WO2007111737A2 - Force and torque sensing for surgical instruments - Google Patents
Force and torque sensing for surgical instruments Download PDFInfo
- Publication number
- WO2007111737A2 WO2007111737A2 PCT/US2006/061994 US2006061994W WO2007111737A2 WO 2007111737 A2 WO2007111737 A2 WO 2007111737A2 US 2006061994 W US2006061994 W US 2006061994W WO 2007111737 A2 WO2007111737 A2 WO 2007111737A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- shaft
- strain gauges
- instrument
- strain
- gauges
- Prior art date
Links
- 238000000034 method Methods 0.000 claims abstract description 36
- 210000000707 wrist Anatomy 0.000 claims abstract description 35
- 239000000835 fiber Substances 0.000 claims description 43
- 210000003857 wrist joint Anatomy 0.000 claims description 17
- 239000000463 material Substances 0.000 claims description 8
- 238000012937 correction Methods 0.000 claims description 5
- 239000000523 sample Substances 0.000 claims description 5
- 238000005520 cutting process Methods 0.000 claims description 4
- 238000010897 surface acoustic wave method Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 239000011888 foil Substances 0.000 claims description 3
- 230000002262 irrigation Effects 0.000 claims description 3
- 238000003973 irrigation Methods 0.000 claims description 3
- 239000004065 semiconductor Substances 0.000 claims description 3
- 238000013528 artificial neural network Methods 0.000 claims description 2
- 238000001356 surgical procedure Methods 0.000 abstract description 11
- 238000000429 assembly Methods 0.000 description 18
- 230000000712 assembly Effects 0.000 description 18
- 230000033001 locomotion Effects 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 9
- 230000007246 mechanism Effects 0.000 description 7
- 239000012636 effector Substances 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 210000004247 hand Anatomy 0.000 description 4
- 239000013307 optical fiber Substances 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000001112 coagulating effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000011347 resin Substances 0.000 description 2
- 229920005989 resin Polymers 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 229920002430 Fibre-reinforced plastic Polymers 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000011151 fibre-reinforced plastic Substances 0.000 description 1
- 239000011152 fibreglass Substances 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000036039 immunity Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002355 open surgical procedure Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 239000004810 polytetrafluoroethylene Substances 0.000 description 1
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000012783 reinforcing fiber Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
-
- 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
- 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
- A61B34/76—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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
- G01L1/242—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre
- G01L1/246—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre using integrated gratings, e.g. Bragg gratings
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00059—Operational features of endoscopes provided with identification means for the endoscope
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
-
- 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
- A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/02—Details of sensors specially adapted for in-vivo measurements
- A61B2562/0261—Strain gauges
- A61B2562/0266—Optical strain gauges
-
- 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
- A61B90/37—Surgical systems with images on a monitor during operation
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
- Y10T74/20335—Wrist
Definitions
- the present invention relates generally to surgical robot systems and, more particularly, to a system and method for sensing forces applied to a surgical instrument.
- the surgeon typically operates a master controller to control the motion of surgical instruments at the surgical site from a location that may be remote from the patient (e.g., across the operating room, in a different room or a completely different building from the patient ⁇ .
- the master controller usually includes one or more hand input devices, such as handheld wrist gimbals, joysticks, exoskeletal gloves, handpieces or the like, which are operatively coupled to the surgical instruments through a controller with servo motors for articulating the instruments' position and orientation at the surgical site.
- the servo motors are typically part of an electromechanical device or surgical manipulator arm (“the slave") that includes a plurality of joints, linkages, etc., that are connected together to support and control the surgical instruments that have been introduced directly into an open surgical site or through trocar sleeves inserted through incisions into a body cavity, such as the patient's abdomen.
- the slave includes a plurality of joints, linkages, etc., that are connected together to support and control the surgical instruments that have been introduced directly into an open surgical site or through trocar sleeves inserted through incisions into a body cavity, such as the patient's abdomen.
- surgical instruments such as tissue graspers, needle drivers, electrosurgical cautery probes, etc.
- a surgeon may employ a large number of different surgical instruments/tools during a procedure.
- This new method of performing telerobotic surgery through remote manipulation has, of course, created many new challenges.
- One such challenge is providing the surgeon with the ability to accurately "feel" the tissue that is being manipulated by the surgical instrument via the robotic manipulator.
- the surgeon must rely on visual indications of the forces applied by the instruments or sutures. It is desirable to sense the forces and torques applied to the tip of the instrument, such as an end effector (e.g., jaws, grasper, blades, etc.) of robotic endoscopic surgical instruments, in order to feed the forces and torques back to the surgeon user through the system hand controls or by other means such as visual display or audible tone.
- an end effector e.g., jaws, grasper, blades, etc.
- One device for this purpose from the laboratory of G.
- Hirzinger at DLR is described in "Review of Fixtures for Low- Invasiveness Surgery" by F. Cepolina and RC Michelini, Int' 1 Journal of Medical Robotics and Computer Assisted Surgery, Vol.l, Issue 1, page 58, the contents of which are incorporated by reference herein for all purposes.
- that design disadvantageously places a force sensor distal to (or outboard of) the wrist joints, thus requiring wires or optic fibers to be routed through the flexing wrist joint and also requiring the yaw and grip axes to be on separate pivot axes.
- Another problem has been fitting and positioning the necessary wires for mechanical actuation of end effectors in as small a space as possible as relatively small instruments are typically desirable for performing surgery.
- the present invention provides an apparatus, system, and method for improving force and torque feedback to and sensing by the surgeon performing a telerobotic surgery.
- Groups of axially oriented strain gauges are positioned on or near a distal end of an instrument shaft proximal to (or inboard of) a moveable wrist of a robotic surgical Instrument to sense forces and torques at the distal tip of the instrument without errors due to changes In the configuration of the tip (such as with a moveable wrist) or steady state temperature variations.
- the present invention improves the sensing and feedback of forces and/or torques to the surgeon and substantially eliminates the problem of passing delicate wires through the flexible wrist joint of the instrument.
- FIG. IA is a perspective view of a robotic surgical system and method in accordance with an embodiment of the present invention .
- FIG. IB is a perspective view of a robotic surgical arm cart system of the robotic surgical system in FIG. IA in accordance with an embodiment of the present invention.
- FIG. 1C is a front perspective view of a master console of the robotic surgical system in FIG. IA in accordance with an embodiment of the present invention.
- FIG. 2 is a perspective view of a surgical instrument distal end showing a wrist, grip jaws, and force sensor for use with a telerobotic surgical system in accordance with an embodiment of the present invention.
- FIG. 3 is a first top view of the surgical instrument of FIG. 2 showing applied forces in accordance with the embodiment of the present invention.
- FIG. 4 is a first side view of the surgical instrument of FIG. 2 showing applied forces in accordance with the embodiment of the present invention.
- FIG. 5 is a second top view of the surgical instrument of FIG. 2 showing applied torque in accordance with the embodiment of the present invention.
- FIG. 6 is a second side view of the surgical instrument of FIG. 2 showing applied torque in accordance with the embodiment of the present invention.
- FIG. 7 shows a free body diagram of the instrument shaft and proximal wrist clevis subjected to loads and moments applied by the wrist mechanism in accordance with an embodiment of the present invention.
- FIG. 8 shows a grooved instrument shaft for embedded strain gauges in accordance with an embodiment of the present invention.
- FIGS. 9A-9C show different configurations of a strain relief and service loop for strain gauge wires or optic fibers in accordance with an embodiment of the present invention.
- the present invention provides a raulti-component system, apparatus, and method for sensing forces applied to tissue while performing robotically-assisted surgical procedures on a patient, particularly including open surgical procedures, neurosurgical procedures, such as stereotaxy, and endoscopic procedures, such as laparoscopy, arthroscopy, thoracoscopy and the like.
- the system and method of the present invention is particularly useful as part of a telerobotic surgical system that allows the surgeon to manipulate the surgical instruments through a servomechanism from a remote location from the patient.
- the manipulator apparatus or slave of the present invention will usually be driven by a kinematically- equivalent master having six or more degrees of freedom (e.g., 3 degrees of freedom for position and 3 degrees of freedom for orientation) to form a telepresence system with force reflection.
- a kinematically- equivalent master having six or more degrees of freedom (e.g., 3 degrees of freedom for position and 3 degrees of freedom for orientation) to form a telepresence system with force reflection.
- degrees of freedom e.g., 3 degrees of freedom for position and 3 degrees of freedom for orientation
- robotic system 10 generally includes one or more surgical manipulator assemblies 51 mounted to or near an operating table, and a master control assembly 90 for allowing the surgeon S to view the surgical site and to control the manipulator assemblies 51.
- the system 10 will also include one or more viewing scope assemblies and a plurality of surgical instrument assemblies 54 adapted for being removably coupled to the manipulator assemblies 51 (discussed in more detail below) .
- Robotic system 10 usually includes at least two manipulator assemblies 51 and preferably three manipulator assemblies 51. The exact number of manipulator assemblies 51 will depend on the surgical procedure and the space constraints within the operating room among other factors. As discussed in detail below, one of the assemblies 51 will typically operate a viewing scope assembly (e.g., in endoscopic procedures) for viewing the surgical site, while the other manipulator assemblies 51 operate surgical instruments 54 for performing various procedures on the patient P.
- a viewing scope assembly e.g., in endoscopic procedures
- Control assembly 90 may be located at a surgeon's console which is usually located in the same room as operating table O so that the surgeon may speak to his/her assistant (s) and directly monitor the operating procedure. However, it should be understood that the surgeon S can be located in a different room or a completely different building from the patient P.
- Master control assembly 90 generally includes a support, a monitor for displaying an image of the surgical site to the surgeon S, and one or more master (s) for controlling manipulator assemblies 51.
- Master (s) may include a variety of input devices, such as handTM held wrist gimbals, joysticks, gloves, trigger-guns, hand- operated controllers, voice recognition devices or the like.
- master (s) will be provided with the same degrees of freedom as the associated surgical instrument assemblies 54 to provide the surgeon with telepresence, the perception that the surgeon Is immediately adjacent to and immersed in the surgical site, and intuitiveness, the perception that the master (s) are integral with the instruments 54 so that the surgeon has a strong sense of directly and intuitively controlling instruments 54 as if they are part of his hands.
- Position, force, and tactile feedback sensors may also be employed on instrument assemblies 54 to transmit position, force, and tactile sensations from the surgical instrument back to the surgeon's hands as he/she operates the telerobotic system.
- One suitable system and method for providing telepresence to the operator is described in U.S. Patent Application No. 08/517,053, filed Aug. 21, 1995, which has previously been incorporated herein by reference.
- the monitor 94 will be suitably coupled to the viewing scope assembly such that an image of the surgical site is provided adjacent the surgeon's hands on surgeon console.
- monitor 94 will display an image on a display that is oriented so that the surgeon feels that he or she is actually looking directly down onto the operating site.
- an image of the surgical instruments 54 appears to be located substantially where the operator' s hands are located even though the observation points (i.e., the endoscope or viewing camera) may not be from the point of view of the image.
- the real-time Image is preferably transformed into a stereo image such that the operator can manipulate the end effector and the hand control as if viewing the workspace in substantially true presence.
- a servo control is provided for transferring the mechanical motion of masters to manipulator assemblies 51.
- the servo control may be separate from, or integral with manipulator assemblies 51.
- the servo control will usually provide force and torque feedback from the surgical instruments 51 to the hand- operated masters.
- the servo control may include a safety monitoring controller (not shown ⁇ to safely halt system operation or at least inhibit all robot motion in response to recognized undesirable conditions (e.g., exertion of excessive force on the patient, mismatched encoder readings, etc.).
- the servo control preferably has a servo bandwidth with a 3 dB cut off frequency of at least 10 hz so that the system can quickly and accurately respond to the rapid hand motions used by the surgeon and yet to filter out undesirable surgeon hand tremors.
- manipulator assemblies 51 have a relatively low inertia, and the drive motors have relatively low ratio gear or pulley couplings.
- Any suitable conventional or specialized servo control may be used in the practice of the present invention, with those incorporating force and torque feedback being particularly preferred for telepresence operation of the system.
- FIGS. 2-6 in conjunction with FIGS. IA - 1C, an improved apparatus, system, and method for sensing and feedback of forces and/or torques to the surgeon will be described in accordance with an embodiment of the present invention.
- FIG. 2 shows a perspective view of a portion 100 of a surgical instrument including a shaft 110, wrist joints 112 and 114, and an end portion 120 that may be used to manipulate a surgical tool and/or contact the patient.
- the surgical instrument also includes a housing 150 (FIGS. 9A-9C) that operably interfaces with a robotic manipulator arm, in one embodiment via a sterile adaptor interface.
- Applicable housings, sterile adaptor interfaces, and manipulator arms are disclosed in U.S. Patent Application No. 11/314,040 and U.S. Provisional Application No. 60/752,755, both filed on December 20, 2005, the full disclosures of which (including all references incorporated by reference therein) are incorporated by reference herein for all purposes.
- Applicable shafts, end portions, housings, sterile adaptors, and manipulator arms are available from Intuitive Surgical Inc. of Sunnyvale, California.
- end portion 120 has a range of motion that includes pitch and yaw motion, rotation about the z-axis, and actuation of an end effector, via cables through shaft 110 and housing 150 that transfers motion and electrical signals from the manipulator arm 51. Movement of end portion 120 along the x, y, and z axes may be provided by the manipulator arm 51.
- Embodiments of drive assemblies, arms, forearm assemblies, adaptors, and other applicable parts are described for example in U.S. Patent Nos. 6,331,181, 6,491,701, and 6,770,081, the full disclosures of which (including disclosures incorporated by reference therein) are incorporated herein by reference for all purposes.
- various surgical instruments may be improved in accordance with the present invention, including but not limited to tools with and without end effectors, such as jaws, scissors, graspers, needle holders, micro-dissectors, staple appliers, tackers, suction irrigation tools, clip appliers, cutting blades, irrigators, catheters, and suction orifices.
- the surgical instrument may comprise an electrosurgical probe for ablating, resecting, cutting or coagulating tissue.
- Such surgical instruments are commercially available from Intuitive Surgical, Inc. of Sunnyvale, California.
- instrument portion 100 includes sensors (e.g., strain gauges) mounted onto the exterior surface of shaft 110, oriented parallel to the axis of the shaft, termed the z-axis.
- the two axes perpendicular to the shaft are called the x ⁇ and y-axes.
- the signals from the sensors are combined arithmetically in various sums and differences (as will be explained in further detail below) to obtain measures of three perpendicular forces (e.g., F ⁇ , F y , and F z ) exerted upon the instrument tip and the torques about the two axes perpendicular to the shaft axis (Tx, Ty) (i.e., axes x and y) .
- the measurement of the forces is made independent of the orientation and effective lever arm length of an articulated wrist mechanism at the distal end of the instrument. Forces exerted against end portion 120 are detected by the force sensing elements, which may be operably coupled to servo control via an interrogator or a processor for transmitting these forces to master (s) .
- strain gauges 101, 102, 103, 104, 105, 106, 107, and 108 are mounted to the outer surface of shaft 110 or in shallow recesses near the outer surface and provide strain data Si, 8 2 , 8 3 , 8 4 , 8 5 , ⁇ 6 , ⁇ 7 , and ⁇ 8 , respectively.
- the primary strain sensing direction of the gauges are oriented parallel to the shaft lengthwise axis (z ⁇ axis) .
- the gauges are mounted in two groups of four, wherein the four gauges in one group are spaced equally, 90 degrees apart around the circumference of the shaft at one axial position (i.e., forming two "rings" of strain gauges).
- One group of four (e.g., gauges 101, 103, 105, and 107) is mounted proximal to a wrist mechanism as close to a distal end of shaft 110 as possible.
- the second group of four (e.g., gauges 102, 104, 106, and 108) is mounted at a chosen distance "1" from the first group of four (toward a proximal end of shaft 110) and aligned with them so that pairs of gauges in the two groups are aligned with each other (e.g., gauges 101 and 102, 103 and 104, 105 and 106, and 107 and 108 are aligned) .
- the z-axis force (FJ is found from the sum of the eight gauge outputs multiplied by a factor of EA/8, where E is the shaft material modulus of elasticity in the axial direction, and A is the cross-sectional area of the shaft.
- the lateral forces along the x- and y-axes (F x and F y ) at or near the tip are found from the difference of the gauge outputs of a pair of gauges on opposite sides of the shaft and the difference between the pair differences along the shaft multiplied by a factor of EI/2rl, where E is the shaft material modulus of elasticity in the axial direction, I is the shaft section moment of inertia, r is the radius from the shaft axis to the acting plane of the gauges, and 1 is the distance between the 2 groups of 4 gauges
- the calculations of the forces are derived from the following equations.
- F ⁇ and F y are thus Invariant with respect to L and invariant with respect to temperature at steady state.
- the present invention makes the measured force at the instrument tip independent of variations in the effective lever arm length due to wrist orientation changes or gripping position changes in the end portion during surgery.
- the measured forces along the x- and y-axes are independent of temperature changes when at thermal equilibrium over all gauges. This may be seen by adding an equal temperature disturbance strain to all four gauges in the equations for F x and F y and noting that the disturbances cancel. Thermal transients during which gauge temperatures are unequal are not compensated by this design although other measures may be taken to do so.
- the measurements of the torques about the x- and y ⁇ -axes (Tx and Ty) at the instrument tip are derived from the differences of the gauges paired across the shaft diameter and the sum of the pair differences along the shaft axis multiplied by a factor EI/4r, wherein once again E is the shaft material modulus of elasticity in the axial direction, I is the shaft section moment of inertia, and r is the radius from the shaft axis to the acting plane of the gauges.
- E the shaft material modulus of elasticity in the axial direction
- I the shaft section moment of inertia
- r is the radius from the shaft axis to the acting plane of the gauges.
