surgical instruments |
CN113925610A (zh) | 2015-12-31 | 2022-01-14 | 史赛克公司 | 用于在由虚拟对象限定的目标部位处对患者执行手术的系统和方法 |
JP7182464B2 (ja) | 2016-01-12 | 2022-12-02 | 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 | 触覚アクチュエータの均一なスケーリング |
CN114376732A (zh) | 2016-01-12 | 2022-04-22 | 直观外科手术操作公司 | 在控制状态之间的分段力反馈过渡 |
US10932861B2 (en) | 2016-01-14 | 2021-03-02 | Auris Health, Inc. | Electromagnetic tracking surgical system and method of controlling the same |
US10932691B2 (en) | 2016-01-26 | 2021-03-02 | Auris Health, Inc. | Surgical tools having electromagnetic tracking components |
US11058378B2 (en) | 2016-02-03 | 2021-07-13 | Globus Medical, Inc. | Portable medical imaging system |
US10842453B2 (en) | 2016-02-03 | 2020-11-24 | Globus Medical, Inc. | Portable medical imaging system |
US10117632B2 (en) | 2016-02-03 | 2018-11-06 | Globus Medical, Inc. | Portable medical imaging system with beam scanning collimator |
US10448910B2 (en) | 2016-02-03 | 2019-10-22 | Globus Medical, Inc. | Portable medical imaging system |
US11883217B2 (en) | 2016-02-03 | 2024-01-30 | Globus Medical, Inc. | Portable medical imaging system and method |
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 |
US10245029B2 (en) | 2016-02-09 | 2019-04-02 | Ethicon Llc | Surgical instrument with articulating and axially translatable end effector |
US10448948B2 (en) | 2016-02-12 | 2019-10-22 | 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 |
US10258331B2 (en) | 2016-02-12 | 2019-04-16 | Ethicon Llc | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
JP2019509103A (ja) * | 2016-03-04 | 2019-04-04 | コヴィディエン リミテッド パートナーシップ | ロボット外科システムのための逆運動学制御システム |
US10866119B2 (en) | 2016-03-14 | 2020-12-15 | Globus Medical, Inc. | Metal detector for detecting insertion of a surgical device into a hollow tube |
DE102016105907A1 (de) * | 2016-03-31 | 2017-10-05 | Tuebingen Scientific Medical Gmbh | Chirurgisches Roboter-Instrumenten-System |
US10485542B2 (en) | 2016-04-01 | 2019-11-26 | Ethicon Llc | Surgical stapling instrument comprising multiple lockouts |
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 |
US10413293B2 (en) | 2016-04-01 | 2019-09-17 | Ethicon Llc | Interchangeable surgical tool assembly with a surgical end effector that is selectively rotatable about a shaft axis |
US11284890B2 (en) | 2016-04-01 | 2022-03-29 | Cilag Gmbh International | Circular stapling system comprising an incisable tissue support |
US10456140B2 (en) | 2016-04-01 | 2019-10-29 | Ethicon Llc | Surgical stapling system comprising an unclamping lockout |
US11576562B2 (en) | 2016-04-07 | 2023-02-14 | Titan Medical Inc. | Camera positioning method and apparatus for capturing images during a medical procedure |
US11324554B2 (en) | 2016-04-08 | 2022-05-10 | Auris Health, Inc. | Floating electromagnetic field generator system and method of controlling the same |
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 |
US10335145B2 (en) | 2016-04-15 | 2019-07-02 | Ethicon Llc | Modular surgical instrument with configurable operating mode |
US10357247B2 (en) | 2016-04-15 | 2019-07-23 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
US11607239B2 (en) | 2016-04-15 | 2023-03-21 | Cilag Gmbh International | Systems and methods for controlling a surgical stapling and cutting instrument |
US10405859B2 (en) | 2016-04-15 | 2019-09-10 | Ethicon Llc | Surgical instrument with adjustable stop/start control during a firing motion |
US10456137B2 (en) | 2016-04-15 | 2019-10-29 | Ethicon Llc | Staple formation detection mechanisms |
US10828028B2 (en) | 2016-04-15 | 2020-11-10 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
US11317917B2 (en) | 2016-04-18 | 2022-05-03 | Cilag Gmbh International | Surgical stapling system comprising a lockable firing assembly |
US10426469B2 (en) | 2016-04-18 | 2019-10-01 | Ethicon Llc | Surgical instrument comprising a primary firing lockout and a secondary firing lockout |
US20170296173A1 (en) | 2016-04-18 | 2017-10-19 | Ethicon Endo-Surgery, Llc | Method for operating a surgical instrument |
US10454347B2 (en) | 2016-04-29 | 2019-10-22 | Auris Health, Inc. | Compact height torque sensing articulation axis assembly |
JP7176757B2 (ja) | 2016-05-18 | 2022-11-22 | バーチャル インシジョン コーポレイション | ロボット手術装置、システム及び関連する方法 |
CN109152614B (zh) | 2016-05-26 | 2021-09-10 | 柯惠Lp公司 | 器械驱动单元 |
WO2017205310A1 (en) | 2016-05-26 | 2017-11-30 | Covidien Lp | Robotic surgical assemblies |
WO2017210497A1 (en) * | 2016-06-03 | 2017-12-07 | Covidien Lp | Systems, methods, and computer-readable program products for controlling a robotically delivered manipulator |
CN109152612A (zh) | 2016-06-03 | 2019-01-04 | 柯惠Lp公司 | 具有嵌入式成像仪的机器人手术系统 |
CN109195543A (zh) | 2016-06-03 | 2019-01-11 | 柯惠Lp公司 | 用于机器人手术系统的被动轴系统 |
EP3463150B1 (en) | 2016-06-03 | 2023-09-27 | Covidien LP | Control arm for robotic surgical systems |
AU2017275595B2 (en) | 2016-06-03 | 2021-04-29 | Covidien Lp | Control arm assemblies for robotic surgical systems |
USD850617S1 (en) | 2016-06-24 | 2019-06-04 | Ethicon Llc | Surgical fastener cartridge |
USD847989S1 (en) | 2016-06-24 | 2019-05-07 | Ethicon Llc | Surgical fastener cartridge |
US10702270B2 (en) | 2016-06-24 | 2020-07-07 | Ethicon Llc | Stapling system for use with wire staples and stamped staples |
CN109310431B (zh) | 2016-06-24 | 2022-03-04 | 伊西康有限责任公司 | 包括线材钉和冲压钉的钉仓 |
USD826405S1 (en) | 2016-06-24 | 2018-08-21 | Ethicon Llc | Surgical fastener |
KR102405187B1 (ko) | 2016-06-27 | 2022-06-07 | 어플라이드 메디컬 리소시스 코포레이션 | 시뮬레이션된 복벽 |
US10939973B2 (en) | 2016-07-01 | 2021-03-09 | Intuitive Surgical Operations, Inc. | Computer-assisted medical systems and methods |
WO2018013298A1 (en) | 2016-07-14 | 2018-01-18 | Intuitive Surgical Operations, Inc. | Geared grip actuation for medical instruments |
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 |
WO2018013316A1 (en) | 2016-07-14 | 2018-01-18 | Intuitive Surgical Operations, Inc. | Geared roll drive for medical instrument |
EP3484406B1 (en) | 2016-07-14 | 2024-02-28 | Intuitive Surgical Operations, Inc. | Instrument flushing system |
WO2018013187A1 (en) | 2016-07-14 | 2018-01-18 | Intuitive Surgical Operations, Inc. | Instrument release |
US11037464B2 (en) | 2016-07-21 | 2021-06-15 | Auris Health, Inc. | System with emulator movement tracking for controlling medical devices |
US10736702B2 (en) * | 2016-08-16 | 2020-08-11 | Ethicon Llc | Activating and rotating surgical end effectors |
US11020192B2 (en) | 2016-08-24 | 2021-06-01 | Intuitive Surgical Operations, Inc. | Computer-assisted tele-operated surgery systems and methods |
WO2018039606A1 (en) | 2016-08-25 | 2018-03-01 | Virtual Incision Corporation | Quick-release tool coupler and related systems and methods |
US10463439B2 (en) | 2016-08-26 | 2019-11-05 | Auris Health, Inc. | Steerable catheter with shaft load distributions |
US11241559B2 (en) | 2016-08-29 | 2022-02-08 | Auris Health, Inc. | Active drive for guidewire manipulation |
EP3507065A4 (en) | 2016-08-30 | 2020-04-29 | Board of Regents of the University of Nebraska | ROBOTIC DEVICE HAVING COMPACT ARTICULATION DESIGN AND ADDITIONAL DEGREE OF FREEDOM, AND RELATED SYSTEMS AND METHODS |
AU2016422171B2 (en) | 2016-08-31 | 2022-01-20 | Auris Health, Inc. | Length conservative surgical instrument |
US11185455B2 (en) * | 2016-09-16 | 2021-11-30 | Verb Surgical Inc. | Table adapters for mounting robotic arms to a surgical table |
KR102257827B1 (ko) * | 2016-09-16 | 2021-05-31 | 버브 서지컬 인크. | 로봇 아암 |
US11389360B2 (en) * | 2016-09-16 | 2022-07-19 | Verb Surgical Inc. | Linkage mechanisms for mounting robotic arms to a surgical table |
US11345053B2 (en) | 2016-09-16 | 2022-05-31 | Verb Surgical Inc. | Belt termination and tensioning in a pulley arrangement for a robotic arm |
WO2018053361A1 (en) | 2016-09-16 | 2018-03-22 | Verb Surgical Inc. | Multi-degree of freedom sensor |
CN106236276B (zh) * | 2016-09-28 | 2019-09-17 | 微创(上海)医疗机器人有限公司 | 手术机器人系统 |
CN110198681B (zh) | 2016-11-21 | 2022-09-13 | 直观外科手术操作公司 | 线缆长度持恒的医疗器械 |
CN115337111A (zh) | 2016-11-22 | 2022-11-15 | 内布拉斯加大学董事会 | 改进的粗定位装置及相关系统和方法 |
CN110462259B (zh) | 2016-11-29 | 2022-10-28 | 虚拟切割有限公司 | 具有用户存在检测的用户控制器及相关系统和方法 |
EP3551117A1 (en) | 2016-12-07 | 2019-10-16 | Koninklijke Philips N.V. | Image guided motion scaling for robot control |
WO2018112199A1 (en) | 2016-12-14 | 2018-06-21 | Virtual Incision Corporation | Releasable attachment device for coupling to medical devices and related systems and methods |
WO2018112025A1 (en) | 2016-12-16 | 2018-06-21 | Mako Surgical Corp. | Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site |
CN110087565A (zh) | 2016-12-21 | 2019-08-02 | 爱惜康有限责任公司 | 外科缝合系统 |
US10675026B2 (en) | 2016-12-21 | 2020-06-09 | Ethicon Llc | Methods of stapling tissue |
US10687810B2 (en) | 2016-12-21 | 2020-06-23 | Ethicon Llc | Stepped staple cartridge with tissue retention and gap setting features |
US10835245B2 (en) | 2016-12-21 | 2020-11-17 | Ethicon Llc | Method for attaching a shaft assembly to a surgical instrument and, alternatively, to a surgical robot |
US10568626B2 (en) | 2016-12-21 | 2020-02-25 | Ethicon Llc | Surgical instruments with jaw opening features for increasing a jaw opening distance |
US10426471B2 (en) | 2016-12-21 | 2019-10-01 | Ethicon Llc | Surgical instrument with multiple failure response modes |
CN110099619B (zh) | 2016-12-21 | 2022-07-15 | 爱惜康有限责任公司 | 用于外科端部执行器和可替换工具组件的闭锁装置 |
US11160551B2 (en) | 2016-12-21 | 2021-11-02 | Cilag Gmbh International | Articulatable surgical stapling instruments |
US10758230B2 (en) | 2016-12-21 | 2020-09-01 | Ethicon Llc | Surgical instrument with primary and safety processors |
US10856868B2 (en) | 2016-12-21 | 2020-12-08 | Ethicon Llc | Firing member pin configurations |
US10537324B2 (en) | 2016-12-21 | 2020-01-21 | Ethicon Llc | Stepped staple cartridge with asymmetrical staples |
US10893864B2 (en) | 2016-12-21 | 2021-01-19 | Ethicon | Staple cartridges and arrangements of staples and staple cavities therein |
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 |
US11134942B2 (en) | 2016-12-21 | 2021-10-05 | Cilag Gmbh International | Surgical stapling instruments and staple-forming anvils |
US10667809B2 (en) | 2016-12-21 | 2020-06-02 | Ethicon Llc | Staple cartridge and staple cartridge channel comprising windows defined therein |
US10945727B2 (en) | 2016-12-21 | 2021-03-16 | Ethicon Llc | Staple cartridge with deformable driver retention features |
US10758229B2 (en) | 2016-12-21 | 2020-09-01 | Ethicon Llc | Surgical instrument comprising improved jaw control |
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 |
US11684367B2 (en) | 2016-12-21 | 2023-06-27 | Cilag Gmbh International | Stepped assembly having and end-of-life indicator |
US20180168619A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Surgical stapling systems |
US10898186B2 (en) | 2016-12-21 | 2021-01-26 | Ethicon Llc | Staple forming pocket arrangements comprising primary sidewalls and pocket sidewalls |
JP7010956B2 (ja) | 2016-12-21 | 2022-01-26 | エシコン エルエルシー | 組織をステープル留めする方法 |
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 |
US10993715B2 (en) | 2016-12-21 | 2021-05-04 | Ethicon Llc | Staple cartridge comprising staples with different clamping breadths |
US10543048B2 (en) | 2016-12-28 | 2020-01-28 | Auris Health, Inc. | Flexible instrument insertion using an adaptive insertion force threshold |
US10244926B2 (en) | 2016-12-28 | 2019-04-02 | Auris Health, Inc. | Detecting endolumenal buckling of flexible instruments |
EP3360502A3 (en) | 2017-01-18 | 2018-10-31 | KB Medical SA | Robotic navigation of robotic surgical systems |
EP3583589A1 (en) | 2017-02-14 | 2019-12-25 | Applied Medical Resources Corporation | Laparoscopic training system |
US11690691B2 (en) | 2017-02-15 | 2023-07-04 | Covidien Lp | System and apparatus for crush prevention for medical robot applications |
US10847057B2 (en) | 2017-02-23 | 2020-11-24 | Applied Medical Resources Corporation | Synthetic tissue structures for electrosurgical training and simulation |
