ATE551964T1 - Flexibles gelenk für ein operationsinstrument - Google Patents

Flexibles gelenk für ein operationsinstrument

Info

Publication number
ATE551964T1
ATE551964T1 AT03790301T AT03790301T ATE551964T1 AT E551964 T1 ATE551964 T1 AT E551964T1 AT 03790301 T AT03790301 T AT 03790301T AT 03790301 T AT03790301 T AT 03790301T AT E551964 T1 ATE551964 T1 AT E551964T1
Authority
AT
Austria
Prior art keywords
wrist member
proximal
wall
flexible tube
elongate shaft
Prior art date
Application number
AT03790301T
Other languages
English (en)
Inventor
Thomas Cooper
S Anderson
Original Assignee
Intuitive Surgical Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=32507770&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=ATE551964(T1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Intuitive Surgical Inc filed Critical Intuitive Surgical Inc
Application granted granted Critical
Publication of ATE551964T1 publication Critical patent/ATE551964T1/de

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/12—Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
    • A61B17/128—Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord for applying or removing clamps or clips
    • A61B17/1285—Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord for applying or removing clamps or clips for minimally invasive surgery
    • 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
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00149—Holding or positioning arrangements using articulated arms
    • 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
    • A61B1/005—Flexible endoscopes
    • A61B1/008—Articulations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/04—Surgical instruments, devices or methods for suturing wounds; Holders or packages for needles or suture materials
    • A61B17/06—Needles ; Sutures; Needle-suture combinations; Holders or packages for needles or suture materials
    • A61B17/062—Needle manipulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/42—Gynaecological or obstetrical instruments or methods
    • 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
    • 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
    • A61B1/00142—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 with means for preventing contamination, e.g. by using a sanitary sheath
    • 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
    • A61B1/005—Flexible endoscopes
    • A61B1/0058—Flexible endoscopes using shape-memory elements
    • 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
    • A61B1/012—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 characterised by internal passages or accessories therefor
    • A61B1/018—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 characterised by internal passages or accessories therefor for receiving instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B18/1442—Probes having pivoting end effectors, e.g. forceps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00309—Cut-outs or slits
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2901—Details of 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
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Physics & Mathematics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Optics & Photonics (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Rehabilitation Therapy (AREA)
  • Ophthalmology & Optometry (AREA)
  • Reproductive Health (AREA)
  • Plasma & Fusion (AREA)
  • Otolaryngology (AREA)
  • Vascular Medicine (AREA)
  • Gynecology & Obstetrics (AREA)
  • Pregnancy & Childbirth (AREA)
  • Surgical Instruments (AREA)
  • Manipulator (AREA)
AT03790301T 2002-12-06 2003-12-02 Flexibles gelenk für ein operationsinstrument ATE551964T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US43163602P 2002-12-06 2002-12-06
PCT/US2003/038462 WO2004052171A2 (en) 2002-12-06 2003-12-02 Flexible wrist for surgical tool

Publications (1)

Publication Number Publication Date
ATE551964T1 true ATE551964T1 (de) 2012-04-15

Family

ID=32507770

Family Applications (1)

Application Number Title Priority Date Filing Date
AT03790301T ATE551964T1 (de) 2002-12-06 2003-12-02 Flexibles gelenk für ein operationsinstrument

Country Status (8)

Country Link
US (9) US7320700B2 (de)
EP (7) EP3498213A3 (de)
JP (12) JP4486503B2 (de)
KR (4) KR101087996B1 (de)
CN (2) CN101181167B (de)
AT (1) ATE551964T1 (de)
AU (1) AU2003293353A1 (de)
WO (1) WO2004052171A2 (de)