- various strain gauges may be used, including but not limited to conventional foil type resistance gauges, semiconductor gauges, optic fiber type gauges using Bragg grating or Fabry-Perot technology, or others, such as strain sensing surface acoustic wave (SAW) devices.
- SAW strain sensing surface acoustic wave
- FBG Optic fiber Bragg grating
- the first employs a Fabry-Perot cavity formed by first fusing two fibers together so as to produce a half-mirror at the junction and then polishing the tip of the fiber so as to form a full mirror. Light is sent into the fiber to generate reflections from both the half-mirror and the full mirror. The two reflections generate interference patterns that are a function of the distance between the two mirrors, thus allowing the strain in the fiber to be sensed.
- This Fabry-Perot technology is commercially available from FISO Technologies Inc. of Quebec, Canada, with more information available at http: //www. fiso. com.
- the second technology uses a Bragg grating written into the fiber with a UV laser.
- the fiber Bragg grating (FBG) gauge comprises a spatial periodicity in the refractive index along the axis of the fiber. Light entering the FBG is preferentially reflected at a particular wavelength (the Bragg wavelength) that is a function of the period of the index variation. Other wavelengths pass through the FBG unchanged. To measure strain, broad spectrum IR light is sent down the fiber, and the wavelength of the reflection indicates the strain.
- This FBG technology is commercially available from Smart Fibres Ltd. of Bracknell, England, with more information available at http : //www. smartfibres . com.
- FBGs can be written into a fiber if they are formed in such a way as to use a different range of wavelengths, and as noted above, this is a particularly useful property for the double ring of strain gauges embodiment as only four fibers would need to be embedded into the instrument shaft, each with two FBGs separated by a known distance. To implement the double ring arrangement of strain gauges with the Fabry-Perot technology, eight fibers would be required.
- Both fiber technologies require an interrogator unit that decodes the optically encoded strain information into electrical signals compatible with the computer control hardware of the robotic surgical system.
- a processor may then be used to calculate forces according to the equations outlined above in conjunction with the signals from the strain gauges/sensors.
- an interrogator unit 170 ⁇ FIG. 9A) could be mounted on the manipulator, or elsewhere in the surgical system, which could require routing of the optical fiber across the sterile boundary.
- an optical coupling could be incorporated into the standard instrument interface with the manipulator such that installation of an instrument onto the manipulator automatically forms an optical link with the instrument.
- a fiber pigtail could exit the top of the instrument for mating with a connector presented on the manipulator but not part of the instrument interface.
- the interrogator could be built into the manipulator or fiber cables could run through the manipulator to an interrogator mounted on the surgical system or in the operating room separate from the manipulator.
- a fiber pigtail could exit the top of the instrument without passing through the manipulator for mating with an interrogator unit mounted in the operating room separate from the manipulator, which has the benefit of not requiring connection of the fiber cable when the instrument is attached or removed from the manipulator.
- a useful simplification of the two ring eight gauge arrangement is to remove one of the rings of gauges. This simplification removes the ability to distinguish between forces and moments on a given axis (e.g., x or y) , but many items in the surgical environment (e.g., human tissue, sutures) do not support moments well, and thus it is possible to assume that all strain information is from x and y-axis forces.
- three gauges 120 degrees apart may be used to form a set instead of four gauges 90 degrees apart.
- combinations of gauges may include a single ring of three gauges 120 degrees apart, two rings of three gauges each 120 degrees apart (i.e., a total of six gauges ⁇ , a single ring of four gauges 90 degrees apart, and two rings of four gauges each 90 degrees apart (i.e., a total of eight gauges) .
- Single ring gauge embodiments may be useful for non-wristed tools such as probes.
- Gauges may also be oriented on the surface of shaft 110 at angles that permit recovery of the additional torque signal T z about the shaft axis. However, the off-axis elastic properties must be taken into account .
- x- and y-axis forces may be detected with sensor (s) at the distal end of the instrument shaft as disclosed above, and z-axis forces may be detected with a sensor (s) located outside of the body near the proximal end of the instrument.
- Various sensors may be used outside of the body for detecting z- axis forces, including but not limited to strain gauges and/or fiber technologies.
- z-axis forces cannot be easily sensed at the instrument tip because the instrument shaft is subject to significant internal forces in the z-direction from the internal cabling necessary for transmitting torques to the instrument pitch and yaw axes.
- These cables run inside the instrument shaft and experiments have shown that the compression loads on the shaft vary significantly as the instrument is operated. Attempts to sense z direction strain with gauges on the instrument shaft will include a significant cabling "noise" in addition to the applied z-axis force of interest.
- cannula seals are disposable and may be packaged with lubrication, and in another embodiment, the instrument shaft surfaces may be treated with friction reducing coatings (e.g., PTFE) to negate undesirable friction noise. Both methods may also be used simultaneously.
- a sensor may be placed in various locations outside of the body proximate the proximal end of the surgical instrument in accordance with the present invention. It is preferred that the sensor be built into the manipulator rather than the disposable instrument but this is not necessarily so.
- a sensor (s) 160 (FIG. 9A) may be used at mount points for the instrument sterile adaptor on the manipulator arm insertion (Z- axis) carriage.
- the input/output axis pulleys in the instrument housing/carriage may be mounted on a sensor (s) , allowing for the detection of force applied to the I/O axis by the I/O motor.
- a sensor s
- a sensor may be placed at the instrument backplate. This would be substantially equivalent to placing sensors on the sterile adaptor mount points but would require an additional sensor be built into every instrument.
- x- and y-axis forces are sensed in a location substantially not subject to body-wall forces or torques such as the distal end of the instrument shaft proximal to the instrument wrist joint as discussed above.
- a force-torque sensor integrated with the tubular distal end of an endoscopic surgical instrument shaft is described.
- the senor is comprised of two sets of four strain gauges located about the periphery of the shaft such that the members of a group of four are 90 degrees apart around the shaft and the two groups of four are a distance 1 apart along the shaft.
- the side load ⁇ e.g., F y
- the disclosure explains that by computing the bending moment at each group of sensors due to the side load and then subtracting the two values, a measure of the side load independent of wrist orientation and resulting effective lever arm length can be derived.
- FIG. 7 illustrates a free body diagram of the shaft subjected to loads and moments applied by the wrist mechanism. While a variety of combinations of forces and moments may apply to the free body of the outboard wrist itself depending on the combination of tip loads, cable loads, and motion and acceleration of the wrist, the forces and moment applied to the end of the shaft viewed in the Y-Z plane and the reference frame of the shaft always reduce to F y (side load) , F z (axial load) , and M x (wrist pivot friction moment load) . Therefore, one can express the strains 8 5 , Zs r ⁇ 7 , and ⁇ 8 on the four gauges in this plane in terms of these three loads and derive the expression for the desired side force F 7 as follows.
- ⁇ 5 -F z /EA - M x r/EI - F y Lr/EI
- ⁇ 8 -F 2 /EA + M x r/EI H- F y ⁇ l+L)r/EI
- ⁇ 6 -F Z /EA - M x r/EI - F y (l+L)r/EI
- the strains due to the moment load M x which are felt identically on both sets of gauges drop out leaving the moment loads due to the applied side force F y .
- the strain components due to the axial force F z also felt identically on both sets of gauges also drop out. Therefore, since the wrist actuating torques are transmitted to the shaft carrying the strain sensors by the friction in the wrist joint, they result in moment loads that cancel when the signals from the two sets of sensors are subtracted, leaving a relatively clean signal due to the side force load alone as desired.
- the above disclosure similarly applies to 8 1 - 4 in the x-z plane with x and y interchanged.
- Calculating a clean signal due substantially to. the side force load alone advantageously eliminates the need to place the sensor outboard of (distal to) the wrist joints as previously done to eliminate the wrist friction moments.
- the present invention thus avoids the need to route wires or optic fibers associated with the strain gauges through the flexing wrist joint.
- the yaw and grip axes may be accomplished on the same pivot axis rather than having them separate as previously done.
- the calibration process may be used in which combinations of forces and torques are applied to the instrument tip serially, simultaneously, or in combinations while correction factors and offsets are determined to apply to the theoretical equations for combining the gauge outputs to obtain F x , F y , F zr T x , and T y .
- This calibration may be done either by directly calculating the correction factors and offsets or by a learning system such as a neural network embedded in the calibration fixture or in the instrument itself.
- the calibration data may be programmed into an integrated circuit embedded in the instrument so that the surgical system using the individual instrument can correctly identify and apply its correction factors and offsets while the instrument is in use.
- Optical fibers embedded in the instrument shaft preferably should exit the shaft near the proximal end of the instrument in a way that does not impede rotation of the shaft relative to the instrument housing/carriage while preserving the physical integrity of the fiber.
- Fabry- Perot or FBG sensing elements may be embedded in shallow grooves 130 just below the shaft 110 surface near the instrument shaft distal tip just behind the wrist clevis, and then epoxied or otherwise potted into place. Grooves 130 may lead back toward the proximal end of the instrument which includes the motion inputs and wrist cable actuator mechanism (the "housing") 150.
- Grooves 130 may be formed in the shaft during the initial pultrusion process or the grooves may be machined after shaft production.
- the fibers may be routed out of the grooves at a gentle angle and bundled through a strain relief 140 into a protective flexible sheath 141 which would carry the optical fibers to a strain relieved anchor point 142 on the top cover of the mechanism housing 150.
- the flexible sheath 141, strain relief 140, and anchor point 142 should have sufficient length and flexibility to permit safe repeated flexing and torsion as the instrument shaft 110 is rotated through a plus/minus three- quarter turn roll axis range of motion, as shown in FIGS. 9A-9C.
- the optical fibers may be woven or embedded with linear axial reinforcing fibers at the desired angular (90 or 120 degrees) and radial (near surface) positions into the instrument shaft fiber matrix prior to the application of resin.
- the present invention eliminates undesirable interference from wrist actuator cable tensions (F z ) and wrist actuation moments (M x ) with the desired sensing of the tip side load (F y ) by combining strain measurements and locating the sensors inboard of the wrist pitch and yaw axes.
- wires or optic fibers are not required to pass through the wrist joints, thereby avoiding possible signal loss, breakage of wires or fibers, interfering noise, and/or current leakage ⁇ fiber optics do not require current and provide no leakage path) while insuring greater reliability and simpler less expensive construction.
- the use of fiber strain gauges advantageously provide immunity to electrical and magnetic fields, which become an issue with cautery tools that generate large currents and voltages, while also providing bio- compatibility, durability to withstand temperatures and pressures associated with autoclaving, and size advantages.
- the wrist yaw and grip axes may share the same pivot shaft and actuator cables operated differentially for yaw and in common mode for grip thus simplifying and reducing the cost of the assembly while increasing its reliability.
- the combined overall length of the wrist and end effector may be kept to a minimum reducing the side offset distance when the wrist is bent.
- strain gauges may vary but must allow for applicable force and torque determinations.
- strain gauges may be non-uniformly offset in a ring, such as by 60 degrees and 120 degrees. Accordingly, the scope of the invention is defined only by the following claims.
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP06850283.0A EP1965711B1 (en) | 2005-12-30 | 2006-12-13 | Force and torque sensing for surgical instruments |
CN2006800484751A CN101340850B (en) | 2005-12-30 | 2006-12-13 | Force and torque sensing for surgical instruments |
JP2008548797A JP5264505B2 (en) | 2005-12-30 | 2006-12-13 | Force and torque sensor for surgical instruments |
KR1020087016327A KR101342917B1 (en) | 2005-12-30 | 2008-07-04 | Force and torque sensing for surgical instruments |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US75510805P | 2005-12-30 | 2005-12-30 | |
US60/755,108 | 2005-12-30 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2007111737A2 true WO2007111737A2 (en) | 2007-10-04 |
WO2007111737A3 WO2007111737A3 (en) | 2007-12-13 |
Family
ID=38461932
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2006/061994 WO2007111737A2 (en) | 2005-12-30 | 2006-12-13 | Force and torque sensing for surgical instruments |
Country Status (6)
Country | Link |
---|---|
US (2) | US8945095B2 (en) |
EP (1) | EP1965711B1 (en) |
JP (4) | JP5264505B2 (en) |
KR (1) | KR101342917B1 (en) |
CN (1) | CN101340850B (en) |
WO (1) | WO2007111737A2 (en) |
Cited By (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2009138957A2 (en) | 2008-05-14 | 2009-11-19 | Endosense S.A. | Temperature compensated strain sensing catheter |
EP2127604A1 (en) * | 2008-05-30 | 2009-12-02 | Nederlandse Organisatie voor toegepast- natuurwetenschappelijk onderzoek TNO | An instrument for minimally invasive surgery |
JP2011517419A (en) * | 2008-03-31 | 2011-06-09 | 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 | Force and torque sensing in a surgical robot arm |
JP2012514514A (en) * | 2009-01-09 | 2012-06-28 | エンドーセンス エスアー | Fiber optic force sensing catheter |
WO2014110561A1 (en) | 2013-01-14 | 2014-07-17 | Intuitive Surgical Operations, Inc. | Clamping instrument |
US8945095B2 (en) | 2005-03-30 | 2015-02-03 | Intuitive Surgical Operations, Inc. | Force and torque sensing for surgical instruments |
US9743990B2 (en) | 2010-11-12 | 2017-08-29 | Intuitive Surgical Operations, Inc. | Tension control in actuation of multi-joint medical instrument |
US9855102B2 (en) | 2007-12-18 | 2018-01-02 | Intuitive Surgical Operations, Inc. | Force sensor temperature compensation |
US9907618B2 (en) | 2005-03-04 | 2018-03-06 | St Jude Medical International Holding S.À R.L. | Medical apparatus system having optical fiber sensing capability |
US9918682B2 (en) | 2012-06-07 | 2018-03-20 | Panasonic Corporation | Catheter tip-end rotation angle measurement apparatus, catheter tip-end rotation angle measurement method, and catheter tip-end rotation angle measurement program |
US9943375B2 (en) | 2005-12-30 | 2018-04-17 | Intuitive Surgical Operations, Inc. | Wireless force sensor on a distal portion of a surgical instrument and method |
US9952107B2 (en) | 2007-12-18 | 2018-04-24 | Intuitive Surgical Operations, Inc | Ribbed force sensor |
US9993617B1 (en) | 2007-05-25 | 2018-06-12 | St. Jude Medical International Holdings S.À R.L. | Elongated surgical manipulator with body position and distal force sensing |