US10357321B2 (en) | 2017-02-24 | 2019-07-23 | Intuitive Surgical Operations, Inc. | Splayed cable guide for a medical instrument |
US10722310B2 (en) | 2017-03-13 | 2020-07-28 | Zimmer Biomet CMF and Thoracic, LLC | Virtual surgery planning system and method |
US11071594B2 (en) | 2017-03-16 | 2021-07-27 | KB Medical SA | Robotic navigation of robotic surgical systems |
US11076926B2 (en) | 2017-03-21 | 2021-08-03 | Intuitive Surgical Operations, Inc. | Manual release for medical device drive system |
US11058503B2 (en) | 2017-05-11 | 2021-07-13 | Distalmotion Sa | Translational instrument interface for surgical robot and surgical robot systems comprising the same |
US11311295B2 (en) | 2017-05-15 | 2022-04-26 | Covidien Lp | Adaptive powered stapling algorithm with calibration factor |
EP3629979A4 (en) | 2017-05-24 | 2021-02-17 | Covidien LP | PRESENCE DETECTION FOR ELECTROSURGICAL TOOLS IN A ROBOTIC SYSTEM |
CN110662507A (zh) | 2017-05-25 | 2020-01-07 | 柯惠Lp公司 | 具有自动引导的机器人手术系统 |
WO2018217444A2 (en) | 2017-05-25 | 2018-11-29 | Covidien Lp | Systems and methods for detection of objects within a field of view of an image capture device |
US11510747B2 (en) | 2017-05-25 | 2022-11-29 | Covidien Lp | Robotic surgical systems and drapes for covering components of robotic surgical systems |
EP3629976A4 (en) * | 2017-05-26 | 2021-03-10 | Covidien LP | HANDLE ARRANGEMENTS FOR ROBOTIC SURGICAL SYSTEMS |
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 |
US10624633B2 (en) | 2017-06-20 | 2020-04-21 | Ethicon Llc | Systems and methods for controlling 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 |
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 |
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 |
USD879809S1 (en) | 2017-06-20 | 2020-03-31 | Ethicon Llc | Display panel with changeable graphical user interface |
US10646220B2 (en) | 2017-06-20 | 2020-05-12 | Ethicon Llc | Systems and methods for controlling displacement member velocity for a surgical instrument |
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 |
US10980537B2 (en) | 2017-06-20 | 2021-04-20 | Ethicon Llc | Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified number of shaft rotations |
USD879808S1 (en) | 2017-06-20 | 2020-03-31 | Ethicon Llc | Display panel with graphical user interface |
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 |
US10368864B2 (en) | 2017-06-20 | 2019-08-06 | Ethicon Llc | Systems and methods for controlling displaying motor velocity for a surgical instrument |
US10888321B2 (en) | 2017-06-20 | 2021-01-12 | Ethicon Llc | Systems and methods for controlling velocity of a displacement member of a surgical stapling and cutting instrument |
US10881399B2 (en) | 2017-06-20 | 2021-01-05 | Ethicon Llc | Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument |
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 |
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 |
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 |
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 |
US10993716B2 (en) | 2017-06-27 | 2021-05-04 | Ethicon Llc | Surgical anvil arrangements |
US10856869B2 (en) | 2017-06-27 | 2020-12-08 | 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 |
US11141154B2 (en) | 2017-06-27 | 2021-10-12 | Cilag Gmbh International | Surgical end effectors and anvils |
US11324503B2 (en) | 2017-06-27 | 2022-05-10 | Cilag Gmbh International | Surgical firing member arrangements |
US10211586B2 (en) | 2017-06-28 | 2019-02-19 | Ethicon Llc | Surgical shaft assemblies with watertight housings |
USD869655S1 (en) | 2017-06-28 | 2019-12-10 | Ethicon Llc | Surgical fastener cartridge |
US10765427B2 (en) | 2017-06-28 | 2020-09-08 | Ethicon Llc | Method for articulating a surgical instrument |
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 |
EP4070740A1 (en) | 2017-06-28 | 2022-10-12 | Cilag GmbH International | Surgical instrument comprising selectively actuatable rotatable couplers |
US11259805B2 (en) | 2017-06-28 | 2022-03-01 | Cilag Gmbh International | Surgical instrument comprising firing member supports |
US10588633B2 (en) | 2017-06-28 | 2020-03-17 | Ethicon Llc | Surgical instruments with open and closable jaws and axially movable firing member that is initially parked in close proximity to the jaws prior to firing |
USD854151S1 (en) | 2017-06-28 | 2019-07-16 | Ethicon Llc | Surgical instrument shaft |
US10716614B2 (en) | 2017-06-28 | 2020-07-21 | Ethicon Llc | Surgical shaft assemblies with slip ring assemblies with increased contact pressure |
US10903685B2 (en) | 2017-06-28 | 2021-01-26 | Ethicon Llc | Surgical shaft assemblies with slip ring assemblies forming capacitive channels |
USD906355S1 (en) | 2017-06-28 | 2020-12-29 | Ethicon Llc | Display screen or portion thereof with a graphical user interface for a surgical instrument |
US11058424B2 (en) | 2017-06-28 | 2021-07-13 | Cilag Gmbh International | Surgical instrument comprising an offset articulation joint |
US11564686B2 (en) | 2017-06-28 | 2023-01-31 | Cilag Gmbh International | Surgical shaft assemblies with flexible interfaces |
USD851762S1 (en) | 2017-06-28 | 2019-06-18 | Ethicon Llc | Anvil |
US10932772B2 (en) | 2017-06-29 | 2021-03-02 | Ethicon Llc | Methods for closed loop velocity control for robotic surgical instrument |
US10398434B2 (en) | 2017-06-29 | 2019-09-03 | Ethicon Llc | Closed loop velocity control of closure member for robotic surgical instrument |
US10258418B2 (en) | 2017-06-29 | 2019-04-16 | Ethicon Llc | System for controlling articulation forces |
US11007022B2 (en) | 2017-06-29 | 2021-05-18 | Ethicon Llc | Closed loop velocity control techniques based on sensed tissue parameters for robotic surgical instrument |
US10898183B2 (en) | 2017-06-29 | 2021-01-26 | Ethicon Llc | Robotic surgical instrument with closed loop feedback techniques for advancement of closure member during firing |
US11135015B2 (en) | 2017-07-21 | 2021-10-05 | Globus Medical, Inc. | Robot surgical platform |
CN110996826B (zh) | 2017-07-27 | 2023-04-25 | 直观外科手术操作公司 | 医疗装置手柄 |
US11471155B2 (en) | 2017-08-03 | 2022-10-18 | Cilag Gmbh International | Surgical system bailout |
US11304695B2 (en) | 2017-08-03 | 2022-04-19 | Cilag Gmbh International | Surgical system shaft interconnection |
US11944300B2 (en) | 2017-08-03 | 2024-04-02 | Cilag Gmbh International | Method for operating a surgical system bailout |
US11662270B2 (en) | 2017-08-22 | 2023-05-30 | Intuitive Surgical Operations, Inc. | User-installable part installation detection techniques |
US11717362B2 (en) | 2017-09-05 | 2023-08-08 | Covidien Lp | Robotic surgical systems with roll, pitch, and yaw realignment including trim and flip algorithms |
JP7349992B2 (ja) | 2017-09-05 | 2023-09-25 | コヴィディエン リミテッド パートナーシップ | ロボット手術システムのための衝突処理アルゴリズム |
US11583358B2 (en) | 2017-09-06 | 2023-02-21 | Covidien Lp | Boundary scaling of surgical robots |
JP7405432B2 (ja) | 2017-09-27 | 2023-12-26 | バーチャル インシジョン コーポレイション | 追跡カメラ技術を有するロボット手術デバイスならびに関連するシステムおよび方法 |
US11399829B2 (en) | 2017-09-29 | 2022-08-02 | Cilag Gmbh International | Systems and methods of initiating a power shutdown mode for a surgical instrument |
USD917500S1 (en) | 2017-09-29 | 2021-04-27 | Ethicon Llc | Display screen or portion thereof with graphical user interface |
USD907648S1 (en) | 2017-09-29 | 2021-01-12 | Ethicon Llc | Display screen or portion thereof with animated graphical user interface |
US10765429B2 (en) | 2017-09-29 | 2020-09-08 | Ethicon Llc | Systems and methods for providing alerts according to the operational state of a surgical instrument |
US10743872B2 (en) | 2017-09-29 | 2020-08-18 | Ethicon Llc | System and methods for controlling a display of a surgical instrument |
USD907647S1 (en) | 2017-09-29 | 2021-01-12 | Ethicon Llc | Display screen or portion thereof with animated graphical user interface |
US10729501B2 (en) | 2017-09-29 | 2020-08-04 | Ethicon Llc | Systems and methods for language selection 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 |
CN111386085B (zh) | 2017-10-02 | 2023-12-26 | 直观外科手术操作公司 | 至主控制器的末端执行器力反馈 |
US11096754B2 (en) | 2017-10-04 | 2021-08-24 | Mako Surgical Corp. | Sterile drape assembly for surgical robot |
US11207066B2 (en) | 2017-10-30 | 2021-12-28 | Covidien Lp | Apparatus for endoscopic procedures |
US10987104B2 (en) | 2017-10-30 | 2021-04-27 | Covidien Lp | Apparatus for endoscopic procedures |
US11090075B2 (en) | 2017-10-30 | 2021-08-17 | Cilag Gmbh International | Articulation features for surgical end effector |
US11134944B2 (en) | 2017-10-30 | 2021-10-05 | Cilag Gmbh International | Surgical stapler knife motion controls |
US10842490B2 (en) | 2017-10-31 | 2020-11-24 | Ethicon Llc | Cartridge body design with force reduction based on firing completion |
US10779903B2 (en) | 2017-10-31 | 2020-09-22 | Ethicon Llc | Positive shaft rotation lock activated by jaw closure |
US10898252B2 (en) | 2017-11-09 | 2021-01-26 | Globus Medical, Inc. | Surgical robotic systems for bending surgical rods, and related methods and devices |
US11382666B2 (en) | 2017-11-09 | 2022-07-12 | Globus Medical Inc. | Methods providing bend plans for surgical rods and related controllers and computer program products |
US11794338B2 (en) | 2017-11-09 | 2023-10-24 | Globus Medical Inc. | Robotic rod benders and related mechanical and motor housings |
US11134862B2 (en) | 2017-11-10 | 2021-10-05 | Globus Medical, Inc. | Methods of selecting surgical implants and related devices |
CN111480059B (zh) | 2017-11-14 | 2022-10-04 | 直观外科手术操作公司 | 分离桥式电路力传感器 |
US10675107B2 (en) | 2017-11-15 | 2020-06-09 | Intuitive Surgical Operations, Inc. | Surgical instrument end effector with integral FBG |
KR20200099138A (ko) | 2017-12-08 | 2020-08-21 | 아우리스 헬스, 인코포레이티드 | 의료 기구 항행 및 표적 선정을 위한 시스템 및 방법 |
US10470830B2 (en) | 2017-12-11 | 2019-11-12 | Auris Health, Inc. | Systems and methods for instrument based insertion architectures |
AU2018384820A1 (en) | 2017-12-14 | 2020-05-21 | Auris Health, Inc. | System and method for estimating instrument location |
US20200383739A1 (en) | 2017-12-14 | 2020-12-10 | Intuitive Surgical Operations, Inc. | Medical tools having tension bands |
US10743875B2 (en) | 2017-12-15 | 2020-08-18 | Ethicon Llc | Surgical end effectors with jaw stiffener arrangements configured to permit monitoring of firing member |
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 |
US10828033B2 (en) | 2017-12-15 | 2020-11-10 | Ethicon Llc | Handheld electromechanical surgical instruments with improved motor control arrangements for positioning components of an adapter coupled thereto |
US10687813B2 (en) | 2017-12-15 | 2020-06-23 | Ethicon Llc | Adapters with firing stroke sensing arrangements for use in connection with electromechanical surgical instruments |
US11033267B2 (en) | 2017-12-15 | 2021-06-15 | Ethicon Llc | Systems and methods of controlling a clamping member firing rate of a surgical instrument |
US11006955B2 (en) | 2017-12-15 | 2021-05-18 | Ethicon Llc | End effectors with positive jaw opening features for use with adapters for electromechanical surgical instruments |
US10779826B2 (en) | 2017-12-15 | 2020-09-22 | Ethicon Llc | Methods of operating surgical end effectors |
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 |
US11071543B2 (en) | 2017-12-15 | 2021-07-27 | Cilag Gmbh International | Surgical end effectors with clamping assemblies configured to increase jaw aperture ranges |
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 |
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 |
US11045270B2 (en) | 2017-12-19 | 2021-06-29 | Cilag Gmbh International | Robotic attachment comprising exterior drive actuator |
US10835330B2 (en) | 2017-12-19 | 2020-11-17 | Ethicon Llc | Method for determining the position of a rotatable jaw of a surgical instrument attachment assembly |
USD910847S1 (en) | 2017-12-19 | 2021-02-16 | Ethicon Llc | Surgical instrument assembly |
US10729509B2 (en) | 2017-12-19 | 2020-08-04 | Ethicon Llc | Surgical instrument comprising closure and firing locking mechanism |