Families Citing this family (413)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7713190B2 (en) * 1998-02-24 2010-05-11 Hansen Medical, Inc. Flexible instrument
US6626899B2 (en) 1999-06-25 2003-09-30 Nidus Medical, Llc Apparatus and methods for treating tissue
US8768516B2 (en) 2009-06-30 2014-07-01 Intuitive Surgical Operations, Inc. Control of medical robotic system manipulator about kinematic singularities
WO2002007608A2 (en) * 2000-07-20 2002-01-31 Tiva Medical, Inc. Hand-actuated articulating surgical tool
US8414505B1 (en) 2001-02-15 2013-04-09 Hansen Medical, Inc. Catheter driver system
US7766894B2 (en) 2001-02-15 2010-08-03 Hansen Medical, Inc. Coaxial catheter system
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
US20060178556A1 (en) 2001-06-29 2006-08-10 Intuitive Surgical, Inc. Articulate and swapable endoscope for a surgical robot
US7331967B2 (en) * 2002-09-09 2008-02-19 Hansen Medical, Inc. Surgical instrument coupling mechanism
JP4384439B2 (ja) * 2002-11-21 2009-12-16 富士機械製造株式会社 対基板作業機、対基板作業システムおよび対基板作業機用作業ヘッド使用準備処理プログラム
EP3498213A3 (de) 2002-12-06 2019-07-03 Intuitive Surgical Operations, Inc. Flexibles gelenk für ein operationsinstrument
US7090637B2 (en) * 2003-05-23 2006-08-15 Novare Surgical Systems, Inc. Articulating mechanism for remote manipulation of a surgical or diagnostic tool
US8562640B2 (en) * 2007-04-16 2013-10-22 Intuitive Surgical Operations, Inc. Tool with multi-state ratcheted end effector
US8182417B2 (en) * 2004-11-24 2012-05-22 Intuitive Surgical Operations, Inc. Articulating mechanism components and system for easy assembly and disassembly
US8100824B2 (en) 2003-05-23 2012-01-24 Intuitive Surgical Operations, Inc. Tool with articulation lock
US7410483B2 (en) 2003-05-23 2008-08-12 Novare Surgical Systems, Inc. Hand-actuated device for remote manipulation of a grasping tool
US8007511B2 (en) 2003-06-06 2011-08-30 Hansen Medical, Inc. Surgical instrument design
US9002518B2 (en) 2003-06-30 2015-04-07 Intuitive Surgical Operations, Inc. Maximum torque driving of robotic surgical tools in robotic surgical systems
JP4755638B2 (ja) * 2004-03-05 2011-08-24 ハンセン メディカル，インク． ロボットガイドカテーテルシステム
US7976539B2 (en) * 2004-03-05 2011-07-12 Hansen Medical, Inc. System and method for denaturing and fixing collagenous tissue
US7828808B2 (en) * 2004-06-07 2010-11-09 Novare Surgical Systems, Inc. Link systems and articulation mechanisms for remote manipulation of surgical or diagnostic tools
US7678117B2 (en) 2004-06-07 2010-03-16 Novare Surgical Systems, Inc. Articulating mechanism with flex-hinged links
US8353897B2 (en) * 2004-06-16 2013-01-15 Carefusion 2200, Inc. Surgical tool kit
US7241290B2 (en) 2004-06-16 2007-07-10 Kinetic Surgical, Llc Surgical tool kit
US8075476B2 (en) * 2004-07-27 2011-12-13 Intuitive Surgical Operations, Inc. Cannula system and method of use
US7410086B2 (en) 2004-07-28 2008-08-12 Ethicon Endo-Surgery, Inc. Electroactive polymer-based actuation mechanism for circular stapler
US8057508B2 (en) 2004-07-28 2011-11-15 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating an electrically actuated articulation locking mechanism
US8905977B2 (en) 2004-07-28 2014-12-09 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having an electroactive polymer actuated medical substance dispenser
US7862579B2 (en) 2004-07-28 2011-01-04 Ethicon Endo-Surgery, Inc. Electroactive polymer-based articulation mechanism for grasper
US7407074B2 (en) 2004-07-28 2008-08-05 Ethicon Endo-Surgery, Inc. Electroactive polymer-based actuation mechanism for multi-fire surgical fastening instrument
US7857183B2 (en) * 2004-07-28 2010-12-28 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating an electrically actuated articulation mechanism
US9700334B2 (en) 2004-11-23 2017-07-11 Intuitive Surgical Operations, Inc. Articulating mechanisms and link systems with torque transmission in remote manipulation of instruments and tools
US7785252B2 (en) * 2004-11-23 2010-08-31 Novare Surgical Systems, Inc. Articulating sheath for flexible instruments
US20060116697A1 (en) * 2004-11-30 2006-06-01 Esophyx, Inc. Flexible transoral endoscopic gastroesophageal flap valve restoration device and method
US20060201130A1 (en) * 2005-01-31 2006-09-14 Danitz David J Articulating mechanisms with joint assembly and manual handle for remote manipulation of instruments and tools
US7784663B2 (en) * 2005-03-17 2010-08-31 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having load sensing control circuitry
US9789608B2 (en) 2006-06-29 2017-10-17 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
WO2007005976A1 (en) 2005-07-01 2007-01-11 Hansen Medical, Inc. Robotic catheter system
AU2006275977B2 (en) * 2005-07-26 2012-08-30 Ams Research Corporation Methods and systems for treatment of prolapse
US20070066985A1 (en) * 2005-09-16 2007-03-22 Boston Scientific Scimed, Inc. Tissue cutting devices having hemostasis capability and related methods
ATE466614T1 (de) * 2005-11-02 2010-05-15 Injectica Ag Implantierbares infusionsgerät mit vorschiebbarer und zurückziehbarer nadel
US9931108B2 (en) * 2005-11-18 2018-04-03 Steven Miller System and method for influencing an anatomical structure
US7930065B2 (en) 2005-12-30 2011-04-19 Intuitive Surgical Operations, Inc. Robotic surgery system including position sensors using fiber bragg gratings
US9962066B2 (en) * 2005-12-30 2018-05-08 Intuitive Surgical Operations, Inc. Methods and apparatus to shape flexible entry guides for minimally invasive surgery
GB0600170D0 (en) * 2006-01-06 2006-02-15 Oliver Crispin Robotics Ltd Improvements in and relating to robotic arms
USD622380S1 (en) 2006-03-10 2010-08-24 Medical Device Innovations Limited Surgical instrument
USD623739S1 (en) 2006-03-10 2010-09-14 Medical Device Innovations Limited Surgical instrument handle
USD581050S1 (en) * 2006-03-10 2008-11-18 Medical Device Innovations Limited Surgical instrument tip
US8105350B2 (en) 2006-05-23 2012-01-31 Cambridge Endoscopic Devices, Inc. Surgical instrument
US8409244B2 (en) * 2007-04-16 2013-04-02 Intuitive Surgical Operations, Inc. Tool with end effector force limiter
US20080064927A1 (en) * 2006-06-13 2008-03-13 Intuitive Surgical, Inc. Minimally invasrive surgery guide tube
US9561045B2 (en) * 2006-06-13 2017-02-07 Intuitive Surgical Operations, Inc. Tool with rotation lock
US7862554B2 (en) 2007-04-16 2011-01-04 Intuitive Surgical Operations, Inc. Articulating tool with improved tension member system
US10008017B2 (en) 2006-06-29 2018-06-26 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US10258425B2 (en) 2008-06-27 2019-04-16 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide
US12357400B2 (en) 2006-06-29 2025-07-15 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
US9718190B2 (en) 2006-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
ATE545374T1 (de) * 2006-06-30 2012-03-15 Bovie Medical Corp Chirurgisches instrument mit abnehmbarer werkzeuganordnung
US8029531B2 (en) * 2006-07-11 2011-10-04 Cambridge Endoscopic Devices, Inc. Surgical instrument
WO2008015178A1 (fr) * 2006-07-31 2008-02-07 Commissariat A L'energie Atomique Membre articule c0mportant des fibres, et structure articulee et robot ou interface haptique c0mp0rtant un tel membre articule
US7708758B2 (en) * 2006-08-16 2010-05-04 Cambridge Endoscopic Devices, Inc. Surgical instrument
US20100241136A1 (en) * 2006-12-05 2010-09-23 Mark Doyle Instrument positioning/holding devices
EP2120734B1 (de) * 2006-12-15 2015-12-02 Gmedelaware 2 LLC Bohrer für vertebrales stenting-verfahren
US20080249536A1 (en) * 2007-02-15 2008-10-09 Hansen Medical, Inc. Interface assembly for controlling orientation of robotically controlled medical instrument
JP4975494B2 (ja) 2007-03-23 2012-07-11 富士通株式会社 撮像装置
US8050523B2 (en) * 2007-04-20 2011-11-01 Koninklijke Philips Electronics N.V. Optical fiber shape sensing systems
US20090138025A1 (en) * 2007-05-04 2009-05-28 Hansen Medical, Inc. Apparatus systems and methods for forming a working platform of a robotic instrument system by manipulation of components having controllably rigidity
US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
US9096033B2 (en) 2007-06-13 2015-08-04 Intuitive Surgical Operations, Inc. Surgical system instrument sterile adapter
US8620473B2 (en) 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
CA2721216C (en) 2008-04-11 2016-06-14 The Regents Of The University Of Michigan Minimal access tool
US9869339B2 (en) 2008-04-11 2018-01-16 Flexdex, Inc. End-effector jaw closure transmission systems for remote access tools
US10405936B2 (en) 2008-04-11 2019-09-10 The Regents Of The University Of Michigan Parallel kinematic mechanisms with decoupled rotational motions
BRPI0822560A8 (pt) * 2008-04-18 2016-01-19 Fortimedix B V Instrumento para aplicações endoscópicas ou semelhantes
US12239396B2 (en) 2008-06-27 2025-03-04 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
EP2300724A1 (de) * 2008-06-27 2011-03-30 Allegiance Corporation Flexibles gelenkartiges element sowie verfahren zu seiner herstellung und verwendung
US9204923B2 (en) 2008-07-16 2015-12-08 Intuitive Surgical Operations, Inc. Medical instrument electronically energized using drive cables
US8968355B2 (en) * 2008-08-04 2015-03-03 Covidien Lp Articulating surgical device
US8465475B2 (en) 2008-08-18 2013-06-18 Intuitive Surgical Operations, Inc. Instrument with multiple articulation locks
US8161838B2 (en) 2008-12-22 2012-04-24 Intuitive Surgical Operations, Inc. Method and apparatus for reducing at least one friction force opposing an axial force exerted through an actuator element
US8245594B2 (en) * 2008-12-23 2012-08-21 Intuitive Surgical Operations, Inc. Roll joint and method for a surgical apparatus
US8858547B2 (en) 2009-03-05 2014-10-14 Intuitive Surgical Operations, Inc. Cut and seal instrument
US8423182B2 (en) 2009-03-09 2013-04-16 Intuitive Surgical Operations, Inc. Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems
US12266040B2 (en) 2009-03-31 2025-04-01 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US9254123B2 (en) 2009-04-29 2016-02-09 Hansen Medical, Inc. Flexible and steerable elongate instruments with shape control and support elements
US10080482B2 (en) * 2009-06-30 2018-09-25 Intuitive Surgical Operations, Inc. Compliant surgical device
US20110022078A1 (en) 2009-07-23 2011-01-27 Cameron Dale Hinman Articulating mechanism
US9492927B2 (en) 2009-08-15 2016-11-15 Intuitive Surgical Operations, Inc. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose
ES2388867B1 (es) * 2009-10-27 2013-09-18 Universitat Politècnica De Catalunya Pinzas para cirugia laparoscópica mínimamente invasiva.
US20110118708A1 (en) 2009-11-13 2011-05-19 Intuitive Surgical Operations, Inc. Double universal joint
EP2594222B1 (de) 2009-11-13 2018-10-03 Intuitive Surgical Operations, Inc. Chirurgisches Instrument mit kompakter Manschette
KR102077004B1 (ko) * 2009-11-13 2020-02-13 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 여분의 닫힘 메커니즘을 구비한 단부 작동기
CN102596087B (zh) * 2009-11-13 2015-07-22 直观外科手术操作公司 用于独立转动构件中的平行驱动轴的电动机接口
JP4862105B2 (ja) * 2009-12-10 2012-01-25 オリンパスメディカルシステムズ株式会社 医療用マニピュレータ
US8887595B2 (en) 2009-12-22 2014-11-18 Intuitive Surgical Operations, Inc. Instrument wrist with cycloidal surfaces
US10376331B2 (en) * 2010-02-12 2019-08-13 Intuitive Surgical Operations, Inc. Sheaths for jointed instruments
US9089351B2 (en) 2010-02-12 2015-07-28 Intuitive Surgical Operations, Inc. Sheath for surgical instrument
US20110213360A1 (en) * 2010-02-26 2011-09-01 Tyco Healthcare Group Lp Tensioning Mechanism for Articulation Drive Cables
US8439912B2 (en) 2010-02-26 2013-05-14 Covidien Lp De-tensioning mechanism for articulation drive cables
DE102010014435B4 (de) * 2010-04-09 2015-11-19 Olympus Winter & Ibe Gmbh Elektrochirurgisches laparoskopisches Instrument mit elektrischer Leitung
US9033998B1 (en) 2010-05-13 2015-05-19 Titan Medical Inc. Independent roll wrist mechanism
US8603077B2 (en) 2010-05-14 2013-12-10 Intuitive Surgical Operations, Inc. Force transmission for robotic surgical instrument
US11278345B2 (en) 2010-05-25 2022-03-22 Covidien Lp Accurate jaw closure force in a catheter based instrument
EP2590586B1 (de) 2010-07-09 2014-08-06 Intuitive Surgical Operations, Inc. Abdeckung für ein elektrochirurgisches instrument
WO2012020386A1 (en) 2010-08-11 2012-02-16 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical positioning system for surgical instruments
CN103068333B (zh) * 2010-08-27 2015-09-16 伊顿株式会社 外科手术器械
WO2012040442A1 (en) 2010-09-22 2012-03-29 Johns Hopkins University Cable-driven morphable manipulator
WO2012049623A1 (en) 2010-10-11 2012-04-19 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
US12402960B2 (en) 2010-10-11 2025-09-02 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
US9060765B2 (en) 2010-11-08 2015-06-23 Bovie Medical Corporation Electrosurgical apparatus with retractable blade
US9101379B2 (en) 2010-11-12 2015-08-11 Intuitive Surgical Operations, Inc. Tension control in actuation of multi-joint medical instruments
US9055960B2 (en) 2010-11-15 2015-06-16 Intuitive Surgical Operations, Inc. Flexible surgical devices
KR101075294B1 (ko) * 2011-01-12 2011-10-19 정창욱 최소 침습 수술 기구
WO2012100211A2 (en) 2011-01-20 2012-07-26 Hansen Medical, Inc. System and method for endoluminal and transluminal therapy
US8578810B2 (en) 2011-02-14 2013-11-12 Intuitive Surgical Operations, Inc. Jointed link structures exhibiting preferential bending, and related methods
JP6518403B2 (ja) * 2011-02-18 2019-05-22 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 融合及び切断用外科用器具とこれに関連する方法
KR101259701B1 (ko) * 2011-03-24 2013-05-06 정창욱 굽은 샤프트를 갖는 최소 침습 수술 기구
KR20140029487A (ko) * 2011-05-12 2014-03-10 임페리얼 이노베이션스 리미티드 수술 장치
US9161771B2 (en) 2011-05-13 2015-10-20 Intuitive Surgical Operations Inc. Medical instrument with snake wrist structure
KR101336381B1 (ko) * 2011-06-07 2013-12-04 정창욱 최소 침습 수술 기구
JP5715304B2 (ja) 2011-07-27 2015-05-07 エコール ポリテクニーク フェデラル デ ローザンヌ （イーピーエフエル） 遠隔操作のための機械的遠隔操作装置
US20130030363A1 (en) 2011-07-29 2013-01-31 Hansen Medical, Inc. Systems and methods utilizing shape sensing fibers
US8945174B2 (en) 2011-08-15 2015-02-03 Intuitive Surgical Operations, Inc. Medical instrument with flexible jaw mechanism
US20130046317A1 (en) * 2011-08-15 2013-02-21 Intuitive Surgical Operations, Inc. Medical instrument with flexible wrist mechanism
KR101322030B1 (ko) * 2011-09-05 2013-10-28 주식회사 모바수 구형 부품을 포함하는 관절부를 갖는 최소 침습 수술 기구
US20130303944A1 (en) 2012-05-14 2013-11-14 Intuitive Surgical Operations, Inc. Off-axis electromagnetic sensor
US10238837B2 (en) 2011-10-14 2019-03-26 Intuitive Surgical Operations, Inc. Catheters with control modes for interchangeable probes
US9387048B2 (en) 2011-10-14 2016-07-12 Intuitive Surgical Operations, Inc. Catheter sensor systems
US9452276B2 (en) 2011-10-14 2016-09-27 Intuitive Surgical Operations, Inc. Catheter with removable vision probe
CN102525581B (zh) * 2011-10-25 2013-09-11 王小军 腹腔镜一次性荷包钳
US9179927B2 (en) 2011-12-02 2015-11-10 Ethicon Endo-Surgery, Inc. Surgical methods using a surgical device having a fixed angular orientation