US10034717B2 (en) | 2014-03-17 | 2018-07-31 | Intuitive Surgical Operations, Inc. | System and method for breakaway clutching in an articulated arm |
US10561368B2 (en) | 2011-04-14 | 2020-02-18 | St. Jude Medical International Holding S.À R.L. | Compact force sensor for catheters |
US10568539B2 (en) | 2012-08-14 | 2020-02-25 | Intuitive Surgical Operations, Inc. | Systems and methods for configuring components in a minimally invasive instrument |
US10743897B2 (en) | 2015-05-15 | 2020-08-18 | Intuitive Surgical Operations, Inc. | System and method for reducing blade exposures |
US10799306B2 (en) | 2015-11-11 | 2020-10-13 | Intuitive Surgical Operations, Inc. | Reconfigurable end effector architecture |
US10806524B2 (en) | 2009-03-31 | 2020-10-20 | Intuitive Surgical Operations, Inc. | Optic fiber connection for a force sensing instrument |
US10874474B2 (en) | 2015-05-15 | 2020-12-29 | Intuitive Surgical Operations, Inc. | System and method for force or torque limit compensation |
US20210045827A1 (en) * | 2019-08-15 | 2021-02-18 | Verb Surgical Inc. | Admittance compensation for surgical tool |
US11445937B2 (en) | 2016-01-07 | 2022-09-20 | St. Jude Medical International Holding S.À R.L. | Medical device with multi-core fiber for optical sensing |
US11460360B2 (en) | 2017-11-14 | 2022-10-04 | Intuitive Surgical Operations, Inc. | Split bridge circuit force sensor |
US11717370B2 (en) | 2014-03-17 | 2023-08-08 | Intuitive Surgical Operations, Inc. | Backup latch release for surgical instrument |
Families Citing this family (663)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20070084897A1 (en) | 2003-05-20 | 2007-04-19 | Shelton Frederick E Iv | Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism |
US9060770B2 (en) | 2003-05-20 | 2015-06-23 | Ethicon Endo-Surgery, Inc. | Robotically-driven surgical instrument with E-beam driver |
US11896225B2 (en) | 2004-07-28 | 2024-02-13 | Cilag Gmbh International | Staple cartridge comprising a pan |
US8215531B2 (en) | 2004-07-28 | 2012-07-10 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument having a medical substance dispenser |
US8182433B2 (en) * | 2005-03-04 | 2012-05-22 | Endosense Sa | Medical apparatus system having optical fiber load sensing capability |
US8375808B2 (en) | 2005-12-30 | 2013-02-19 | Intuitive Surgical Operations, Inc. | Force sensing for surgical instruments |
US8465474B2 (en) | 2009-05-19 | 2013-06-18 | Intuitive Surgical Operations, Inc. | Cleaning of a surgical instrument force sensor |
EP2363073B1 (en) * | 2005-08-01 | 2015-10-07 | St. Jude Medical Luxembourg Holding S.à.r.l. | Medical apparatus system having optical fiber load sensing capability |
US7934630B2 (en) | 2005-08-31 | 2011-05-03 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
US11246590B2 (en) | 2005-08-31 | 2022-02-15 | Cilag Gmbh International | Staple cartridge including staple drivers having different unfired heights |
US10159482B2 (en) | 2005-08-31 | 2018-12-25 | Ethicon Llc | Fastener cartridge assembly comprising a fixed anvil and different staple heights |
US9237891B2 (en) | 2005-08-31 | 2016-01-19 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical stapling devices that produce formed staples having different lengths |
US11484312B2 (en) | 2005-08-31 | 2022-11-01 | Cilag Gmbh International | Staple cartridge comprising a staple driver arrangement |
US7669746B2 (en) | 2005-08-31 | 2010-03-02 | Ethicon Endo-Surgery, Inc. | Staple cartridges for forming staples having differing formed staple heights |
US20070106317A1 (en) | 2005-11-09 | 2007-05-10 | Shelton Frederick E Iv | Hydraulically and electrically actuated articulation joints for surgical instruments |
WO2007120329A2 (en) * | 2005-12-30 | 2007-10-25 | Intuitive Surgical, Inc. | Modular force sensor |
US11793518B2 (en) | 2006-01-31 | 2023-10-24 | Cilag Gmbh International | Powered surgical instruments with firing system lockout arrangements |
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 |
US20110024477A1 (en) | 2009-02-06 | 2011-02-03 | Hall Steven G | Driven Surgical Stapler Improvements |
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 |
US8820603B2 (en) | 2006-01-31 | 2014-09-02 | Ethicon Endo-Surgery, Inc. | Accessing data stored in a memory of a surgical instrument |
US20120292367A1 (en) | 2006-01-31 | 2012-11-22 | Ethicon Endo-Surgery, Inc. | Robotically-controlled end effector |
US20110295295A1 (en) | 2006-01-31 | 2011-12-01 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical instrument having recording capabilities |
US11278279B2 (en) | 2006-01-31 | 2022-03-22 | Cilag Gmbh International | Surgical instrument assembly |
US7845537B2 (en) | 2006-01-31 | 2010-12-07 | Ethicon Endo-Surgery, Inc. | Surgical instrument having recording capabilities |
US11224427B2 (en) | 2006-01-31 | 2022-01-18 | Cilag Gmbh International | Surgical stapling system including a console and retraction assembly |
US20070213692A1 (en) * | 2006-03-09 | 2007-09-13 | Timo Neubauer | Force action feedback in surgical instruments |
US8992422B2 (en) | 2006-03-23 | 2015-03-31 | Ethicon Endo-Surgery, Inc. | Robotically-controlled endoscopic accessory channel |
US8518024B2 (en) | 2006-04-24 | 2013-08-27 | Transenterix, Inc. | System and method for multi-instrument surgical access using a single access port |
JP5091229B2 (en) * | 2006-04-24 | 2012-12-05 | シネコー・エルエルシー | Transluminal surgical system |
US8048063B2 (en) | 2006-06-09 | 2011-11-01 | Endosense Sa | Catheter having tri-axial force sensor |
US8322455B2 (en) | 2006-06-27 | 2012-12-04 | Ethicon Endo-Surgery, Inc. | Manually driven surgical cutting and fastening instrument |
US7452138B2 (en) * | 2006-09-27 | 2008-11-18 | Fujikura Ltd. | Optical connector |
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 |
US8652120B2 (en) | 2007-01-10 | 2014-02-18 | Ethicon Endo-Surgery, Inc. | Surgical instrument with wireless communication between control unit and sensor transponders |
US8684253B2 (en) | 2007-01-10 | 2014-04-01 | Ethicon Endo-Surgery, Inc. | Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor |
US11291441B2 (en) | 2007-01-10 | 2022-04-05 | Cilag Gmbh International | Surgical instrument with wireless communication between control unit and remote sensor |
US8827133B2 (en) | 2007-01-11 | 2014-09-09 | Ethicon Endo-Surgery, Inc. | Surgical stapling device having supports for a flexible drive mechanism |
US11039836B2 (en) | 2007-01-11 | 2021-06-22 | Cilag Gmbh International | Staple cartridge for use with a surgical stapling instrument |
US7669747B2 (en) | 2007-03-15 | 2010-03-02 | Ethicon Endo-Surgery, Inc. | Washer for use with a surgical stapling instrument |
US8157789B2 (en) * | 2007-05-24 | 2012-04-17 | Endosense Sa | Touch sensing catheter |
US8931682B2 (en) | 2007-06-04 | 2015-01-13 | Ethicon Endo-Surgery, Inc. | Robotically-controlled shaft based rotary drive systems for surgical instruments |
US11857181B2 (en) | 2007-06-04 | 2024-01-02 | Cilag Gmbh International | Robotically-controlled shaft based rotary drive systems for surgical instruments |
US7753245B2 (en) | 2007-06-22 | 2010-07-13 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments |
US11849941B2 (en) | 2007-06-29 | 2023-12-26 | Cilag Gmbh International | Staple cartridge having staple cavities extending at a transverse angle relative to a longitudinal cartridge axis |
US9179912B2 (en) | 2008-02-14 | 2015-11-10 | Ethicon Endo-Surgery, Inc. | Robotically-controlled motorized surgical cutting and fastening instrument |
US7819298B2 (en) | 2008-02-14 | 2010-10-26 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with control features operable with one hand |
US8758391B2 (en) | 2008-02-14 | 2014-06-24 | Ethicon Endo-Surgery, Inc. | Interchangeable tools for surgical instruments |
BRPI0901282A2 (en) | 2008-02-14 | 2009-11-17 | Ethicon Endo Surgery Inc | surgical cutting and fixation instrument with rf electrodes |
US7866527B2 (en) | 2008-02-14 | 2011-01-11 | Ethicon Endo-Surgery, Inc. | Surgical stapling apparatus with interlockable firing system |
US8573465B2 (en) | 2008-02-14 | 2013-11-05 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical end effector system with rotary actuated closure systems |
US8636736B2 (en) | 2008-02-14 | 2014-01-28 | Ethicon Endo-Surgery, Inc. | Motorized surgical cutting and fastening instrument |
US9770245B2 (en) | 2008-02-15 | 2017-09-26 | Ethicon Llc | Layer arrangements for surgical staple cartridges |
US7720322B2 (en) | 2008-06-30 | 2010-05-18 | Intuitive Surgical, Inc. | Fiber optic shape sensor |
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 |
US8210411B2 (en) | 2008-09-23 | 2012-07-03 | Ethicon Endo-Surgery, Inc. | Motor-driven surgical cutting instrument |
US9005230B2 (en) | 2008-09-23 | 2015-04-14 | Ethicon Endo-Surgery, Inc. | Motorized surgical instrument |
US11648005B2 (en) | 2008-09-23 | 2023-05-16 | Cilag Gmbh International | Robotically-controlled motorized surgical instrument with an end effector |
US9386983B2 (en) | 2008-09-23 | 2016-07-12 | Ethicon Endo-Surgery, Llc | Robotically-controlled motorized surgical instrument |
US8608045B2 (en) | 2008-10-10 | 2013-12-17 | Ethicon Endo-Sugery, Inc. | Powered surgical cutting and stapling apparatus with manually retractable firing system |
US8517239B2 (en) | 2009-02-05 | 2013-08-27 | Ethicon Endo-Surgery, Inc. | Surgical stapling instrument comprising a magnetic element driver |
CA2751664A1 (en) | 2009-02-06 | 2010-08-12 | Ethicon Endo-Surgery, Inc. | Driven surgical stapler improvements |
DE102009015920B4 (en) | 2009-03-25 | 2014-11-20 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US9551575B2 (en) | 2009-03-25 | 2017-01-24 | Faro Technologies, Inc. | Laser scanner having a multi-color light source and real-time color receiver |
US8491574B2 (en) | 2009-03-30 | 2013-07-23 | Intuitive Surgical Operations, Inc. | Polarization and temperature insensitive surgical instrument force transducer |
US8087477B2 (en) * | 2009-05-05 | 2012-01-03 | Baker Hughes Incorporated | Methods and apparatuses for measuring drill bit conditions |
US8918212B2 (en) * | 2009-06-24 | 2014-12-23 | Intuitive Surgical Operations, Inc. | Arm with a combined shape and force sensor |
KR100944409B1 (en) * | 2009-08-24 | 2010-02-25 | (주)미래컴퍼니 | Surgical robot system and force-feedback measuring method thereof |
KR100944410B1 (en) * | 2009-08-26 | 2010-02-25 | (주)미래컴퍼니 | Surgical robot system and operating force measuring method thereof |
JP5517526B2 (en) * | 2009-08-27 | 2014-06-11 | Ntn株式会社 | Tool tip position detection device for remote control type actuator |
KR100954732B1 (en) * | 2009-09-09 | 2010-04-23 | (주)미래컴퍼니 | Surgical robot system and external force measuring method thereof |
US8545515B2 (en) | 2009-09-23 | 2013-10-01 | Intuitive Surgical Operations, Inc. | Curved cannula surgical system |
US8465476B2 (en) | 2009-09-23 | 2013-06-18 | Intuitive Surgical Operations, Inc. | Cannula mounting fixture |
WO2011060031A1 (en) | 2009-09-23 | 2011-05-19 | Intuitive Surgical Operations, Inc. | Curved cannula surgical system |
US8888789B2 (en) * | 2009-09-23 | 2014-11-18 | Intuitive Surgical Operations, Inc. | Curved cannula surgical system control |
US20110071541A1 (en) | 2009-09-23 | 2011-03-24 | Intuitive Surgical, Inc. | Curved cannula |
US8623028B2 (en) | 2009-09-23 | 2014-01-07 | Intuitive Surgical Operations, Inc. | Surgical port feature |
US9113023B2 (en) | 2009-11-20 | 2015-08-18 | Faro Technologies, Inc. | Three-dimensional scanner with spectroscopic energy detector |
DE102009057101A1 (en) | 2009-11-20 | 2011-05-26 | Faro Technologies, Inc., Lake Mary | Device for optically scanning and measuring an environment |
US9210288B2 (en) | 2009-11-20 | 2015-12-08 | Faro Technologies, Inc. | Three-dimensional scanner with dichroic beam splitters to capture a variety of signals |
US9529083B2 (en) | 2009-11-20 | 2016-12-27 | Faro Technologies, Inc. | Three-dimensional scanner with enhanced spectroscopic energy detector |
CN104188710B (en) * | 2009-12-10 | 2017-04-12 | 奥林巴斯株式会社 | Medical manipulator |
US8851354B2 (en) | 2009-12-24 | 2014-10-07 | Ethicon Endo-Surgery, Inc. | Surgical cutting instrument that analyzes tissue thickness |
US9607239B2 (en) | 2010-01-20 | 2017-03-28 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
US9163922B2 (en) | 2010-01-20 | 2015-10-20 | Faro Technologies, Inc. | Coordinate measurement machine with distance meter and camera to determine dimensions within camera images |
US9879976B2 (en) | 2010-01-20 | 2018-01-30 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine that uses a 2D camera to determine 3D coordinates of smoothly continuous edge features |
WO2011090897A1 (en) * | 2010-01-20 | 2011-07-28 | Faro Technologies, Inc. | Portable articulated arm coordinate measuring machine with multiple communication channels |
US9628775B2 (en) | 2010-01-20 | 2017-04-18 | Faro Technologies, Inc. | Articulated arm coordinate measurement machine having a 2D camera and method of obtaining 3D representations |
US8376937B2 (en) * | 2010-01-28 | 2013-02-19 | Warsaw Orhtopedic, Inc. | Tissue monitoring surgical retractor system |
DE102010020925B4 (en) | 2010-05-10 | 2014-02-27 | Faro Technologies, Inc. | Method for optically scanning and measuring an environment |
US8783543B2 (en) | 2010-07-30 | 2014-07-22 | Ethicon Endo-Surgery, Inc. | Tissue acquisition arrangements and methods for surgical stapling devices |
KR101911843B1 (en) | 2010-08-02 | 2018-10-25 | 더 존스 홉킨스 유니버시티 | Tool exchange interface and control algorithm for cooperative surgical robots |
US9592050B2 (en) | 2010-09-30 | 2017-03-14 | Ethicon Endo-Surgery, Llc | End effector comprising a distal tissue abutment member |
US9629814B2 (en) | 2010-09-30 | 2017-04-25 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator configured to redistribute compressive forces |
US8978954B2 (en) | 2010-09-30 | 2015-03-17 | Ethicon Endo-Surgery, Inc. | Staple cartridge comprising an adjustable distal portion |
US9351730B2 (en) | 2011-04-29 | 2016-05-31 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator comprising channels |
US10945731B2 (en) | 2010-09-30 | 2021-03-16 | Ethicon Llc | Tissue thickness compensator comprising controlled release and expansion |
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 |
US11298125B2 (en) | 2010-09-30 | 2022-04-12 | Cilag Gmbh International | Tissue stapler having a thickness compensator |
US9320523B2 (en) | 2012-03-28 | 2016-04-26 | Ethicon Endo-Surgery, Llc | Tissue thickness compensator comprising tissue ingrowth features |
CA3064403C (en) | 2010-10-01 | 2022-06-21 | 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 |
US9168654B2 (en) | 2010-11-16 | 2015-10-27 | Faro Technologies, Inc. | Coordinate measuring machines with dual layer arm |
EP2645943A1 (en) | 2010-12-02 | 2013-10-09 | Agile Endosurgery, Inc. | Surgical tool |
US9119655B2 (en) | 2012-08-03 | 2015-09-01 | Stryker Corporation | Surgical manipulator capable of controlling a surgical instrument in multiple modes |
CA2834649C (en) | 2011-04-29 | 2021-02-16 | Ethicon Endo-Surgery, Inc. | Staple cartridge comprising staples positioned within a compressible portion thereof |
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 |
GB201116014D0 (en) * | 2011-09-15 | 2011-10-26 | Strainsonics Ltd | Improvements in or relating to analysing structural and securing members |
US9452276B2 (en) | 2011-10-14 | 2016-09-27 | Intuitive Surgical Operations, Inc. | Catheter with removable vision probe |
US20130303944A1 (en) | 2012-05-14 | 2013-11-14 | Intuitive Surgical Operations, Inc. | Off-axis electromagnetic sensor |
JP6141289B2 (en) | 2011-10-21 | 2017-06-07 | 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 | Gripping force control for robotic surgical instrument end effector |
CA2852269C (en) | 2011-10-21 | 2022-02-22 | Applied Medical Resources Corporation | Simulated tissue structure for surgical training |
KR101839444B1 (en) | 2011-10-31 | 2018-04-27 | 삼성전자 주식회사 | Force sensing apparatus and robot arm including the force sensing apparatus |
EP2795604A1 (en) | 2011-12-20 | 2014-10-29 | Applied Medical Resources Corporation | Advanced surgical simulation |
DE102012100609A1 (en) | 2012-01-25 | 2013-07-25 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
US9445876B2 (en) * | 2012-02-27 | 2016-09-20 | Covidien Lp | Glove with sensory elements incorporated therein for controlling at least one surgical instrument |
JP6305979B2 (en) | 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. | Tissue thickness compensator with multiple layers |
CN104334098B (en) | 2012-03-28 | 2017-03-22 | 伊西康内外科公司 | Tissue thickness compensator comprising capsules defining a low pressure environment |
JP6224070B2 (en) | 2012-03-28 | 2017-11-01 | 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. | Retainer assembly including tissue thickness compensator |