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 |
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 |
US11129680B2 (en) | 2017-12-21 | 2021-09-28 | Cilag Gmbh International | Surgical instrument comprising a projector |
US11583274B2 (en) | 2017-12-21 | 2023-02-21 | Cilag Gmbh International | Self-guiding stapling instrument |
AU2019205201B2 (en) | 2018-01-04 | 2020-11-05 | Covidien Lp | Systems and assemblies for mounting a surgical accessory to robotic surgical systems, and providing access therethrough |
EP3735341A4 (en) | 2018-01-05 | 2021-10-06 | Board of Regents of the University of Nebraska | ROBOTIC DEVICE HAVING A SINGLE ARM OF A COMPACT JOINT DESIGN AND RELATED SYSTEMS AND PROCESSES |
JP6999824B2 (ja) | 2018-01-17 | 2022-01-19 | オーリス ヘルス インコーポレイテッド | 調節可能なアーム支持体を有する外科用プラットフォーム |
JP7463277B2 (ja) | 2018-01-17 | 2024-04-08 | オーリス ヘルス インコーポレイテッド | 改善されたロボットアームを有する外科用ロボットシステム |
US11259882B1 (en) | 2018-01-25 | 2022-03-01 | Integrity Implants Inc. | Robotic surgical instrument system |
EP3749243A1 (en) | 2018-02-07 | 2020-12-16 | 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 |
US20190254753A1 (en) | 2018-02-19 | 2019-08-22 | Globus Medical, Inc. | Augmented reality navigation systems for use with robotic surgical systems and methods of their use |
US11189379B2 (en) | 2018-03-06 | 2021-11-30 | Digital Surgery Limited | Methods and systems for using multiple data structures to process surgical data |
US11439376B2 (en) | 2018-03-07 | 2022-09-13 | Intuitive Surgical Operations, Inc. | Low-friction, small profile medical tools having easy-to-assemble components |
US11628024B2 (en) | 2018-03-08 | 2023-04-18 | Covidien Lp | Surgical robotic systems |
US10573023B2 (en) | 2018-04-09 | 2020-02-25 | Globus Medical, Inc. | Predictive visualization of medical imaging scanner component movement |
WO2019204012A1 (en) | 2018-04-20 | 2019-10-24 | Covidien Lp | Compensation for observer movement in robotic surgical systems having stereoscopic displays |
JP7316762B2 (ja) * | 2018-04-27 | 2023-07-28 | 川崎重工業株式会社 | 外科手術システム及び外科手術システムの制御方法 |
WO2019222641A1 (en) * | 2018-05-18 | 2019-11-21 | Corindus, Inc. | Remote communications and control system for robotic interventional procedures |
JP7314175B2 (ja) | 2018-05-18 | 2023-07-25 | オーリス ヘルス インコーポレイテッド | ロボット対応の遠隔操作システムのためのコントローラ |
US11051829B2 (en) | 2018-06-26 | 2021-07-06 | DePuy Synthes Products, Inc. | Customized patient-specific orthopaedic surgical instrument |
WO2020005348A1 (en) | 2018-06-27 | 2020-01-02 | Auris Health, Inc. | Alignment and attachment systems for medical instruments |
WO2020009830A1 (en) | 2018-07-03 | 2020-01-09 | Covidien Lp | Systems, methods, and computer-readable media for detecting image degradation during surgical procedures |
US11497490B2 (en) | 2018-07-09 | 2022-11-15 | Covidien Lp | Powered surgical devices including predictive motor control |
US11259798B2 (en) | 2018-07-16 | 2022-03-01 | Intuitive Surgical Operations, Inc. | Medical devices having tissue grasping surfaces and features for manipulating surgical needles |
JP7095447B2 (ja) * | 2018-07-18 | 2022-07-05 | 株式会社デンソーウェーブ | ロボット用の保護ジャケット |
US11612447B2 (en) | 2018-07-19 | 2023-03-28 | Intuitive Surgical Operations, Inc. | Medical devices having three tool members |
WO2020028747A1 (en) * | 2018-08-02 | 2020-02-06 | The Johns Hopkins University | Safety feature for use with robotically manipulated endoscopes and other tools in otolaryngology and neurosurgery |
US11253256B2 (en) | 2018-08-20 | 2022-02-22 | Cilag Gmbh International | Articulatable motor powered surgical instruments with dedicated articulation motor arrangements |
US11291440B2 (en) | 2018-08-20 | 2022-04-05 | Cilag Gmbh International | Method for operating a powered articulatable surgical instrument |
US11039834B2 (en) | 2018-08-20 | 2021-06-22 | Cilag Gmbh International | Surgical stapler anvils with staple directing protrusions and tissue stability features |
US11759269B2 (en) | 2018-08-20 | 2023-09-19 | Verb Surgical Inc. | Engagement and/or homing of a surgical tool in a surgical robotic system |
US10779821B2 (en) | 2018-08-20 | 2020-09-22 | Ethicon Llc | Surgical stapler anvils with tissue stop features configured to avoid tissue pinch |
USD914878S1 (en) | 2018-08-20 | 2021-03-30 | Ethicon Llc | Surgical instrument anvil |
US11083458B2 (en) | 2018-08-20 | 2021-08-10 | Cilag Gmbh International | Powered surgical instruments with clutching arrangements to convert linear drive motions to rotary drive motions |
US11207065B2 (en) | 2018-08-20 | 2021-12-28 | Cilag Gmbh International | Method for fabricating surgical stapler anvils |
US11045192B2 (en) | 2018-08-20 | 2021-06-29 | Cilag Gmbh International | Fabricating techniques for surgical stapler anvils |
US11406457B2 (en) * | 2018-08-20 | 2022-08-09 | Verb Surgical Inc. | Method and system for engagement of a surgical tool with actuators of a tool drive in a surgical robotic system |
US11324501B2 (en) | 2018-08-20 | 2022-05-10 | Cilag Gmbh International | Surgical stapling devices with improved closure members |
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 |
US10912559B2 (en) | 2018-08-20 | 2021-02-09 | Ethicon Llc | Reinforced deformable anvil tip for surgical stapler anvil |
WO2020041513A1 (en) * | 2018-08-22 | 2020-02-27 | Intuitive Surgical Operations, Inc. | Control switch position sensing across a rotational joint |
JP6685052B2 (ja) * | 2018-08-30 | 2020-04-22 | リバーフィールド株式会社 | 推定装置、推定方法およびプログラム |
JP7427654B2 (ja) | 2018-09-17 | 2024-02-05 | オーリス ヘルス インコーポレイテッド | 付随する医療処置を行うためのシステム及び方法 |
EP3856001A4 (en) | 2018-09-28 | 2022-06-22 | Auris Health, Inc. | DEVICES, SYSTEMS AND METHODS FOR MANUAL AND ROBOTIC DRIVE MEDICAL INSTRUMENTS |
EP3856064A4 (en) | 2018-09-28 | 2022-06-29 | Auris Health, Inc. | Systems and methods for docking medical instruments |
US11109746B2 (en) | 2018-10-10 | 2021-09-07 | Titan Medical Inc. | Instrument insertion system, method, and apparatus for performing medical procedures |
US11197734B2 (en) | 2018-10-30 | 2021-12-14 | Covidien Lp | Load sensing devices for use in surgical instruments |
US11337742B2 (en) | 2018-11-05 | 2022-05-24 | Globus Medical Inc | Compliant orthopedic driver |
US11213287B2 (en) | 2018-11-15 | 2022-01-04 | Intuitive Surgical Operations, Inc. | Support apparatus for a medical retractor device |
WO2020102778A1 (en) | 2018-11-15 | 2020-05-22 | Intuitive Surgical Operations, Inc. | Strain sensor with contoured deflection surface |
US11291514B2 (en) | 2018-11-15 | 2022-04-05 | Intuitive Surgical Operations, Inc. | Medical devices having multiple blades and methods of use |
US11278360B2 (en) | 2018-11-16 | 2022-03-22 | Globus Medical, Inc. | End-effectors for surgical robotic systems having sealed optical components |
US11369372B2 (en) | 2018-11-28 | 2022-06-28 | Covidien Lp | Surgical stapler adapter with flexible cable assembly, flexible fingers, and contact clips |
US11744655B2 (en) | 2018-12-04 | 2023-09-05 | Globus Medical, Inc. | Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems |
EP3890643A2 (en) | 2018-12-04 | 2021-10-13 | Mako Surgical Corporation | Mounting system with sterile barrier assembly for use in coupling surgical components |
US11602402B2 (en) | 2018-12-04 | 2023-03-14 | Globus Medical, Inc. | Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems |
US11806015B2 (en) | 2018-12-21 | 2023-11-07 | Intuitive Surgical Operations, Inc. | Surgical instruments having mechanisms for identifying and/or deactivating stapler cartridges |
WO2020131418A1 (en) | 2018-12-21 | 2020-06-25 | Intuitive Surgical Operations, Inc. | Actuation mechanisms for surgical instruments |
WO2020131298A1 (en) | 2018-12-21 | 2020-06-25 | Intuitive Surgical Operations, Inc. | Surgical instruments having a reinforced staple cartridge |
US11586106B2 (en) | 2018-12-28 | 2023-02-21 | Titan Medical Inc. | Imaging apparatus having configurable stereoscopic perspective |
CA3125742A1 (en) | 2019-01-07 | 2020-07-16 | Virtual Incision Corporation | Robotically assisted surgical system and related devices and methods |
US11433556B2 (en) * | 2019-01-24 | 2022-09-06 | Flexiv Ltd. | Gripper with high-precision pinching force sensor |
US11717355B2 (en) | 2019-01-29 | 2023-08-08 | Covidien Lp | Drive mechanisms for surgical instruments such as for use in robotic surgical systems |
US11202635B2 (en) | 2019-02-04 | 2021-12-21 | Covidien Lp | Programmable distal tilt position of end effector for powered surgical devices |
US11376006B2 (en) | 2019-02-06 | 2022-07-05 | Covidien Lp | End effector force measurement with digital drive circuit |
US11576733B2 (en) | 2019-02-06 | 2023-02-14 | Covidien Lp | Robotic surgical assemblies including electrosurgical instruments having articulatable wrist assemblies |
US11484372B2 (en) | 2019-02-15 | 2022-11-01 | Covidien Lp | Articulation mechanisms for surgical instruments such as for use in robotic surgical systems |
US11219461B2 (en) | 2019-03-08 | 2022-01-11 | Covidien Lp | Strain gauge stabilization in a surgical device |
US11284957B2 (en) | 2019-03-15 | 2022-03-29 | Cilag Gmbh International | Robotic surgical controls with force feedback |
US11471229B2 (en) | 2019-03-15 | 2022-10-18 | Cilag Gmbh International | Robotic surgical systems with selectively lockable end effectors |
US11666401B2 (en) | 2019-03-15 | 2023-06-06 | Cilag Gmbh International | Input controls for robotic surgery |
US11490981B2 (en) | 2019-03-15 | 2022-11-08 | Cilag Gmbh International | Robotic surgical controls having feedback capabilities |
US11583350B2 (en) * | 2019-03-15 | 2023-02-21 | Cilag Gmbh International | Jaw coordination of robotic surgical controls |
US11690690B2 (en) | 2019-03-15 | 2023-07-04 | Cilag Gmbh International | Segmented control inputs for surgical robotic systems |
US11918313B2 (en) | 2019-03-15 | 2024-03-05 | Globus Medical Inc. | Active end effectors for surgical robots |
US11701190B2 (en) | 2019-03-15 | 2023-07-18 | Cilag Gmbh International | Selectable variable response of shaft motion of surgical robotic systems |
US11419616B2 (en) | 2019-03-22 | 2022-08-23 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices |
US11382549B2 (en) | 2019-03-22 | 2022-07-12 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, and related methods and devices |
US11317978B2 (en) | 2019-03-22 | 2022-05-03 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices |
US20200297357A1 (en) | 2019-03-22 | 2020-09-24 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices |
US11806084B2 (en) | 2019-03-22 | 2023-11-07 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, and related methods and devices |
US11571265B2 (en) | 2019-03-22 | 2023-02-07 | Globus Medical Inc. | System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices |
EP3908224A4 (en) | 2019-03-22 | 2022-10-19 | Auris Health, Inc. | SYSTEMS AND METHODS FOR INLET ALIGNMENTS ON MEDICAL DEVICES |
US11696761B2 (en) | 2019-03-25 | 2023-07-11 | Cilag Gmbh International | Firing drive arrangements for surgical systems |
US11172929B2 (en) | 2019-03-25 | 2021-11-16 | Cilag Gmbh International | Articulation drive arrangements for surgical systems |
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 |
WO2020214258A1 (en) | 2019-04-15 | 2020-10-22 | Intuitive Surgical Operations, Inc. | Staple cartridge for a surgical instrument |
US11253254B2 (en) | 2019-04-30 | 2022-02-22 | Cilag Gmbh International | Shaft rotation actuator on a surgical instrument |
US11648009B2 (en) | 2019-04-30 | 2023-05-16 | Cilag Gmbh International | Rotatable jaw tip for 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 |
US11452528B2 (en) | 2019-04-30 | 2022-09-27 | Cilag Gmbh International | Articulation actuators for a surgical instrument |
US11426251B2 (en) | 2019-04-30 | 2022-08-30 | Cilag Gmbh International | Articulation directional lights on a surgical instrument |
US11432816B2 (en) | 2019-04-30 | 2022-09-06 | Cilag Gmbh International | Articulation pin for a surgical instrument |