US8617203B2 (en) 2011-12-02 2013-12-31 Ethicon Endo-Surgery, Inc. Jaw assembly for surgical devices
US9211159B2 (en) 2011-12-02 2015-12-15 Ethicon Endo-Surgery, Inc. Surgical devices with intracorporeal elbow joint
US9131987B2 (en) 2011-12-02 2015-09-15 Ethicon Endo-Surgery, Inc. Elbow assembly for surgical devices
US20130158525A1 (en) * 2011-12-09 2013-06-20 Adn International, Llc Flexible channel surgical instruments
US8876806B2 (en) 2012-01-09 2014-11-04 Covidien Lp Surgical instrument with articulating assembly
US9956042B2 (en) 2012-01-13 2018-05-01 Vanderbilt University Systems and methods for robot-assisted transurethral exploration and intervention
US8419720B1 (en) 2012-02-07 2013-04-16 National Advanced Endoscopy Devices, Incorporated Flexible laparoscopic device
US8556883B2 (en) * 2012-02-27 2013-10-15 Rafic Saleh Medical surgical navigation sensor mounting system
WO2013146310A1 (ja) * 2012-03-28 2013-10-03 テルモ株式会社 穿刺器具組立体
US9211134B2 (en) 2012-04-09 2015-12-15 Carefusion 2200, Inc. Wrist assembly for articulating laparoscopic surgical instruments
WO2013158983A1 (en) 2012-04-20 2013-10-24 Vanderbilt University Robotic device for establishing access channel
US9539726B2 (en) * 2012-04-20 2017-01-10 Vanderbilt University Systems and methods for safe compliant insertion and hybrid force/motion telemanipulation of continuum robots
US9687303B2 (en) 2012-04-20 2017-06-27 Vanderbilt University Dexterous wrists for surgical intervention
KR101405087B1 (ko) * 2012-04-27 2014-06-10 한양대학교 에리카산학협력단 수술도구용 관절
US11135026B2 (en) 2012-05-11 2021-10-05 Peter L. Bono Robotic surgical system
KR102335797B1 (ko) 2012-09-17 2021-12-07 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 원격조작 수술 기구 기능들에 입력 장치들을 할당하는 방법 및 시스템
US10864048B2 (en) 2012-11-02 2020-12-15 Intuitive Surgical Operations, Inc. Flux disambiguation for teleoperated surgical systems
US10631939B2 (en) 2012-11-02 2020-04-28 Intuitive Surgical Operations, Inc. Systems and methods for mapping flux supply paths
US20140148673A1 (en) 2012-11-28 2014-05-29 Hansen Medical, Inc. Method of anchoring pullwire directly articulatable region in catheter
US10507066B2 (en) 2013-02-15 2019-12-17 Intuitive Surgical Operations, Inc. Providing information of tools by filtering image areas adjacent to or on displayed images of the tools
US20140296869A1 (en) * 2013-03-14 2014-10-02 Intuitive Surgical Operations, Inc. Surgical instrument shaft
US9326822B2 (en) 2013-03-14 2016-05-03 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US20140277334A1 (en) 2013-03-14 2014-09-18 Hansen Medical, Inc. Active drives for robotic catheter manipulators
US20140276936A1 (en) 2013-03-15 2014-09-18 Hansen Medical, Inc. Active drive mechanism for simultaneous rotation and translation
US9408669B2 (en) 2013-03-15 2016-08-09 Hansen Medical, Inc. Active drive mechanism with finite range of motion
WO2014201538A1 (en) 2013-06-19 2014-12-24 Titan Medical Inc. Articulated tool positioner and system employing same
JP6173089B2 (ja) * 2013-07-24 2017-08-02 オリンパス株式会社 医療用マスタースレーブシステムの制御方法
CN103340662B (zh) * 2013-08-02 2016-02-17 苏州天臣国际医疗科技有限公司 切割吻合器
USD749726S1 (en) * 2013-08-15 2016-02-16 Intuitive Surgical Operations, Inc. Surgical instrument shaft with hole pattern
WO2015057990A1 (en) * 2013-10-18 2015-04-23 Intuitive Surgical Operations, Inc. Wrist mechanism for surgical instrument
US9295522B2 (en) 2013-11-08 2016-03-29 Covidien Lp Medical device adapter with wrist mechanism
EP3834752B1 (de) 2013-12-11 2024-03-13 Covidien LP Handgelenk- und backenanordnungen für chirurgische robotersysteme
JP6220085B2 (ja) 2014-02-03 2017-10-25 ディスタルモーション エスエーＤｉｓｔａｌｍｏｔｉｏｎ Ｓａ 交換可能な遠位装置を備える機械的遠隔操作デバイス
WO2015126752A1 (en) * 2014-02-21 2015-08-27 Intuitive Surgical Operations, Inc. Articulatable members having constrained motion, and related devices and methods
EP3107479B1 (de) 2014-02-21 2025-08-27 Intuitive Surgical Operations, Inc. Mechanische rohrverbindungen sowie entsprechende systeme
US10280951B2 (en) 2014-03-02 2019-05-07 Drexel University Articulating devices
US10166061B2 (en) 2014-03-17 2019-01-01 Intuitive Surgical Operations, Inc. Teleoperated surgical system equipment with user interface
US10285763B2 (en) 2014-04-02 2019-05-14 Intuitive Surgical Operations, Inc. Actuation element guide with twisting channels
KR102394198B1 (ko) * 2014-04-02 2022-05-09 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 트위스팅 채널을 갖는 구동 부재 가이드
US10046140B2 (en) 2014-04-21 2018-08-14 Hansen Medical, Inc. Devices, systems, and methods for controlling active drive systems
WO2015171614A1 (en) 2014-05-05 2015-11-12 Vicarious Surgical Inc. Virtual reality surgical device
US10259129B2 (en) * 2014-05-06 2019-04-16 The Johns Hopkins University Adjustable stiffness morphable manipulator
EP3179955B1 (de) 2014-08-13 2021-09-15 Covidien LP Robotische steuerung zum greifen mit mechanischem vorteil
EP3185808B1 (de) 2014-08-27 2022-02-23 DistalMotion SA Chirurgisches system für mikrochirurgische verfahren
US20170231701A1 (en) * 2014-09-04 2017-08-17 Memic Innovative Surgery Ltd. Method and devices for hysterectomy
US11357483B2 (en) * 2014-09-26 2022-06-14 Intuitive Surgical Operations, Inc. Surgical instrument with flexible shaft and actuation element guide
EP3593700A1 (de) 2014-12-05 2020-01-15 Fortimedix Surgical B.V. Verfahren zur herstellung eines lenkbaren instruments sowie solch ein lenkbares instrument
US11039820B2 (en) 2014-12-19 2021-06-22 Distalmotion Sa Sterile interface for articulated surgical instruments
EP3232951B1 (de) 2014-12-19 2023-10-25 DistalMotion SA Chirurgisches instrument mit gelenkigem endeffektor
EP3232974B1 (de) 2014-12-19 2018-10-24 DistalMotion SA Beweglicher griff für mechanischen telemanipulator
WO2016097868A1 (en) 2014-12-19 2016-06-23 Distalmotion Sa Reusable surgical instrument for minimally invasive procedures
US10864049B2 (en) 2014-12-19 2020-12-15 Distalmotion Sa Docking system for mechanical telemanipulator
EP3250141B1 (de) 2015-01-28 2023-10-11 Apyx Medical Corporation Elektrochirurgische kaltplasmavorrichtung mit applikator mit gebogener spitze
US10695142B2 (en) 2015-02-19 2020-06-30 Covidien Lp Repositioning method of input device for robotic surgical system
AU2016229897B2 (en) 2015-03-10 2020-07-16 Covidien Lp Measuring health of a connector member of a robotic surgical system
EP3282952B1 (de) 2015-04-03 2019-12-25 The Regents Of The University Of Michigan Spannungsverwaltungsvorrichtung für kabelbetriebene übertragung
EP3280343B1 (de) 2015-04-09 2024-08-21 DistalMotion SA Mechanische ferngesteuerte vorrichtung zur fernmanipulation
EP3280337B1 (de) 2015-04-09 2019-11-13 DistalMotion SA Gelenkiges tragbares instrument
CN107666866A (zh) 2015-06-03 2018-02-06 柯惠Lp公司 偏置器械驱动单元
US10806531B2 (en) 2015-06-12 2020-10-20 Intuitive Surgical Operations, Inc. User interfaces and displays for flux supply units
CA2987637C (en) 2015-06-16 2023-10-03 Covidien Lp Robotic surgical system torque transduction sensing
JP6719487B2 (ja) 2015-06-23 2020-07-08 コヴィディエン リミテッド パートナーシップ ロボット外科手術アセンブリ
EP3340897B1 (de) 2015-08-28 2024-10-09 DistalMotion SA Chirurgisches instrument mit erhöhter betätigungskraft
JP6755305B2 (ja) 2015-09-25 2020-09-16 コヴィディエン リミテッド パートナーシップ ロボット外科組立体およびその器具駆動コネクタ
US12594069B2 (en) 2015-10-02 2026-04-07 Livsmed, Inc. Handle assembly providing unlimited roll
JP6887997B2 (ja) 2015-10-02 2021-06-16 フレックスデックス, インク.Flexdex, Inc. 無制限ロールを付与するハンドル機構
US10959797B2 (en) 2015-10-05 2021-03-30 Flexdex, Inc. Medical devices having smoothly articulating multi-cluster joints
US11896255B2 (en) 2015-10-05 2024-02-13 Flexdex, Inc. End-effector jaw closure transmission systems for remote access tools
US9668720B2 (en) 2015-10-19 2017-06-06 DNP Biomed, LLC Systems, devices, components and methods for displacing and repositioning the esophagus away from the heart during atrial ablation surgical procedures
US10265058B2 (en) 2015-10-19 2019-04-23 DNP Biomed, LLC Systems, devices, components and methods for displacing and repositioning the esophagus away from the heart during atrial ablation surgical procedures
WO2017070275A1 (en) 2015-10-23 2017-04-27 Covidien Lp Surgical system for detecting gradual changes in perfusion
EP3376988B1 (de) 2015-11-19 2023-08-23 Covidien LP Optischer kraftsensor für chirurgisches robotersystem
KR102436601B1 (ko) 2016-02-05 2022-08-25 보드 오브 리전츠 오브 더 유니버시티 오브 텍사스 시스템 조종가능한 루멘 내 의료 기기
KR102742976B1 (ko) * 2016-02-05 2024-12-16 보드 오브 리전츠, 더 유니버시티 오브 텍사스 시스템 외과용 장치
CN209548018U (zh) 2016-02-25 2019-10-29 弗莱克斯德克斯公司 并联运动机构
CN108697481B (zh) 2016-03-04 2021-09-21 柯惠Lp公司 用于机器人外科手术系统的逆运动学控制系统
CA2960354A1 (en) 2016-03-09 2017-09-09 Memic Innovative Surgery Ltd. Modular device comprising mechanical arms
AU2017231052A1 (en) 2016-03-10 2018-10-11 Human Extensions Ltd. Control unit for a medical device
US11576562B2 (en) 2016-04-07 2023-02-14 Titan Medical Inc. Camera positioning method and apparatus for capturing images during a medical procedure
JP6662690B2 (ja) * 2016-04-11 2020-03-11 ミズホ株式会社 内視鏡手術器具
EP3442432B1 (de) 2016-04-14 2024-06-19 Asensus Surgical US, Inc. Elektromechanisches chirurgisches system mit linear angetriebener instrumentenrolle
WO2017189272A1 (en) 2016-04-29 2017-11-02 Intuitive Surgical Operations, Inc. Compliant mechanisms having inverted tool members
CN109561901B (zh) 2016-05-23 2022-02-25 马可外科公司 用于切割骨的医疗装置
WO2017205576A1 (en) 2016-05-26 2017-11-30 Covidien Lp Instrument drive units
EP3463157A4 (de) 2016-05-26 2020-01-22 Covidien LP Robotische chirurgische anordnungen
EP3463150B1 (de) 2016-06-03 2023-09-27 Covidien LP Steuerarm für chirurgische robotersysteme
EP3463149B1 (de) 2016-06-03 2025-02-19 Covidien LP Passives achsensystem für robotische chirurgische systeme
US11612446B2 (en) 2016-06-03 2023-03-28 Covidien Lp Systems, methods, and computer-readable program products for controlling a robotically delivered manipulator
CN109152612A (zh) 2016-06-03 2019-01-04 柯惠Lp公司 具有嵌入式成像仪的机器人手术系统
KR102369534B1 (ko) 2016-07-14 2022-03-03 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술 기기용 경로 제공 기구와, 관련 장치, 시스템, 및 방법
US10463439B2 (en) 2016-08-26 2019-11-05 Auris Health, Inc. Steerable catheter with shaft load distributions
US11241559B2 (en) 2016-08-29 2022-02-08 Auris Health, Inc. Active drive for guidewire manipulation
JP2019524355A (ja) * 2016-08-31 2019-09-05 スミス アンド ネフュー インコーポレイテッド 関節式半月板修復器具
US10072743B1 (en) 2016-09-02 2018-09-11 Michael Brian Wittig Rotary-to-linear transmission system
EP3512435B1 (de) 2016-09-14 2023-11-01 Intuitive Surgical Operations, Inc. Gelenkanordnungen mit kreuzachsigen biegegelenken
WO2018067004A1 (en) 2016-10-03 2018-04-12 Fortimedix Surgical B.V. Bendable tube with improved elastic hinge
US12408984B2 (en) 2016-11-17 2025-09-09 Globus Medical, Inc. Surgical image system and method
US11793394B2 (en) 2016-12-02 2023-10-24 Vanderbilt University Steerable endoscope with continuum manipulator
BR112019015648A2 (pt) 2017-01-30 2020-03-31 Apyx Medical Corporation Aparelho eletrocirúrgico com eixo flexível
WO2018148394A1 (en) 2017-02-09 2018-08-16 Vicarious Surgical Inc. Virtual reality surgical tools system
AU2018221456A1 (en) 2017-02-15 2019-07-11 Covidien Lp System and apparatus for crush prevention for medical robot applications
US10973592B2 (en) 2017-03-09 2021-04-13 Memie Innovative Surgery Ltd. Control console for surgical device with mechanical arms
US11779410B2 (en) 2017-03-09 2023-10-10 Momentis Surgical Ltd Control console including an input arm for control of a surgical mechanical arm
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same
EP3629979A4 (de) 2017-05-24 2021-02-17 Covidien LP Präsenzerkennung für elektrochirurgische werkzeuge in einem robotersystem
WO2018217430A1 (en) 2017-05-25 2018-11-29 Covidien Lp Robotic surgical systems and drapes for covering components of robotic surgical systems
WO2018217431A1 (en) 2017-05-25 2018-11-29 Covidien Lp Robotic surgical system with automated guidance
US11553974B2 (en) 2017-05-25 2023-01-17 Covidien Lp Systems and methods for detection of objects within a field of view of an image capture device
CN110719759B (zh) 2017-05-30 2023-06-30 阿皮克斯医疗股份有限公司 具有机器人尖端的电外科手术装置
MX2019008050A (es) 2017-06-29 2019-10-21 Colubrismx Inc Aparato quirurgico.
CN107263528A (zh) * 2017-07-21 2017-10-20 清华大学 柔性臂的柔性关节结构
US10543605B2 (en) * 2017-08-15 2020-01-28 Avigilon Corporation Camera on movable arm
WO2019036418A1 (en) 2017-08-16 2019-02-21 Covidien Lp END EFFECTOR COMPRISING A WRIST SET AND A MONOPOLAR TOOL FOR ROBOTIC SURGICAL SYSTEMS
GB201713277D0 (en) * 2017-08-18 2017-10-04 Rolls Royce Plc Hyper-redundant manipulators
CN111065312B (zh) * 2017-09-05 2022-07-01 奥林巴斯株式会社 内窥镜的插入部和内窥镜
US11628022B2 (en) 2017-09-05 2023-04-18 Covidien Lp Collision handling algorithms for robotic surgical systems
JP2020533061A (ja) 2017-09-06 2020-11-19 コヴィディエン リミテッド パートナーシップ 手術ロボットの境界スケーリング
AU2018330433A1 (en) 2017-09-08 2020-03-19 Covidien Lp Energy disconnect for robotic surgical assemblies
WO2019055701A1 (en) 2017-09-13 2019-03-21 Vanderbilt University MULTI-SCALE CONTINUUM MOVEMENT ROBOTS BY BALANCING MODULATION
EP3681368A4 (de) 2017-09-14 2021-06-23 Vicarious Surgical Inc. Chirurgisches kamerasystem mit virtueller realität
WO2019073859A1 (ja) * 2017-10-12 2019-04-18 日本発條株式会社 医療用マニピュレーターの可撓チューブ及び屈曲構造体
WO2019073860A1 (ja) * 2017-10-12 2019-04-18 日本発條株式会社 医療用マニピュレーターの可撓チューブ及び屈曲構造体
WO2019083983A2 (en) 2017-10-23 2019-05-02 Bono Peter L OSCILLATING SURGICAL INSTRUMENT / ROTARY FLAP MOVEMENT
CN107800937A (zh) * 2017-11-09 2018-03-13 信利光电股份有限公司 一种多摄像头模组及终端设备
EP3706657B1 (de) 2017-11-10 2025-03-26 Intuitive Surgical Operations, Inc. Spannungsregelung bei der betätigung von gelenkinstrumenten
EP3709908B1 (de) 2017-11-13 2025-06-25 Vicarious Surgical Inc. Handgelenksanordnung für virtuelle realität
FR3073440B1 (fr) * 2017-11-16 2019-10-25 Warein Tube gonflable a geometrie variable et volume constant, bras robotise et robot
EP3716882A4 (de) 2017-12-01 2021-08-25 Covidien LP Abdecktuchverwaltungsanordnungen für robotische chirurgische systeme
WO2019118336A1 (en) 2017-12-14 2019-06-20 Intuitive Surgical Operations, Inc. Medical tools having tension bands
KR102414011B1 (ko) 2017-12-29 2022-06-27 더 보드 오브 리젠츠 오브 더 유니버시티 오브 텍사스 시스템 수술 기구 및 피복의 단부상에서의 캡에 대한 엔드 이펙터의 위치결정 방법
WO2019136041A1 (en) 2018-01-04 2019-07-11 Covidien Lp Robotic surgical instrument including high articulation wrist assembly with torque transmission and mechanical manipulation
CA3085476A1 (en) 2018-01-04 2019-07-11 Covidien Lp Systems and assemblies for mounting a surgical accessory to robotic surgical systems, and providing access therethrough
JP2021510327A (ja) 2018-01-10 2021-04-22 コヴィディエン リミテッド パートナーシップ コンピュータビジョンを利用したロボット外科システムのツールの位置および状態の判定
US11173000B2 (en) 2018-01-12 2021-11-16 Peter L. Bono Robotic surgical control system
US12102403B2 (en) 2018-02-02 2024-10-01 Coviden Lp Robotic surgical systems with user engagement monitoring
CA3089681A1 (en) 2018-02-07 2019-08-15 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