US11871901B2 (en) | 2012-05-20 | 2024-01-16 | Cilag Gmbh International | Method for situational awareness for surgical network or surgical network connected device capable of adjusting function based on a sensed situation or usage |
US9101358B2 (en) | 2012-06-15 | 2015-08-11 | Ethicon Endo-Surgery, Inc. | Articulatable surgical instrument comprising a firing drive |
US11317971B2 (en) | 2012-06-21 | 2022-05-03 | Globus Medical, Inc. | Systems and methods related to robotic guidance in surgery |
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 |
US10624710B2 (en) | 2012-06-21 | 2020-04-21 | Globus Medical, Inc. | System and method for measuring depth of instrumentation |
US10758315B2 (en) | 2012-06-21 | 2020-09-01 | Globus Medical Inc. | Method and system for improving 2D-3D registration convergence |
US11589771B2 (en) | 2012-06-21 | 2023-02-28 | Globus Medical Inc. | Method for recording probe movement and determining an extent of matter removed |
US10799298B2 (en) | 2012-06-21 | 2020-10-13 | Globus Medical Inc. | Robotic fluoroscopic navigation |
US11786324B2 (en) | 2012-06-21 | 2023-10-17 | Globus Medical, Inc. | Surgical robotic automation with tracking markers |
US11793570B2 (en) | 2012-06-21 | 2023-10-24 | Globus Medical Inc. | Surgical robotic automation with tracking markers |
US11896446B2 (en) | 2012-06-21 | 2024-02-13 | Globus Medical, Inc | Surgical robotic automation with tracking markers |
US11857149B2 (en) | 2012-06-21 | 2024-01-02 | Globus Medical, Inc. | Surgical robotic systems with target trajectory deviation monitoring and related methods |
US11253327B2 (en) | 2012-06-21 | 2022-02-22 | Globus Medical, Inc. | Systems and methods for automatically changing an end-effector on a surgical robot |
US11857266B2 (en) | 2012-06-21 | 2024-01-02 | Globus Medical, Inc. | System for a surveillance marker in robotic-assisted surgery |
KR101384775B1 (en) * | 2012-06-26 | 2014-04-14 | 한국과학기술원 | Robot for Minimally Invasive Surgery with Force Sensor |
US11278284B2 (en) | 2012-06-28 | 2022-03-22 | Cilag Gmbh International | Rotary drive arrangements for surgical instruments |
CN104487005B (en) | 2012-06-28 | 2017-09-08 | 伊西康内外科公司 | Empty squeeze latching member |
US9289256B2 (en) | 2012-06-28 | 2016-03-22 | Ethicon Endo-Surgery, Llc | Surgical end effectors having angled tissue-contacting surfaces |
US20140001231A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Firing system lockout arrangements for surgical instruments |
US9649111B2 (en) | 2012-06-28 | 2017-05-16 | Ethicon Endo-Surgery, Llc | Replaceable clip cartridge for a clip applier |
US20140001234A1 (en) | 2012-06-28 | 2014-01-02 | Ethicon Endo-Surgery, Inc. | Coupling arrangements for attaching surgical end effectors to drive systems therefor |
BR112014032776B1 (en) | 2012-06-28 | 2021-09-08 | Ethicon Endo-Surgery, Inc | SURGICAL INSTRUMENT SYSTEM AND SURGICAL KIT FOR USE WITH A SURGICAL INSTRUMENT SYSTEM |
US8997362B2 (en) | 2012-07-17 | 2015-04-07 | Faro Technologies, Inc. | Portable articulated arm coordinate measuring machine with optical communications bus |
AU2013296278B2 (en) | 2012-08-03 | 2018-06-14 | Stryker Corporation | Systems and methods for robotic surgery |
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 |
EP2880647A1 (en) | 2012-08-03 | 2015-06-10 | Applied Medical Resources Corporation | Simulated stapling and energy based ligation for surgical training |
CA2885433C (en) | 2012-09-26 | 2023-04-04 | Applied Medical Resources Corporation | Surgical training model for laparoscopic procedures |
EP3846151B1 (en) | 2012-09-27 | 2023-11-29 | Applied Medical Resources Corporation | Surgical training model for laparoscopic procedures |
US10679520B2 (en) | 2012-09-27 | 2020-06-09 | Applied Medical Resources Corporation | Surgical training model for laparoscopic procedures |
CA2885302C (en) | 2012-09-27 | 2022-08-02 | Applied Medical Resources Corporation | Surgical training model for laparoscopic procedures |
EP3467805B1 (en) | 2012-09-28 | 2020-07-08 | Applied Medical Resources Corporation | Surgical training model for transluminal laparoscopic procedures |
US9898937B2 (en) | 2012-09-28 | 2018-02-20 | Applied Medical Resources Corporation | Surgical training model for laparoscopic procedures |
US10067231B2 (en) | 2012-10-05 | 2018-09-04 | Faro Technologies, Inc. | Registration calculation of three-dimensional scanner data performed between scans based on measurements by two-dimensional scanner |
US9513107B2 (en) | 2012-10-05 | 2016-12-06 | Faro Technologies, Inc. | Registration calculation between three-dimensional (3D) scans based on two-dimensional (2D) scan data from a 3D scanner |
DE102012109481A1 (en) | 2012-10-05 | 2014-04-10 | Faro Technologies, Inc. | Device for optically scanning and measuring an environment |
CN104736068B (en) | 2012-10-19 | 2018-02-23 | 皇家飞利浦有限公司 | Ultrasonic wave head frame for emergency medical services |
US20140148673A1 (en) | 2012-11-28 | 2014-05-29 | Hansen Medical, Inc. | Method of anchoring pullwire directly articulatable region in catheter |
US9675354B2 (en) * | 2013-01-14 | 2017-06-13 | Intuitive Surgical Operations, Inc. | Torque compensation |
EP2953520A4 (en) * | 2013-02-05 | 2016-11-09 | Olympus Corp | Robotic-assisted surgical system and control method thereof |
JP6132585B2 (en) * | 2013-02-21 | 2017-05-24 | オリンパス株式会社 | Subject insertion system |
KR102537277B1 (en) | 2013-03-01 | 2023-05-30 | 어플라이드 메디컬 리소시스 코포레이션 | Advanced surgical simulation constructions and methods |
MX368026B (en) | 2013-03-01 | 2019-09-12 | Ethicon Endo Surgery Inc | Articulatable surgical instruments with conductive pathways for signal communication. |
MX364729B (en) | 2013-03-01 | 2019-05-06 | Ethicon Endo Surgery Inc | Surgical instrument with a soft stop. |
JP6329239B2 (en) | 2013-03-12 | 2018-05-23 | ストライカー・コーポレイション | Sensor assembly and method for measuring force and torque |
US9629629B2 (en) | 2013-03-14 | 2017-04-25 | Ethicon Endo-Surgey, LLC | Control systems for surgical instruments |
US9629623B2 (en) | 2013-03-14 | 2017-04-25 | Ethicon Endo-Surgery, Llc | Drive system lockout arrangements for modular surgical instruments |
KR101413406B1 (en) * | 2013-04-01 | 2014-06-27 | 한국과학기술원 | Device for measureing a environment interaction torque, surgical robot and surgical robot system with the same |
US10405857B2 (en) | 2013-04-16 | 2019-09-10 | Ethicon Llc | Powered linear surgical stapler |
BR112015026109B1 (en) | 2013-04-16 | 2022-02-22 | Ethicon Endo-Surgery, Inc | surgical instrument |
WO2014186574A1 (en) | 2013-05-15 | 2014-11-20 | Applied Medical Resources Corporation | Hernia model |
ES2661644T3 (en) | 2013-06-18 | 2018-04-02 | Applied Medical Resources Corporation | Gallbladder Model |
US9425860B2 (en) * | 2013-07-19 | 2016-08-23 | Biosense Webster (Israel), Ltd. | Two wire signal transmission |
US10198966B2 (en) | 2013-07-24 | 2019-02-05 | Applied Medical Resources Corporation | Advanced first entry model for surgical simulation |
WO2015013516A1 (en) | 2013-07-24 | 2015-01-29 | Applied Medical Resources Corporation | First entry model |
JP6091370B2 (en) | 2013-07-26 | 2017-03-08 | オリンパス株式会社 | Medical system and medical instrument control method |
US9808249B2 (en) | 2013-08-23 | 2017-11-07 | Ethicon Llc | Attachment portions for surgical instrument assemblies |
CN106028966B (en) | 2013-08-23 | 2018-06-22 | 伊西康内外科有限责任公司 | For the firing member restoring device of powered surgical instrument |
US10376321B2 (en) | 2013-09-12 | 2019-08-13 | Intuitive Surgical Operations, Inc. | Shape sensor systems for localizing movable targets |
CN104605913B (en) * | 2013-11-29 | 2018-05-22 | 重庆西山科技股份有限公司 | Medical grinding knife tool |
US11540718B2 (en) | 2013-12-09 | 2023-01-03 | Koninklijke Philips N.V. | Imaging view steering using model-based segmentation |
US9962161B2 (en) | 2014-02-12 | 2018-05-08 | Ethicon Llc | Deliverable surgical instrument |
JP6165080B2 (en) * | 2014-02-21 | 2017-07-19 | オリンパス株式会社 | Initialization method of manipulator system |
US11033182B2 (en) | 2014-02-21 | 2021-06-15 | 3Dintegrated Aps | Set comprising a surgical instrument |
EP3119322B1 (en) * | 2014-03-17 | 2020-05-06 | Intuitive Surgical Operations, Inc. | Systems and methods for confirming disc engagement |
EP3243476B1 (en) | 2014-03-24 | 2019-11-06 | Auris Health, Inc. | Systems and devices for catheter driving instinctiveness |
US9733663B2 (en) | 2014-03-26 | 2017-08-15 | Ethicon Llc | Power management through segmented circuit and variable voltage protection |
BR112016021943B1 (en) | 2014-03-26 | 2022-06-14 | Ethicon Endo-Surgery, Llc | SURGICAL INSTRUMENT FOR USE BY AN OPERATOR IN A SURGICAL PROCEDURE |
WO2015148817A1 (en) | 2014-03-26 | 2015-10-01 | Applied Medical Resources Corporation | Simulated dissectible tissue |
US9820738B2 (en) | 2014-03-26 | 2017-11-21 | Ethicon Llc | Surgical instrument comprising interactive systems |
US10299792B2 (en) | 2014-04-16 | 2019-05-28 | Ethicon Llc | Fastener cartridge comprising non-uniform fasteners |
BR112016023807B1 (en) | 2014-04-16 | 2022-07-12 | Ethicon Endo-Surgery, Llc | CARTRIDGE SET OF FASTENERS FOR USE WITH A SURGICAL INSTRUMENT |
BR112016023825B1 (en) | 2014-04-16 | 2022-08-02 | Ethicon Endo-Surgery, Llc | STAPLE CARTRIDGE FOR USE WITH A SURGICAL STAPLER AND STAPLE CARTRIDGE FOR USE WITH A SURGICAL INSTRUMENT |
US20150297225A1 (en) | 2014-04-16 | 2015-10-22 | Ethicon Endo-Surgery, Inc. | Fastener cartridges including extensions having different configurations |
CN106456176B (en) | 2014-04-16 | 2019-06-28 | 伊西康内外科有限责任公司 | Fastener cartridge including the extension with various configuration |
US10175127B2 (en) | 2014-05-05 | 2019-01-08 | Covidien Lp | End-effector force measurement drive circuit |
US11428591B2 (en) | 2014-05-05 | 2022-08-30 | Covidien Lp | End-effector force measurement drive circuit |
CN111904600A (en) | 2014-05-05 | 2020-11-10 | 维卡瑞斯外科手术股份有限公司 | Virtual reality surgical device |
US10172662B2 (en) | 2014-06-06 | 2019-01-08 | Peter A Gustafson | Surgical screwdriver |
US9987095B2 (en) * | 2014-06-26 | 2018-06-05 | Covidien Lp | Adapter assemblies for interconnecting electromechanical handle assemblies and surgical loading units |
US10135242B2 (en) | 2014-09-05 | 2018-11-20 | Ethicon Llc | Smart cartridge wake up operation and data retention |
BR112017004361B1 (en) | 2014-09-05 | 2023-04-11 | Ethicon Llc | ELECTRONIC SYSTEM FOR A SURGICAL INSTRUMENT |
US11311294B2 (en) | 2014-09-05 | 2022-04-26 | Cilag Gmbh International | Powered medical device including measurement of closure state of jaws |
US10105142B2 (en) | 2014-09-18 | 2018-10-23 | Ethicon Llc | Surgical stapler with plurality of cutting elements |
CN107427300B (en) | 2014-09-26 | 2020-12-04 | 伊西康有限责任公司 | Surgical suture buttress and buttress material |
US11523821B2 (en) | 2014-09-26 | 2022-12-13 | Cilag Gmbh International | Method for creating a flexible staple line |
US9737371B2 (en) | 2014-09-30 | 2017-08-22 | Auris Surgical Robotics, Inc. | Configurable robotic surgical system with virtual rail and flexible endoscope |
JP6631528B2 (en) * | 2014-10-09 | 2020-01-15 | ソニー株式会社 | Information processing apparatus, information processing method and program |
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 |
US10314463B2 (en) | 2014-10-24 | 2019-06-11 | Auris Health, Inc. | Automated endoscope calibration |
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 |
US11504192B2 (en) | 2014-10-30 | 2022-11-22 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
US9844376B2 (en) | 2014-11-06 | 2017-12-19 | Ethicon Llc | Staple cartridge comprising a releasable adjunct material |
EP3218892B1 (en) | 2014-11-13 | 2019-10-23 | Applied Medical Resources Corporation | Simulated tissue models and methods |
US10736636B2 (en) | 2014-12-10 | 2020-08-11 | Ethicon Llc | Articulatable surgical instrument system |
US9844375B2 (en) | 2014-12-18 | 2017-12-19 | Ethicon Llc | Drive arrangements for articulatable surgical instruments |
US10085748B2 (en) | 2014-12-18 | 2018-10-02 | Ethicon Llc | Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors |
US9987000B2 (en) | 2014-12-18 | 2018-06-05 | Ethicon Llc | Surgical instrument assembly comprising a flexible articulation system |
US9968355B2 (en) | 2014-12-18 | 2018-05-15 | Ethicon Llc | Surgical instruments with articulatable end effectors and improved firing beam support arrangements |
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 (en) | 2014-12-18 | 2022-11-08 | Ethicon Llc | SURGICAL INSTRUMENT WITH AN ANvil WHICH IS SELECTIVELY MOVABLE ABOUT AN IMMOVABLE GEOMETRIC AXIS DIFFERENT FROM A STAPLE CARTRIDGE |
WO2016125375A1 (en) * | 2015-02-02 | 2016-08-11 | オリンパス株式会社 | Treatment instrument |
WO2016134269A1 (en) | 2015-02-19 | 2016-08-25 | Applied Medical Resources Corporation | Simulated tissue structures and methods |
US10357324B2 (en) | 2015-02-20 | 2019-07-23 | Stryker Corporation | Sterile barrier assembly, mounting system, and method for coupling surgical components |
US11154301B2 (en) | 2015-02-27 | 2021-10-26 | Cilag Gmbh International | Modular stapling assembly |
JP2020121162A (en) | 2015-03-06 | 2020-08-13 | エシコン エルエルシーEthicon LLC | Time dependent evaluation of sensor data to determine stability element, creep element and viscoelastic element of measurement |
US10687806B2 (en) | 2015-03-06 | 2020-06-23 | Ethicon Llc | Adaptive tissue compression techniques to adjust closure rates for multiple tissue types |
US9993248B2 (en) | 2015-03-06 | 2018-06-12 | Ethicon Endo-Surgery, Llc | Smart sensors with local signal processing |
US9901342B2 (en) * | 2015-03-06 | 2018-02-27 | Ethicon Endo-Surgery, Llc | Signal and power communication system positioned on a rotatable shaft |
US10548504B2 (en) | 2015-03-06 | 2020-02-04 | Ethicon Llc | Overlaid multi sensor radio frequency (RF) electrode system to measure tissue compression |
US10441279B2 (en) | 2015-03-06 | 2019-10-15 | Ethicon Llc | Multiple level thresholds to modify operation of powered surgical instruments |
US10245033B2 (en) | 2015-03-06 | 2019-04-02 | Ethicon Llc | Surgical instrument comprising a lockable battery housing |
CN107405172B (en) | 2015-03-10 | 2021-04-13 | 柯惠Lp公司 | Measuring health of connector components of a robotic surgical system |
WO2016149819A1 (en) | 2015-03-23 | 2016-09-29 | Janabi-Sharifi Farrokh | Temperature invariant force and torque sensor assemblies |
US9505132B1 (en) * | 2015-03-30 | 2016-11-29 | X Development Llc | Methods and systems for calibrating a sensor of a robotic device |
US10390825B2 (en) | 2015-03-31 | 2019-08-27 | Ethicon Llc | Surgical instrument with progressive rotary drive systems |
KR20180008417A (en) | 2015-05-14 | 2018-01-24 | 어플라이드 메디컬 리소시스 코포레이션 | Synthetic tissue structure for electrosurgical training and simulation |
CA2988767A1 (en) | 2015-06-09 | 2016-12-15 | Applied Medical Resources Corporation | Hysterectomy model |
EP3323122B1 (en) | 2015-07-16 | 2020-09-02 | Applied Medical Resources Corporation | Simulated dissectable tissue |
JP6776327B2 (en) | 2015-07-21 | 2020-10-28 | スリーディインテグレイテッド アーペーエス3Dintegrated Aps | Cannula Assembly Kit, Needle Assembly Kit, Sleeve Assembly, Minimally Invasive Surgical System and Methods |
US11020144B2 (en) | 2015-07-21 | 2021-06-01 | 3Dintegrated Aps | Minimally invasive surgery system |
WO2017015438A1 (en) | 2015-07-22 | 2017-01-26 | Applied Medical Resources Corporation | Appendectomy model |
US10363164B2 (en) * | 2015-08-11 | 2019-07-30 | The Johns Hopkins University | Tool and tool system having independent axial and transverse force sensing |
US10617418B2 (en) | 2015-08-17 | 2020-04-14 | Ethicon Llc | Implantable layers for a surgical instrument |
US10350766B2 (en) * | 2015-09-21 | 2019-07-16 | GM Global Technology Operations LLC | Extended-reach assist device for performing assembly tasks |
US10105139B2 (en) | 2015-09-23 | 2018-10-23 | Ethicon Llc | Surgical stapler having downstream current-based motor control |
US10238386B2 (en) | 2015-09-23 | 2019-03-26 | Ethicon Llc | Surgical stapler having motor control based on an electrical parameter related to a motor current |
US10299878B2 (en) | 2015-09-25 | 2019-05-28 | Ethicon Llc | Implantable adjunct systems for determining adjunct skew |
US10980539B2 (en) | 2015-09-30 | 2021-04-20 | Ethicon Llc | Implantable adjunct comprising bonded layers |
US11890015B2 (en) | 2015-09-30 | 2024-02-06 | Cilag Gmbh International | Compressible adjunct with crossing spacer fibers |
US10524788B2 (en) | 2015-09-30 | 2020-01-07 | Ethicon Llc | Compressible adjunct with attachment regions |
US10271849B2 (en) | 2015-09-30 | 2019-04-30 | Ethicon Llc | Woven constructs with interlocked standing fibers |
AU2016329211A1 (en) | 2015-10-02 | 2018-04-26 | Applied Medical Resources Corporation | Hysterectomy model |