US11045179B2 (en) | 2019-05-20 | 2021-06-29 | Global Medical Inc | Robot-mounted retractor system |
US10939970B2 (en) | 2019-05-22 | 2021-03-09 | Titan Medical Inc. | Robotic surgery system |
EP3975875A4 (en) | 2019-05-31 | 2023-02-01 | Intuitive Surgical Operations, Inc. | STAPLE MAGAZINE FOR A SURGICAL INSTRUMENT |
EP3986287A2 (en) * | 2019-06-21 | 2022-04-27 | Beth Israel Deaconess Medical Center, Inc. | Lymphatic anastomosis devices |
US11638587B2 (en) | 2019-06-28 | 2023-05-02 | Cilag Gmbh International | RFID identification systems for surgical instruments |
US11478241B2 (en) | 2019-06-28 | 2022-10-25 | Cilag Gmbh International | Staple cartridge including projections |
US11660163B2 (en) | 2019-06-28 | 2023-05-30 | Cilag Gmbh International | Surgical system with RFID tags for updating motor assembly parameters |
US11497492B2 (en) | 2019-06-28 | 2022-11-15 | Cilag Gmbh International | Surgical instrument including an articulation lock |
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 |
US11259803B2 (en) | 2019-06-28 | 2022-03-01 | Cilag Gmbh International | Surgical stapling system having an information encryption protocol |
US11298127B2 (en) | 2019-06-28 | 2022-04-12 | Cilag GmbH Interational | Surgical stapling system having a lockout mechanism for an incompatible cartridge |
US11224497B2 (en) | 2019-06-28 | 2022-01-18 | Cilag Gmbh International | Surgical systems with multiple RFID tags |
US11219455B2 (en) | 2019-06-28 | 2022-01-11 | Cilag Gmbh International | Surgical instrument including a lockout key |
US11627959B2 (en) | 2019-06-28 | 2023-04-18 | Cilag Gmbh International | Surgical instruments including manual and powered system lockouts |
US11771419B2 (en) | 2019-06-28 | 2023-10-03 | Cilag Gmbh International | Packaging for a replaceable component of a surgical stapling system |
CN114025700A (zh) | 2019-06-28 | 2022-02-08 | 奥瑞斯健康公司 | 控制台叠加以及其使用方法 |
US11684434B2 (en) | 2019-06-28 | 2023-06-27 | Cilag Gmbh International | Surgical RFID assemblies for instrument operational setting control |
US11241235B2 (en) | 2019-06-28 | 2022-02-08 | Cilag Gmbh International | Method of using multiple RFID chips with a surgical assembly |
US11523822B2 (en) | 2019-06-28 | 2022-12-13 | Cilag Gmbh International | Battery pack including a circuit interrupter |
US11246678B2 (en) | 2019-06-28 | 2022-02-15 | Cilag Gmbh International | Surgical stapling system having a frangible RFID tag |
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 |
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 |
US11376098B2 (en) | 2019-06-28 | 2022-07-05 | Cilag Gmbh International | Surgical instrument system comprising an RFID system |
US11298132B2 (en) | 2019-06-28 | 2022-04-12 | Cilag GmbH Inlernational | Staple cartridge including a honeycomb extension |
US11628023B2 (en) | 2019-07-10 | 2023-04-18 | Globus Medical, Inc. | Robotic navigational system for interbody implants |
US20210137624A1 (en) * | 2019-07-16 | 2021-05-13 | Transenterix Surgical, Inc. | Dynamic scaling of surgical manipulator motion based on surgeon stress parameters |
US11751959B2 (en) * | 2019-07-16 | 2023-09-12 | Asensus Surgical Us, Inc. | Dynamic scaling for a robotic surgical system |
US11896330B2 (en) | 2019-08-15 | 2024-02-13 | Auris Health, Inc. | Robotic medical system having multiple medical instruments |
US11571171B2 (en) | 2019-09-24 | 2023-02-07 | Globus Medical, Inc. | Compound curve cable chain |
US11864857B2 (en) | 2019-09-27 | 2024-01-09 | Globus Medical, Inc. | Surgical robot with passive end effector |
US11426178B2 (en) | 2019-09-27 | 2022-08-30 | Globus Medical Inc. | Systems and methods for navigating a pin guide driver |
US11890066B2 (en) | 2019-09-30 | 2024-02-06 | Globus Medical, Inc | Surgical robot with passive end effector |
WO2021064536A1 (en) | 2019-09-30 | 2021-04-08 | Auris Health, Inc. | Medical instrument with capstan |
US11510684B2 (en) | 2019-10-14 | 2022-11-29 | Globus Medical, Inc. | Rotary motion passive end effector for surgical robots in orthopedic surgeries |
US20210153959A1 (en) * | 2019-11-26 | 2021-05-27 | Intuitive Surgical Operations, Inc. | Physical medical element affixation systems, methods, and materials |
US20210177500A1 (en) | 2019-12-12 | 2021-06-17 | Intuitive Surgical Operations, Inc. | Surgical instruments having non-linear cam slots |
US11911032B2 (en) | 2019-12-19 | 2024-02-27 | Cilag Gmbh International | Staple cartridge comprising a seating cam |
US11701111B2 (en) | 2019-12-19 | 2023-07-18 | Cilag Gmbh International | Method for operating a surgical stapling instrument |
US11234698B2 (en) | 2019-12-19 | 2022-02-01 | Cilag Gmbh International | Stapling system comprising a clamp lockout and a firing lockout |
US11504122B2 (en) | 2019-12-19 | 2022-11-22 | Cilag Gmbh International | Surgical instrument comprising a nested firing member |
US11291447B2 (en) | 2019-12-19 | 2022-04-05 | Cilag Gmbh International | Stapling instrument comprising independent jaw closing and staple firing systems |
US11446029B2 (en) | 2019-12-19 | 2022-09-20 | Cilag Gmbh International | Staple cartridge comprising projections extending from a curved deck surface |
US11304696B2 (en) | 2019-12-19 | 2022-04-19 | Cilag Gmbh International | Surgical instrument comprising a powered articulation system |
US11931033B2 (en) | 2019-12-19 | 2024-03-19 | Cilag Gmbh International | Staple cartridge comprising a latch lockout |
US11607219B2 (en) | 2019-12-19 | 2023-03-21 | Cilag Gmbh International | Staple cartridge comprising a detachable tissue cutting knife |
US11559304B2 (en) | 2019-12-19 | 2023-01-24 | Cilag Gmbh International | Surgical instrument comprising a rapid closure mechanism |
US11844520B2 (en) | 2019-12-19 | 2023-12-19 | Cilag Gmbh International | Staple cartridge comprising driver retention members |
US11529139B2 (en) | 2019-12-19 | 2022-12-20 | Cilag Gmbh International | Motor driven surgical instrument |
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 |
CN111067668B (zh) * | 2019-12-27 | 2022-04-22 | 先健科技(深圳)有限公司 | 测力装置 |
US11950872B2 (en) | 2019-12-31 | 2024-04-09 | Auris Health, Inc. | Dynamic pulley system |
US11439419B2 (en) | 2019-12-31 | 2022-09-13 | Auris Health, Inc. | Advanced basket drive mode |
KR102378428B1 (ko) | 2019-12-31 | 2022-03-23 | 동의대학교 산학협력단 | 의료용 로봇 장치 및 이의 시스템 |
CN113133833A (zh) | 2020-01-20 | 2021-07-20 | 上海奥朋医疗科技有限公司 | 一种带导丝导管推进阻力反馈的血管介入机器人操作手柄 |
US11458244B2 (en) | 2020-02-07 | 2022-10-04 | Covidien Lp | Irrigating surgical apparatus with positive pressure fluid |
IT202000002548A1 (it) | 2020-02-10 | 2021-08-10 | Medical Microinstruments Spa | Assieme di chirurgia robotica, arena operatoria e metodo |
US11382699B2 (en) | 2020-02-10 | 2022-07-12 | Globus Medical Inc. | Extended reality visualization of optical tool tracking volume for computer assisted navigation in surgery |
US11553913B2 (en) | 2020-02-11 | 2023-01-17 | Covidien Lp | Electrically-determining tissue cut with surgical stapling apparatus |
US11207150B2 (en) | 2020-02-19 | 2021-12-28 | Globus Medical, Inc. | Displaying a virtual model of a planned instrument attachment to ensure correct selection of physical instrument attachment |
US11253216B2 (en) | 2020-04-28 | 2022-02-22 | Globus Medical Inc. | Fixtures for fluoroscopic imaging systems and related navigation systems and methods |
US11510750B2 (en) | 2020-05-08 | 2022-11-29 | Globus Medical, Inc. | Leveraging two-dimensional digital imaging and communication in medicine imagery in three-dimensional extended reality applications |
US11382700B2 (en) | 2020-05-08 | 2022-07-12 | Globus Medical Inc. | Extended reality headset tool tracking and control |
US11153555B1 (en) | 2020-05-08 | 2021-10-19 | Globus Medical Inc. | Extended reality headset camera system for computer assisted navigation in surgery |
CN111481304A (zh) | 2020-05-09 | 2020-08-04 | 南微医学科技股份有限公司 | 一种三臂夹 |
USD975278S1 (en) | 2020-06-02 | 2023-01-10 | 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 |
USD966512S1 (en) | 2020-06-02 | 2022-10-11 | Cilag Gmbh International | Staple cartridge |
USD976401S1 (en) | 2020-06-02 | 2023-01-24 | Cilag Gmbh International | Staple cartridge |
USD975850S1 (en) | 2020-06-02 | 2023-01-17 | Cilag Gmbh International | Staple cartridge |
USD974560S1 (en) | 2020-06-02 | 2023-01-03 | Cilag Gmbh International | Staple cartridge |
CN112315549A (zh) * | 2020-06-04 | 2021-02-05 | 赛诺微医疗科技(浙江)有限公司 | 超声刀与换能器的连接机构及采用其的超声刀组件 |
US11317973B2 (en) | 2020-06-09 | 2022-05-03 | Globus Medical, Inc. | Camera tracking bar for computer assisted navigation during surgery |
US11382713B2 (en) | 2020-06-16 | 2022-07-12 | Globus Medical, Inc. | Navigated surgical system with eye to XR headset display calibration |
US11877807B2 (en) | 2020-07-10 | 2024-01-23 | Globus Medical, Inc | Instruments for navigated orthopedic surgeries |
USD963851S1 (en) | 2020-07-10 | 2022-09-13 | Covidien Lp | Port apparatus |
US11622768B2 (en) | 2020-07-13 | 2023-04-11 | Covidien Lp | Methods and structure for confirming proper assembly of powered surgical stapling systems |
US11793588B2 (en) | 2020-07-23 | 2023-10-24 | Globus Medical, Inc. | Sterile draping of robotic arms |
US20220031320A1 (en) | 2020-07-28 | 2022-02-03 | Cilag Gmbh International | Surgical instruments with flexible firing member actuator constraint arrangements |
US11737831B2 (en) | 2020-09-02 | 2023-08-29 | Globus Medical Inc. | Surgical object tracking template generation for computer assisted navigation during surgical procedure |
US11523785B2 (en) | 2020-09-24 | 2022-12-13 | Globus Medical, Inc. | Increased cone beam computed tomography volume length without requiring stitching or longitudinal C-arm movement |
US11911112B2 (en) | 2020-10-27 | 2024-02-27 | Globus Medical, Inc. | Robotic navigational system |
US11931025B2 (en) | 2020-10-29 | 2024-03-19 | Cilag Gmbh International | Surgical instrument comprising a releasable closure drive lock |
US11517390B2 (en) | 2020-10-29 | 2022-12-06 | Cilag Gmbh International | Surgical instrument comprising a limited travel switch |
US11534259B2 (en) | 2020-10-29 | 2022-12-27 | Cilag Gmbh International | Surgical instrument comprising an articulation indicator |
US11896217B2 (en) | 2020-10-29 | 2024-02-13 | Cilag Gmbh International | Surgical instrument comprising an articulation lock |
US11779330B2 (en) | 2020-10-29 | 2023-10-10 | Cilag Gmbh International | Surgical instrument comprising a jaw alignment system |
USD980425S1 (en) | 2020-10-29 | 2023-03-07 | Cilag Gmbh International | Surgical instrument assembly |
USD1013170S1 (en) | 2020-10-29 | 2024-01-30 | Cilag Gmbh International | Surgical instrument assembly |
US11717289B2 (en) | 2020-10-29 | 2023-08-08 | Cilag Gmbh International | Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable |
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 |
US11941814B2 (en) | 2020-11-04 | 2024-03-26 | Globus Medical Inc. | Auto segmentation using 2-D images taken during 3-D imaging spin |
EP3995099A1 (en) * | 2020-11-10 | 2022-05-11 | Rob Surgical Systems, SL | Adaptative robotic system and method for the evaluation of the position of a trocar in a robotic laparoscopic surgery intervention |
USD1022197S1 (en) | 2020-11-19 | 2024-04-09 | Auris Health, Inc. | Endoscope |
US11653919B2 (en) | 2020-11-24 | 2023-05-23 | Covidien Lp | Stapler line reinforcement continuity |
US11744580B2 (en) | 2020-11-24 | 2023-09-05 | Covidien Lp | Long stapler reloads with continuous cartridge |
US11717350B2 (en) | 2020-11-24 | 2023-08-08 | Globus Medical Inc. | Methods for robotic assistance and navigation in spinal surgery and related systems |
US11944296B2 (en) | 2020-12-02 | 2024-04-02 | Cilag Gmbh International | Powered surgical instruments with external connectors |
US11744581B2 (en) | 2020-12-02 | 2023-09-05 | Cilag Gmbh International | Powered surgical instruments with multi-phase tissue treatment |
US11678882B2 (en) | 2020-12-02 | 2023-06-20 | Cilag Gmbh International | Surgical instruments with interactive features to remedy incidental sled movements |