US12376927B2 (en) 2018-02-07 2025-08-05 Distalmotion Sa Surgical robot systems comprising robotic telemanipulators and integrated laparoscopy
GB201803497D0 (en) * 2018-03-05 2018-04-18 Univ Cape Town Endoscopic device
US11189379B2 (en) 2018-03-06 2021-11-30 Digital Surgery Limited Methods and systems for using multiple data structures to process surgical data
WO2019173267A1 (en) 2018-03-07 2019-09-12 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
WO2019173266A1 (en) 2018-03-07 2019-09-12 Intuitive Surgical Operations, Inc. Low-friction medical tools having roller-assisted tension members
EP3761898B1 (de) 2018-03-07 2025-11-05 Intuitive Surgical Operations, Inc. Reibungsarme medizinische werkzeuge mit kleinem profil und montagefreundlichen bauteilen
AU2019232675B2 (en) 2018-03-08 2020-11-12 Covidien Lp Surgical robotic systems
CN111971150A (zh) 2018-04-20 2020-11-20 柯惠Lp公司 手术机器人手推车放置的系统和方法
US11647888B2 (en) 2018-04-20 2023-05-16 Covidien Lp Compensation for observer movement in robotic surgical systems having stereoscopic displays
CA3103224A1 (en) 2018-06-17 2019-12-26 Memic Innovative Surgery Ltd. Surgical articulated arm
CN112105312A (zh) 2018-07-03 2020-12-18 柯惠Lp公司 用于在手术程序期间检测图像退化的系统、方法和计算机可读介质
GB2575675A (en) * 2018-07-19 2020-01-22 Imperial College Sci Tech & Medicine A device
CN109015612B (zh) * 2018-08-13 2021-07-23 深圳市金伍源实业有限公司 一种螺纹摆转式链状机器人
US11564691B2 (en) 2018-08-24 2023-01-31 Covidien Lp Powered circular stapling device
EP3849456A4 (de) 2018-09-14 2022-06-15 Covidien LP Chirurgische robotersysteme und verfahren zur verfolgung der nutzung chirurgischer instrumente dafür
EP3852667A4 (de) 2018-09-17 2022-06-15 Covidien LP Chirurgische robotische systeme
EP3852669A4 (de) 2018-09-17 2022-06-22 Covidien LP Chirurgische robotische systeme
WO2020068303A1 (en) * 2018-09-26 2020-04-02 Auris Health, Inc. Systems and instruments for suction and irrigation
US11179212B2 (en) * 2018-09-26 2021-11-23 Auris Health, Inc. Articulating medical instruments
WO2020076447A1 (en) 2018-10-08 2020-04-16 Auris Health, Inc. Systems and instruments for tissue sealing
US11109746B2 (en) 2018-10-10 2021-09-07 Titan Medical Inc. Instrument insertion system, method, and apparatus for performing medical procedures
NL2021823B1 (en) * 2018-10-16 2020-05-13 Fortimedix Assets Ii B V Steerable instrument comprising a tube element
EP3876860A1 (de) 2018-11-06 2021-09-15 Bono, Peter L. Robotisches chirurgisches system und verfahren
EP3880102A1 (de) * 2018-11-15 2021-09-22 Intuitive Surgical Operations, Inc. Chirurgisches instrument mit sensorausgerichteter kabelführung
CN113520582B (zh) * 2018-12-12 2022-10-04 上海魅丽纬叶医疗科技有限公司 具有形状稳定化设计的网管状支架结构的射频消融导管及其制造工艺
US11234783B2 (en) 2018-12-28 2022-02-01 Titan Medical Inc. Articulated tool positioner for robotic surgery system
US11586106B2 (en) 2018-12-28 2023-02-21 Titan Medical Inc. Imaging apparatus having configurable stereoscopic perspective
US11986257B2 (en) * 2018-12-28 2024-05-21 Auris Health, Inc. Medical instrument with articulable segment
US11717355B2 (en) 2019-01-29 2023-08-08 Covidien Lp Drive mechanisms for surgical instruments such as for use in robotic surgical systems
US11576733B2 (en) 2019-02-06 2023-02-14 Covidien Lp Robotic surgical assemblies including electrosurgical instruments having articulatable wrist assemblies
US11484372B2 (en) 2019-02-15 2022-11-01 Covidien Lp Articulation mechanisms for surgical instruments such as for use in robotic surgical systems
KR102880775B1 (ko) 2019-04-01 2025-11-07 포티메딕스 에셋츠 Ii 비.브이. 슬롯형 구조체를 갖는 힌지를 포함하는 조종가능한 기구
US12582300B2 (en) 2019-04-08 2026-03-24 Fortimedix Assets Ii B.V. Steerable instrument comprising a detachable part
EP3952717A2 (de) 2019-04-08 2022-02-16 Fortimedix Assets II B.V. Lenkbares instrument mit einem abnehmbaren teil
JP7055766B2 (ja) * 2019-04-11 2022-04-18 日本発條株式会社 可撓部材
EP3968837B1 (de) 2019-05-15 2025-02-26 Boston Scientific Scimed, Inc. Medizinische vorrichtung mit asymmetrischer biegung
US12042209B2 (en) * 2019-05-16 2024-07-23 Intuitive Surgical Operations, Inc. Insert guide members for surgical instruments, and related devices, systems, and methods
CN113840579A (zh) 2019-05-22 2021-12-24 柯惠Lp公司 手术机器人臂储存组合件和使用储存组合件更换手术机器人臂的方法
US11123146B2 (en) 2019-05-30 2021-09-21 Titan Medical Inc. Surgical instrument apparatus, actuator, and drive
US11896233B2 (en) 2019-05-31 2024-02-13 Covidien Lp Circular stapling device
DE102019121088A1 (de) * 2019-08-05 2021-02-11 Karl Storz Se & Co. Kg Medizinisches instrument
US20220331003A1 (en) * 2019-09-07 2022-10-20 Memic Innovative Surgery Ltd Cable and wire routing in a mechanical arm of a surgical apparatus
US12223629B2 (en) 2019-09-11 2025-02-11 Covidien Lp Systems and methods for smoke-reduction in images
WO2021046752A1 (en) 2019-09-11 2021-03-18 Covidien Lp Systems and methods for neural-network based color restoration
KR102336979B1 (ko) * 2019-09-24 2021-12-09 한국과학기술연구원 탄성 부재를 구비한 관절 구조체 및 이를 구비하는 튜브 삽입형 장치
US12185974B2 (en) * 2019-10-17 2025-01-07 Intuitive Surgical Operations, Inc. Surgical tool with nested shaft tubes
CN114828932B (zh) * 2019-10-23 2025-08-26 佳能美国公司 具有分段可弯曲区段的医学设备
US12350828B2 (en) 2019-12-16 2025-07-08 Covidien Lp Surgical robotic systems including surgical instruments with articulation
US12256890B2 (en) 2019-12-23 2025-03-25 Covidien Lp Systems and methods for guiding surgical procedures
US11730481B2 (en) 2020-01-06 2023-08-22 Covidien Lp Assemblies for retaining a trocar assembly
US11911038B2 (en) 2020-01-13 2024-02-27 Covidien Lp Cut optimization for excessive tissue conditions
US11523828B2 (en) 2020-01-28 2022-12-13 Covidien Lp Sealed reload assembly for stapling device
WO2021158305A1 (en) 2020-02-04 2021-08-12 Covidien Lp Systems and methods for machine readable identification of surgical tools in-situ
EP4099915B1 (de) 2020-02-06 2025-09-03 Covidien LP Systeme und verfahren zur nahtführung
US11622767B2 (en) 2020-02-19 2023-04-11 Covidien Lp Sealed trocar assembly for stapling device
WO2021173453A1 (en) 2020-02-26 2021-09-02 Apyx Medical Corporation Electrosurgical apparatus with flexible shaft
US11779343B2 (en) 2020-02-26 2023-10-10 Covidien Lp Staple reload assembly with releasable knife
EP4110221A1 (de) 2020-02-26 2023-01-04 Covidien LP Robotisches chirurgisches instrument mit linearcodierern zur messung der kabelverschiebung
WO2021181494A1 (ja) 2020-03-10 2021-09-16 オリンパス株式会社 医療用マニピュレータ
WO2021181493A1 (ja) 2020-03-10 2021-09-16 オリンパス株式会社 医療用マニピュレータ
CN111544197B (zh) * 2020-04-20 2021-05-28 西安交通大学 一种眼科手术机器人柔性力敏操作机构
CN115484858A (zh) 2020-05-12 2022-12-16 柯惠Lp公司 用于在外科手术过程期间的图像映射和融合的系统和方法
US11653925B2 (en) 2020-05-21 2023-05-23 Covidien Lp Tissue relaxation monitoring for optimized tissue stapling
US11547405B2 (en) 2020-05-22 2023-01-10 Covidien Lp Surgical stapling device
US12030195B2 (en) 2020-05-27 2024-07-09 Covidien Lp Tensioning mechanisms and methods for articulating surgical instruments such as for use in robotic surgical systems
US11950966B2 (en) 2020-06-02 2024-04-09 Flexdex, Inc. Surgical tool and assembly
EP4164526A4 (de) * 2020-06-16 2024-06-19 Grena USA LLC Greifkraftdämpfer
US11951026B2 (en) * 2020-06-30 2024-04-09 DePuy Synthes Products, Inc. Implantable medical device detachment system with flexible braid section
USD963851S1 (en) 2020-07-10 2022-09-13 Covidien Lp Port apparatus
US12338872B2 (en) 2020-07-15 2025-06-24 United States Of America As Represented By The Secretary Of The Air Force Flexible multi-material structures
US11553921B2 (en) 2020-07-15 2023-01-17 Covidien Lp Surgical stapling device with flexible shaft
US12123470B1 (en) * 2020-07-15 2024-10-22 United States Of America As Represented By Secretary Of The Air Force Flexible multi-material structures
US11638582B2 (en) * 2020-07-28 2023-05-02 Cilag Gmbh International Surgical instruments with torsion spine drive arrangements
US11627966B2 (en) 2020-08-26 2023-04-18 Covidien Lp Surgical stapling device
US11801054B2 (en) 2020-09-22 2023-10-31 Covidien Lp Surgical stapler with oval tool assembly
CN112171700B (zh) * 2020-09-25 2022-03-08 江苏科技大学 一种用于柔性材料曲面贴合的自适应机械手
US11712509B2 (en) 2020-10-02 2023-08-01 Covidien Lp Seal assembly for circular stapling instrument
US11685058B2 (en) * 2020-11-23 2023-06-27 Mitsubishi Electric Research Laboratories Inc. Soft robotic tentacle gripper
US11627967B2 (en) 2020-11-23 2023-04-18 Covidien Lp Trans-anastomotic insertion device
DE102020130953A1 (de) 2020-11-23 2022-05-25 Ambu A/S Endoskop mit Biegeabschnitt mit Scheibe zum Befestigen eines Steuerdrahtes
WO2022123658A1 (ja) * 2020-12-08 2022-06-16 リバーフィールド株式会社 鉗子装置及びベース部品
US12310591B2 (en) 2020-12-15 2025-05-27 Covidien Lp Surgical stapling device with flexible shaft
US11877750B2 (en) 2021-01-21 2024-01-23 Covidien Lp Surgical stapler with powered and manual functions
WO2022161266A1 (en) * 2021-01-26 2022-08-04 The University Of Hong Kong A steerable arm for use in endoscopic surgical procedures
US11986187B2 (en) 2021-01-29 2024-05-21 Covidien Lp Circular stapling device with integrated visualization device
US11786241B2 (en) 2021-02-16 2023-10-17 Covidien Lp Surgical stapling device including a hydraulic staple formation mechanism
US11885601B1 (en) 2021-03-09 2024-01-30 United States Of America As Represented By The Secretary Of The Air Force Variable angle load transfer device
CN113197667B (zh) 2021-04-22 2022-07-12 浙江大学 一种模块化关节分时切换驱动的灵巧操作臂
US11553920B2 (en) 2021-05-03 2023-01-17 Covidien Lp Trocar retainer assembly for surgical stapler
US20220346862A1 (en) 2021-05-03 2022-11-03 Covidien Lp Motor position control and methods for robotic assisted sealing instrument
US11490894B1 (en) 2021-05-12 2022-11-08 Covidien Lp Surgical device with grease filter
US12409003B2 (en) 2021-05-14 2025-09-09 Covidien Lp Instrument cassette assemblies for robotic surgical instruments
US11642131B2 (en) 2021-05-17 2023-05-09 Covidien Lp Devices and methods for shortening a rectal stump during a lower anterior resection procedure
US11612400B2 (en) 2021-05-24 2023-03-28 Covidien Lp Trocar assembly with bearing assembly for load sharing
WO2022246600A1 (en) 2021-05-24 2022-12-01 Covidien Lp Anvil and delivery system assembly with automatic retaining suture release
US11948226B2 (en) 2021-05-28 2024-04-02 Covidien Lp Systems and methods for clinical workspace simulation
US12369998B2 (en) 2021-05-28 2025-07-29 Covidien Lp Real time monitoring of a robotic drive module
WO2022257040A1 (en) 2021-06-09 2022-12-15 Covidien Lp Retractable trocar for circular stapling instruments
CN113305827B (zh) * 2021-06-21 2021-11-30 西南科技大学 适用于水下作业的线驱动柔性机械臂
US11737759B2 (en) 2021-08-05 2023-08-29 Covidien Lp Surgical stapling device accommodating prolapsed tissue
US12599449B2 (en) 2021-08-20 2026-04-14 Covidien Lp Surgical robotic system with orientation setup device and method
US11883028B2 (en) 2021-09-08 2024-01-30 Covidien Lp Systems and methods for post-operative anastomotic leak detection
US12611272B2 (en) 2021-09-09 2026-04-28 Covidien Lp Surgical robotic system with user engagement monitoring
EP4401666A1 (de) 2021-09-13 2024-07-24 DistalMotion SA Instrumente für chirurgisches robotersystem und schnittstellen dafür
US12564457B2 (en) 2021-09-14 2026-03-03 Covidien Lp Robotic surgical instruments
US11717299B2 (en) 2021-10-12 2023-08-08 Covidien Lp Surgical stapling device with probiotics
CN113729955A (zh) * 2021-10-18 2021-12-03 天津大学 可驱动柔性装置
US11787069B2 (en) * 2021-11-01 2023-10-17 Oliver Crispin Robotics Limited Insertion tool with flexible spine
KR20240152819A (ko) 2021-11-30 2024-10-22 엔도퀘스트 로보틱스 인코포레이티드 로봇 수술 시스템용 컨트롤러 장치
TWI835436B (zh) 2021-11-30 2024-03-11 美商安督奎斯特機器人公司 用於機器人手術系統的可轉向套管組件、其控制組件及其方法
WO2023101971A1 (en) 2021-11-30 2023-06-08 Endoquest Robotics, Inc. Barrier drape adapters for robotic surgical systems
JP2024543764A (ja) 2021-11-30 2024-11-26 エンドクエスト ロボティクス インコーポレイテッド 患者コンソールの５つの自由度での位置決めシステム
KR20260041932A (ko) 2021-11-30 2026-03-27 엔도퀘스트 로보틱스 인코포레이티드 일회용 엔드 이펙터
KR20240152820A (ko) 2021-11-30 2024-10-22 엔도퀘스트 로보틱스 인코포레이티드 로봇 제어 의료 기기용 힘 전달 시스템
TWI876759B (zh) 2021-11-30 2025-03-11 美商安督奎斯特機器人公司 機器人手術系統及其控制模組
CN114073483A (zh) * 2021-11-30 2022-02-22 中北大学 一种基于绳拉式柔性变径的微型肠道检查机器人
US12496119B2 (en) 2021-12-06 2025-12-16 Covidien Lp Jaw member, end effector assembly, and method of manufacturing a jaw member of an electrosurgical instrument
US12213674B2 (en) 2021-12-08 2025-02-04 Covidien Lp Determination of premature staple ejection
US12390294B2 (en) 2021-12-14 2025-08-19 Covidien Lp Robotic surgical assemblies including surgical instruments having articulatable wrist assemblies
US20250161632A1 (en) * 2022-02-09 2025-05-22 Canon U.S.A., Inc. Medical apparatus with wire anchors and method of use thereof
US12433699B2 (en) 2022-02-10 2025-10-07 Covidien Lp Surgical robotic systems and robotic arm carts thereof
JP2025506184A (ja) * 2022-02-10 2025-03-07 キヤノン ユーエスエイ，インコーポレイテッド 医用機器の磁気離脱
US12548667B2 (en) 2022-02-15 2026-02-10 Covidien Lp System and method for checking compatibility of hardware and software components in a surgical robot
CN114533159B (zh) * 2022-03-15 2025-06-27 海南维智博威鑫科技有限公司 一种缓冲驱动装置及电动缝合器
EP4302677A1 (de) * 2022-07-08 2024-01-10 Ambu A/S Biegeabschnitt für ein endoskop
US12479098B2 (en) 2022-08-03 2025-11-25 Covidien Lp Surgical robotic system with access port storage
US12465447B2 (en) 2022-08-25 2025-11-11 Covidien Lp Surgical robotic system with instrument detection
US12496728B2 (en) 2022-10-25 2025-12-16 Covidien Lp Surgical robotic system and method for restoring operational state
CN115778293B (zh) * 2022-11-30 2024-05-07 湖南省华芯医疗器械有限公司 主动弯曲段、插入部及内窥镜
USD1066379S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066378S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066404S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066380S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066382S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066405S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066381S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066383S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
US12599445B2 (en) 2023-01-26 2026-04-14 Covidien Lp Surgical robotic system and method for cart power switchover
US11844585B1 (en) 2023-02-10 2023-12-19 Distalmotion Sa Surgical robotics systems and devices having a sterile restart, and methods thereof
CN116442268A (zh) * 2023-02-24 2023-07-18 中国科学院西安光学精密机械研究所 一种自伸缩绳驱连续型机器人
WO2024196675A1 (en) * 2023-03-17 2024-09-26 Boston Scientific Scimed, Inc. Medical devices including articulation joints and associated methods of assembly
CN116492056A (zh) * 2023-03-31 2023-07-28 天津大学 用于微创手术系统的可伸缩弯曲的多自由度手术器械
USD1105427S1 (en) 2023-04-14 2025-12-09 Flexdex, Inc. Handheld laparoscopic surgical instrument
USD1087995S1 (en) 2023-08-02 2025-08-12 Covidien Lp Surgeon display screen with a transitional graphical user interface having staple firing icon
USD1087135S1 (en) 2023-08-02 2025-08-05 Covidien Lp Surgeon display screen with a graphical user interface having spent staple icon
CN119700306B (zh) * 2024-12-16 2025-11-28 杭州康基唯精医疗机器人有限公司 柔性关节组件及手术机器人

