ITPI20030107A1 - Dispositivo per l'esecuzione di operazioni - Google Patents

Dispositivo per l'esecuzione di operazioni

Info

Publication number
ITPI20030107A1
ITPI20030107A1 IT000107A ITPI20030107A ITPI20030107A1 IT PI20030107 A1 ITPI20030107 A1 IT PI20030107A1 IT 000107 A IT000107 A IT 000107A IT PI20030107 A ITPI20030107 A IT PI20030107A IT PI20030107 A1 ITPI20030107 A1 IT PI20030107A1
Authority
IT
Italy
Prior art keywords
support
fixed member
respect
oriented
ball joint
Prior art date
Application number
IT000107A
Other languages
English (en)
Inventor
Massimo Bergamasco
Fabio Salsedo
Stefano Spinelli
Original Assignee
Massimo Bergamasco
Fabio Salsedo
Stefano Spinelli
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Massimo Bergamasco, Fabio Salsedo, Stefano Spinelli filed Critical Massimo Bergamasco
Priority to IT000107A priority Critical patent/ITPI20030107A1/it
Priority to EP04798861A priority patent/EP1686911A1/en
Priority to PCT/IB2004/003731 priority patent/WO2005046500A1/en
Priority to US10/579,475 priority patent/US20080196533A1/en
Publication of ITPI20030107A1 publication Critical patent/ITPI20030107A1/it

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/003—Program-controlled manipulators having parallel kinematics
    • B25J9/0078—Program-controlled manipulators having parallel kinematics actuated by cables
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/003—Program-controlled manipulators having parallel kinematics
    • B25J9/0072—Program-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
    • 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
    • A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements
    • Y10T74/20335—Wrist

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Manipulator (AREA)
IT000107A 2003-11-14 2003-11-14 Dispositivo per l'esecuzione di operazioni ITPI20030107A1 (it)

Priority Applications (4)

Application Number Priority Date Filing Date Title
IT000107A ITPI20030107A1 (it) 2003-11-14 2003-11-14 Dispositivo per l'esecuzione di operazioni
EP04798861A EP1686911A1 (en) 2003-11-14 2004-11-15 Remotely actuated robotic wrist
PCT/IB2004/003731 WO2005046500A1 (en) 2003-11-14 2004-11-15 Remotely actuated robotic wrist
US10/579,475 US20080196533A1 (en) 2003-11-14 2004-11-15 Remotely Actuated Robotic Wrist

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT000107A ITPI20030107A1 (it) 2003-11-14 2003-11-14 Dispositivo per l'esecuzione di operazioni

Publications (1)

Publication Number Publication Date
ITPI20030107A1 true ITPI20030107A1 (it) 2005-05-15

Family

ID=34587008

Family Applications (1)

Application Number Title Priority Date Filing Date
IT000107A ITPI20030107A1 (it) 2003-11-14 2003-11-14 Dispositivo per l'esecuzione di operazioni

Country Status (4)

Country Link
US (1) US20080196533A1 (it)
EP (1) EP1686911A1 (it)
IT (1) ITPI20030107A1 (it)
WO (1) WO2005046500A1 (it)