US11849943B2 (en) | 2020-12-02 | 2023-12-26 | Cilag Gmbh International | Surgical instrument with cartridge release mechanisms |
US11627960B2 (en) | 2020-12-02 | 2023-04-18 | Cilag Gmbh International | Powered surgical instruments with smart reload with separately attachable exteriorly mounted wiring connections |
US11653920B2 (en) | 2020-12-02 | 2023-05-23 | Cilag Gmbh International | Powered surgical instruments with communication interfaces through sterile barrier |
US11890010B2 (en) | 2020-12-02 | 2024-02-06 | Cllag GmbH International | Dual-sided reinforced reload for surgical instruments |
US11653915B2 (en) | 2020-12-02 | 2023-05-23 | Cilag Gmbh International | Surgical instruments with sled location detection and adjustment features |
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 |
US11813746B2 (en) | 2020-12-30 | 2023-11-14 | Cilag Gmbh International | Dual driving pinion crosscheck |
EP4274491A1 (en) | 2021-01-08 | 2023-11-15 | Intuitive Surgical Operations, Inc. | Surgical stapling instruments |
US11925349B2 (en) | 2021-02-26 | 2024-03-12 | Cilag Gmbh International | Adjustment to transfer parameters to improve available power |
US11793514B2 (en) | 2021-02-26 | 2023-10-24 | Cilag Gmbh International | Staple cartridge comprising sensor array which may be embedded in cartridge body |
US11950777B2 (en) | 2021-02-26 | 2024-04-09 | Cilag Gmbh International | Staple cartridge comprising an information access control system |
US11751869B2 (en) | 2021-02-26 | 2023-09-12 | Cilag Gmbh International | Monitoring of multiple sensors over time to detect moving characteristics of tissue |
US11812964B2 (en) | 2021-02-26 | 2023-11-14 | Cilag Gmbh International | Staple cartridge comprising a power management circuit |
US11696757B2 (en) | 2021-02-26 | 2023-07-11 | Cilag Gmbh International | Monitoring of internal systems to detect and track cartridge motion status |
US11701113B2 (en) | 2021-02-26 | 2023-07-18 | Cilag Gmbh International | Stapling instrument comprising a separate power antenna and a data transfer antenna |
US11749877B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Stapling instrument comprising a signal antenna |
US11730473B2 (en) | 2021-02-26 | 2023-08-22 | Cilag Gmbh International | Monitoring of manufacturing life-cycle |
US11950779B2 (en) | 2021-02-26 | 2024-04-09 | Cilag Gmbh International | Method of powering and communicating with a staple cartridge |
US11744583B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Distal communication array to tune frequency of RF systems |
US11723657B2 (en) | 2021-02-26 | 2023-08-15 | Cilag Gmbh International | Adjustable communication based on available bandwidth and power capacity |
DE202021000992U1 (de) | 2021-03-05 | 2021-06-21 | lNTUITIVE SURGICAL OPERATIONS,INC. | Elektrochirurgische Instrumente zur Versiegelung und Dissektion |
US11759202B2 (en) | 2021-03-22 | 2023-09-19 | Cilag Gmbh International | Staple cartridge comprising an implantable layer |
US11826012B2 (en) | 2021-03-22 | 2023-11-28 | Cilag Gmbh International | Stapling instrument comprising a pulsed motor-driven firing rack |
US11737749B2 (en) | 2021-03-22 | 2023-08-29 | Cilag Gmbh International | Surgical stapling instrument comprising a retraction system |
US11826042B2 (en) | 2021-03-22 | 2023-11-28 | Cilag Gmbh International | Surgical instrument comprising a firing drive including a selectable leverage mechanism |
US11717291B2 (en) | 2021-03-22 | 2023-08-08 | Cilag Gmbh International | Staple cartridge comprising staples configured to apply different tissue compression |
US11806011B2 (en) | 2021-03-22 | 2023-11-07 | Cilag Gmbh International | Stapling instrument comprising tissue compression systems |
US11723658B2 (en) | 2021-03-22 | 2023-08-15 | Cilag Gmbh International | Staple cartridge comprising a firing lockout |
US11832816B2 (en) | 2021-03-24 | 2023-12-05 | Cilag Gmbh International | Surgical stapling assembly comprising nonplanar staples and planar staples |
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 |
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 |
US11849944B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Drivers for fastener cartridge assemblies having rotary drive screws |
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 |
US11849945B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Rotary-driven surgical stapling assembly comprising eccentrically driven firing member |
US11744603B2 (en) | 2021-03-24 | 2023-09-05 | Cilag Gmbh International | Multi-axis pivot joints for surgical instruments and methods for manufacturing same |
US11896219B2 (en) | 2021-03-24 | 2024-02-13 | Cilag Gmbh International | Mating features between drivers and underside of a cartridge deck |
US11903582B2 (en) | 2021-03-24 | 2024-02-20 | Cilag Gmbh International | Leveraging surfaces for cartridge installation |
US11793516B2 (en) | 2021-03-24 | 2023-10-24 | Cilag Gmbh International | Surgical staple cartridge comprising longitudinal support beam |
US11857183B2 (en) | 2021-03-24 | 2024-01-02 | Cilag Gmbh International | Stapling assembly components having metal substrates and plastic bodies |
US11826047B2 (en) | 2021-05-28 | 2023-11-28 | Cilag Gmbh International | Stapling instrument comprising jaw mounts |
US11948226B2 (en) | 2021-05-28 | 2024-04-02 | Covidien Lp | Systems and methods for clinical workspace simulation |
US11684362B2 (en) | 2021-06-07 | 2023-06-27 | Covidien Lp | Handheld electromechanical surgical system |
US11771432B2 (en) | 2021-06-29 | 2023-10-03 | Covidien Lp | Stapling and cutting to default values in the event of strain gauge data integrity loss |
US11857273B2 (en) | 2021-07-06 | 2024-01-02 | Globus Medical, Inc. | Ultrasonic robotic surgical navigation |
US11439444B1 (en) | 2021-07-22 | 2022-09-13 | Globus Medical, Inc. | Screw tower and rod reduction tool |
US11903572B2 (en) | 2021-09-14 | 2024-02-20 | Nuvasive, Inc. | Surgical instruments, systems, and methods with optical sensors |
US20230107857A1 (en) * | 2021-09-29 | 2023-04-06 | Cilag Gmbh International | Surgical sealing devices for a natural body orifice |
US11957337B2 (en) | 2021-10-18 | 2024-04-16 | Cilag Gmbh International | Surgical stapling assembly with offset ramped drive surfaces |
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 |
WO2023101968A1 (en) | 2021-11-30 | 2023-06-08 | Endoquest Robotics, Inc. | Steerable overtube assemblies for robotic surgical systems |
US11918304B2 (en) | 2021-12-20 | 2024-03-05 | Globus Medical, Inc | Flat panel registration fixture and method of using same |
US11832823B2 (en) | 2022-02-08 | 2023-12-05 | Covidien Lp | Determination of anvil release during anastomosis |
EP4309611A1 (en) * | 2022-07-20 | 2024-01-24 | Cyber Surgery, S.L. | Parking robot system |
US11844585B1 (en) | 2023-02-10 | 2023-12-19 | Distalmotion Sa | Surgical robotics systems and devices having a sterile restart, and methods thereof |
Family Cites Families (240)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US977825A (en) | 1910-01-08 | 1910-12-06 | George N Murphy | Surgical instrument. |
GB955005A (en) | 1961-07-21 | 1964-04-08 | Molins Machine Co Ltd | Apparatus for gripping and lifting articles |
US3280991A (en) | 1964-04-28 | 1966-10-25 | Programmed & Remote Syst Corp | Position control manipulator |
US3698791A (en) * | 1971-04-19 | 1972-10-17 | Xerox Corp | Drape for operating microscope |
US3961921A (en) * | 1974-10-15 | 1976-06-08 | Vernco Corporation | Vacuum cleaner with an impermeable collector bag |
US5196688A (en) * | 1975-02-04 | 1993-03-23 | Telefunken Systemtechnik Gmbh | Apparatus for recognizing and following a target |
US4041942A (en) * | 1976-06-15 | 1977-08-16 | American Hospital Supply Corporation | Surgical drape |
US4128880A (en) | 1976-06-30 | 1978-12-05 | Cray Research, Inc. | Computer vector register processing |
US4058001A (en) | 1976-08-02 | 1977-11-15 | G. D. Searle & Co. | Ultrasound imaging system with improved scan conversion |
US4078568A (en) * | 1976-10-12 | 1978-03-14 | Northern Illinois Research, Inc. | Plastic composition and method |
US4221997A (en) * | 1978-12-18 | 1980-09-09 | Western Electric Company, Incorporated | Articulated robot arm and method of moving same |
US4221597A (en) * | 1979-04-11 | 1980-09-09 | Pullman Incorporated | Additive for improved performance of silicate cement |
DE3045295A1 (en) * | 1979-05-21 | 1982-02-18 | American Cystoscope Makers Inc | Surgical instrument for an endoscope |
US4367998A (en) * | 1979-09-13 | 1983-01-11 | United Kingdom Atomic Energy Authority | Manipulators |
FR2482508A1 (fr) | 1980-05-14 | 1981-11-20 | Commissariat Energie Atomique | Manipulateur et support d'orientation motorise pour un tel manipulateur |
JPS6017130B2 (ja) * | 1980-06-06 | 1985-05-01 | 日本電気株式会社 | アドレス制御装置 |
FR2492304A1 (fr) | 1980-10-17 | 1982-04-23 | Commissariat Energie Atomique | Ensemble de telemanipulation monte sur une plate-forme mobile et comportant un ensemble porteur telescopique retractable a l'interieur d'une hotte etanche, et procede de mise en place sur une enceinte |
JPS57118299A (en) | 1981-01-14 | 1982-07-23 | Nissan Motor | Voice load driver |
JPS58130393A (ja) | 1982-01-29 | 1983-08-03 | 株式会社東芝 | 音声認識装置 |
JPS58134357A (ja) | 1982-02-03 | 1983-08-10 | Hitachi Ltd | ベクトルプロセッサ |
US4456961A (en) * | 1982-03-05 | 1984-06-26 | Texas Instruments Incorporated | Apparatus for teaching and transforming noncoincident coordinate systems |
US4491135A (en) | 1982-11-03 | 1985-01-01 | Klein Harvey A | Surgical needle holder |
US4517963A (en) * | 1983-01-04 | 1985-05-21 | Harold Unger | Image-erecting barrel rotator for articulated optical arm |
US4503854A (en) | 1983-06-16 | 1985-03-12 | Jako Geza J | Laser surgery |
US4641292A (en) | 1983-06-20 | 1987-02-03 | George Tunnell | Voice controlled welding system |
US4604016A (en) * | 1983-08-03 | 1986-08-05 | Joyce Stephen A | Multi-dimensional force-torque hand controller having force feedback |
US4586398A (en) * | 1983-09-29 | 1986-05-06 | Hamilton Industries | Foot control assembly for power-operated tables and the like |
US5807379A (en) | 1983-11-17 | 1998-09-15 | Visx, Incorporated | Ophthalmic method and apparatus for laser surgery of the cornea |
US4635292A (en) | 1983-12-19 | 1987-01-06 | Matsushita Electric Industrial Co., Ltd. | Image processor |
US4616637A (en) * | 1984-09-14 | 1986-10-14 | Precision Surgical Instruments, Inc. | Shoulder traction apparatus |
US4676243A (en) * | 1984-10-31 | 1987-06-30 | Aldebaran Xiii Consulting Company | Automated anterior capsulectomy instrument |
DE3444827A1 (de) * | 1984-12-08 | 1986-06-12 | Robert Bosch Gmbh, 7000 Stuttgart | Verfahren und vorrichtung zur bremsdrucksteuerung bei fahrzeugbremsanlagen |
US4598725A (en) * | 1985-01-16 | 1986-07-08 | Brewer Barney J | Convertible poncho |
JPH055529Y2 (zh) * | 1985-03-25 | 1993-02-15 | ||
JPS61279491A (ja) * | 1985-05-31 | 1986-12-10 | 株式会社安川電機 | 視覚機器付産業用ロボット |
US4672963A (en) | 1985-06-07 | 1987-06-16 | Israel Barken | Apparatus and method for computer controlled laser surgery |
DE3524120A1 (de) * | 1985-07-05 | 1987-01-08 | Teves Gmbh Alfred | Bremsschlupfgeregelte bremsanlage |
US4945479A (en) | 1985-07-31 | 1990-07-31 | Unisys Corporation | Tightly coupled scientific processing system |
JPH085018B2 (ja) * | 1986-02-26 | 1996-01-24 | 株式会社日立製作所 | 遠隔マニピユレ−シヨン方法及び装置 |
EP0239409A1 (en) | 1986-03-28 | 1987-09-30 | Life Technology Research Foundation | Robot for surgical operation |
US5078140A (en) * | 1986-05-08 | 1992-01-07 | Kwoh Yik S | Imaging device - aided robotic stereotaxis system |
US4791934A (en) * | 1986-08-07 | 1988-12-20 | Picker International, Inc. | Computer tomography assisted stereotactic surgery system and method |
SE464855B (sv) * | 1986-09-29 | 1991-06-24 | Asea Ab | Foerfarande vid en industrirobot foer kalibrering av en sensor |
US4989890A (en) * | 1986-09-30 | 1991-02-05 | Invacare Corporation | Length and width adjustable wheelchair |