Family Cites Families (339)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1418184A (en) * 1920-08-12 1922-05-30 Trunick Charles Screw driver
US2815697A (en) 1950-06-06 1957-12-10 Saunders-Singer Arthur Edward Microscope manipulators or dissection manipulators
US2681991A (en) 1951-04-24 1954-06-22 Houston Fearless Corp Radar antenna equipment
US3060972A (en) * 1957-08-22 1962-10-30 Bausch & Lomb Flexible tube structures
US2901258A (en) 1957-09-30 1959-08-25 Brandafi Gabriel Drill press spindle
US3190286A (en) * 1961-10-31 1965-06-22 Bausch & Lomb Flexible viewing probe for endoscopic use
US3145333A (en) 1962-10-29 1964-08-18 Pardini John Anthony Force limiting device for motor control
US3266059A (en) * 1963-06-19 1966-08-16 North American Aviation Inc Prestressed flexible joint for mechanical arms and the like
US3268059A (en) 1964-11-17 1966-08-23 Hill William Conveyor apparatus
US3288059A (en) 1965-10-20 1966-11-29 Edward R Atkinson Color reproduction
US3557780A (en) 1967-04-20 1971-01-26 Olympus Optical Co Mechanism for controlling flexure of endoscope
US3463329A (en) 1967-05-18 1969-08-26 Sylvania Electric Prod Material transfer device with parallel link frame
US3610231A (en) * 1967-07-21 1971-10-05 Olympus Optical Co Endoscope
CH482439A (de) 1968-02-20 1969-12-15 Contraves Ag Beobachtungseinrichtung
US3628535A (en) 1969-11-12 1971-12-21 Nibot Corp Surgical instrument for implanting a prosthetic heart valve or the like
US3818125A (en) * 1971-10-26 1974-06-18 J Butterfield Stereo television microscope
US3788303A (en) * 1972-01-24 1974-01-29 American Cystoscope Makers Inc Orthogonally deflectable endoscope
US3923166A (en) 1973-10-11 1975-12-02 Nasa Remote manipulator system
US3921445A (en) 1973-10-15 1975-11-25 Stanford Research Inst Force and torque sensing method and means for manipulators and the like
JPS552966Y2 (de) 1974-02-08 1980-01-24
US3934201A (en) * 1974-03-22 1976-01-20 Majefski Richard L Low power consumption stereo transmitter and receiver system
JPS52155765A (en) 1976-06-18 1977-12-24 Yachiyo Kougiyou Kenkiyuushiyo Industrial robot
US4203430A (en) * 1976-12-16 1980-05-20 Nagashige Takahashi Device for controlling curvature of an end section in an endoscope
CH614069A5 (de) * 1977-03-31 1979-10-31 Weber Ag Fab Elektro
US5133727A (en) 1990-05-10 1992-07-28 Symbiosis Corporation Radial jaw biopsy forceps
US4150326A (en) * 1977-09-19 1979-04-17 Unimation, Inc. Trajectory correlation and error detection method and apparatus
US4149278A (en) * 1977-09-27 1979-04-17 Nasa Compact artificial hand
DE2819976C2 (de) 1978-05-08 1984-03-08 Fritz 5882 Meinerzhagen Sträter Gelenkarm mit umhüllter Parallelogrammfunktion
JPS594266B2 (ja) * 1978-07-28 1984-01-28 元田電子工業株式会社 先端制御ロボツト
FR2462607A2 (fr) 1978-09-20 1981-02-13 Ass Ouvriers Instr Precision Articulation pour bras de manipulateur
ATE1489T1 (de) 1978-09-20 1982-09-15 Association Des Ouvriers En Instruments De Precision Gelenk fuer einen manipulatorarm.
GB2040134A (en) 1978-11-09 1980-08-20 Marconi Co Ltd Stereoscopic television systems
US4281447A (en) 1979-03-01 1981-08-04 Mcdonnell Douglas Corporation Detachable tool interface system for a robot
US4329980A (en) 1979-03-06 1982-05-18 Olympus Optical Co., Ltd. Flexible sheath for an endoscope
US4264266A (en) * 1979-04-20 1981-04-28 Tl Systems Corporation Manipulator apparatus
US4349837A (en) 1979-07-03 1982-09-14 Spar Aerospace Limited Satellite servicing
FR2460762A1 (fr) 1979-07-12 1981-01-30 Technigaz Dispositif pour la commande de l'orientation d'un outil ou d'un element analogue par rapport a une piece
US4367998A (en) * 1979-09-13 1983-01-11 United Kingdom Atomic Energy Authority Manipulators
US4332066A (en) * 1980-01-07 1982-06-01 General Dynamics Corporation Compliance mechanism
DE3214615C2 (de) * 1981-04-21 1985-04-25 Kabushiki Kaisha Medos Kenkyusho, Tokio/Tokyo Krümmungssteuerungsanordnung für ein Endoskop
US4562463A (en) 1981-05-15 1985-12-31 Stereographics Corp. Stereoscopic television system with field storage for sequential display of right and left images
US4419041A (en) 1981-06-26 1983-12-06 Rose Stanley E Spacial mechanism and method
US4486928A (en) 1981-07-09 1984-12-11 Magnavox Government And Industrial Electronics Company Apparatus for tool storage and selection
FR2512570A1 (fr) * 1981-09-09 1983-03-11 Commissariat Energie Atomique Systeme d'asservissement de position a retour d'effort avec retard de transmission et son application a un telemanipulateur
JPS58126091A (ja) * 1982-01-16 1983-07-27 株式会社明電舎 パワ−マニピユレ−タ
US4636138A (en) * 1982-02-05 1987-01-13 American Robot Corporation Industrial robot
US4500065A (en) * 1982-03-01 1985-02-19 Cincinnati Milacron Inc. Releasable tool mount for manipulator
DE3211688C2 (de) 1982-03-30 1986-10-09 Binder, Karl-Franz, 8077 Reichertshofen Industrie-Roboter für Fertigungs- und/oder Montagezwecke
US4582067A (en) * 1983-02-14 1986-04-15 Washington Research Foundation Method for endoscopic blood flow detection by the use of ultrasonic energy
DE3309737A1 (de) 1983-03-18 1984-09-20 Erno Raumfahrttechnik Gmbh, 2800 Bremen Vorrichtung zum exakten positionieren eines gegenstandes im raum
JPS609676A (ja) 1983-06-30 1985-01-18 株式会社東芝 マニピユレ−タの構造体
US4512709A (en) * 1983-07-25 1985-04-23 Cincinnati Milacron Inc. Robot toolchanger system
US4611888A (en) 1983-10-17 1986-09-16 Mp Video, Inc. Coupler for surgical endoscope and video camera
US4622954A (en) 1984-05-15 1986-11-18 Fuji Photo Optical Co., Ltd. Endoscope having a plate-like image sensor for forming images
JPS60253428A (ja) 1984-05-30 1985-12-14 住友電気工業株式会社 屈曲機構付フアイバスコ−プ
US4651201A (en) * 1984-06-01 1987-03-17 Arnold Schoolman Stereoscopic endoscope arrangement
DE3421452C2 (de) 1984-06-08 1986-05-22 Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg Vorrichtung zum automatischen Erfassen bzw. Lösen eines Werkzeugträgers bei einem Manipulator
US4583117A (en) * 1984-07-17 1986-04-15 Stereographics Corporation Stereoscopic video camera
US4580551A (en) * 1984-11-02 1986-04-08 Warner-Lambert Technologies, Inc. Flexible plastic tube for endoscopes and the like
DE3447769A1 (de) * 1984-12-28 1986-07-10 Medicon eG, Chirurgiemechaniker-Genossenschaft, 7200 Tuttlingen Griffstueck fuer chirurgische zwecke
IT1185800B (it) 1985-06-11 1987-11-18 D B A Spa Dispositivo per effettuare automaticamente il cambio dell utensile di misura in un macchina o in un robot di misura
JPS6233801U (de) * 1985-08-14 1987-02-27
JPS62122650A (ja) 1985-11-25 1987-06-03 富士写真光機株式会社 内視鏡
FR2593106B1 (fr) 1986-01-22 1990-03-30 Royer Jacques Dispositif de deplacement d'un outil ou analogue en porte-a-faux, notamment autour d'un objet.
JPS62192134A (ja) 1986-02-17 1987-08-22 オリンパス光学工業株式会社 内視鏡装置用湾曲部装置
US4722056A (en) * 1986-02-18 1988-01-26 Trustees Of Dartmouth College Reference display systems for superimposing a tomagraphic image onto the focal plane of an operating microscope
JPH085018B2 (ja) * 1986-02-26 1996-01-24 株式会社日立製作所 遠隔マニピユレ−シヨン方法及び装置
EP0239409A1 (de) 1986-03-28 1987-09-30 Life Technology Research Foundation Roboter für chirurgische Operation
US4766775A (en) 1986-05-02 1988-08-30 Hodge Steven W Modular robot manipulator
US5078140A (en) * 1986-05-08 1992-01-07 Kwoh Yik S Imaging device - aided robotic stereotaxis system
US4697577A (en) 1986-05-22 1987-10-06 Baxter Travenol Laboratories, Inc. Scanning microtelescope for surgical applications
JPH0766290B2 (ja) * 1986-06-26 1995-07-19 東芝機械株式会社 工具経路生成方法
US4744363A (en) * 1986-07-07 1988-05-17 Hasson Harrith M Intra-abdominal organ stabilizer, retractor and tissue manipulator
US4806068A (en) 1986-09-30 1989-02-21 Dilip Kohli Rotary linear actuator for use in robotic manipulators
JPH0829509B2 (ja) 1986-12-12 1996-03-27 株式会社日立製作所 マニピユレ−タの制御装置
JPH0336331Y2 (de) 1987-01-13 1991-08-01
US5302343A (en) 1987-02-25 1994-04-12 Adir Jacob Process for dry sterilization of medical devices and materials
US4873572A (en) 1987-02-27 1989-10-10 Olympus Optical Co., Ltd. Electronic endoscope apparatus
SE462645B (sv) * 1987-03-31 1990-08-06 Asea Ab Anordning vid industrirobotar avseende verktygsbyte
US4860215A (en) 1987-04-06 1989-08-22 California Institute Of Technology Method and apparatus for adaptive force and position control of manipulators
US4793053A (en) 1987-04-16 1988-12-27 General Motors Corporation Quick disconnect device
JPS63278674A (ja) 1987-05-11 1988-11-16 Shinko Electric Co Ltd 回転中心のオフセツト機構
US4863133A (en) 1987-05-26 1989-09-05 Leonard Medical Arm device for adjustable positioning of a medical instrument or the like
JPS63294509A (ja) 1987-05-27 1988-12-01 Olympus Optical Co Ltd 立体視内視鏡装置
US4762455A (en) 1987-06-01 1988-08-09 Remote Technology Corporation Remote manipulator
CA1239379A (en) * 1987-06-15 1988-07-19 Raza Alikhan Container for packaging and counting surgical sponges
JPS63315026A (ja) * 1987-06-19 1988-12-22 Olympus Optical Co Ltd 内視鏡用湾曲管
US4809747A (en) * 1987-07-31 1989-03-07 General Motors Corporation Quick disconnect device
US4833383A (en) * 1987-08-13 1989-05-23 Iowa State University Research Foundation, Inc. Means and method of camera space manipulation
JPH045126Y2 (de) * 1987-09-03 1992-02-14
FR2620961B1 (fr) 1987-09-30 1990-01-19 Euritech Bras de manipulation telescopique
US4808898A (en) * 1987-09-30 1989-02-28 Keith Pearson Gripper assembly for robot arm
DE3741632A1 (de) 1987-12-05 1989-06-22 Noell Gmbh Verfahren und vorrichtung zum erkennen und ansteuern eines raumzieles
US5018266A (en) * 1987-12-07 1991-05-28 Megamation Incorporated Novel means for mounting a tool to a robot arm
DE3742053C1 (de) * 1987-12-11 1989-03-16 Wolf Gmbh Richard Halter fuer aerztliche Instrumente
US4942538A (en) 1988-01-05 1990-07-17 Spar Aerospace Limited Telerobotic tracker
CA1331032C (en) * 1988-01-25 1994-07-26 Thony, Franz Apparatus for detachably connecting two parts
US4855822A (en) 1988-01-26 1989-08-08 Honeywell, Inc. Human engineered remote driving system
EP0326768A3 (de) * 1988-02-01 1991-01-23 Faro Medical Technologies Inc. Computerunterstütze chirurgische Vorrichtung
US5251127A (en) 1988-02-01 1993-10-05 Faro Medical Technologies Inc. Computer-aided surgery apparatus
US5046022A (en) 1988-03-10 1991-09-03 The Regents Of The University Of Michigan Tele-autonomous system and method employing time/position synchrony/desynchrony
FR2628670B1 (fr) * 1988-03-21 1990-08-17 Inst Nat Rech Inf Automat Dispositif articule, notamment utilisable dans le domaine de la robotique
US5187796A (en) * 1988-03-29 1993-02-16 Computer Motion, Inc. Three-dimensional vector co-processor having I, J, and K register files and I, J, and K execution units
US4979496A (en) 1988-04-05 1990-12-25 Fuji Photo Optical Co., Ltd. Endoscope for bile duct and pancreatic duct
US5029574A (en) 1988-04-14 1991-07-09 Okamoto Industries, Inc. Endoscopic balloon with a protective film thereon
US4989253A (en) * 1988-04-15 1991-01-29 The Montefiore Hospital Association Of Western Pennsylvania Voice activated microscope
US4903536A (en) 1988-04-21 1990-02-27 Massachusetts Institute Of Technology Compact cable transmission with cable differential
US4979949A (en) * 1988-04-26 1990-12-25 The Board Of Regents Of The University Of Washington Robot-aided system for surgery
US5005558A (en) 1988-05-16 1991-04-09 Kabushiki Kaisha Toshiba Endoscope
JPH01316184A (ja) 1988-06-14 1989-12-21 Mitsubishi Electric Corp 産業用ロボット
GB8817672D0 (en) 1988-07-25 1988-09-01 Sira Ltd Optical apparatus
US4928546A (en) * 1988-08-17 1990-05-29 Walters David A Robotic devices
US4943939A (en) 1988-08-29 1990-07-24 Rocklin Hoover Surgical instrument accounting apparatus and method