Families Citing this family (131)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITPI20040084A1 (it) * 2004-11-18 2005-02-18 Massimo Bergamasco Interfaccia aptica portabile
JP4125311B2 (ja) * 2005-08-30 2008-07-30 株式会社東芝 ロボットおよびマニピュレータ
US8597280B2 (en) * 2006-06-13 2013-12-03 Intuitive Surgical Operations, Inc. Surgical instrument actuator
US12290277B2 (en) 2007-01-02 2025-05-06 Aquabeam, Llc Tissue resection with pressure sensing
US9232959B2 (en) 2007-01-02 2016-01-12 Aquabeam, Llc Multi fluid tissue resection methods and devices
FR2927011B1 (fr) 2008-01-31 2010-11-19 Pascal Barrier Manipulateur a decouplage des mouvements, et application aux instruments pour la chirurgie mini invasive
JP5506702B2 (ja) 2008-03-06 2014-05-28 アクアビーム エルエルシー 流体流れ内を伝達される光学エネルギーによる組織切除および焼灼
US8333755B2 (en) * 2008-03-31 2012-12-18 Intuitive Surgical Operations, Inc. Coupler to transfer controller motion from a robotic manipulator to an attached instrument
US9204923B2 (en) 2008-07-16 2015-12-08 Intuitive Surgical Operations, Inc. Medical instrument electronically energized using drive cables
US9259274B2 (en) 2008-09-30 2016-02-16 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
US9339342B2 (en) 2008-09-30 2016-05-17 Intuitive Surgical Operations, Inc. Instrument interface
ES2388867B1 (es) * 2009-10-27 2013-09-18 Universitat Politècnica De Catalunya Pinzas para cirugia laparoscópica mínimamente invasiva.
US9339341B2 (en) 2010-02-08 2016-05-17 Intuitive Surgical Operations, Inc. Direct pull surgical gripper
EP2580030A4 (en) * 2010-06-10 2017-04-19 Care Fusion 2200, Inc. Flexible wrist-type element
US20130190774A1 (en) 2010-08-11 2013-07-25 Ecole Polytechnique Ferderale De Lausanne (Epfl) Mechanical positioning system for surgical instruments
US12402960B2 (en) 2010-10-11 2025-09-02 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
WO2012049623A1 (en) 2010-10-11 2012-04-19 Ecole Polytechnique Federale De Lausanne (Epfl) Mechanical manipulator for surgical instruments
WO2012074564A1 (en) 2010-12-02 2012-06-07 Freehand Endoscopic Devices, Inc. Surgical tool
US20120191083A1 (en) 2011-01-20 2012-07-26 Hansen Medical, Inc. System and method for endoluminal and translumenal therapy
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
CN104039406B (zh) * 2011-10-31 2017-05-24 模块化机器人公司 模块式运动学构造套件
CN104203078B (zh) 2012-02-29 2018-04-20 普罗赛普特生物机器人公司 自动化图像引导的组织切除和处理
US10231867B2 (en) 2013-01-18 2019-03-19 Auris Health, Inc. Method, apparatus and system for a water jet
WO2014201165A1 (en) 2013-06-11 2014-12-18 Auris Surgical Robotics, Inc. System for robotic assisted cataract surgery
US10426661B2 (en) 2013-08-13 2019-10-01 Auris Health, Inc. Method and apparatus for laser assisted cataract surgery
US10076348B2 (en) 2013-08-15 2018-09-18 Intuitive Surgical Operations, Inc. Rotary input for lever actuation
US10550918B2 (en) 2013-08-15 2020-02-04 Intuitive Surgical Operations, Inc. Lever actuated gimbal plate
JP6612754B2 (ja) 2013-08-15 2019-11-27 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 使い捨て先端部と統合的な先端部カバーとを備える最使用可能な外科器具
EP3033035B1 (en) 2013-08-15 2020-11-25 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive features
CN108784838B (zh) 2013-08-15 2021-06-08 直观外科手术操作公司 器械无菌适配器驱动接口
KR102523090B1 (ko) 2013-08-15 2023-04-19 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 예압형 수술 기구 인터페이스
CN105611891B (zh) 2013-08-15 2018-09-21 直观外科手术操作公司 可变器械预加载机构控制器
KR102313240B1 (ko) 2013-08-15 2021-10-18 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 로봇 기구 피동 요소
GB201316333D0 (en) 2013-09-13 2013-10-30 Imp Innovations Ltd Surgical device and methods
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
JP6296869B2 (ja) * 2014-04-09 2018-03-20 オリンパス株式会社 処置具および手術システム
JP2016036863A (ja) * 2014-08-06 2016-03-22 ソニー株式会社 パラレルリンクロボットおよびパラレルリンク構造
CN111658180B (zh) 2014-08-15 2024-05-31 直观外科手术操作公司 具有可变进入引导器配置的外科手术系统
CZ2014550A3 (cs) * 2014-08-18 2015-10-14 ÄŚVUT v Praze, Fakulta strojnĂ­ Zařízení pro řízení sférického pohybu tělesa
WO2016030767A1 (en) 2014-08-27 2016-03-03 Distalmotion Sa Surgical system for microsurgical techniques
EP3232977B1 (en) 2014-12-19 2020-01-29 DistalMotion SA Docking system for mechanical telemanipulator
EP3232974B1 (en) 2014-12-19 2018-10-24 DistalMotion SA Articulated handle for mechanical telemanipulator
WO2016097861A1 (en) 2014-12-19 2016-06-23 Distalmotion Sa Sterile interface for articulated surgical instruments
DK3653145T3 (da) 2014-12-19 2024-04-15 Distalmotion Sa Genanvendeligt kirurgisk instrument til minimalinvasive procedurer
US10864052B2 (en) 2014-12-19 2020-12-15 Distalmotion Sa Surgical instrument with articulated end-effector