US5157603A (en) | 1986-11-06 | 1992-10-20 | Storz Instrument Company | Control system for ophthalmic surgical instruments |
US4854301A (en) * | 1986-11-13 | 1989-08-08 | Olympus Optical Co., Ltd. | Endoscope apparatus having a chair with a switch |
JPH0829509B2 (ja) * | 1986-12-12 | 1996-03-27 | 株式会社日立製作所 | マニピユレ−タの制御装置 |
US4817592A (en) * | 1987-01-23 | 1989-04-04 | Andronic Devices, Ltd. | Toroidal surgical shield |
US4803400A (en) * | 1987-02-02 | 1989-02-07 | Gte Laboratories Incorporated | Pre-water-based suspension phosphor treatment process |
US4791940A (en) | 1987-02-02 | 1988-12-20 | Florida Probe Corporation | Electronic periodontal probe with a constant force applier |
DE3889681T2 (de) | 1987-02-09 | 1994-09-08 | Sumitomo Electric Industries | Vorrichtung zum Biegen eines länglichen Körpers. |
US4839838A (en) * | 1987-03-30 | 1989-06-13 | Labiche Mitchell | Spatial input apparatus |
US4860215A (en) | 1987-04-06 | 1989-08-22 | California Institute Of Technology | Method and apparatus for adaptive force and position control of manipulators |
US5065741A (en) * | 1987-04-16 | 1991-11-19 | Olympus Optical Co. Ltd. | Extracoporeal ultrasonic lithotripter with a variable focus |
US4800614A (en) * | 1987-04-30 | 1989-01-31 | Royal Appliance Mfg. Co. | Adaptor and bag insert |
US4863133A (en) * | 1987-05-26 | 1989-09-05 | Leonard Medical | Arm device for adjustable positioning of a medical instrument or the like |
US4762455A (en) | 1987-06-01 | 1988-08-09 | Remote Technology Corporation | Remote manipulator |
US4852083A (en) | 1987-06-22 | 1989-07-25 | Texas Instruments Incorporated | Digital crossbar switch |
JPH088933B2 (ja) | 1987-07-10 | 1996-01-31 | 日本ゼオン株式会社 | カテ−テル |
US4794912A (en) * | 1987-08-17 | 1989-01-03 | Welch Allyn, Inc. | Borescope or endoscope with fluid dynamic muscle |
JP2602240B2 (ja) | 1987-08-28 | 1997-04-23 | 株式会社日立製作所 | マルチプロセツサシステム |
US4752466A (en) * | 1987-08-31 | 1988-06-21 | Johnson & Johnson Products, Inc. | Thrombin aerosol |
US4750636A (en) * | 1987-09-24 | 1988-06-14 | Wortham Eastol G | Test tube opening hood and process |
US5521153A (en) * | 1987-10-02 | 1996-05-28 | Ciba-Geigy Corporation | Synergistic antifungal protein and compositions containing same |
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 |
US5303148A (en) | 1987-11-27 | 1994-04-12 | Picker International, Inc. | Voice actuated volume image controller and display controller |
JPH01146354A (ja) * | 1987-12-02 | 1989-06-08 | Mitsubishi Electric Corp | 半導体記憶装置 |
EP0326768A3 (en) * | 1988-02-01 | 1991-01-23 | Faro Medical Technologies Inc. | Computer-aided surgery apparatus |
US5251127A (en) * | 1988-02-01 | 1993-10-05 | Faro Medical Technologies Inc. | Computer-aided surgery apparatus |
US4815450A (en) | 1988-02-01 | 1989-03-28 | Patel Jayendra I | Endoscope having variable flexibility |
US4964062A (en) * | 1988-02-16 | 1990-10-16 | Ubhayakar Shivadev K | Robotic arm systems |
US4930494A (en) * | 1988-03-09 | 1990-06-05 | Olympus Optical Co., Ltd. | Apparatus for bending an insertion section of an endoscope using a shape memory alloy |
US4949717A (en) | 1988-03-17 | 1990-08-21 | Shaw Edward L | Surgical instrument with suture cutter |
US4799779A (en) * | 1988-03-22 | 1989-01-24 | Mesmer Jeffrey C | Microscope drape |
US5019968A (en) | 1988-03-29 | 1991-05-28 | Yulan Wang | Three-dimensional vector processor |
US4989253A (en) | 1988-04-15 | 1991-01-29 | The Montefiore Hospital Association Of Western Pennsylvania | Voice activated microscope |
US4979949A (en) * | 1988-04-26 | 1990-12-25 | The Board Of Regents Of The University Of Washington | Robot-aided system for surgery |
US4979933A (en) * | 1988-04-27 | 1990-12-25 | Kraft, Inc. | Reclosable bag |
US5142484A (en) | 1988-05-12 | 1992-08-25 | Health Tech Services Corporation | An interactive patient assistance device for storing and dispensing prescribed medication and physical device |
DE3817405A1 (de) * | 1988-05-21 | 1989-11-30 | Fritz Stahlecker | Verfahren und vorrichtung zum spulenwechseln |
US4858661A (en) * | 1988-06-03 | 1989-08-22 | Porter-Cable Corporation | Plate joiner with a handle having a superior orientation |
JP2664205B2 (ja) * | 1988-06-10 | 1997-10-15 | 株式会社日立製作所 | マニピュレータ制御システム |
US4883400A (en) | 1988-08-24 | 1989-11-28 | Martin Marietta Energy Systems, Inc. | Dual arm master controller for a bilateral servo-manipulator |
JPH079606B2 (ja) * | 1988-09-19 | 1995-02-01 | 豊田工機株式会社 | ロボット制御装置 |
CA2000818C (en) * | 1988-10-19 | 1994-02-01 | Akira Tsuchihashi | Master slave manipulator system |
US5123095A (en) | 1989-01-17 | 1992-06-16 | Ergo Computing, Inc. | Integrated scalar and vector processors with vector addressing by the scalar processor |
US5098426A (en) | 1989-02-06 | 1992-03-24 | Phoenix Laser Systems, Inc. | Method and apparatus for precision laser surgery |
GB8904955D0 (en) * | 1989-03-03 | 1989-04-12 | Atomic Energy Authority Uk | Multi-axis hand controller |
US4965417A (en) * | 1989-03-27 | 1990-10-23 | Massie Philip E | Foot-operated control |
JPH034831A (ja) * | 1989-06-01 | 1991-01-10 | Toshiba Corp | 内視鏡装置 |
US5108488A (en) * | 1989-07-21 | 1992-04-28 | Valent U.S.A. Corporation | Synergistic herbicidal composition |
US4980626A (en) * | 1989-08-10 | 1990-12-25 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Method and apparatus for positioning a robotic end effector |
US5201325A (en) * | 1989-09-01 | 1993-04-13 | Andronic Devices Ltd. | Advanced surgical retractor |
US5271384A (en) * | 1989-09-01 | 1993-12-21 | Mcewen James A | Powered surgical retractor |
US5182557A (en) * | 1989-09-20 | 1993-01-26 | Semborg Recrob, Corp. | Motorized joystick |
US5082208A (en) * | 1989-09-29 | 1992-01-21 | The Boeing Company | System and method for controlling an aircraft flight control member |
FR2652928B1 (fr) * | 1989-10-05 | 1994-07-29 | Diadix Sa | Systeme interactif d'intervention locale a l'interieur d'une zone d'une structure non homogene. |
US5105387A (en) * | 1989-10-13 | 1992-04-14 | Texas Instruments Incorporated | Three transistor dual port dynamic random access memory gain cell |
US5249121A (en) | 1989-10-27 | 1993-09-28 | American Cyanamid Company | Remote control console for surgical control system |
US5091656A (en) * | 1989-10-27 | 1992-02-25 | Storz Instrument Company | Footswitch assembly with electrically engaged detents |
US5181823A (en) * | 1989-10-27 | 1993-01-26 | Grumman Aerospace Corporation | Apparatus and method for producing a video display |
EP0427358B1 (en) * | 1989-11-08 | 1996-03-27 | George S. Allen | Mechanical arm for and interactive image-guided surgical system |
US5239981A (en) * | 1989-11-16 | 1993-08-31 | Effner Biomet Gmbh | Film covering to protect a surgical instrument and an endoscope to be used with the film covering |
US5107080A (en) * | 1989-12-01 | 1992-04-21 | Massachusetts Institute Of Technology | Multiple degree of freedom damped hand controls |
DE4102196C2 (de) * | 1990-01-26 | 2002-08-01 | Olympus Optical Co | Abbildungsvorrichtung zum Nachführen eines Objektes |
US5175694A (en) * | 1990-02-08 | 1992-12-29 | The United States Of America As Represented By The Secretary Of The Navy | Centroid target tracking system utilizing parallel processing of digital data patterns |
US5097829A (en) | 1990-03-19 | 1992-03-24 | Tony Quisenberry | Temperature controlled cooling system |
US5343391A (en) * | 1990-04-10 | 1994-08-30 | Mushabac David R | Device for obtaining three dimensional contour data and for operating on a patient and related method |
FR2660852A1 (fr) * | 1990-04-17 | 1991-10-18 | Cheval Freres Sa | Instrument dentaire a faisceau laser. |
DE59006779D1 (de) * | 1990-05-09 | 1994-09-15 | Siemens Ag | Medizinische, insbesondere zahnmedizinische Einrichtung. |
US5431645A (en) * | 1990-05-10 | 1995-07-11 | Symbiosis Corporation | Remotely activated endoscopic tools such as endoscopic biopsy forceps |
US5086401A (en) * | 1990-05-11 | 1992-02-04 | International Business Machines Corporation | Image-directed robotic system for precise robotic surgery including redundant consistency checking |
US5129895A (en) * | 1990-05-16 | 1992-07-14 | Sunrise Technologies, Inc. | Laser sclerostomy procedure |
US5087378A (en) * | 1990-05-31 | 1992-02-11 | Pori, International, Inc. | Process for enhancing the dewaterability of waste sludge from microbiological digestion |
JPH0771288B2 (ja) * | 1990-08-24 | 1995-07-31 | 神田通信工業株式会社 | 自動視野調整方法及び装置 |
JPH04157889A (ja) * | 1990-10-20 | 1992-05-29 | Fujitsu Ltd | 人物撮像位置の自動調整方法 |
US5213141A (en) * | 1990-10-26 | 1993-05-25 | Dorman Ira S | Debris collection and disposal system and method |
US5131105A (en) * | 1990-11-21 | 1992-07-21 | Diasonics, Inc. | Patient support table |
US5145227A (en) * | 1990-12-31 | 1992-09-08 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Electromagnetic attachment mechanism |
US5228429A (en) * | 1991-01-14 | 1993-07-20 | Tadashi Hatano | Position measuring device for endoscope |
US5085741A (en) * | 1991-01-23 | 1992-02-04 | Phillips Petroleum Company | Extractive distillation of low boiling alkene/alkane mixtures |
US5188093A (en) * | 1991-02-04 | 1993-02-23 | Citation Medical Corporation | Portable arthroscope with periscope optics |
US5098428A (en) * | 1991-03-14 | 1992-03-24 | Sandlin Felix M | Cryosurgical spraying apparatus |
US5217003A (en) * | 1991-03-18 | 1993-06-08 | Wilk Peter J | Automated surgical system and apparatus |
US5217453A (en) * | 1991-03-18 | 1993-06-08 | Wilk Peter J | Automated surgical system and apparatus |
DE4109257C1 (zh) * | 1991-03-21 | 1992-10-22 | Dr.Ing.H.C. F. Porsche Ag, 7000 Stuttgart, De | |
US5339799A (en) * | 1991-04-23 | 1994-08-23 | Olympus Optical Co., Ltd. | Medical system for reproducing a state of contact of the treatment section in the operation unit |
US5146227A (en) * | 1991-05-03 | 1992-09-08 | Whistler Corporation | Sweeping receiver |
US5166513A (en) * | 1991-05-06 | 1992-11-24 | Coherent, Inc. | Dual actuation photoelectric foot switch |
US5313306A (en) | 1991-05-13 | 1994-05-17 | Telerobotics International, Inc. | Omniview motionless camera endoscopy system |
JP3173042B2 (ja) * | 1991-05-21 | 2001-06-04 | ソニー株式会社 | ロボットの数値制御装置 |
FI93607C (fi) * | 1991-05-24 | 1995-05-10 | John Koivukangas | Leikkaustoimenpidelaite |
US5417210A (en) * | 1992-05-27 | 1995-05-23 | International Business Machines Corporation | System and method for augmentation of endoscopic surgery |
US5279309A (en) * | 1991-06-13 | 1994-01-18 | International Business Machines Corporation | Signaling device and method for monitoring positions in a surgical operation |
US5182641A (en) | 1991-06-17 | 1993-01-26 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Composite video and graphics display for camera viewing systems in robotics and teleoperation |
US5237984A (en) * | 1991-06-24 | 1993-08-24 | Xomed-Treace Inc. | Sheath for endoscope |
US5458574A (en) * | 1994-03-16 | 1995-10-17 | Heartport, Inc. | System for performing a cardiac procedure |
US5735290A (en) * | 1993-02-22 | 1998-04-07 | Heartport, Inc. | Methods and systems for performing thoracoscopic coronary bypass and other procedures |
US5184601A (en) * | 1991-08-05 | 1993-02-09 | Putman John M | Endoscope stabilizer |
US5441042A (en) * | 1991-08-05 | 1995-08-15 | Putman; John M. | Endoscope instrument holder |
US5198894A (en) * | 1991-09-24 | 1993-03-30 | Hicks John W | Drape for endoscope |
US5238432A (en) * | 1991-10-17 | 1993-08-24 | Renner Howard E | Marine drive unit impact avoidance system |
US5230623A (en) * | 1991-12-10 | 1993-07-27 | Radionics, Inc. | Operating pointer with interactive computergraphics |
US5289365A (en) | 1991-12-23 | 1994-02-22 | Donnelly Corporation | Modular network control system |
JP3583777B2 (ja) * | 1992-01-21 | 2004-11-04 | エス・アール・アイ・インターナシヨナル | テレオペレータシステムとテレプレゼンス法 |
US5631973A (en) * | 1994-05-05 | 1997-05-20 | Sri International | Method for telemanipulation with telepresence |