US4919382A (en) 1988-09-14 1990-04-24 The United States Of America As Represented By The Secretary Of The Navy Multi-post yoke gimbal
FR2637370B1 (fr) 1988-10-04 1991-04-12 Gir Dispositif pour le controle de temperatures contenant au moins un element en alliage a memoire de forme
US5002418A (en) * 1988-12-09 1991-03-26 Vsi Corporation Hold down device with extended capture pawl mechanism
US4942539A (en) 1988-12-21 1990-07-17 Gmf Robotics Corporation Method and system for automatically determining the position and orientation of an object in 3-D space
US5354314A (en) 1988-12-23 1994-10-11 Medical Instrumentation And Diagnostics Corporation Three-dimensional beam localization apparatus and microscope for stereotactic diagnoses or surgery mounted on robotic type arm
US4911033A (en) 1989-01-03 1990-03-27 Ross-Hime Designs, Incorporated Robotic manipulator
US4922338A (en) * 1989-03-02 1990-05-01 Arpino Ronald G Line-of-sight inspection system
US4919112B1 (en) 1989-04-07 1993-12-28 Low-cost semi-disposable endoscope
JPH034831A (ja) * 1989-06-01 1991-01-10 Toshiba Corp 内視鏡装置
US5271384A (en) 1989-09-01 1993-12-21 Mcewen James A Powered surgical retractor
US5020933A (en) * 1989-09-01 1991-06-04 Andronic Devices, Ltd. Locking mechanism for medical devices
US5257998A (en) 1989-09-20 1993-11-02 Mitaka Kohki Co., Ltd. Medical three-dimensional locating apparatus
US5273039A (en) 1989-10-16 1993-12-28 Olympus Optical Co., Ltd. Surgical microscope apparatus having a function to display coordinates of observation point
EP0427358B1 (de) 1989-11-08 1996-03-27 George S. Allen Mechanischer Arm für ein interaktives, bildgesteuertes, chirurgisches System
US5260319A (en) 1989-12-26 1993-11-09 Hoechst-Roussel Pharmaceuticals Incorporated Thienobenzoxepins and naphthothiophenes
US5086401A (en) * 1990-05-11 1992-02-04 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
JP2987452B2 (ja) 1990-05-17 1999-12-06 オリンパス光学工業株式会社 内視鏡
US5018256A (en) 1990-06-29 1991-05-28 Texas Instruments Incorporated Architecture and process for integrating DMD with control circuit substrates
US5060532A (en) 1990-08-23 1991-10-29 Barker Sidney L Universal joint boom
JP2642776B2 (ja) 1990-09-10 1997-08-20 三田工業株式会社 情報記録媒体及び情報記録方法
FR2668359B1 (fr) * 1990-10-24 1998-02-20 Gen Electric Cgr Mammographe muni d'un porte-aiguille perfectionne.
US5209747A (en) * 1990-12-13 1993-05-11 Knoepfler Dennis J Adjustable angle medical forceps
GB9028185D0 (en) 1990-12-29 1991-02-13 Well Equip Ltd A release mechanism
US5217453A (en) 1991-03-18 1993-06-08 Wilk Peter J Automated surgical system and apparatus
US5217003A (en) * 1991-03-18 1993-06-08 Wilk Peter J Automated surgical system and apparatus
US5359993A (en) 1992-12-31 1994-11-01 Symbiosis Corporation Apparatus for counting the number of times a medical instrument has been used
US5174300A (en) 1991-04-04 1992-12-29 Symbiosis Corporation Endoscopic surgical instruments having rotatable end effectors
JP3058708B2 (ja) 1991-04-09 2000-07-04 松下電器産業株式会社 部品装着機
US5339799A (en) 1991-04-23 1994-08-23 Olympus Optical Co., Ltd. Medical system for reproducing a state of contact of the treatment section in the operation unit
US5251611A (en) * 1991-05-07 1993-10-12 Zehel Wendell E Method and apparatus for conducting exploratory procedures
US5313306A (en) * 1991-05-13 1994-05-17 Telerobotics International, Inc. Omniview motionless camera endoscopy system
US5503616A (en) 1991-06-10 1996-04-02 Endomedical Technologies, Inc. Collapsible access channel system
US5417210A (en) * 1992-05-27 1995-05-23 International Business Machines Corporation System and method for augmentation of endoscopic surgery
US5279309A (en) 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
US5182641A (en) * 1991-06-17 1993-01-26 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Composite video and graphics display for camera viewing systems in robotics and teleoperation
US5294209A (en) * 1991-07-25 1994-03-15 Yamaha Hatsudoki Kabushiki Kaisha Tool attaching device
US5383888A (en) 1992-02-12 1995-01-24 United States Surgical Corporation Articulating endoscopic surgical apparatus
CA2078295C (en) 1991-08-05 1995-11-21 John Michael Putman Endoscope stabilizer
US5184601A (en) * 1991-08-05 1993-02-09 Putman John M Endoscope stabilizer
JP3233953B2 (ja) 1991-08-07 2001-12-04 オリンパス光学工業株式会社 カテーテル装置
CA2117088A1 (en) * 1991-09-05 1993-03-18 David R. Holmes Flexible tubular device for use in medical applications
US5239883A (en) 1991-09-26 1993-08-31 Rosheim Mark E Modular robot wrist
JP3149219B2 (ja) * 1991-10-15 2001-03-26 旭光学工業株式会社 内視鏡の湾曲部の被覆構造
US5188610A (en) 1991-10-18 1993-02-23 Vetrisystems, Inc. Fluid dispensing apparatus
DE4136861C2 (de) 1991-11-11 1994-12-15 Kernforschungsz Karlsruhe Steuerbares chirurgisches Instrument
US5271381A (en) 1991-11-18 1993-12-21 Vision Sciences, Inc. Vertebrae for a bending section of an endoscope
DE4138861A1 (de) 1991-11-26 1992-10-01 Siemens Nixdorf Inf Syst Verfahren zur gegenseitigen authentifikation eines elektronischen partners mit einem kommunikationssystem
US5235964A (en) * 1991-12-05 1993-08-17 Analogic Corporation Flexible probe apparatus
US5355743A (en) 1991-12-19 1994-10-18 The University Of Texas At Austin Robot and robot actuator module therefor
US5182841A (en) 1992-01-07 1993-02-02 Park James M Hydraulic wheel cylinder tool
US5281220A (en) * 1992-01-13 1994-01-25 Blake Joseph W Iii Endoscopic instrument
JPH05184525A (ja) * 1992-01-14 1993-07-27 Olympus Optical Co Ltd 内視鏡
US5423648A (en) 1992-01-21 1995-06-13 Fanuc Robotics North America, Inc. Method and system for quickly and efficiently transferring a workpiece from a first station to a second station
US5631973A (en) * 1994-05-05 1997-05-20 Sri International Method for telemanipulation with telepresence
ATE215430T1 (de) * 1992-01-21 2002-04-15 Stanford Res Inst Int Endoskopisches chirurgisches instrument
DE4204397C2 (de) 1992-02-14 2001-08-30 Sinz Dirk Peter Transportbehälter
US5737500A (en) * 1992-03-11 1998-04-07 California Institute Of Technology Mobile dexterous siren degree of freedom robot arm with real-time control system
US5430643A (en) 1992-03-11 1995-07-04 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Configuration control of seven degree of freedom arms
US5299559A (en) * 1992-03-13 1994-04-05 Acuson Corporation Endoscope with overload protective device
US5254130A (en) * 1992-04-13 1993-10-19 Raychem Corporation Surgical device
US5620459A (en) * 1992-04-15 1997-04-15 Microsurge, Inc. Surgical instrument
JPH05305052A (ja) * 1992-04-30 1993-11-19 Toshiba Corp 内視鏡
FR2691093B1 (fr) * 1992-05-12 1996-06-14 Univ Joseph Fourier Robot de guidage de gestes et procede de commande.
US5321353A (en) 1992-05-13 1994-06-14 Storage Technolgy Corporation System and method for precisely positioning a robotic tool
US5221283A (en) * 1992-05-15 1993-06-22 General Electric Company Apparatus and method for stereotactic surgery
US5284130A (en) * 1992-06-03 1994-02-08 Ratliff Jack L Surgical instrument positioning and securing apparatus
JP3257640B2 (ja) 1992-06-09 2002-02-18 オリンパス光学工業株式会社 立体視内視鏡装置
US5372147A (en) 1992-06-16 1994-12-13 Origin Medsystems, Inc. Peritoneal distension robotic arm
US5657429A (en) 1992-08-10 1997-08-12 Computer Motion, Inc. Automated endoscope system optimal positioning
US5515478A (en) * 1992-08-10 1996-05-07 Computer Motion, Inc. Automated endoscope system for optimal positioning
US5524180A (en) * 1992-08-10 1996-06-04 Computer Motion, Inc. Automated endoscope system for optimal positioning
US5762458A (en) 1996-02-20 1998-06-09 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US5754741A (en) * 1992-08-10 1998-05-19 Computer Motion, Inc. Automated endoscope for optimal positioning
JP3273084B2 (ja) 1992-08-20 2002-04-08 オリンパス光学工業株式会社 医療器具ホルダ装置
US5312212A (en) * 1992-09-28 1994-05-17 United Technologies Corporation Axially compliant tool holder
US5582576A (en) 1992-10-28 1996-12-10 Oktas General Partnership Electronic endoscope with zoom lens system
US5397323A (en) * 1992-10-30 1995-03-14 International Business Machines Corporation Remote center-of-motion robot for surgery
US5400267A (en) * 1992-12-08 1995-03-21 Hemostatix Corporation Local in-device memory feature for electrically powered medical equipment
US5427097A (en) 1992-12-10 1995-06-27 Accuray, Inc. Apparatus for and method of carrying out stereotaxic radiosurgery and radiotherapy
JP3220538B2 (ja) 1992-12-24 2001-10-22 オリンパス光学工業株式会社 立体視内視鏡及び立体視内視鏡装置
US5460168A (en) 1992-12-25 1995-10-24 Olympus Optical Co., Ltd. Endoscope cover assembly and cover-system endoscope
CA2102855A1 (en) 1992-12-29 1994-06-30 Albon E. Gilbert Jumper cable selection and routing system
US5313935A (en) * 1992-12-31 1994-05-24 Symbiosis Corporation Apparatus for counting the number of times a surgical instrument has been used
JPH06209998A (ja) * 1993-01-21 1994-08-02 Olympus Optical Co Ltd 多自由度可撓管
JP2648274B2 (ja) 1993-01-28 1997-08-27 三鷹光器株式会社 医療用位置検出装置
DE4305376C1 (de) * 1993-02-22 1994-09-29 Wolf Gmbh Richard Schaft für medizinische Instrumente
DE9302650U1 (de) 1993-02-24 1993-04-15 Karl Storz GmbH & Co, 7200 Tuttlingen Medizinische Zange
US5499320A (en) * 1993-03-24 1996-03-12 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Extended task space control for robotic manipulators
US5325886A (en) 1993-04-05 1994-07-05 Klink James E Inflation and pressure indicator apparatus for tires
JPH06285010A (ja) 1993-04-07 1994-10-11 Toshiba Corp 内視鏡装置
US5325866A (en) 1993-04-20 1994-07-05 Jacek Krzyzanowski Flexible biopsy forceps
GB9309142D0 (en) 1993-05-04 1993-06-16 Gyrus Medical Ltd Laparoscopic instrument
DE69417229T2 (de) 1993-05-14 1999-07-08 Sri International, Menlo Park, Calif. Chirurgiegerät
US5791231A (en) 1993-05-17 1998-08-11 Endorobotics Corporation Surgical robotic system and hydraulic actuator therefor
DE4317914A1 (de) 1993-05-28 1994-12-01 Haas Carl Gmbh & Co Flexibles Endoskoprohr
US5410944A (en) * 1993-06-03 1995-05-02 Cushman; William B. Telescoping robot arm with spherical joints
AU7468494A (en) 1993-07-07 1995-02-06 Cornelius Borst Robotic system for close inspection and remote treatment of moving parts
US5382885A (en) * 1993-08-09 1995-01-17 The University Of British Columbia Motion scaling tele-operating system with force feedback suitable for microsurgery
US5343385A (en) 1993-08-17 1994-08-30 International Business Machines Corporation Interference-free insertion of a solid body into a cavity
US5503320A (en) * 1993-08-19 1996-04-02 United States Surgical Corporation Surgical apparatus with indicator
US5405344A (en) 1993-09-30 1995-04-11 Ethicon, Inc. Articulable socket joint assembly for an endoscopic instrument for surgical fastner track therefor
US5625576A (en) * 1993-10-01 1997-04-29 Massachusetts Institute Of Technology Force reflecting haptic interface
US5876325A (en) * 1993-11-02 1999-03-02 Olympus Optical Co., Ltd. Surgical manipulation system
JP3540362B2 (ja) 1994-06-14 2004-07-07 オリンパス株式会社 手術用マニピュレータの制御システム及びその制御方法
US5402793A (en) * 1993-11-19 1995-04-04 Advanced Technology Laboratories, Inc. Ultrasonic transesophageal probe for the imaging and diagnosis of multiple scan planes
DE4340707C2 (de) * 1993-11-30 1997-03-27 Wolf Gmbh Richard Manipulator
WO1995016396A1 (en) 1993-12-15 1995-06-22 Computer Motion, Inc. Automated endoscope system for optimal positioning
CA2144211C (en) 1994-03-16 2005-05-24 David T. Green Surgical instruments useful for endoscopic spinal procedures
JP3490135B2 (ja) * 1994-03-17 2004-01-26 テルモ株式会社 外科用器具
CA2146789A1 (en) * 1994-04-15 1995-10-16 Smith & Nephew, Inc. Curved surgical instrument with segmented inner member