US20160287279A1 (en) 2015-04-01 2016-10-06 Auris Surgical Robotics, Inc. Microsurgical tool for robotic applications
US10568709B2 (en) 2015-04-09 2020-02-25 Distalmotion Sa Mechanical teleoperated device for remote manipulation
US10363055B2 (en) 2015-04-09 2019-07-30 Distalmotion Sa Articulated hand-held instrument
GB2538497B (en) 2015-05-14 2020-10-28 Cmr Surgical Ltd Torque sensing in a surgical robotic wrist
EP4545034A3 (en) 2015-08-28 2025-07-09 Distalmotion SA Surgical instrument with increased actuation force
JP6564668B2 (ja) 2015-10-02 2019-08-21 国立大学法人九州大学 マニピュレータ
ITUB20154977A1 (it) 2015-10-16 2017-04-16 Medical Microinstruments S R L Strumento medicale e metodo di fabbricazione di detto strumento medicale
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US10639108B2 (en) 2015-10-30 2020-05-05 Auris Health, Inc. Process for percutaneous operations
US10973517B2 (en) 2015-11-13 2021-04-13 Intuitive Surgical Operations, Inc. Stapler with composite cardan and screw drive
US11304770B2 (en) 2016-03-09 2022-04-19 Intuitive Surgical Operations, Inc. Force transmission mechanism for surgical instrument, and related devices, systems, and methods
CN109688960B (zh) 2016-07-14 2022-04-01 直观外科手术操作公司 多线缆医疗器械
WO2018013316A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Geared roll drive for medical instrument
WO2018013298A1 (en) 2016-07-14 2018-01-18 Intuitive Surgical Operations, Inc. Geared grip actuation for medical instruments
US11890070B2 (en) 2016-07-14 2024-02-06 Intuitive Surgical Operations, Inc. Instrument release
CN113995532B (zh) 2016-07-14 2024-11-01 直观外科手术操作公司 器械冲洗系统
US11432836B2 (en) 2016-09-14 2022-09-06 Intuitive Surgical Operations, Inc. Joint assemblies with cross-axis flexural pivots
FR3057192B1 (fr) * 2016-10-06 2018-11-16 Ecole Nationale Superieure De Mecanique Et Des Microtechniques Poignet robotique parallele a quatre degres de liberte
WO2018094191A1 (en) 2016-11-21 2018-05-24 Intuitive Surgical Operations, Inc. Cable length conserving medical instrument
WO2018118698A1 (en) 2016-12-19 2018-06-28 Intuitive Surgical Operations, Inc. Sample retrieval tool with compliant retention member
US10357321B2 (en) 2017-02-24 2019-07-23 Intuitive Surgical Operations, Inc. Splayed cable guide for a medical instrument
US11076926B2 (en) 2017-03-21 2021-08-03 Intuitive Surgical Operations, Inc. Manual release for medical device drive system
US10792466B2 (en) 2017-03-28 2020-10-06 Auris Health, Inc. Shaft actuating handle
US10285574B2 (en) 2017-04-07 2019-05-14 Auris Health, Inc. Superelastic medical instrument
EP4032459B1 (en) 2017-04-07 2025-12-10 Auris Health, Inc. Patient introducer alignment
US11058503B2 (en) 2017-05-11 2021-07-13 Distalmotion Sa Translational instrument interface for surgical robot and surgical robot systems comprising the same
CN107300357B (zh) * 2017-06-22 2023-05-12 昆明理工大学 一种非接触式三自由度光学三维测量转台
CN107139165A (zh) * 2017-06-23 2017-09-08 中国科学院上海光学精密机械研究所 混联的六自由度空间对接机构
US20200206961A1 (en) * 2017-08-08 2020-07-02 Ugur TÜMERDEM Backdrivable and haptic feedback capable robotic forceps, control system and method
JP7005768B2 (ja) 2017-12-14 2022-01-24 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 テンションバンドを有する医療ツール
WO2019155383A1 (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
US11497567B2 (en) 2018-02-08 2022-11-15 Intuitive Surgical Operations, Inc. Jointed control platform
US11118661B2 (en) 2018-02-12 2021-09-14 Intuitive Surgical Operations, Inc. Instrument transmission converting roll to linear actuation
US12082900B2 (en) 2018-03-07 2024-09-10 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
US11992286B2 (en) 2018-03-07 2024-05-28 Intuitive Surgical Operations, Inc. Low-friction medical tools having roller-assisted tension members
EP3761897A4 (en) 2018-03-07 2021-11-24 Intuitive Surgical Operations, Inc. LOW-FRICTION MEDICAL TOOLS WITH SMALL PROFILE AND ASSEMBLY-FRIENDLY COMPONENTS
WO2019199827A1 (en) 2018-04-10 2019-10-17 Intuitive Surgical Operations, Inc. Articulable medical devices having flexible wire routing
US10751140B2 (en) 2018-06-07 2020-08-25 Auris Health, Inc. Robotic medical systems with high force instruments
CN112367928A (zh) 2018-06-28 2021-02-12 奥瑞斯健康公司 结合滑轮共享的医疗系统
US11259798B2 (en) 2018-07-16 2022-03-01 Intuitive Surgical Operations, Inc. Medical devices having tissue grasping surfaces and features for manipulating surgical needles
US11612447B2 (en) 2018-07-19 2023-03-28 Intuitive Surgical Operations, Inc. Medical devices having three tool members
EP3826566B1 (en) * 2018-07-26 2024-11-20 Covidien LP Surgical robotic systems