DK178899B1 (en) | 2015-10-09 | 2017-05-08 | 3Dintegrated Aps | A depiction system |
WO2017087746A1 (en) | 2015-11-20 | 2017-05-26 | Applied Medical Resources Corporation | Simulated dissectible tissue |
US10143526B2 (en) | 2015-11-30 | 2018-12-04 | Auris Health, Inc. | Robot-assisted driving systems and methods |
CN105380748B (en) * | 2015-12-17 | 2017-11-17 | 天津工业大学 | A kind of silk transmission Three Degree Of Freedom operation drill tools with power sensing function |
CN105662478B (en) * | 2015-12-23 | 2019-01-25 | 电子科技大学 | A kind of palpation instrument and application method for robot assisted Minimally Invasive Surgery |
DE102015122844A1 (en) | 2015-12-27 | 2017-06-29 | Faro Technologies, Inc. | 3D measuring device with battery pack |
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 |
WO2017120361A1 (en) * | 2016-01-05 | 2017-07-13 | Neural Analytics, Inc. | Integrated probe structure |
WO2017130567A1 (en) * | 2016-01-25 | 2017-08-03 | ソニー株式会社 | Medical safety-control apparatus, medical safety-control method, and medical assist system |
EP3409232B1 (en) * | 2016-01-26 | 2023-03-29 | Sony Group Corporation | Grip force sensation feedback device |
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 |
CN108882932B (en) | 2016-02-09 | 2021-07-23 | 伊西康有限责任公司 | Surgical instrument with asymmetric articulation configuration |
US11224426B2 (en) | 2016-02-12 | 2022-01-18 | Cilag Gmbh International | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
US10448948B2 (en) | 2016-02-12 | 2019-10-22 | Ethicon Llc | Mechanisms for compensating for drivetrain failure in powered surgical instruments |
CN105563502B (en) * | 2016-02-25 | 2017-06-30 | 渤海大学 | A kind of control method of the clamping device, hand behaviour's equipment and clamping device and hand behaviour's equipment of power/position mixing Shared control |
KR101772805B1 (en) | 2016-03-07 | 2017-08-31 | 성균관대학교산학협력단 | User interface device for surgical robot system |
JP6902044B2 (en) * | 2016-03-17 | 2021-07-14 | 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 | Systems and methods for instrument insertion control |
US10357247B2 (en) | 2016-04-15 | 2019-07-23 | Ethicon Llc | Surgical instrument with multiple program responses 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 |
US10828028B2 (en) | 2016-04-15 | 2020-11-10 | Ethicon Llc | Surgical instrument with multiple program responses during a firing motion |
US11179150B2 (en) | 2016-04-15 | 2021-11-23 | Cilag Gmbh International | Systems and methods for controlling a surgical stapling and cutting instrument |
US11607239B2 (en) | 2016-04-15 | 2023-03-21 | Cilag Gmbh International | Systems and methods for controlling a surgical stapling and cutting instrument |
US10456137B2 (en) | 2016-04-15 | 2019-10-29 | Ethicon Llc | Staple formation detection mechanisms |
US10492783B2 (en) | 2016-04-15 | 2019-12-03 | Ethicon, Llc | Surgical instrument with improved stop/start control during a firing motion |
US10363037B2 (en) | 2016-04-18 | 2019-07-30 | Ethicon Llc | Surgical instrument system comprising a magnetic lockout |
US11317917B2 (en) | 2016-04-18 | 2022-05-03 | Cilag Gmbh International | Surgical stapling system comprising a lockable firing assembly |
US20170296173A1 (en) | 2016-04-18 | 2017-10-19 | Ethicon Endo-Surgery, Llc | Method for operating a surgical instrument |
ES2946810T3 (en) | 2016-06-27 | 2023-07-26 | Applied Med Resources | simulated abdominal wall |
US10345165B2 (en) * | 2016-09-08 | 2019-07-09 | Covidien Lp | Force sensor for surgical devices |
US9931025B1 (en) | 2016-09-30 | 2018-04-03 | Auris Surgical Robotics, Inc. | Automated calibration of endoscopes with pull wires |
WO2018067784A1 (en) | 2016-10-05 | 2018-04-12 | Wake Forest University Health Sciences | Smart surgical screw driver |
US10095342B2 (en) * | 2016-11-14 | 2018-10-09 | Google Llc | Apparatus for sensing user input |
WO2018112041A1 (en) * | 2016-12-13 | 2018-06-21 | The Regents Of The University Of California | System and method for robust and low-cost multi-axis force sensor |
US11071604B2 (en) | 2016-12-20 | 2021-07-27 | Verb Surgical Inc. | Signaling of sterile adapter and tool attachment for use in a robotic surgical system |
US20180168575A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Surgical stapling systems |
US20180168598A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Staple forming pocket arrangements comprising zoned forming surface grooves |
US10568625B2 (en) | 2016-12-21 | 2020-02-25 | Ethicon Llc | Staple cartridges and arrangements of staples and staple cavities therein |
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 |
MX2019007311A (en) | 2016-12-21 | 2019-11-18 | Ethicon Llc | Surgical stapling systems. |
US10980536B2 (en) | 2016-12-21 | 2021-04-20 | Ethicon Llc | No-cartridge and spent cartridge lockout arrangements for surgical staplers |
JP7010956B2 (en) | 2016-12-21 | 2022-01-26 | エシコン エルエルシー | How to staple tissue |
US10492785B2 (en) | 2016-12-21 | 2019-12-03 | Ethicon Llc | Shaft assembly comprising a lockout |
US10485543B2 (en) | 2016-12-21 | 2019-11-26 | Ethicon Llc | Anvil having a knife slot width |
US20180168625A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Surgical stapling instruments with smart staple cartridges |
US10537325B2 (en) | 2016-12-21 | 2020-01-21 | Ethicon Llc | Staple forming pocket arrangement to accommodate different types of staples |
US11134942B2 (en) | 2016-12-21 | 2021-10-05 | Cilag Gmbh International | Surgical stapling instruments and staple-forming anvils |
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 |
US20180168609A1 (en) | 2016-12-21 | 2018-06-21 | Ethicon Endo-Surgery, Llc | Firing assembly comprising a fuse |
US10881401B2 (en) | 2016-12-21 | 2021-01-05 | Ethicon Llc | Staple firing member comprising a missing cartridge and/or spent cartridge lockout |
JP6983893B2 (en) | 2016-12-21 | 2021-12-17 | エシコン エルエルシーEthicon LLC | Lockout configuration for surgical end effectors and replaceable tool assemblies |
US10736629B2 (en) | 2016-12-21 | 2020-08-11 | Ethicon Llc | Surgical tool assemblies with clutching arrangements for shifting between closure systems with closure stroke reduction features and articulation and firing systems |
US10973516B2 (en) | 2016-12-21 | 2021-04-13 | Ethicon Llc | Surgical end effectors and adaptable firing members therefor |
WO2018122946A1 (en) * | 2016-12-27 | 2018-07-05 | オリンパス株式会社 | Shape acquisition method and control method for medical manipulator |
US10244926B2 (en) | 2016-12-28 | 2019-04-02 | Auris Health, Inc. | Detecting endolumenal buckling of flexible instruments |
WO2018134898A1 (en) | 2017-01-17 | 2018-07-26 | オリンパス株式会社 | Flexible tubular system and sense-of-force-information calculation method |
US10918456B2 (en) * | 2017-02-03 | 2021-02-16 | Sony Olympus Medical Solutions Inc. | Protective cover and medical observation apparatus |
US10799308B2 (en) | 2017-02-09 | 2020-10-13 | Vicarious Surgical Inc. | Virtual reality surgical tools system |
AU2018220845B2 (en) | 2017-02-14 | 2023-11-23 | Applied Medical Resources Corporation | Laparoscopic training system |
US10847057B2 (en) | 2017-02-23 | 2020-11-24 | Applied Medical Resources Corporation | Synthetic tissue structures for electrosurgical training and simulation |
US20180250002A1 (en) * | 2017-03-03 | 2018-09-06 | Covidien Lp | Powered surgical devices having tissue sensing function |
JP6935814B2 (en) * | 2017-03-10 | 2021-09-15 | ソニーグループ株式会社 | Surgical systems, surgical systems, surgical instruments, and external force detection systems |
JP6984647B2 (en) * | 2017-03-10 | 2021-12-22 | ソニーグループ株式会社 | Surgical systems, surgical systems, controls, strainors, surgical instruments, and external force detection systems |
US10635255B2 (en) | 2017-04-18 | 2020-04-28 | Google Llc | Electronic device response to force-sensitive interface |
US11529129B2 (en) | 2017-05-12 | 2022-12-20 | Auris Health, Inc. | Biopsy apparatus and system |
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 |
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 |
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 |
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 |
USD890784S1 (en) | 2017-06-20 | 2020-07-21 | Ethicon Llc | Display panel with changeable graphical user interface |
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 |
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 |
US10881399B2 (en) | 2017-06-20 | 2021-01-05 | Ethicon Llc | Techniques for adaptive 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 |
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 |
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 |
US11266405B2 (en) | 2017-06-27 | 2022-03-08 | Cilag Gmbh International | Surgical anvil manufacturing methods |
US11324503B2 (en) | 2017-06-27 | 2022-05-10 | Cilag Gmbh International | Surgical firing member arrangements |
US10856869B2 (en) | 2017-06-27 | 2020-12-08 | Ethicon Llc | Surgical anvil arrangements |
US10631859B2 (en) | 2017-06-27 | 2020-04-28 | Ethicon Llc | Articulation systems for surgical instruments |
US10993716B2 (en) | 2017-06-27 | 2021-05-04 | Ethicon Llc | Surgical anvil arrangements |
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 |
US11389161B2 (en) | 2017-06-28 | 2022-07-19 | Cilag Gmbh International | Surgical instrument comprising selectively actuatable rotatable couplers |
US10299870B2 (en) | 2017-06-28 | 2019-05-28 | Auris Health, Inc. | Instrument insertion compensation |
US10903685B2 (en) | 2017-06-28 | 2021-01-26 | Ethicon Llc | Surgical shaft assemblies with slip ring assemblies forming capacitive channels |
US11246592B2 (en) | 2017-06-28 | 2022-02-15 | Cilag Gmbh International | Surgical instrument comprising an articulation system lockable to a frame |
US11564686B2 (en) | 2017-06-28 | 2023-01-31 | Cilag Gmbh International | Surgical shaft assemblies with flexible interfaces |
US10765427B2 (en) | 2017-06-28 | 2020-09-08 | Ethicon Llc | Method for articulating a surgical instrument |
EP3420947B1 (en) | 2017-06-28 | 2022-05-25 | 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 |
USD906355S1 (en) | 2017-06-28 | 2020-12-29 | Ethicon Llc | Display screen or portion thereof with a graphical user interface for a surgical instrument |
US10932772B2 (en) | 2017-06-29 | 2021-03-02 | Ethicon Llc | Methods for closed loop velocity control for robotic surgical instrument |
US10426559B2 (en) | 2017-06-30 | 2019-10-01 | Auris Health, Inc. | Systems and methods for medical instrument compression compensation |
EP3431025B1 (en) * | 2017-07-18 | 2023-06-21 | Globus Medical, Inc. | System for surgical tool insertion using multiaxis force and moment feedback |
CN107260310B (en) * | 2017-07-31 | 2021-04-13 | 成都博恩思医学机器人有限公司 | Surgical instrument of surgical robot and surgical robot |
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 |
CN115445029A (en) | 2017-08-31 | 2022-12-09 | 伊莱利利公司 | Dose detection with piezoelectric sensing for drug delivery devices |
WO2019051587A1 (en) | 2017-09-12 | 2019-03-21 | Cheema Asim | Apparatus and system for changing mitral valve annulus geometry |
EP3681368A4 (en) | 2017-09-14 | 2021-06-23 | Vicarious Surgical Inc. | Virtual reality surgical camera system |
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 |
USD907648S1 (en) | 2017-09-29 | 2021-01-12 | Ethicon Llc | Display screen or portion thereof with animated graphical user interface |
USD917500S1 (en) | 2017-09-29 | 2021-04-27 | Ethicon Llc | Display screen or portion thereof with graphical user interface |
US11399829B2 (en) | 2017-09-29 | 2022-08-02 | Cilag Gmbh International | Systems and methods of initiating a power shutdown mode for a surgical instrument |
CN117860388A (en) * | 2017-10-02 | 2024-04-12 | 直观外科手术操作公司 | End effector force feedback to master controller |
US11096754B2 (en) | 2017-10-04 | 2021-08-24 | Mako Surgical Corp. | Sterile drape assembly for surgical robot |
US10016900B1 (en) | 2017-10-10 | 2018-07-10 | Auris Health, Inc. | Surgical robotic arm admittance control |
US10145747B1 (en) | 2017-10-10 | 2018-12-04 | Auris Health, Inc. | Detection of undesirable forces on a surgical robotic arm |
US11134944B2 (en) | 2017-10-30 | 2021-10-05 | Cilag Gmbh International | Surgical stapler knife motion controls |
US11317919B2 (en) | 2017-10-30 | 2022-05-03 | Cilag Gmbh International | Clip applier comprising a clip crimping system |
US11291510B2 (en) | 2017-10-30 | 2022-04-05 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
US11090075B2 (en) | 2017-10-30 | 2021-08-17 | Cilag Gmbh International | Articulation features for surgical end effector |
US11311342B2 (en) | 2017-10-30 | 2022-04-26 | Cilag Gmbh International | Method for communicating with surgical instrument systems |
US11801098B2 (en) | 2017-10-30 | 2023-10-31 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
US11564756B2 (en) | 2017-10-30 | 2023-01-31 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
US11141160B2 (en) | 2017-10-30 | 2021-10-12 | Cilag Gmbh International | Clip applier comprising a motor controller |
US11911045B2 (en) | 2017-10-30 | 2024-02-27 | Cllag GmbH International | Method for operating a powered articulating multi-clip applier |
US11229436B2 (en) | 2017-10-30 | 2022-01-25 | Cilag Gmbh International | Surgical system comprising a surgical tool and a surgical hub |
US10959744B2 (en) | 2017-10-30 | 2021-03-30 | Ethicon Llc | Surgical dissectors and manufacturing techniques |
US11510741B2 (en) | 2017-10-30 | 2022-11-29 | Cilag Gmbh International | Method for producing a surgical instrument comprising a smart electrical system |
US10779903B2 (en) | 2017-10-31 | 2020-09-22 | Ethicon Llc | Positive shaft rotation lock activated by jaw closure |
US10842490B2 (en) | 2017-10-31 | 2020-11-24 | Ethicon Llc | Cartridge body design with force reduction based on firing completion |
US10675107B2 (en) | 2017-11-15 | 2020-06-09 | Intuitive Surgical Operations, Inc. | Surgical instrument end effector with integral FBG |
US10987179B2 (en) | 2017-12-06 | 2021-04-27 | Auris Health, Inc. | Systems and methods to correct for uncommanded instrument roll |
US10807242B2 (en) * | 2017-12-13 | 2020-10-20 | Verb Surgical Inc. | Control modes and processes for positioning of a robotic manipulator |
KR20200100613A (en) | 2017-12-14 | 2020-08-26 | 아우리스 헬스, 인코포레이티드 | System and method for estimating instrument position |
US11033267B2 (en) | 2017-12-15 | 2021-06-15 | Ethicon Llc | Systems and methods of controlling a clamping member firing rate of a surgical instrument |
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 |
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 |
US10687813B2 (en) | 2017-12-15 | 2020-06-23 | Ethicon Llc | Adapters with firing stroke sensing arrangements for use in connection with electromechanical surgical instruments |
US10743875B2 (en) | 2017-12-15 | 2020-08-18 | Ethicon Llc | Surgical end effectors with jaw stiffener arrangements configured to permit monitoring of firing member |
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 |
US10869666B2 (en) | 2017-12-15 | 2020-12-22 | Ethicon Llc | Adapters with control systems for controlling multiple motors of an electromechanical surgical instrument |
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 |
US10743874B2 (en) | 2017-12-15 | 2020-08-18 | Ethicon Llc | Sealed adapters for use 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 |
CN107961078B (en) * | 2017-12-18 | 2019-12-24 | 微创(上海)医疗机器人有限公司 | Surgical robot system and surgical instrument thereof |
USD910847S1 (en) | 2017-12-19 | 2021-02-16 | Ethicon Llc | Surgical instrument assembly |
US11020112B2 (en) | 2017-12-19 | 2021-06-01 | Ethicon Llc | Surgical tools configured for interchangeable use with different controller interfaces |
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 |
US10716565B2 (en) | 2017-12-19 | 2020-07-21 | Ethicon Llc | Surgical instruments with dual articulation drivers |
US10729509B2 (en) | 2017-12-19 | 2020-08-04 | Ethicon Llc | Surgical instrument comprising closure and firing locking mechanism |
US11129680B2 (en) | 2017-12-21 | 2021-09-28 | Cilag Gmbh International | Surgical instrument comprising a projector |
CN108042162B (en) | 2017-12-21 | 2020-06-16 | 微创(上海)医疗机器人有限公司 | Surgical robot system and surgical instrument thereof |
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 |
US11751867B2 (en) | 2017-12-21 | 2023-09-12 | Cilag Gmbh International | Surgical instrument comprising sequenced systems |
US11311290B2 (en) | 2017-12-21 | 2022-04-26 | Cilag Gmbh International | Surgical instrument comprising an end effector dampener |
US11832899B2 (en) | 2017-12-28 | 2023-12-05 | Cilag Gmbh International | Surgical systems with autonomously adjustable control programs |
US11464559B2 (en) | 2017-12-28 | 2022-10-11 | Cilag Gmbh International | Estimating state of ultrasonic end effector and control system therefor |