US5656011A (en) * 1994-04-28 1997-08-12 Epflex Feinwerktechnik Gmbh Endoscope tube system
US5474566A (en) 1994-05-05 1995-12-12 United States Surgical Corporation Self-contained powered surgical apparatus
US5480409A (en) * 1994-05-10 1996-01-02 Riza; Erol D. Laparoscopic surgical instrument
US5885288A (en) * 1994-05-24 1999-03-23 Endius Incorporated Surgical instrument
US5454827A (en) * 1994-05-24 1995-10-03 Aust; Gilbert M. Surgical instrument
JPH0829701A (ja) * 1994-07-18 1996-02-02 Olympus Optical Co Ltd 立体視内視鏡システム
JPH0871072A (ja) 1994-09-01 1996-03-19 Olympus Optical Co Ltd 手術用マニピュレータシステム
US6120433A (en) 1994-09-01 2000-09-19 Olympus Optical Co., Ltd. Surgical manipulator system
US5742330A (en) * 1994-11-03 1998-04-21 Synthonics Incorporated Methods and apparatus for the creation and transmission of 3-dimensional images
DE4442185C2 (de) * 1994-11-26 2003-06-18 Wolf Gmbh Richard Führung
JP3640087B2 (ja) 1994-11-29 2005-04-20 豊田工機株式会社 工作機械
JPH08160315A (ja) 1994-12-05 1996-06-21 Asahi Optical Co Ltd 内視鏡の湾曲部
US5868760A (en) * 1994-12-07 1999-02-09 Mcguckin, Jr.; James F. Method and apparatus for endolumenally resectioning tissue
JPH08164141A (ja) * 1994-12-13 1996-06-25 Olympus Optical Co Ltd 処置具
JP3539645B2 (ja) * 1995-02-16 2004-07-07 株式会社日立製作所 遠隔手術支援装置
JP3679440B2 (ja) * 1995-02-22 2005-08-03 オリンパス株式会社 医療用マニピュレータ
JPH08224241A (ja) * 1995-02-22 1996-09-03 Olympus Optical Co Ltd 医療用マニピュレータ
US5740699A (en) * 1995-04-06 1998-04-21 Spar Aerospace Limited Wrist joint which is longitudinally extendible
US5864359A (en) * 1995-05-30 1999-01-26 Smith & Nephew, Inc. Stereoscopic autofocusing based on comparing the left and right eye images
US5814038A (en) 1995-06-07 1998-09-29 Sri International Surgical manipulator for a telerobotic system
US5649956A (en) 1995-06-07 1997-07-22 Sri International System and method for releasably holding a surgical instrument
ES2244971T3 (es) 1995-06-07 2005-12-16 Sri International Manipulador quirurgico para un sistema telerrobotico.
DE19529950C1 (de) 1995-08-14 1996-11-14 Deutsche Forsch Luft Raumfahrt Verfahren zum Nachführen eines Stereo-Laparoskops in der minimalinvasiven Chirurgie
US5784542A (en) 1995-09-07 1998-07-21 California Institute Of Technology Decoupled six degree-of-freedom teleoperated robot system
US5747767A (en) * 1995-09-13 1998-05-05 The Esab Group, Inc. Extended water-injection nozzle assembly with improved centering
US5825982A (en) 1995-09-15 1998-10-20 Wright; James Head cursor control interface for an automated endoscope system for optimal positioning
DE19535179A1 (de) * 1995-09-22 1997-03-27 Wolf Gmbh Richard Abwinkelbares Rohr und Verfahren zu seiner Herstellung
US5810715A (en) * 1995-09-29 1998-09-22 Olympus Optical Co., Ltd. Endoscope provided with function of being locked to flexibility of insertion part which is set by flexibility modifying operation member
IT1277690B1 (it) * 1995-12-22 1997-11-11 Bieffe Medital Spa Sistema di sostegno ed attuazione a vertebre in particolare per strumenti chirurgici e diagnostici
US5619195A (en) 1995-12-29 1997-04-08 Charles D. Hayes Multi-axial position sensing apparatus
US5624398A (en) * 1996-02-08 1997-04-29 Symbiosis Corporation Endoscopic robotic surgical tools and methods
US6436107B1 (en) * 1996-02-20 2002-08-20 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US5855583A (en) 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US5971976A (en) 1996-02-20 1999-10-26 Computer Motion, Inc. Motion minimization and compensation system for use in surgical procedures
US5987726A (en) 1996-03-11 1999-11-23 Fanuc Robotics North America, Inc. Programmable positioner for the stress-free assembly of components
JP3818693B2 (ja) * 1996-04-22 2006-09-06 オリンパス株式会社 内視鏡用湾曲管
US5699695A (en) 1996-05-01 1997-12-23 Virginia Tech Intellectual Properties, Inc. Spatial, parallel-architecture robotic carpal wrist
US5797900A (en) 1996-05-20 1998-08-25 Intuitive Surgical, Inc. Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US6786896B1 (en) 1997-09-19 2004-09-07 Massachusetts Institute Of Technology Robotic apparatus
US5792135A (en) 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
JPH10109285A (ja) 1996-10-02 1998-04-28 Toshiba Mach Co Ltd マニプレータ
US5960125A (en) 1996-11-21 1999-09-28 Cognex Corporation Nonfeedback-based machine vision method for determining a calibration relationship between a camera and a moveable object
US6132368A (en) 1996-12-12 2000-10-17 Intuitive Surgical, Inc. Multi-component telepresence system and method
US6331181B1 (en) 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
DE19652792C2 (de) 1996-12-18 1999-05-27 Storz Karl Gmbh & Co Medizinisches Handhabungsgerät, insbesondere für endoskopische Anwendungen
JPH10277985A (ja) 1997-01-30 1998-10-20 Ntn Corp 位置決め装置
JPH10258024A (ja) 1997-03-21 1998-09-29 Olympus Optical Co Ltd 湾曲チューブ
FR2762763B1 (fr) * 1997-05-05 1999-07-09 Oreal Dispositif de conditionnement et d'application d'un produit delitable
US5899914A (en) * 1997-06-11 1999-05-04 Endius Incorporated Surgical instrument
US5938678A (en) 1997-06-11 1999-08-17 Endius Incorporated Surgical instrument
US5851212A (en) 1997-06-11 1998-12-22 Endius Incorporated Surgical instrument
JPH1110575A (ja) 1997-06-26 1999-01-19 Toshiba Mach Co Ltd パラレルリンク機構
US6330837B1 (en) 1997-08-28 2001-12-18 Microdexterity Systems, Inc. Parallel mechanism
US6002184A (en) 1997-09-17 1999-12-14 Coactive Drive Corporation Actuator with opposing repulsive magnetic forces
US6714839B2 (en) 1998-12-08 2004-03-30 Intuitive Surgical, Inc. Master having redundant degrees of freedom
JP4121615B2 (ja) 1997-10-31 2008-07-23 オリンパス株式会社 内視鏡
US6191809B1 (en) * 1998-01-15 2001-02-20 Vista Medical Technologies, Inc. Method and apparatus for aligning stereo images
CA2319381A1 (en) * 1998-02-03 1999-08-05 Yau Lam Chi Systems and methods employing a rotary track for machining and manufacturing
US20020087048A1 (en) 1998-02-24 2002-07-04 Brock David L. Flexible instrument
JP4231568B2 (ja) 1998-03-20 2009-03-04 オリンパス株式会社 管状挿入具
DE19813781C2 (de) 1998-03-27 2000-06-29 Storz Karl Gmbh & Co Kg Chirurgisches Instrument mit einem durchgehenden Hohlkanal für ein zweites Instrument
JPH11299725A (ja) 1998-04-21 1999-11-02 Olympus Optical Co Ltd 内視鏡用フード
US6053907A (en) * 1998-08-13 2000-04-25 Endius Incorporated Surgical instruments with flexible drive shaft
CN2348771Y (zh) * 1998-10-21 1999-11-17 杨春华 可曲内视镜
US6174280B1 (en) 1998-11-19 2001-01-16 Vision Sciences, Inc. Sheath for protecting and altering the bending characteristics of a flexible endoscope
US6468265B1 (en) 1998-11-20 2002-10-22 Intuitive Surgical, Inc. Performing cardiac surgery without cardioplegia
US6398726B1 (en) * 1998-11-20 2002-06-04 Intuitive Surgical, Inc. Stabilizer for robotic beating-heart surgery
US6522906B1 (en) 1998-12-08 2003-02-18 Intuitive Surgical, Inc. Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure
US6451027B1 (en) 1998-12-16 2002-09-17 Intuitive Surgical, Inc. Devices and methods for moving an image capture device in telesurgical systems
JP2000193893A (ja) * 1998-12-28 2000-07-14 Suzuki Motor Corp 検査用挿入管の屈曲装置
US6394998B1 (en) 1999-01-22 2002-05-28 Intuitive Surgical, Inc. Surgical tools for use in minimally invasive telesurgical applications
US6424885B1 (en) 1999-04-07 2002-07-23 Intuitive Surgical, Inc. Camera referenced control in a minimally invasive surgical apparatus
DE60045660D1 (de) * 1999-05-10 2011-04-07 Hansen Medical Inc Chirurgisches instrument
US6807295B1 (en) 1999-06-29 2004-10-19 Fuji Photo Film Co., Ltd. Stereoscopic imaging apparatus and method
JP3806273B2 (ja) 1999-09-17 2006-08-09 株式会社ジェイテクト 四自由度パラレルロボット
JP4422262B2 (ja) 1999-12-14 2010-02-24 オリンパス株式会社 内視鏡手術システム
US6471637B1 (en) 1999-09-24 2002-10-29 Karl Storz Imaging, Inc. Image orientation for endoscopic video displays
US6312435B1 (en) 1999-10-08 2001-11-06 Intuitive Surgical, Inc. Surgical instrument with extended reach for use in minimally invasive surgery
US6749560B1 (en) * 1999-10-26 2004-06-15 Circon Corporation Endoscope shaft with slotted tube
US6450948B1 (en) * 1999-11-02 2002-09-17 Vista Medical Technologies, Inc. Deflecting tip for surgical cannula
JP3564022B2 (ja) 1999-11-22 2004-09-08 オリンパス株式会社 外科用手術装置
US6592572B1 (en) 1999-11-22 2003-07-15 Olympus Optical Co., Ltd. Surgical operation apparatus
JP3765218B2 (ja) 2000-02-03 2006-04-12 フジノン株式会社 内視鏡の操作ワイヤガイド装置
JP2001276091A (ja) * 2000-03-29 2001-10-09 Toshiba Corp 医療用マニピュレータ
JP2001281523A (ja) 2000-03-31 2001-10-10 Fuji Photo Optical Co Ltd 制御装置
US6800056B2 (en) * 2000-04-03 2004-10-05 Neoguide Systems, Inc. Endoscope with guiding apparatus
US6743239B1 (en) 2000-05-25 2004-06-01 St. Jude Medical, Inc. Devices with a bendable tip for medical procedures
US6418811B1 (en) 2000-05-26 2002-07-16 Ross-Hime Designs, Inc. Robotic manipulator
WO2002007611A2 (en) 2000-07-21 2002-01-31 Atropos Limited A surgical instrument
JP4624572B2 (ja) 2001-01-30 2011-02-02 オリンパス株式会社 内視鏡
US6997931B2 (en) 2001-02-02 2006-02-14 Lsi Solutions, Inc. System for endoscopic suturing
JP2002282265A (ja) 2001-03-26 2002-10-02 Asahi Optical Co Ltd 内視鏡用鉗子
US6685715B2 (en) * 2001-05-02 2004-02-03 Novare Surgical Systems Clamp having bendable shaft
US20050182298A1 (en) 2002-12-06 2005-08-18 Intuitive Surgical Inc. Cardiac tissue ablation instrument with flexible wrist
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
US20060178556A1 (en) 2001-06-29 2006-08-10 Intuitive Surgical, Inc. Articulate and swapable endoscope for a surgical robot
ATE547992T1 (de) 2001-06-29 2012-03-15 Intuitive Surgical Operations Gelenkmechanismus fuer plattformverbindung
US20060199999A1 (en) 2001-06-29 2006-09-07 Intuitive Surgical Inc. Cardiac tissue ablation instrument with flexible wrist
JP3646163B2 (ja) * 2001-07-31 2005-05-11 国立大学法人 東京大学 能動鉗子
US6676684B1 (en) * 2001-09-04 2004-01-13 Intuitive Surgical, Inc. Roll-pitch-roll-yaw surgical tool
US6658962B1 (en) 2001-10-31 2003-12-09 Ross-Hime Designs, Incorporated Robotic manipulator
JP3831273B2 (ja) 2002-02-05 2006-10-11 オリンパス株式会社 電子内視鏡
JP3766805B2 (ja) 2002-03-15 2006-04-19 株式会社日立製作所 手術支援装置
EP3498213A3 (de) 2002-12-06 2019-07-03 Intuitive Surgical Operations, Inc. Flexibles gelenk für ein operationsinstrument
JP3686947B2 (ja) 2002-12-09 2005-08-24 国立大学法人 東京大学 能動鉗子用高剛性鉗子先端部構体およびそれを具える能動鉗子
US6923542B2 (en) 2003-03-11 2005-08-02 Thomas H. S. Harris Operator supported remote camera positioning and control system with longeron based beam
US7090637B2 (en) * 2003-05-23 2006-08-15 Novare Surgical Systems, Inc. Articulating mechanism for remote manipulation of a surgical or diagnostic tool
US7432949B2 (en) 2003-08-20 2008-10-07 Christophe Remy Mobile videoimaging, videocommunication, video production (VCVP) system
JP3793203B2 (ja) * 2004-02-12 2006-07-05 シーレックス株式会社 撮影防止用セキュリティシール及び撮影防止用セキュリティシール供給シート
EP1736094B1 (de) 2004-04-12 2017-01-11 Olympus Corporation Endoskopvorrichtung
EP2038712B2 (de) 2006-06-13 2019-08-28 Intuitive Surgical Operations, Inc. Regelungssystem konfiguriert um nichtideale merkmale einer aktuator-gelenk-koppelung von einem medizinischen robotersystem zu kompensieren
US8527048B2 (en) 2006-06-29 2013-09-03 Cardiac Pacemakers, Inc. Local and non-local sensing for cardiac pacing
WO2012158855A2 (en) 2011-05-16 2012-11-22 Osram Sylvania Inc. Remote configuration of lighting power supply
WO2018150468A1 (ja) 2017-02-14 2018-08-23 株式会社ソニー・インタラクティブエンタテインメント 電子機器
JP2019020463A (ja) 2017-07-12 2019-02-07 株式会社ジャパンディスプレイ 表示装置、および表示装置の製造方法
JP7214747B2 (ja) 2018-03-28 2023-01-30 オーリス ヘルス インコーポレイテッド 位置センサの位置合わせのためのシステム及び方法