WO2020036685A1 (en) 2018-08-15 2020-02-20 Auris Health, Inc. Medical instruments for tissue cauterization
WO2020036686A1 (en) 2018-08-17 2020-02-20 Auris Health, Inc. Bipolar medical instrument
EP3813716B1 (en) 2018-09-26 2025-04-16 Auris Health, Inc. Systems and instruments for suction and irrigation
WO2020076447A1 (en) 2018-10-08 2020-04-16 Auris Health, Inc. Systems and instruments for tissue sealing
US11291514B2 (en) 2018-11-15 2022-04-05 Intuitive Surgical Operations, Inc. Medical devices having multiple blades and methods of use
US11213287B2 (en) 2018-11-15 2022-01-04 Intuitive Surgical Operations, Inc. Support apparatus for a medical retractor device
WO2020102780A1 (en) 2018-11-15 2020-05-22 Intuitive Surgical Operations, Inc. Cable drive limited slip capstan and shaft
US11950863B2 (en) 2018-12-20 2024-04-09 Auris Health, Inc Shielding for wristed instruments
EP3897402A4 (en) 2018-12-21 2023-02-08 Intuitive Surgical Operations, Inc. SURGICAL INSTRUMENTS WITH MECHANISMS FOR IDENTIFYING AND/OR DEACTIVATING STAPLE MAGAZINES
US11857188B2 (en) 2018-12-21 2024-01-02 Intuitive Surgical Operations, Inc. Articulation assemblies for surgical instruments
EP3883492B1 (en) 2019-01-25 2025-05-21 Auris Health, Inc. Vessel sealer with heating capabilities
WO2020197625A1 (en) 2019-03-25 2020-10-01 Auris Health, Inc. Systems and methods for medical stapling
WO2020214258A1 (en) 2019-04-15 2020-10-22 Intuitive Surgical Operations, Inc. Staple cartridge for a surgical instrument
EP4578419A3 (en) 2019-05-31 2025-11-26 Intuitive Surgical Operations, Inc. Staple cartridge for a surgical instrument
US12239394B2 (en) 2019-06-13 2025-03-04 Intuitive Surgical Operations, Inc. Medical tool with length conservation mechanism for actuating tension bands
WO2020263827A1 (en) 2019-06-25 2020-12-30 Auris Health, Inc. Medical instruments including wrists with hybrid redirect surfaces
WO2020263629A1 (en) 2019-06-27 2020-12-30 Auris Health, Inc. Systems and methods for a medical clip applier
US11109928B2 (en) 2019-06-28 2021-09-07 Auris Health, Inc. Medical instruments including wrists with hybrid redirect surfaces
EP3989794A4 (en) 2019-06-28 2023-07-12 Auris Health, Inc. PATIENT INTRODUCER FOR A ROBOTIC SYSTEM
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
EP4034349A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision detection and avoidance
WO2021059100A1 (en) 2019-09-26 2021-04-01 Auris Health, Inc. Systems and methods for collision avoidance using object models
WO2021064536A1 (en) 2019-09-30 2021-04-08 Auris Health, Inc. Medical instrument with capstan
US11737835B2 (en) 2019-10-29 2023-08-29 Auris Health, Inc. Braid-reinforced insulation sheath
EP4061273A1 (en) 2019-11-21 2022-09-28 Auris Health, Inc. Systems and methods for draping a surgical system
EP4084717A4 (en) 2019-12-31 2024-02-14 Auris Health, Inc. Dynamic pulley system
EP4084724A4 (en) 2019-12-31 2023-12-27 Auris Health, Inc. ADVANCED BASKET TRAINING MODE
WO2021141971A1 (en) 2020-01-07 2021-07-15 Intuitive Surgical Operations, Inc. Surgical instruments for applying multiple clips
US11642129B2 (en) 2020-01-15 2023-05-09 Intuitive Surgical Operations, Inc. Staple cartridge and drive member for surgical instrument
EP3868305A1 (en) * 2020-02-19 2021-08-25 UCL Business Ltd End-effector for endoscopic surgical instrument
US12370002B2 (en) 2020-03-30 2025-07-29 Auris Health, Inc. Workspace optimization for robotic surgery
WO2021225863A1 (en) 2020-05-04 2021-11-11 Intuitive Surgical Operations, Inc. Medical instrument having single input for driving multiple cables
CN115802975A (zh) 2020-06-29 2023-03-14 奥瑞斯健康公司 用于检测连杆与外部对象之间的接触的系统和方法
US11931901B2 (en) 2020-06-30 2024-03-19 Auris Health, Inc. Robotic medical system with collision proximity indicators
US11357586B2 (en) 2020-06-30 2022-06-14 Auris Health, Inc. Systems and methods for saturated robotic movement
CN116806134A (zh) 2021-01-08 2023-09-26 直观外科手术操作公司 采用线性钉和荷包线缝线钉的手术器械
EP4274491A1 (en) 2021-01-08 2023-11-15 Intuitive Surgical Operations, Inc. Surgical stapling instruments
CN113664867B (zh) * 2021-08-27 2025-05-16 深圳市优必选科技股份有限公司 关节双向储能装置、机器人关节结构以及机器人
EP4401666A1 (en) 2021-09-13 2024-07-24 DistalMotion SA Instruments for surgical robotic system and interfaces for the same
CN113977626B (zh) * 2021-12-24 2022-03-08 季华实验室 一种基于张拉结构的腱驱仿生腕部关节
US11844585B1 (en) 2023-02-10 2023-12-19 Distalmotion Sa Surgical robotics systems and devices having a sterile restart, and methods thereof
US12150729B1 (en) 2024-02-02 2024-11-26 Panda Surgical Limited Handheld surgical systems with interchangeable dexterous end-effectors