US5357962A (en) * | 1992-01-27 | 1994-10-25 | Sri International | Ultrasonic imaging system and method wtih focusing correction |
US5345538A (en) | 1992-01-27 | 1994-09-06 | Krishna Narayannan | Voice activated control apparatus |
US5395389A (en) * | 1992-01-31 | 1995-03-07 | Patel; Piyush V. | Method for removing and replacing a coronary balloon catheter during coronary angioplasty |
US5626595A (en) * | 1992-02-14 | 1997-05-06 | Automated Medical Instruments, Inc. | Automated surgical instrument |
US5282806A (en) | 1992-08-21 | 1994-02-01 | Habley Medical Technology Corporation | Endoscopic surgical instrument having a removable, rotatable, end effector assembly |
US5201743A (en) * | 1992-05-05 | 1993-04-13 | Habley Medical Technology Corp. | Axially extendable endoscopic surgical instrument |
DE9204118U1 (zh) * | 1992-03-27 | 1992-05-21 | Fa. Carl Zeiss, 7920 Heidenheim, De | |
JP3199130B2 (ja) * | 1992-03-31 | 2001-08-13 | パイオニア株式会社 | 3次元座標入力装置 |
US5220630A (en) * | 1992-05-12 | 1993-06-15 | At&T Bell Laboratories | Optical fiber three-rod connector having a rod-securing clip |
US5221283A (en) * | 1992-05-15 | 1993-06-22 | General Electric Company | Apparatus and method for stereotactic surgery |
US5186232A (en) * | 1992-05-18 | 1993-02-16 | David Zahner | Accessory |
US5257999A (en) | 1992-06-04 | 1993-11-02 | Slanetz Jr Charles A | Self-oriented laparoscopic needle holder for curved needles |
AU4771893A (en) | 1992-07-14 | 1994-01-31 | Sierra Matrix, Inc. | Hands-free ultrasonic test view (hf-utv) |
US5458547A (en) | 1992-07-17 | 1995-10-17 | Tochigifujisangyo Kabushiki Kaisha | Differential apparatus with speed and torque sensitive differential limiting forces |
US5274500A (en) * | 1992-07-23 | 1993-12-28 | Kansas City Medical, Inc. | Video camera drape with lens |
US5762458A (en) * | 1996-02-20 | 1998-06-09 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive cardiac procedures |
US5515478A (en) * | 1992-08-10 | 1996-05-07 | Computer Motion, Inc. | Automated endoscope system for optimal positioning |
US5754741A (en) * | 1992-08-10 | 1998-05-19 | Computer Motion, Inc. | Automated endoscope for optimal positioning |
US5657429A (en) * | 1992-08-10 | 1997-08-12 | Computer Motion, Inc. | Automated endoscope system optimal positioning |
US5609560A (en) * | 1992-08-19 | 1997-03-11 | Olympus Optical Co., Ltd. | Medical operation device control system for controlling a operation devices accessed respectively by ID codes |
US5337732A (en) * | 1992-09-16 | 1994-08-16 | Cedars-Sinai Medical Center | Robotic endoscopy |
US5307717A (en) * | 1992-09-21 | 1994-05-03 | Paul Winston | Dispensing carrier and cutting guide for plastic sheeting |
US5331413A (en) * | 1992-09-28 | 1994-07-19 | The United States Of America As Represented By The United States National Aeronautics And Space Administration | Adjustable control station with movable monitors and cameras for viewing systems in robotics and teleoperations |
US5397323A (en) * | 1992-10-30 | 1995-03-14 | International Business Machines Corporation | Remote center-of-motion robot for surgery |
US5304185A (en) | 1992-11-04 | 1994-04-19 | Unisurge, Inc. | Needle holder |
US5629594A (en) * | 1992-12-02 | 1997-05-13 | Cybernet Systems Corporation | Force feedback system |
US5451924A (en) | 1993-01-14 | 1995-09-19 | Massachusetts Institute Of Technology | Apparatus for providing sensory substitution of force feedback |
US5445168A (en) * | 1993-01-25 | 1995-08-29 | Krebs; Helmut | Method for treating interuterine walls using a resectoscope |
US5320630A (en) * | 1993-02-23 | 1994-06-14 | Munir Ahmed | Endoscopic ligating instrument for applying elastic bands |
DE4306786C1 (de) | 1993-03-04 | 1994-02-10 | Wolfgang Daum | Chirurgischer Manipulator |
US5309717A (en) | 1993-03-22 | 1994-05-10 | Minch Richard B | Rapid shape memory effect micro-actuators |
JP3477781B2 (ja) * | 1993-03-23 | 2003-12-10 | セイコーエプソン株式会社 | Icカード |
US5417701A (en) * | 1993-03-30 | 1995-05-23 | Holmed Corporation | Surgical instrument with magnetic needle holder |
US6213124B1 (en) * | 1993-04-23 | 2001-04-10 | Johnson & Johnson Medical, Inc. | Surgical drape with a sealable pouch |
US5410638A (en) * | 1993-05-03 | 1995-04-25 | Northwestern University | System for positioning a medical instrument within a biotic structure using a micromanipulator |
JP2665052B2 (ja) | 1993-05-14 | 1997-10-22 | エスアールアイ インターナショナル | 遠隔中心位置決め装置 |
US5429142A (en) * | 1993-05-27 | 1995-07-04 | Linvatec Corporation | Surgical video systems cover |
US5395369A (en) * | 1993-06-10 | 1995-03-07 | Symbiosis Corporation | Endoscopic bipolar electrocautery instruments |
WO1995002426A1 (en) | 1993-07-13 | 1995-01-26 | Sims Deltec, Inc. | Medical pump and method of programming |
US5434457A (en) * | 1993-07-30 | 1995-07-18 | Josephs; Harold | Foot pedal safety switch and safety circuit |
US5451852A (en) * | 1993-08-02 | 1995-09-19 | Gusakov; Ignaty | Control system having signal tracking window filters |
CA2103626A1 (en) * | 1993-08-09 | 1995-02-10 | Septimiu Edmund Salcudean | Motion scaling tele-operating system with force feedback suitable for microsurgery |
US5343385A (en) * | 1993-08-17 | 1994-08-30 | International Business Machines Corporation | Interference-free insertion of a solid body into a cavity |
FR2709656B1 (fr) * | 1993-09-07 | 1995-12-01 | Deemed Int Sa | Installation pour opération de microchirurgie assistée par ordinateur et procédés mis en Óoeuvre par ladite installation. |
US5776126A (en) * | 1993-09-23 | 1998-07-07 | Wilk; Peter J. | Laparoscopic surgical apparatus and associated method |
US5779623A (en) * | 1993-10-08 | 1998-07-14 | Leonard Medical, Inc. | Positioner for medical instruments |
US5876325A (en) * | 1993-11-02 | 1999-03-02 | Olympus Optical Co., Ltd. | Surgical manipulation system |
US5422521A (en) * | 1993-11-18 | 1995-06-06 | Liebel-Flarsheim Co. | Foot operated control system for a multi-function device |
WO1995016396A1 (en) * | 1993-12-15 | 1995-06-22 | Computer Motion, Inc. | Automated endoscope system for optimal positioning |
US5467223A (en) * | 1993-12-16 | 1995-11-14 | Xomed-Treace Inc. | Drape adapter |
US5442726A (en) * | 1994-02-22 | 1995-08-15 | Hubbell Incorporated | Optical fiber storage system |
US5860420A (en) * | 1994-03-03 | 1999-01-19 | Rotecno Ag | Surgical draping system having a reusable and a disposable component |
GB2288404B (en) * | 1994-03-14 | 1998-09-02 | Nippon Zeon Co | Composition of epoxy group-containing cycloolefin resin |
JP3251425B2 (ja) * | 1994-04-28 | 2002-01-28 | キヤノン株式会社 | カラー画像形成装置 |
US5645077A (en) | 1994-06-16 | 1997-07-08 | Massachusetts Institute Of Technology | Inertial orientation tracker apparatus having automatic drift compensation for tracking human head and other similarly sized body |
US5803089A (en) | 1994-09-15 | 1998-09-08 | Visualization Technology, Inc. | Position tracking and imaging system for use in medical applications |
US5792045A (en) * | 1994-10-03 | 1998-08-11 | Adair; Edwin L. | Sterile surgical coupler and drape |
JP3532638B2 (ja) * | 1994-11-01 | 2004-05-31 | 株式会社日立ユニシアオートモティブ | 液圧緩衝器の取付環 |
US5737711A (en) * | 1994-11-09 | 1998-04-07 | Fuji Jukogyo Kabuishiki Kaisha | Diagnosis system for motor vehicle |
US5562503A (en) | 1994-12-05 | 1996-10-08 | Ellman; Alan G. | Bipolar adaptor for electrosurgical instrument |
US5836869A (en) * | 1994-12-13 | 1998-11-17 | Olympus Optical Co., Ltd. | Image tracking endoscope system |
US5530622A (en) * | 1994-12-23 | 1996-06-25 | National Semiconductor Corporation | Electronic assembly for connecting to an electronic system and method of manufacture thereof |
US5544854A (en) * | 1995-03-28 | 1996-08-13 | Westinghouse Air Brake Company | Remote control of cut-out cock |
US5882206A (en) * | 1995-03-29 | 1999-03-16 | Gillio; Robert G. | Virtual surgery system |
US5887121A (en) * | 1995-04-21 | 1999-03-23 | International Business Machines Corporation | Method of constrained Cartesian control of robotic mechanisms with active and passive joints |
US5636259A (en) * | 1995-05-18 | 1997-06-03 | Continental X-Ray Corporation | Universal radiographic/fluoroscopic digital room |
US5544654A (en) | 1995-06-06 | 1996-08-13 | Acuson Corporation | Voice control of a medical ultrasound scanning machine |
US5814038A (en) | 1995-06-07 | 1998-09-29 | Sri International | Surgical manipulator for a telerobotic system |
US5649956A (en) * | 1995-06-07 | 1997-07-22 | Sri International | System and method for releasably holding a surgical instrument |
US5784542A (en) * | 1995-09-07 | 1998-07-21 | California Institute Of Technology | Decoupled six degree-of-freedom teleoperated robot system |
US5828813A (en) * | 1995-09-07 | 1998-10-27 | California Institute Of Technology | Six axis force feedback input device |
GB9518402D0 (en) * | 1995-09-08 | 1995-11-08 | Armstrong Projects Ltd | Improvements in or relating to a robotic apparatus |
US5825982A (en) * | 1995-09-15 | 1998-10-20 | Wright; James | Head cursor control interface for an automated endoscope system for optimal positioning |
US5768128A (en) * | 1995-09-18 | 1998-06-16 | Iboco, Inc. | System for determining fertilizer blend and application rate method and apparatus for determining optimum fertilizer blends, based on a plurality of factors, to match field nutrient requirements |
US5860995A (en) * | 1995-09-22 | 1999-01-19 | Misener Medical Co. Inc. | Laparoscopic endoscopic surgical instrument |
JPH09114543A (ja) | 1995-10-02 | 1997-05-02 | Xybernaut Corp | ハンドフリーコンピュータ装置 |
US5970457A (en) * | 1995-10-25 | 1999-10-19 | Johns Hopkins University | Voice command and control medical care system |
US5717480A (en) | 1995-10-27 | 1998-02-10 | Reliance Medical Products, Inc. | Ophthalmic instrument support and lighting system |
US5825862A (en) | 1995-11-30 | 1998-10-20 | Bell Atlantic Network Services, Inc. | Method of altering the destination telephone number of an incoming call |
US5867210A (en) * | 1996-02-09 | 1999-02-02 | Rod; Samuel R. | Stereoscopic on-screen surgical microscope systems |
US5855583A (en) * | 1996-02-20 | 1999-01-05 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive cardiac procedures |
US5727569A (en) * | 1996-02-20 | 1998-03-17 | Cardiothoracic Systems, Inc. | Surgical devices for imposing a negative pressure to fix the position of cardiac tissue during surgery |
JPH09262066A (ja) * | 1996-03-27 | 1997-10-07 | Nagase & Co Ltd | 高脂血症を抑制するための食品および医薬組成物 |
US5807377A (en) * | 1996-05-20 | 1998-09-15 | Intuitive Surgical, Inc. | Force-reflecting surgical instrument and positioning mechanism for performing minimally invasive surgery with enhanced dexterity and sensitivity |
US5797900A (en) * | 1996-05-20 | 1998-08-25 | Intuitive Surgical, Inc. | Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
US5792135A (en) * | 1996-05-20 | 1998-08-11 | Intuitive Surgical, Inc. | Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
JP3537594B2 (ja) * | 1996-06-13 | 2004-06-14 | アロカ株式会社 | 超音波診断装置 |
US5765565A (en) * | 1996-07-12 | 1998-06-16 | Adair; Edwin L. | Sterile encapsulated operating room video monitor and video monitor support device |
US5957831A (en) * | 1996-07-12 | 1999-09-28 | Adair; Edwin L. | Sterile encapsulated endoscopic video monitor |
US5778889A (en) * | 1996-08-30 | 1998-07-14 | Kimberly-Clark Worldwide, Inc. | Craniotomy drape |
US5896574A (en) * | 1996-10-09 | 1999-04-20 | International Business Machines Corporation | Wireless modem with a supplemental power source |
US5931632A (en) * | 1998-04-09 | 1999-08-03 | Dongilli; Craig | Slidable and removable truck bed multi-compartment system |
US6589164B1 (en) * | 2000-02-15 | 2003-07-08 | Transvascular, Inc. | Sterility barriers for insertion of non-sterile apparatus into catheters or other medical devices |
US20020140665A1 (en) * | 2001-03-27 | 2002-10-03 | Gary Gordon | Method for framing viewports on a computer screen, and for pointing therein |
-
1996
- 1996-11-22 US US08/755,063 patent/US5855583A/en not_active Expired - Lifetime
-
1997
- 1997-02-19 CA CA002246713A patent/CA2246713C/en not_active Expired - Lifetime