US11576677B2 (en) | 2017-12-28 | 2023-02-14 | Cilag Gmbh International | Method of hub communication, processing, display, and cloud analytics |
US11896322B2 (en) | 2017-12-28 | 2024-02-13 | Cilag Gmbh International | Sensing the patient position and contact utilizing the mono-polar return pad electrode to provide situational awareness to the hub |
US11446052B2 (en) | 2017-12-28 | 2022-09-20 | Cilag Gmbh International | Variation of radio frequency and ultrasonic power level in cooperation with varying clamp arm pressure to achieve predefined heat flux or power applied to tissue |
US11410259B2 (en) | 2017-12-28 | 2022-08-09 | Cilag Gmbh International | Adaptive control program updates for surgical devices |
US11253315B2 (en) | 2017-12-28 | 2022-02-22 | Cilag Gmbh International | Increasing radio frequency to create pad-less monopolar loop |
US11026751B2 (en) | 2017-12-28 | 2021-06-08 | Cilag Gmbh International | Display of alignment of staple cartridge to prior linear staple line |
US10966791B2 (en) | 2017-12-28 | 2021-04-06 | Ethicon Llc | Cloud-based medical analytics for medical facility segmented individualization of instrument function |
US11147607B2 (en) | 2017-12-28 | 2021-10-19 | Cilag Gmbh International | Bipolar combination device that automatically adjusts pressure based on energy modality |
US11659023B2 (en) | 2017-12-28 | 2023-05-23 | Cilag Gmbh International | Method of hub communication |
US11633237B2 (en) | 2017-12-28 | 2023-04-25 | Cilag Gmbh International | Usage and technique analysis of surgeon / staff performance against a baseline to optimize device utilization and performance for both current and future procedures |
US11100631B2 (en) | 2017-12-28 | 2021-08-24 | Cilag Gmbh International | Use of laser light and red-green-blue coloration to determine properties of back scattered light |
US11464535B2 (en) | 2017-12-28 | 2022-10-11 | Cilag Gmbh International | Detection of end effector emersion in liquid |
US10758310B2 (en) | 2017-12-28 | 2020-09-01 | Ethicon Llc | Wireless pairing of a surgical device with another device within a sterile surgical field based on the usage and situational awareness of devices |
US11864728B2 (en) | 2017-12-28 | 2024-01-09 | Cilag Gmbh International | Characterization of tissue irregularities through the use of mono-chromatic light refractivity |
US11589888B2 (en) | 2017-12-28 | 2023-02-28 | Cilag Gmbh International | Method for controlling smart energy devices |
US11529187B2 (en) | 2017-12-28 | 2022-12-20 | Cilag Gmbh International | Surgical evacuation sensor arrangements |
US11076921B2 (en) | 2017-12-28 | 2021-08-03 | Cilag Gmbh International | Adaptive control program updates for surgical hubs |
US11273001B2 (en) | 2017-12-28 | 2022-03-15 | Cilag Gmbh International | Surgical hub and modular device response adjustment based on situational awareness |
US11559307B2 (en) | 2017-12-28 | 2023-01-24 | Cilag Gmbh International | Method of robotic hub communication, detection, and control |
US20190201139A1 (en) * | 2017-12-28 | 2019-07-04 | Ethicon Llc | Communication arrangements for robot-assisted surgical platforms |
US10943454B2 (en) | 2017-12-28 | 2021-03-09 | Ethicon Llc | Detection and escalation of security responses of surgical instruments to increasing severity threats |
US10595887B2 (en) | 2017-12-28 | 2020-03-24 | Ethicon Llc | Systems for adjusting end effector parameters based on perioperative information |
US11612408B2 (en) | 2017-12-28 | 2023-03-28 | Cilag Gmbh International | Determining tissue composition via an ultrasonic system |
US11424027B2 (en) | 2017-12-28 | 2022-08-23 | Cilag Gmbh International | Method for operating surgical instrument systems |
US11304745B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Surgical evacuation sensing and display |
US11744604B2 (en) | 2017-12-28 | 2023-09-05 | Cilag Gmbh International | Surgical instrument with a hardware-only control circuit |
US11234756B2 (en) | 2017-12-28 | 2022-02-01 | Cilag Gmbh International | Powered surgical tool with predefined adjustable control algorithm for controlling end effector parameter |
US11602393B2 (en) | 2017-12-28 | 2023-03-14 | Cilag Gmbh International | Surgical evacuation sensing and generator control |
US11376002B2 (en) | 2017-12-28 | 2022-07-05 | Cilag Gmbh International | Surgical instrument cartridge sensor assemblies |
US11284936B2 (en) | 2017-12-28 | 2022-03-29 | Cilag Gmbh International | Surgical instrument having a flexible electrode |
US11857152B2 (en) | 2017-12-28 | 2024-01-02 | Cilag Gmbh International | Surgical hub spatial awareness to determine devices in operating theater |
US20190200981A1 (en) | 2017-12-28 | 2019-07-04 | Ethicon Llc | Method of compressing tissue within a stapling device and simultaneously displaying the location of the tissue within the jaws |
US11266468B2 (en) | 2017-12-28 | 2022-03-08 | Cilag Gmbh International | Cooperative utilization of data derived from secondary sources by intelligent surgical hubs |
US20190201039A1 (en) | 2017-12-28 | 2019-07-04 | Ethicon Llc | Situational awareness of electrosurgical systems |
US11423007B2 (en) | 2017-12-28 | 2022-08-23 | Cilag Gmbh International | Adjustment of device control programs based on stratified contextual data in addition to the data |
US10932872B2 (en) | 2017-12-28 | 2021-03-02 | Ethicon Llc | Cloud-based medical analytics for linking of local usage trends with the resource acquisition behaviors of larger data set |
US11069012B2 (en) | 2017-12-28 | 2021-07-20 | Cilag Gmbh International | Interactive surgical systems with condition handling of devices and data capabilities |
US11419667B2 (en) | 2017-12-28 | 2022-08-23 | Cilag Gmbh International | Ultrasonic energy device which varies pressure applied by clamp arm to provide threshold control pressure at a cut progression location |
US11896443B2 (en) | 2017-12-28 | 2024-02-13 | Cilag Gmbh International | Control of a surgical system through a surgical barrier |
US11678881B2 (en) | 2017-12-28 | 2023-06-20 | Cilag Gmbh International | Spatial awareness of surgical hubs in operating rooms |
US11389164B2 (en) | 2017-12-28 | 2022-07-19 | Cilag Gmbh International | Method of using reinforced flexible circuits with multiple sensors to optimize performance of radio frequency devices |
US11058498B2 (en) | 2017-12-28 | 2021-07-13 | Cilag Gmbh International | Cooperative surgical actions for robot-assisted surgical platforms |
US11304763B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Image capturing of the areas outside the abdomen to improve placement and control of a surgical device in use |
US11109866B2 (en) | 2017-12-28 | 2021-09-07 | Cilag Gmbh International | Method for circular stapler control algorithm adjustment based on situational awareness |
US11166772B2 (en) | 2017-12-28 | 2021-11-09 | Cilag Gmbh International | Surgical hub coordination of control and communication of operating room devices |
US11324557B2 (en) | 2017-12-28 | 2022-05-10 | Cilag Gmbh International | Surgical instrument with a sensing array |
US11786245B2 (en) | 2017-12-28 | 2023-10-17 | Cilag Gmbh International | Surgical systems with prioritized data transmission capabilities |
US11559308B2 (en) | 2017-12-28 | 2023-01-24 | Cilag Gmbh International | Method for smart energy device infrastructure |
US11786251B2 (en) | 2017-12-28 | 2023-10-17 | Cilag Gmbh International | Method for adaptive control schemes for surgical network control and interaction |
US11364075B2 (en) | 2017-12-28 | 2022-06-21 | Cilag Gmbh International | Radio frequency energy device for delivering combined electrical signals |
US11304699B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Method for adaptive control schemes for surgical network control and interaction |
US11832840B2 (en) | 2017-12-28 | 2023-12-05 | Cilag Gmbh International | Surgical instrument having a flexible circuit |
US11051876B2 (en) | 2017-12-28 | 2021-07-06 | Cilag Gmbh International | Surgical evacuation flow paths |
US11291495B2 (en) | 2017-12-28 | 2022-04-05 | Cilag Gmbh International | Interruption of energy due to inadvertent capacitive coupling |
US11571234B2 (en) | 2017-12-28 | 2023-02-07 | Cilag Gmbh International | Temperature control of ultrasonic end effector and control system therefor |
US11818052B2 (en) | 2017-12-28 | 2023-11-14 | Cilag Gmbh International | Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs |
US10898622B2 (en) | 2017-12-28 | 2021-01-26 | Ethicon Llc | Surgical evacuation system with a communication circuit for communication between a filter and a smoke evacuation device |
US11132462B2 (en) | 2017-12-28 | 2021-09-28 | Cilag Gmbh International | Data stripping method to interrogate patient records and create anonymized record |
US11903601B2 (en) | 2017-12-28 | 2024-02-20 | Cilag Gmbh International | Surgical instrument comprising a plurality of drive systems |
US10944728B2 (en) | 2017-12-28 | 2021-03-09 | Ethicon Llc | Interactive surgical systems with encrypted communication capabilities |
US10892995B2 (en) | 2017-12-28 | 2021-01-12 | Ethicon Llc | Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs |
US11096693B2 (en) | 2017-12-28 | 2021-08-24 | Cilag Gmbh International | Adjustment of staple height of at least one row of staples based on the sensed tissue thickness or force in closing |
US11317937B2 (en) | 2018-03-08 | 2022-05-03 | Cilag Gmbh International | Determining the state of an ultrasonic end effector |
US11432885B2 (en) | 2017-12-28 | 2022-09-06 | Cilag Gmbh International | Sensing arrangements for robot-assisted surgical platforms |
US11179208B2 (en) | 2017-12-28 | 2021-11-23 | Cilag Gmbh International | Cloud-based medical analytics for security and authentication trends and reactive measures |
US11202570B2 (en) | 2017-12-28 | 2021-12-21 | Cilag Gmbh International | Communication hub and storage device for storing parameters and status of a surgical device to be shared with cloud based analytics systems |
US11160605B2 (en) | 2017-12-28 | 2021-11-02 | Cilag Gmbh International | Surgical evacuation sensing and motor control |
US11419630B2 (en) | 2017-12-28 | 2022-08-23 | Cilag Gmbh International | Surgical system distributed processing |
US10987178B2 (en) | 2017-12-28 | 2021-04-27 | Ethicon Llc | Surgical hub control arrangements |
US11308075B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Surgical network, instrument, and cloud responses based on validation of received dataset and authentication of its source and integrity |
US11540855B2 (en) | 2017-12-28 | 2023-01-03 | Cilag Gmbh International | Controlling activation of an ultrasonic surgical instrument according to the presence of tissue |
US11278281B2 (en) | 2017-12-28 | 2022-03-22 | Cilag Gmbh International | Interactive surgical system |
US11257589B2 (en) | 2017-12-28 | 2022-02-22 | Cilag Gmbh International | Real-time analysis of comprehensive cost of all instrumentation used in surgery utilizing data fluidity to track instruments through stocking and in-house processes |
US11304720B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Activation of energy devices |
US11056244B2 (en) | 2017-12-28 | 2021-07-06 | Cilag Gmbh International | Automated data scaling, alignment, and organizing based on predefined parameters within surgical networks |
US11666331B2 (en) | 2017-12-28 | 2023-06-06 | Cilag Gmbh International | Systems for detecting proximity of surgical end effector to cancerous tissue |
US11937769B2 (en) | 2017-12-28 | 2024-03-26 | Cilag Gmbh International | Method of hub communication, processing, storage and display |
US11311306B2 (en) | 2017-12-28 | 2022-04-26 | Cilag Gmbh International | Surgical systems for detecting end effector tissue distribution irregularities |
US11612444B2 (en) | 2017-12-28 | 2023-03-28 | Cilag Gmbh International | Adjustment of a surgical device function based on situational awareness |
EP3752085A4 (en) | 2018-02-13 | 2021-11-24 | Auris Health, Inc. | System and method for driving medical instrument |
US11259830B2 (en) | 2018-03-08 | 2022-03-01 | Cilag Gmbh International | Methods for controlling temperature in ultrasonic device |
US11589915B2 (en) | 2018-03-08 | 2023-02-28 | Cilag Gmbh International | In-the-jaw classifier based on a model |
US11389188B2 (en) | 2018-03-08 | 2022-07-19 | Cilag Gmbh International | Start temperature of blade |
CN108433814B (en) * | 2018-03-16 | 2019-12-24 | 微创(上海)医疗机器人有限公司 | Surgical robot system and surgical instrument thereof |
US11471156B2 (en) | 2018-03-28 | 2022-10-18 | Cilag Gmbh International | Surgical stapling devices with improved rotary driven closure systems |
US11278280B2 (en) | 2018-03-28 | 2022-03-22 | Cilag Gmbh International | Surgical instrument comprising a jaw closure lockout |
US11589865B2 (en) | 2018-03-28 | 2023-02-28 | Cilag Gmbh International | Methods for controlling a powered surgical stapler that has separate rotary closure and firing systems |
US11207067B2 (en) | 2018-03-28 | 2021-12-28 | Cilag Gmbh International | Surgical stapling device with separate rotary driven closure and firing systems and firing member that engages both jaws while firing |
US11197668B2 (en) | 2018-03-28 | 2021-12-14 | Cilag Gmbh International | Surgical stapling assembly comprising a lockout and an exterior access orifice to permit artificial unlocking of the lockout |
US11096688B2 (en) | 2018-03-28 | 2021-08-24 | Cilag Gmbh International | Rotary driven firing members with different anvil and channel engagement features |
US10973520B2 (en) | 2018-03-28 | 2021-04-13 | Ethicon Llc | Surgical staple cartridge with firing member driven camming assembly that has an onboard tissue cutting feature |
US11219453B2 (en) | 2018-03-28 | 2022-01-11 | Cilag Gmbh International | Surgical stapling devices with cartridge compatible closure and firing lockout arrangements |
US11090047B2 (en) | 2018-03-28 | 2021-08-17 | Cilag Gmbh International | Surgical instrument comprising an adaptive control system |
US11906376B2 (en) | 2018-05-22 | 2024-02-20 | Nanyang Technological University | Force sensor for tendon-actuated mechanisms |
DE102018115812B4 (en) * | 2018-06-29 | 2021-05-27 | Vanguard Ag | Holder for detachably accommodating a sensor and a sensor arrangement comprising a holder and a reusable sensor and a reference patch with a holder |
JP7110351B2 (en) | 2018-08-01 | 2022-08-01 | オリンパス株式会社 | Endoscope system and control device |
US11324501B2 (en) | 2018-08-20 | 2022-05-10 | Cilag Gmbh International | Surgical stapling devices with improved closure members |
US11291440B2 (en) | 2018-08-20 | 2022-04-05 | Cilag Gmbh International | Method for operating a powered articulatable surgical instrument |
US11207065B2 (en) | 2018-08-20 | 2021-12-28 | Cilag Gmbh International | Method for fabricating surgical stapler anvils |
US11039834B2 (en) | 2018-08-20 | 2021-06-22 | Cilag Gmbh International | Surgical stapler anvils with staple directing protrusions and tissue stability features |
US10912559B2 (en) | 2018-08-20 | 2021-02-09 | Ethicon Llc | Reinforced deformable anvil tip for surgical stapler anvil |
US11253256B2 (en) | 2018-08-20 | 2022-02-22 | Cilag Gmbh International | Articulatable motor powered surgical instruments with dedicated articulation motor arrangements |
US10856870B2 (en) | 2018-08-20 | 2020-12-08 | Ethicon Llc | Switching arrangements for motor powered articulatable surgical instruments |
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 |
USD914878S1 (en) | 2018-08-20 | 2021-03-30 | Ethicon Llc | Surgical instrument anvil |
US11045192B2 (en) | 2018-08-20 | 2021-06-29 | Cilag Gmbh International | Fabricating techniques for surgical stapler anvils |
JP2022502171A (en) | 2018-09-28 | 2022-01-11 | オーリス ヘルス インコーポレイテッド | Systems and methods for docking medical devices |
CN109366459B (en) * | 2018-09-30 | 2021-08-03 | 重庆大学 | Micro-clamp for measuring clamping force and clamping jaw displacement by using fiber Bragg grating |
CN109249416B (en) * | 2018-09-30 | 2022-01-18 | 重庆大学 | Micro clamp with clamping jaw being fiber Bragg grating and clamping force self-sensing function |
WO2020102774A1 (en) * | 2018-11-15 | 2020-05-22 | Intuitive Surgical Operations, Inc. | Surgical instrument with sensor aligned cable guide |
US11815412B2 (en) | 2018-11-15 | 2023-11-14 | Intuitive Surgical Operations, Inc. | Strain sensor with contoured deflection surface |
JP2022510027A (en) | 2018-12-04 | 2022-01-25 | マコ サージカル コーポレーション | Mounting system with sterile barrier assembly used to combine surgical components |
US11033344B2 (en) * | 2018-12-13 | 2021-06-15 | Cilag Gmbh International | Improving surgical tool performance via measurement and display of tissue tension |
US11331100B2 (en) | 2019-02-19 | 2022-05-17 | Cilag Gmbh International | Staple cartridge retainer system with authentication keys |