Also Published As

Publication number Publication date
EP2901959B1 (de) 2019-02-06
US20040138700A1 (en) 2004-07-15
US20200107892A1 (en) 2020-04-09
CN101181167B (zh) 2013-05-08
JP2011131072A (ja) 2011-07-07
JP2020044376A (ja) 2020-03-26
KR101026692B1 (ko) 2011-04-07
KR20100132562A (ko) 2010-12-17
KR101057002B1 (ko) 2011-08-17
CN1728972A (zh) 2006-02-01
JP2015126892A (ja) 2015-07-09
JP2018140242A (ja) 2018-09-13
KR101118049B1 (ko) 2012-02-24
JP2017029783A (ja) 2017-02-09
JP6097085B2 (ja) 2017-03-15
US20110125166A1 (en) 2011-05-26
JP2006508765A (ja) 2006-03-16
US8790243B2 (en) 2014-07-29
US10524868B2 (en) 2020-01-07
JP2017038947A (ja) 2017-02-23
WO2004052171A2 (en) 2004-06-24
US20070239203A1 (en) 2007-10-11
EP1575439A4 (de) 2009-08-05
EP1575439B1 (de) 2012-04-04
EP1575439A2 (de) 2005-09-21
AU2003293353A1 (en) 2004-06-30
AU2003293353A8 (en) 2004-06-30
EP2901958B1 (de) 2019-02-06
CN101181167A (zh) 2008-05-21
CN100389730C (zh) 2008-05-28
WO2004052171A3 (en) 2005-04-07
JP5437288B2 (ja) 2014-03-12
KR20100132560A (ko) 2010-12-17
JP4486503B2 (ja) 2010-06-23
EP2359767A2 (de) 2011-08-24
US20150320501A1 (en) 2015-11-12
EP2359767B1 (de) 2017-08-30
KR101087996B1 (ko) 2011-12-01
EP2901958A1 (de) 2015-08-05
EP2865351B1 (de) 2018-11-28
JP6305489B2 (ja) 2018-04-04
JP2018140241A (ja) 2018-09-13
EP2359768A3 (de) 2013-05-29
US11633241B2 (en) 2023-04-25
US20130096540A1 (en) 2013-04-18
EP2359767A3 (de) 2013-05-29
JP2011131071A (ja) 2011-07-07
EP2865351A1 (de) 2015-04-29
EP3498213A3 (de) 2019-07-03
US20110118755A1 (en) 2011-05-19
KR20050075451A (ko) 2005-07-20
US20130012928A1 (en) 2013-01-10
JP2010099530A (ja) 2010-05-06
JP5455171B2 (ja) 2014-03-26
US7862580B2 (en) 2011-01-04
US8337521B2 (en) 2012-12-25
US8690908B2 (en) 2014-04-08
US20170156804A1 (en) 2017-06-08
US9585641B2 (en) 2017-03-07
EP2359768A2 (de) 2011-08-24
JP2015110053A (ja) 2015-06-18
EP2359768B1 (de) 2018-10-03
EP2901959A1 (de) 2015-08-05
JP6155292B2 (ja) 2017-06-28
EP3498213A2 (de) 2019-06-19
US9095317B2 (en) 2015-08-04
US7320700B2 (en) 2008-01-22
KR20100132561A (ko) 2010-12-17
JP2013081823A (ja) 2013-05-09
JP5339472B2 (ja) 2013-11-13

Similar Documents

Publication Publication Date Title
ATE551964T1 (de) Flexibles gelenk für ein operationsinstrument
WO2006113216A3 (en) Surgical instrument
KR100911248B1 (ko) 소구경 복강경 수술기구
WO2020068853A3 (en) Articulating medical instruments
WO2008150767A3 (en) Active controlled bending in medical devices
WO2005018462A8 (en) Endoscopic medical instrument and related methods of use
WO2007018898A3 (en) Surgical instrument guide device
US20110276083A1 (en) Bendable shaft for handle positioning
ATE524113T1 (de) Vorrichtung mit biegbarem endstück für medizinische zwecke
WO2009073577A3 (en) Surgical instruments with improved dexterity for use in minimally invasive surgical procedures
WO2008130235A3 (en) Manipulator for an instrument for minimally invasive surgery, and a positioning aid for positioning such an instrument
EP2316354A3 (de) Chirurgische Klammervorrichtung
RU2019111918A (ru) Аппликаторные инструменты с изгибаемым стволом для подачи хирургических крепежных элементов
DE60143153D1 (de) Polypektomieinstrument mit schlinge
EP2138109A3 (de) Segmentiertes Antriebselement für chirurgische Instrumente
WO1999051283A3 (de) Flexibler trokar mit stülpschlauchsystem
ATE334631T1 (de) Manipulator für ein instrument zur minimalinvasiven chirurgie und instrument dafür
WO2005044078A3 (en) Surgical instrument
EP2140803A3 (de) Vorrichtung zur Durchführung minimalinvasiver chirurgischer Eingriffe
WO2008090540A3 (en) Tapered lumens for multi-lumen sleeves used in endoscopic procedures
WO2004002351A3 (en) Guiding member for surgical instruments
BRPI0519512A2 (pt) instrumento cirérgico aprimorado para endoscàpio
WO2004103157A3 (en) System for endoscopic suturing
WO2006089217A3 (en) Flexible shaft system having interchangeable end effectors
WO2004064600A3 (en) Endoluminal tool deployment system