- 1997-02-19 AU AU21318/97A patent/AU2131897A/en not_active Abandoned
- 1997-02-19 CN CN97193955A patent/CN1216454A/zh active Pending
- 1997-02-19 ES ES97906691T patent/ES2264158T3/es not_active Expired - Lifetime
- 1997-02-19 CA CA2547686A patent/CA2547686C/en not_active Expired - Lifetime
- 1997-02-19 KR KR1019980706489A patent/KR19990087101A/ko not_active Application Discontinuation
- 1997-02-19 RU RU98117466/14A patent/RU2233626C2/ru active
- 1997-02-19 IL IL12582297A patent/IL125822A/xx not_active IP Right Cessation
- 1997-02-19 WO PCT/US1997/002628 patent/WO1997029690A1/en active IP Right Grant
- 1997-02-19 DE DE69735708T patent/DE69735708T2/de not_active Expired - Lifetime
- 1997-02-19 JP JP09529591A patent/JP2000505328A/ja active Pending
- 1997-02-19 EP EP97906691A patent/EP0883376B1/en not_active Expired - Lifetime
- 1997-02-19 AT AT97906691T patent/ATE323446T1/de not_active IP Right Cessation
- 1997-06-11 US US08/873,190 patent/US6102850A/en not_active Expired - Lifetime
-
1998
- 1998-10-08 US US09/168,527 patent/US6007550A/en not_active Expired - Lifetime
-
2002
- 2002-12-06 US US10/313,810 patent/US20030083648A1/en not_active Abandoned
-
2003
- 2003-01-07 US US10/339,077 patent/US6905460B2/en not_active Expired - Lifetime
- 2003-12-15 US US10/737,195 patent/US7083571B2/en not_active Expired - Fee Related
-
2005
- 2005-03-30 US US11/096,215 patent/US20050228365A1/en not_active Abandoned
-
2006
- 2006-07-17 US US11/487,943 patent/US7695481B2/en not_active Expired - Fee Related
-
2008
- 2008-04-16 US US12/104,271 patent/US20080228196A1/en not_active Abandoned
Cited By (74)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1878509B (zh) * | 2003-11-12 | 2010-10-06 | 微型-E测量技术有限及两合公司 | 用于在微创介入时导引末端执行器的促动平台 |
CN102764159A (zh) * | 2005-05-19 | 2012-11-07 | 直观外科手术操作公司 | 用于外科手术及其它应用的软件中心和高度可配置的机器人系统 |
US9687310B2 (en) | 2005-05-19 | 2017-06-27 | Intuitive Surgical Operations, Inc. | Software center and highly configurable robotic systems for surgery and other uses |
US10117714B2 (en) | 2005-05-19 | 2018-11-06 | Intuitive Surgical Operations, Inc. | Software center and highly configurable robotic systems for surgery and other uses |
US10123844B2 (en) | 2005-05-19 | 2018-11-13 | Intuitive Surgical Operations, Inc. | Software center and highly configurable robotic systems for surgery and other uses |
CN102764159B (zh) * | 2005-05-19 | 2015-01-21 | 直观外科手术操作公司 | 用于外科手术及其它应用的软件中心和高度可配置的机器人系统 |
US10194998B2 (en) | 2005-05-19 | 2019-02-05 | Intuitive Surgical Operations, Inc. | Software center and highly configurable robotic systems for surgery and other uses |
CN101340850B (zh) * | 2005-12-30 | 2011-06-15 | 直观外科手术操作公司 | 外科器械的力和扭矩检测 |
CN101443162B (zh) * | 2006-02-03 | 2011-09-07 | 欧洲原子能共同体由欧洲委员会代表 | 用于实施微创医疗手术的机器人手术系统 |
CN101389285B (zh) * | 2006-02-22 | 2012-10-03 | 航生医疗公司 | 用于测量工作仪器上的远端力的系统和装置 |
CN102438795B (zh) * | 2009-02-11 | 2015-01-28 | 伊顿株式会社 | 手术机器人系统及其控制方法 |
CN102458295A (zh) * | 2009-05-22 | 2012-05-16 | 加泰罗尼亚理工大学 | 用于腹腔镜手术的机器人系统 |
CN102458295B (zh) * | 2009-05-22 | 2014-06-25 | 加泰罗尼亚理工大学 | 用于腹腔镜手术的机器人系统 |
US9205564B2 (en) | 2010-01-08 | 2015-12-08 | Koninklijke Philips N.V. | Uncalibrated visual servoing using real-time velocity optimization |
CN102791214A (zh) * | 2010-01-08 | 2012-11-21 | 皇家飞利浦电子股份有限公司 | 采用实时速度优化的不经校准的视觉伺服 |
US8934003B2 (en) | 2010-01-08 | 2015-01-13 | Koninklijkle Philips N.V. | Uncalibrated visual servoing using real-time velocity optimization |
CN102958454A (zh) * | 2010-06-02 | 2013-03-06 | 康尔福盛2200公司 | 手致动的活动连接外科手术工具 |
CN101862223A (zh) * | 2010-06-24 | 2010-10-20 | 中国科学院深圳先进技术研究院 | 手术机器人 |
CN101862223B (zh) * | 2010-06-24 | 2012-02-15 | 中国科学院深圳先进技术研究院 | 手术机器人 |
CN103370023A (zh) * | 2010-11-22 | 2013-10-23 | 天主教大学基金会,即雷德邦德大学 | 马达系统、马达以及包括它的机械臂装置 |
CN102614019A (zh) * | 2010-12-17 | 2012-08-01 | 伊顿株式会社 | 手术机器人系统及其自适应控制方法 |
CN106214262B (zh) * | 2010-12-17 | 2019-02-01 | 伊顿株式会社 | 手术机器人系统及其自适应控制方法 |
CN106214262A (zh) * | 2010-12-17 | 2016-12-14 | 伊顿株式会社 | 手术机器人系统及其自适应控制方法 |
CN103476355A (zh) * | 2011-02-18 | 2013-12-25 | 西门子公司 | 具有锁定功能的关节臂 |
CN103476355B (zh) * | 2011-02-18 | 2016-08-17 | 西门子公司 | 具有锁定功能的关节臂 |
CN103415266A (zh) * | 2011-03-31 | 2013-11-27 | 奥林巴斯株式会社 | 主操纵器 |
CN102197989B (zh) * | 2011-06-01 | 2013-06-05 | 广州宝胆医疗器械科技有限公司 | 智能电子膀胱镜系统 |
CN102217926A (zh) * | 2011-06-01 | 2011-10-19 | 广州宝胆医疗器械科技有限公司 | 经自然腔道的智能电子内窥镜系统 |
CN102197989A (zh) * | 2011-06-01 | 2011-09-28 | 广州宝胆医疗器械科技有限公司 | 智能电子膀胱镜系统 |
CN102188230A (zh) * | 2011-06-01 | 2011-09-21 | 广州宝胆医疗器械科技有限公司 | 智能电子胆囊镜系统 |
CN102188230B (zh) * | 2011-06-01 | 2013-03-20 | 广州宝胆医疗器械科技有限公司 | 智能电子胆囊镜系统 |
CN102217926B (zh) * | 2011-06-01 | 2013-03-20 | 广州宝胆医疗器械科技有限公司 | 经自然腔道的智能电子内窥镜系统 |
US10117715B2 (en) | 2012-07-03 | 2018-11-06 | Kuka Deutschland Gmbh | Surgical instrument arrangement and drive train arrangement for a surgical instrument, in particular a robot-guided surgical instrument, and surgical instrument |
CN104605940B (zh) * | 2012-07-03 | 2019-03-26 | 库卡实验仪器有限公司 | 手术器械组、特别是机器人引导的手术器械的传动器组和手术器械 |
US10390900B2 (en) | 2012-07-03 | 2019-08-27 | Kuka Deutschland Gmbh | Surgical instrument arrangement and drive train arrangement for a surgical instrument, in particular a robot-guided surgical instrument, and surgical instrument |
US10258421B2 (en) | 2012-07-03 | 2019-04-16 | Kuka Deutschland Gmbh | Surgical instrument, arrangement and drive train arrangement for a surgical instrument, in particular a robot-guided surgical instrument, and surgical instrument |
CN104605941A (zh) * | 2012-07-03 | 2015-05-13 | 库卡实验仪器有限公司 | 手术器械组、特别是机器人引导的手术器械的传动器组和手术器械 |
CN104605940A (zh) * | 2012-07-03 | 2015-05-13 | 库卡实验仪器有限公司 | 手术器械组、特别是机器人引导的手术器械的传动器组和手术器械 |
CN104605941B (zh) * | 2012-07-03 | 2018-07-17 | 库卡实验仪器有限公司 | 手术器械组、特别是机器人引导的手术器械的传动器组和手术器械 |
US9782225B2 (en) | 2012-07-03 | 2017-10-10 | Kuka Roboter Gmbh | Surgical instrument arrangement and drive train arrangement for a surgical instrument, in particular a robot-guided surgical instrument, and surgical instrument |
US9775678B2 (en) | 2012-07-03 | 2017-10-03 | Kuka Roboter Gmbh | Surgical instrument arrangement and drive train arrangement for a surgical instrument, in particular a robot-guided surgical instrument, and surgical instrument |
CN103860269B (zh) * | 2012-12-18 | 2015-11-25 | 韩商未来股份有限公司 | 手术机器人的主夹持器结构 |
CN103860269A (zh) * | 2012-12-18 | 2014-06-18 | 韩商未来股份有限公司 | 手术机器人的主夹持器结构 |
CN104883947A (zh) * | 2012-12-20 | 2015-09-02 | 阿瓦特尔拉医药有限公司 | 用于微创外科手术的脱耦的多相机系统 |
CN105208962B (zh) * | 2013-03-15 | 2018-06-19 | 史赛克公司 | 手术机器人臂的端部执行器 |
CN105050775A (zh) * | 2013-03-15 | 2015-11-11 | 直观外科手术操作公司 | 软件可配置的操纵器自由度 |
US11812984B2 (en) | 2013-03-15 | 2023-11-14 | Stryker Corporation | End effector of a surgical robotic manipulator including a grip sensing mechanism for manual operation of the end effector |
US10675050B2 (en) | 2013-03-15 | 2020-06-09 | Stryker Corporation | End effector with liquid delivery system |
CN107485449A (zh) * | 2013-03-15 | 2017-12-19 | 直观外科手术操作公司 | 软件可配置的操纵器自由度 |
CN105208962A (zh) * | 2013-03-15 | 2015-12-30 | 史赛克公司 | 手术机器人臂的端部执行器 |
CN105392441A (zh) * | 2013-07-12 | 2016-03-09 | 奥林巴斯株式会社 | 手术辅助机器人 |
CN105611894A (zh) * | 2013-08-15 | 2016-05-25 | 直观外科手术操作公司 | 器械无菌适配器驱动特征 |
CN105611894B (zh) * | 2013-08-15 | 2019-02-15 | 直观外科手术操作公司 | 器械无菌适配器驱动特征 |
CN106028994B (zh) * | 2014-02-20 | 2019-01-22 | 直观外科手术操作公司 | 由机器人手臂的手动运动控制的手术安装平台的受限移动 |
CN106028994A (zh) * | 2014-02-20 | 2016-10-12 | 直观外科手术操作公司 | 由机器人手臂的手动运动控制的手术安装平台的受限移动 |
CN106457569A (zh) * | 2014-04-10 | 2017-02-22 | 宽射咨询公司 | 机器人系统及操作机器人系统的方法 |
CN106457569B (zh) * | 2014-04-10 | 2019-03-12 | 宽射咨询公司 | 机器人系统及操作机器人系统的方法 |
CN104783846B (zh) * | 2015-01-22 | 2017-09-01 | 天津手智医疗科技有限责任公司 | 一种采用微创手术智能化器械的手术操作装置 |
CN104783846A (zh) * | 2015-01-22 | 2015-07-22 | 天津手智医疗科技有限责任公司 | 一种采用微创手术智能化器械的手术操作方法 |
CN107666878A (zh) * | 2015-03-26 | 2018-02-06 | 柯惠Lp公司 | 用于机器人手术系统的输入装置组合件 |
CN108135667B (zh) * | 2015-10-22 | 2021-10-22 | 柯惠Lp公司 | 用于输入装置的可变扫动 |
CN108135667A (zh) * | 2015-10-22 | 2018-06-08 | 柯惠Lp公司 | 用于输入装置的可变扫动 |
CN105287015A (zh) * | 2015-11-11 | 2016-02-03 | 天津万和医疗器械有限公司 | 一种计数指示装置及采用该计数指示装置的医疗器械 |
CN108366835B (zh) * | 2015-12-10 | 2021-07-27 | 柯惠Lp公司 | 具有独立的侧倾、俯仰和偏摆缩放的机器人外科手术系统 |
CN108366835A (zh) * | 2015-12-10 | 2018-08-03 | 柯惠Lp公司 | 具有独立的侧倾、俯仰和偏摆缩放的机器人外科手术系统 |
CN105395254A (zh) * | 2015-12-22 | 2016-03-16 | 哈尔滨工业大学 | 一种分体式微创手术机器人的控制系统 |
CN105395254B (zh) * | 2015-12-22 | 2018-03-30 | 哈尔滨工业大学 | 一种分体式微创手术机器人的控制系统 |
CN105411681A (zh) * | 2015-12-22 | 2016-03-23 | 哈尔滨工业大学 | 分体式微创手术机器人的手眼协调控制系统及方法 |
CN105411681B (zh) * | 2015-12-22 | 2018-07-03 | 哈尔滨工业大学 | 分体式微创手术机器人的手眼协调控制系统及方法 |
CN108066008B (zh) * | 2017-03-23 | 2020-05-29 | 深圳市罗伯医疗科技有限公司 | 辅助手术的医疗仪器控制方法及系统 |
CN108066008A (zh) * | 2017-03-23 | 2018-05-25 | 深圳市罗伯医疗机器人研究所 | 辅助手术的医疗仪器控制方法及系统 |
CN113974848A (zh) * | 2017-06-20 | 2022-01-28 | 威博外科公司 | 用于机器人臂的推车及用于臂的仓或盒装载的方法和装置 |
CN111843978A (zh) * | 2020-05-29 | 2020-10-30 | 成都博恩思医学机器人有限公司 | 一种器械控制方法 |
CN113907693A (zh) * | 2021-12-10 | 2022-01-11 | 极限人工智能有限公司 | 操作映射比例调整方法、装置、电子设备以及存储介质 |
Also Published As
Publication number | Publication date |
---|---|
US6102850A (en) | 2000-08-15 |
KR19990087101A (ko) | 1999-12-15 |
US5855583A (en) | 1999-01-05 |
RU2233626C2 (ru) | 2004-08-10 |
IL125822A (en) | 2003-07-06 |
JP2000505328A (ja) | 2000-05-09 |
US20080228196A1 (en) | 2008-09-18 |
ATE323446T1 (de) | 2006-05-15 |
CA2547686A1 (en) | 1997-08-21 |
US20030100817A1 (en) | 2003-05-29 |
DE69735708D1 (de) | 2006-05-24 |
US20050228365A1 (en) | 2005-10-13 |
CA2246713A1 (en) | 1997-08-21 |
EP0883376B1 (en) | 2006-04-19 |
US6007550A (en) | 1999-12-28 |
CA2246713C (en) | 2006-08-15 |
US6905460B2 (en) | 2005-06-14 |
US7695481B2 (en) | 2010-04-13 |
CA2547686C (en) | 2011-11-15 |
EP0883376A1 (en) | 1998-12-16 |
DE69735708T2 (de) | 2006-09-28 |
IL125822A0 (en) | 1999-04-11 |
US7083571B2 (en) | 2006-08-01 |
EP0883376A4 (en) | 2000-08-23 |
US20030083648A1 (en) | 2003-05-01 |
WO1997029690A1 (en) | 1997-08-21 |
ES2264158T3 (es) | 2006-12-16 |
AU2131897A (en) | 1997-09-02 |
US20080215065A1 (en) | 2008-09-04 |
US20040186345A1 (en) | 2004-09-23 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN1216454A (zh) | 施行最小侵入性心脏手术的方法和装置 | |
US10398519B2 (en) | Hybrid control surgical robotic system | |
EP2785267B1 (en) | Apparatus and method for supporting a robotic arm | |
CN101242788B (zh) | 外科手术附件夹具及系统 | |
JP5943481B2 (ja) | 遠隔操縦ロボットシステム用の外科手術マニピュレーター | |
EP2143372B1 (en) | Apparatus for performing minimally invasive surgical procedures | |
EP1681029A1 (en) | Apparatus and process for manipulating medical instruments | |
RU98117466A (ru) | Способ и устройство для проведения минимально инвазивных операций на сердце | |
US20030125716A1 (en) | Method and apparatus for performing minimally invasive cardiac procedures | |
WO2016030767A1 (en) | Surgical system for microsurgical techniques | |
CN101045015A (zh) | 超声外科系统及方法 | |
US20130296882A1 (en) | Apparatus for surgery | |
AU2010241577A1 (en) | Improved manipulator | |
CN106102606A (zh) | 用于超声外科器械的加载特征结构 | |
KR20230002996A (ko) | 수술 로봇용 원격 운동 중심 제어 | |
Berkelman et al. | Design, control and testing of a novel compact laparoscopic endoscope manipulator | |
JP2021153858A (ja) | 手術器具 | |
EP3871629A1 (en) | Wearable surgical robot arm | |
Chauhan et al. | Design and control of a novel robotic microsurgical forceps for Transoral Laser Microsurgery | |
CN213850830U (zh) | 一种手持式多自由度微创手术器械 | |
JP6875690B1 (ja) | 手術ロボット、及び手術ロボットの制御ユニット | |
Li et al. | Design-Centric Model-Based Development of a Generalized Robotic Manipulator for Anastomosis and Ophthalmic Procedures | |
JP2023513277A (ja) | ロボット手術用のマスタワークステーション、滅菌手術場、手術用ロボットシステムおよび方法 | |
Hollingum | Engineers and surgeons collaborate | |
Biradar et al. | Rob-in heart (A surgeon without hand tremor) |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
WD01 | Invention patent application deemed withdrawn after publication | ||
REG | Reference to a national code |
Ref country code: HK Ref legal event code: WD Ref document number: 1019848 Country of ref document: HK |