US11369377B2 (en) | 2019-02-19 | 2022-06-28 | Cilag Gmbh International | Surgical stapling assembly with cartridge based retainer configured to unlock a firing lockout |
US11357503B2 (en) | 2019-02-19 | 2022-06-14 | Cilag Gmbh International | Staple cartridge retainers with frangible retention features and methods of using same |
US11317915B2 (en) | 2019-02-19 | 2022-05-03 | Cilag Gmbh International | Universal cartridge based key feature that unlocks multiple lockout arrangements in different surgical staplers |
US11751872B2 (en) | 2019-02-19 | 2023-09-12 | Cilag Gmbh International | Insertable deactivator element for surgical stapler lockouts |
CN113453642A (en) | 2019-02-22 | 2021-09-28 | 奥瑞斯健康公司 | Surgical platform having motorized arms for adjustable arm supports |
US11172929B2 (en) | 2019-03-25 | 2021-11-16 | Cilag Gmbh International | Articulation drive arrangements for surgical systems |
US11147551B2 (en) | 2019-03-25 | 2021-10-19 | Cilag Gmbh International | Firing drive arrangements for surgical systems |
US11696761B2 (en) | 2019-03-25 | 2023-07-11 | Cilag Gmbh International | Firing drive arrangements for surgical systems |
US11147553B2 (en) | 2019-03-25 | 2021-10-19 | Cilag Gmbh International | Firing drive arrangements for surgical systems |
US11471157B2 (en) | 2019-04-30 | 2022-10-18 | Cilag Gmbh International | Articulation control mapping for a surgical instrument |
US11432816B2 (en) | 2019-04-30 | 2022-09-06 | Cilag Gmbh International | Articulation pin for a surgical instrument |
US11452528B2 (en) | 2019-04-30 | 2022-09-27 | Cilag Gmbh International | Articulation actuators for a surgical instrument |
US11903581B2 (en) | 2019-04-30 | 2024-02-20 | Cilag Gmbh International | Methods for stapling tissue using a surgical instrument |
US11648009B2 (en) | 2019-04-30 | 2023-05-16 | Cilag Gmbh International | Rotatable jaw tip for a surgical instrument |
US11426251B2 (en) | 2019-04-30 | 2022-08-30 | Cilag Gmbh International | Articulation directional lights on a surgical instrument |
US11253254B2 (en) | 2019-04-30 | 2022-02-22 | Cilag Gmbh International | Shaft rotation actuator on a surgical instrument |
US11478928B2 (en) * | 2019-06-07 | 2022-10-25 | Verb Surgical Inc. | Estimating joint friction and tracking error of a robotics end effector |
US11690624B2 (en) * | 2019-06-21 | 2023-07-04 | Covidien Lp | Reload assembly injection molded strain gauge |
US11058429B2 (en) | 2019-06-24 | 2021-07-13 | Covidien Lp | Load sensing assemblies and methods of manufacturing load sensing assemblies |
USD964564S1 (en) | 2019-06-25 | 2022-09-20 | Cilag Gmbh International | Surgical staple cartridge retainer with a closure system authentication key |
USD952144S1 (en) | 2019-06-25 | 2022-05-17 | Cilag Gmbh International | Surgical staple cartridge retainer with firing system authentication key |
USD950728S1 (en) | 2019-06-25 | 2022-05-03 | Cilag Gmbh International | Surgical staple cartridge |
US11241235B2 (en) | 2019-06-28 | 2022-02-08 | Cilag Gmbh International | Method of using multiple RFID chips with a surgical assembly |
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 |
US11291451B2 (en) | 2019-06-28 | 2022-04-05 | Cilag Gmbh International | Surgical instrument with battery compatibility verification functionality |
US11627959B2 (en) | 2019-06-28 | 2023-04-18 | Cilag Gmbh International | Surgical instruments including manual and powered system lockouts |
US11376098B2 (en) | 2019-06-28 | 2022-07-05 | Cilag Gmbh International | Surgical instrument system comprising an RFID system |
US11464601B2 (en) | 2019-06-28 | 2022-10-11 | Cilag Gmbh International | Surgical instrument comprising an RFID system for tracking a movable component |
US11298132B2 (en) | 2019-06-28 | 2022-04-12 | Cilag GmbH Inlernational | Staple cartridge including a honeycomb extension |
US11051807B2 (en) | 2019-06-28 | 2021-07-06 | Cilag Gmbh International | Packaging assembly including a particulate trap |
US11553971B2 (en) | 2019-06-28 | 2023-01-17 | Cilag Gmbh International | Surgical RFID assemblies for display and communication |
US11259803B2 (en) | 2019-06-28 | 2022-03-01 | Cilag Gmbh International | Surgical stapling system having an information encryption protocol |
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 |
US11638587B2 (en) | 2019-06-28 | 2023-05-02 | Cilag Gmbh International | RFID identification systems for surgical instruments |
US11684434B2 (en) | 2019-06-28 | 2023-06-27 | Cilag Gmbh International | Surgical RFID assemblies for instrument operational setting control |
US11771419B2 (en) | 2019-06-28 | 2023-10-03 | Cilag Gmbh International | Packaging for a replaceable component of a surgical stapling system |
US11219455B2 (en) | 2019-06-28 | 2022-01-11 | Cilag Gmbh International | Surgical instrument including a lockout key |
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 |
US11399837B2 (en) | 2019-06-28 | 2022-08-02 | Cilag Gmbh International | Mechanisms for motor control adjustments of a motorized surgical instrument |
US11497492B2 (en) | 2019-06-28 | 2022-11-15 | Cilag Gmbh International | Surgical instrument including an articulation lock |
US11426167B2 (en) | 2019-06-28 | 2022-08-30 | Cilag Gmbh International | Mechanisms for proper anvil attachment surgical stapling head assembly |
CN110907158B (en) * | 2019-12-05 | 2021-11-09 | 山东威瑞外科医用制品有限公司 | Comprehensive test system of anastomat |
US11234698B2 (en) | 2019-12-19 | 2022-02-01 | Cilag Gmbh International | Stapling system comprising a clamp lockout and a firing lockout |
US11559304B2 (en) | 2019-12-19 | 2023-01-24 | Cilag Gmbh International | Surgical instrument comprising a rapid closure mechanism |
US11911032B2 (en) | 2019-12-19 | 2024-02-27 | Cilag Gmbh International | Staple cartridge comprising a seating cam |
US11464512B2 (en) | 2019-12-19 | 2022-10-11 | Cilag Gmbh International | Staple cartridge comprising a curved deck surface |
US11607219B2 (en) | 2019-12-19 | 2023-03-21 | Cilag Gmbh International | Staple cartridge comprising a detachable tissue cutting knife |
US11931033B2 (en) | 2019-12-19 | 2024-03-19 | Cilag Gmbh International | Staple cartridge comprising a latch lockout |
US11446029B2 (en) | 2019-12-19 | 2022-09-20 | Cilag Gmbh International | Staple cartridge comprising projections extending from a curved deck surface |
US11701111B2 (en) | 2019-12-19 | 2023-07-18 | Cilag Gmbh International | Method for operating a surgical stapling instrument |
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 |
US11529139B2 (en) | 2019-12-19 | 2022-12-20 | Cilag Gmbh International | Motor driven surgical instrument |
US11304696B2 (en) | 2019-12-19 | 2022-04-19 | Cilag Gmbh International | Surgical instrument comprising a powered articulation system |
US11291447B2 (en) | 2019-12-19 | 2022-04-05 | Cilag Gmbh International | Stapling instrument comprising independent jaw closing and staple firing systems |
US11529137B2 (en) | 2019-12-19 | 2022-12-20 | Cilag Gmbh International | Staple cartridge comprising driver retention members |
US11504122B2 (en) | 2019-12-19 | 2022-11-22 | Cilag Gmbh International | Surgical instrument comprising a nested firing member |
US11844520B2 (en) | 2019-12-19 | 2023-12-19 | Cilag Gmbh International | Staple cartridge comprising driver retention members |
US11602372B2 (en) | 2019-12-31 | 2023-03-14 | Auris Health, Inc. | Alignment interfaces for percutaneous access |
EP4084721A4 (en) | 2019-12-31 | 2024-01-03 | Auris Health Inc | Anatomical feature identification and targeting |
US11660147B2 (en) | 2019-12-31 | 2023-05-30 | Auris Health, Inc. | Alignment techniques for percutaneous access |
CN111227944B (en) * | 2020-01-23 | 2021-11-30 | 诺创智能医疗科技(杭州)有限公司 | Operation arm and operation robot |
CN111227940B (en) * | 2020-01-23 | 2021-11-30 | 诺创智能医疗科技(杭州)有限公司 | Operation arm and operation robot |
US11730551B2 (en) | 2020-02-24 | 2023-08-22 | Canon U.S.A., Inc. | Steerable medical device with strain relief elements |
JP2021145728A (en) * | 2020-03-16 | 2021-09-27 | ソニーグループ株式会社 | Surgical tool unit, force detecting device and surgery assistance system |
USD976401S1 (en) | 2020-06-02 | 2023-01-24 | Cilag Gmbh International | Staple cartridge |
USD975278S1 (en) | 2020-06-02 | 2023-01-10 | Cilag Gmbh International | Staple cartridge |
USD966512S1 (en) | 2020-06-02 | 2022-10-11 | Cilag Gmbh International | Staple cartridge |
USD974560S1 (en) | 2020-06-02 | 2023-01-03 | Cilag Gmbh International | Staple cartridge |
USD975851S1 (en) | 2020-06-02 | 2023-01-17 | Cilag Gmbh International | Staple cartridge |
USD967421S1 (en) | 2020-06-02 | 2022-10-18 | Cilag Gmbh International | Staple cartridge |
USD975850S1 (en) | 2020-06-02 | 2023-01-17 | Cilag Gmbh International | Staple cartridge |
US20220031351A1 (en) | 2020-07-28 | 2022-02-03 | Cilag Gmbh International | Surgical instruments with differential articulation joint arrangements for accommodating flexible actuators |
US20220104820A1 (en) * | 2020-10-02 | 2022-04-07 | Ethicon Llc | Surgical instrument with adaptive motor control |
US11748924B2 (en) | 2020-10-02 | 2023-09-05 | Cilag Gmbh International | Tiered system display control based on capacity and user operation |
US11877897B2 (en) | 2020-10-02 | 2024-01-23 | Cilag Gmbh International | Situational awareness of instruments location and individualization of users to control displays |
US11534259B2 (en) | 2020-10-29 | 2022-12-27 | Cilag Gmbh International | Surgical instrument comprising an articulation indicator |
USD980425S1 (en) | 2020-10-29 | 2023-03-07 | Cilag Gmbh International | Surgical instrument assembly |
US11896217B2 (en) | 2020-10-29 | 2024-02-13 | Cilag Gmbh International | Surgical instrument comprising an articulation lock |
US11779330B2 (en) | 2020-10-29 | 2023-10-10 | Cilag Gmbh International | Surgical instrument comprising a jaw alignment system |
US11452526B2 (en) | 2020-10-29 | 2022-09-27 | Cilag Gmbh International | Surgical instrument comprising a staged voltage regulation start-up system |
US11717289B2 (en) | 2020-10-29 | 2023-08-08 | Cilag Gmbh International | Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable |
USD1013170S1 (en) | 2020-10-29 | 2024-01-30 | Cilag Gmbh International | Surgical instrument assembly |
US11517390B2 (en) | 2020-10-29 | 2022-12-06 | Cilag Gmbh International | Surgical instrument comprising a limited travel switch |
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 |
US11844518B2 (en) | 2020-10-29 | 2023-12-19 | Cilag Gmbh International | Method for operating a surgical instrument |
US11931025B2 (en) | 2020-10-29 | 2024-03-19 | Cilag Gmbh International | Surgical instrument comprising a releasable closure drive lock |
CN112318512B (en) * | 2020-11-03 | 2021-07-02 | 北京理工大学 | Method and system for determining degree of freedom of spinal vertebra of robot mouse |
US11678882B2 (en) | 2020-12-02 | 2023-06-20 | Cilag Gmbh International | Surgical instruments with interactive features to remedy incidental sled movements |
US11944296B2 (en) | 2020-12-02 | 2024-04-02 | Cilag Gmbh International | Powered surgical instruments with external connectors |
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 |
US11653915B2 (en) | 2020-12-02 | 2023-05-23 | Cilag Gmbh International | Surgical instruments with sled location detection and adjustment features |
US11890010B2 (en) | 2020-12-02 | 2024-02-06 | Cllag GmbH International | Dual-sided reinforced reload for surgical instruments |
US11653920B2 (en) | 2020-12-02 | 2023-05-23 | Cilag Gmbh International | Powered surgical instruments with communication interfaces through sterile barrier |
US11627960B2 (en) | 2020-12-02 | 2023-04-18 | Cilag Gmbh International | Powered surgical instruments with smart reload with separately attachable exteriorly mounted wiring connections |
US11849943B2 (en) | 2020-12-02 | 2023-12-26 | Cilag Gmbh International | Surgical instrument with cartridge release mechanisms |
US11744581B2 (en) | 2020-12-02 | 2023-09-05 | Cilag Gmbh International | Powered surgical instruments with multi-phase tissue treatment |
US11730473B2 (en) | 2021-02-26 | 2023-08-22 | Cilag Gmbh International | Monitoring of manufacturing life-cycle |
US11723657B2 (en) | 2021-02-26 | 2023-08-15 | Cilag Gmbh International | Adjustable communication based on available bandwidth and power capacity |
US11793514B2 (en) | 2021-02-26 | 2023-10-24 | Cilag Gmbh International | Staple cartridge comprising sensor array which may be embedded in cartridge body |
US11696757B2 (en) | 2021-02-26 | 2023-07-11 | Cilag Gmbh International | Monitoring of internal systems to detect and track cartridge motion status |
US11925349B2 (en) | 2021-02-26 | 2024-03-12 | Cilag Gmbh International | Adjustment to transfer parameters to improve available power |
US11812964B2 (en) | 2021-02-26 | 2023-11-14 | Cilag Gmbh International | Staple cartridge comprising a power management circuit |
US11749877B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Stapling instrument comprising a signal antenna |
US11701113B2 (en) | 2021-02-26 | 2023-07-18 | Cilag Gmbh International | Stapling instrument comprising a separate power antenna and a data transfer antenna |
US11744583B2 (en) | 2021-02-26 | 2023-09-05 | Cilag Gmbh International | Distal communication array to tune frequency of RF systems |
US11751869B2 (en) | 2021-02-26 | 2023-09-12 | Cilag Gmbh International | Monitoring of multiple sensors over time to detect moving characteristics of tissue |
US11806011B2 (en) | 2021-03-22 | 2023-11-07 | Cilag Gmbh International | Stapling instrument comprising tissue compression systems |
US11737749B2 (en) | 2021-03-22 | 2023-08-29 | Cilag Gmbh International | Surgical stapling instrument comprising a retraction system |
US11723658B2 (en) | 2021-03-22 | 2023-08-15 | Cilag Gmbh International | Staple cartridge comprising a firing lockout |
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 |
US11717291B2 (en) | 2021-03-22 | 2023-08-08 | Cilag Gmbh International | Staple cartridge comprising staples configured to apply different tissue compression |
US11826042B2 (en) | 2021-03-22 | 2023-11-28 | Cilag Gmbh International | Surgical instrument comprising a firing drive including a selectable leverage mechanism |
US11786239B2 (en) | 2021-03-24 | 2023-10-17 | Cilag Gmbh International | Surgical instrument articulation joint arrangements comprising multiple moving linkage features |
US11896218B2 (en) | 2021-03-24 | 2024-02-13 | Cilag Gmbh International | Method of using a powered stapling device |
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 |
US11832816B2 (en) | 2021-03-24 | 2023-12-05 | Cilag Gmbh International | Surgical stapling assembly comprising nonplanar staples and planar staples |
US11849945B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Rotary-driven surgical stapling assembly comprising eccentrically driven firing member |
US11896219B2 (en) | 2021-03-24 | 2024-02-13 | Cilag Gmbh International | Mating features between drivers and underside of a cartridge deck |
US11857183B2 (en) | 2021-03-24 | 2024-01-02 | Cilag Gmbh International | Stapling assembly components having metal substrates and plastic bodies |
US11849944B2 (en) | 2021-03-24 | 2023-12-26 | Cilag Gmbh International | Drivers for fastener cartridge assemblies having rotary drive screws |
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 |
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 |
US11744603B2 (en) | 2021-03-24 | 2023-09-05 | Cilag Gmbh International | Multi-axis pivot joints for surgical instruments and methods for manufacturing same |
US11826047B2 (en) | 2021-05-28 | 2023-11-28 | Cilag Gmbh International | Stapling instrument comprising jaw mounts |
US11819209B2 (en) | 2021-08-03 | 2023-11-21 | Covidien Lp | Hand-held surgical instruments |
US11903572B2 (en) * | 2021-09-14 | 2024-02-20 | Nuvasive, Inc. | Surgical instruments, systems, and methods with optical sensors |
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 |
CN114521966B (en) * | 2022-02-16 | 2023-06-27 | 桐乡市中医医院 | Medical manipulator for abdominal cavity operation |
CN115895149B (en) * | 2022-11-15 | 2023-10-13 | 武汉理工大学 | Composite material film, preparation method thereof, flexible piezoresistive sensor and application thereof |
CN116878704A (en) * | 2023-06-30 | 2023-10-13 | 南京航空航天大学 | Positioning point fastening force calculation method based on fiber bragg grating strain data |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20020111635A1 (en) * | 1995-06-07 | 2002-08-15 | Sri International | Surgical manipulator for a telerobotic system |
US20020133174A1 (en) * | 2001-01-16 | 2002-09-19 | Microdexterity Systems, Inc. | Surgical manipulator |
US20050021050A1 (en) * | 1996-12-12 | 2005-01-27 | Intuitive Surgical, Inc. | Multi-component telepresence system and method |