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4911033A (en) * 1989-01-03 1990-03-27 Ross-Hime Designs, Incorporated Robotic manipulator
US5740699A (en) * 1995-04-06 1998-04-21 Spar Aerospace Limited Wrist joint which is longitudinally extendible
US5792135A (en) * 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US6330837B1 (en) * 1997-08-28 2001-12-18 Microdexterity Systems, Inc. Parallel mechanism
US6699235B2 (en) * 2001-06-29 2004-03-02 Intuitive Surgical, Inc. Platform link wrist mechanism
US7121781B2 (en) * 2003-06-11 2006-10-17 Intuitive Surgical Surgical instrument with a universal wrist

Also Published As

Publication number Publication date
WO2005046500A1 (en) 2005-05-26
EP1686911A1 (en) 2006-08-09
US20080196533A1 (en) 2008-08-21

Similar Documents

Publication Publication Date Title
Gao et al. New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs
CN101890725B (zh) 一种嵌入驱动器式的主动控制柔性仿生关节
WO2005074372A3 (en) Methods and apparatus for rehabilitation and training
WO2002062199A3 (en) Surgical manipulator
WO2006047753A3 (en) Wrist and upper extremity motion
FR2912944B1 (fr) Robot manipulateur compact
WO2009056079A3 (en) A device for a body's spherical motion control
DK1854591T3 (da) Parallelrobot
SE0003224D0 (sv) Anordning vid robot
CN109363889B (zh) 一种上肢外骨骼机器人左右手互换装置
FR2850599B1 (fr) Dispositif de deplacement et d'orientation d'un objet dans l'espace et utilisation en usinage rapide
SE0303539D0 (sv) Anordning för en industrirobot
WO2007021766A3 (en) Multi-axis tilt estimation and fall remediation
EP1932301A4 (en) SYSTEM, METHOD, SOFTWARE AND EQUIPMENT USING MESSAGE TRANSMISSION
WO2004041066A3 (en) Apparatus and method for measuring instability of a motion segment unit of a spine
ATE535434T1 (de) Ein kugelgelenk mit gekoppelten aktuatoren implementierender humanoidroboter
GB0722552D0 (en) Device for controlling and monitoring the translation and orientation of an element in space
DE60328994D1 (de) Knochenverankerungsvorrichtung mit kugelgelenk
ATE291525T1 (de) Vorrichtung zur fünfachsigen bewegung und/oder positionierung eines objektes
WO2005036000A3 (en) A setting device joint with a rotating wobbler
CN113043241B (zh) 一种轻型可穿戴式局部力反馈仿生双臂外骨骼主手
CN107297738B (zh) 机械臂控制系统
FR2835579B1 (fr) Dispositif de deplacement spherique d'element
EP2014941A3 (en) Fixed-center constant velocity joint
CN204209685U (zh) 一种新型两转动并联机构