WO2005039835A1 (en) * | 2003-10-24 | 2005-05-06 | The University Of Western Ontario | Force reflective robotic control system and minimally invasive surgical device |
Family Cites Families (48)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3515137A (en) * | 1966-10-26 | 1970-06-02 | Deseret Pharma | Intravenous catheter unit with inserter means for sequential feeding of catheter |
JP2713899B2 (en) * | 1987-03-30 | 1998-02-16 | 株式会社日立製作所 | Robot equipment |
US4838280A (en) * | 1988-05-26 | 1989-06-13 | Haaga John R | Hemostatic sheath for a biopsy needle and method of use |
JPH0385544U (en) * | 1989-12-21 | 1991-08-29 | ||
US5631973A (en) * | 1994-05-05 | 1997-05-20 | Sri International | Method for telemanipulation with telepresence |
US5395331A (en) * | 1992-04-27 | 1995-03-07 | Minnesota Mining And Manufacturing Company | Retrograde coronary sinus catheter having a ribbed balloon |
FR2693397B1 (en) | 1992-07-09 | 1994-09-02 | Cogema | Sensory feedback device representative of the effort exerted on a remote manipulator by its user. |
JPH06142114A (en) | 1992-10-30 | 1994-05-24 | Olympus Optical Co Ltd | In-celom treating device |
US6120433A (en) * | 1994-09-01 | 2000-09-19 | Olympus Optical Co., Ltd. | Surgical manipulator system |
JPH08224246A (en) | 1995-02-22 | 1996-09-03 | Olympus Optical Co Ltd | Medical manipulator |
DE69637531D1 (en) * | 1995-06-07 | 2008-06-26 | Stanford Res Inst Int | Surgical manipulator for a remote-controlled robot system |
US5784542A (en) * | 1995-09-07 | 1998-07-21 | California Institute Of Technology | Decoupled six degree-of-freedom teleoperated robot system |
US5855583A (en) * | 1996-02-20 | 1999-01-05 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive cardiac procedures |
JP3623599B2 (en) | 1996-05-29 | 2005-02-23 | ファナック株式会社 | 6-axis force sensor using shear strain gauge |
JP3416396B2 (en) * | 1996-05-30 | 2003-06-16 | 三菱重工業株式会社 | Monitor control device for aircraft engine test operation equipment |
US6364888B1 (en) | 1996-09-09 | 2002-04-02 | Intuitive Surgical, Inc. | Alignment of master and slave in a minimally invasive surgical apparatus |
US8182469B2 (en) * | 1997-11-21 | 2012-05-22 | Intuitive Surgical Operations, Inc. | Surgical accessory clamp and method |
US7727244B2 (en) * | 1997-11-21 | 2010-06-01 | Intuitive Surgical Operation, Inc. | Sterile surgical drape |
US7699855B2 (en) * | 1996-12-12 | 2010-04-20 | Intuitive Surgical Operations, Inc. | Sterile surgical adaptor |
US5779697A (en) * | 1997-05-28 | 1998-07-14 | Linvatec Corporation | Arthroscopic cannula with fluid seals |
US6344038B1 (en) * | 1998-12-02 | 2002-02-05 | Paul J. Weber | Surgical anti-friction device |
US7524289B2 (en) * | 1999-01-25 | 2009-04-28 | Lenker Jay A | Resolution optical and ultrasound devices for imaging and treatment of body lumens |
US6206835B1 (en) * | 1999-03-24 | 2001-03-27 | The B. F. Goodrich Company | Remotely interrogated diagnostic implant device with electrically passive sensor |
US6594552B1 (en) * | 1999-04-07 | 2003-07-15 | Intuitive Surgical, Inc. | Grip strength with tactile feedback for robotic surgery |
US8004229B2 (en) * | 2005-05-19 | 2011-08-23 | Intuitive Surgical Operations, Inc. | Software center and highly configurable robotic systems for surgery and other uses |
JP2001183114A (en) * | 1999-12-22 | 2001-07-06 | Mitsubishi Heavy Ind Ltd | Strain measuring instrument for rotary body |
DE10011790B4 (en) | 2000-03-13 | 2005-07-14 | Siemens Ag | Medical instrument for insertion into an examination subject, and medical examination or treatment device |
US6494882B1 (en) * | 2000-07-25 | 2002-12-17 | Verimetra, Inc. | Cutting instrument having integrated sensors |
JP2002159509A (en) | 2000-08-09 | 2002-06-04 | Japan Science & Technology Corp | Detecting method and device of tip load of operating apparatus of surgery under celoscope |
US6602241B2 (en) * | 2001-01-17 | 2003-08-05 | Transvascular, Inc. | Methods and apparatus for acute or chronic delivery of substances or apparatus to extravascular treatment sites |
US7824401B2 (en) * | 2004-10-08 | 2010-11-02 | Intuitive Surgical Operations, Inc. | Robotic tool with wristed monopolar electrosurgical end effectors |
US6817974B2 (en) * | 2001-06-29 | 2004-11-16 | Intuitive Surgical, Inc. | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
US6587750B2 (en) * | 2001-09-25 | 2003-07-01 | Intuitive Surgical, Inc. | Removable infinite roll master grip handle and touch sensor for robotic surgery |
US6835173B2 (en) * | 2001-10-05 | 2004-12-28 | Scimed Life Systems, Inc. | Robotic endoscope |
US6810750B1 (en) * | 2002-03-20 | 2004-11-02 | Invocon, Inc. | Encoded surface acoustic wave based strain sensor |
US7842028B2 (en) * | 2005-04-14 | 2010-11-30 | Cambridge Endoscopic Devices, Inc. | Surgical instrument guide device |
US7678075B2 (en) * | 2004-12-30 | 2010-03-16 | Advanced Cardiovascular Systems, Inc. | Infusion catheter and use thereof |
US8945095B2 (en) | 2005-03-30 | 2015-02-03 | Intuitive Surgical Operations, Inc. | Force and torque sensing for surgical instruments |
US8375808B2 (en) * | 2005-12-30 | 2013-02-19 | Intuitive Surgical Operations, Inc. | Force sensing for surgical instruments |
US7752920B2 (en) * | 2005-12-30 | 2010-07-13 | Intuitive Surgical Operations, Inc. | Modular force sensor |
US20070078484A1 (en) * | 2005-10-03 | 2007-04-05 | Joseph Talarico | Gentle touch surgical instrument and method of using same |
CN101340852B (en) * | 2005-12-20 | 2011-12-28 | 直观外科手术操作公司 | Instrument interface of a robotic surgical system |
JP5043414B2 (en) | 2005-12-20 | 2012-10-10 | インテュイティブ サージカル インコーポレイテッド | Aseptic surgical adapter |
US8182470B2 (en) * | 2005-12-20 | 2012-05-22 | Intuitive Surgical Operations, Inc. | Telescoping insertion axis of a robotic surgical system |
WO2007120329A2 (en) | 2005-12-30 | 2007-10-25 | Intuitive Surgical, Inc. | Modular force sensor |
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 |
US7575927B2 (en) * | 2006-09-12 | 2009-08-18 | Alimenta Medical Ab | Methods for diagnosing a gastrointestinal disorder in an individual |
-
2006
- 2006-09-29 US US11/537,241 patent/US8945095B2/en active Active
- 2006-12-13 JP JP2008548797A patent/JP5264505B2/en active Active
- 2006-12-13 WO PCT/US2006/061994 patent/WO2007111737A2/en active Application Filing
- 2006-12-13 CN CN2006800484751A patent/CN101340850B/en active Active
- 2006-12-13 EP EP06850283.0A patent/EP1965711B1/en active Active
-
2008
- 2008-07-04 KR KR1020087016327A patent/KR101342917B1/en active IP Right Grant
-
2013
- 2013-01-24 JP JP2013010903A patent/JP5700584B2/en active Active
-
2015
- 2015-01-07 US US14/591,826 patent/US20150164598A1/en not_active Abandoned
- 2015-01-13 JP JP2015003883A patent/JP2015062751A/en not_active Withdrawn
-
2016
- 2016-02-15 JP JP2016025512A patent/JP2016083581A/en not_active Withdrawn
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20020111635A1 (en) * | 1995-06-07 | 2002-08-15 | Sri International | Surgical manipulator for a telerobotic system |
US20050021050A1 (en) * | 1996-12-12 | 2005-01-27 | Intuitive Surgical, Inc. | Multi-component telepresence system and method |
US20020133174A1 (en) * | 2001-01-16 | 2002-09-19 | Microdexterity Systems, Inc. | Surgical manipulator |
WO2005039835A1 (en) * | 2003-10-24 | 2005-05-06 | The University Of Western Ontario | Force reflective robotic control system and minimally invasive surgical device |
Cited By (56)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10973606B2 (en) | 2005-03-04 | 2021-04-13 | St. Jude Medical International Holding S.À R.L. | Medical apparatus system having optical fiber load sensing capability |
US9907618B2 (en) | 2005-03-04 | 2018-03-06 | St Jude Medical International Holding S.À R.L. | Medical apparatus system having optical fiber sensing capability |
US8945095B2 (en) | 2005-03-30 | 2015-02-03 | Intuitive Surgical Operations, Inc. | Force and torque sensing for surgical instruments |
US10620066B2 (en) | 2005-03-30 | 2020-04-14 | Intuitive Surgical Operations, Inc. | Ribbed force sensor |
US11707335B2 (en) | 2005-12-30 | 2023-07-25 | Intuitive Surgical Operations, Inc. | Wireless force sensor on a distal portion of a surgical instrument and method |
US9943375B2 (en) | 2005-12-30 | 2018-04-17 | Intuitive Surgical Operations, Inc. | Wireless force sensor on a distal portion of a surgical instrument and method |
US10905502B2 (en) | 2005-12-30 | 2021-02-02 | Intuitive Surgical Operations, Inc. | Wireless force sensor on a distal portion of a surgical instrument and method |
US10363107B2 (en) | 2005-12-30 | 2019-07-30 | Intuitive Surgical Operations, Inc. | Wireless force sensor on a distal portion of a surgical instrument and method |
US11883131B2 (en) | 2006-06-09 | 2024-01-30 | St. Jude Medical International Holding S.À R.L. | Triaxial fiber optic force sensing catheter |
US9597036B2 (en) | 2006-06-09 | 2017-03-21 | St. Jude Medical International Holding S.À R.L. | Triaxial fiber optic force sensing catheter and method of use |
US10596346B2 (en) | 2006-06-09 | 2020-03-24 | St. Jude Medical International Holding S.À R.L. | Triaxial fiber optic force sensing catheter |
US9993617B1 (en) | 2007-05-25 | 2018-06-12 | St. Jude Medical International Holdings S.À R.L. | Elongated surgical manipulator with body position and distal force sensing |
US10905855B2 (en) | 2007-05-25 | 2021-02-02 | St. Jude Medical International Holding S.ár.l. | Elongated surgical manipulator with body position and distal force sensing |
US11650111B2 (en) | 2007-12-18 | 2023-05-16 | Intuitive Surgical Operations, Inc. | Ribbed force sensor |
US9855102B2 (en) | 2007-12-18 | 2018-01-02 | Intuitive Surgical Operations, Inc. | Force sensor temperature compensation |
US11571264B2 (en) | 2007-12-18 | 2023-02-07 | Intuitive Surgical Operations, Inc. | Force sensor temperature compensation |
US10390896B2 (en) | 2007-12-18 | 2019-08-27 | Intuitive Surgical Operations, Inc. | Force sensor temperature compensation |
US9952107B2 (en) | 2007-12-18 | 2018-04-24 | Intuitive Surgical Operations, Inc | Ribbed force sensor |
JP2011517419A (en) * | 2008-03-31 | 2011-06-09 | 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 | Force and torque sensing in a surgical robot arm |
WO2009138957A2 (en) | 2008-05-14 | 2009-11-19 | Endosense S.A. | Temperature compensated strain sensing catheter |
JP2011520499A (en) * | 2008-05-14 | 2011-07-21 | エンドーセンス エスアー | Temperature compensated strain sensing catheter |
WO2009138957A3 (en) * | 2008-05-14 | 2010-04-29 | Endosense S.A. | Temperature compensated strain sensing catheter |
US9622763B2 (en) | 2008-05-30 | 2017-04-18 | Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno | Instrument for minimally invasive surgery |
WO2009145632A1 (en) * | 2008-05-30 | 2009-12-03 | Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno | An instrument for minimally invasive surgery |
EP2127604A1 (en) * | 2008-05-30 | 2009-12-02 | Nederlandse Organisatie voor toegepast- natuurwetenschappelijk onderzoek TNO | An instrument for minimally invasive surgery |
JP2012514514A (en) * | 2009-01-09 | 2012-06-28 | エンドーセンス エスアー | Fiber optic force sensing catheter |
US10806524B2 (en) | 2009-03-31 | 2020-10-20 | Intuitive Surgical Operations, Inc. | Optic fiber connection for a force sensing instrument |
US10568708B2 (en) | 2010-11-12 | 2020-02-25 | Intuitive Surgical Operations, Inc. | Tension control in actuation of multi-joint medical instruments |
US11877814B2 (en) | 2010-11-12 | 2024-01-23 | Intuitive Surgical Operations, Inc. | Tension control in actuation of multi-joint medical instruments |
US9743990B2 (en) | 2010-11-12 | 2017-08-29 | Intuitive Surgical Operations, Inc. | Tension control in actuation of multi-joint medical instrument |
US10561368B2 (en) | 2011-04-14 | 2020-02-18 | St. Jude Medical International Holding S.À R.L. | Compact force sensor for catheters |
US9918682B2 (en) | 2012-06-07 | 2018-03-20 | Panasonic Corporation | Catheter tip-end rotation angle measurement apparatus, catheter tip-end rotation angle measurement method, and catheter tip-end rotation angle measurement program |
US10568539B2 (en) | 2012-08-14 | 2020-02-25 | Intuitive Surgical Operations, Inc. | Systems and methods for configuring components in a minimally invasive instrument |
US11471066B2 (en) | 2012-08-14 | 2022-10-18 | Intuitive Surgical Operations, Inc. | Systems and methods for configuring components in a minimally invasive instrument |
EP3453338A1 (en) * | 2013-01-14 | 2019-03-13 | Intuitive Surgical Operations Inc. | Clamping instrument |
US11712243B2 (en) | 2013-01-14 | 2023-08-01 | Intuitive Surgical Operations, Inc. | Clamping instrument |
WO2014110561A1 (en) | 2013-01-14 | 2014-07-17 | Intuitive Surgical Operations, Inc. | Clamping instrument |
EP2943134A4 (en) * | 2013-01-14 | 2016-08-31 | Intuitive Surgical Operations | Clamping instrument |
US10327773B2 (en) | 2013-01-14 | 2019-06-25 | Intuitive Surgical Operations, Inc. | Clamping instrument |
US9522003B2 (en) | 2013-01-14 | 2016-12-20 | Intuitive Surgical Operations, Inc. | Clamping instrument |
US10449008B2 (en) | 2014-03-17 | 2019-10-22 | Intuitive Surgical Operations, Inc. | System and method for breakaway clutching in an articulated arm |
US11944403B2 (en) | 2014-03-17 | 2024-04-02 | Intuitive Surgical Operations, Inc. | Latch to secure teleoperated surgical instrument to actuator |
US10973596B2 (en) | 2014-03-17 | 2021-04-13 | Intuitive Surgical Operations, Inc. | System and method for breakaway clutching in an articulated arm |
US11660154B2 (en) | 2014-03-17 | 2023-05-30 | Intuitive Surgical Operations, Inc. | System and method for breakaway clutching in an articulated arm |
US10034717B2 (en) | 2014-03-17 | 2018-07-31 | Intuitive Surgical Operations, Inc. | System and method for breakaway clutching in an articulated arm |
US11717370B2 (en) | 2014-03-17 | 2023-08-08 | Intuitive Surgical Operations, Inc. | Backup latch release for surgical instrument |
US10743897B2 (en) | 2015-05-15 | 2020-08-18 | Intuitive Surgical Operations, Inc. | System and method for reducing blade exposures |
US11712300B2 (en) | 2015-05-15 | 2023-08-01 | Intuitive Surgical Operations, Inc. | System and method for reducing blade exposures |
US10874474B2 (en) | 2015-05-15 | 2020-12-29 | Intuitive Surgical Operations, Inc. | System and method for force or torque limit compensation |
US10799306B2 (en) | 2015-11-11 | 2020-10-13 | Intuitive Surgical Operations, Inc. | Reconfigurable end effector architecture |
US11445937B2 (en) | 2016-01-07 | 2022-09-20 | St. Jude Medical International Holding S.À R.L. | Medical device with multi-core fiber for optical sensing |
US11460360B2 (en) | 2017-11-14 | 2022-10-04 | Intuitive Surgical Operations, Inc. | Split bridge circuit force sensor |
US20210045827A1 (en) * | 2019-08-15 | 2021-02-18 | Verb Surgical Inc. | Admittance compensation for surgical tool |
US11723739B2 (en) * | 2019-08-15 | 2023-08-15 | Verb Surgical Inc. | Admittance compensation for surgical tool |
US11696810B2 (en) | 2019-08-15 | 2023-07-11 | Verb Surgical Inc. | Engagement, homing, and control of robotics surgical instrument |
US11547511B2 (en) | 2019-08-15 | 2023-01-10 | Verb Surgical Inc. | Joint calibration for surgical tool |
Also Published As
Publication number | Publication date |
---|---|
US20070151390A1 (en) | 2007-07-05 |
EP1965711A2 (en) | 2008-09-10 |
CN101340850A (en) | 2009-01-07 |
US20150164598A1 (en) | 2015-06-18 |
CN101340850B (en) | 2011-06-15 |
WO2007111737A3 (en) | 2007-12-13 |
JP2013075195A (en) | 2013-04-25 |
US8945095B2 (en) | 2015-02-03 |
JP2009522016A (en) | 2009-06-11 |
KR20080089582A (en) | 2008-10-07 |
JP5700584B2 (en) | 2015-04-15 |
JP5264505B2 (en) | 2013-08-14 |
KR101342917B1 (en) | 2013-12-18 |
EP1965711B1 (en) | 2016-08-31 |
JP2016083581A (en) | 2016-05-19 |
JP2015062751A (en) | 2015-04-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US8945095B2 (en) | Force and torque sensing for surgical instruments | |
US11650111B2 (en) | Ribbed force sensor | |
US8613230B2 (en) | Force sensing for surgical instruments | |
US9895813B2 (en) | Force and torque sensing in a surgical robot setup arm | |
US7752920B2 (en) | Modular force sensor | |
EP2289455B1 (en) | Modular force sensor | |
US8561473B2 (en) | Force sensor temperature compensation |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 200680048475.1 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 06850283 Country of ref document: EP Kind code of ref document: A2 |
|
REEP | Request for entry into the european phase |
Ref document number: 2006850283 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2006850283 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2008548797 Country of ref document: JP |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1020087016327 Country of ref document: KR |